1.1.2 History of Document Creation/Revision

Revision No.

Creation / Revision Pages and Contents

Revision Date

1.33.1

Modify version information: GL013301

Updated Functions

  • Added missing functions

  • Added DH parameter function: get_robot_link_info

Update Definition

  • Added missing Structures

  • Added DH paramter Structure: ROBOT_LINK_INFO

2025-12-02

1.33.0

Update API Manual to Sphinx Theme

Modify version information: GL013300

Update Features

  • Support for Ubuntu 24.04 Version

  • Added Tutorial (Chapter 6)

  • Added TroubleShooting (Chapter 7)

  • Restructing of the API navigation tree

2025-12-02

1.33

Modify version information: GL013300

Update Features

  • All Auto modes are modified to switch to move (light-up) mode during safety events.

  • Fixed the issue where force control monitoring within Monitoring was not displaying correctly.

  • Updated flange_serial command for Flange Version rev2.

Updated Functions

  • Added LED control functions:

    • state_led_reset

    • set_state_led_off

    • set_state_led_color

    • get_state_led_rule

  • I/O Control Functions:

    • flange_serial_open

    • flange_serial_close

2025-09-03

1.32

Update Features

  • Add welding-related APIs

Update Definition

  • Add multiple structs:

    • ROBOT_WELDING_DATA

    • WELDING_CHANNEL

    • CONFIG_WELDING_INTERFACE

    • CONFIG_WELD_SETTING

    • GET_WELDING_SETTING_RESPONSE

    • ADJUST_WELDING_SETTING

    • CONFIG_TRAPEZOID_WEAVING_SETTING

    • CONFIG_ZIGZAG_WEAVING_SETTING

    • CONFIG_CIRCULAR_WEAVING_SETTING

    • CONFIG_SINE_WEAVING_SETTING

    • CONFIG_WELDING_DETAIL_INFO

    • CONFIG_ANALOG_WELDING_INTERFACE

    • CONFIG_ANALOG_WELDING_SETTING

    • ANALOG_WELDING_ADJUST_SETTING

    • CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA

    • CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS

    • CONFIG_DIGITAL_WELDING_INTERFACE_MODE

    • CONFIG_DIGITAL_WELDING_INTERFACE_TEST

    • CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION

    • CONFIG_DIGITAL_WELDING_INTERFACE_OPTION

    • CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2

    • CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING

    • DIGITAL_WELDING_RESET

    • CONFIG_DIGITAL_WELDING_MODE

    • CONFIG_DIGITAL_WELDING_CONDITION

    • CONFIG_DIGITAL_WELDING_ADJUST

    • MEASURE_TCP_WELDING

    • TACK_WELDING_SETTING

    • DIGITAL_FORCE_WRITE_DATA

    • ROBOT_DIGITAL_WELDING_DATA

    • DIGITAL_WELDING_COMM_STATE

Update Functions

  • Add monitoring functions:

    • set_on_monitoring_welding_data

    • set_on_monitoring_analog_welding_data

    • set_on_monitoring_digital_welding_data

  • Add weaving functions:

    • app_weld_weave_cond_trapezoidal

    • app_weld_weave_cond_zigzag

    • app_weld_weave_cond_circular

    • app_weld_weave_cond_sinusoidal

  • Add analog interface functions:

    • app_weld_enable_analog

    • app_weld_set_weld_cond_analog

    • app_weld_adj_welding_cond_analog

  • Add Ethernet/IP functions:

    • app_weld_set_interface_eip_m2r_process

    • app_weld_set_interface_eip_r2m_mode

    • app_weld_set_interface_eip_r2m_process

    • app_weld_set_interface_eip_r2m_test

    • app_weld_set_interface_eip_r2m_condition

    • app_weld_set_interface_eip_r2m_option

    • app_weld_set_interface_eip_m2r_process2

    • app_weld_set_interface_eip_m2r_monitoring

2024-01-15

1.31

Update Features

  • Add option of Controller (#define DRCF_VERSION)

Update Definition

  • Add MONITORING_CTRLIO_EX2

  • Add READ_CTRLIO_INPUT_EX2

  • Add READ_CTRLIO_OUTPUT_EX2

  • Update GPIO_CTRLBOX_DIGITAL_INDEX for v3 controller

  • Add SAFETY_CONFIGURATION_EX2_V3

Update Functions

  • Update get_safety_configuration_ex

  • Update get_safety_configuration (new feature)

  • Remove SetOnMonitoringData (duplicate)

