1.1.2 History of Document Creation/Revision

Revision No.

Creation / Revision Pages and Contents

Revision Date

1.33.5

Modify version information: GL013305

Update Features

  • Added set_rt_thread_priority to choose the operating system scheduling priority the library uses to receive real-time data and run real-time callbacks, for example SCHED_FIFO on Linux or a THREAD_PRIORITY_* level on Windows. It applies from the next connect_rt_control.

Bug Fixes

  • Improved real-time control reliability and response time on Linux.

  • Fixed connect_rt_control failing after disconnect_rt_control.

  • Fixed connect_rt_control not returning when the controller does not respond.

  • Fixed the reference pose option of ikin being ignored.

  • Fixed servoj_g and movesj_g moving the robot when the target pose cannot be reached. They now return false.

  • Fixed set_robot_mode returning true when the mode change failed.

  • Fixed set_safety_mode and set_robot_control returning true when the controller did not respond or the connection was lost.

  • Fixed get_robot_link_info returning true with empty data when the controller did not respond.

  • Fixed alter_motion returning true without moving the robot when alter motion was not enabled.

  • Fixed flange_serial_open setting a wrong baud rate. It returns false for an unsupported baud rate.

  • Fixed flange_serial_write sending data when the size is invalid. It now returns false instead.

  • Fixed the result of addto changing after the call.

  • Fixed building the library from source with CMake 4.

Updated Sample

  • All samples use the current function names in place of the deprecated ones.

  • 1_minimal_motion_sample.cpp to 3_send_drl_script_sample.cpp can be built for DRCF v3 controllers with -DDRCF_VERSION=3.

  • Fixed 2_minimal_rt_monitoring_sample.cpp receiving no real-time data.

  • 4_minimal_welding_sample.cpp builds for DRCF v2 controllers and sets the TCP in Manual mode.

  • Fixed 5_minimal_instruction_sample.cpp and 6_realtime_control_sample.cpp failing to build for some DRCF versions.

  • 6_realtime_control_sample.cpp reports which step failed when real-time control cannot start.

  • Fixed 7_get_robot_link_info_sample.cpp sometimes showing all-zero link information.

  • Fixed API_DRFL_BUILD.sh failing to link the samples on Ubuntu 18.04 and 20.04.

Other Changes

  • movesj_g returns false for more than MAX_SPLINE_POINT points.

  • Existing function signatures are unchanged. Windows: replace the DLLs. Linux: relink against libDRFL.a.

  • Updated the tutorial pages to match the samples.

Notice

  • On one connection, call functions that return a value from the controller, such as get_current_posx and ikin, from one thread, or one at a time.

  • Keep the output period of set_rt_control_output shorter than 1 second. If the real-time connection closes, wait at least 5 seconds before calling connect_rt_control again. On the simulator, restart the simulator instead.

  • To see why connect_rt_control fails, register set_on_rt_log_alarm before calling it.

  • Before sending real-time commands, check that time_stamp from read_data_rt keeps advancing. Call get_rt_control_*_list only while real-time control is connected.

2026-11-04

1.33.4

Modify version information: GL013304

Bug Fixes

  • Fixed a crash or hang when closing a connection.

  • Fixed monitoring callbacks falling behind under heavy traffic.

  • Fixed an undetected disconnect during open_connection.

  • Fixed elevated CPU usage while the library is idle.

  • Fixed memory corruption on a malformed safety configuration.

  • Fixed an unexpected alarm, and a session that received no data, after close_connection followed by open_connection.

Other Changes

  • get_safety_configuration now returns NULL on an incomplete or malformed configuration.

  • Headers are identical to GL013303. Windows: replace the DLLs. Linux: relink against libDRFL.a.

  • Corrected wrong values, units, blocking behaviour and examples across the real-time control, force/compliance, motion, welding and tutorial pages.

  • Added a Korean translation of the manual.

2026-09-08

1.33.3

Modify version information: GL013303

Update Features

  • Added default parameter values for _ikin_ex and _ikin_add_iter_threshold in DRFLEx.h.

  • Added _set_stiffnessx_v3 and _set_desired_force_v3 internal API functions for DRCF v3

  • set_stiffnessx and set_desired_force now dispatch to v2 or v3 implementations based on DRCF_VERSION preprocessor flag

  • set_workpiece_weight, set_user_home and change_collision_sensitivity are no longer refused by the library in Auto mode.

Updated Sample

  • 5_minimal_instruction_sample.cpp

    • Translated Korean comments to English.

    • Fixed the sample stopping in OnMonitoringStateCB.

    • Added retry logic for control authority acquisition.

    • Added robust servo-on with state recovery and timeout.

    • Added ikin_norm usage example and current pose readout.

Other Changes

  • Removed obsolete main.cpp.

  • open_connection and get_system_version no longer wait indefinitely when the controller does not respond.

2026-03-10

1.33.2

Modify version information: GL013302

Update Features

  • Merged DRFL.h and DRFLEx.h into a unified header.

  • Legacy CamelCase APIs are now marked deprecated (compiler warning via DRFL_DEPRECATED) and are declared in DRFLEx.h; use the snake_case equivalents.

Updated Functions

  • Added Hold to Run functions:

    • hold2run

    • jog_h2r

    • movej_h2r

    • movel_h2r

  • Added Ethernet Register functions:

    • set_output_register_bit

    • set_output_register_int

    • set_output_register_float

    • get_output_register_bit

    • get_output_register_int

    • get_output_register_float

    • get_input_register_bit

    • get_input_register_int

    • get_input_register_float

2026-01-28

1.33.1

Modify version information: GL013301

Updated Functions

  • Added missing functions

  • Added DH parameter function: get_robot_link_info

  • Added singular function: set_singular_handling_force

Update Definition

  • Added missing Structures

  • Added DH parameter Structure: ROBOT_LINK_INFO

  • Added singular Enum: SINGULARITY_FORCE_HANDLING

Update Features

  • Fixed a heap error in open_connection.

  • set_robot_mode(ROBOT_MODE_AUTONOMOUS) now also sends the Auto mode move event (SAFETY_MODE_EVENT_MOVE) right after entering Auto mode.

2025-12-19

1.33

Modify version information: GL013300

Update Features

  • 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 and flange_serial_close now take a required nPort first argument (Flange rev2).

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_CIRCULE_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_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

2025-01-15

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

  • Removed the get_safety_configuration_ex member; get_safety_configuration now returns SAFETY_CONFIGURATION_EX2 (DRCF v2) or SAFETY_CONFIGURATION_EX2_V3 (DRCF v3) depending on DRCF_VERSION

  • 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.ROBOT_SPACE

Fixed set_on_monitoring_safety_state

Fixed enum.MOVE_REFERENCE

Fixed change_operation_speed

Fixed TOnMonitoringRobotSystemCB

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

Added a note to set_tool and set_workpiece_weight on calling them one after the other.

2022-05-04

1.24

Edited content related to enum.SAFETY_MODE_EVENT

Fixed parameter in set_safety_mode example

Added the port parameter to the flange_serial functions. The parameter applies to flange version rev2 only.

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_REFERENCE

    • 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_MODE_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_on_monitoring_robot_system

  • change_collision_sensitivity

  • 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