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

General

This version is compatible with CODESYS V3.5 SP11 and newer. However we recommend the newest patch level of CODESYS V3.5 SP16.

• [SM-2712] Make SoftMotion work on PLCs with all target types, not only the SoftMotion target type 16#1006. SoftMotion can now be used on standard PLCs. This means that SoftMotion objects such as Cam tables, CNC programs, and axis groups can be added to standard PLCs. For a standard PLC, SoftMotion is initially not enabled. It can be enabled using a new command “Enable SoftMotion” or by adding a SoftMotion object or drive. Once it is enabled, the SoftMotion libraries will be added to the library manager automatically, just like for a SoftMotion PLC. A “General Axis Pool” for virtual axes, free encoders and position controllers will be inserted below the PLC device. Note that an update from an existing SoftMotion PLC to a standard PLC is now possible without losing the “General Axis Pool” and the axes configured there. During the update, SoftMotion will be enabled for the standard PLC and the “General Axis Pool” will be preserved.

• [SM-2819] Issuing a CP movement when the axis group is following the PCS and no movement is active results in error. As long as an axis group follows a dynamic coordinate system, the group state will remain “GroupMoving”. This is in contrast to previous versions, where the axis group would switch to state “GroupStandby” if it was in standstill relative to the moving coordinate system.

• [SM-2817] SMC_GroupEnableResumeAfterError: there should be an Active output signaling that continue data is being written. If a falling edge of the input SMC_GroupEnableResumeAfterError.Enable is commanded while the continue data is being written (output Active = TRUE), then the continue data will not be valid. A falling edge of Enable can only be safely commanded once the output Active changes to FALSE. This happens once the continue data has been completely written.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

• The slave is a multi axis slave, and

• the slave uses modules, and

• the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

• the CODESYS version is below 3.5.15.0.

Information from JIRA

To read up on implemented features and changes you can use your JIRA account. Please find some example filters below.

List of features and changes:

project = “CODESYS SoftMotion” AND fixVersion = 4.9.0.0

List of issues with compatibility information:

project = “CODESYS SoftMotion” AND fixVersion = 4.9.0.0 AND (text ~ COMPATIBILITY_INFORMATION OR text ~ KNOWN_LIMITATIONS)

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.

Supported drives

• [SM-2633] New driver for Delta remote IO - R1-EC5621

• [SM-2417] New driver for Beckhoff EL7041 and EL7047

General

This version is compatible with CODESYS V3.5 SP11 and newer. However we recommend the newest patch level of CODESYS V3.5 SP16.

The use of the operator __CHECKLICENSEBIT() (necessary for SM-2571) made it necessary to require at least version 3.5.11.0 of CODESYS. As a consequence, the minimum supported CODESYS version has been increased from 3.5.9.50 to 3.5.11.0.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

• The slave is a multi axis slave, and

• the slave uses modules, and

• the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

• the CODESYS version is below 3.5.15.0.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released

New Features

• [SM-2068] BufferMode for Part 1 function blocks

• [SM-2333] Robotics: new polar kinematics with z-axis

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.

Supported drives

• [SM-2234] New driver for Delta ASDA A3 / B3 drive

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

• [SM-2364] Exception when fEditorSlaveMin is set for “0” (CAM_TABLE_INVALID_SLAVE_MINMAX). MC_CamTableSelect now fails with ErrorID

  • SMC_CAM_TABLE_INVALID_MASTER_MINMAX, if in the passed CamTable fEditorMasterMax <= fEditorMasterMin or fTableMasterMax <= fTableMasterMin.

  • SMC_CAM_TABLE_INVALID_SLAVE_MINMAX, if in the passed CamTable fEditorSlaveMax <= fEditorSlaveMin or fTableSlaveMax <= fTableSlaveMin.

