Fixed Bugs:

• Zero point offset cannot be stored in the encoder when using motors (e.g. EMMT-ST) with multiturn due to inverted logic of the button on page manual movement 

New Features:

• Activated field weakening is taken into account when calculating the parameter limits of the system
• Support and convenient configuration of BiSS-C encoders
• Support for EMMT-ST and EMMB-ST motors
• Configuration of parallel axes for ELGD-..-TB axes available

Fixed Bugs:

• Trace recordings that were created with older versions (as fmd file) can't be imported completely
• Status changes of individual bits (e.g. I/O) are not displayed correctly in the trace display
• Sign of the torque offset for vertical axes is not set according to the motor mounting position
• Orange warnings are displayed in the ribbon bar after replacing the device in the drive configurator
• Hyperlink for selecting the reference method is not displayed on the page "Manual Movement" page 

Fixed Bugs:

• Enter of negative values on the record list (e.g. homing method -17) leads to an invalid parameter status
• Nominal current for the selected motor in the drive configuration is not calculated (P1.7117.0.0)
• Limit value calculation for imported data from Electric Motion Sizing is not executed correctly and leads to invalid parameter values in the plug-in
• The plug-in could not be initialized on certain Windows versions (Win10 LTSC version)
• Incorrect unit conversion when entering the motor inertia (P1.7111.0.0) 

Fixed Bugs:

• Reset of axis feed constant to default value is wrong
• Error classification page cannot be loaded correctly in some cases
• Incorrect calculation of the torque offset for vertical axis on page application data
• Scrollbar is missing in First Setup Wizard 

Fixed Bugs:

• Incorrect total gear ratio calculation for extended gears with larger ratio
• Import of wrong axis from Handling Guide Online in certain cases
• Limit values not suitable after importing data from Handling Guide Online or Electric Motion Sizing 

New Features: (based on Firmware V033.0.x)

• Mounting position can be parameterized in order to prevent e.g. an axis drop down when using vertical applications
• Additional opportunity to configure the application data on its own page in the navigation tree of the plug-in
• New graphical parameter pages for "Travel to fixed stop" available in order to configure it conveniently
• Renamed parameter page "Jog Mode" to "Manual movement" and new grafic for the Jog-mode in addition
• For a better overview for multi-protocol devices, the relevant parameter pages according to the configured/activated fieldbus are displayed in black font in the navigation tree and not relevant pages appearing light gray (but still configurable).
• Configuration of parallel mounted axes is now also available for ELGA, EGC-TB-xx and ELCC

Fixed Bugs:

• Establishing a connection (via VPN) to the device takes very long time
• Wrong data import from Electric Motion Sizing for drive configuration with gears
• Projects from Handling Guide Online won't be imported correct (partly)

Known Limitation:

• Writable parameters which have been added to the online watchlist are sporadically overwritten on the parameter page.

Fixed Bugs:

• The parameter page "Extended Process Data" is displayed incorrect if PROFINET or EtherNet/IP devices are using.
• Incorrect limit calculation (too low) for maximum velocity values of the entire system.
• Trace recordings won't be displayed in the correct ordering

New Features:

• Support for CMMT-ST-C8-1C-MP-S0 (Multiprotocol) device
  • New parameter page “Configuration” to adjust the fieldbus protocol on the device
  • Integration of fieldbus pages for EtherCAT, PROFINET and EtherNet/IP within one plug-in instance
  • New parameter page “Profiles” for parametrization of CiA402 and PROFIdrive profiles
  • Already existing projects (EC, PN, EP) can converted by changing the servo drive to CMMT-AS-..-MP in drive configuration (closed loop data are kept)
  • First setup wizard provides a new TAB “Fieldbus” for fast commissioning
• Parameter values in the project can be reset to plug-in default values (exceptions: drive configuration, record table and trace channel configuration).
• Copying, adding and removing of parameter IDs, for example to the trace channel list or watchlist, is now possible directly via a button in the parameter pop-up.

