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EtherCAT Master V4
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V4.4.0.0
--------
 - PSECMV4-75:  larger complex topologies are not recognized correctly (around 80 slaves) 
 - PSECMV4-176:  add timing configuration option for SYNC0 reference time calculation 
 - PSECMV4-190:  Support DC when using redundancy 
 - PSECMV4-279:  Implement redundancy handling with hot connect 
 - PSECMV4-287:  Implement redundancy handling 
 - PSECMV4-380:  new mailbox transmit mechanism does not dequeue correctly 
 - PSECMV4-393:  correct slave verify diagnostics (Revision Number Lo and access timeout) 
 - PSECMV4-398:  block BusOn via RCX_START_STOP_COMM_REQ when not configured 
 - PSECMV4-417:  more specific configuration error from LLD driver config is not propagated to request result 
 - PSECMV4-425:  make FMMU/SM mapping relationship available per slave to application 
 - PSECMV4-428:  when ECM_ERROR_EMC_EXT_SYNC_REQUIRES_ADJUST_EXT_SYNC_CMD is visible in Comm Error, ChannelInit is blocked 
 - PSECMV4-432:  Wrong hardware options on CIFX 104C-RE\F 
 - PSECMV4-434:  Remove SYNC HW option from all targets firmware files 
 - PSECMV4-436:  xs:boolean in ENI not fully supported according to W3C XML specification 
 - PSECMV4-437:  Reloading a new ENI without cycle time will use the previously configured instead of 1ms 
 - PSECMV4-438:  new mailbox layer problem resulting into timeouts seen with Boot State 
 - PSECMV4-439:  update rcX to V2.1.11.10 
 - PSECMV4-442:  SDO Downloads with more than 1024 bytes fails with Protocol Timeout 
 - PSECMV4-443:  when HotConnect detect was running before boot up, Ext Sync is not activated when configured 
 - PSECMV4-444:  when first slave is not the Dc Ref clock, ExtSync does not adjust DcRef clock correctly 
 - PSECMV4-446:  change EoE sending to complete one fragmentation before starting another 
 - PSECMV4-449:  multiple ChannelInit can fail on NXD/ENI and resulting into ECM_ERROR_EMC_NO_VALID_TOPOLOGY_CONFIGURATION_DATA (0xC0CD0045) 
 - PSECMV4-450:  EL6692 shows AlStatusCode 0x00F0 (Application controller available) and prevents Boot up occasionally 
 - PSECMV4-453:  mailbox layer accidentally enables checking of MbxState on slaves without mailbox 
 - PSECMV4-454:  topology status on second boot up is showing Topology Mismatch on port not having an expected slave defined 
 - PSECMV4-457:  BusScan does not return PDI control back to Ecat after triggering PREOP 
 - PSECMV4-459:  second channel is not defined correctly in file header 
 - PSECMV4-460:  RCX_BUSSCAN_REQ Bus Scan blocks when all slaves have no mailbox config 
 - PSECMV4-461:  rx process data freeze if wkc mismatch is not correctly supported by Ext Sync 
 - PSECMV4-467:  [NXD/ENI]: RCX_GET_DPM_IO_INFO_REQ calculates process data wrong 
 - PSECMV4-468:  BusScan does not recognize link down and other reasons of aborting it 
 - PSECMV4-470:  Implement cyclic mapping of ExtSync Status data 
 - PSECMV4-471:  [NXD] - memory leak on closing NXD file 
 - PSECMV4-473:  Invalid SDO Download segment produced if last segment contains less than 7 bytes - length too short 
 - PSECMV4-474:  introduced wrong DC offset between slaves when using open ports in between after a slave was connected to those 
 - PSECMV4-478:  EoE Transmit code returns wrong buffer in case of transmit error 
 - PSECMV4-479:  improve cable disconnect and connection timeout handling 
 - PSECMV4-480:  Connection Error is not always showing correctly the Cable Disconnect error and Okay cases 
