📋Release Notes

NEW
Run panel: Run is a single switch (switching on asks for confirmation, switching off stops at once); Move Enable shows the KUKA mxAutomation gate as the robot reads it; the Link row shows whether the controller is actually reporting.
3D viewport: smoother on slower computers. Moving views render at reduced resolution when needed; still images stay sharp.
IMPROVEMENTS
Grasshopper: realtime Cores (UR RT, NEURA RT, KUKA mxAutomation, KUKA Sunrise, ABB RWS) apply RUN, MOVE and Reset reliably, even under fast changes; KUKA mxAutomation keeps MOVE after a new setup.
Grasshopper: Install Certificate reports whether the certificate was installed.
3D viewport: the grid follows the base plane.
Settings: "Save File" is now "Save on Client".

IMPROVEMENTS
Realtime drivers (UR RT, NEURA RT, ABB RWS, KUKA mxAutomation, KUKA Sunrise): quicker and steadier response.
External axes: a rail and a positioner are placed correctly in either order.
Grasshopper: faster updates and collision checking on very large toolpaths; the IO Builder components are hidden for now.
KUKA Sunrise: fixed queueing issue.

BUGFIXES
KUKA KRL: external (stationary) tool is now set correctly.

NEW
Grasshopper: robots are drawn in glossy paint with reflections in Rendered and Raytraced views, and matte with crease lines in the other display modes.

IMPROVEMENTS
Grasshopper: definitions with many Cores update much faster.
Grasshopper: Import KRL, Import 3DP and the LBR iiwa components (in Grasshopper 2 also UR 10e, UR 20, igus ReBel and the NC importers) have new ids so they no longer potentially clash with other plugins; definitions saved with older versions need them placed again.
gRPC: the setup catalog (DescribeLibrary) moved to its own optional file, prc_library.proto. Clients that use it regenerate their code from both proto files.
.NET: new PRC.Server.Bundle NuGet containing all the libraries to run the PRC.Server.

BUGS
macOS: Fixed an issue where older files were shipped in the installer.

NEW
Realtime drivers (UR RT, ABB RWS, KUKA mxAutomation, KUKA Sunrise, NEURA RT): a Streaming Mode setting. Queue runs programs one after the other instead of replacing the running one; Servoing follows the latest target live. It replaces the Refuse While Busy and Follow Target Mode settings.
KUKA Sunrise: the Execution Mode is Program File or Online, with the Streaming Mode chosen separately.
Grasshopper: the Collision Geometry Builder builds hulls to a tolerance in mm instead of a quality level. Custom Tool, Custom Robot and the custom axes build their own collision hulls when none are connected and store them in the definition.
Blender: FANUC robots and the FANUC driver, and more Universal Robots, NEURA and KUKA presets.
.NET: the PRC.Server.Bundle NuGet package, a runnable portable server with launcher and client libraries.

IMPROVEMENTS
Grasshopper: the Robot Cell is drawn ghosted so the robot stays visible inside it;
Server: cell and collision geometry are shown as frosted glass with edges; Analysis page fixes.
KUKA mxAutomation: any mxAutomation DLL version loads.

NEW
Universal Robots: Polyscope X programs are saved as a .script file for the Script Manager (Polyscope X 10.11 or later).
UR RT: optional "Refuse While Busy" setting - a new task no longer interrupts a program the robot is running.
Grasshopper: a Core with only a robot connected shows the robot at its home position.

IMPROVEMENTS
Realtime drivers (UR RT, NEURA RT, KUKA mxAutomation): applying settings runs the last program again only while Run is on
Robot data: KUKA KR 6/10 R900-2 with a more accurate mesh.
Grasshopper: smoother shading of robot meshes.
Grasshopper 2 releases its robots on the server when a definition is closed.
C# library: the client returns PRC types.

NEW
KUKA KL4000 Modular: the KL4000 linear rail for any travel range and direction (Grasshopper 1 and 2).
Realtime drivers (UR RT, NEURA RT, KUKA mxAutomation): a task sent to the robot now starts where the robot actually stands; without a current position from the robot it is simulated but not sent.
IF/ELSE and WHILE: the paths a program does not take in the timeline are simulated too, and an error on them marks the task invalid.

IMPROVEMENTS
Simulation accuracy: timing improvements (circles, speed profiles, long jobs, external axes); more reliable solutions near wrist singularities and on offset wrists.
Collision: deep overlaps are detected reliably.
Importers: KRL, NC, Fusion NC and 3D-print import understand many more commands (circles, splines, modal G-code, arcs, dwells, comments).
Robot code: KUKA, NEURA and UR orientation fixes; arc lead-ins; ABB motion group bases; FANUC frame numbers.
Grasshopper: Cores hide their preview while inputs are unusable; the Collision Geometry Builder keeps its hulls in the file.
Server: runs better on Linux, macOS and in containers; frees memory when idle after a large task.
gRPC: clearer error messages for invalid input.