• [SM-2422] Compatibility: changes in project if the SM package is increased to 4.6.1.0. Logging in to an application downloaded with SoftMotion 4.6.1.0 installed may require an online change when logging in with SoftMotion 4.7.0.0.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

  • The slave is a multi axis slave, and

  • the slave uses modules, and

  • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

  • the CODESYS version is below 3.5.15.0.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

  • The slave is a multi axis slave, and

  • the slave uses modules, and

  • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

  • the CODESYS version is below 3.5.15.0.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

• [SM-2429] Compatibility: changes in project if the SM package is increased to 4.6.1.0. Logging into an application downloaded with SoftMotion 4.6.1.0 installed may require an online change when logging in with SoftMotion 4.6.2.0.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

  • The slave is a multi axis slave, and

  • the slave uses modules, and

  • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

  • the CODESYS version is below 3.5.15.0.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

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

• [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

• [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

• [SM-2152] Improve CP-Tracking for Pick&Place applications step 1

Improvements

• [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

• [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

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

Issues from version 4.6.1.0

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupStop/MC_GroupHalt now require the commanded dynamics to be valid. This means that the values of the inputs Deceleration and Jerk have to be positive and the values of the inputs AccFactor and JerkFactor have to be in the range ]0, 1]. An invalid value on any of these inputs leads to an error stop. If you update an application to this SoftMotion version, please make sure that all calls to MC_GroupStop/MC_GroupHalt in your application have valid inputs.

Issues from version 4.6.0.0

• [SM-2067] Infranor Xtrapuls: it is not possible to access the high 16 bit of the digital inputs and digital outputs Infranor Xtrapuls: The member variables wDigitalInputs and wDigitalOutputs of the SoftMotion axes are now of type DWORD instead of WORD. Updating these devices in existing projects can lead to new compile errors, if wDigitalInputs or wDigitalOutputs were assigned to WORD variables.

• [SM-2080] U-Pick: improve smoothness to reach more picks per minute: Blending between path elements has been improved to enable faster and smoother pick&place operation. In particular, consecutive lines are now blended even if their direction is exactly opposite to each other (e.g. the down-movement followed by the up-movement of a typical pick&place cycle). To restore the behavior of SoftMotion versions before 4.6.0.0, set the flag bCPCompositeBlending of the structure SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS to FALSE (input of MC_GroupEnable). Note: this change only affects non-tracking movements.

• [SM-2191] Robotics: change default planning interval to 16 ms: The default for the robotics planning interval has been changed to 16 ms. The planning interval is an internal parameter of the robotics trajectory planner. The value determines the accuracy of the trajectory and the performance requirements of the planning algorithm. (Larger planning intervals lead to reduced performance requirements.) In earlier versions of CODESYS SoftMotion, the default for the planning interval was twice the bus task interval, but at least 4 ms. The planning interval can be changed using SMC_TuneCPKernel.

Known Limitations

• [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

  • The slave is a multi axis slave, and

  • the slave uses modules, and

  • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and

  • the CODESYS version is below 3.5.15.0.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

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

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

Issues from version 4.6.0.0

• [SM-2067] Infranor Xtrapuls: it is not possible to access the high 16 bit of the digital inputs and digital outputs Infranor Xtrapuls: The member variables wDigitalInputs and wDigitalOutputs of the SoftMotion axes are now of type DWORD instead of WORD. Updating these devices in existing projects can lead to new compile errors, if wDigitalInputs or wDigitalOutputs were assigned to WORD variables.
• [SM-2080] U-Pick: improve smoothness to reach more picks per minute: Blending between path elements has been improved to enable faster and smoother pick&place operation. In particular, consecutive lines are now blended even if their direction is exactly opposite to each other (e.g. the down-movement followed by the up-movement of a typical pick&place cycle). To restore the behavior of SoftMotion versions before 4.6.0.0, set the flag bCPCompositeBlending of the structure SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS to FALSE (input of MC_GroupEnable). Note: this change only affects non-tracking movements.
• [SM-2191] Robotics: change default planning interval to 16 ms: The default for the robotics planning interval has been changed to 16 ms. The planning interval is an internal parameter of the robotics trajectory planner. The value determines the accuracy of the trajectory and the performance requirements of the planning algorithm. (Larger planning intervals lead to reduced performance requirements.) In earlier versions of CODESYS SoftMotion, the default for the planning interval was twice the bus task interval, but at least 4 ms. The planning interval can be changed using SMC_TuneCPKernel.