 - PSECMV4-481:  show ulSlaveStatus as UNDEFINED when no link is detected or bus is off 
 - PSECMV4-482:  Disconnect between two slaves still linked through redundancy does not change topology status 
 - PSECMV4-483:  GET_BUS_SCAN_INFO is required to eliminate unavailable ports 
 - PSECMV4-484:  RCX_GET_DEVICE_INFO_REQ_T does not start at deviceidx 0 
 - PSECMV4-485:  master does not clear process image when going through INIT, PREOP or BUSOFF 
 - PSECMV4-486:  [NXD]: mapping of output offset is wrong 
 - PSECMV4-487:  add specific error code for ENIs having missing transactions in Ecat InitCmd 
 - PSECMV4-488:  Bus Scan failed to assign topology address 65 correctly 
 - PSECMV4-489:  reading topology status with more than 64 slaves fails to recognize topology correctly 
 - PSECMV4-490:  slave identity mismatch errors do not show up on communication error 
 - PSECMV4-491:  retry on SyncMan queueing status falsified the mailbox message transmit length 
 - PSECMV4-492:  ECM_LLD_REG_REQ_MODE_READ_AL_DL_STATUS reg read type does not correctly return brd alstatus wkc 
 - PSECMV4-493:  topologyfsm triggers memory overwrite by using ECM_LLD_REG_REQ_MODE_ASSIGN_ADDRESS wrong 
 - PSECMV4-497:  wrong flag control of DcControlStatus (some flags set even though they should not be) 
 - PSECMV4-499:  do not use DlStatus IRQ for stopping DcSysTime distribution 
 - PSECMV4-500:  DC Resync does not concur with regular Sync handling 
 - PSECMV4-502:  Implement DC resync retrigger when seeing a error in dc setup calculation 
 - PSECMV4-510:  Crash through Data alignment error triggered by NXD on a specific MBoxState image alignment 
 - PSECMV4-513:  mailbox in BOOT state is not correctly handled for receiving mailbox data 
 - PSECMV4-514:  #ifdef DEBUG around EcmLld_IsRedundancyEnabled check not removed 
 - PSECMV4-517:  Support Receive Time Latch only slaves (needed for junctions) 
 - PSECMV4-518:  receive mailbox handler on slave without mbx state triggers overwrite of unrelated memory 
 - PSECMV4-520:  EoE Transmit Code Path contains a memory offset error 
 - PSECMV4-521:  When setting Bus Off on high EoE load the master crashes 
 - PSECMV4-526:  AP Task needs to have a higher priority to prevent output data exchange from being blocked by acyclic transfers 
 - PSECMV4-529:  add diagnostic log entries for slave losses and state changes 
 - PSECMV4-530:  prioritize certain register accesses from being delayed by mailbox handler 
 - PSECMV4-531:  EtherCAT Master wrongly sets BusOn on Application controlled configuration 
 - PSECMV4-532:  Shutdown Bus while doing CoE/FoE/SoE transfers can result into crash 
 - PSECMV4-533:  TopologyFsm fails to assign address to power cycled slave 
 - PSECMV4-536:  SII access packets do not return any errors even though they happened 
 - PSECMV4-537:  timeout not handled on SII requests 
 - PSECMV4-541:  under certain conditions master receive latching happens on wrong frame 
 - PSECMV4-542:  master reports Cable Disconnect directly after system start when PHY is auto-negotiating 
 - PSECMV4-543:  legacy GetOdList packet returns element count instead of byte count in ulDataCnt 
 - PSECMV4-544:  [Write SII/EEPROM (Legacy)] if SII Write timeout is followed by assign to PDI timeout, master crashes 
 - PSECMV4-545:  ECM_AP_EXTENDED_STATUS_DATA_T exceeds available space defined 
 - PSECMV4-546:  HotConnect detection can bypass Mandatory Slaves check during topology scan on bootup 


