v3.1.0

What's Changed

• proposed fix to #113 by @NicolasRouquette in #114
• jsd inspect context by @preston-rogers in #115
• Added a short delay to ensure timely PDOs by @preston-rogers in #111

New Contributors

• @NicolasRouquette made their first contribution in #114

Full Changelog: v3.0.1...v3.1.0

v3.0.1

Minor fix to allow recognition of EL2809 and EL1008 drivers.

Driver for SIL mode of Elmo Platinum motor controller and new field for driver configurations

• Implemented driver to operate the Elmo Platinum motor controller in SIL (Software In the Loop) mode. In this mode a custom controller can be programmed in the drive via a MATLAB Simulink model. The driver can interact with such custom controllers through the R1 and R2 SIL variables.
• Removed the product code field from driver configurations. It has been replaced with a driver type field. Product code is still checked internally. This change allows better handling of device variations that have different product codes but the same functionality and of different driver variations for a given device.
• Renamed original EPD driver to EPD-Nominal (e.g. jsd_epd_config_t -> jsd_epd_nominal_config_t, jsd_epd_state_t -> jsd_epd_nominal_state_t, etc.) to differentiate the driver from the SIL variation.

v2.3.10

Resolves bug where a halt command made immediately after a motor move command may be ignored.

EL2809 Driver Inclusion

In this release, we include the driver software for the Beckhoff EL2809. This is a 16-channel, 24V Digital Output module.

v2.3.8

Fix one more uninitialized variable error when building in release mode.

El1008 Support and Platinum Driver State Transition Bug Workaround

• Adds support for the El1008 Beckhoff module. This module gives the user the ability to read digital inputs. From the beckhoff website, inputs are consider low between -3 and 5V and high between 11 and 30V. This involved changes on the fastcat and jsd levels
• On the jsd level, changes were made to the platinum driver to get around a firmware bug. For the quick-stop settings we operate in, certain transitions to enabled operation state should have been illegal yet were still allowed. These jsd changes ensure this edge case scenario does not occur.

Fixes for Elmo motor controllers' drivers

Changes:

• Enables EtherCAT communication in networks that contain Elmo Platinum drives along other devices. Platinum drives only support overlapping IO maps, while the rest of devices included in JSD support both overlapping and legacy IO maps. JSD has been updated to use overlapping IO maps from SOEM to allow communication in any network.
• Fixes indexing of the digital output set command in both Elmo motor controllers' drivers. Indexing in the driver started at 0, while indexing in Elmo's documentation starts at 1. Now indexing in the driver starts at 1.

Contributors:
@d-loret, @preston-rogers

v2.3.1

Convert some SDO read print statements to DEBUG level

Add EgdFault() and PDO size checks

What's Changed

• Added EgdFault function to be called to purge outcoming command in ca… by @davidinkyu-kim in #68
• PDO size check for EGD and EPD by @d-loret in #69

Full Changelog: v2.2.0...v2.3.0