--------------------------------------------------------------------------------
CpuFirmware:  Build  1.9.8 (4.8.6+4.8.7)
Release Date: $Date: 2020-04-14 11:42:04 +0200 (Di., 14 Apr 2020) $
SVN Revision: $Revision: 33538 $
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build:
- CHG: Tamagawa ReadFlowStatus
- FIX: AnalogEndat Zero function must use actual digital position for shift calculation
- FIX: Backlash filter was limited to 20ms: Now sampled at 10 kHz, max 0.2s


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.9.7 (4.8.5)
Release Date: Date: 2020-04-03 14:27:34 +0200 (Fr., 03 Apr 2020) 
SVN Revision: Revision: 33467 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build:
- CHG: Ecat: Wait for booting finished at ISO and ASY 
- FIX: GlobalTime wrong day
- CHG: Remove OptionEncoderDrivePersistency 0x00100000
- FIX: Tamagawa SetZero time 18ms and turn flowControl off before changing the mode, multiturnwait=0.5ms


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.9.6 (4.8.4)
Release Date: Date: 2020-03-26 13:28:27 +0100 (Do., 26 Mär 2020) 
SVN Revision: Revision: 33372 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build:
- NEW: Nikon Encoder. Implement a string -F2.5MHz and -F4MHz to specify the frequency
- FIX: Encoder Tamagawa Multiturn init: Wait longer and disable first


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.9.5 (4.8.3)
Release Date: Date: 2020-03-06 09:09:47 +0100 (Fr., 06 Mär 2020) 
SVN Revision: Revision: 33172 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build:
- FIX: TOE1 pulldown of EncIn and reboot
- CHG: Do not consider encoder warnings during enable when encoder amplitude error flag is not set 
- CHG: Call reboot in ASY task
- FIX: FSBL massstorage FIX B: SVN 33120 without USB padding
- FIX: Digital encoder stop missing caused bad encoder change behavior
- NEW: Support axes[].commands.general.event = ChangeUnits
- CHG: device errorMessage and errorNumber removed and replaced by writing the respective axis registers
- CHG: Change error formats
- CHG: Prio STO > LinkNotReady
- NEW: Pathplanner events are signalled to state observer redmine #676
- NEW: destroy the application image, if the factory image is written
- NEW: Send a UDP forced message, if an event abo is sent without ISO delay
- CHG: Ecat: if option 0x800 is off, then status Bit2 must be on always independent of the modeOfOperation 
             This way we can remove the default setting of modeOfOperation=8 in the xml configuration
- NEW: log entry if signal processor has an unknown address or command
- NEW: errorNumber registers supported
- NEW: Initialize stream filter on transition to coupled motion 
- FIX: if position is close to modulo, coupling can throw a false alarm 26.05
- FIX: MotorTempMon VoltageOutOfRange bug
- FIX: Wrong couple deviation check in Transformation mode 
- CHG: New General.Signals.DigitalInputBits and internals.linkAddress
- NEW: Pathplanner events are signalled to state observer redmine #676
- NEW: log entry at end of discrete motion
- FIX: avoid many log entries at end of errorStop 
- NEW: Ecat: Release XML 1.7 for test
- CHG: Correct limits for currentController.desiredVoltageD
- FIX: USB ISO might be collected with delay by a slow PC hardware
- CHG: device events >= Reboot are ignored in the device statemachine 
- NEW: Detailed error log for Tama / Improved Tama size limit check
- NEW: Error VoltageOutOfRange UVLO DcDc Drv
- FIX: BridgeOverCurrent was delayed unnessessarily
- FIX: FeedForward coulomb friction was not correctly merged from 4.4 branch in SVN30354
- FIX: Changing from DigitalEndat to None and back to DigitalEndat caused an EncoderDatabus error
- INFO: without boot.S changes 32558
- INFO: with old ETH size 0x00800000


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.8.0 (4.8.2)
Release Date: Date: 2019-12-17 10:11:31 +0100 (Di., 17 Dez 2019) 
SVN Revision: Branch 4.8: Revision: 32561 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C
Changes since last Build:
- FIX: Not absolute encoders during init: Do not set offset=0 but position=0 
- FIX: USB abo gaps introduced in 4.8.0


