Recommended firmware version: 36.12.0 or higher

New Features:

• Performance improvements for the scan import, plug-in startup (1st, 2nd, …), and when connecting or disconnecting a device
• On the parameter pages it is possible to copy and paste parameters to the clipboard
• The “record table” and the “parameter list” can be imported or exported to a JSON file
• The trace channel profiles can be imported or exported to a JSON file on the trace configuration page
• When importing a JSON file or pasting parameters, a comparison dialog is shown to compare the new values with the values in the project
• Extensive and improved parameter file export is available for Rockwell L5X, Festo PCK and Siemens DB. The selection of parameter exports (e.g. only changed values) is now possible through simple configuration of user-defined settings for CMMTs. This can reduce memory size and speed up download time.
• The new CIP-Sync profile (Telegram 908) is supported on the parameter and diagnosis pages (requires Firmware 36.12.xx or higher).
• The new EPRF axes are supported
• Support for ELGD-BS-…-SU with spindle support and calculation of the correct dynamics for bending and buckling
• When opening a plug-in after an HGO/EMS import, a dialog appears to show and select all parameters that can be imported
• HGO/EMS import improvements (import and activate software limits for linear axes; import cable length, connection shaft, external brake resistor; import open shaft systems with user-defined axis; import application moment of inertia for rotative load cases with rotary module; import base value acceleration/deceleration; import rotative load cases as an unlimited axis; …)
• New implementation for better field-weakening support (requires Firmware 36.12.xx or higher): There is a new parameter P1.71371.0.0 loaded from the database. To use field weakening with an existing project, go to the drive configuration, select the motor, type in the existing motor in the search bar, select the motor again, and press Apply.
• In the adorner of an error, warning, or information message, extended diagnostics with remedy information is available on the “Device State” diagnosis page
• When editing a record table set, it is possible to show via the adorner the parameter and the corresponding fieldbus information
• A new filter function is available in the “Parameter List” to filter and search for fieldbus IDs for EtherCAT, EtherNet/IP, and PROFINET

Fixed Bugs:

• When choosing a reference status as a transition in the record table, an exception occurs
• A plug-in upgrade of old versions with legacy trace files in CSV format leads to an error
• In some cases a misleading dialog appears when saving zero-point offset is already done
• On the “Process Data” diagnosis page, in some cases incorrect status and control words are displayed
• The “Reset to Default” function does not work for torque limitations
• The F1 help key to open the online help does not work on the encoder interface

Fixed Bugs:

• Incorrect feed forward constant of the ELGD-TB-KF-60 axes.
• The warning icon on the "store on device" button is missing in some cases.

New Features:

• The new EMMT-EC-40 motors are supported in the drive configurator.
• On the "Trace Settings" page trace profiles can now be created.
• In the trace display, all axes with the same unit can be combined using the “Combine all axes” button.
• In the trace display, the current view can be locked using the “Lock view port setting” button in order to make further recordings with the same view.
• On the "Extended Process Data" parameter page the current values of the send and receive data are displayed.

Fixed Bugs:

• Automatic connection fails after restarting the device.
• The display of process data (control word) updates very slowly.
• In some cases, the mounting kit was incorrectly shown as incompatible.
• In a specific case, two incorrect brake resistors were additionally displayed.
• The suggested values for the torque limit thresholds for parallel axes were calculated incorrectly.
• The connection to the device sometimes fails.
• In some cases, the gear ratio of user defined mounting kits was not used for control loop calculation.
• After resetting to factory settings the IP address is not reset.
• In rare cases, the homing status display on the "Manual Movement" page was not updated.
• Despite executing "Save to Device" a warning symbol was shown on the button.
• Even with faulty application mass the closed loop calculation could be executed.
• On the "I/O Status" diagnostic page the digital output SBA was incorrectly labeled.
• In the auto-tuning assistant the "Finish" and "Repeat" buttons are not displayed.
• On the "Modulo Mode" parameter page the tooltip does not show remove of a parameter from the trace.
• When adding a recording channel the translation is not available in German. 

New Features:

• A tolerance window can be parameterized for modulo with turns on the parameter page "Modulo Mode".
• A hyperlink is shown in the context control, "Manual Movement" to the parameter page, allowing for easy access to the dynamic values for finding and adjusting them.
• The motor parameters are displayed in two clear parameters groups to avoid scrolling on the page.

Fixed Bugs:

• The zero point offset of the EMMT/B-ST with multiturn encoder is incorrectly stored in the EEPROM data of the motor instead of the servo drive.
• The closed loop calculation for ELGD axes is incorrect and may lead to a following error.
• On the Trace Settings page, parameter groups do not appear after initial commissioning.
• In some cases, such as with ERMB, the calculated torque limit is too low when a gear ratio is selected.
• When importing the commissioning file from Electric Motion Sizing (EMS), not all dynamic values for the PROFIdrive profile are transferred.
• Selecting the trigger condition "Greater (Abs)" does not allow a trace recording to be started.
• An imported trace recording may cause the plug-in to crash when trace channels are combined.
• When using record transitions within the record list, a time window is displayed that has no effect. 
• The calculation of the torque limit values returns in some cases the value NaN when ELGA or ELGD axis is used.
• A warning message appears (Parameters not fully loaded) when an older project is opened in a newer plug-in version and the displayed parameters are no longer available.

Fixed Bugs:

• The IP-Address setting of the device is overwritten when connect and write the parameters from the plug-in to the device. 

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)