1.1.2 History of Document Creation/Revision
---------------------------------------------

.. list-table::
   :header-rows: 1
   :widths: 10 70 15

   * - **Revision No.**
     - **Creation / Revision Pages and Contents**
     - **Revision Date**

   * - 1.33.5
     - Modify version information: GL013305 |br| |br|
       **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 |br| |br|
       **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 |br| |br|
       **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 |br| |br|
       **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 |br| |br|
       
       **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 |br| |br|
       **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 |br| |br|
       Add contents of ``enum.ROBOT_MODE`` |br| |br|
       Delete duplicate ``enum.ROBOT_SPACE`` |br| |br|
       Add ``set_palletizing_mode`` command |br| |br|
       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`` |br| |br|
       Fixed ``set_on_monitoring_safety_state`` |br| |br|
       Fixed ``enum.MOVE_REFERENCE`` |br| |br|
       Fixed ``change_operation_speed`` |br| |br|
       Fixed ``TOnMonitoringRobotSystemCB`` |br| |br|

       **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`` |br| |br|
       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`` |br| |br|
       Fixed parameter in ``set_safety_mode`` example |br| |br|
       Added the ``port`` parameter to the ``flange_serial`` functions. The parameter applies to flange version rev2 only. |br| |br|
       Change version → GL010115 |br| |br|

       **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`` |br| |br|
       3.7.14: Argument part ``TYPE_TYPE`` → change to ``DATA_TYPE`` |br| |br|
       3.8.11 Modify the argument to enum → ``enum.MODBUS_REGISTER_TYPE`` |br| |br|
       
       **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 |br| |br|

       **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 |br| |br|

       **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 |br| |br|

       **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