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.7.14 (4.8.1)
Release Date: Date: 2019-12-09 16:23:33 +0100 (Mo., 09 Dez 2019) 
SVN Revision: Branch 4.8: Revision: 32478 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build:
- CHG: Ecat Touchprobe: use option positions for touchProbe1 if source & 0x1000 (use 0x100E for Fast Axis0DigIn1)


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.7.13 (4.8.0)
Release Date: Date: 2019-12-04 15:13:09 +0100 (Mi., 04 Dez 2019) 
SVN Revision: Branch 4.8: Revision: 32364 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C
Changes since last Build:
- NEW: Product TSD81
- NEW: SafetyFOutputs
- NEW: Commutation Angle Parameter
- NEW: Log-File with LogSeverity switches
- NEW: receive global time from TriaLink (first time only) and use in log
- NEW: Feature: ExcentricityCompensation with Feature 0x20000 and Option 0x85/0x86 (Axis0/1)
- FIX: Error recovery of Position controller caused frozen "Enabling" until disable 
- FIX: Ecat LinkNotReady did not show up after first boot.
- FIX: TOE1: Build 1.3.6: IncrementalEncoderSaturation
- FIX: Setting Encodertype to Analog for an TOA1 device caused a not recoverable situation 
- FIX: Encoderzero for AnalogBiss
- FIX: PositionLatch of AnalogBiss and AnalogEndat did not consider analogOffset. 
- FIX: Increase averaging time for limit600Hz from 0.8ms to 8ms
- CHG: Use option 0x800 to replace the Ecat state *27 normally used in standstill and coupled mode
       by 0x23 and show 0x27 only when coupled. Do not use with CNC-ISG (Post-Homing-Problem).
- CHG: Ecat: Option 0xe7 for legacy enable with Command bit 3. 
- CHG: PF0100: Allow SiliconRev 0x11 and 0x21
- CHG: Faster Commit
- CHG: stop old encoder access on encoder type change
- CHG: EncoderType None may be used to read encoder PhaseA/PhaseB


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.7.10 (4.7.7)
Release Date: Date: 2019-12-13 09:09:21 +0100 (Fr., 13 Dez 2019) 
SVN Revision: Revision: 32554 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- FIX: Ecat Touchprobe1: Option Module position latch is enabled with 0x1000, (use 0x100E for Fast Axis0DigIn1)
- FIX: Not absolute encoders during init: Do not set offset=0 but position=0


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.6.17 (4.7.5)
Release Date: Date: 2019-10-23 16:17:36 +0200 (Mi., 23 Okt 2019) 
SVN Revision: Revision: 32053 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- FIX: STO inconsistent required two clearFaults instead of one 
- FIX: SerialEncoders cleared the errorMask
- FIX: Delay bridgeMonitor config after bridgeMonitor ready to postpone initialValue writing in the bridge monitor
- FIX: Delay BridgeVoltageOutOfRange after bridgeMonitor ready to allow settling of the ADC
- FIX: Ecat register read/write Triamec-URIs was accidently removed in 4.7.0
- BREAKING: Ecat state *27 instead of *23 in not coupled operation (CNC-Homing-Problem), use opion 0x2000 for legacy behavior


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.6.16 (4.7.4)
Release Date: Date: 2019-09-20 14:18:36 +0200 (Fr., 20 Sep 2019) 
SVN Revision: Revision: 31881 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- FIX: Absolute Encoders: Set persistence of hom and comm only on saving
- FIX: Absolute Encoders: Biss-B stored the wrong commutation offset
- FIX: Absolute Encoders: Set error masks after all commit finished to avoid false encoderErrors
- NEW: Absolute Encoders: Endat Sign Extension FPGA


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.6.12 (4.7.3)
Release Date: Date: 2019-09-17 14:09:07 +0200 (Di., 17 Sep 2019) 
SVN Revision: Revision: 31847 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- NEW: Prevent errors after reboot command 
- FIX: Restart Bridge monitor temperature level writing after STO
- FIX: serviceCommand motionCommands should waitForTermination, Disable should use actualTimestamp instead
- CHG: SignalProcessor is turned off if mode is turned off even without setting start
- FIX: File directory was showing short filename for put.html entry: Missing length specifier for long file names
- NEW: Encoder short errors
- CHG: Improve timeout and logging behaviour of session handler
- FIX: InvalidateCommutation was still trying to enable the axis, which is outdated and reset-ed the command too early
- FIX: Nikon: Nameplate and new status info at Diagnostics.state 0x0F00000, read during encoder start
- BREAKING: use 16 bit Nikon nameplate
- NEW: AbsoluteEncoder commutation based on mode zero
- FIX: 1.6.12 Sensorless forced zero commutation angle


