Possible position jump when starting a master slave movement immediately after homing or changing the controller mode of the master axis

Potentially wrong configuration information when using Kin_Wrist2 in a coupled kinematics

SMC3_PersistPositionSingleturn: wrong position for finite axis after power on in certain cases

SMC_SmoothMerge: A G0 element should not be converted to a line after a merging block

Errors in description of SMC3_PersistPosition and SMC3_PersistPositionSingleturn

Jump in axis position after SMC3_ReinitDrive

IDE freezes when editing a Cams tappet table and then switching to another tab

Axis group: Jump in torque when a movement starts after a load has been attached while waiting

SMC_GCodeViewer: the value of expressions of type STRING is not displayed

SoftMotion: Cut & Paste of whole controller device adds unexpected object to device tree

New SoftMotion Driver for BoschRexroth CtrlXDrive SoE

CNC,SMC_SmoothAddAxes: SMC_SAA_SMOOTHAREA_TOO_LARGE" when using G71-G70 commands with G75

SMC_MoveContinuousAbsolute, SMC_MoveContinuousRelative: Improve documentation for EndVelocityDirection = MC_DIRECTION.current

BasicMotion: Some movement function blocks no longer log their instance path when an error occurs

BasicMotion, Blending: No error is reported if the execution order is wrong

SMC_ETC_InterpolateAxisPosition: support for 32 Bit EtherCAT timestamps

Cam Editor: it is not possible to enter integer values in scientific notation

Cam Editor: the split container heights shrink when closing and reopen the cam editor

Disallow assignment of AXIS_REF_SM3 objects

SM3_Drive_ETC_Beckhoff_EL70xx: device description for EL7037 is missing

SMC_SmoothAddAxes might get stuck on G75

SMC_FreeEncoder (and other encoder axes): Master/Slave FBs are not working with an encoder as the master

SMC_FB_WASNT_CALLED_DURING_MOTION is reported for a slave axis when a super-imposed movement is commanded on the master axis

Axis group: Aborting in the direction of the current movement should work without reversal

Improve diagnostics of mapping editor

Create example project for ReadNCFile2 with token modifiers

Improve moving cam points in the cam graph editor

MC_CamIn: SMC_CI_MASTER_OUT_OF_SCALE after using MC_SetPosition

SM3_Drive_ETC_Kollmorgen_AKD2G_AKD_MKD: update the Esi Data AKD2G-SPE-02-14-00-000.xml

SM3_Drive_ETC_Mitsubishi_MelServo: update Esi data

SM3_Drive_ETC_KeDrive_D3: update KEBA_D3xx.xml ESI data

SMC3_PersistPositionSingleturn: potentially wrong position for modulo axes after turning the drive off and on

SMC_ReadNCFile2 uses internal constant for input array sizes

CamEditor: Segment and points might not be selectable in the Velocity/Acceleration/Jerk view in the cam graph tab

SMC3_PersistPositionSingleturn: allow encoder ranges that are not a power of 2

Create an example on how to use custom G-code functions

SMC_VisuCamEditor: Synchronization between bus and visu task

SMC_StartupDrive: Set the default value of MC_Power.Enable to FALSE

Acyclic communication: acyclic commands are not aborted properly in certain scenarios

Kin_Staubli_TX60_S1_R4: Wrong machine coordinate system origin

CiA 402 based drivers: timeout for configuration phase can cause problem if many slaves are used

SM3_Drive_ETC_SoE_Standard: timeout for configuration phase can cause problem if many slaves are used

CNC: allow for more than 512 subprograms, larger expressions in the G-Code, a deeper call nesting, and a larger number of local variables and subprogram parameters

SM3_Drive_CAN_KEB_SD, SM3_Drive_ETC_Panasonic_MINAS_A6B: Wrong placeholder in Project Information

MC_TouchProbe: new output Active that indicates that rising edges on the trigger input are detected

MC_Home: reset mapping from user units to increments so that position 0 user units corresponds to 0 increments

SM3_Drive_ETC_Yaskawa_Sigma7: limit switch handling not robust if digital inputs (60FD) are mapped or multi-axis devices are used

Cam Editor: Jerk boundaries keep their values after switching from Poly7 to Poly5

SM3_Drive_ETC_SoE_Standard: possible jump in set position at the start of SMC3_ReinitDrive for modulo axes

Cam Editor: Selecting cam points is not always possible at the top and bottom of a graph

SMC_SetCustomRampTypes: Deprecate custom ramp types

MC_MoveAbsolute/Relative: Error SMC_MOVING_WITHOUT_ACTIVE_MOVEMENT reported when using trapezoid or sinsquare velocity profile and extremely high Deceleration

Cam Editor: Sometimes changing the segment type does not work on the first try

Cam Editor: Undo/Redo not working when changing the segment type in the cam table view

SMC_Drive_ETC_Schneider_Lexium32: problems with limit switches with latest firmware

SM3_Drive_ETC_SoE_Standard: MC_TouchProbe not working

SM3_Drive_ETC_SoE_Standard: bStartReferenceRealState is not TRUE during homing

AXIS_REF_SM3: automatically initialize the axis after it has been enabled using reconfigure

Create example for how to use SMC_DigitalForecast_HighPrecision

SMC_DigitalCamSwitch_HighPrecision: support forecast and subcycle accuracy

MC_CamIn reports CommandAborted if the Master is already moving and updated after MC_CamIn

SMC_ETC_InterpolateAxisPosition: add time delay functionality

SM3_Drive_ETC_BRC_CtrlXDrive_SoE: update firmware to Bosch_Rexroth_AG_crtlX_DRIVE_EtherCAT_SoE_20240301

SM3_Drive_ETC_BRC_CtrlXDrive_CoE: update firmware to Bosch_Rexroth_AG_crtlX_DRIVE_EtherCAT_CoE_20240301

Motion Devdescs: The motion devdescs are outdated and have no Devdiag instance.

