CM1-E
CM1-E
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XML File and Firmware Updates

Version Information

Version #

Update Information

XML

V1.3.12

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. Object 0x6007 Abort Connection Option Code added. It sets the reaction when the slave leaves OP: 1 = fault 0x7500 (default), 2 = disable voltage, 0 = no action. See Object Dictionary.

    2. 0x1001 Error Register is now set with every fault. A fault reset clears 0x603F and 0x1001.

  2. Bug fixes

    1. With the SM watchdog on, the motor kept running after a communication loss. The motor now reacts as set by 0x6007 on every exit from OP.

    2. CSV and CSP set points are only applied in OP. Previously the motor could keep moving in SAFEOP.

    3. A motor serial link fault (0x7510) could latch until a power cycle. A fault reset now clears it once the link is back. The fault reset is refused while the link is down and drive power is off. No false 0x7510 in PREOP or INIT.

    4. EtherCAT state change timeouts are now handled.

    5. K and H parameter reads (0x60F6, 0x60FB) now time out after 500 ms if the motor does not answer.

    6. The motor could be enabled while the axis was in Fault. It is now only enabled in Switched On or Operation Enabled.

    7. 0x100A now always returns 9 characters ("1.3.12" padded with spaces).

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.11

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. Support for the CM1-E-11S30D and CM1-E-11L30D motors. 0x1008 reports the motor model.

    2. Additional motor type codes recognised for the 17S, 17L, 23S and 23L motors.

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.10

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Bug fixes

    1. 0x2301 Drive temperature no longer shows occasional invalid values from the motor (for example the temperature plus 273).

  2. Changes

    1. USB port baud rate set back to 115200. Versions 1.3.8 and 1.3.9 used 171875.

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.9

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. In CSP and CSV mode, 0x2301 Drive temperature and 0x6079 DC link voltage are read with the cyclic motor data. In 1.3.7 and 1.3.8 they were not updated in these modes.

    2. Also released for MYO28-04F hardware (0x1009 = "MYO28-04F").

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.8

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. New error code 0x7520: cannot switch the motor to cyclic (CIA) mode. This was reported as 0x7510 before.

  2. Bug fixes

    1. After a fault reset following a 0x7510 fault, the motor serial link is restarted correctly.

    2. Motor replies are processed one message at a time. This fixes missed or misread replies, including homing complete.

    3. The motor leaves USB (CML) mode when the USB cable is unplugged.

  3. Changes

    1. USB port baud rate changed from 115200 to 171875.

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.7

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. Object 0x2202 added: diagnostic data for Myostat support.

  2. Bug fixes

    1. Motor serial link: all received bytes are read, a receive overflow raises 0x7510, and overlong replies are discarded.

  3. Changes

    1. Leaving OP no longer raises fault 0x7500. From 1.3.12 the reaction is set with 0x6007.

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.6

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Conformance tested release for MYO28-03A hardware. Functionally the same as V1.3.5.

  2. Also released for MYO28-04C (2023) and MYO28-04D (2024) hardware. Only 0x1009 differs.

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.5

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Bug Fixes

    1. Statusword error bit not asserted on 0x7510 error
      The statusword error bit was only not asserted if there was a communication problem to the drive on power up. 

      Changes

      1. Clearing the fault on a power up fault will reset the MCU in an attempt to initiate communication. If the fault reset bit remains active and the fault occurs again a reset will occur again. This process will repeat itself.

      2. Clearing the fault if it occurs during regular runtime will not reset the MCU. Alternate methods are attempted in this case that do not require a reset.

    2. Motion not occuring in CSV, CSP or Profile Velocity though the drive indicates it is.
      Changes

      1. EtherCAT slave switches modes and has additional checks before sending data to the drive

Myostat_CM1-E (V1.3.0)_MDP.xml

Myostat_CM1-E (V1.3.0)_FLAT.xml

V1.3.4

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. Object 0x2201 added. Object is 4 volatile 32 bit registers that can be used as variables. Variable 1 BIT15 and BIT14 are mapped to the Statusword (0x6041). This allows the bits to be used as flags. For example a homing complete flag.

Myostat_CM1-E (V1.3.0).xml

V1.3.3

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. Target velocity in CSV mode is now in count/s. Previously it was counts/ms

    2. Velocity Actual Value is now in counts/s. Previously was in counts/ms

Myostat_CM1-E (V1.3.0).xml

V1.3.2

Revision #: 0x20020103 (No XML update. Revision number is not changed)

  1. Feature updates

    1. PDO communication rate now includes multiple periods.

      1. Specifically 200us, 250us, 500us and 1ms.

      2. No setting is required on the slave/drive which autodetects the rate.

  2. Bug fixes

    1. OUT LED indicator fixed.

Myostat_CM1-E (V1.3.0).xml

V1.3.0

Revision #: 0x20020103

  1. Feature Updates

    1. SM and PDI watchdog implemented. The motor will disable if a watchdog timeout is encountered

    2. Mode of Operation and Mode of Operation Display have been added to the Profile Mode RxPDO and TxPDO respectively.

    3. Statusword BIT12 is implemented for CSV and CSP mode. BIT12 indicates if the drive is following the commanded position.

    4. EEPROM data is included in the update and will load automatically.

    5. Revision # is updated with each release. The matching XML is required. This allows for multiple version on the same network.

  2. Bug fixes

    1. Halt bit on Homing Mode would not halt the motor when switching modes at the same time.

    2. Speed for HM and PP mode is now correctly returned. It was 1/4 or the actual value.

  3. General improvements on task handling and timing.

Myostat_CM1-E (V1.3.0).xml

V1.2.0

  1. Feature Updates

    1. F/W update through FoE in Bootstrap.

    2. Object 0xFF01 - Status LED override

  2. Bug Fixes

    1. SDO objects now available in all ESM states. In previous versions the entire
      dictionary was not available until the slave had transitioned into OP at least one.

Please contact support

V1.1.3

  1. Added support for Explicit Device ID

  2. Improved SDO data transfer


V1.1.2

  1. Improved USB communication for

    1. Changing H gain parameters

    2. Running the motor in CML mode

    3. Updating firmware


For information on how to update the CM1-E firmware please contact Myostat support