v3.6 to v3.6u1 Change Log (June 28, 2024)

Version update by module

Module

Previous version

Latest version

CoreMotion

3.6.0.0

3.6.0.1

Log

3.6.0.0

3.6.0.1

ApiBuffer

3.6.0.0

3.6.0.1

CyclicBuffer

3.6.0.0

3.6.0.1

IO

3.6.0.0

3.6.0.1

Event

3.6.0.0

3.6.0.1

UserMemory

3.6.0.0

3.6.0.1

AdvancedMotion

3.6.0.0

3.6.0.1

M4Platform

3.6.0.0

3.6.0.1

EcPlatform

3.6.0.0

3.6.1.0

New Functions

  1. On EcPlatform, added system time offset to set the dc time offset from 2000.01.01 00:00:00. It requires DcSystemOffset = 1 in the ec_network.def file.

  2. On EcPlatform, added support of 62.5 us communication period.

  3. On EcPlatform, implemented diagnosis scan function.

  4. On EcPlatform, added pub APIs(EcPubUpdateMasterInfo and EcPubUpdateAllMastersInfo) to update master info manually.

  5. On EcPlatform, added outdated flag and api version variable to EC_PUB_DATA struct of pub data.

Specs Changes

  1. For Sync Homing using Absolute Encoder Mode, adjustments have been made to include the encoder value calculated from HomeShiftDistance for the slave’s AbsoluteEncoderHomeOffset parameter. Refer to spec change item 17 in v3.6 for further details.

  2. In position command mode, regneration attempt of a trapezoidal profile has been added if a profile generation fails during override (due to parameters, etc.). If the newly generated profile also cannot reach the target, the axis will switch to idle state, consistent with the previous specification.

  3. On EcPlatform, updated the sdo abort codes, FoE error codes, EoE error codes and message print.

  4. On EcPlatform, changed the statistic data from ratio to count.

  5. On EcPlatform, added DcDiffCount and DLEventCount to the statistic data.

Bug Fixes

  1. Addressed an issue where performing homing with the HSOff type while the home switch is on did not execute the movement in the reverse direction.

  2. Fixed a problem in Absolute Encoder Mode where homeShiftDistance did not reflect the homeDirection parameter.

  3. Fixed a bug in the SimulatePosAtTime API that caused it to refer to a location that exceeded the appropriate time value by 1 cycle time epoch.

  4. Fixed a issue that some profiles (usch as S-Curve) frequently be changed to trapezoidal profile by item 20 of specification change in v3.6 when running override in position command mode.

  5. Fixed a problem with the Path Interpolation with Lookahead feature that does not properly evaluate the angle tolerance of the path Intl Lookahead configuration when the arrival position of a path segment is the same as the starting position of the preceding path segment

  6. Fixed a problem in which the time required for deceleration in the profile of the speed command and the Jog command (S-Curve, JerkRatio, etc.) is slower than the actual set value.

  7. Fixed a problem where the trigger did not work in torque command mode.

  8. Fixed an issue with the CmdDistributionEnd and posSet flags maintaining true while performing motion by PathIntplLookahead Command. These two flags were modified to remain false while performing PathIntplLookahead Command as described in the manual.

  9. Fixed a problem in which the state is expressed as Gantry Homing when the axis, which was slave axis during Gantry Homing was performed in sync mode, is performing normal homing after the synchronous mode was released.

  10. Fixed an issue that the homeShiftDistance was included when performing a homing operation with CurrentPos type in Absolute Encoder Mode.

  11. Fixed an issue on the M4Platform that network scanning would not work properly if the station addresses of one or more slaves were duplicated.

  12. Fixed an issue on the EcPlatform that there were some missing api log processes.

  13. Fixed an issue on the EcPlatform that abort code was not copied for Sdo upload/download and foe read/write when there is a error. This problem occurred with a type of API that has a callback function as an argument.

  14. Fixed an issue on the EcPlatform that i225-LM (phy id 0x67c9dcc0) on MCX-CM-220 return error.

  15. Fixed an issue on the EcPlatform that RtIGC caused high cpu usage if PreferMSI was set to 0.

Manual Update

  1. Added explanations regarding constraints based on motion profile parameters. Refer to Trapezoidal.

  2. Included information about RTX support in versions of Visual Studio 2022 v17.7.3 and beyond. Refer to Supported Library and IDE and Tutorial 6-1: Configuring a new C++ project.

  3. Added explanations regarding the command position and feedback position according to the gear ratio changes. Refer to Gear Ratio.

  4. Added explanations regarding the absolute encoder mode. Refer to Absolute Encoder Mode.