May 19, 2026 V2.83
- TCP command port: second simultaneous client is rejected (accept-and-close) instead of queued; avoids NDK socket exhaustion/crash when two clients connect to the same ticket port.
- TCP objWriteCAN: synchronous CAN slave OD write over the command channel (same mailbox as Web `slvobj`).
- HDrive manual: Ethernet services and connection limits (one command client, motor stream), objWriteCAN example, HDriveConfigFile sub-key tables for m2/m4/m5/m6.
May 17, 2026 V2.82
- Ticket/XML path hardened: bounded parsing on all RX tickets; fixed-size responses on TX binary/CAN/EEPROM/config tickets and WebServer CGI handlers (writeTicket, parameter save, slave OD, firmware upload).
- CAN master: ISR start/stop sequencing improved for safer operation under heavy bus traffic and during slave parameter transfers.
- TCP objReadCAN: synchronous CAN slave OD read over the command channel; waits for CAN bus-off recovery before issuing a slave read.
- HDrive manual and README updated for CAN slave access over HTTP and TCP.
March 29, 2026 V2.81
- CAN master/slave: object dictionary read/write on any slave via new IDs (master TX 220+canId, reply 231).
- Web: getData.cgi?slvobj=r_slot_main_sub (read), slvobj=w_slot_main_sub_value (write).
- TCP: <objReadCAN sl="slot" m="mainKey" s="subKey" /> reads a CAN slave object via the master.
- CAN master/slave: Ability for FW update over CAN
- Web GUI: new "CAN Slaves" page showing FW/voltage/temperature/position/torque per slot with a per-slave Upload Firmware button and progress bar.
- Web GUI: new control mechanic so also CAN-slaves can be controlled from master GUI
Feb 13, 2026 V2.67
- When UDP host is set to 0.0.0.0, UDP packets are sent to the IP of the connected TCP client
- Read object: Fixed memory leaks (replaced std::string/std::stoi with snprintf/atoi), fixed getData.cgi crashes and RX buffer overflow; output format changed to shorter format (e.g. <r a="4" b="22" v="0" />)
June 18, 2024 V2.60
- Added torque ripple compensation
March 17, 2023 V2.55
- Fixed Step/Dir Interface
- Fixed a bug in CAN communication interface
March 17, 2023 V2.54
- Added Oscillation motor mode
Mai 15, 2022 V2.53
- Added Speed Out as PWM interface
- Added HW-Release V7 compatibility
- Implemented HW-Revision 7
Mai 15, 2022 V2.51
- Added new message ticket "Binary Can Ticket Full" with additional information like speed and torque for all attached slaves
- Added new Velocity / Direction interface over digital I/O
Oct 06, 2021 V2.49
- Fixed a bug in the Homing procedure. Different starting positions on the axis could lead to different zero positions after a successful homing.
- relaxed the over speed observer
July 17, 2021 V2.48
- Changed DRV8412 fault pin detection algorithm to a more relaxed one.
- Auto disable the motor when firmware upgrade process is running
- Fixed digital I/O Interface
- Removed ABI interface of motor encoder because it is not used anymore
Mar 18, 2021 V2.45
- Fixed “PWM in” for Position, Speed or Torque control by Digital I/O
- Digital I/O Pin mapping synced for HW rev. 5 and rev. 6
- Increased ADC current filters by oversampling of the ADC
- Changed internal velocity measurement to continuous data acquisition
- Fixed a bug in the scaling of the graphs in the GUI
- Fixed the torque scaling in stepper mode (the torque was too high)
Feb 22, 2021 V2.42
- Improved ADC measurement accuracy to reduce system noise
- Continuous speed filter to increase deterministic
Jan 25, 2021 V2.41
- Added compatibility for HW. Rev 6
- Increased performance of control timings
- Fixed the TCP-Port - it was set statically
- Fixed Digital I/O, the protocol did not deliver the whole Digital I/O state
- Fixes CAN issues
- Updated Web GUI to version1.10 with many bugfixes
- General Refactoring, disabled support for HW. Rev 4 or less.
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