<Root>
    <Version name="X3020217X">
        <Section name="Release Time">
            <SubSection>2023/02/03</SubSection>
        </Section>
        <Section name="Control Mode Switching Function">
            <SubSection>Fix the problem that the mode switching fails when the master controller frequently switches the operating mode of the eRob rotary actuator slave online through 0x6060.</SubSection>
        </Section>
        <Section name="Mechanical Zero Calibration Function">
            <SubSection>Add mechanical zero calibration function of eRob multiturn rotary actuator (applicable to eRob model: eRobxxxxxxxx-xM-18xx ).</SubSection>
        </Section>
        <Section name="Pulse direction Function">
            <SubSection>Optimize the pulse direction control function, which can be configured through the input IO function to enable the servo to be enabled by default after power-on.</SubSection>
        </Section>
    </Version>
    <Version name="X3022016X">
        <Section name="Release Time">
            <SubSection>2023/02/22</SubSection>
        </Section>
        <Section name="Fail Safe">
            <SubSection>Delete multiturn counting error.</SubSection>
            <SubSection>Fix the problem of multiturn count failure caused by voltage fluctuation after quick power-off and power-on.</SubSection>
        </Section>
        <Section name="CAN communication firmware upgrade function">
            <SubSection>Fix the problem that the firmware upgrade fails when the EtherCAT version rotary actuator performs online firmware upgrade through CAN communication.</SubSection>
        </Section>
    </Version>
    <Version name="X3032220X">
        <Section name="Release Time">
            <SubSection>2023/03/24</SubSection>
        </Section>
        <Section name="Mechanical Zero Calibration">
            <SubSection>Fix the problem of position jump after power off and power on in the multiturn eRob actuator applied with mechanical zero calibration function.</SubSection>
        </Section>
        <Section name="CiA402 State Machine">
            <SubSection>Fix the problem that the enable bit of the status word is not cleared when the brake is enabled by using the object dictionary 0x4602 after the enable is turned off.</SubSection>
        </Section>
        <Section name="Profile Position Mode(Immediate update)">
            <SubSection>Fix the problem that profile position mode does not run according to the set deceleration during the immediate update reverse movement process.</SubSection>
        </Section>
    </Version>
    <Version name="X3071220X">
        <Section name="Release Time">
            <SubSection>2023/07/18</SubSection>
        </Section>
        <Section name="PT Mode">
            <SubSection>Added torque ramp planning in PT mode.</SubSection>
        </Section>
        <Section name="Profile Position Mode(immediate update)">
            <SubSection>Optimized immediate update in profile position mode</SubSection>
        </Section>
        <Section name="Pulse Direction Function">
            <SubSection>Fixed the problem that the control mode set by the pulse direction control does not take effect;</SubSection>
            <SubSection>Optimized the pulse direction control function. Servo enable by default after power-on can be configured by inputting the IO function, and it will take effect when the IO polarity is reversed.</SubSection>
        </Section>
        <Section name="Mechanical Zero Calibration">
            <SubSection>Fixed the problem that the position jump after the power is turned off and on at a particular position after the mechanical zero point calibration function is applied to the singleturn and multiturn actuators.</SubSection>
        </Section>
        <Section name="Fail Safe">
            <SubSection>Added the disconnection detection function of CANopen, and the error code is 0x8130.</SubSection>
            <SubSection>Optimized the processing logic of 0xA000 alarm.</SubSection>
        </Section>
        <Section name="Brake Control">
            <SubSection>Optimized the handling of brake release after enabling.</SubSection>
        </Section>
    </Version>
    <Version name="X3100909X">
        <Section name="Release Time">
            <SubSection>2023/10/09</SubSection>
        </Section>
        <Section name="Brake Control">
            <SubSection>Optimized the processing logic of Enable brake release.</SubSection>
        </Section>
        <Section name="Object Dictionary">
            <SubSection>Modified the contents of object dictionary 0x1009 and 0x100A.</SubSection>
        </Section>
        <Section name="CANopen Communication">
            <SubSection>Fixed CANopen Ver. TxPDO no response issue.</SubSection>
        </Section>
