v2.2026.37.1 AlarmHistory

What's Changed

CODESYS Alarm Management is in the HMI: live faults, archived history, and a nav button that goes red while something is unacked. Also a shared nav frame, vision CAP, and a TCS teach lock.

Alarms

• Processor faults are raised as Event alarms from FB_Module.M_Error with a STRING latch (<LATCH %s> in the Processors text list).
• Fault class uses ACK. Alarm Storage is a 1000-record ring buffer on the Pi (PlcLogic/alarms/Application.alarmstorage.sqlite).
• New Alarms page: live table, History, ack, clear history.
• ALARMS nav: Accent on that page, Danger while xActiveAlarm is true.
• GLOBAL RESET / GVL.Reset calls AcknowledgeAll().
• Several M_Error calls in one scan are concatenated into one Event.
• Starting a program while disabled, not homed, or with an active alarm reports the reason. R_TRIGs keep the same fault from spamming.

HMI

• Nav bar is a global frame so button changes stay in sync on every page.

Vision / programs

• Capture commands write CAP. ACQ still parses so old programs run. DUT_Command_VisionType.Acquire is now Capture.
• Teach position is blocked in TCS.

How to verify

• Trip a known processor/vision fault: Main banner still shows the live text; Alarms shows a live row; History keeps it after ack.
• GLOBAL RESET acks alarms and clears the red nav highlight.
• Confirm the sqlite file on the Pi after the first archived alarm (reset origin deletes it).
• Teach while in TCS is rejected.
• New vision programs persist CAP; existing ACQ programs still parse.

Install on the Pi:

curl -sSL https://raw.githubusercontent.com/dalethomas81/ArfBotOS/main/scripts/install-pi.sh | bash

See the wiki Installation page.

Full Changelog: v2.2026.37.0-RobotAnimator...v2.2026.37.1-AlarmHistory

• Add alarm history, global nav bar, and vision CAP by @dalethomas81 in #36

v2.2026.37.0 RobotAnimator

What's Changed

WebVisu now has a live 6-axis RobotAnimator, locate matching is native OpenCV (tens of milliseconds instead of seconds), and AR4 defaults match Annin 6.1+ microsteps. Verified path: download the application, then hard-refresh the HMI.

RobotAnimator

• HTML5 control in Process View: joints, gripper, MCS/PC1/PC2/TCP frames, FK TCP HUD, orbit/zoom.
• DH matches the axis group (MCS Z-up, display Y mirrored so jogging matches the robot).
• Euler convention follows SoftMotion (OriConvention: ZYZ for robotics, switches for CNC).
• Also a Flask tab at http://<pi>:5000/animator.
• Safari: after each application download, run sudo python3 Codesys/Html5Controls/RobotAnimator/patch_webvisu_safari.py and hard-refresh, or joints stay frozen.

Install the control once: Tools → Visualization Element Repository → HTML5 Controls → Install → Codesys/Html5Controls/RobotAnimator/RobotAnimator.html5control.xml. Overlay of native elements must stay enabled.

Vision

• FastTemplateMatching.py uses cv2.TM_CCOEFF_NORMED, refines the top peaks, draws with OpenCV primitives. Typical Test* times dropped from seconds to tens of milliseconds.
• install-pi.sh installs apt python3-opencv / python3-numpy for sudo python (the PLC path). Do not pip install opencv-python. Bookworm 4.6 and Trixie 4.10 are supported.
• LOC a: is -image_angle + rotation_offset, wrapped to ±180°, in the same frame as cx/cy (PCS1 when that frame is taught). Overlay boxes stay in image space.
• Calibration origin is the first inner checkerboard corner (arrow start), not the printed plate edge. Teach PCS1 there. Red +X, green +Y.

AR4 / motion

• PulsesPerRevolution for Annin 6.1+ DIP: J1 32000, J2/J3 40000, J4 35840 (800 microsteps), J5 15700, J6 16162.5.
• If the robot is still on the old half-step DIP settings, either update the DIPs or restore the previous PPR values — otherwise motion will be about 2× too far.

HMI

• DualSense hint labels when the controller is connected.
• Programs: Ctrl+C copy, Ctrl+V paste, Ctrl+Del delete the selected command.
• Every page shows the full nav row; the current page is highlighted.

Other

• Bambu Studio Robots/AR4/3D Printing/Bambu.3mf (as-built AR4 Mk3 plus ArfBotOS extras).
• README / HMI / vision screenshots refreshed; locate result image is PNG.

How to verify

• python OpenCV/FastTemplateMatching/_bench.py (no camera).
• On the Pi: python -c "import cv2; print(cv2.__version__, cv2.__file__)" should show apt dist-packages, 4.5+.
• Jog in WebVisu and confirm the animator tracks J1–J6. On Safari, apply the overlay patch after download.
• Teach PCS1 on the calibration arrows; a locate a: should match that yaw.

Install on the Pi:

curl -sSL https://raw.githubusercontent.com/dalethomas81/ArfBotOS/main/scripts/install-pi.sh | bash

See the wiki Installation page.

