# SOMANET Motion Drive

>- `Added` for new features.
>- `Changed` for changes in existing functionality.
>- `Deprecated` for soon-to-be removed features.
>- `Removed` for now removed features.
>- `Fixed` for any bug fixes.
>- `Security` in case of vulnerabilities.
>- `Known Issue` for issues that are non-blocking.

The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).

## v4.4.14 - 2023-08-18

### Added

* Added compatibility for updated SoC. (1177864197)

### Removed

* The error code explanation of the object `0x203F` was removed from the ESI file. (1073379145)

### Fixed

* Files with a size of multiple of 1012 bytes are now handled properly by FOE. (968332678)

## v4.4.13 - 2023-06-07

### Added

* Added support for new hardware variants. (1080962197)

### Fixed

* The value shown in `0x2004:7 Brake status` when SBC is active in non safe motion drives has been fixed. (1072497407)
* Position demand wrapping for certain encoder configurations with multiturn has been fixed. (1110138597)
* Velocity feed forward has been fixed to not occasionally disable. (1125225559)
* Position demand wrapping for certain encoder configurations with multiturn has been fixed. (1110138597)
* Velocity feed forward has been fixed to not occasionally disable. (1125225559)
* Documentation, values and naming for the objects 0x2010 and 0x20F0 have been fixed in the ESI. (1091533212, 865461987)
* The precision of REAL numbers that are saved to the configuration files has been increased. (905428565)

## v4.4.12 - 2023-03-16

### Changed

* Corrected the ESI file to conform with the specification. (987165348)
* Demand values related to a particular control mode are now updated if that control mode is active. (1020595471)
* Position and velocity controller gains are now PDO mappable. (1037674299)
* `PhFault` is now raised when a Circulo can't specify which type of protection triggered the error.

### Fixed

* The maximum values of REAL data types were fixed in the object dictionary. (976803188)
* Fixed the `Intern04` error when logging was requested while CSV configuration was being written or read. (998240691, 976803053)
* Velocity feed forward filter in PP is now only used while a trajectory is being executed and not when controlling the current position. (955145705)
* Default cutoff frequency of position and velocity feedback filters were set to reasonable values. (644803785)
* Quick stop and disabling of the drive are now happening in all cases when master communication is not active. (1068449686, 1069379340, 1070171915)
* Fixed torque demand value overflow when commanding a high torque in motors with a large torque constant value. (1064820312)
* Fixed position profiler misbehavior when the controlword commanded transition 4 and a new position setpoint simultaneously. (1076658711)

## v4.4.11 - 2022-09-29

### Added

* Added detection of SSI data line being set low by the encoder during monoflop time. (841897729)
* Added warnings to indicate what triggered an internal motion or control limit. (672439683)
* Support new Circulo variants. (948014034)

## Changed

* ESI files were changed to conform with the specification. (890099148)
* The resolution of the torque reference was increased internally.

### Fixed

* Gain scheduling configuration is properly applied while the feature is disabled. (887700756)
* Endiannes and data ordering of SSI multiturn encoders is properly decoded.
* Added mechanism to disable the drive if the SoC freezes. (909075809)
* Removed warning when opmode is set to 0 in Operation enabled. (931604750)
* Added checks to prevent overflow of velocity values when scaling to SI units. (878549903)
* Improved the documentation of objects 0x203F:1 and 0x2023. (936911967, 933196577)
* Safety activation during quick-stop forces the controller to be disabled. (848615306)
* Fixed wrong reported core temperature when it is negative. (936957435)
* Only parameters related to the current operational mode are validated (959239477).
* Fixed bug that caused Position demand internal value (0x60FC) to stop updating after a position profile ramp was executed (966177600).
* Fixed list of files when using `fs-getlist`. (964269699)

## v4.4.10 - 2022-04-29

### Changed

* I2t protection is enabled by default for peak time 3 sec. (733860760)
* Add Option Code for Homing Methods 0x6098. (847489838)

### Fixed

* Fix undue over-temperature warning thrown by software. (733038173)
* Set default SYNC0 Cycle Time and add free run to ESI file. (811112884)
* Log safe state changes. (796890971)
* Limit Field weakening when changing the torque direction. (833588531)
* Use FIR filter after adding velocity feed forward to velocity offset.
* Prevent variable overflow when scaling between internal and user defined units.
* Allow user and factory parameter restore when drive is in Fault state. (837080071)
* Fix bitsize for objects 0x1C12 and 0x1C13 in ESI. (506973735)
* Remove unnecessary ADC offset checks in torque controller. (882779422)
* Several documentation updates.