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.6.5 (4.7.1-beta)
Release Date: Date: 2019-09-04 10:22:58 +0200 (Mi., 04 Sep 2019) 
SVN Revision: Revision: 31717 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- FIX: Support Rev4 option modules TOE1/2 TOF1/2
- NEW: Support digitalOutput2/3 for TSP710 
- FIX: MotorTemperature Monitor showed TemperatureLimit error on VoltageLimit error 
- CHG: Show more Monitor VoltageOutOfRange errors 
- CHG: Error message for driver level voltage out of range


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.6.4 (4.7.0-beta)
Release Date: Date: 2019-09-02 15:41:05 +0200 (Mo., 02 Sep 2019) 
SVN Revision: Revision: 31692 
Remarks:      Use TAM SDK >= 7.10.1 to support Biss-C

Changes since last Build: 
- NEW: Commutation Commands (see AN108)
       StartPhasingAndSaveEncoder and enabling method AbsoluteEncoderOffsetEncoder
       StartPhasingAndZeroEncoder (Requires Disabled and RotorAlignment)
       InvalidateEncoder requires disabled axis, changed enum from 6 to 10
- NEW: Support Biss-C and fix Biss-B nameplate read and analog bug
- CHG: AnalogEndat and AnalogBiss SubresolutionCheck enabled using dataFormat "M1"
- CHG: Digital encoder without nameplate should not init to zero, but to real absolute position
- NEW: Preliminary Dig-IO-Axis1 outputs for TSP710 at Application.Variables.Booleans[0] and [1]
- NEW: Support new FPGA option modules (Rev4) with Monitor activation
- CHG: If domainName par is empty, choose default "TSD-NNN" with NNN=serialNumber
- CHG: Ecat SSC11 from V5.11 to V5.12 (Tool 1.4.2)
- CHG: Suppress VoltageOutOfRange if there is a MonitorIsNotRunning error
- FIX: "ERR63.71 HttpGet FileNotFound" caused TCP errors
- FIX: Sensorless pathplanner tracking
- CHG: Allow turning off bridge mode during commit 
- NEW: Position unit "turns"
- NEW: Reboot function (requires disabled)
- FIX: 1.6.1 AnalogEndat Legacy commutation Nameplate not handled
- FIX: 1.6.3 Internal: MonitorActivation
- FIX: 1.6.3 Reset safe fault in NotReadyToSwitchOn for watchdog clear
- NEW: 1.6.3 Leave Operational notEnabled with (STO, linkNotReady and BridgeVoltageOutOfRange). No error in this case 
- FIX: 1.6.4 AnalogEndat does not consider analogCount
 

--------------------------------------------------------------------------------
CpuFirmware:  Build  1.5.9 (4.6.6)
Release Date: Date: 2019-08-27 16:28:41 +0200 (Di., 27 Aug 2019) 
SVN Revision: Revision: 31630 
Remarks:      Use TAM SDK >= 7.10.0 to support TOF1, bridge mode and static IP registers


Changes since last Build: 
- BREAKING: Ecat product revision is now 2 for Revision4 drives (1 for revision3 drives)
            Use Triamec1.6.xml or option 0x100 to force old behavior
- NEW: File upload /put.html and directory /dir
- NEW: Axes[].Parameters.PathPlanner.InterpolatorDelay delays interpolator signals in microseconds. Use -24.0 for legacy behavior. 
- NEW: Bridge Mode Ethernet to TriaLink 
- NEW: Ethernet parameters for static IP
- NEW: Support new option modules TOA2, TOF1 (FFT)
- NEW: TSP710: Set Brake voltage and powerLines warning
- CHG: TSP710 hardwareLimit
- CHG: Distinguish between tama boot and tama resetFault, Compilation of tama code is never automatic
- FIX: Persistent boot: MotorTemperatureSensor parameters must be copied on success only
- NEW: Sensorless: New Debug Feature generalSignalsFast.testSignal0 = commutation.angle-sensorless.angle
- CHG: Commutation.angle is now +-pi*poles instead of +-2pi*poles
- FIX: 1.5.6 Sensorless damping worked only, if a standard encoder was used before (4.6.2-beta, 31292)
- FIX: 1.5.7 Sensorless must disable pathplanner tracking (normally done in disabled) (4.6.3-beta, 31306)
- FIX: 1.5.8 There was a peak of desiredCurrentQ at the beginning of the phasing ramp (4.6.4)
- FIX: 1.5.8 TOF1-Modul interface (merge with 1.5.8, 4.6.4, SVN31361)
- FIX: 1.5.9 Large encoderCountsperMotorRevolution caused bad commutation wrapping


