mc_eth_release_history.txt
2025-01-15 www.fullmo.de

Known limitations:
- REFGO commands: OW/OR currently only support decimal values. (but object index and subindex are always Hex). 
  OR does not support strings yet. 
- MC349, MC6xx: ACC/DEC always in rev units, not user-defined units. 
  Only homing method 19 (search for home switch in pos. direction) and -18, -19 (homing on block). 
- MCN23: AIN1 not available. No rotatory position option codes 60F2h (see below). Python engine currently not up to date. 
- RABBIT/SRABBIT: Profile position mode only. S-curve symmetrical trajectory, uses 6083h acceleration value only.
  6084h deceleration is only used for for braking / quickstop. 
  S-Curve favours acceleration limit and increases jerk or decreases max. velocity if required.


2025-01-15 production
v50.00.08.02 (MovingCap turnTRACK 349) 
v50.01.08.02_AE (MovingCap turnTRACK 349 Abs.Measurement)
2025-01-15 pre-production
v54.01.08.02 (MovingCap turnTRACK 6xx Eth)
- Velocity Mode / OpMode=3: fixed bug with state machine shutdown / re-enable during deceleration
- IO-OUTs: fixed position feedback for rotary coordinates on the edge of the position range

2024-12-17 pre-production
v54.01.08.00 (MovingCap turnTRACK 6xx Eth)
- WEB: new IO-In and IO-OUT configuration pages
- new Statusword 6041h.0h Bit8 = Drive is moving (manufacturer/MovingCap- specific) 

2024-12-16 sample
v53.02.00.45_RABBIT (MovingCap flatTRACK Eth)
v53.02.00.45_SRABBIT (MovingCap shortTRACK Eth)
- WEB: new IO-In and IO-OUT configuration pages
- fixed timer scaling bug: Back&Forth and IO function delays were 50% too short
2024-12-16 production
v50.00.08.00 (MovingCap turnTRACK 349) 
v50.01.08.00_AE (MovingCap turnTRACK 349 Abs.Measurement)
- WEB: new IO-In and IO-OUT configuration pages

2024-12-05 sample
v53.02.00.43_RABBIT (MovingCap flatTRACK Eth)
v53.02.00.43_SRABBIT (MovingCap shortTRACK Eth)
- new Statusword 6041h.0h Bit8 = Drive is moving (manufacturer/MovingCap- specific) 
- fixed Refgo TS/TPSR status for drive movement (TS=2)
- Automatic emergency braking when approaching softlimit borders (using 6085h.0h quick stop deceleration value) 
- New default 605Ah.0h quick stop option code 5 = Slow down on slow down ramp and stay in quick stop active.
- "Stop Motion" / RefGo SM does not set quick stop option, but allows using different quick stop option codes.

2024-12-03 sample
v53.02.00.41_RABBIT (MovingCap flatTRACK Eth)
v53.02.00.41_SRABBIT (MovingCap shortTRACK Eth)
- new Statusword 6041h.0h Bit8 = Drive is moving (manufacturer/MovingCap- specific) 
- fixed Refgo TS/TPSR status for drive movement (TS=2)

2024-11-27 sample
v53.02.00.37_RABBIT (MovingCap flatTRACK Eth)
- quickstop mode support 0,1,2,5,6. Softlimit approach control using 6085h.0h quickstop deceleration. 
  (If faster approach to softlimit borders is required, set higher quickstop deceleration, e.g. "OW6085,0,20000").
- new parameters & init project flatTRACK_1000_RABBIT_InitAndPhaseIn.kicktpl for long motors with 1024 pole track. 

2024-11-20 pre-production
v54.01.07.07 (MovingCap turnTRACK 6xx Eth)
2024-11-20 production
v50.00.07.02 (MovingCap turnTRACK 349) 
v50.01.07.02_AE (MovingCap turnTRACK 349 Abs.Measurement)
- usability: website allows now large gear/motor turn ratio values. "Store permanently" now also asks for confirmation on CODE page. 

2024-11-19 sample
v53.02.00.35_RABBIT (MovingCap flatTRACK Eth)
v53.02.00.35_SRABBIT (MovingCap shortTRACK Eth)
- first release: MovingCap highspeed pos control for linear direct drives

2024-10-24 pre-production
v50.00.07.00 (MovingCap turnTRACK 349) 
v50.01.07.00_AE (MovingCap turnTRACK 349 Abs.Measurement)
- fixed RefGo bug: empty command entered at web site would block future RefGo answers

2024-10-24 sample
v54.01.07.06 (MovingCap turnTRACK 6xx Eth)
- fixed RefGo bug: empty command entered at web site would block future RefGo answers

2024-09-02 sample
v54.01.07.04 (MovingCap turnTRACK 6xx Eth)
- added support for limited force operation 

2024-08-21 sample
v54.01.07.03 (MovingCap turnTRACK 6xx Eth)
- updated TCP/IP, WEB, REFGO, I/O features, as in turnTRACK 349, flatTRACK
- fixed missing permanent store for IN9/IN10 settings. 

