V3.4.0

Release Notes

Release Date: July 22, 2025

Doosan Robotics, a leader in the 6-axis collaborative robot arm industry, continues to strive to provide customers with optimal solutions tailored to diverse working environments.
This Dart-Platform 3 v3.4 update marks the first support within Dart-Platform 3 for the P3020, a 5-axis collaborative robot model released to maximize efficiency for specific tasks such as palletizing, while also further enhancing the control capabilities of existing 6-axis robot systems. The P3020 model was already supported in Dart-Platform v2.12, but with v3.4, you can now fully and stably utilize all P3020 model functions within the Dart-Platform 3 environment.

Most importantly, Dart-Platform 3 v3.4 perfectly ports and provides all the features of the existing Legacy v2.12 version. This means that users migrating from v2.12 to Dart-Platform 3 can perform all tasks without functional limitations, while enjoying improved performance and user experience. This update focuses on enhancing user experience, optimizing performance, and improving the stability of robot systems. In particular, the addition of new features and the resolution of existing bugs will be of even greater assistance in operating robots in the field.

Based on your feedback, we have improved functions, fixed various bugs, and enhanced system stability. The major changes, improvements, and bug fixes are as follows.

1.1 Dart-Platform 3

Improved so that IP search is possible even when using the simulator via Dart-Service.
Added a function to optimize the robot inverter to match the controller version when the robot and controller versions are not optimized, to ensure safe use.
Improved Header/Footer UX:
- Low-usage items moved to Header > Menu.
- Status change functions in dropdown format changed to toggle format.
- Applied status color UI to clearly distinguish between robot and virtual status.
- Footer module icon size changed from 34 px → 36 px.
Improved Homing popup UX.
Improved so that when running a “Sub Task” via Dart-API, it is no longer necessary to append a package identifier to the Sub Task name — now you can run it using only the Sub Task name.
Added allowedRobotSeries function to restrict allowable robots by robot series for module package components.
Improved so that when switching between Automatic/Manual mode, the operator and supervisor modes are changed together.
Changed icon color from red → orange when safety parameter checksum information is mismatched.
Modified so that moveStop via Dart-API cannot be executed during DRL program execution.

1.2 Remote Control Module

Fixed an issue where the cycle time was not reset when restarting after stopping in Remote Control mode.
Fixed an issue where, when starting Task Play in Remote Control mode, the previously set Task file was played.
Fixed an issue where duplicate port assignments were possible for signals after re-entering the module.
Modified so that entering Remote Control mode during Task Play is only possible when the task is stopped, to prevent input signal malfunction.
Modified so that no error popup appears when there is no control authority.
Fixed an issue where, when a client with control authority exited Remote Control mode, the mode did not exit on clients without control authority.
Modified so that when exiting after changing the robot speed value in Remote Control, the robot speed value is synchronized.
Modified so that when robot speed is set using the change_operation_speed DRL function, the Footer speed UI is also synchronized.
Modified so that when a program is running, switching modes via the “Open Robot Parameter File” in the header is not possible.
Fixed an issue where executing Clamping Escape (Cockpit Button 1 & 2) during boot did not properly enter backdrive mode.
Optimized popup UI rendering performance when Safety IO signals occur at high frequency.
For H-series, fixed so that items that cannot set Stop Mode to STO will be changed to default and a notification popup will appear during robot updates.
Fixed an issue where IPositionManager.trans(..., orientationType?: OrientationType) API always returned EULER_ZYX even if orientationType was set to a different value.
Fixed an issue where, after repeatedly calling a ModuleScreen component that supports Message.ACTION_RUN_PROGRAM via IModuleScreenManager.startModuleScreen(), clicking the Program Play button in the footer failed to execute.
Fixed an issue where mismatch occurred when importing a parameter file from a robot with an old flange into a robot with a new flange.
Fixed an issue where flangeSerialReadOn API and flange_serial_read DRL function always returned the last data and timeout did not work.
Modified so that for robots with old flanges, read/write functions cannot be used unless the serial port is opened.
For background performance optimization, modified so that monitoring variables for robot external force values are not updated in modules running in the background.

