pmc 2025.09v7.22.07 (117.22.07)

Feature Summary

• Support full rotation at force mode for all XBot types excluding M3-06 and M3-08.

• Add spacing to accident XBot recovery to avoid collision with other xbots.

• Support safety sector feature.

• Add command to get flyway origin.

• Allow flyways with North or East port open to be the Master Flyway in 4 series.

• Lower minimum Z speed limit to 0.15mm/s.

• Add rolling fieldbus snapshot log.

• Add position mode to inject noise command - TCP/IP command only

Bug Fixes

• Fixed issue that PMC would crash after running GCode for long periods of time

• Fixed issue that XBot with xy or yx motion cannot resume at border.

• Fixed issue that removing planet XBot during motion causes tracking error.

• Fixed issue that Inject noise with delay through fieldbus errors out.

• Fixed issue that accident XBot recover with large Rz will cause PMC crash.

• Fixed issue that accident XBot not always recovered if in motion.

• Fixed issue that accident fence was not always removed after recovery.

• Fixed issue that recover accident XBot may change XBot state next to it.

• Fixed issue that GetPlanets doesn't return error for invalid xbot ID.

• Fixed issue that GetPlanets crash after incomplete XYMotion.

• Fixed issue that XBot executes old command from buffer.

• Fixed issue that inject noise to short axis doesn't work properly.

• Fixed issue that accident XBot doesn't enter track during recovery.

• Fixed issue that accident fence doesn't block XBot from Y direction.

• Fixed issue that group behavior sometimes was incorrect on borders.

• Fixed issue that PMC doesn't work with FW:>=24-5C for gap feature.

• Fixed issue that groups in intersection zones sometimes counted wrong.

• Fixed issue that Intersection zone was not reset when refenced.

• Fixed issue that XBots stopped by dynamic obstacles don't stay in obstacle state.

• Fixed issue that when border is disconnected XBot cannot move up to the border boundary.

• Fixed issue that can't recover safety sector if there's an accidented XBot on the border.

• Fixed issue that accident XBot Rediscovery Error: First XBot Scanned.

• Fixed issue that anybus may cause PMC to get stuck.

• Fixed issue that auto driving fails for simple targets.

• Fixed issue that setting ip settings from xml does not work.

• Fixed issue that override zone speed with speed ratio 0 stops the XBot.

• Fixed issue that problem with activating / deactivating Sectors when XBots are on the boundary.

• Fixed issue that number of movers on the boundary of the safety sector is not correct.