2024-08-15 sample
v54.01.06.01 (MovingCap turnTRACK 6xx Eth)
- sample release for velocity transport application
- added IN8 / IN10

2024-08-15 pre-production
v53.01.07.05_MCFLAT (MovingCap flatTRACK 100) 
v53.01.07.05_MCSHORT (MovingCap shortTRACK)
- added IN8 / IN10

2024-08-08 sample
v54.01.05.33_AE (MovingCap turnTRACK 6xx Eth)
- sample release for velocity transport application
- web update 
- control improvements 

2024-08-07 pre-production
v50.00.06.19 (MovingCap turnTRACK 349) 
v50.01.06.19_AE (MovingCap turnTRACK 349 Abs.Measurement)
v53.01.07.04_FLAT (MovingCap flatTRACK 100) 
- improved TCP/IP reconnect behavior and communication speed. 
- improved REFGO parser, supports several commands in one request (without waiting for acknowledge prompt >) 

2024-02-16 pre-production
v50.00.06.13 (MovingCap turnTRACK 349) 
v50.01.06.13_AE (MovingCap turnTRACK 349 Abs.Measurement)
- fixed bug with velocity display scaling when using default internal increments scaling / no gear
- Output Fct 4/6: fixed border case for rotary target at limitMin or limitMax
- Output Fct 4/6 + Input Fct 4 (movement absolute): for compatibility/consistency with 
  earlier versions: use direct target pos. argument, not the last target stored in Result1. 
  So if after power cycle the drive is already in the correct position, the output is set. 

2024-02-09 pre-production
v50.00.06.11 (MovingCap turnTRACK 349) 
v50.01.06.11_AE (MovingCap turnTRACK 349 Abs.Measurement)
- IO: Relative movement & position feedback for rotary coord. systems
- IO: Output Function 4/6 - position feedback considers last target used for the IN function 
  (adjusting targets on the fly possible) 
- IO: Input Function 1/2 (Capture) store positions in user-defined units / rotary coordinates, if active
- 60F2h Rotary option code 40h and 80h improvements: 
  * supports relative movement.
  * absolute movement tolerance window:  If actual pos is already within "6067h.0h Target reached window", 
    stay at same target position and allow minor corrections in opposite direction. 

2024-01-30 pre-production
v50.00.06.02 (MovingCap turnTRACK 349) 
v50.01.06.09_AE (MovingCap turnTRACK 349 Abs.Measurement)
v53.01.06.12_SHORT MovingCap shortTRACK 
v53.01.06.12_FLAT MovingCap flatTRACK 
- Input Function 5: Quickstop
- "Stop Motion" is now actual stop motion / quick stop option code 6 : "stop and stay in position"
- new RefGo command CM continue motion (profile position and velocity mode) 
- RefGo: new IO commands TI, SO, CO. SM (Stop Motion) and CM (Continue Motion). 
- RefGo: TCP answer now contains terminating prompt ">" consistently

2024-01-19 pre-production
v50.00.05.27 (MovingCap turnTRACK 349) 
v50.01.06.06_AE (MovingCap turnTRACK 349 Abs.Measurement)
- new error FFF2h / ERROR_HW_SW_ENABLE when using Input Fct 9 (SW Enable), input not set and "power on" requested
- fixed bug: in OpMode=6 (Homing), after successful homing, the drive could start moving away slowly. 
  (minor drift is by design / intended, because target position control is not active in OpMode=6) 
- Command & Parameters: new 3401h.1Bh Pos Ctrl - Kp Position and 3401h.23h Mot Ctrl - Kp Velocity parameters 

2024-01-02 pre-production
v53.01.06.09_SHORT (MovingCap shortTRACK)
v53.01.06.09_FLAT (MovingCap flatTRACK)
- factory reset keeps motor-specific settings
- improved i2t / peak power / overtemperature monitoring 
- new FFF5 error condition: power cycling needed: -> switch off + switch on logic power supply

2023-12-30 pre-production
v50.00.05.25 (MovingCap turnTRACK 349) 
- improved firmware update switching: always confirm motor power off before switching to bootloader 

2023-12-17 pre-production
v50.01.06.05_AE (MovingCap turnTRACK 349 Abs.Measurement)
- improved rotary overflow handling for border cases / special configurations
- removed extra Statusword bit14 indicator for rotary applications -> not necessary
- improved firmware update switching: always confirm motor power off before switching to bootloader 