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.4.8 (4.5.3-beta)
Release Date: Date: 2019-06-04 
SVN Revision: Revision: 30991 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build: 
- NEW: CSV-Mode based on integrated B-spline, PV-Mode and CSP with velocity based modulo estimation
       use 0x1604/0x1a04 or 0x1600/0x1a00 for cyclic telegrams with velocity
       0x6502 contains info of CSV and PV modes
- FIX: EtherCAT: Velocity scale contained a wrong factor 10000
- FIX: Triamec.xml: TwinCAT cannot handle type double in startup list (0x23EE=ReferencePosition)
- CHG: Merge with 3.3.4: The pathplanner legacy mode now delays 76us instead of 100us
- NEW: Merge with 3.3.2: The pathplanner legacy mode is corrected in the Stream path for parallel use of DirectFeed with Stream
- CHG: COE Product revision string was too short
- NEW: restart AnalogEndat after encoderError
- FIX: The linear interpolator did not store the timeRatio, which caused a step response instead of a linear ramp. 
- NEW: Ecat: Register for axes[0].parameters.pathPlanner.streamInterpolatorMode
       Option 0x00800000 for polynom4A legacy
- NEW: AxisParameterError on unknown Pathplanner or homing.method Parameters 
- NEW: AxisCommandError on unknown homing command or no suitable homingMethod
- NEW: New Digital Encoder Offset functions (AN122 and AN107 chapter 8)
- FIX: StreamReceiver: Support stop from coupled
- NEW: AxisCommandError "Pathplanner couple" if streamX is not within positionErrorLimit 
- FIX: fixed Bug#689 'wrong acceleration when modulo-limit is set during move'
- CHG: improved calculation of deceleration move ratios
- FIX: Option encoders did not show amplitude errors (bug introduced in 4.4)
- NEW: homing persistent offset
- NEW: errorMessage strings
- NEW: general.signals.etherCAT.cyclic.pdo1c12 and pdo1c13 
- NEW: (Re-)StartPhasing tested from Disabled/Operational 
- CHG: Immediate reaction to STO situation in visualization
- FIX: Ecat and ExternalError and both axes in motion and Master does not remove enable on error: Device waited endlessly for standstill 
- CHG: In the standalone case, EtherCAT must not disable axes
- CHG: Default PWM 50kHz
- FIX: Tamagawa and Nikon require a wakeup time of 10ms. 5ms -> 50ms 
- FIX: init of tama VMs in the resetFault case was done in 10kHz task. 
- FIX: Clear ResetFault event in RDSeDRVST_FaultPending to avoid double clear, which overwrote Tama-init error
- FIX: init of tama VMs (1.4.8)


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.2.14 (4.4.13-beta)
Release Date: Date: 2019-04-01 09:41:02 +0200 (Mo., 01 Apr 2019) 
SVN Revision: Revision: 30426 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build: 
- NEW: B-Spline turned on with option 0x00400000
- CHG: Improve wrap behaviour of smart sync to avoid 100us offset 


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.2.12 (4.4.12)
Release Date: Date: 2019-03-15 08:10:58 +0100 (Fr., 15 Mär 2019) 
SVN Revision: Revision: 30354 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build: 
- NEW: Ecat Stream Mode turned on with option 0x200000
- NEW: FeedForward coulomb friction
- NEW: Axis error RAEeAXISERR_MotorTemperatureLimit