Full Changelog: v2.2026.35.0-PiInstaller...v2.2026.37.0-RobotAnimator

• Speed up FastTemplateMatching and ship RobotAnimator, AR4 6.1 steps, and Pi OpenCV install by @dalethomas81 in #32
• Update readme images by @dalethomas81 in #33
• Add program keyboard shortcuts, report vision yaw in PCS, and update calibration docs by @dalethomas81 in #34
• Show all navigation buttons on every HMI page and highlight the active one by @dalethomas81 in #35

v2.2026.35.0 PiInstaller

What's Changed

Raspberry Pi OS Lite 64-bit is now the default, with CODESYS Control Raspberry Pi 64 SL. Install on a Pi 4 or Pi 5 is four steps: image the Pi, install the runtime, download the application, run the install script. Verified on Pi 4 and Pi 5 (home, vision, DualSense Bluetooth, EtherCAT).

• Add a Linux installer for the Raspberry Pi (curl | bash from main). --plc-only skips vision; --vision-only is for a dedicated vision Pi.
• Combined web app on port 5000: vision templates at /vision, saved templates at /vision/files, DualSense pairing at /bluetooth, HMI image at /vision/output_sized.
• DualSense Bluetooth pairing is the web page (Create + PS, then Scan / Pair device). USB still works without pairing.
• EtherCAT NIC defaults to eth0 by name, with a per-board MAC fallback.
• Demo license remaining-time banner on the HMI.
• Update Device to Raspberry Pi 64 SL (0000 0012); CmpIecTask results passed via ADR().

Also since the last release:

• CNC / Fusion 360 Hello World, M-codes, and simulation.
• Euler-angle end effector, vision calibration/template matching, and drive-tuning HMI.
• Fix low-speed joint jitter (SoftMotion velocity scale + Teensy PTO).
• Fix WebVisu lag by reducing the 3D path point buffer.
• ArfBot Night visualization style, IEC FB_ / F_ object prefixes, and factory programs seeded from retain.

Install on the Pi:

curl -sSL https://raw.githubusercontent.com/dalethomas81/ArfBotOS/main/scripts/install-pi.sh | bash

See the wiki Installation (https://github.com/dalethomas81/ArfBotOS/wiki/Installation) page.

Full Changelog: https://github.com/dalethomas81/ArfBotOS/compare/v2.2024.48.0-IoOptions...v2.2026.35.0-PiInstaller

v2.2024.48.0 IoOptions

What's Changed

• Added the ability to select between one of two IO options.

• The PLC program will automatically map the appropriate device IO based on which one is enabled in the Device tree.

• Added an EtherCAT remote IO option using the Teensy controller and a EtherCAT slave.

• Added logic for the PLC and the IO slaves to discriminate based on expected device type to prevent slaves with the same description file from processing the wrong information.

• Updated documentation to add additional information about IO mapping and how to enable or disable IO.

• General documentation updates.

• Create MyRobot.png by @dalethomas81 in #17

• Added IO Options 1 and 2 by @dalethomas81 in #19

Full Changelog: v2.2024.47.0-EtherCAT...v2.2024.48.0-IoOptions

v2.2024.47.0-EtherCAT

What's Changed

• Converted communication protocol to EtherCAT.

• Added electrical documentation for AR4 robot.

• Tons of quality-of-life improvements, bug fixes, and features including:

  • manual triggering of saving persistent data.
  • auto-increment jump commands when adding or removing commands in a program.
  • improved management of robot status when connections fail.
  • remove hard-coded "magic numbers" from AR4 controller code to make configuration for other robots possible.
  • EtherCAT status added to home screen.
  • Homing sequence groups are now configurable. (As of now, this needs to be done online with PLC. UI coming.)
  • Home button now has a confirmation step to mitigate accidental zeroing of robot.
  • CODESYS version bumps across the board to latest revisions. (runtime, softmotion, visu, and IDE)
  • Added CODESYS configuration file to be used by CODESYS Installer to make installation easier to manage versions needed for ArfBotOS.
  • Tons of documentation including tutorials, electrical schematics, and images.

• Dev by @dalethomas81 in #15

• update documentation by @dalethomas81 in #16

Full Changelog: v1.2024.52.0...v2.2024.47.0-EtherCAT

v1.2024.52.0 - Codesys

What's Changed

• Dev by @dalethomas81 in #14

Full Changelog: v1.2024.22.0...v1.2024.52.0

v1.2024.22.0

What's Changed

• Dev by @dalethomas81 in #3
• Dev by @dalethomas81 in #4
• add ability to use a remote vision system by @dalethomas81 in #5
• fix vision part count by @dalethomas81 in #6
• add orientation lines to calibration image by @dalethomas81 in #7
• Dev by @dalethomas81 in #8
• Dev by @dalethomas81 in #9
• update template designer by @dalethomas81 in #10
• Update template.html by @dalethomas81 in #11
• Dev by @dalethomas81 in #12
• Dev by @dalethomas81 in #13

Full Changelog: v1.2024.14.2...v1.2024.22.0

Add Jogging and Homing Features

• Major improvements to the Jogging UI.
• Overhauled the jogging function block to use the new GroupHandler function block.
• Plenty of new additions to the README in regards to Tuning, Homing, and Jogging.

Axis Tuning Features and Game Controller Integration

• Added features to facilitate tuning of the axes.
• Added Playstation Dualsense game controller integration so the TCP can be manipulated more easily.

Initial Release

• code copy from private repository