Firmware Changelog

Firmware Changelog#

Changes in each MD and MD CANopen firmware release listed in Device Firmware. Newest release first.

09.11.2026 - v3.0.2#

MD Firmware 3.0.2#

Added

  • Dual-encoder absolute position, updated all the time when the auxiliary encoder mode is DUAL. See Drives with DUAL encoders.

  • Quick Status bit 14 (drive disabled) and bit 8 (configuration error).

Changed

  • Register 0x027 is now dualEncoderAbsPosition (float32, rad). It was dualEncoderRevolution (uint8). Requires an updated CANdle-SDK.

Fixed

  • The reported motion mode now always matches the mode actually running.

  • The CAN watchdog warning now clears only when the drive enters Operational.

MD CANopen 3.0.2#

Added

  • New EDS md_1.3.eds. 0x1018:03 (Revision Number) is 0x00010003.

  • 0x2010 (Position PID Controller), 0x2011 (Velocity PID Controller) and 0x2012 (Impedance PD Controller) gains can be mapped to PDOs.

  • 0x2002:07 (Dual Encoder Absolute Position), TPDO-mappable.

  • 0x2002 (Auxiliary Encoder) mode accepts DUAL.

Fixed

  • 0x2002 (Auxiliary Encoder) mode rejects invalid values with an SDO range abort.

  • 0x2024 (User GPIO) state reports the real pin levels.

  • 0x6061 (Modes of Operation Display) always matches the mode actually running.

06.10.2026 - v3.0.1#

MD Firmware 3.0.1#

Added

  • Motor resistance and inductance can be set by hand. 0 means auto-detect during calibration.

Changed

  • Max torque and max velocity set to 0 mean no limit.

  • Position limits are disabled when min >= max.

  • The velocity-limit error is checked only while the drive is enabled, with a 5% + 1 rad/s margin.

  • Velocity targets are clamped to max velocity in all velocity and position modes.

  • Quick stop works from every mode and no longer changes the profile deceleration.

  • Switching into profile position while moving now stops and holds position.

  • Disabling the drive keeps the target position instead of setting it to zero.

  • The drive no longer reboots after a failed save.

Fixed

  • Raised the brake holding voltage (4 V → 6 V equivalent).

MD CANopen 3.0.1#

New CANopen stack. It replaces CANopenNode and ships with the EDS md_1.2.eds. Drives on 2.5.x CANopen firmware need the legacy migration, see Communication Overview.

CiA 301

  • NMT, plus heartbeat producer and consumer.

  • SDO, expedited and segmented.

  • 4 RPDOs and 4 TPDOs:

    • Dynamic mapping, checked for size.

    • SYNC transmission types 0–240.

    • TPDO inhibit time.

    • COB-IDs are saved to non-volatile storage.

  • EMCY, with 0x1001 (Error Register), 0x1003 (Pre-defined Error Field) and 0x603F (Error Code).

  • 0x1010 (Store Parameters) and 0x1011 (Restore Default Parameters). A save doesn’t reboot the drive.

  • Classic CAN at 1 Mbit/s, using up to about 96% of the bus.

CiA 402

  • Power drive state machine. Fault reset triggers on the rising edge of controlword bit 7.

  • Modes: Profile Position, Profile Velocity, Cyclic Sync Position and Cyclic Sync Velocity, plus the manufacturer modes Impedance and Service.

  • Disable operation while moving first slows down at 0x6084 (Profile Deceleration).

  • Limits:

    • 0x607A (Target Position) is clamped to 0x607D (Software Position Limit).

    • 0x60C5 (Max Acceleration) and 0x60C6 (Max Deceleration) are applied.

    • 0x6072 (Max Torque) and 0x6080 (Max Motor Speed) set to 0 mean no limit.

  • Manufacturer objects 0x2000 (Actuator Config) to 0x2024 (User GPIO) cover motor, encoder, torque sensor, temperature, controller, status and command settings.

Drive core

Same as MD Firmware 3.0.1.

29.08.2026 - v3.0.0#

MD Firmware 3.0.0#

Initial release of the MD v3.0.0 firmware.

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