NEW
igus ReBel: the driver now writes programs in the igus Robot Control (iRC) V15 format. New ReBel 6DOF-03 preset. Driver is now listed as IGUS_IRC.
ABB RAPID: Improvements for external axes. Positioners and rails are written with their unit names and activated at program start, and every speed is a valid RAPID speed argument.
Blending: one rule for the simulation and every robot program. An empty or "FINE" interpolation stops the robot at each target; anything else (C_DIS, C_PTP, C_VEL) blends through it, and the simulation now times both the way the robot runs them, stopping before waits and outputs where the controller does.

IMPROVEMENTS
Importers: Import KRL keeps the approximation clauses of the source program, Fusion dwells stay where the NC file has them.
Grasshopper: the Core keeps its robot and toolpath preview when you switch between open definitions; KUKA Sunrise moved next to the mxAutomation core in the ribbon.
Analysis page: stays responsive under fast task and slider updates and no longer reloads per task.
Simulation accuracy: timing improvements; offset wrists of the LBR iisy and the ABB GoFa solve reliably.
KUKA Sunrise: live robot state at 25 Hz; a blending distance of 0 is simulated as an exact stop.
Robot data: Fixed normal on 13 KUKA robots; KR 120 R3900K-2 axis positions corrected; FANUC LR Mate 200iD and R-2000iC/165F fixes.

NEW
Robots: KUKA KR 800 R2800-2 (Fortec-2 ultra), ABB GoFa CRB 15000-5/0.95, CRB 15000-10/1.52 and CRB 15000-12/1.27.
KUKA Sunrise: online execution. The new Execution Mode setting offers "Program File" (as before), "Online: Run Program" (every simulated program is sent to the robot over the network and runs there) and "Online: Follow Target" (the robot follows the last PTP or axis target live).
PRC Sunrise Java library: the PRC_RunOnline application receives programs and targets from PRC; PRC_RunXML lets you pick the program to run on the smartPAD. Download the library from the driver's Settings page (Controller Software group).

IMPROVEMENTS
KUKA Sunrise: New Java client library
Grasshopper: Specific error message when a motion (rather than a motion group) is wired directly into a Core's PRC Commands input.

NEW
Robots: Universal Robots UR3 and UR3e, ABB IRB 120 and ABB IRB 140.
3D viewport: a ground plane with a soft shadow and a metric grid under the robot.
C# client library: DescribeLibrary returns the robot, driver and external-axis catalog directly from the Client class.

IMPROVEMENTS
Grasshopper ribbon: the Robots section is now split into "KUKA Robots" (grouped by payload, plus the KUKA positioners) and "Other Robots" (grouped by vendor, plus the custom robot and axis components, Modify Robot and Robot Cell).
Grasshopper: a LIN, PTP, AXIS or CIRC motion wired straight into a Core's PRC Commands input is reported at once, naming the Path component to use in between.
Visual page: the tooltip of a red axis chip names the reason — joint limit, collision or an unreachable target on that link.
Documentation: now at https://docs.robotsinarchitecture.org (the Help button and the licensing page link there).

BUGFIXES
Collision Checking "Check Programmed": a motion into a colliding target no longer marks the whole approach as colliding; only the samples that actually collide are flagged.
Desktop window: the close confirmation could push its buttons out of the dialog when several robots were connected.

NEW
KUKA LBR iiwa 7 R800 and 14 R820 with the new KUKA Sunrise driver (Core KUKA Sunrise in Grasshopper 1 and 2)
KUKA KR 13 R900-3 (Agilus-3 ultra) robot.
Custom Robot (Grasshopper 1 and 2), Custom Linear Axis, Custom Rotary Positioner and Custom 2-Axis Positioner components
Workpiece Mesh and Workpiece Collision inputs on every rotary positioner, including the KUKA units
Robot setup catalog for developers: the new DescribeLibrary gRPC call lists every preset robot, every driver with its settings schema and every external-axis preset, so external clients can offer a setup wizard without a copy of the library.
Analysis page: the cursor follows playback and timeline drags of the Visual page.

IMPROVEMENTS
3D viewport: Now uses three.js
Motion modifiers renamed for consistency: Motion: Set External Axis, Motion: Set Redundancy, Motion: Set Compliance (Sunrise). Existing definitions keep working.
Core Settings Override: New component
Robot data: Several fixes
KSS, IO Builder and mxAutomation cores refuse the seven-axis LBR iiwa with a clear message pointing to the Sunrise core.

