Released 2023-06-23
Motor controller failing on MiR250 robots running on 2.14.0 or 2.14.1 software
Sometimes, MiR250 robots running on 2.14.0 or 2.14.1 software would suddenly stop moving because the motor controllers did not receive drive commands. This was caused by a change of parameters in the motor controller’s default configuration. In SW 2.14.2, the motor controller’s default configuration is always loaded correctly into the motor controller, which ensures this issue will not occur.
Robots with replacement batteries not charging at high battery percentages
If you have a MiR100 HW version 1.9.1 or lower or a MiR200 HW version 1.0.1 or lower, and you replaced the original battery with a replacement 24V Standard battery without setting the battery state of charge limit to 100%, the robot would not charge the battery until it went below 73% battery percentage. This has now been solved so the robot will charge the battery at any battery percentage.
Wi-Fi not connecting if password includes an equal sign (=)
If you added a Wi-Fi connection and used a password that included an equal sign (=), the Wi-Fi connection would be lost. This has now been solved.
MiR600 and MiR1350 loosing localization after protective stops
If a MiR600 or MiR1350 went into Protective stop or Emergency stop while driving at high speeds, or if it went into many stops in close succession at low speeds, the robot would sometimes loose localization, especially when driving with heavy payloads.
The issue was caused by a safety measure that disconnects the motor controllers whenever STO relays are switched off, for example, during a Protective stop. When the motor controllers are disconnected, they do not communicate any encoder values (the motor encoders measure how many times the motor of each drive wheel has rotated).
With this software, the robot uses its Inertial Measurement Unit (IMU) to calculate the distance the robot travels while the STO relays are switched off. This solves the issue.
Fleet scheduler freezing or lagging when receiving many REST API calls
Sometimes when the fleet scheduler received many REST API calls, the fleet would lag or seem frozen, or the user would receive a "500 Internal Server Error" response on the API call. This was mainly an issue on large fleets that received very large numbers of REST API calls. This issue has now been solved.
Brake voltage showing in millivolts
In the robot interface under Monitoring > Hardware Health > Motors > Brake, the voltage was shown in millivolts and not in volts. This has now been solved so the voltage is shown in volts.
Power board not sending information for up to five seconds
In rare cases, the power board on MiR robots would not send any information for up to five seconds. This could, for example, cause the robot to loose localization or to fail its current mission. This has now been solved.
Improved camera filter description
The description of the camera filters has been improved in the robot interface to avoid confusion. It explains that higher filter values mean lower sensitivity to obstacle data. The following description has been added: “A higher filtration makes the robot less sensitive to camera obstacle data, meaning it is less likely to detect obstacles.”