####### Changelog

## [2.4.3.9] -24.04.2026
- New real time trend graph on Show variables
- Bug fixes

## [2.4.3.7] - 08.04.2026
- Added force as a visualization parameter inside Show variables
- Increase Dimension of + and - Buttons inside Motion Task wizard
- Corrected Bug on warning in expert menu´.
- Corrected bug on download diagnostic data when not connected

## [2.4.3.6] - 01.04.2026
- Added two new opearators in uPLC Editor
- Added in expert mode the Parameter 224 - Amplitude autogain for SIN/COS Signals
- Remove button for Default values on Controller configuration : added Parameter overviews with comments.

## [2.4.3.5] - 20.03.2026
- Improved Modbus communication with a proper timeout value as Default
- Added increasing timeout time dinamically also for signed integer Modbus read
- Limited value (max 250msec, min 1msec) of the timeout time on the communication interface.

## [2.4.3.4] - 05.03.2026
- Changed Controller configuration View
- Added Gravity Feed Forward Parameter in the Controller window
- Added Option Relative positioning inside Motion controller

## [2.4.3.3] - 09.02.2026
- Corrected Parallel Motion window functionality
- Corrected Status bar resize with the application resize

## [2.4.3.2] - 28.01.2026
- (Bug fix) Corrected Autoscale button with realtime scope and empty scope
- Added USB Full Speed Option
- Added MODBUS Over USB functionality

## [2.4.3.1] - 26.01.2026
- (Bug fix) Corrected oscilloscope calculated difference channels
- (Bug fix) Corrected autoscale calculation
- Added legend Variation on the oscilloscope channel for difference channels

## [2.4.3.0] - 09.1.2026
- Added teach button for Motion table
- Added New Motion wizard capability on Motion Controller window
- Added max Limit warning on the diagnostic window
- Added check on max current vs max Hardware Limit

## [2.4.2.9] - 02.12.2025
- Added Autoscale button on scope window
- Added Parameter Tracking master scale on Parameter window
- Corrected Motor type list

## [2.4.2.8] - 02.12.2025
- Renewed scope window 
- Added real time visualitation of variables in the Status area

## [2.4.2.7] - 17.11.2025
- New Status area with parametrizable Show Variables 
- New diagnostic Alarm stack visualization
- Increased Interface Speed 

## [2.4.2.6] - 14.11.2025
- Added homing loop calibration Parameters
- Move home Offset Parameters in the Parameter window
- Bug fix on the Position loop divider write and read - Parameter 85
- Added Color Change when Parameter Change on expert window
- Fix max current Limit to 20 Amps
- Added check on the pole pitch and Motor type values
- Move commutation Offset Degrees value under commutation Offset parameter

## [2.4.2.5] - 10.11.2025
- Added PWM Frequency Parameter (Expert mode)
- Added Commutation current (Expert mode)
- Added Tracking Minimum time Parameter
- Unchecked Canopen Status update in communication window as Default
- Scope sampling time and length recalculate in respect to PWM frequency
- Filtering frequency of loop changed functionality (Cut-off frequency instead of time)

## [2.4.2.4] - 04.11.2025
- New uPLC interface with Editor, Toolbox and Compiler Features added

## [2.4.2.3] - 21.10.2025
- Added Modbus sync By table index (trigger mode)
- Added Modbus sync table idx and set value
- New Installation setup

## [2.4.2.2] - 15.10.2025
- Added Modbus Baudrate Speed Connection
- Added Modbus Baudrate Parameter 
- Added check box after Firmware download
- Corrected Parameter Change Color

## [2.4.2.1] - 13.10.2025
- Added row indicatiors
- Added Modbus sync trigger Option
- Added Modbus sync Buttons
- Bug fix Dump window
- Bug fix load Combo list
- Better Arrangement of text

## [2.4.2.0] - 25.08.2025
- Added uPLC Memory Dump 
- Added welcome Music on Splash screen
- Added Version update check on startup

## [2.4.1.9] - 14.08.2025
- Corrected bug related to the load of configuration file (device_list combobox)
- Added Dump window for Motor Parameters load and save to file

## [2.4.1.8] - 18.07.2025
- Added Dead Zone parameters in Controller window 

## [2.4.1.7] - 17.06.2025
- Added timeout counter visualization
- Corrected RX timeout Setting with higher Speed
- Bug fix Project save and load file (write Encoder/Phase Parameter unchecked Option in saved file)