SMC_TRAFO_Polar, SMC_TRAFO_Scara2, SMC_TRAFO_Scara3: Invalid conversion from rad to degree

MC_Reset aborts all movements even if there is no error to be reset

Document the trigger time more precisely

AXIS_REF_SM3: SMC3_ReinitDrive not working if the slave device has been disabled at startup

Kin_Bipod_Rotary: AxesToCartesian might return without setting outputs

AXIS_REF_ETC_BASE_SM3, AXIS_REF_CAN_SM3: rework resetting errors during startup

SM3_Drive_ETC_Yaskawa_Sigma7: MC_Home may fail due to limited range of home offset (0x607C:00)

Update example projects to SM 4.18.0.0

SMC_NCInterpreter with SMC_GCodeViewer: DYNCALL sentences might be displayed more than once in the SMC_GCodeViewer

Exception when using MC_MoveAbsolute

SMC_SmoothMerge: Missing variable initialization leads to failed merge attempts

Remove outdated and redundant CHM-based Online Help from AddOn package

SMC_CamRegister: The dead time compensation is not correctly converted to cam units

SMC_SmoothMerge: When changing direction a spline with infinite curvature can be created

Cam Improvements step 2

SMC_DisplayNCCallStack: the main program name is wrong

Cam-Editor: Compile format "XYVA": changing an existing cam segment to Poly7 does not change compile format to "generic segments"

SMC_ControlAxisByPos: Position jump if bAvoidGaps is set and active and the iStatus is changed to IPO_INIT or IPO_UNKNOWN

AXIS_REF_SM3: consider bus bandwidth when converting from user units to increments

SMC_SmoothPath/SMC_RoundPath and SMC_ToolRadiusCorr cannot be used together, as both use the D-word

SMC_SolveTwoRotJoints: Fix typo in documentation

Robotics: Improved logging step 2

Generic CiA 402 driver (EtherCAT and CAN): add support for bit 2,3 and 10,11 of touch probe function

SMC_CamRegister: EndOfProfile evaluation is not correct

MC_MoveAdditive, MC_SetPosition: MC_MoveAdditive moves to the wrong position if MC_SetPosition is called while the preceding movement is active

AXIS_REF_POSCONTROL: No error is reported when the dead time compensation exceeds 20 cycles

SMC_TrackSetValues and SMC_TrackAxis don't support override on the controlled axis

SM3_Robotics_Visu: Remove reference to CAA Behaviour Model

Improve usability of the cam editor

CNC-Editor: Warning C0564 with compile mode SMC_CNC_REF and variables in G-Code

Software position lag error reaction does not work

SM3_Drive_ETC_BRC_CtrlXDrive_CoE: jump in position if maximum travel range in drive is not 2^32

SMC_Interpolator: The output vecActTangent is not updated after switching from IPO_INIT to IPO_CONSTANT

SMC_GEOINFO: Fix wrong comment of piStartPos

SM3_Depictor: SMC_Depictor_Bipod_Arm: invalid expressions

SMC_SmoothPath,SMC_RoundPath: bExecute=FALSE does not reset the outputs when an error has occured

Nanotec PD4C: actual velocity differs considerably from the set velocity

MC_GearIn: possible verlocity overshoot when using ramp type quadratic smooth

CNC Editor: Wrong error message for Ellipse (G8, G9) with invalid value of R

SM3_Drive_ETC_SoE_Standard: use the same fair mechanism for acyclic communication as used for CoE

Beckhoff EL7201: Add the steps to configure the motor parameters in the drive documentation

AutoMoveGantry Tracking: Path deviation too high caused by wrong planner time

Robotics: if more than 16 axis groups are used in the same task, no planning calls are done

SMC_GCodeViewer does not work with sub programs

AcyclicCom: The SDO should be reset directly during a reinit of the drive

SMC_NCInterpreter/SMC_Decoder: bAppend=TRUE is not working correctly

Cam Editor: Unintentional change of segment type (Line, Poly5) in Cam table

Softmotion Ethercat drives: Not all drives' ETCSlave can be reached via device diagnostic

SM3_Drive_ETC_SoE_Standard: Wrong use of AXIS_REF_ETC_SM3 leads to compile errors

CNC-Visu SMC_PathCopierFile: Improve FB to support large CNC files

SoftMotion base driver: automatic restart after fieldbus slave goes back to operational

MC_CamIn: Behavior of slave defective, every second time a jump to 0 instead of 180 occurs

The SDO timeout for SoftMotion Light axes should be configurable

MC_MoveSuperImposed: Jump in position if MC_MoveSuperImposed is restarted while active and there is no underlying movement

Robotics: more detailed error context

SMC_ReadNCFile2 'bBusy' Bit active after error

Add simple kinematic transformation (from SM3_Transformation) to example applications

All drives: quadratic velocity mode should be the default

SMC_AvoidLoop: wrong behavior in certain case

Axis group: CP-Algorithm should support different values for maximum acceleration and deceleration

SM: CNC: generate FB that allows to define a path with strings

In some cases, a value is read by SDO although the underlying object is mapped by PDO (e.g. MC_ReadActualTorque)

Use namespace to access elements of CAADeviceDiagnosis library