
1        Release Notes

1.1        Firmware version 5.3.1

                                        - Tag date:                 2025-08-27
        Build-Info                      - Firmware version:         5.3.1.117131
                                        - Build date:               Aug 27 2025
                                        - Build time:               16:40:58

        Supported grippers              - EGU: all types
                                        - EGK: all types
                                        - EZU: all types

        Communication interface         - Profinet
                                        - EtherNet/IP
                                        - EtherCAT
                                        - IO-Link
                                        - Modbus-RTU

                                        NOTE
                                        To up-/downgrade the firmware version of modules with an IO-Link or Modbus-RTU
                                        communication interface, please contact the SCHUNK Service.

        Change log                      - The behavior when releasing elastic workpieces has been improved.
                                        - Improved jog behavior: Overshooting when leaving the software limits has been reduced.
                                        - Communication via IO-Link has been made more robust.
                                        - Bugfixes:
                                          - Falsely generated absolute encoder errors "0xB9" (ERR_ENC_ABS_FAIL) during gripper startup have been resolved.
                                          - In rare cases, pre-positioning during "grip workpiece at expected position" was skipped. This has been corrected.
                                          - The module function "Restart" is now correctly executed even in the "ready for shutdown" state.
                                          - When executing the module function "Shutdown," the module's control is deactivated, and if present, the brake is engaged.
                                          - The status bits "workpiece pre-grip started" and "workpiece lost" are now correctly reset after a workpiece loss.
                                          - The status bits "workpiece pre-grip started" and "workpiece gripped" are correctly reset at the end of regripping.
                                          - Setting the reserved control bit 15 is ignored.
                                          - Incremental encoder errors are stored in the diagnostic memory.

        Known issues                    - If the calibration of the measurement system is interrupted and a restart is performed, the module "forgets" that the measurement system was not properly calibrated.
                                        - For modules with Ethernet interfaces, the error ERROR_REBOOT (0x7C) is not generated.
                                        - The status bit "success" is incorrectly set during release for manual movement.



1.2        Firmware version 5.3.0

                                        - Tag date:                 2024-09-26
        Build-Info                      - Firmware version:         5.3.0.102410
                                        - Build date:               Sep 26 2024
                                        - Build time:               17:29:50

        Supported grippers              - EGU: all types
                                        - EGK: all types
                                        - EZU: all types

        Communication interface         - Profinet
                                        - EtherNet/IP
                                        - EtherCAT
                                        - IO-Link
                                        - Modbus-RTU

                                        NOTE
                                        To up-/downgrade the firmware version of modules with an IO-Link or Modbus-RTU
                                        communication interface, please contact the SCHUNK Service.

        Change log                      - Added support for new centric grippers EZU in firmware
                                        - Updated device description files for Profinet/GSD, EtherNet/IP/EDS, EtherCAT/ESI, IO-Link/IODD
                                          - added support for new grippers
                                          - more descriptive/concise/correct metadata like vendor names, copyright, url
                                          - more descriptive/concise device variant descriptions in Englisch and German (IODD, GSD, (EDS))
                                          - more accurate parameter descriptions, e.g. value ranges in IODD
                                          - updated the various gripper type specific graphical representations (icons) for easy identification
                                        - Bugfix: Bit "workpiece pre-grip started" in statusword is now correctly reset if pregripping is interrupted by a release or move to position commands
                                        - Optimization: Grip with preposition is using desired velocity
                                        - Extended warning code 0x28 changed to NF_COMMAND_REQUIRES_BRAKE
                                        - Bugfix: No more undesired oscillations in controlled stop for first movement after powerup
                                        - Bugfix: Potential corruption of runtime-structure for internal error processing
                                        - Change: Detection of Modbus-RTU communication timeouts has been made more tolerant (improving compatibility with UR PolyScope controllers)
                                        - Bugfix: Method for determining motor temperature has been made more robust (issues only occurred in rare cases).

        Known issues                    - Double encoder initialization during startup may lead to a B9 (ERROR_ENCODER_ABS_FAILED)error.
                                        - Pre-positioning during gripping at the expected position may be skipped.
                                        - After preparing for shutdown, the drive control remains active, and the brake, if present, stays open.
                                        - Status bits "wp pre-grip started" and "wp lost" are not correctly reset.
                                        - Setting the reserved control bit 15 results in a "not feasible" response.
                                        - If the calibration of the measurement system is interrupted and a restart is performed, the module "forgets" that the measurement system was not properly calibrated.
                                        - Status bits "wp pre-grip started" and "wp gripped" are set simultaneously.
                                        - Modules with Modbus and BLE interfaces cannot read the parameter dbg_msg_buffer (0x2130).
                                        - Status bits "wp lost" and "no wp detected" are set simultaneously.
                                        - For modules with Ethernet interfaces, the error ERROR_REBOOT (0x7C) is not generated.
                                        - The status bit "success" is incorrectly set during release for manual movement.