## [2.4.1.6] - 20.5.2025
- Added alert text for permanently Parameter store

## [2.4.1.5] - 25.3.2025
- ADDED DS402 TXPDO list
- Added Firmware update addional Password unlock "update"

## [2.4.1.4] - 25.3.2025
- ADDED DS402 STATE Coding on communication window
- Bug fix read/write of Gateway values

## [2.4.1.3] - 05.3.2025
- STO function added

## [2.4.1.2] - 10.2.2025
- Bug fix Can timeout value on EtherCAT bus window

## [2.4.1.1] - 21.1.2025
- Bug fix coil temp gauge
- New interface design
- Added selection of MODBUS RTU Baudrate on communincation window
- Added button to force Auto homing

## [2.4.0.5] - 13.12.2024
- Added button for autohoming
- Added new machine state - SAFE STOP

## [2.4.0.4] - 06.12.2024
- Added Identification button on the communication windonw

## [2.4.0.3] - 18.11.2024
- Added uPLC window for internal PLC programming

## [2.4.0.2] - 05.11.2024
- Bug fix - Corrected loading of Parameter from file
- Added Tracking time Display on Motion Control area
- Added selection of Tracking mode in Motion mode 

## [2.4.0.1] - 17.05.2024
- Bug Fix

## [2.4.0.0] - 16.05.2024
- Added EtherCAT Bus converter management

## [2.3.2.2] - 16.02.2024
- Added rotolinear motor
- Added selection for inverted encoder counts
- Added pulse / train option for future implementation
- Added trend information on the motor / drive temp 
- Added Parallel motion window for pick and place and interpolated application

## [2.3.2.1] - 07.12.2023
- Added in motion table trigger mode the option CAN_SYNC

## [2.3.2.0] - 14.11.2023
- Added Canopen DS402 status visualisation
- Added Canopen Baudrate parameter in motor parameter window

## [2.3.1.9] - 06.11.2023
- Added Manual mode in Expert window
- Added Encoder Autocalibration in Expert window
- Corrected filter for Motor load and Coil temp

## [2.3.1.8] - 02.11.2023
- Diagnostic data are splitted into graphs
- Motor coil temperature filtered 

## [2.3.1.7] - 02.10.2023
- Added a control on the minimum waiting time in motion control table
- Added procedure to avoid problem on motor control when new configuration is downloaded. 
  During download the motion task is stopped, then restart when the download procedure is finished

## [2.3.1.6] - 28.09.2023
- Corrected oscilloscope functionality
- Addeded new signal about the internal states and trigger
- Addeded motion state machine display on the status windows

## [2.3.1.5] - 25.04.2023

- Corrected motion table collumn value and description
- In diagnostic windows visualization of gauge in respect to the motor type
- Change character in surveillance buttons

## [2.3.1.4] - 16.04.2023

## New feature

- Resizable window 
- Added description for In position function in motor parameter
- Changed gages positions in the Diagnostic window

## [2.3.1.3] - 12.04.2023

## Bug fixes

- Corrected load and store of filter values in the controller parameter window

## [2.3.1.2] - 04.04.2023

- Added visual color change for parameters
- Added Serveillance window

## Bug fixes

- Corrected motor type detection

## [2.3.1.1] - 01.04.2023

- Added selection for load/store esclusion on the controller, motor param and motion table
- Expert mode is viewable also when it is not enabled

## Bug fixes

- Load and save function to use saved project load the parameter also in expert mode window.
- PTC Temp max value was not loaded properly.

## [2.3.1.0] - 26.03.2023

- Change of MODBUS communication library
- Improve of communication speed during first access to the motor
- Change of COMMUTATION CALCULATION Algorithm
- Bugfixes for SCAN MODBUS NODES

## New Functions

- Detection of two or more motors with the same node id on the modbus
- Detection of wrong slave id on the interface in respect to available motors on the modbus
- Added safety warning at the first on of the motor 
- Added detection of device id change when the reset motor is required

## [2.3.0.14] - 20.03.2023

### New functions

- Added timeout for modbus and bootloader.

## [2.3.0.13] - 16.02.2023

### New functions
- Added parameter in position window size in Motor parameter window

## Bug fixes
- Correct drive reset button function

## [2.3.0.12] - 23.12.2022

### Bug fixes

- Osciloscope channel units corrected
- Write configuration to Flash button corrected

### New functions

- In expert menu: Added calculate commutation offset button (Now the commutation offset can be set by the Starter)
- Added calculated phase commutation offset in degrees 
- In diagnostic added gauge for Motor load, motor temperature and drive temperature
- Removed scale factors on the oscilloscope
- Change Automatic homing button to Reset Automatic Homing button (this function works only with FW 5660)
- Added parameter 15 - Homing done indicator


 