BUGFIXES
Robot data: Several fixes
Simulation: a Hold before the first motion or an empty motion group no longer breaks the simulation;
Code generation: KRL and URScript are formatted independently of the system locale;
KUKA mxAutomation: the controller's actual position is shown instead of the simulation position; hold times are rounded correctly; the link only counts as connected after a successful handshake.
Grasshopper 2 realtime cores updated the viewport twice per state.
3D viewport: horizontal orbiting followed the mouse in the wrong direction;
Adobe Illustrator integration: paths lost their final segment, points were scaled by the ruler unit instead of converted to millimetres
gRPC: custom robots read their cell geometry;
KUKA IO Builder (Servoing): the last datagram of a burst is displayed instead of dropped.

NEW
KUKA iiQKA.OS 2 upload: KRL programs can be sent directly to an iiQKA.OS 2 controller from the PRC Server — from the Run panel or the Settings page
Settings Override component (Grasshopper 1 and 2): a new component with one input per driver setting that builds the JSON for a Core's Settings Override input. Preview state.
3D viewport: the Visual page of the PRC Server now renders with Three.js. Large toolpaths load roughly ten times faster
Playback speed: the play button on the Visual page gains a speed badge that cycles through 1x, 2x, 4x and 8x. The speed is shared by every browser tab showing the robot and can be changed mid-run.
NuGet packages: PRC.Core, PRC.GRPC, PRC.Library and PRC.Server are published on NuGet.org for building your own .NET clients and integrations.

IMPROVEMENTS
Playback: Play starts from the timeline position instead of the beginning (a finished run starts over), the button toggles between play and pause, and grabbing the timeline pauses playback.
Startup (Windows): double-clicking PRC.Server.exe no longer flashes an empty terminal — the console shows a short "UI is loading" notice until the desktop window takes over.
Dashboard: the license badge shows the license type.

BUGFIXES
Grasshopper crash on server autostart: the plugin released a Windows process handle through the wrong API when auto-starting the PRC Server
Program file names: the program downloaded from the Run panel is named after the Program Name setting
Looping playback: a looping simulation could not be stopped from the play button, which restarted it from the beginning instead; the button now pauses.
Import Generic NC (Grasshopper 1): the component shared its identifier with another component from a separate plugin and received its own. Definitions saved with the old component show it as missing and need it placed again.

NEW
Close protection: closing the PRC Server's desktop window while robots are still loaded now asks for confirmation first.

IMPROVEMENTS
Simulation scrubbing: dragging the simulation slider is more responsive.
PRC.GH Visualizer: robot states streamed from a live robot no longer force a full document solution per update
Collision checking: simulations with collision checking enabled compute roughly twice as fast.
Robot loading: robots and external axes load faster.
Desktop window theming: the light/dark toggle in the web UI now re-themes the native server window live.
Analysis page: endless rotary axes (e.g. KUKA KP1V, the DKP-400's rotary axis, NEURA MAV500) now display as (endless) with an infinite limit margin

BUGFIXES
KUKA mxA reset: Reset now also confirms the error messages pending on the controller
KUKA mxA start position: simulating or sending a toolpath that begins with a PTP or LIN motion before the robot had ever reported its position crashed the solver.

NEW
Run panel: the Visual page of the PRC Server gains a collapsible Run panel. A robot can now be started and stopped straight from the browser, with no Grasshopper client connected.
Robot packages in the browser: packages can be downloaded through the browser and loaded by dropping the file onto the server page — also from a remote machine.
AI analysis hand-off: the Analysis page can hand the complete analysis — issue spans, axis envelope, a toolpath sample table with Cartesian and joint values, the registered frames, and a glossary of PRC's flags — to Claude, ChatGPT or the clipboard as a ready-made prompt.
Universal Robots UR5: the classic CB-series UR5 joins the robot library.
KUKA mxA 6.0: controllers running mxAutomation interface 6.0 are now supported.

IMPROVEMENTS
ABB RWS component: the ONLINE toggle is replaced by the same RUN and OV Speed inputs the other realtime components use; existing definitions migrate automatically.
Program takeover (KUKA mxA): sending a new program now cleanly takes over from the one still running instead of queueing behind it, and connection or handshake errors appear in the robot's status instead of disappearing silently.
Speed override: the override starts at 10 % and is sent to the robot immediately.
mxA settings: the default IP address is now the physical controller's KLI address (172.31.1.147) instead of the OfficeLite one.
PRC.GH/GH2: Rearranged robot categories, fixed reconnect if server is closed on several Core components.

