Version |
Release Notes
|
Release date
|
4.9.0.0 |
Release Note CODESYS SoftMotion 4.9.0.0 brings important bug fixes and improvements. Improvements [SM-2712] Make SoftMotion work on PLCs with all target types, not only the SoftMotion target type 16#1006 [SM-2619] Kin_Wrist2: allow an offset in x, y and z between first axis of rotation (A) and second axis of rotation (B) [SM-2610] Kin_Wrist2: allow tool offsets in X/Y with SMC_GroupSetTool if flange of position kinematics is constant [SM-2617] Kin_ArticulatedRobot_6DOF: extend kinematics to support axis offsets [SM-2711] Make it possible to filter log messages of SoftMotion by logger class Major bug-fixes [SM-2781] SM3_Drive_ETC: SDO read and write FBs don’t receive falling edge on xExecute after xDone/xError. This can lead to axes not working if many EtherCAT drives are used and many SDO requests are issued. (E.g. an application with 50 drives where the mode of operation and mode of operation display objects are not mapped by PDO.) [SM-2710] SMC_ToolRadiusCorr computes wrong path if lines are orthogonal [SM-2704] CPTR: Assertion Failure in GetPose of Kernel_CPTR [SM-2671] MC_TrackConveyorBelt does not support logical axes [SM-2670] Wrong Velocity calculation in driver for Delta ASDA A3 and B3 20 minor bugs have been fixed. Supported drives [SM-2826] Support for Bosch Rexroth Indradrive (EtherCAT, CoE) [SM-2675, SM-2679] Delta IO – R1-EC5621: touch probe support, set the correct input pulse mode on the drive startup [SM-143] Schneider Lexium32 CAN+EtherCAT: update to new device description and firmware (V01.28.03) [SM-2782] Infranor PAC, CMZ LBD: Log messages about capture channels should be DEBUG, not INFO [SM-2778] Schneider Lexium 28: Bugfix: no reset possible after homing is interrupted by a limit switch [SM-2722] Parker Compax3: Log messages about startup SDOs and firmware info should be DEBUG, not INFO [SM-2651] Parker PSD: Update to new device description [SM-2167] Panasonic A6B: Update to new ESI file and integrate the drive |
15.12.2020 |
4.8.0.0 |
Release Note CODESYS SoftMotion 4.8.0.0 brings important bug fixes and support for more drives. Major bug-fixes [SM-2501] Kin_Tripod_Rotary, SMC_TRAFO_Tripod_Arm, and SMC_TRAFOF_Tripod_Arm: MCS not documented properly [SM-2584] CP, Halt/Stop: Vel, Acc and JerkFactor are applied twice [SM-2605] MC_Moverelative that finishes in one cycle may output wrong target position [SM-2615] MC_Home: possibly wrong fSetPosition after homing if a 32-bit overflow has occurred [SM-2618] SMC_GroupJog2: Algorithm for finding the working space limits does not work correctly [SM-2631] SMC3_CiA_DSP402_StateMachine: State machine may get stuck if SET_OPMODE times out 12 minor Bugs have been fixed. |
10.08.2020 |
4.7.0.0 |
Release Note CODESYS SoftMotion 4.7.0.0 brings buffer modes to the single axis and master slave function blocks. Additionally, many bugs have been fixed. Major bug-fixes Only bugs not patched in version 4.6.2.0 or 4.6.3.0 are listed. [SM-2364] Exception when fEditorSlaveMin is set for “0” (CAM_TABLE_INVALID_SLAVE_MINMAX) [SM-2418] Atomic_SRSW_W: Read method returns inconsistent values [SM-2457] CPTR: Assertion in SMC_MotionKernel_CPTR.GetPose after MC_GroupInterrupt [SM-2513] MC_CamIn: Potential AccessViolation if more than three tappets are used in parallel [SM-2515] MC_MoveSuperimposed: jump in axis position if the underlying movement changes the owner and the aborting FB is called before MC_MoveSuperimposed [SM-2521] SML_Drive_ETC: readSDO/writeSDO function block needs to be called with xExecute=FALSE after successful completion [SM-2524] CNC: Interpreter stack overflow if subprogram uses local variables [SM-2530] SMC_MoveContinuousAbsolute/Relative may reach end velocity at wrong position (ramp type trapez, acceleration <> deceleration) [SM-2531] MC_MoveAbsolute / MC_MoveRelative + MC_MoveSuperimposed: possible jump in set position if superimposed movement finished one cycle before underlying movement 33 minor Bugs have been fixed. |
