pmc 2025.07v7.20.40 (117.20.40)
Feature Summary
Check rotation zone against static zone with circle area instead of square
Increase the number of border from 4 to 12
Support grid compensation
Disable creating XBots in emulation when defining or activating an autoloading zone
Add command to get star XBot info
Support large PMC cluster system
Support M309 detection over gap
Support long border edge
Bug Fixes
Fixed issue that XBot that quits crossing border can then go over any edge
Fixed issue that reboot PMC leaks memory
Fixed issue that accident recovery may cause ghost XBot which blocks other XBots from entering flyway
Fixed issue that XBot detection fence may remain after accident recovery
Fixed issue that XBot enters obstacle state for a while before starting rotation
Fixed issue that after rotation to vertical configuration the M4-20 can't move to left or right edge of flyway
Fixed issue that RFID doesn't support M3-09X in Emulation Mode
Fixed issue that XBot will ignore obstacle from other PMC when crossing the border at low speed
Fixed issue that XBots from different PMCs may get stuck at border even if the paths are clear
Fixed issue that done signal is delayed too much if XBot ID is 0
Fixed issue that priority zone stays indefinitely if accident is removed from system
Fixed issue that XBots crossing border can go over neighbor edge
Fixed issue that accident XBot can't be detected at the border
Fixed issue that rotating XBots can collide with dynamic obstacles
Fixed issue that border crossing XBots at certain vel/acc combos skip over XBots
Fixed issue that XBots get stuck in auto-driving
Fixed issue that XBots with stereotypes sometimes stop 0-3mm away from zones
Fixed issue that mover deadlock at intersection zone
Fixed issue that XBot may get stuck at border with obstacle state
Fixed issue that done signal on auto-driving block even when the XBots fail or the command fails half way
Fixed issue that XBot collision at high speed + low acceleration
Fixed issue that communication between PMCs may have frame lost
Fixed issue that global ID and user data are reset to 0 after crossing border
Fixed issue that XBot becomes ghost XBot after accident recovery
Fixed issue that border stereotype ID is wrong after crossing border
Fixed issue that absolute IDs are duplicated
Fixed issue that group XBots sometimes get stuck on border
Fixed issue that intersection zone letting XBots through in wrong order
Fixed issue that bonded group can get into intersection zone
Fixed issue that accident XBot recovery cannot remove fence
Fixed issue that XBot doesn't enter intersection zone with free spots stops
Fixed issue that motion not stopped for auto-driving when communication lost
Fixed issue that communication paths are incorrect when power sectors are involved