1.3 Robot Parameter Module

Added robot limits and safety parameters for the P3020 model; updated the P3020 3D model in the simulator; disabled/modified the P3020 model’s UI/UX and cockpit UI/UX.
Added a user intervention function that allows the operator to resume work from the collision point via a popup when a problem such as a robot collision occurs from nomal I/O menu.
Implemented a function that, when clicking the "Get Pose" button in the cockpit, retrieves the robot's position and applies it to the selected position text box.
Changed the direction of port labels and port numbers for general I/O and alias screens from horizontal to vertical.
In the robot parameter review popup, it is now visually indicated whether the settings are applied to the robot parameter file or the controller's data.
Added a 3-point teaching method for tilted cuboid settings of Satety Zone.
Added an option to enable/disable the "Protective Stop" for Safety I/O under specific conditions.
Changed maximum tool weight for M models: M0617 from 6 kg → 8 kg, M1013 from 10 kg → 12 kg, and M1509 from 15 kg → 17 kg.
Fixed an issue where the "Auto Calculation" button remained active before reference TCP was set when entering tool center point and selecting reference TCP.
Modified so that when multiple user coordinate systems are created and added, the Save button is immediately disabled after saving.
Changed behavior so that when robot limit values are modified, any safety zones with settings outside the max/min range are disabled and adjusted to be within range; upon application in the robot parameter review screen, the safety zones are re-enabled.
Fixed an issue where the "Base" text was cut off when checking the help image after entering world coordinates.
Fixed an issue where selecting tilted cuboid in safety zone settings and using the Move button to go to the actual point fixed rz, ry, rx values to 0.
Fixed an issue where safety zone values were not reset when selecting "Reset Cockpit" from the 5-button cockpit after entering safety zone values.
Modified so that setting all values to 0 for robot installation posture is treated as disabled, and switching to disabled initializes all values to 0.
Fixed an issue where an [2.1105] Error popup occurred during automatic measurement of robot installation posture when "Use Mount" toggle was off and Axis Y / Axis Z Rotate values were set to '0'.
Corrected a misleading warning message about the maximum safety zone name length from 20 characters to 31 characters.
Modified the robot parameter mismatch review popup so that attempts to apply robot parameters are possible in all authorities/modes.
Fixed an issue where TCP force, TCP speed, power, and momentum in a safety zone reset to default when set to 0.
Fixed an intermittent issue where robot parameter settings failed to apply when trying to apply settings to the robot after creating a new file.
Fixed an issue where TCP Force override value displayed as 0 N when entering the parameter tab after creating a collision sensitivity reduction zone.
Fixed an issue where the OK button was active in safety zone editing even when no values were modified.
Fixed an issue where the dropdown box did not appear in the output tab of the safety I/O settings.
Fixed an issue where joint speed limits could not be set higher than the global-normal value when setting custom zones.
Fixed an issue where shape type modification did not work properly after creating a safety zone.
Fixed an issue where mismatch occurred when importing a parameter file from a robot with an old flange into a robot with a new flange.
Improved so that when switching from operator to supervisor authority while the saved file popup is displayed, a dialog appears stating that supervisor authority is required.
Improved input field visibility when entering values.
Fixed an issue where it was not possible to save when only modifying the safety zone name in a safety zone.
Fixed an issue where STO could not be set for safety stop mode on collision detection/TCP external force limit violation in safety zone parameters for H/P models.
Fixed an issue where the checksum value changed each time a safety zone was activated/deactivated.
Fixed an issue where Tilted Cuboid data was not displayed properly when checking safety zones after data migration.
Fixed an issue where collaborative zone settings changed to the global value if the global collision sensitivity value was greater than the collaborative zone's value.
Fixed an issue where home position could not be set to a user-defined position in virtual mode.
Modified so that in virtual mode, since the robot does not move physically, the [1.1020] Home Position completion popup no longer appears when home position movement completes.
Fixed an issue where the space restriction zone was disabled after reboot if the robot was outside the space restriction zone.
Fixed an issue where, when in automatic mode with supervisor authority, clicking OK in the popup prompting to switch to manual mode when turning on the module did not change the mode correctly.
Fixed an issue where a [5.7173] Error popup occurred after a joint angle range error popup, even though the joint angle range was saved normally.
Fixed an issue where the Reset button in the safety zone left values populated and displayed entered values with Auto Calculation toggled off, and where, if values were empty, clicking the Save Pose button displayed entered values for all items except the selected one with Auto Calculation toggled off.
Fixed an issue where changes in Robot Limit altered override values for Joint Speed and Joint Angle.
Fixed an issue where, after using Import Geometry & Parameters in a safety zone, the Confirm button in the parameter tab was disabled.
Fixed an issue where values changed when switching to World Coordinates for Tilted Cuboid, Multi-plane Box, and Cylinder shape types in a safety zone.
Fixed an issue where home position occasionally failed to save when set to a user-defined position.