28.05.2020 |
4.6.3.0 |
Release Note CODESYS SoftMotion 4.6.3.0 is a bug-fix release. It fixes a major bug in the SMC_GroupJog2 function block. |
16.03.2020 |
4.6.2.0 |
Release Note CODESYS SoftMotion 4.6.2.0 is a bug-fix release. [SM-2429] Compatibility: changes in project if the SM package is increased to 4.6.1.0 [SM-2430] Axis limit violation on Pick&Place without stop [SM-2431] Problems with CartBlending elements with vanishing axis derivatives: performance degradation and numerical difficulties [SM-2438] MC_GroupInterrupt, CP: Interrupt might not finish if commanded just before the end of a segment [SM-2440] Possible error SMC_CP_INTERNAL_EVAL_CACHE_ERROR on override [SM-2442] Acceleration Limit violation during blending (U-Pick) |
24.02.2020 |
4.6.1.0 |
Release Note
CODESYS SoftMotion 4.6.1.0 is a feature and bug-fix release.
Major bug-fixes
-
[SM-2015] Project environment: Update of SoftMotion profile without installed device description leads to missing SoftMotion libraries
-
[SM-2260] CP, Resume after error: Null reference exception if resume after error is enabled and an error occurs before any movement was planned
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[SM-2288] AXIS_REF_SM3: Axis generates an error when setting no control mode while moving
-
[SM-2315] Parker PSD: Change the device IDs to fit the previous versions
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[SM-2340] CNC: The H points are lost for G Codes of Length 0 and if the End Velocity of the previous GCode is 0
-
[SM-2350, SM-2355] Check of Axis Limits fails when a PTP_PI aborts a PTP_FAST mvt and if the IpoState is end_of_path and fIpoTime is 0
36 minor bugs have been fixed.
New Features
-
[SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits
-
[SM-1304] Robotics: Support for 6D tools
-
[SM-2247] Robotics: make it possible to resume after MC_GroupHalt/MC_GroupStop
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[SM-2152] Improve CP-Tracking for Pick&Place applications step 1
Improvements
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[SM-2183] AXIS_REF_MAPPING_SM3: new setting to enable writing of outputs in application stop
-
[SM-2192] SMC_GroupJog2: handle huge distances better
-
[SM-2222] Robotics: Improve CP kernel on multicore
-
[SM-2269] Orientation mode axis: don’t create an error if orientation mode axis is used on a kinematics without any orientation DOF
-
[SM-2299] Support mapping of I/O Parameters of type BIT
Supported drives
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[SM-638, SM-1191, SM-2305] Driver for Beckhoff EL7031 stepper module
-
[SM-2229] Yaskawa: Integrate Sigma-7 400V double axis
-
[SM-2215] SM3_Drive_ETC_KEB_H6: make it possible to immediately disable from state quick stop, even if _bImmediateDisabling is FALSE
-
[SM-2233] SM3_Drive_ETC_KEB_H6: consider voltage enabled, ignore operation enabled
-
[SM-2273] Festo CMMP-AS - remove startparameter sw limits
|
20.01.2020 |
4.6.0.0 |
Release Note
CODESYS SoftMotion 4.6.0.0 is a feature and bug-fix release.
Major bug-fixes
- [SM-2116] SM: AutoMoveGantry: axis limit violation
- [SM-2146] AxisGroup: Enable AxisGroup implicit code creation
24 minor bugs have been fixed.
