DBS55 Software Changelog
------------------------

v4.025 - 16/jan/2020
- Support for CanOPEN-over-Air interface
- Support for accelerometer
- Fix default PDO cob-id
- Improved wdg reliability

v4.024 - 31/oct/2019
- Fix XDD mapping objs (powerlink+codesys)
- Improvement behaviour with usb key
- Fix Profinet on cycletime > 1ms
- Max speed up to 6000rpm

v4.023 - 29/jul/2019
- DBS80-50/100 parameter tuning
- Cia402 TouchProbe support for DIN1
- Profile position halt improvement
- Touch probe modulo positioning
- Fix undervoltage always on legacy motors

v4.022 - 29/may/2019
- Acc/dec di jog impostabili
- Fix homing via wifi
- Homing current limit to 20A

v4.021 - 17/apr/2019
- Improvement to power voltage sensing

v4.020 - 28/mar/2019
- Improved max accel also for PV
- Support for STO config and related DS402 behaviour
- Support for DBS80 size
- Improvement to power voltage sensing

v4.019 - 15/mar/2019
- Raised max accel to 60000rpm/s
- ExtA data layout for profinet and ethernet/ip

v4.018 - 31/jan/2019
- Fix trq_max parameter and runtime behaviour

v4.017 - 09/jan/2018
- Improved position error for CSP
- Fix permanent max torque override

v4.016 - 19/dec/2018
- CSP feedforward mode

v4.015 - 07/dec/2018
- Event list
- Fix ethercat CSP

v4.014 - 06/nov/2018
- Fix write record on Profinet
- Wifi key support

v4.013 - 18/oct/2018
- Improved fault detection for encoder
- Improved ethercat reliability
- Improved ethernet/ip reliability

v4.012 - 16/oct/2018
- Improved fault detection for encoder battery

v4.011 - 09/oct/2018
- Prevent spurius fault reset on DSP402 state machine
- Improved detection for underv_mode = "run"

v4.010 - 01/oct/2018
- Obj3013 for encoder model query

v4.009 - 25/sep/2018
- Improved profinet reliability
- Fix position limits in profile vel. with inverted position
- Prevent undervoltage at startup with underv_mode = "always"

v4.008 - 07/sep/2018
- Powerlink updated to Hilscher PLS v3.4.0.1
- Added selectable behaviour for undervoltage reporting

v4.007 - 18/jul/2018
- improved CSP performance (motor J/B allow load compensation) and reliability
- fix spurius undervoltage reporting with 48Vdc
- ILim parameter change at runtime
- EtherCAT updated to Hilscher ECS v4.7.0.4

v4.006 - 09/may/2018
- improved fielbus error reporting
- parameter for position software limits
- position limit valid also for profile velocity
- motor serial number 32bit
- EDS for Ethernet/IP compatible with codesys
- fieldbus protocol upgradable by USB
- canopen objects for software minor rev and crc
- optimized undervoltage thresholds

v4.005 - 6/apr/2018
- improved performance in CSP (EtherCAT)
- support for new data flash

v4.004 - 18/dec/2017
- fix powerlink compatibility with codesys
- fix digital output with fieldbus
- brake voltage profile

v4.003 - 14/dec/2017
- fix certification issues for powerlink
- fix alarm reset from powerlink/profinet
- online change of mode of operation (6060h)
- profinet process data extension

v4.002 - 10/nov/2017
- support for Profinet/DSP402
- modbus watchdog
- "modbus+din" RefMode
- fix start fwd/rev management for speed/torque modes
- encoder reliability improvement
- torque limits in thousand-th of rated for every fieldbus
- interface support for HDPI
- brake act/deact delays

v4.001 - 11/oct/2017
- allowed parameter change from powerlink (updated XDD)

v4.000 - 22/sep/2017
- powerlink support (MiniMot_DBS55_EPL.xdd description included)
- unified ethercat xml: Profile device (ProductID=1) and Csp device (ProductID=2)
- ethercat/sysmac compatibility fixes
- ethercat profile/csp "presentation" parameter for right device detection
- added uptime (time from last poweron) value in the bsi status
- improved encoder board diagnostic (disconnected encoder board alarm)

--------------------------

v3.012 - 20/jul/2017
- interpolated position mode (mode of operation 7 e 8)
- tuning motor control params (checked against DBS55-50 and DBS55-100 @4/8khz).
- removed encoder life counter manage
- improved kp/ki tuning for reduced vibrations @3000rpm on dbs55-50
- fixed temperature alarm detection
- added P196-InterpEn

v3.010 - v3.011
- interim releases for certification

v3.009 - 5/may/2017
- added Appl/Fieldbus/Ecat/P195-StationAddress; in ethercat, on powerup this parameter is configured as default station address
- if master writes StationAddress, parameter gets updated
- by command SetStationAlias, actualized new value on network interface

v3.008 - 26/apr/2017
- ability to automatic recovery from alarms
- improvement on encoder alarm and dclink alarm
- pwm 4Khz+Random by default
- default autoreset, n=60 t=2sec
- better tuning of current/speed/position Kp/Ki @ 4KHz (DBS55-50 and DSB55-100)

v3.007 - 15/mar/2017
- CanOPEN conformance

v3.006 - 23/feb/2017
- reduces size for Assembly (In=50byte, Out20byte)
- 3008h object to read currently active alarm
- IP Default: 192.168.250.100

v3.005 - 21/feb/2017
- Ethernet/IP conformance on Rockwell environment

v3.004 - 17/feb/2017
- fix usr_iq_filt (now as Ampere)
- co_mode_of_operation: inhibited change is motor is in run

v3.003 - OMISSIS

v3.002 - 13/feb/2017
- fix problems with pdorx/tx of different length
- fix read/write for object 0000h
- fix ID Minimotor ODVA

v3.001 - 25/jan/2017
- fix encoder alarms

v3.000 - 16/dec/2016
- Ethernet/IP support