1.4 Task Editor Module

Updated UI/UX to support newly added P models.
Enhanced debug mode:
- Can start a program from a specific line in Task Editor.
- Supports two modes: "Run All" and "Run Line by Line" for greater debugging flexibility.
- Supports debug mode within Custom Code commands for easier debugging of complex logic.
Added TCP (Tool Center Point) speed limit option to Main Sub, Move, Move J, and Move JX commands for finer movement control.
Added ability to insert a Custom Code command above a Main Sub.
Fixed an issue where program start was not possible in Remote Control mode when debug mode was active.
Modified so that debug mode terminates when in operator authority.
Fixed an issue where, after the last “Step Execution” in debug mode, transitioning to Main Sub caused the Play button to pause/resume irregularly and then stop.
Fixed an issue where the Stop button icon blinked abnormally when running Main Sub in an infinite loop during debug mode.
Fixed an issue where programs did not run normally when adding If commands under Thread in debug mode and disabling some commands.
Fixed an issue where deleting segments when changing the speed tab for selected commands after closing a system variable popup with Move SJ, Move B, or Move SX commands selected.
Fixed an intermittent issue where the loading icon did not disappear in certain paths.
Fixed an issue where the UI displayed abnormally when copying and deleting segments in Move B commands and then performing open/close operations.
Fixed an issue where Rx, Ry, Rz items were displayed in Compliance and Force commands for non-FTS models.
Modified so that when changing signal type to Analog I/O in Set/Get Signal commands with "Module" set as the configuration method, the default value resets.
Fixed an issue where type and value of connected variables changed to an array in Get Signal commands when selecting Modbus TCP and setting individual addresses instead of All.
Fixed an issue where variable values in the system/global tab of monitoring did not update in real time in Get Signal commands when TCP Client was selected.
Fixed an issue where 0.1 sec wait time was applied even when "Wait at the end" was not set in Main Sub commands.
Fixed an issue where velocity could be selected for Move commands in automatic mode.
Fixed an issue where Solution Space setting values were not retained as in V2 when saving pose or setting coordinates as variables in MoveJX commands.
Fixed an issue where Move Spiral commands did not run normally after setting World coordinates.
Fixed an issue where sub_program_run DRL function could not execute Sub Tasks when they were run in Sub mode.
Improved so that when the Sub Task name linked to the Call Sub Task command is long, it is displayed with an ellipsis during program execution and the current running command is shown, while in auto-wait status, the full name is displayed.
Limited Sub Task name field to a maximum of 30 characters.
Fixed an issue where programs could run even if Commands and Infinite Loops options unavailable for Sub Task commands were added.
Fixed an issue where property settings were not copied when copying/pasting Sub Task/Thread/Sub commands from Toolbox.
Modified so that previous coordinate values are cleared when coordinate system information of a selected variable is changed in Move commands.
Fixed an issue where Paste button was active when there was no focused variable after copying/cutting variables.
Fixed an intermittent issue where the loading icon did not disappear when Remote Control module was launched after boot.
Fixed an issue where file name could be edited in automatic mode.
Modified so that files are sorted in ascending order by name when importing.
Improved so that when importing a file from a different robot model, a popup notification is displayed.
Modified so that changes in Nudge values from Robot Parameter are reflected in real time.
Modified so that variables are also copied when copying/pasting Global and Define commands.
Fixed an issue where "Move To" and "Save" buttons were disabled when adding pose-type variables to Global, Define, or System variables in certain paths.
Fixed an issue where command or variableName data was frequently overwritten with previous data when sending data from User Command via gen_command_call interface.
Fixed an issue where DRL file size exceeded 1 MB in certain situations.

1.5 Status Module

Fixed overlap between analog output slider adjustment range and analog input dropdown.
Changed minimum mA value to "4 mA".
Modified so that when an analog jig is connected, controller analog output and analog input slider values are synchronized.

1.6 Logs Module

Fixed an issue where sorting changed when unchecking Comment.
Fixed an issue where log order changed when logs occurred.

1.7 Jog Module

Changed applied speed/acceleration limit values for jogging as follows: vel: [250, 81], acc: [1000, 322].

1.8 Setting Module

Added the ability to check and change robot controller EtherNet/IP and Profinet communication settings directly in Dart-Platform 3:
- EtherNet/IP: supports displaying communication settings and changing adapter type.
- Profinet: supports displaying communication settings and configuring slots.
Added a function to export change history logs for safety zones and parameters.
Added the ability to choose where system notifications (Toast) and Snackbar popups appear on the screen (six positions: top-left, top-center, top-right, bottom-left, bottom-center, bottom-right) to minimize blocking important areas during work.
Modified so that when changing the controller’s network settings, a reboot-required popup is displayed.