Known Limitations

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:

  • The slave is a multi axis slave, and
  • the slave uses modules, and
  • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and
  • the CODESYS version is below 3.5.15.0.

  
  

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

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

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP14. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

Issues from version 4.5.0.0

• [SM-668] Kin_Scara2_Z / Kin_Scara3_Z : dealing with (0/0). A change in behavior has been introduced in the following case: A scara robot is used, with equal lengths of arm 1 and arm 2, and a PTP movement is commanded to cartesian position (X=0, Y=0) (in MCS). Previously, the first axis (a0) would move to 0°. Now, the first axis will keep the value it had at the start of the movement. Background: The position (X=0, Y=0) can be reached by the scara robot in different axis positions. a1 needs to be 180° (or -180°), a0 can have an arbitrary angle. To resolve this ambiguity, we now choose the angle for a0 that it had at the start of the movement. This is consistent with the behavior of other transformations.
• [SM-1820] Kin_Wrist3: Range of third axis violated. If the software position limits of the corresponding axis are deactivated, then Kin_Wrist3 is supposed to keep the values of its third axis inside [0; 360]. In contrast to previous versions, this works properly now. This affects Kin_ArticulatedRobot_6DOF, too, as Kin_Wrist3 is its tool kinematics.

Known Limitations

• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and newer if SlotIndexIncrement is not 0. SoftMotion drives below modular EtherCAT slaves do not correctly determine the I/O mapping if the attribute “SlotIndexIncrement” in the ESI files of the slaves is not zero. Only affects CODESYS versions SP13 and newer. As a workaround, the I/O mapping may be entered manually in the Scaling/Mapping page of the SoftMotion drive.

Not released / Not tested

• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.
• ETC KEB H6 Dual. Due to problems with the test hardware, the driver could not be tested. Not tested.

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP14. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.

Issues from version 4.5.0.0

• [SM-668] Kin_Scara2_Z / Kin_Scara3_Z : dealing with (0/0). A change in behavior has been introduced in the following case: A scara robot is used, with equal lengths of arm 1 and arm 2, and a PTP movement is commanded to cartesian position (X=0, Y=0) (in MCS). Previously, the first axis (a0) would move to 0°. Now, the first axis will keep the value it had at the start of the movement. Background: The position (X=0, Y=0) can be reached by the scara robot in different axis positions. a1 needs to be 180° (or -180°), a0 can have an arbitrary angle. To resolve this ambiguity, we now choose the angle for a0 that it had at the start of the movement. This is consistent with the behavior of other transformations.
• [SM-1820] Kin_Wrist3: Range of third axis violated. If the software position limits of the corresponding axis are deactivated, then Kin_Wrist3 is supposed to keep the values of its third axis inside [0; 360]. In contrast to previous versions, this works properly now. This affects Kin_ArticulatedRobot_6DOF, too, as Kin_Wrist3 is its tool kinematics.

Known Limitations

• [SM-2028] Path Invariant PTP: Deceleration is too high while blending. Blending between movements commanded with MC_MoveDirectAbsolute/Relative and other movements decelerates too much, if the movement type “Path_Invariant” is used. The movement type “Fast” is not affected. This problem already affects version 4.4.0.0, where the movement type “Path_Invariant” has been introduced.
• [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and newer if SlotIndexIncrement is not 0. SoftMotion drives below modular EtherCAT slaves do not correctly determine the I/O mapping if the attribute “SlotIndexIncrement” in the ESI files of the slaves is not zero. Only affects CODESYS versions SP13 and newer. As a workaround, the I/O mapping may be entered manually in the Scaling/Mapping page of the SoftMotion drive.

Not released / Not tested

• Multicore Support: All SoftMotion tasks must run on the same core. See SM-1155 and SM-1005. Not released.
• Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.
• ETC KEB H6 Dual. Due to problems with the test hardware, the driver could not be tested. Not tested.