V2.02.0
- Bugfix Web-UI debug PDO (mode 4, slot 2) velocity is deg/s, same as 0x606C. It was still RPM, so the GUI speed gauge was off by 6
- Bugfix demandedSpeed is deg/s (same as 0x60FF / 0x606B). Profile Position and Profile Velocity path planners use deg/s and deg/s²;
- Feature Limit-switch homing modes 15-18: DI1 (0x6691) for negative, DI2 (0x6692) for positive. Search speed is 0x60FF; return speed is 20 %. Polarity 0x60FE. Simple zeros at the switch opening edge; advanced continues to encoder 0°
- Feature CoE 0x100A (Manufacturer Software version) includes the git short hash, e.g. 2.2.0-a1b2c3d4
- Feature New error 54 WrongPathPlannerSettings for invalid profile acceleration/deceleration
- Feature Optional PDOS 0x1A05 and 0x1A06 for internal testing and production. Default SM3 assignment stays 0x1A00 - existing TwinCAT mappings unchanged
V2.01.4
- Bugfix Live "Trigger new parameter calculation" (0x6637=1) no longer zeros the position-filter multiturn / PT1 state. Changing Rotor inertia or Damping while enabled had jumped actual position, tripped overspeed/fault
V2.01.3
- Bugfix Update from 2.1.0 keeps the calibration table: boot only converts the stored table when it is positively recognised as a legacy 4096-point one, instead of converting whenever the format marker is missing (2.1.0 drives that had been updated from 2.0.x were still converted and lost their calibration)
V2.01.2
- Bugfix FoE update from 2.1.0 no longer destroys the compact 50-point calibration LUT (2.1.0 had no format marker; ripple data was mistaken for a legacy 4096-point table)
V2.01.1
- Bugfix EtherCAT PHY bring-up: hold PHY_RESET until ESC EEPROM load and CLK25 are ready (reduces intermittent daisy-chain INIT failures)
- Feature Distinct EtherCAT product codes for HDrive17-ETC (0) and HDrive23-ETC (1); set at startup from coil resistance
- Feature ESI (HDrive-ETC.xml) lists both device types for TwinCAT
- Feature ESC SII EEPROM is rewritten from the firmware factory image when product code or ESC_EEPROM_CONTENT_VERSION mismatches
- Feature EEPROM factory defaults distinguish NEMA17 and NEMA23
- Feature Legacy 4096-point calibration EEPROM is migrated to compact 50-point format on boot
V2.01.0
- Feature Implemented model based filter for speed observer to increase control bandwidth
- Feature Add automated correction to compensate for motor inaccuracies
V2.00.1
- Bugfix Fixed very quick (about 0.1ms) short circuit when switching operation modes
- Feature Implemented thermal model to estimate case and coil temperature
V2.00.0
- Bugfix Corrected startup so motor does not start with undervoltage error 19.
- Feature Increased PWM Frequency to 26 kHz to increase power efficiency and control bandwidth
- Feature Increased Torque and efficiency
- Feature Increased max. speed to >2000 RPM
V1.28.0
- Bugfix Corrected CiA402 Statemachine after "Shutdown" or "Disable Operation" command.
V1.27.0
- Bugfix Added correct position overflow handling if the int32 target position field overflows. This enables an endless motion e.g. conveyor
V1.25.0
- Bugfix Corrected inertia value. The inertia value was accidentally multiplied by 5. To maintain the same behavior, please multiply your value by 5 to ensure compatibility.
- Bugfix Corrected the state machine; some states did not reset the flags correctly.
- Bugfix Corrected the torque output. It is now expressed as a percentage of the maximum torque (e.g., 1000% indicates maximum torque).
- Bugfix Corrected some field names in the Object Dictionary.
V1.23.0
- Bugfix The remote bit was not correctly reset when switching from "Switch on disabled" to "Not ready to switch on."
- Bugfix Limited speed control output to MaxProfileVelocity (0x607F). This value is in °/s (default = 3000 °/s).
- Bugfix Removed coil current A and B entries from the Object Dictionary.
- Feature General code refactoring and improved current control jitter performance.
V1.22.0
- Bugfix The actual position was losing precision at high values, causing a very noisy speed signal in the PLC.
- Bugfix The target position was losing precision when transferred from the PLC at high values, resulting in noisy operation.
- Bugfix The scaling of target velocities (°/s) in velocity control was incorrect.
V1.21.0
- Bugfix Corrected the current calculation from the MaxTorque (0x6072) object. (Note: This fix is untested and awaiting dyno validation.)
- Bugfix Changed the target position data type from std::float to a precision float type to avoid precision limits on high numbers.
- Bugfix Corrected the anti-windup control algorithm for position control.
Changelog herunterladen (.md)
