Motion Master
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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

5.5.10 - 2026-06-18

Added

  • --no-sdo-polling command-line flag (SOEM). The monitoring parameter refresher polls non-PDO objects via SDO on a separate thread that shares the single SOEM port with the cyclic process-data exchange; on some firmware that mailbox traffic starves the exchange, freezing the input process image so that every monitored value (including the PDO-mapped timestamp) stalls and repeats even though the main loop still runs at 1-2 ms. When the flag is set, the refresher is never started: PDO-mapped objects (and the timestamp) still update every cycle, while non-PDO objects hold the value read once at startup. SoemOdEntry::is_value_fresh now reports objects as fresh when polling is disabled so a single non-PDO signal cannot gate the whole monitoring frame and stall the stream.

5.5.9 - 2026-06-18

Added

  • Verbose (-v 1) PDO mapping classification dump in SoemSlave::update_pdo_mapping_od. Per device, it lists which objects are served from the PDO process image (Rx/Tx, with offsets) versus which readable objects fall back to a per-sample SDO read when monitored. MonitorMachine additionally logs whether the timestamp object is PDO- or SDO-served, making degraded traces caused by SDO polling easy to diagnose.

Fixed

  • SoemSlave::update_pdo_mapping_od derived the active PDO mapping by scanning a hardcoded 0x1600-0x16FF / 0x1A00-0x1AFF index range. Objects mapped through a PDO at any other index — such as the timestamp 0x20F0 on newer firmware — were therefore not recognized as PDO-mapped and were monitored via slow per-sample SDO reads (which stall/repeat the timestamp). The mapping is now read from the SyncManager PDO assignment objects (0x1C12/0x1C13), capturing objects mapped at any index and keeping byte offsets aligned with the device's process image, including padding/gap entries.

5.5.8 - 2026-06-18

Added

  • Added a --skip-pdo-mapping command-line flag (SOEM). When set, Motion Master does not write the custom PDO mapping from ui.config.json during initialization and instead uses whatever mapping each device already has. Useful when a device/firmware rejects the mapping SDO writes (wkc=0), which would otherwise leave monitored objects unmapped and force slow per-parameter SDO reads.

Fixed

  • setPdoMappingFromUiConfig previously wrote the PDO mapping, ignored write failures, and reported success unconditionally. On a device that rejects the mapping writes (every 0x1600/0x1A00 write returning wkc=0), the device silently kept a different (default) mapping, so objects that should have been PDO-mapped were not and monitoring them fell back to a slow per-parameter SDO refresher (seconds per sample instead of 1 ms). The mapping is now read back and verified against the intended configuration, retried up to 3 times, and a prominent error is logged if it still cannot be applied.
  • An unknown or mistyped command-line flag was swallowed as a warning and startup continued with an unconfigured master type, surfacing as a confusing repeating "Unknown Master type!" error. Invalid arguments now log a clear error, print the usage, and exit non-zero.

5.5.7 - 2026-06-17

Fixed

  • PDO mapping configuration could randomly leave the object dictionary partially configured: each SDO write in setPdoMappingFromUiConfig was issued once and, on a transient failure (wkc <= 0, e.g. a wkc=-1 mailbox timeout), the error was only logged before moving on. Depending on which mapping objects were missed, this later surfaced as a failed CiA 402 state transition or fault reset. Every such SDO write is now retried up to 3 times with a short pause between attempts, riding out the transient and keeping the mapping consistent.
  • Runtime SDO parameter reads and writes (SoemOdEntry) were likewise issued only once, so a transient mailbox timeout failed the whole client request — a write that silently did not take, or a read returning a stale value. These now use the same retry (up to 3 attempts) as the PDO mapping path.

5.5.6 - 2026-06-13

Changed

  • EtherCAT firmware installation no longer aborts when a descriptive, non-essential file (the ESI SOMANET_CiA_402.xml.zip or the stack image) fails to write — the client receives a warning and the installation continues. Integro/NetX devices only accept the ESI under chunked filenames (SOMANET_CiA_402.xml.zip.partNNN) and reject the single verbatim .zip, which previously failed the whole installation. Writing the SII and the app/com firmware binaries remains mandatory: a failure there (or being unable to reach BOOT to write the SII) now aborts the installation as before.
  • The 2 s bootloader warm-up delay is now also applied before writing the SII and the firmware binaries, but only when the device had to be transitioned back into BOOT first. The common case, where the device is already in BOOT, adds no extra wait.

5.5.5 - 2026-06-12

Added

  • SPoE IP addresses (--ips) may now include an optional port, written as ip:port (e.g. 192.168.100.10:1234). A plain IP (e.g. 192.168.100.10) keeps using the default port 8080, so existing configurations are unaffected.
  • Added a --no-file-cache command-line flag that disables the in-memory cache of device files read over FoE, so every read fetches fresh content from the device. Useful when a host-side cache (e.g. the browser's local storage) already holds the file and you need to confirm what is actually stored on the device.

Changed

  • During EtherCAT firmware installation, progress is now reported earlier and during file removal ("Switching device to BOOT state...", then "Removing the ... file..."), so the UI no longer appears stalled while the bootloader erases large files such as the ESI (~17 s).