--------------------------------------------------------------------------------
CpuFirmware:  Build  1.2.9 (4.4.11-beta)
Release Date: Date: 2019-03-07 11:10:15 +0100 (Do, 07 Mrz 2019) 
SVN Revision: Revision: 30207 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build: 
- NEW: Ready to test: OptionEncoderDrivePersistency = 0x00100000 discards nameplates and uses drive persistence for encoders
       Do not use for AnalogEndat or AnalogBiss!
       Axes[]/Commands/Commutation/OffsetInc != 0x80000000 means valid commutation data 
       Axes[]/Signals/PositionController/Encoders[0]/PositionOffset is the homing offset to be saved
       Saving data always during drive save persistent
       Loading only if HomingMethod=AbsoluteEncoder0
       Before next enable, make sure Parameters/Commutation/EnablingMethod = Automatic


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.2.7 (4.4.9-beta)
Release Date: Date: 2019-02-27 15:43:43 +0100 (Mi, 27 Feb 2019) 
SVN Revision: Revision: 30145 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build:
- NEW: OptionEcatPllTune				0x00010000
- NEW: OptionEcatSmartSync				0x00080000
- CHG: increase max EtherCAT cycle time to 3ms
- NEW: Position Stream Filter


--------------------------------------------------------------------------------
CpuFirmware:  Build  1.2.2 (4.4.5-beta)
Release Date: Date: 2019-02-27 15:43:43 +0100 (Mi, 27 Feb 2019) 
SVN Revision: Revision: 30115 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build:
- NEW: Suppress endat errors with DataFormat="Err0"
- NEW: EcatNewCouple return state 0x127 when coupled (not before). option=0x800
- NEW: Suppress IR sensor fault with option=0x01000000
- NEW: Logfile with option=0x1000
- CHG: enlarge output range of PLL from +-30ppm to +-100ppm
- CHG: Reduce Ecat PLL I-Component from 0.005 to 0.002
- NEW: Single Axis URI for TSP710
- FIX: TSD80: motorTemperature Configuration lost during STO
- NEW: Axis error UnspecifiedPositionUnit
- NEW: Second ramDisk for logfile http://triamec-305/1:/log.txt (option = 1)
- CHG: Min EtherCAT cycle time is now 100us instead of 200us
- NEW: Improve robustness against EtherCAT jitter and use dcDeviation as PdiMissingCnt
 

--------------------------------------------------------------------------------
CpuFirmware:  Build  1.1.0 (4.4.0-beta)
Release Date: Date: 2019-02-11 14:58:03 +0100 (Mo, 11 Feb 2019) 
SVN Revision: Revision: 29935 
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build:
- FIX: Clearing a hidden STO safe fault was blocked in some cases
- NEW: Encoder: Tamagawa, Analog-Biss-B and Biss-B error reaction
                commutation angle diagnostics: Calculate at activation of encoder:
                    digitalEncoder.position * polePairs should be close to zero
                missing DataFormat string causes an error, allow String 36-0 too (linear encoders)
                no absoluteCommutation so far
- FIX: DigitalEndat: modulo wrap and use new scale (1.0 per turn)(ROT) or (1.0 per count)(LIN)
- NEW: EtherCAT: Support Explicit Device Id with Trialink1.4.xml
                 add error LinkConfiguration on booting with unspecified scaling factor
- CHG: Factory support


--------------------------------------------------------------------------------
CpuFirmware:  Build 1.0.8 (TSD-4.3.4)
Release Date: Date: 2019-01-18 13:54:17 +0100 (Fr, 18 Jan 2019) 
SVN Revision: Revision: 29556
Remarks:      Use TAM SDK >= 7.8.0 to support new product naming

Changes since last Build:
- FIX: Option module axis1 wrong amplitudeState
- FIX: bridge monitor temperature limit was T3 instead of T2
- FIX: USB-PcBoot problem with ModeSense10


--------------------------------------------------------------------------------
CpuFirmware:  Build 1.0.6 (TSD-4.3.2)
Release Date: Date: 2019-01-15 10:31:18 +0100 (Di, 15 Jan 2019)
SVN Revision: Revision: 29309
Remarks:      Use TAM SDK >= 7.6.0 to support Ethernet connections