Improvements
- [SM-106] SM: AXIS_REF_ETC: make it possible to access the EtherCAT slave
- [SM-644, SM-1236] SM_Drive_PosControl: it should be possible to adjust the parameters online by the iec application
- [SM-2080] U-Pick: improve smoothness to reach more picks per minute
- [SM-1973] When controller mode “nocontrol” is set, the SoftMotion driver will not write the cyclic outputs of the drive
- [SM-2016] Robotics: allow to resume the programmed path after an error
- [SM-2190] Scaling: new scaling view for linear motors
- [SM-2191] Robotics: change default planning interval to 16 ms
- [SM-2097] Robotics: improve blending if tangent and curvature matches
- [SM-2211] Brake Control FB: Create a new Parameter to get the brake state
Supported drives
- [SM-1967] CMZ LBD
- [SM-2119] Updated driver for Panasonic MINAS A5B and MINAS A6B
- [SM-2166] Updated driver for new firmware of Parker PSD
|
09.09.2019 |
4.5.1.0 |
Release Note
CODESYS SoftMotion 4.5.1.0 is a patch release.
Major bug-fixes
- [SM-2028] Path Invariant PTP: Deceleration is too high while blending
- [SM-1979] Interaction AxisGroup/CP-Kernel: Reset may be ignored
- [SM-2094] Path-invariant PTP: If cartesian position and orientation of dest is close to start, PTP_PI is not executed and assertion fails
- [SM-2056] CP-Tracking: the axis group should be able to follow the PCS after starting the CP-Tracking kernel with a new movement
- [SM-2112] CP-Tracking: Movement not finished
- [SM-2117] CP-Tracking: Interrupt: possible null pointer exception
- [SM-2126] MC_GroupContinue: possible error SMC_CP_ROTARY_AXIS_RANGE_VIOLATION
19 minor bugs have been fixed.
Improvements
- [SM-1931, SM-2037, SM-1919, SM-2026] Support for multicore (CNC path task and robotics planning task may now be safely put to a different core)
- [SM-1281] Robotics, Jogging: Enable path accurate jogging
- [SM-1928] CNC_Visu: SMC_PathCopierFile should be able to deal with subprograms
- [SM-1973] When controller mode “nocontrol” is set, the SoftMotion driver will not write the cyclic outputs of the drive
New supported drive
- [SM-2065] New driver for Hitachi ADV series (EtherCAT)
- [SM-655] CMZ IBD EtherCAT/CANopen firmware update to version 30
|
06.05.2019 |
4.5.0.1 |
Release Note
- CODESYS SoftMotion 4.5.0.1 is a hotfix release that fixes the following major bugs:
-
- [SM-2062] PTP: Uninitialized variable leads to strange movements (accident introduced in 4.5.0.0)
- [SM-2050] MC_TrackConveyorBelt: possible jump of PCS if belt is controlled by a modulo drive
- [SM-2063] Kin_Staubli_TX60_Pos_RRR: error in Initializer, parameter d4 is assigned value of parameter d3 (accident introduced in 4.4.0.0)
- [SM-2049] CP-Tracking: possible error SMC_CP_TRANSITION_NOT_SMOOTH when blending between different PCS with bImprovedSymmetricBlending
- [SM-2052] CP-Tracking: when blending from different motion type (e.g. different PCS), creation of orientation blending may fail
|
08.04.2019 |
4.5.0.0 |
CODESYS SoftMotion 4.5.0.0 is a quality and bug-fix release. Test coverage has been substantially extended and many problems have been fixed.
Improved blending
- [SM-1936] Improved blending elements and more accurate planning leads to improved blending when using MC_MoveLinearAbsolute/Relative and MC_MoveCircularAbsolute/Relative.
- [SM-1775] Better blending at the beginning of a movement-sequence. Trajectory planning is delayed if the second movement of a sequence is not commanded in the same cycle of the bus task. This enables full blending of, for example, a pick and place sequence.
Other improvements
- [SM-1280] Allow an axis range of more than 360° for axis 1 and 4 of the 6-axis articulated robot (Kin_ArticulatedRobot_6DOF).
- [SM-1857] Buffered PTP movements (MovementType “Fast”) now show the exact target position of the movement for at least one cycle.
- [SM-358] New visualization template and function block SMC_StartupAxisGroup for convenient and fast commissioning of axis groups.
- [SM-1441] Better diagnosis of the axis group: new function block SMC_GroupReadPlanningStatistics.
New supported drive
Support for Yaskawa Sigma 7 series.