## v4.4.9 - 2021-12-03

### Fixed

* Fix torque spike when dynamically switching to homing mode. (797698226)
* Circulo devices allow slower transfer of PDO during SAFEOP, preventing ignored SDO requests. (773737816)
* Block cogging torque recording if the Hall sensor configuration is not appropriate. (781934519)
* Add option codes in the ESI for the object 0x607E Polarity. (779496775)
* Add missing ESI documentation for 0x2010:8. (766927958)

## v4.4.8 - 2021-11-05

### Added

* Failure to complete writing to the config.csv file is detected and reported at next boot. (761391821)

### Fixed

* SAFETY: Increased tolerance for inaccurate motor torque constant. (757732060)
* Do not invalidate commutation offset after power up for a Hall+AB setup. (728617913)
* Fixed Hall+AB bug that caused a wrong commutation angle. Now it can be used even if the Hall or motor phases are not in the right order. (748006407)
* Several fixes were made to the behavior of the Statusword bits in Homing mode. (748235879)
* Improved the Hall sensor speed estimation. (717509796)
* Raise an error if acceleration is too high for the selected SI unit. (777043413)
* Fixed reversal of RX and TX flag in PDO mappable objects.

## v4.4.7 - 2021-08-10

### Changed

* The 1 second timeout for torque quick-stop is removed. The timeout is computed based on the actual velocity and the quick-stop deceleration.
* Target torque is actively controlled in torque modes CST and PT during the quick-stop timeout.

### Fixed

* SAFETY: Prevent a runaway in cases when quick-stop is performed and actual position has exceeded the target.
* Improved precision of acceleration and deceleration and velocity for profiled modes.
* A bug leading to torque ripple is fixed in the torque controller.
* Dynamically changing opmodes is restricted to CSP/V/T, PP/V/T, and Homing.
* Fixed a rare synchronization error with the distributed clock.
* Fixed multiple Nikon A-format encoder issues.
* CANopen SDO abort request and SDO reply data fields are properly created.
* Improved CANopen SDO and PDO processing to increase bus load.

## v4.4.6 - 2021-05-18

### Fixed

* Position software limits had some wrong behavior in some rare cases.
* EDS file for CANopen now uses a generic node id and a blank default PDO map.
* Fix default distributed clock settings in the ESI file.

### Changed

* Allow parameter restore only when drive is disabled

## v4.4.5 - 2021-04-30

### Fixed

* ADC inputs for Circulo are fixed.
* Incremental encoder read speed is restored.
* Hold position and disable velocity offset during position controller disable delay period.
* Fixed Circulo encoder multiturn jumps.
* Fix sporadic error in BiSS register communication.
* Default velocity feedforward cutoff frequency is lowered from 1000 to 20 Hz.

## v4.4.4 - 2021-04-09

### Fixed

* SAFETY: Wrap demanded position value when wrapping around the position range limits in cyclic position mode.
* Cleaned up the log from commutation offset detection diagnostics.
* Warning reports from the encoder services don't disappear too quickly.

## v4.4.3 - 2021-03-22

### Fixed

* When dynamically switching from position to velocity mode, always use last demand velocity.
* Force soft reset to fix Circulo multiturn issue.
* Velocity-based control effort is tweaked and documentation updated.
* Following error position values are in the user reference frame instead of encoder.
* Following error status bit is cleared when the window is disabled.
* Avoid exception in the External scaled measurement calculation.
* Following error actual value (`0x60F4`) is now being updated in all operational modes.
* Raise the internal limit active warning if the integral limit has been reached.
* Limit the demanded torque instead of target torque to prevent offset from being prematurely limited.
* Removed 100 ms quick stop timeout period for position and velocity control modes.
* Prevent loading the brake status from the user-defined config.csv settings. Always initialize to `engaged`.
* Raise the internal limit active warning if profile velocity hits the max. motor speed limit.
* Torque controller is enabled immediately before the pull time period when clutch-style brake is being used.
* SDK: CAN-over-SPI protocol was made a bit more robust.

## v4.4.2 - 2021-02-09

### Fixed

* CANopen boot-up message is fixed.
* Fixed error reporting race condition from sensor services.
* Position filters are reset when wrapping around range limits.
* Fixed enabling position profiler when entering homing mode.
* REM16 internal errors are reported.
* Allow missing newline and ensure proper types and signs are written for config.csv.
* Avoid an error when Circulo encoders mis-read from EEPROM and fix error masking.
* Reset quick-stop-active flag in case of forced transition 12
* Fix the initialization of position profiler after QEI index search routine.
* External scaled measurement calculation was tweaked to be more accurate.
* Initialize quick-stop before controlling on previous position setpoint.
* Use Enabled/Disabled in FIR filter instead of Enable/Disable.
* Fix EtherCAT mailbox addressing when a station address is configured.
* Fix for several multiturn issues on the Circulo encoders.
* Fix execution of brake release for pin brakes during offset detection.
* Fix quick-stop initialization of deceleration after CSP mode.

