Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

v1.0.0 - 27.03.26

Changed

  • Move pipeline to github actions

  • Added example for travel-to-fix-stop

Added

  • Added icp and pnu maps for v36.12.0

v0.15.0 - 07.11.25

Changed

  • Upgrade to python 3.10

  • bump setuptools version

  • bump rich version

  • bump pymodbus version

  • catch newly created ConnectionExceptions from the pymodbus library to allow retries

  • Added thread lock to enable simultaneous I/O operation and PNU access

  • Added record table example

v0.14.12 - 25.06.25

Changed

  • Updated ICP and PNU lists for firmware version 36.10.4

v0.14.11 - 24.04.25

Fixed

  • Fixed in/output size mixup in ComEthernetip

  • Fixed bug where motion tasks would block forever when drive loses operational state

Changed

  • Use pipeline template

v0.14.10 - 30.10.24

Fixed

  • Fixed issue due to breaking changes by pymodbus 3.7.4

Changed

  • Increased timeout for enabling powerstage to 10.0 seconds (needed in case of commutation angle search)

v0.14.9 - 29.08.24

Fixed

  • ComModbus: Remove io_thread.join() since apparently not needed and may cause problems.

v0.14.8 - 29.08.24

Fixed

  • Update pymodbus version to 3.7.0

v0.14.7 - 25.07.24

Changed

  • GUI: Realigned buttons and optimized button logic.

  • GUI: Tab change resets tab contents.

v0.14.6 - 19.07.24

Removed

  • Removed Festo logo.

v0.14.5 - 11.07.24

Fixed

  • Telegram111Handler: Fixed bug where bit is not correctly reconfigured after previous motion task (i.e. pos_stw1:mdi_active)

v0.14.4 - 08.07.24

Added

  • Added example for loading parameter set

v0.14.3 - 25.06.24

Fixed

  • Fixed bug causing crash when updating outputs

v0.14.2 - 21.06.24

Added

  • GUI: Basic PROFIdrive state diagram

  • GUI: Show hex/bin values of bitwise words

Fixes

  • Several bugfixes

v0.14.1 - 16.05.24

Added

  • GUI: Added motion tab

Changed

  • GUI: Updated stylesheet

v0.14.0 - 30.04.24

Changed

  • Made pyqt5 an optional dependency, move GUI to own entry point festo-edcon-gui.

v0.13.3 - 19.04.24

Fixed

  • Fix reset() method of telegram

Changed

  • Apply black formatting

  • Update gitlab-ci (added black format check)

  • TelegramHandler does update_io() after construction

  • Telegram*Handler: Rename validation parameter to config_mode

  • CLI: Replaced verbose option with quiet

v0.13.2 - 17.04.24

Fixed

  • Validation mode not used by MotionHandler.

v0.13.1 - 15.04.24

Fixed

  • Fix occasional exception when closing IOThread which is not active anymore.

v0.13.0 - 15.04.24

Changed

  • Added inputs()/outputs() method to retrieve input/output words from Telegram.

v0.12.2 - 07.03.24

Fixed

  • Fixed pos_stw1.activate_setup bit not being resetted on position task preparation.

v0.12.1 - 23.02.24

Fixed

  • Fixed Festo logo.

v0.12.0 - 23.02.24

Added

  • Added first version of GUI.

Changed

  • Added .pylintrc containing pylint config.

v0.11.0 - 11.12.23

Added

  • Parameter: Added new class Parameter as representation of a EDrive parameter.

  • ParameterHandler: Added write and read methods for Parameter objects.

Changed

  • Ported setup.py to pyproject.toml.

v0.10.11 - 05.12.23

Added

  • Added connected() method to ComBase.

Changed

  • Updated pnu_map.csv and icp_map.csv.

  • Enforce ethernetip package version 1.1.1.

Fixed

  • Added conditional toggle for activate_traversing_task bit when continuous_update is not active.

v0.10.10 - 26.10.23

Fixed

  • Fixed bug where setup of ComModbus would crash for CMMT-xx-EP devices.

Added

  • Added job to create gitlab release entry.

v0.10.9 - 17.10.23

Changed

  • Changes to enable backport to python3.9.

v0.10.8 - 13.10.23

Added

  • Added error handling to parameter-set-load for missing parameter mappings.

Changed

  • Upgraded package dependencies to pymodbus3.

  • Run branch pipeline only if no MR pipeline exists.

  • Upgraded pnu_map.csv.

  • ComEthernetip: increased waiting time for send_io to ensure that data is sent reliably.

  • Using dedicated logger instead of generic root logger for edcon logs.

v0.10.7 - 21.07.23

Added

  • Enabled possibility to create multiple ComEthernetip instances.

Fixed

  • Fixed shutdown behavior of ComEthernetip.

  • Fixed log output of error string when timeout occurs (e.g. acknowlege_faults).

v0.10.6 - 19.07.23

Fixed

  • Improved shutdown behavior of TelegramHandler.

v0.10.5 - 18.07.23

Fixed

  • Fixed exception on exit when using python-3.11.

v0.10.4 - 18.07.23

Fixed

  • Increased timeout for enabling the powerstage from 1 to 5 seconds.

  • Fixed return value of TelegramHandler: disable_powerstage().