Major bug-fixes
- [SM-1904] Too much vibration in specific movement sequence due to blending of lines with a very sharp angle (175°)
- [SM-1895] Error SMC_AXIS_LIMIT_VIOLATION in specific movement sequence due to blending of lines with sharp angles (167°)
- [SM-1925] Potential error SMC_AXIS_LIMIT_VIOLATION when blending between PTP movements and blending is limited by half of the element length
- [SM-1814] Potiential problems with SDOs of EtherCAT slaves if many slaves are used
- [SM-1971] SMC_ReadNCFile2 may get stuck (make no progress) if the g-code contains many expressions
- [SM-1789] Long compile times in projects with a huge expanded library graph due to SoftMotion compile checks
- [SM-1822] Missing DLL files (GAC assemblys) in package
46 minor bugs have been fixed.
|
07.02.2019 |
4.4.0.2 |
CODESYS SoftMotion 4.4.0.2 is a hotfix release.
It fixes the accident SM-1825, introduced in CODESYS SoftMotion 4.4.0.0, which may cause problems during installation of the SoftMotion package.
|
26.09.2018 |
4.4.0.1 |
CODESYS SoftMotion 4.4.0.1 is a hotfix release.
It fixes the accident SM-1814, introduced in CODESYS SoftMotion 4.4.0.0, which may cause problems during startup or acyclic communication of EtherCAT drives.
We recommend to update from CODESYS SoftMotion 4.4.0.0 to CODESYS SoftMotion 4.4.0.1.
|
07.09.2018 |
4.4.0.0 |
CODESYS SoftMotion 4.4.0.0 is a feature and bug-fix release.
- Robotics Features
-
- New movement type Path-invariant PTP: PTP movement whose path does not depend on the override and is not left in case of halt or interrupt
- New function block SMC_GroupWait: Support for programmed waiting on the path
- MoveLinear/MoveCircular: Reduction of jerk oscillations by adaptive planning intervals
- MoveLinear/MoveCircular: Improved blending:
-
- Optimized creation of blending-splines in case of asymmetric cut distances
- In case of TransitionMode TMStartVelocity: Considering path geometry and dynamic axis limits at determination of blending points
- Support for MoveLinear-/MoveCircular-movements with cartesian length 0 (or very small) and a change in orientation
- Compatibility options: Enabling the user to deactivate recently released or upcoming improvements/bug-fixes that affect the resulting paths
- CNC Features
-
- Support for subprograms in G-code, including display of the callstack at interpretation- and interpolation-time
- Support for expressions in G-code, including mathematical and boolean expressions as well as user-defined functions
- Support for local variables in G-Code
- Major bug-fixes
-
- [SM-1511] CNC: Exception when using the method SetDelimiters of FB SMC_NCTokenizer
- [SM-1519] Editors: Unhandled exception in automatic device import from fieldbus scan
- [SM-1528] CNC: SMC_ToolRadiusCorr: possible error SMC_CNC_INTERNAL_ERROR
- [SM-1538] Basic: Possible access violations during reconfiguration of EtherCAT master
- [SM-1714] Basic/Robotics: Possible endless loop
- [SM-1719] Basic: Unintended movement after quick stop
- Accident [SM-1745] Robotics: SMC_GroupConvertPosition: conversions MCS -> ACS and WCS -> PCS not correct if MCS != WCS
- [SM-1746] Robotics: CP: Using incorrect reference position for kinematic transformation
- [SM-1778] Drivers: Parker SBC: Exception on RTE 64-BitCompatibility information
56 minor bugs have been fixed.
We recommend to update from CODESYS SoftMotion 4.3.2.0 (or earlier) to CODESYS SoftMotion 4.4.0.0.
|
29.08.2018 |
4.3.2.0 |
CODESYS SoftMotion 4.3.2.0 is a bug-fix release.
- The following major bugs have been fixed:
- - Accident SM-1645: Possible axis jump or error SMC_CP_NON_CONTINUABLE_STATE if orientation mode “Axis” is used with kinematics Kin_Scara3_Z. Introduced in version 4.3.0.0.