Parameter Pages:

• New parameter page "Energy Recovery" with graphical support for adjust setting of the energy load.
• New parameter page for modulo operation with dynamized graphics in online mode.
• New diagnostic page for fieldbus process data, which clearly and dynamically displays the current state of the status and control word bits, depending on the used fieldbus and telegram.
• The byte data structure of the input and output data on the parameter page "Extended process data" can be copied to the function block in the PLC program (Festo-CMMT-PN-Lib).
• Interactive graphic of the DIL switch setting for the fieldbus setting is displayed on page Fieldbus --> Configuration.

Record Table:

• The velocity override for the configured record sets can be conveniently set via a slider (0-200%) for commissioning.
• Record sets can be duplicated (right mouse click --> Duplicate) and additionally provided with comments.
• The executed record set is highlighted with a blue arrow in online mode.

Watchlist:

• Parameters can be sorted as desired within the watchlist by drag-and-drop.
• All live values in the list can be enlarged and reduced by a slider or with the key combination (CTRL + mouse wheel).

Fixed Bugs:

• The axis order code for 2D gantries haven't been correct imported from Handling Guide Online (HGO).
• Establishing a connection to the device, while the servo drive is changing in the configuration, leads to a plug-in crash.
• Orange warning for the max. velocity has been shown up without visible value changes.

New Features:

• Convenient possibility to apply the recognized servo drive while establishing online connection.

Fixed Bugs:

• Wrong calculated base velocity value for applications with gear ratio (Application class 4)

New Features:

• Support for CMMT-AS-..-MP (Multiprotocol) devices (only PROFINET)
  • New parameter page “Configuration” to adjust the fieldbus protocol on the device
  • Integration of fieldbus pages for EtherCAT, PROFINET and EtherNet/IP within one plug-in instance
  • New parameter page “Profiles” for parametrization of CiA402 and PROFIdrive profiles
  • Already existing projects (EC, PN, EP) can converted by changing the servo drive to CMMT-AS-..-MP in drive configuration (closed loop data are kept)
  • First setup wizard provides a new TAB “Fieldbus” for fast commissioning
• Customized watchlist in Online Mode
  • Adding and removing of any parameter ID’s is possible (up to 30)
  • User defined parameter configuration are stored in project folder separately for each device instance
  • Possibility to reset the watchlist parameters to default
• Import of Handling Guide Online (HGO) commissioning file (incl. closed loop data) for parallel kinematics YXML, YXMF, YXMR (EXCT, EXCH, EXCM)
• Recommended parameter correction applies automatically after the first configuration in first setup wizard (no orange warnings)
• Dynamically displaying of relevant parameters (on block or switch) according to the selected homing method on page “Axis”
• Removing all configured trace channels by clicking one button on page “Trace configuration” is possible

Fixed Bugs:

• Wrong type description and order code for EMMT-AS-150 and 190er motors in data base
• Sporadically exception errors and crashes occurs when using trace components
• Long plug-in loading time when opening, adding, removing or copying a device instance

New Features:

• Drive Configuration
  • Easy and comfortable configuration of parallel axes within the drive configuration and the first setup wizard possible
  • Automatically closed loop calculation for handlings with parallel axes
  • Configuration of mounting kit with gear reduction is possible
• Parameter pages
  • New parameter page Configuration, below the fieldbus page, for PROFINET and EtherNET/IP devices in order to configure dynamic values in a convenient way
  • A dynamic layout of group AC4 is displaying related to the application basics (linear/rotated) for PROFINET devices
  • Renamed parameter page "Cam controller" to "Position trigger"

Fixed Bugs:

• Loading time of the whole parameter list takes very long
• Wrong imported mass inertia for rotative drives from PositioningDrives
• Stroke limits out of the software limit range leads to a warning during homing
• Recommended upper and lower thresholds related to the selected supply voltage are offered too low
• Wrong warnings are shown for EMGA gears in the drive configuration
• Updating time of the Auto-Tuning results takes too long

Fixed Bugs:

• Valid parameter values from the PositioningDrives engineering tool are overwritten with 0.00 when the file is imported

New Features:

• Rapid update of online live values in the parameter list via the button "Refresh".
• Color for a trace channel can be selected in the context menu on page trace display.
• Harmonization of trace controls with the topology editor such as e.g. zoom [CTRL + mouse wheel], move diagram [Space + left mouse key], measure X/Y [SHIFT + left mouse key].
• Incompatibilities between configured components and used target device firmware can be recognized when connecting with the plug-in.
• Darker device images for improving the contrast in topology editor

Fixed Bugs:

• Parameter correction leads to invalid parameter values if drive configuration is empty.
• Exception error when a trace chart image (*.png) is stored on the same local path a second time.
• Cable length and cable cross section is set to default values when resetting the closed loop data.
• The stop signal fails sporadically when jogging via the control panel on page "Manual movement".
• Memory leak when running several plug-in instances.
• Recommended value for the velocity limit in positive direction is not applied.

Fixed Bugs:

• Incorrect calculation and updating of parameter "Integral time" on page closed loop.

New Features:

• The predefined feed constant for Festo axes is now adjustable on parameter page "Encoder interface"
• Separate CODESYS parameter page in the device tree for all CODESYS related settings available (only when connected to a Festo PLC)
• Homing is possible without enabling the drive, e. g. on current position(requires FW V18 or higher)
• Executing a record set is possible without enabling the drive, e. g. for changing the parameter set(requires FW V18 or higher)
• Trace display settings (e. g. grid on/off) now apply to all recordings

Fixed Bugs:

• Trace display settings (e.g. combined axes, hiding of channels) not stored after leaving the page
• Software limits not correctly imported from PositiongDrives
• Warning and error messages are shown for read only parameters
• The plug-in doesn't reconnect to the device after executing "load factory settings"
• Trace visualization crashes if it is updated in very short intervals

Fixed Bugs:

• Error when saving projects (V2.0) with trace settings (trigger type: Diagnostics trigger).
• Trace overview page loading very slow if many trace results are recorded.

New Features:

• Support for Festo Automation Suite V2.0
• New sub page on parameter page "Fieldbus" for CODESYS EtherCAT device settings
• All released CODESYS driver packages for Point to Point and SoftMotion are included on parameter page "Fieldbus"

Fixed Bugs:

• Modified parameters of intermediate circuit voltage will be overwritten automatically by saving the project.
• Parameters are resetting to default after toggle measure unit
• Different information of maximum torque for axes between data base and data sheet

New Features:

• New Page "Device settings" in first setup wizard
• Selection of supply voltage 24V/48V possible
• Parameter Pages:
  • Improved parameter page "Fieldbus" (includes new sub page "Interface") for PROFINET and EtherNet/IP devices
  • Fieldbus object IDs are shown in parameter pop up window
  • Supply voltage can be selected on parameter page "Device settings"
  • If parameter are not supported by the firmware, only the respective parameter group is disabled instead of the whole page
• Support for axis and mounting kits
  • EPCC-BS (long stroke) Size 45 and 60
  • EAMM-A-T46 and EAMM-U-87-T46
• Support for angular gears EMGA-40/60/80-A

Fixed Bugs:

• Update time of auto tuning results
• Parameter synchronization dialog erroneously detects differences in parameter values
• Saving during online session triggers reinitialization of the drive
• User defined names of record set transitions are not correctly uploaded from the device
• Warning if an actuator with integrated mounting kit has been imported from PositioningDrives

Included Driver Function Blocks:

• CODESYS Point to point V3.5.10.47
• CODESYS SoftMotion V4.0.18.0

Fixed Bugs:

• Torque, velocity and current limits has been calculated wrong
• Slow update of live values during online session
• Wrong velocity limits for axis with intermediate support recommended

New Features:

• Support for vibration compensation
• Device connection:
  • Automatically reconnect after device restart
  • Immediate notification if device connection is lost
• Parameter and control pages:
  • Block diagrams as alternative view for selected parameter pages
  • Encoder parameterisation for user defined motors now on parameter page "Encoder interface"
  • Calculation of system limits for user defined components
  • Calculation of closed loop parameters possible in online mode
  • Teaching of current torque in feed forward control (for vertical axes)
  • Responsive design for control page "Manual movement"
• Trace improvements:
  • New trace data is read from the device automatically
  • User defined channels
  • Trace start is possible in undocked window

Fixed Bugs:

• Modified device name is not stored after "store on device"
• PROFINET IP address is only shown after reloading the parameter list
• Integrated mounting kit is not updated after changing the size
• Auto tuning wizard does not calculate start parameters
• Incorrect warning messages raised by parameter correction
• Window area "manual movement" is cut up after zooming

Included Driver Function Blocks:

• CODESYS Point to point V3.5.10.44
• CODESYS SoftMotion V4.0.16.0

Fixed Bugs:

• Calculated limits for current and torque too low for systems with spindle axes

Included Driver Function Blocks:

• CODESYS Point to point V3.5.10.40
• CODESYS SoftMotion V4.0.16.0

New Features:

• Support for CMMT-ST-...-EP with Ethernet/IP interface (V1.2.1)

Fixed Bugs:

• Exception when entering certain feed constants
• Error when synchronizing string parameters with the device
• Text on button for releasing the holding brake not unreadable
• Reinit after changing the hardware switch settings not possible
• SoftMotion driver version not displayed
• User defined gear is deleted when changing the axis
• Zero point offset is not stored correctly in certain cases
• Reinit icons missing for some parameters
• Exception when editing an existing drive configuration
• Missing scroll bars on page Diagnosis -> I/O state

Included Driver Function Blocks:

• CODESYS Point to point V3.5.10.38
• CODESYS SoftMotion V4.0.16.0

Supported systems:

• servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
• servo drive CMMT-ST-C8-1C-EP-S0 (8084006)
• servo drive CMMT-ST-C8-1C-PN-S0 (8084004)

New Features:

• Support for CMMT-ST-...-PN with PROFINET interface
• Support for PositioningDrives data import
• Support for cam controller function (position trigger)
• Support for touch probe function
• Calculation of system limits:
  • Warnings are shown if parameter values exceed calculated limits
  • Dialog for resetting inconsistent parameters to recommended values
• First setup wizard:
  • Supply voltage selection
  • Consistency check for homing method and hardware switches
• Parameter pages:
  • Order of contexts "Control" and "Diagnosis" changed
  • Warnings on parameter pages are indicated in navigator
  • Device details can be displayed on drive configuration page
  • Consistency check for digital I/Os
  • Simplified encoder settings
  • Consistency check for homing method and hardware switches
  • Software limits can be teached
• Trace improvements:
  • Multiple signals can be selected when adding a trace channel
  • Masking of individual bits for trace channels and trigger
  • Possibility to share Y axis for signals
  • Improved handling of several trace records

Fixed Bugs:

• Exception when entering certain feed constants
• Error when synchronizing string parameters with the device
• Text on button for releasing the holding not unreadable
• Reinit after chaning the hardware switch settings not possible
• SoftMotion driver version not displayed
• User defined gear is deleted when chaning the axis
• Zero point offset is not stored correctly in certain cases
• Reinit icons missing for some parameters
• Exception when editing an existing drive configuration
• Missing scroll bars on page Diagnosis -> I/O state

Included Driver Function Blocks:

• CODESYS Point to point V3.5.10.34
• CODESYS SoftMotion V4.0.14.0

Supported systems:

• servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
• servo drive CMMT-ST-C8-1C-PN-S0 (8084004)

New Features:

• Online help in German and English available
• Updated CODESYS function blocks

Supported Systems:

• Servo Drive CMMT-ST-C8-1C-EC-S0 (8084005)

New Features:

• First release

Supported Systems:

• Servo Drive CMMT-ST-C8-1C-EC-S0 (8084005)