BUGFIXES
KUKA mxA blending: blending on PTP and axis motions never engaged, now genuinely blend.
KUKA mxA configuration: each PTP motion is sent with the configuration of its own solved pose rather than the group's last one, so toolpaths crossing in front of the robot no longer fail on the controller.
ABB RWS reconnect: the live robot state resumes after a brief connection drop.
Robot status: connected realtime robots now accurately report Active in the server UI.

NEW
Run panel: the Visual page of the PRC Server gains a collapsible Run panel. A robot can now be started and stopped straight from the browser, with no Grasshopper client connected.
Robot packages in the browser: packages can be downloaded through the browser and loaded by dropping the file onto the server page — also from a remote machine.
AI analysis hand-off: the Analysis page can hand the complete analysis — issue spans, axis envelope, a toolpath sample table with Cartesian and joint values, the registered frames, and a glossary of PRC's flags — to Claude, ChatGPT or the clipboard as a ready-made prompt.
Universal Robots UR5: the classic CB-series UR5 joins the robot library.
KUKA mxA 6.0: controllers running mxAutomation interface 6.0 are now supported.

IMPROVEMENTS
ABB RWS component: the ONLINE toggle is replaced by the same RUN and OV Speed inputs the other realtime components use; existing definitions migrate automatically.
Program takeover (KUKA mxA): sending a new program now cleanly takes over from the one still running instead of queueing behind it, and connection or handshake errors appear in the robot's status instead of disappearing silently.
Speed override: the override starts at 10 % and is sent to the robot immediately.
mxA settings: the default IP address is now the physical controller's KLI address (172.31.1.147) instead of the OfficeLite one.

BUGFIXES
KUKA mxA blending: blending on PTP and axis motions never engaged, now genuinely blend.
KUKA mxA configuration: each PTP motion is sent with the configuration of its own solved pose rather than the group's last one, so toolpaths crossing in front of the robot no longer fail on the controller.
ABB RWS reconnect: the live robot state resumes after a brief connection drop.
Robot status: connected realtime robots now accurately report Active in the server UI.

NEW
FANUC support: a new FANUC core component simulates FANUC robots and generates LS code for the R-30iB. Programs generated by PRC have been run on a physical M-2000iA/2300. Experimental, requires a license.
FANUC robots: three arms ship with this release — M-2000iA/2300, R-2000iC/165F and LR Mate 200iD.
Frame via XYZWPR: a new component for FANUC tool and base frames, entered as the values the pendant shows. The sibling of the KUKA XYZABC component, available in both Grasshopper versions.
Coupled axis limits: robots whose J3 travel depends on the position of J2 — as FANUC arms do — are now checked against that diagonal band instead of a plain rectangle, so poses the machine cannot actually hold are flagged during simulation.
KUKA KRL: initial support for legacy KRC1/2 code generation.

IMPROVEMENTS
Blending: the interpolation input now behaves the same across all brands — any data means blend, an empty input stops at every target. A value the controller cannot use falls back to the driver's default and is reported once, instead of silently changing the path.
Robot components: FANUC robots now have their own section in the Grasshopper ribbon, following the ABB robots.
Grasshopper 2: the NEURA LARA 3 robot component is now available — previously it existed only in Grasshopper 1.

BUGFIXES
Server connection: a component left showing SERVER LOST after a brief interruption now clears the message once the connection recovers.

NEW
FANUC support: a new FANUC core component simulates FANUC robots and generates LS code for the R-30iB. Programs generated by PRC have been run on a physical M-2000iA/2300. Experimental, requires a license.
FANUC robots: three arms ship with this release — M-2000iA/2300, R-2000iC/165F and LR Mate 200iD.
Frame via XYZWPR: a new component for FANUC tool and base frames, entered as the values the pendant shows. The sibling of the KUKA XYZABC component, available in both Grasshopper versions.
Coupled axis limits: robots whose J3 travel depends on the position of J2 — as FANUC arms do — are now checked against that diagonal band instead of a plain rectangle, so poses the machine cannot actually hold are flagged during simulation.

IMPROVEMENTS
Blending: the interpolation input now behaves the same across all brands — any data means blend, an empty input stops at every target. A value the controller cannot use falls back to the driver's default and is reported once, instead of silently changing the path.
Robot components: FANUC robots now have their own section in the Grasshopper ribbon, following the ABB robots.
Grasshopper 2: the NEURA LARA 3 robot component is now available — previously it existed only in Grasshopper 1.

BUGFIXES
Server connection: a component left showing SERVER LOST after a brief interruption now clears the message once the connection recovers.