V4.3.2.0
--------
 - PSECMV4-176:  add timing configuration option for SYNC0 reference time calculation 
 - PSECMV4-507:  If first slave is not a DC slave in a DC configuration, the master shows error C0CD0068 (DC Setup Calculation Error) 
 - PSECMV4-510:  Crash through Data alignment error triggered by NXD on a specific MBoxState image alignment 
 - PSECMV4-513:  mailbox in BOOT state is not correctly handled for receiving mailbox data 
 - PSECMV4-514:  #ifdef DEBUG around EcmLld_IsRedundancyEnabled check not removed 
 - PSECMV4-517:  Support Receive Time Latch only slaves (needed for junctions) 
 - PSECMV4-518:  receive mailbox handler on slave without mbx state triggers overwrite of unrelated memory 
 - PSECMV4-520:  EoE Transmit Code Path contains a memory offset error 
 - PSECMV4-521:  When setting Bus Off on high EoE load the master crashes 
 - PSECMV4-526:  AP Task needs to have a higher priority to prevent output data exchange from being blocked by acyclic transfers 


V4.3.1.0
--------
 - PSECMV4-75:  larger complex topologies are not recognized correctly (around 80 slaves) 
 - PSECMV4-190:  Support DC when using redundancy 
 - PSECMV4-279:  Implement redundancy handling with hot connect 
 - PSECMV4-287:  Implement redundancy handling 
 - PSECMV4-380:  new mailbox transmit mechanism does not dequeue correctly 
 - PSECMV4-393:  correct slave verify diagnostics (Revision Number Lo and access timeout) 
 - PSECMV4-398:  block BusOn via RCX_START_STOP_COMM_REQ when not configured 
 - PSECMV4-417:  more specific configuration error from LLD driver config is not propagated to request result 
 - PSECMV4-425:  make FMMU/SM mapping relationship available per slave to application 
 - PSECMV4-428:  when ECM_ERROR_EMC_EXT_SYNC_REQUIRES_ADJUST_EXT_SYNC_CMD is visible in Comm Error, ChannelInit is blocked 
 - PSECMV4-432:  Wrong hardware options on CIFX 104C-RE\F 
 - PSECMV4-434:  Remove SYNC HW option from all targets firmware files 
 - PSECMV4-436:  xs:boolean in ENI not fully supported according to W3C XML specification 
 - PSECMV4-437:  Reloading a new ENI without cycle time will use the previously configured instead of 1ms 
 - PSECMV4-438:  new mailbox layer problem resulting into timeouts seen with Boot State 
 - PSECMV4-439:  update rcX to V2.1.11.10 
 - PSECMV4-442:  SDO Downloads with more than 1024 bytes fails with Protocol Timeout 
 - PSECMV4-443:  when HotConnect detect was running before boot up, Ext Sync is not activated when configured 
 - PSECMV4-444:  when first slave is not the Dc Ref clock, ExtSync does not adjust DcRef clock correctly 
 - PSECMV4-446:  change EoE sending to complete one fragmentation before starting another 
 - PSECMV4-449:  multiple ChannelInit can fail on NXD/ENI and resulting into ECM_ERROR_EMC_NO_VALID_TOPOLOGY_CONFIGURATION_DATA (0xC0CD0045) 
 - PSECMV4-450:  EL6692 shows AlStatusCode 0x00F0 (Application controller available) and prevents Boot up occasionally 
 - PSECMV4-453:  mailbox layer accidentally enables checking of MbxState on slaves without mailbox 
 - PSECMV4-454:  topology status on second boot up is showing Topology Mismatch on port not having an expected slave defined 
 - PSECMV4-457:  BusScan does not return PDI control back to Ecat after triggering PREOP 
 - PSECMV4-459:  second channel is not defined correctly in file header 
 - PSECMV4-460:  RCX_BUSSCAN_REQ Bus Scan blocks when all slaves have no mailbox config 
 - PSECMV4-461:  rx process data freeze if wkc mismatch is not correctly supported by Ext Sync 
 - PSECMV4-467:  [NXD/ENI]: RCX_GET_DPM_IO_INFO_REQ calculates process data wrong 
 - PSECMV4-468:  BusScan does not recognize link down and other reasons of aborting it 
 - PSECMV4-470:  Implement cyclic mapping of ExtSync Status data 
 - PSECMV4-471:  [NXD] - memory leak on closing NXD file 
 - PSECMV4-473:  Invalid SDO Download segment produced if last segment contains less than 7 bytes - length too short 
 - PSECMV4-474:  introduced wrong DC offset between slaves when using open ports in between after a slave was connected to those 
 - PSECMV4-478:  EoE Transmit code returns wrong buffer in case of transmit error 
 - PSECMV4-479:  improve cable disconnect and connection timeout handling 
 - PSECMV4-480:  Connection Error is not always showing correctly the Cable Disconnect error and Okay cases 
 - PSECMV4-481:  show ulSlaveStatus as UNDEFINED when no link is detected or bus is off 
 - PSECMV4-482:  Disconnect between two slaves still linked through redundancy does not change topology status 
 - PSECMV4-483:  GET_BUS_SCAN_INFO is required to eliminate unavailable ports 
 - PSECMV4-484:  RCX_GET_DEVICE_INFO_REQ_T does not start at deviceidx 0 
 - PSECMV4-485:  master does not clear process image when going through INIT, PREOP or BUSOFF 
 - PSECMV4-486:  [NXD]: mapping of output offset is wrong 
 - PSECMV4-487:  add specific error code for ENIs having missing transactions in Ecat InitCmd 
 - PSECMV4-488:  Bus Scan failed to assign topology address 65 correctly 
 - PSECMV4-489:  reading topology status with more than 64 slaves fails to recognize topology correctly 
 - PSECMV4-490:  slave identity mismatch errors do not show up on communication error 
 - PSECMV4-491:  retry on SyncMan queueing status falsified the mailbox message transmit length 
 - PSECMV4-492:  ECM_LLD_REG_REQ_MODE_READ_AL_DL_STATUS reg read type does not correctly return brd alstatus wkc 
 - PSECMV4-493:  topologyfsm triggers memory overwrite by using ECM_LLD_REG_REQ_MODE_ASSIGN_ADDRESS wrong 
 - PSECMV4-497:  wrong flag control of DcControlStatus (some flags set even though they should not be) 
 - PSECMV4-499:  do not use DlStatus IRQ for stopping DcSysTime distribution 
 - PSECMV4-500:  DC Resync does not concur with regular Sync handling 
 - PSECMV4-502:  Implement DC resync retrigger when seeing a error in dc setup calculation 


