Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

Changed

• Replaced moodycamel::ReaderWriterQueue with a custom ThreadSafeQueue.
• Added a wait to ensure the number of slaves stabilizes before starting initialization.

Fixed

• SPoE state changes now correctly determine success by comparing the returned state with the requested state, instead of relying on the previous success code.

Removed

• Removed 0x2041:01 (Motor current / Vector amplitude) from the default PDO mapping, as it is not present in firmware version v5.1.x.

5.0.7 - 2025-09-23

Changed

• Improved file read/write robustness by retrying when an undefined FoE error code occurs.

5.0.6 - 2025-09-19

Changed

• Server now starts before initiating the standalone auto-tuning process.

Removed

• Logging of the read Bode plot file content.

5.0.5 - 2025-09-19

Added

• Support for newer Circulo Integrated Encoder revisions by forcing them to use the older revision. (1301230668)
• Linting scripts and updated GitHub workflows.

Changed

• Added support for skipping specified files during firmware installation (e.g., SOMANET_CiA_402.xml.zip). (1723521044)
• Source code updated to comply with linting rules (cpplint).
• Removed unused IgH EtherCAT Master–related source code.

5.0.4 - 2025-09-17

Added

• Process GetSystemInformation request message. (1748104048)

5.0.3 - 2025-09-04

Changed

• Rename the command-line driver option from 'ethernet' to 'spoe'.

5.0.2 - 2025-09-04

Added

• Added a command-line option to configure the PDO mode of SPoE devices. (1741743151)

5.0.1 - 2025-08-14

Removed

• Dropped support for ZeroMQ and removed it as a dependency. (1727893901)

5.0.0 - 2025-07-31

Added

• Added support for the SOMANET Protocol over Ethernet (SPoE).

5.0.0-beta.38 - 2025-06-10

Changed

• Switched to a newer version of the standalone auto-tuning program featuring enhanced system identification, improved exception handling, and Bode plot generation.

5.0.0-beta.37 - 2025-05-30

Changed

• When the device enters the SAFEOP state, recovery attempt messages are now logged only in Motion Master and no longer sent to the UI.

Fixed

• Fixed an issue where gains were zero during iterative sharpening auto-tuning at the start of the Cogging Torque Compensation recording procedure, which caused sudden motion jumps. (1621619964)

5.0.0-beta.36 - 2025-05-23

Added

• Initial implementation of the UI PDO Mapping feature. (1654097885)

5.0.0-beta.35 - 2025-04-29

Added

• Initial implementation of the somepp static library.

Changed

• Log now displays SDO index and subindex values in hexadecimal instead of decimal.

5.0.0-beta.34 - 2025-04-23

Fixed

• Fixed checkstate to re-read the master state after acknowledging a SAFE-OP error, preventing it from getting stuck in SAFEOP-ERROR.

5.0.0-beta.33 - 2025-04-22

Added

• Added external_circulo_type attribute to the Encode Configuration procedure.

5.0.0-beta.30 - 2025-04-03

Changed

• Updated the standalone auto-tuning functions to use IPC, significantly improving performance compared to running the program via CLI. (1571985290)

5.0.0-beta.29 - 2025-03-14

Fixed

• Resolved the issue preventing Integro devices from recovering from the SAFE-OP+ERROR state. (1599593149)

5.0.0-beta.28 - 2025-03-02

Added

• Added the inclusion of the chrono library where necessary.

5.0.0-beta.27 - 2025-03-02

Added

• Added logging to capture parameters that exceed the allowed range for the specified entry type.

Changed

• Updated the list of SI unit velocity parameters and added new options for RPM and RPS, including kilo, mega, giga, and tera.

5.0.0-beta.26 - 2025-02-18

Added

• Added the "measurement only" flag to the Circulo encoder's narrow-angle calibration procedure. (1299302456)

5.0.0-beta.25 - 2025-02-11

Changed

• Manual mapping and configuration of FMMUs and Sync Managers in the PREOP EtherCAT state.
• Device recovery limited to transitioning from SAFE-OP to OP EtherCAT state.
• Sleeping for 80 milliseconds only when FoE returns as busy.

5.0.0-beta.24 - 2025-02-03

Changed

• On a failed roundtrip, read the number of slaves only once, with the timeout reduced from 500 ms to 100 ms.

5.0.0-beta.23 - 2025-02-03

Changed

• Skipping the initialization of third-party devices to reduce loading times.

5.0.0-beta.22 - 2025-01-31

Changed

• Modified the transition points for updating the sync managers.
• Revised CTC recording log and enhanced fault state logging.
• Prevented redundant updates to the local object dictionary PDO mapping.

5.0.0-beta.21 - 2025-01-25

Changed

• Upgraded standalone-autotuning to version 2.0.0, now including the duration time value for each operation.

5.0.0-beta.20 - 2025-01-24

Fixed

• Fixed write access error when running next-gen System Identification on Linux. (1582222631)

5.0.0-beta.19 - 2025-01-22

Changed

• Updated success criteria for Circulo encoder calibration. (1553641201)

Fixed

• Fixed an issue with SDO writes for BOOL values, which were always being set to 0. (1566713098)

5.0.0-beta.18 - 2025-01-09

Added

• Logging for changes in slave count.

Fixed

• Resolved an issue with slave count timeout that caused Motion Master to reinitialize all devices.

5.0.0-beta.14 - 2024-12-22

Changed

• Improved robustness of FoE operations, adding retries for program errors and flash disk full error codes. (1472154716)
• Updated the Quick Stop functions to reset the Torque Target and Offset values to 0 in CSP and PT modes. (1452182434)

Added

• Include the maximum acceleration for battery mode in the Circulo Encoder Configuration request. (1366713298)
• Enabled automatic configuration for detected SMM devices in SOEM. (1472147544)
• Enabled PDO remapping functionality with SOEM. (1484358597)
• Added support for specifying WebSocket ports as command-line arguments. (1150020418)

Fixed

• Prevented slicing of fs-buffer file content when the size exceeds the IgH maximum file size limit. (1242309971)
• Resolved segmentation fault triggered by the SIGTERM signal in Linux when using the IgH EtherCAT Master. (1377203870)
• Fixed 'GLIBC_2.34' not found error, and occasional failure to start with an 'Alarm clock' error on Linux. (1504138772)