Multiple key changes and new features

Improvements

• Added a Variable RTCP option to the RTCP_MoveP node so that the user can select a variable as a Remote TCP
• Added a Variable TCP option to the Toolpath_MoveP node so that the user can select a variable as a TCP
• Added support for a set of M-code commands in NC files so that the robot can trigger its end-effectors while executing a toolpath file

Embedded

• Motor control improvements
• 25% improvement in overshoot and stabilization of motions
• Reduction to joint wear increases average joint life over time

Firmware

• Reduced occurrence of Tool Fault on FTSensor (Error code C450A4)
• Added monitoring of power dissipated in the energy eater

Bug fixes

Polyscope GUI

• Issue fixed where using the imperial units the coordinate values on the Remote TCP PCS page were not saved correctly after manual adjustments
• Issue fixed where there is a conflict between Remote TCP & Toolpath URCap and PROFINET
• Issue fixed where it was possible to move the robot when the robot was in remote control

Controller

• Issue fixed where MoveC with a small blend radius would wrongly throw a "movec: blend radius too small" exception, in cases that should be able to execute
• Issue fixed where robot in some cases would not correctly end Force mode when pausing
• Issue fixed where robot in some cases would increase the speed during the first part of a smooth transition to reduced mode

Embedded

• C263A2 Error code is now raised on a user level only if an existing motor encoder calibration is invalidated
• Bug fix that would cause firmware faults with error code C710A0
• Potential issue fixed during firmware update where the update procedure could get stuck when updating the firmware on Joint safety processor A if the joint shipped with bootloader version 5.7.4 or newer
• Issue fixed where the tool would report a missing F/T sensor, even though the sensor worked as required