Changes since last Build:
- CHG: Products: Changed strings, support orthogonal scheme and remove obsolete products
- FIX: USB: Delayed BIOS boot of attached PCs, Support USB3 plugs (Windows USB Stack 3)
- CHG: Adjust bridge temperature limits depending on the product type
- CHG: Adjust continuous current i2t time from 2s to 20s
- CHG: GetIdentification no legacy product revisions anymore 
- CHG: Encoder: Allow new amplitudeState bits, change analogEndat mode readposition mode for endat 2.2 encs
- FIX: HighPass1 and differentiator calculation error introduced in 4.3.0-beta
- FIX: FW Update on keyword-page-crossing. And replace error -9 by -12
- FIX: monitor driverLevelError enforced
- FIX: Erase feature tag 
- FIX: Session handler number of sessions


--------------------------------------------------------------------------------
CpuFirmware:  Build 2561 (TSD-4.3.0-beta)
Release Date: Date: 2018-12-19 14:55:34 +0100 (Mi, 19 Dez 2018)
SVN Revision: Revision: 29034
Remarks:      Use TAM SDK >= 7.6.0 to support Ethernet connections

Changes since last Build:
- BREAKING: SerialEncoder Persistency (Position-Offset) requires parameters.homing.method = AbsoluteEncoderN for activation !
- NEW: Ethernet: AUTO-IP hard-coded to 0x169.254.222.222 (#596, AN123)
- FIX: Ethernet: improve plug disconnect behavior during publish
- FIX: USB Massstorage during PC boot
- NEW: resetDiagnosticCounters 
- NEW: DigitalBissB encoder (pitch is in units per turn, encoderCountsPerMotorRevolution is 1)
- NEW: Latching of (slow) digital inputs with 100us resolution
- NEW: Support analog sensor input of encoder 
- CHG: enable uri-double check according to redmine #200
- FIX: show empty firmware string if firmware does not exist
- CHG: Filter coefficients are now calculated with double precision where appropriate
- NEW: Axes[]/Signals/PathPlanner/StreamGapCount counts missing stream pakets
       use TwinCAT CAxis2::simulateStreamError to force a missing paket 
- FIX: limit600 if encoderCountsPerMotorRevolution is 0
- FIX: TSD350: wrong units of Axis[1] motorTemperature 
- FIX: Erase feature tag requires unprotect flash


--------------------------------------------------------------------------------
CpuFirmware:  Build 2329 (TSD-4.2.0)
Release Date: Date: 2018-11-13 16:35:26 +0100 (Di, 13 Nov 2018) 
SVN Revision: Revision: 28761 
Remarks:      Use TAM SDK >= 7.6.0 to support Ethernet connections

Changes since last Build:
- FIX: MotorPeakCurrent > DrivePeakCurrent can cause hardware damage
- FIX: FW update of an Option module in backup-mode
- FIX: New FW update version: Correct error feedback and prohibit other flash accesses
- CHG: Remove obsolete Fpga Release register
- CHG: etherCAT object 0x6092 (feed) is not writable in OP, recalculate on unit change
- NEW: units mm and degree, #554
- NEW: add objects 0x1623 and 0x1a23
- NEW: digital endat: Set position zero if no persistency data
- CHG: Ecat Homing does not stop anymore if cmd 0x10 disappears, use Option 0x200 for legacy behavior
- CHG: Ignore TimeUpdate without warnings
 

--------------------------------------------------------------------------------
CpuFirmware:  Build 2327 (TSD-4.1.2)
Release Date: Date: 2018-11-06 08:05:47 +0100 (Di, 06 Nov 2018) 
SVN Revision: Revision: 28696 
Remarks:      Use TAM SDK >= 7.6.0 to support Ethernet connections

Changes since last Build:
- FIX: Ethernet Ungraceful Disconnection handled
- FIX: Ethercat eeprom station alias not persistent
- FIX: Option Module FW download solve retries
- NEW: Show Factory FW Release number and TSD130 string
KNOWN ISSUE: FW update of an Option Module that is running in backup-mode


--------------------------------------------------------------------------------
CpuFirmware:  Build 2324 (TSD-4.1.1-beta)
Release Date: Date: 2018-10-24 12:29:00 +0200 (Mi, 24 Okt 2018) 
SVN Revision: Revision: 28675 
Remarks:      Use TAM SDK >= 7.6.0 to support Ethernet connections