2023-12-15 pre-production
v53.01.05.34_SHORT (MovingCap shortTRACK) 
v53.01.05.34_FLAT (MovingCap flatTRACK)
- improved firmware update switching: always confirm motor power off before switching to bootloader 
- optimized position control and measurements 
- optimized overtemperature protection and measurement for power stage and motor temperature 

2023-12-12 pre-production
v50.01.06.02_AE (MovingCap turnTRACK 349 Abs.Measurement)
- Extended and improved error management on web site:
  error details and text on home page; clickable red "ERR... " box on the left bottom corner for details
- New Motor control option 3401h.07h=64 for extended power stage init sequence (on-off-on) to deal with
  residual Upower voltages that could leave the power stage in a "half-initialized" illegal state
- Position Encoder warning and error handlings. Improved stability and handling of position readout
  after failure/error situations. new 1002h.0h error and warning bits 0x10000 BIT_WARNING_SENSOR_1 
  and 0x100 BIT_ERROR_SENSOR_1

2023-11-15 pre-production
v54.01.05.27 (MovingCap turnTRACK 6xx Eth)
- first prerelease with reduced-jerk ramp modes and improved position control

2023-11-15 pre-production
v50.01.05.18_AE (MovingCap turnTRACK 349 Abs.Measurement)
- rotary coordinate support also for "set of setpoints"
- alternate encoder init; REF35 via homing offset only.

2023-10-25 pre-production
v50.01.05.16_AE (MovingCap turnTRACK 349 Abs.Measurement)
- improved "target reached" defaults, previous default window was too narrow

2023-09-28 pre-production
v50.01.05.15_AE (MovingCap turnTRACK 349 Abs.Measurement)
- fixed "target reached" bug for negative pos. differences

2023-09-22 sample
v54.01.05.25_AE (MovingCap turnTRACK 623 Abs.Measurement) 
- sample release for maxTRACK toothed belt application

2023-09-22 pre-production
v54.01.05.25_AE (MovingCap turnTRACK 623 Abs.Measurement) 
- sample release for maxTRACK toothed belt application

2023-09-22 pre-production
v50.00.05.12_RE (MovingCap turnTRACK 349) 
v50.01.05.14_AE (MovingCap turnTRACK 349 Abs.Measurement)
- Output function 4+6 improvements: 
  * For rotary/repeating coordinate systems, position window monitoring is now working 
  correctly across min/max boundaries.
  * the window defined by "right position window" and "left position window" now including the actual boundary value, so
  if targetPos=0° and rightPosWindow=2°, then actualPos=2° is still within the window, actualPos=3° is not.  

2023-06-27 pre-production
v50.01.05.13_AE (MovingCap turnTRACK 349 Abs.Measurement) 
- full position overflow support, including rotary positioning option applications with uneven gear ratios (5:1, 10:1). 
  Overflow count via 3401h.25h object and store in EEPROM.

2023-06-19 pre-production
v50.00.05.11_RE (MovingCap turnTRACK 349) 
- Input Function 9: Software Enable  - only allow operation, if IN is high (alternative: low) 

2023-06-12 pre-production 
v53.01.05.19_FLAT (MovingCap flatTRACK)
- increased motor rated current default / higher available Fpeak = 70N for 48V
- corrected position velocity / trajectory control 
- addtional 3401h.07h PosCtrl - Ramp Mode setting

2023-05-09 pre-production 
v53.01.05.17_FLAT (MovingCap flatTRACK)
- IN7 support
- Input Function 9: Software Enable  - only allow operation, if IN is high (alternative: low) 
- improved trajectory control, low speed movement
- ACC/DEC in user-defined coordinates (x1000)

2023-04-25 pre-production
v50.01.05.03_AE (MovingCap turnTRACK 349 Abs.Measurement) 
- added support for positioning option code 60F2h.0h=40h (negative only) and 60F2h.0h=C0h (optimized, shortest way)

2023-03-20 pre-production
v53.01.05.05_FLAT (MovingCap flatTRACK)
- added output functions 3/4
- fixed deceleration ramp generation
- improved defaults, new default max. current/force= 900 (90%) for quiet operation 

2023-03-10 pre-production
v50.01.05.01_AE (MovingCap turnTRACK 349 Abs.Measurement) 
v53.01.05.01_FLAT (MovingCap flatTRACK)
- new Python object mccom.open/read/write/close for refo redirection/extension (working) and additional network/communication (future versions)
- new Python object refgo.cmd(<cmdStr>) to call any RefGo function from Python
- default import for drive module is now: "import mcdrive". (but "import drive" works still for backwards compatibility) 

2023-01-31 pre-production 
v53.01.04.06_FLAT (MovingCap flatTRACK):
- IN1-4, OUT1-4 available