        <Section name="Operation Mode">
            <SubSection>Added support for Homing mode.</SubSection>
        </Section>
        <Section name="Fault Protection">
            <SubSection>Optimized：When the power supply voltage drops to 19V, only update error code 0xF008 (the bus voltage is lower than the minimum allowable power supply voltage of 19V)</SubSection>
        </Section>
        <Section name="Modbus Communication">
            <SubSection>Added a Modbus address to read the singleturn encoder value at the motor end and the singleturn encoder value at the load end.</SubSection>
        </Section>
    </Version>
    <Version name="X4012911X">
        <Section name="Release Time">
            <SubSection>2024/01/31</SubSection>
        </Section>
        <Section name="Pulse Direction Control Mode">
            <SubSection>New Feature: Pulse direction control mode now includes IO-motion completion signal output.</SubSection>
            <SubSection>Optimization: Input IO enable function only operates in conjunction with the pulse direction control mode; IO enable is ineffective in other control modes.</SubSection>
        </Section>
        <Section name="Power-Up Time">
            <SubSection>Optimization: Reduced the time required for the servo to be fully prepared from 8 seconds to 5 seconds during power-up.</SubSection>
        </Section>
        <Section name="Brake Control">
            <SubSection>Optimization: Improved the handling of brake release after enabling, reducing the time required for brake release.</SubSection>
        </Section>
        <Section name="Object Dictionary">
            <SubSection>New Feature: Modify the "Bus Adjust PID" parameter through object dictionary 0x2383.</SubSection>
            <SubSection>New Feature: Configure velocity feedforward gain via object dictionary 0x2382-03h.</SubSection>
        </Section>
    </Version>
    <Version name="X5040317X">
        <Section name="Release Time">
            <SubSection>2025/04/09</SubSection>
        </Section>
        <Section name="Cyclic Synchronous Position (CSP) mode">
            <SubSection>Enhancement: Trajectory Smoothness in CSP mode under CANopen communication.</SubSection>
        </Section>
        <Section name="Object Dictionary Addition:">
            <SubSection>0x3B6E – Max Bus Voltage Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B6F – Min Bus Voltage Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B70 – Peak Current Time Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B71 – The Sum Error Of Three Phase Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B72 – Max Phase Current Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B73 – Max Motor Current Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B74 – Max Temperature Parameter Setting Enabled.</SubSection>
            <SubSection>0x3B75 – Offset Of Position Parameter Setting Enabled.</SubSection>
            <SubSection>Fixed: Modified the data type of object dictionary entry 0x60B2 to INT, mapped in PDO 0x1618.</SubSection>
        </Section>
        <Section name="Fail Safe">
            <SubSection>Added: Error Code: 0xFF08; Error reporting for motor-end single-turn encoder position calculation error during power-on.</SubSection>
        </Section>
    </Version>
    <Version name="X5072909X">
        <Section name="Release Time">
            <SubSection>2026/07/17</SubSection>
        </Section>
        <Section name="Fault Protection">
            <SubSection>Added: Load-side encoder now includes 2 new error messages (Load-side main single-turn encoder power-on position calculation error and Load-side auxiliary single-turn encoder power-on position calculation error).</SubSection>
            <SubSection>Added: Load-side encoder now includes 2 new warning messages (Load-side main single-turn encoder position calculation error warning and Load-side auxiliary single-turn encoder position calculation error warning).</SubSection>
            <SubSection>Modified: Adjusted the interface for specific parameters of both motor-side and load-side encoders, with compatibility for special eTuner variant for  parameter modifications.</SubSection>
        </Section>
        <Section name="Modbus Communication">
            <SubSection>Added: Modbus-RTU protocol now includes register addresses for reading position offset settings to support mechanical zero calibration functionality, please refer to the eRob Modbus-RTU User Manual for details.</SubSection>
        </Section>
        <Section name="CAN Custom Protocol">
            <SubSection>Added: CAN custom protocol now includes an interface for reading product information, please refer to the eRunner User Manual for details.</SubSection>
        </Section>
    </Version>
</Root>