Changes since last Build:
- FIX: EtherCAT did not lock in DcSlave situations (FPGA)
- CHG: BacklashDuration rails to 0.05s, due to floatingpoint limitations
- CHG: Reset error Axis/Standstill/SynchronizationLost without disable 
- CHG: DigitalEndat is now downsampled in the position controller SVN28250
- CHG: Default number of EtherCAT axes is 2
- FIX: AngleSearch gain is multiplied after positionErrorLimit check
- FIX: New Ethernet connections failed if next connection was not available
- CHG: Immediate send of Ethernet publishers towards the ASY port (state changes)
- CHG: CServiceCmdBasis::executeStartupControlCmd do not turn off tama flags during delete
- CHG: PLL not locked is now a combined warning/error same as STO-active #541 and is independent of USB
- FIX: USB asy IN: problem with callback: Send/ISO-Interrupt/callback=true caused a callback-miss, avoid double copies
- NEW: backlash compensation based on PT2, see #545
- NEW: pathplanner injected X,V,A
- FIX: Phasing problem #538
- FIX: Handle EncoderDataBusError
- CHG: New blink code for STO-LED
- FIX: EtherCAT sync between globalTime and TriaLinkTimestamp was using different units! #214
- NEW: Support Ethernet connections from Explorer and a small WEB server. Publishers sent to TCP port
- NEW: USB: mass storage for firmware update #525. Use serial number %08x (product) 0x07x (serial)
- FIX: USB: Wrong interface strings. Bug LFN in FatFs lib. Abo freeze problem.  
- NEW: FW Update Progress register and search for flash firmware tags #528
- FIX: Correct format for Product Revision


--------------------------------------------------------------------------------
CpuFirmware:  Build 2250 (TSD-4.0.8-alpha)
Release Date: Date: 2018-08-29 16:18:28 +0200 (Mi, 29 Aug 2018)
SVN Revision: Revision: 28250
Remarks:      Use TAM SDK >= 7.5.0

Changes since last Build:
- NEW: Diagnostic counters for the USB connection
- CHG: DigitalEndat is now downsampled in the position controller (positionError and differentiator)
- CHG: EtherCAT couple returns "no tracking" before coupling 
       This prevents target position versus actual position chasing
       
       
--------------------------------------------------------------------------------
CpuFirmware:  Build 2247 (TSD-4.0.7-alpha)
Release Date: Date: 2018-08-23 08:48:15 +0200 (Do, 23 Aug 2018) 
SVN Revision: Revision: 28190 
Remarks:      Use TAM SDK >= 7.5.0

Changes since last Build:
- FIX: Commutation and modulo errors for digital endat
- FIX: FPGA 1.0.11-alpha fix for digital endat
- CHG: No EMMC write test file for released FW
- CHG: EtherCAT: Do not enter operational state until EtherCAT is in OP state


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CpuFirmware:  Build 2244 (TSD-4.0.6-alpha)
Release Date: Date: 2018-08-07 13:26:05 +0200 (Di, 07 Aug 2018) 
SVN Revision: Revision: 28098 
Remarks:      Use TAM SDK >= 7.5.0

Changes since last Build:
- FIX: Option modul FW DL: Improve finish sequence 
- FIX: Option Module TOA1
- FIX: After STO Inconsistent, it takes 90ms for the 0x18 of the bridge monitor to clear
       Ignore these bits for 110ms
- NEW: Add error 0x80 of the safety monitor din-in, which are the fast Pbs0_PwrOk and Pbs1_PwrOk signals (Requires SafetyMonitor Update)
- FIX: Timeout of ASY Tama #481
       256 loops are sufficient for the asy tama
- FIX: AnalogEndat: Encoder now commits fast task directly (before we forgot to return true during waiting)
- FIX: EtherCAT: revert change from SVN 27686 (32 bit instead of 64bit)(64bit gives mailbox problem)


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CpuFirmware:  Build 2239 (TSD-4.0.4-alpha)
Release Date: Date: 2018-07-10 15:08:50 +0200 (Di, 10 Jul 2018)
SVN Revision: Revision: 27947 
Remarks:      This is the first release for TSD80 Revision 4 and TSD350 Revision 0. 
Remarks:      Use TAM SDK >= 7.5.0

Changes since last Build:
- FIX: Firmware download of option modules, timeouts for main DL
- FIX: PathPlanner did not work as expected for the case when a running stop 
       command was superseded by a move command
- FIX: AnalogEndat initial position
- NEW: Feature tag concept
- Known problems: constructor of asy task on manual start / factory FW DL