1.3        Firmware version 5.2

                                        - Tag date:                 2023-09-04
        Build-Info                      - Firmware version:         5.2.0.81896
                                        - Build date:               Sep 04 2023
                                        - Build time:               18:04:14

        Supported grippers              - EGU: all types
                                        - EGK: all types

        Communication interface         - Profinet
                                        - EtherNet/IP
                                        - EtherCAT
                                        - IO-Link
                                        - Modbus-RTU

                                        NOTE
                                        To up-/downgrade the firmware version of modules with an IO-Link or Modbus-RTU
                                        communication interface, please contact the SCHUNK Service.

        Change log                      - To execute the jog mode, a velocity value must be sent cyclically.
                                        - The jog mode ends up automatically at the position limits.
                                        - The WRN_NOT_FEASIBLE reasons can be read cyclically.
                                        - The repeating accuracy of the gripping force values has been optimized.
                                        - The gripping force maintenance of the brake can be checked.
                                        - The monitoring of the encoder systems has been optimized.
                                        - Device description files where changed according to the change of company
                                          name from "SCHUNK GbmH & Co. KG" to "SCHUNK SE & Co. KG".
                                        - Maximum gripping force in Strong Mode has been increased from 150% to 200%
                                          for EGU 50, 60 and 80.

        Known issues                    - Double encoder initialization during startup may lead to a B9 error.
                                        - Pre-positioning during gripping at the expected position may be skipped.
                                        - After preparing for shutdown, the drive control remains active, and the brake, if present, stays open.
                                        - Status bits "wp pre-grip started" and "wp lost" are not correctly reset.
                                        - Setting the reserved control bit 15 results in a "not feasible" response.
                                        - Resetting parameters may not work reliably under certain circumstances.
                                        - Modules with Modbus interfaces sometimes output cryptic diagnostic results.
                                        - Gripping forces are cyclically displayed in percent, but diagnostic memory outputs them in Newtons.
                                        - If the calibration of the measurement system is interrupted and a restart is performed, the module "forgets" that the measurement system was not properly calibrated.
                                        - Status bits "wp pre-grip started" and "wp gripped" are set simultaneously.
                                        - Modules with Modbus and BLE interfaces cannot read the parameter dbg_msg_buffer (0x2130).
                                        - Status bits "wp lost" and "no wp detected" are set simultaneously.
                                        - If regripping is interrupted by a positioning movement, the status bit "wp pre-grip started" is not reset.
                                        - In different situations where triggering a restart is not allowed, different "not feasible" reasons are generated.



1.4        Firmware version 5.1

                                        - Tag date:                 2022-10-24
        Build-Info                      - Firmware version:         5.1.0.63382
                                        - Build date:               Oct 24 2022
                                        - Build time:               19:02:23

        Supported grippers              - EGU: all types
                                        - EGK: all types

        Communication interface         - Profinet
                                        - EtherNet/IP
                                        - EtherCAT
                                        - IO-Link
                                        - Modbus-RTU

                                        NOTE
                                        To up-/downgrade the firmware version of modules with an IO-Link or Modbus-RTU
                                        communication interface, please contact the SCHUNK Service.

        Change log                      - initial range of functions

        Known issues                    - Double encoder initialization during startup may lead to a B9 (ERROR_ENCODER_ABS_FAILED) error.
                                        - Pre-positioning during gripping at the expected position may be skipped.
                                        - After preparing for shutdown, the drive control remains active, and the brake, if present, stays open.
                                        - Status bits "wp pre-grip started" and "wp lost" are not correctly reset.
                                        - Setting the reserved control bit 15 results in a "not feasible" response.
                                        - Firmware update over Ethernet is unreliable.
                                        - Resetting parameters may not work reliably under certain circumstances.
                                        - Null vector offset is not reliably saved.
                                        - Modules with Modbus interfaces sometimes output cryptic diagnostic results.
                                        - The HW-ID key does not match between firmware and IODD, preventing firmware updates via IO-Link.
                                        - If the jog mode is tapped briefly (<70ms) while the brake is closed, the motion is not executed correctly.
                                        - Modules with Modbus interfaces respond to invalid requests (wrong function code, unknown register address, etc.) in listen-only mode.
                                        - The byte order of the control bits is reversed for IO-Link.
                                        - If jog mode is tapped briefly after a restart or error acknowledgment, the execution time is longer than during normal operation.
                                        - After calibrating the measurement system, jog mode can be executed up to the point of a blockage.
                                        - Gripping forces are cyclically displayed in percent, but diagnostic memory outputs them in Newtons.
                                        - After preparing for shutdown, parameters can still be modified.
                                        - If the calibration of the measurement system is interrupted and a restart is performed, the module "forgets" that the measurement system was not properly calibrated.