### Changed

* Increased tolerance for core temperature from 100 to 105 degrees C.
* Increased effective resolution of current measurements for Circulo ADC.
* Minimum distance threshold format for pin brakes increased from 16 to 32-bit.

### Added

* Added logo to ESI file.
* Support for Circulo rev. C hardware is added.

## v4.4.1 - 2020-11-26

### Fixed

* CANopen will throw a `CyclicHb` error if cyclic communication isn't maintained.
* Velocity demand value (`0x606b`) now includes the Velocity offset (`0x60b1`) and considers speed limits.
* The Target reached bit of the Statusword (bit 10) is reset when the window or controller are disabled.
* The Torque window (`0x2014`) is read properly from the object dictionary instead of keeping it at zero.
* Set-point acknowledge bit of the Statusword (bit 12) properly mirrors the new set-point bit of the Controlword (bit 4).
* Drive and Core temperature error thresholds have been tweaked. Both will trigger a warning at 95 C and an error at 100 C.
* Statusword fluctuation (bit 12) when FIR input filter is enabled has been resolved.
* Minor tweak of Circulo graphics has been made for compatibility reasons.

## v4.4.0 - 2020-11-10

This official release incldues the following major features since v4.2.

* Control input FIR filter (`0x2027`) can be used to interpolate or smooth input trajectories.
* Brake field strength factor (`0x2004:12`) was added to support flash storage of a deprecated internal compensation mechanism.
* The Controlword Halt bit can be used in homing modes.

### Fixed

* Increased max torque resolution handling within the drive.
* Corrected reference frame for Velocity demand value when a gearbox is defined.
* Corrected initial position recorded for pin brake release mode when a gearbox is defined.
* Maintain set velocity offset when quick-stop is executed in position control modes.

## v4.4.0-rc.2 - 2020-11-03

### Fixed

* Fix bugs in the EtherCAT handling of the BOOT stage.
* Fix dynamic switching of op modes to avoid brake re-release, etc.
* Set Zero velocity threshold of serial encoders to 0 by default, for better performance at low velocity.
* Avoid `Intern01` error.

## v4.4.0-rc.1 - 2020-09-21

### Fixed

* Tweaked timing issue that sometimes caused intermittent issues with PWM output.
* Velocity demand value is scaled properly in velocity control modes.
* Gear and tachometer ratio is taken into account immediately when changed.
* Implemented smoother transition from velocity to torque modes without disabling the controller.
* Initial value of the Brake status (`0x2004:7`) is fixed.
* Fixed occasional watchdog error for Drive 1000.
* SDK: Fix external library build issue when SDK submodule is used.

## v4.4.0-rc.0 - 2020-08-12

### Fixed

* Circulo internal encoder error handling is improved.
* CANopen devices will issue a `CyclicHb` error if the network isn't active for more than 100 ms.

### Changed

* SDK: Organization of source code is much improved for use with Git submodules.

## v4.4.0-beta.0 - 2020-07-24

### Added

* The Controlword Halt bit can be used in homing modes.

### Fixed

* SAFETY: Avoid motion during brake engagement when a quick-stop or fault is raised during cogging torque recording.
* Various Polarity (`0x607e`) issues are resolved.
* CANopen nodes now support 1000 kbaud communication rates.
* `CyclicHb` communication error is suppressed in CANopen nodes with no PDO maps.
* Four PDO maps are available in CANopen nodes.
* Profile position mode requires a new-setpoint bit be requested before following the next setpoint.
* Default FIR order is now 3 (4 taps) for accurate millisecond command interpolation.
* Prevent jump when home position is set and FIR filter is enabled.
* Scaled Velocity window (`0x606D`) and threshold (`0x606F`) by the SI unit velocity (`0x60A9`).
* Scaled Gain scheduling velocity thresholds (`0x2013:2`, `0x2013:11`) by the SI unit velocity (`0x60A9`).
* Fixed an issue with A-Format data parsing.
* Initialization errors for REM16 encoders are cleared properly.

## v4.4.0-alpha.0 - 2020-07-14

### Added

* Control input FIR filter (`0x2027`) can be used to interpolate or smooth input trajectories.
* Brake field strength factor (`0x2004:12`) was added to support flash storage of a deprecated internal compensation mechanism.