
1        Release Notes

1.1        Firmware version 5.3

                                        - 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                    - The pre-gripping motion of a grip with position command
                                          might be skipped. The workpiece is gripped nonetheless but
                                          the inital pre-gripping motion (with its usually higher
                                          speed) is not executed. This happens occasionally only
                                          depending on internal and external timing conditions.

1.2        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                    -



1.3        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                    - The workpiece loss monitoring begins with the triggering of a gripping function.
