• This firmware update is recommended for all TSD drive types and solves an occational SafeTorqueOffStartup error caused by an unwanted watchdog reset of the safety monitor during STO pulse tests
• FIX: TOE1 pulldown of EncIn and reboot
• FIX: AnalogEndat and Tamagawa Zero function
• FIX: TOE1 pulldown of EncIn and reboot
• FIX: USB more robust on slow PCs
• FIX: FeedForward coulomb friction
• ..
• (see releaseNotes for details)

• NEW: Log-File with LogSeverity switches
• NEW: Commutation Angle Parameter
• CHG: Ecat Touchprobe now supports option module positions
• FIX: issues for absolute encoders with sin/cos extension: AnalogBiss and AnalogEndat
• ..
• (see releaseNotes for details)

• FIX: USB: Avoid timout on slow PC IN access
• FIX: False alarm during coupling if position is close to modulo
• ..
• (see releaseNotes for details)

• NEW: Absolute Encoder Commutation Commands (see AN108 and AN122)
  
  • StartPhasingAndSaveEncoder
  • StartPhasingAndZeroEncoder
• NEW: Support Biss-C
• FIX: Nameplates of Biss-B, Nikon, AnalogEndat
• FIX: Sensorless bug introduced with 4.6.6
• FIX: Motor temperature settings after STO, and persistency bug with STO
• BREAKING: AnalogEndat and AnalogBiss SubresolutionCheck enabled using dataFormat "M1"
• FIX: BridgeVoltageOutOfRange after STO
• FIX: EtherCAT CNC-Homing issue (possibly breaking for none-TwinCAT control systems)
• FIX: EtherCAT COE access for non-standard registers
• FIX: AbsoluteEncoders: Negative Endat positions
• ..
• (see releaseNotes for details)

• NEW: Absolute Encoder Commutation Commands (see AN108 and AN122)
  
  • StartPhasingAndSaveEncoder
  • StartPhasingAndZeroEncoder
• NEW: Support Biss-C
• FIX: Nameplates of Biss-B, Nikon, AnalogEndat
• FIX: Sensorless bug introduced with 4.6.6
• FIX: Motor temperature settings after STO, and persistency bug with STO
• BREAKING: AnalogEndat and AnalogBiss SubresolutionCheck enabled using dataFormat "M1"
• ..
• (see releaseNotes for details)

• !BREAKING!: Ecat product revision is now 2 for Revision4 drives (1 for revision3 drives)
• "KNOWN BUG: Sensorless is not functional"
• NEW: Axes[].Parameters.PathPlanner.InterpolatorDelay delays interpolator signals in microseconds.
• NEW: Bridge Mode Ethernet to TriaLink
• NEW: Ethernet parameters for static IP
• NEW: Ecat: CSV-Mode and CSP with velocity based modulo estimation
• NEW: New Digital encoder Offset functions (AN122)
• FIX: init of tama VMs
• ..
• (see releaseNotes for details)

If option modules are present, TSD-4.2.0 (or newer) must have been installed before this!

• !BREAKING! DigitalEndat: new scale (1.0 per turn)(ROT) or (1.0 per count)(LIN)
• FIX: DigitalEndat: modulo wrap
• NEW: Prototype support for Tamagawa and Nikon encoders
• NEW: FeedForward coulomb friction
• NEW: Position Stream Filter
• FIX: TSD80: motorTemperature Configuration lost during STO
• NEW: Prototype of logfile http://triamec-NNN/1:/log.txt (option = 0x1000)
• CHG: Min EtherCAT cycle time is now 100us instead of 200us
• FIX: Clearing a hidden STO safe fault was blocked in some cases
• NEW: EtherCAT: Support Explicit Device Id with Trialink1.4.xml
• NEW: error UnspecifiedPositionUnit on booting with unspecified scaling factor
• ..
• (see releaseNotes for details)

If option modules are present, TSD-4.2.0 must have been installed before this!

• !BREAKING! SerialEncoder Persistency (Position-Offset) requires parameters.homing.method = AbsoluteEncoderN
• Ethernet: AUTO-IP hard-coded to 0x169.254.222.222 (AN123)
• DigitalBissB encoder
• Latching of (slow) digital inputs with 100us resolution
• FIX: USB: Delayed BIOS boot of attached PCs, Support USB3 plugs (Windows USB Stack 3)
• FIX: option modules unintended downsampling
• ..
• (see releaseNotes for details)

• this firmware update is mandatory for all TSD drivetypes.
• units mm and degree possible now
• changed Ecat Homing
• MANDATORY fix: MotorPeakCurrent > DrivePeakCurrent can cause hardware damage
• fixed FW update of an Option module in backup-mode
• ...
• (see releaseNotes for details)

• Support for TSD350 and for TSD80/TSD130 Rev.4
• Comissioning over Ethernet
• EtherCAT eeprom station alias
• EtherCAT did not lock in DcSlave situations
• DigitalEndat is now downsampled in the position controller
• backlash compensation based on PT2
• USB: mass storage for firmware update
• ...
• (see releaseNotes for details)

• Global Trigger allows flexible trigger selection for the positions latch feature
• High resolution PWM
• Support Motor Temperature Sensor Type “KTY83”
• ...
• (see releaseNotes for details)

• Support for TSD80 HR02 and HR03
• Support for TSD130 HR03
• Support for TSD80 / TSD130 EtherCat
• Limit switch and Homing modules
• Optimized USB driver
• ...
• (see releaseNotes for details)

• support for TSD80 HR01 and HR02
• stop support for old register access method
• (see releaseNotes for details)

• absolute register concept improves reverse compatibility (including URI persistence)
• rework on encoder interface
• PWM with option module TOU1 with axis.commands.general.optionModuleStream
• fixed some bugs
• (see releaseNotes for details)

• this is a mandatory Firmware update.
• new controller structure.
• persistent localbus
• (see releaseNotes for details)