"""
Teaching Pendant 펌웨어 업데이트 이력입니다.
업데이트 파일은 http://zero.globalzeus.com/firmware_ztpmanager/ 사이트에서 확인할 수 있습니다.
"""

Ver 1.0.2.0 (22.03.23.)
1. Moving function error correction
  - Fixed an issue where the "MoveTo Button" could not be released until it reached its target position.

Ver 1.0.3.0 (2022.05.18.)
1. IO control errors correction
  - Fixed an issue that the functions of  "DOUT 6" and "DOUT 7" are swapped.
2. "Pitch Unit" error correction

Ver 1.0.3.1 (2022.06.08.)
1. "Digital Output" and "Arm Output" real-time display errors correction
2. "Tool Offset" function error correction 
  - Fixed an issue of not setting the "Tool Offset" when selecting "Teaching Data".

Ver 1.0.3.2 (2022.09.13.)
1. "Teaching Data" error correction
  - Fixed an issue that "Teaching Data" has been initialized when increase/decrease number of array.
2. "Pose Speed" function modification
  - "Pose Speed" can be set via the speed slider
  - "Speed Slider" trigger condition has been changed

Ver 1.0.3.3 (2022.12.02.)
1. Log File Path modification
  - Socket Connection Checking Log File's path and name have been changed

Ver 1.0.3.4 (2023.01.26.)
1. Pitch mode bug correction
  - Fixed an issue that "Tool Offset" has not been applied to "Pitch" motion
  - Fixed an issue that "Speed" has been abnormally changed after "Pitch Rotation (Rz,Ry,Rx)" motion

Ver 1.0.3.5 (2023.03.02)
1. SW Update bug correction
  - Fixed an issue that can't recognize space(" ") in path when using "SW Update"
  - Modified log files not to be overwritten while "SW Update"
2. "AS Information file" bug correction
  - Modified to create a default file if "AS Information file" does not exist.

Ver 1.0.3.6 (2023.06.26)
1. Modified relavent codes according to changes in MCS Versioning method

Ver 1.0.3.7 (2023.11.28)
1. Add GUI for extended IO control
2. Fixed an issue that the robot behaves abnormally after an Ethernet connection has been disconnected
3. Modified to output notification pop-ups when saving current position to teaching data

Ver 1.0.3.8 (2023.12.26)
1. Fixed formatting issue for controller update files
2. Modified permissions to log file

Ver 1.0.4.0 (2024.2.20)
1. Modified the login/logout sequence to reflect the mode switch status
2. Fixed an issue that the jog operate abnormally at low speed
3. Add GUI to reset encoder when controller state is "INC"

Ver 1.0.4.0_rev (2025.1.22)
1. Hide "Vision" tab (which is not used)

Ver 1.0.4.1 (2025.1.22)
1. Support auxiliary axis robot mcs
2. Modified display method (output control button and current output status)
3. Fixed an issue that did not print the error page when a critical error occurred
4. Fixed an issue that [-Y] jog button image does not appear
5. Fixed an issue that update file selection dialog
6. Fixed an issue that target position arrival verification function

Ver 1.0.4.2 (2025.3.20)
1. Fixed an issue that text format when creating new teach data
2. Fixed an issue that duplicate import error of i611_MCS or i611_MCSX when using zeusteach module
3. Fixed an issue that TP does not excute caused by history file error

Ver 1.0.4.3 (2025.5.12)
1. Fixed an issue that "Move Back" arrival check function
2. Add arguments on TPosition, TJoint class in zeusteach.py
3. Fixed an issue that movement unit error of "Pitch Move" when using auxiliary axis
4. Disable "Pitch Move" button during operation

Ver 1.0.4.4 (2025.09.05)
1. Modified movement unit of the auxiliary axis
2. Modified axis number of the auxiliary axis when using "Jog Move"
3. Modified axis number of the auxiliary axis when using "Pitch Move"

Ver 1.0.4.5 (2026.03.16)
1. Fixed an issue that "pitch" value initialize when click the XY, Joint, Aux tabs
2. Fixed an issue that "pitch" state display when click "MoveTo" tab
3. Add options when auxiliary axis moving linear

Ver 1.0.4.6 (2026.07.03)
1. Added 4-axis horizontal multi-joint model
2. Fixed an issue where the speed scrollbar freezes
3. Fixed an issue where page lock was not released on servo on

