Release notes for GPL version 5.2 Updated 3/10/2026 Changes with respect to GPL 5.1: o Add support for Cartesian force control. Force control is only supported for kinematic types 4 and 12, as specified by DataID 116. This covers current c3, c5, c10, PF400, PF3400 robots. o Change Move.SetTorques method to not require that the robot be attached. It now operates on the selected robot. This change makes Move.SetTorques more like the Move.SetRealTimeMod method so that a separate thread can determine the torque values. o Enable G5xxx and G6xxx controllers to be used as RS485 slaves. o Added new kinematics module P4R (PRRRR), robot type 24. This is a PRRR robot with a pitch axis following the wrist. o Added support for RGB color output using digital outputs 1, 2, 3 on a GSB4. These outputs corrspond to signals n00013, n00014, n00015, where n is the node number of the GSB4. RGB color output is setup using new DataIDs 532 and 533. New dedicated output signal 8065 turns the color LED on and off. New web page Control Panels > Local I/O > Extended DIO status displays and allows override of this value. o Increased the maximum number of GPL tasks from 48 to 64. o Add support for Panasonic bus encoders on HVCPU controller boards. o Add support for Project.ref file needed by GDS. o Remove check of Modbus unit number from Modbus slave interface. Remote masters (clients) are no longer required to specify unit 0xff or 0. o Add optional parameter for node number to GPL instructions Controller.Pdb and Controller.PdbNum. Syntax: Controller.PDb(dataid, unit, unit2, array_index, node) Controller.PDbNum(dataid, unit, unit2, array_index, node) If omitted or set to 0, the local node is selected as before. Remote node accesses may be much slower than local accesses. Remote nodes do not necessarily support all local DataID values. Note: Use of this new parameter in GPL programs will cause compilation errors in older GPL versions. o Add support for 4 analog inputs on HVCPU board. Enable Signal.AIO(sig) method in GPL to access these inputs. where sig is the analog input number form n10001 to n10004. and n is the node number. n = 0 or n = 1 refer to the local board. Enable the analog-input DataIDs: 524 Gen AIO In scale factor 525 Gen AIO In offset 526 Gen AIO In min scaled value 527 Gen AIO In max scaled value Enable DataID 12112 "Analog input reading" to access raw inputs values. o Add DataIDs for datalogging 379 "Time since boot in sec". Can be logged. Returns the time since boot in seconds, quantized to 125 usec. Same as the value returned by Controller.Timer(1). 16103 "Last latch timestamp". Can be logged. The time in seconds-since-boot when the most recent latch event occurred. Same as the timestamp shown by the show latch console command. 16104 "Last latch angles encoder counts". Can be logged. An array of latched encoder values from the most recent latch event. Same as the encoder count values shown by the show latch console command. 16105 "Last latch angles deg or mm". Can be logged. An array of latched encoder values from the most recent latch event. Same as 16104 only scaled to degrees or mm. o Ignore Panasonic and Tamagawa multi-turn related alarm if bit 1 is set in ID 10259, Misc. serial encoder configuration bitmask. Bug fixes o Fix crash if empty argument is found in the Case instruction argument list. o Fix crash if undefined string passed by reference in GPL. o Fix memory leak caused by chain of location operators with clone. e.g. loc2 = loc1.clone.pos o Fix memory leak in cascaded string methods that return a numeric result. e.g. ii = myString.ToLower.Length o Fix bug that prevents datalogging of remote data if no local servos have been configured. o Fix bug if encoder latch processing takes more than 32 milliseconds. o Fix bug in amp fault signal routing for channel #3 and #4 in G66xx. 5.2d1 06/21/2026