Changed

  • Updated logging info output strings.

v0.10.3 - 21.06.23

Fixed

  • Fixed issue causing an error when reading 8-bit wide PNUs.

v0.10.2 - 10.05.23

Added

  • Added CLI tool to load complete parameter set files.

Changed

  • MotionHandler: Changed semantics of current_velocity.

v0.10.1 - 02.05.23

Fixed

  • Fixed typo in help message causing CLI to crash.

Changed

  • Changed default IP adress from 192.168.0.51 to 192.168.0.1

v0.10.0 - 28.04.23

Added

  • Added LUT for ICP names to skip manual search for fault names and remedies in manual.

Changed

  • Overhauled complete project structure to recommended pattern.

  • Separated EDriveMotion into subclasses also used for other telegam modes.

  • Updated examples/multi_position_nonblock.py.

  • Changed CLI tools to use a central entry point with subcommands.

Fixed

  • Fixed not updating telegram bits during condition monitoring.

v0.9.0 - 05.04.23

Added

  • EDriveMotion: Added function to disable powerstage.

  • Added LUT for PNU types to skip manual search for data types in manual.

  • Added example for PNU access.

  • Added missing data types to festo-edcon-pnu tool.

Changed

  • Restructured README.md and sphinx docs.

Removed

  • Removed modbus flavour feature due to simplification reasons.

v0.8.0 - 31.03.23

Added

  • EDriveMotion: Added wait_for_traversing_task_ack method.

Changed

  • Moved to python version 3.10

  • EDriveModbus/EDriveEthernetip: added nonblocking/blocking behavior to I/O methods.

  • EDriveMotion: enhanced wait_for_condition and adapted motion tasks to new behavior.

  • EDriveMotion: referencing task now uses homing method as per default.

  • Updated unit tests.

  • Updated examples.

Fixed

  • Raise error when no EIP connection is possible.

v0.7.6 - 03.11.22

Added

  • EDriveMotion: Added methods to check if fix stop and/or clamping torque has been reached.

Fixed

  • Fixed setup.py.

v0.7.5 - 20.10.22

Fixed

  • Fixed LICENSE.

v0.7.4 - 18.10.22

Added

  • Updated URLs to new project location.

Fixed

  • Fixed issue where position tool would continue operation after error instead of exiting.

v0.7.3 - 17.10.22

Added

  • Added LICENSE file.

v0.7.2 - 11.10.22

Added

  • Added a EDriveLogging class to enable easy logging.

Changed

  • Moved correct telegram assertion from constructor to separate method.

v0.7.1 - 13.09.22

Added

  • Added a few status checking functions.

  • Added example for multiple axes.

  • Added examples to docu page.

Fixed

  • Fixed return type of pnu_write/read_raw methods.

v0.7.0 - 08.09.22

Added

  • EDriveMotion: Added methods for pausing and resuming motion tasks.

  • EDriveMotion: Added methods for waiting on specific conditions.

  • EDriveMotion: Added timeout parameter to acknowledge_faults.

Changed

  • EDriveMotion: Removed request_plc_control() which is now done implicit.

  • Replaced standard logging format handler with Rich logging handler.

Fixed

  • EDriveMotion: Fixed incorrect scaling of velocity.

  • EDriveMotion: Checking correct bit after enabling of powerstage.

v0.6.1 - 01.09.22

Added

  • Added CHANGELOG to sphinx page.

Fixed

  • Fixed bug that caused a crash if homing option of position tool was used. Option is now called reference.

v0.6.0 - 26.08.22

Added

  • Added modbus flavour feature e.g. to specify device specific options.

  • Added public API methods to EDriveMotion for configuring various options (SINAPOS functionality).

  • Added non-blocking semantics to motion tasks in EDriveMotion.

Changed

  • Renamed EDrivePositioning to EDriveMotion.

  • EDriveModbus performs I/O data transfer in a separate thread (EDriveEthernetip did this already).

v0.5.1 - 10.08.22

Added

  • Added proper README, docu and examples.

Fixed

  • Fixed bug leading to infinite loop when an fault appears during motion task.

v0.5.0 - 02.08.22

Added

  • Added sphinx docs.

  • Added with statement support to EDrivePositioning.

  • Added method to EDriveModbus to configure the modbus timeout.

  • Added method to update I/O data.

  • Added methods for reading current position and velocity.

  • Added ready_for_motion method to check if motion tasks are allowed.

  • Added graceful closing of ethernetip/modbus session when driver is destructed.

Changed

  • Renamed CMMT occurences to EDrive

Fixed

  • Corrected exception upon failing telegram assertion.

  • Fixed exception caused by reading non-existing DeviceInformationRequest for older EDrive devices.

  • Fixed bug causing some drives to not start traversing task because of missing delay.

  • Fixed exception caused when PNU was accessed via Modbus on legacy devices.

  • Fixed bug that sometimes caused infinite waiting for (homing, position, record) tasks to be finished.

  • Fixed bug causing a failing powerstage enable in case it has already been enabled once.

v0.4.0 - 24.06.22

Added

  • Added CLI options for edcon-position tool.

v0.3.1 - 21.06.22

Changed

  • Fixed gitlab-ci job dependencies.

v0.3.0 - 15.06.22

Changed

  • Changed deploy job to release job CI/CD. Also creates release.

v0.2.0 - 14.06.22

Added

  • Added deploy job to CI/CD

v0.1.0 - 13.06.22

  • Initial release