2023-01-24 pre-production 
v50.00.04.05 RE (MovingCap turnTRACK 349) 
v50.01.04.05_AE (MovingCap turnTRACK 349 Abs.Measurement) 
v53.01.04.05_FLAT (MovingCap flatTRACK)
v52.05.04.05_AE (MovingCap turnTRACK N23 Stepper) 
- MCN23 Stepper: brake voltage now automatically adjusted, no setup required
- MCN23 Stepper: current motor temperature readout (OR 3401,0a)
- parameter memory protection against corruption, e.g. caused by power failure during "Store Permanently" 
- detects illegal IP settings and falls back to default IP 192.168.2.150, if necessary. 
- code/Python: large script support (48KB), optimized RAM use

2022-12-23 pre-production 
v50.00.03.20_RE (MovingCap turnTRACK 349) 
v50.01.03.20_AE (MovingCap turnTRACK 349 Abs.Measurement) 
v52.05.03.20_AE (MovingCap turnTRACK N23 Stepper) 
v53.01.03.20_FLAT (MovingCap flatTRACK)
- fixed bug: "Store Permanently" - drive unaccessible with IP address 0.0.0.0
- minor adjustments for input fct 7, subindex 2 = 0 -> last target reached

2022-12-12 pre-production v52.05.03.19_AE (MovingCap turnTRACK N23 Stepper) 
- N23 Stepper: improved pos. control and position feedback, use 3401h.01h max block counter = 0 to deactivate block detection / 
  highest positioning accuracy. 

2022-11-23 pre-production v50.00.03.13_RE (MovingCap turnTRACK 349) / v50.01.03.13_AE (MovingCap turnTRACK 349 Abs.Measurement)
- minor web site adjustments: Parameters. I/O status display in footer.

2022-11-08 pre-production v53.01.03.17_FLAT (MovingCap flatTRACK)
- supports REF35 / set zero position
- improved current/force controller
- fixed/corrected initial phasing

2022-11-08 pre-production v52.05.03.16_AE (MovingCap turnTRACK N23 Abs.Measurement)
- web parameter additions from other drive variants

2022-09-29 pre-production v53.01.03.11_FLAT (MovingCap flatTRACK)
- initial release as demonstrated at Motek 2022 

2022-09-16 pre-production v50.00.03.11_RE (MovingCap turnTRACK 349) / v50.01.03.11_AE (MovingCap turnTRACK 349 Abs.Measurement) / v52.05.03.11_AE (MovingCap turnTRACK N23 Abs.Measurement)
changelog:  
- Web Click&Run: "Wait Time" scaling corrected

2022-09-16 pre-production v50.00.03.01 (MC349 RE) / v50.01.03.01 (MC349 AE) / v52.05.03.01 (MCN23 AE)
changelog: 
- REF35 homing now without drive enable possible. New DS402 standard: homing method 37, same as 35
- Extended I/O functions 
- new I/O functions parameters, not backwards compatible to V5x.xx.02 and lower versions:
  IN fct parameter objects 3511-8h.1-Ah, OUT fct parameters 3611-4h.01-06h 
  3510h.01h virtual input 
  3510h.02h trigger IN fct

2022-07-27 pre-production v50.00.02.26 (MC349 RE) / v50.01.02.26 (MC349 AE) / v52.05.02.26 (MCN23 AE):
- stability & performance 
2022-07-07 pre-production v50.00.02.21(MC349 RE) / v50.01.02.16 (MC349 AE):
- improved defaults control loop settings. Added UDP debug output
2022-06-29 pre-production v50.00.02.16 (MC349 RE) / v50.01.02.16 (MC349 AE):
- fixed bug with network page: Gateway display not correct, IP change only possible when manually entering "0.0.0.0" for gateway
- improved status footer with (color coded) status text OFF/RDY/MOV/ERR, Python status text OFF/RUN/BRK/ERR
- Micropython: less CPU usage / yield to communication 
2022-06-24 pre-production v50.00.02.14 (MC349 RE) / v50.01.02.14 (MC349 AE):
- Status LED: morse code for current IP in normal operation; SOS + error code for internal software fault
2022-06-03 pre-production v50.00.02.12 (MC349 RE) / v50.01.02.12 (MC349 AE):
2022-05-31 pre-production v52.05.02.12 (MCN23 AE)
- script capabilities: increased memory for parsing larg scripts, adjusted task priorities, lower jitter (<= 2millisec) 
- known issues: Do not use empty loops with "pass" only, script execution will block webserver 
2022-05-08 pre-production v50.00.02.11 (MC349 RE) / v50.01.02.11 (MC349 AE) / v52.05.02.11 (MCN23 AE):
- minor cosmetics, production files
2022-04-30 pre-production v50.00.02.10 (MC349 RE) / v50.01.02.10 (MC349 AE):
- Micropython support in "My Code" / prerelease Python API, see driveObjectSyntaxTest.py
- REFGO extensions: REF35 / REF-18 / REF-19 / TS / TPSR