Fixed

  • Re-flashing firmware failed with an "Internal file operation error" while removing or rewriting device files in BOOT state. Three causes on the FoE/BOOT path are addressed: (1) FoE timeouts for file removal were too short for the slow bootloader — removal now uses a 10 s timeout, and removal of the large ESI file (SOMANET_CiA_402.xml.zip) a 30 s timeout; (2) the delay after entering BOOT before the first file operation is increased from 150 ms to 2 s, so the first fs-getlist no longer hits a not-yet-ready bootloader; (3) the master's mailbox sequence counter is reset when the mailbox sync managers are reprogrammed for BOOT (and on the return to PRE-OP), so a re-entry into BOOT no longer desyncs and wedges the mailbox.

5.5.4 - 2026-06-10

Fixed

  • Some SOMANET devices silently stayed in INIT during EtherCAT bus initialization. Mailbox sync managers are no longer reprogrammed on a fresh-scan INIT→PRE-OP transition (only when a device returns from BOOT, e.g. after a firmware download), and EEPROM control is handed back to the device's PDI after reprogramming so the device can complete the state change.

5.5.3 - 2026-05-27

Changed

  • Refactored high-rate-data (HRD) file handling to support the Jasper firmware, which stores a recording in a single hr_data0.bin instead of splitting it across several files. HRD files are now discovered from the device file list and processed regardless of their count or layout, and the encoder calibration derives the sample count from the actual recorded data. (#44)

5.5.2 - 2026-05-27

Changed

  • Transfer device files over FoE in a single transfer without chunking or ZIP packaging, and read files more reliably in BOOT state. (#50)

5.5.1 - 2026-05-20

Fixed

  • Fixed shutdown hangs on SIGTERM: SPoE no longer hangs when started with an invalid or unreachable IP address, and SOEM no longer blocks for up to 50 seconds when a signal arrives during EtherCAT bus initialization. (#48)

5.5.0 - 2026-05-14

Changed

  • Improved the reliability and performance of initializing devices. (#40)

Fixed

  • Use standard libMU_3SL library directory layout and improve library handling during compilation and Docker image builds.

5.4.1 - 2026-04-15

Fixed

  • Circulo encoder calibration in validation-only mode now shows a distinct message and prompts the user to rerun full calibration. (#42)

5.4.0 - 2026-04-10

Changed

  • Updated the iC-Haus calibration library for Circulo integrated encoders from v2 to v3. (#34)

5.3.0 - 2026-03-24

Added

  • Ability to read device SII via SOEM. (#37)

Fixed

  • Memory access violation caused by a missing virtual parameter in SPoE monitoring mode. (#35)

5.2.2 - 2026-03-19

Fixed

  • Use copies instead of symlinks for libMU_3SL_interface.so files.

5.2.1 - 2026-03-19

Fixed

  • Missing libMU_3SL_interface.so.3 symlink.

5.2.0 - 2026-03-19

Fixed

  • Finding libraries and building on GCC 15.2.1.

Removed

  • dl_syscalls.

5.2.0-alpha.1 - 2026-03-10

Fixed

  • Fixed SPoE firmware installation to skip non-whitelisted files in the firmware package, such as GSDML and EDS files. (#32)

5.2.0-alpha.0 - 2026-02-20

Added

  • Added support for writing chirp signal parameters (start frequency, end frequency, duration, amplitude, signal type) to the plant model file. (#23)
  • Added a whitelist of non-firmware files that are allowed to be written to the device during firmware installation. (#29)

Fixed

  • Fixed conversion of start and end frequencies from Hz to mHz in System Identification. (#25)
  • Skip state changes in monitor PDO mode during SPoE device initialization. (#28)

5.1.0 - 2025-12-19

Fixed

  • Fixed a Linux-specific issue where the Proto Server failed to handle interrupt signals correctly. (4337867116)

5.1.0-beta.0 - 2025-12-12

Added

  • Added support for executing a Chirp signal for System Identification via OS command and processing the resulting HRD data. (1540930696)
  • Added Bode plot file contents to the System Identification status message to enable plotting in the UI. (4326946044)
  • Added retry mechanism for reading object dictionary entries and descriptions, attempting multiple times before failing the setup. (4337857609)
  • Added recognition of Sensodrive devices as Synapticon devices. (4337858326)

Changed

  • Migrated server implementation from IXWebSocket to uWebSockets. (1727893901)
  • Replaced moodycamel::ReaderWriterQueue with a custom ThreadSafeQueue. (4337858989)
  • Added a wait to ensure the number of slaves stabilizes before starting initialization. (4337866768)
  • Changed server to send outgoing messages from queue without delay. (4326946908)
  • Updated standalone-autotuning to version 2.3.3.

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. (4337868474)
  • Fixed the conversion logic to correctly translate either Q15-encoded or actual recorded velocity values to SI units (rad/s). (4337869106)

Removed

  • Removed 0x2041:01 (Motor current / Vector amplitude) from the default PDO mapping, as it is not present in firmware version v5.1.x. (4337869312)

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)
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