Upgrades

Purpose

Collect upgrade notes and migration checklists for major versions.

v10 → v11 highlights

  • CSP-PC mode added (centralized position loop in CSP)
  • Position-velocity-time (profile move) support
  • Motor record PID fields still limited to 0..1.0 range; use values 100× smaller than native ecmc settings

Migration checklist

  • Auto-enable: move from motor record parameters to axis.autoEnable in YAML
  • Master/slave synchronization: replace PLC state machines with native addMasterSlaveSM.cmd
  • Limit logic: use plcOverride on limits and set ax<id>.mon.*lim in PLC code
  • Drive safety: ensure SDO verification is run for every used channel (especially on multi-channel drives)

Removed/changed

  • getAxisStatusStructV2 removed; rebuild plugins that depended on it
  • Event*/CommandList*/DataRecorder* removed; replace with PLC logic
  • Motor record MtnCmd mbbo indices updated; use string writes or adjust indices per new template