  • Remove SetOnMonitoringCtrlIO (duplicate)

2024-12-03

1.30

Update Features

  • Add Arm64 Drfl Binary

  • Support for Ubuntu 22.04 Version

  • Improve Realtime Performance

  • Fix Blending Motion Related Issues

  • Change return value of flange_serial_read

Update Definition

  • Add enums: MOVE_ORIENTATION, SPIRAL_DIR, ROT_DIR, DR_SERVOJ_TYPE

  • Add structs: SAFETY_CONFIGURATION_EX2, CONFIG_SAFETY_IO_OP

  • Add parameters for adjusting speed/acceleration of each axis in movej

  • Add extended movejx, amovej, amovejx, servoj

Update Functions

  • Add get_safety_configuration (Extension)

  • Update ikin (Add_iter_threshold), ikin_norm

  • Update movec (Extension), amovec (Extension)

  • Update move_spiral (Extension), amove_spiral (Extension), servoj (Extension)

2024-11-27

1.29

Add query_modbus_data_list

2023-03-24

1.28

Fix enum.ROBOT_STATE description

Add contents of enum.ROBOT_MODE

Delete duplicate enum.ROBOT_SPACE

Add set_palletizing_mode command

Add move_home notice

2023-02-20

1.27

Fixed drl_stop function parameter: enum.STOP_TYPE → unsigned char

2022-07-04

1.26

Fixed enum.CONTROL_SPACE

Fixed set_on_monitoring_safety_state

Fixed enum.MOVE_REFERENCE

Fixed change_operation_speed

Fixed TOnRobotSystemCB

Update Functions

  • Add new property functions

    • get_current_posj

    • get_control_space

    • get_current_velj

    • get_desired_posj

    • get_current_tool_flange_posx

    • get_current_velx

    • get_desired_velx

    • get_joint_torque

    • get_external_torque

    • get_tool_force

  • Add Enums/Structs

    • Add enum.ROBOT_SPACE

    • Add struct.ROBOT_VEL / struct.ROBOT_FORCE

2022-06-02

1.25

Delete port parameter in flange_serial_open / close

Add cause sentence for set_tool / set_workpiece_weight function

2022-05-04

1.24

Edited content related to enum.SAFETY_MODE_EVENT

Fixed parameter in set_safety_mode example

Add port parameter to flange_serial related command (specify available for new flange)

Change version → GL010115

Update Functions

  • Add new functions

    • set_workpiece_weight

    • set_mode_tool_analog_input

    • set_tool_digital_output_type

    • set_tool_digital_output_level

    • get_tool_analog_input

  • Add enums

    • COG_REFERNCE

    • ADD_UP

    • OUTPUT_TYPE

2022-04-29

1.23

3.3.21: Change the argument part TOnMonitoringSafetyState → TOnMonitoringSafetyStateCB

3.7.14: Argument part TYPE_TYPE → change to DATA_TYPE

3.8.11 Modify the argument to enum → enum.MODBUS_REGISTER_TYPE

Update Definition

  • Add enums: SAFETY_MODE / SAFETY_EVENT, COORDINATE_SYSTEM

  • Add structs: struct.MESSAGE_PROGRESS

  • Resolve enum constant ROBOT_STATE notation error

Update Functions

  • Delete get_override_speed

Update Features

  • Add realtime control

2022-03-10

1.2

Modify version information: GL010112

Add new functions

  • set_safety_mode

  • set_on_monitoring_state

  • Add new function for real-time control (refer to the other manual).

2021-12-16

1.19

Modify version information: GL010112

Add new functions

  • ikin (extension)

  • set_monitoring_robot_system

  • change_collision_detection

  • add_sw_module

  • del_sw_module

  • update_sw_module

  • release_protective_stop

  • set_on_monitoring_update_module

2021-11-22

1.18

Modify version information: GL010111

Add new function : get_override_speed

2021-09-15

1.17

Modify version information: GL010110

2021-06-09

1.16

Add missing function : servo_off

2021-03-24

1.15

Add missing functions : set_user_home / Flange_serial_read parameter added (timeout)

2021-03-19

1.14

Correction of typos / Correction of some functions : movesj, set_safe_stop_reset_type, close_connection etc.

2020-10-19

1.13

Add functions : flange_serial etc.

2020-10-19

1.12

Split the header (add DRFLEx class)

2020-06-08

1.11

Update function name (DRL style)

2020-05-28

1.1

Update new commands

2020-05-20

1.0

Initial Creation and Distribution

2018-06-29