- Accident SM-1629: Missing initialization for Staubli kinematics. The Staubli Scara and 6-Axis robot kinematics did not work correctly due to an accident in version 4.3.0.0. - Accident SM-1626: Possible memory overwrite during blending. Introduced in version 4.3.0.0. - Accident SM-1543: Parker Compax 3: Invalid mapping of drive specific digital input object 16#6100:01 to in.dwDigitalInputs. Introduced in version 4.3.0.0 - SM-1458: EtherCAT drives using modular slaves (like EtherCAT_Stoeber_SI6_SC6) are not working with EtherCAT_Master versions >= 3.5.11.0. - SM-1600: Robotics: too strict check of fSetJerk in AXIS_GROUP_REF_SM3.CheckSetValueLimits. - SM-1575: SMC_ToolRadiusCorr: error SMC_CNC_INTERNAL_ERROR - SM-1608: Possible oscillations of jerk and acceleration if dynamics are high and path planning interval is long. - SM-1628: Possible FPU invalid operation exception on linux PLCs
Additionally, support for rotary axes with an axis range of more than 360° has been improved (SM-1531). It is now possible to command a linear or circular movement that crosses the period boundary of a rotary axis.
We recommend to update from CODESYS SoftMotion 4.3.1.0 (or earlier) to CODESYS SoftMotion 4.3.2.0.
|
06.03.2018 |
4.3.1.0 |
CODESYS SoftMotion 4.3.1.0 is a bug-fix release.
The following major bugs have been fixed:
- Accident SM-1501: The forward transformation of Kin_Scara2_Z and Kin_Scara3_Z does not correctly consider dOffsetA1, dOffsetA2, and dOffsetA2.
- Accident SM-1503: Online change although the project has not changed.
- Bug SM-1506: Possible CNC access violation due to a problem in SMC_SetQueueCapacity.
- Bug SM-1508: Closing the CNC editor and immedatly closing the project may crash Codesys.
We recommend to update from SoftMotion 4.3.0.0 to SoftMotion 4.3.1.0.
|
16.11.2017
|
4.3.0.0 |
CODESYS SoftMotion 4.3.0.0 is a feature and bug-fix release.
New features of CNC function blocks: - Support for tool-length compensation (G43) - Support for rotated and scaled coordinate systems in the G-Code (G53 .. G56) - Tool radius correction in arbitrary planes and 3D mode (G41, G42) - Configurable tolerances for arc segments (G2, G3)
New Robotics features: - Jogging of axis groups in product coordinate system (PCS) and tool coordinate system (TCS) - Support for orientation mode Axis for Scara and 6-axis robot kinematics
New drivers: - Panasonic MINAS A6B (EtherCAT) - Stäubli robots via uniVal (EtherCAT)
About 50 bugs have been fixed. |
26.10.2017
|
4.2.2.0 |
CODESYS SoftMotion 4.2.2.0 is a bug-fix release. It contains about 15 bug-fixes and features drivers for Bonfiglioli iBMD. |
07.08.2017
|
4.2.1.2 |
This version contains changes to make it work with CODESYS V3.5 SP11 64-Bit. The motion libraries have not changed compared to version 4.2.1.1. |
17.07.2017
|
4.2.1.1 |
This version fixes a major bug that can occur when reading G-Code files with the function block SMC_ReadNCFile. |
15.05.2017
|
4.2.1.0 |
CODESYS SoftMotion 4.2.1.0 is a bug-fix release.
- Robotics: New Function Block MC_GroupSetPosition - Robotics: Support for event-triggered bus tasks - PLCopen conformance improvements: MC_PositionProfile, MC_VelocityProfile, MC_AccelerationProfile set axis state now in conformance with PLCopen MC Part 1 - Axis groups can now be used in simulation (with a compiler version >= 3.5.10.40) - More than 20 bug fixes |
04.05.2017
|
4.2.0.0 |
New Features: - Support of MC_GroupSetOverride - Support of MC_ GroupInterrupt and MC_ GroupContinue - Robotics: New mode for CP orientation interpolation
Improvements: - Robotics: Cartesian jogging of X/Y/Z and jogging the orientation axes in axis space. - Robotics: New function block SMC_GroupTargetPosition - Basic: Improved software limit reaction: brake before limit
About 60 Bugfixes. |
06.04.2017
|
4.1.1.0 |
|
14.12.2016
|
4.1.0.0 |
|
17.11.2016
|