V4.3.0.9
--------
 - PSECMV4-541:  under certain conditions master receive latching happens on wrong frame 
 - PSECMV4-542:  master reports Cable Disconnect directly after system start when PHY is auto-negotiating 


V4.3.0.8
--------
 - PSECMV4-533:  TopologyFsm fails to assign address to power cycled slave 


V4.3.0.7
--------
 - PSECMV4-531:  EtherCAT Master wrongly sets BusOn on Application controlled configuration 
 - PSECMV4-532:  Shutdown Bus while doing CoE/FoE/SoE transfers can result into crash 


V4.3.0.6
--------
 - PSECMV4-520:  EoE Transmit Code Path contains a memory offset error 
 - PSECMV4-521:  When setting Bus Off on high EoE load the master crashes 
 - PSECMV4-526:  AP Task needs to have a higher priority to prevent output data exchange from being blocked by acyclic transfers 
 - PSECMV4-529:  add diagnostic log entries for slave losses and state changes 
 - PSECMV4-530:  prioritize certain register accesses from being delayed by mailbox handler 


V4.3.0.5
--------
 - PSECMV4-75:  larger complex topologies are not recognized correctly (around 80 slaves) 
 - PSECMV4-380:  new mailbox transmit mechanism does not dequeue correctly 
 - PSECMV4-393:  correct slave verify diagnostics (Revision Number Lo and access timeout) 
 - PSECMV4-398:  block BusOn via RCX_START_STOP_COMM_REQ when not configured 
 - PSECMV4-417:  more specific configuration error from LLD driver config is not propagated to request result 
 - PSECMV4-428:  when ECM_ERROR_EMC_EXT_SYNC_REQUIRES_ADJUST_EXT_SYNC_CMD is visible in Comm Error, ChannelInit is blocked 
 - PSECMV4-432:  Wrong hardware options on CIFX 104C-RE\F 
 - PSECMV4-437:  Reloading a new ENI without cycle time will use the previously configured instead of 1ms 
 - PSECMV4-438:  new mailbox layer problem resulting into timeouts seen with Boot State 
 - PSECMV4-439:  update rcX to V2.1.11.10 
 - PSECMV4-450:  EL6692 shows AlStatusCode 0x00F0 (Application controller available) and prevents Boot up occasionally 
 - PSECMV4-454:  topology status on second boot up is showing Topology Mismatch on port not having an expected slave defined 
 - PSECMV4-457:  BusScan does not return PDI control back to Ecat after triggering PREOP 
 - PSECMV4-459:  second channel is not defined correctly in file header 
 - PSECMV4-460:  RCX_BUSSCAN_REQ Bus Scan blocks when all slaves have no mailbox config 
 - PSECMV4-467:  [NXD/ENI]: RCX_GET_DPM_IO_INFO_REQ calculates process data wrong 
 - PSECMV4-468:  BusScan does not recognize link down and other reasons of aborting it 
 - PSECMV4-471:  [NXD] - memory leak on closing NXD file 
 - PSECMV4-473:  Invalid SDO Download segment produced if last segment contains less than 7 bytes - length too short 
 - PSECMV4-474:  introduced wrong DC offset between slaves when using open ports in between after a slave was connected to those 
 - PSECMV4-478:  EoE Transmit code returns wrong buffer in case of transmit error 
 - PSECMV4-479:  improve cable disconnect and connection timeout handling 
 - PSECMV4-480:  Connection Error is not always showing correctly the Cable Disconnect error and Okay cases 
 - PSECMV4-481:  show ulSlaveStatus as UNDEFINED when no link is detected or bus is off 
 - PSECMV4-483:  GET_BUS_SCAN_INFO is required to eliminate unavailable ports 
 - PSECMV4-484:  RCX_GET_DEVICE_INFO_REQ_T does not start at deviceidx 0 
 - PSECMV4-485:  master does not clear process image when going through INIT, PREOP or BUSOFF 
 - PSECMV4-486:  [NXD]: mapping of output offset is wrong 
 - PSECMV4-487:  add specific error code for ENIs having missing transactions in Ecat InitCmd 
 - PSECMV4-488:  Bus Scan failed to assign topology address 65 correctly 
 - PSECMV4-489:  reading topology status with more than 64 slaves fails to recognize topology correctly 
 - PSECMV4-490:  slave identity mismatch errors do not show up on communication error 
 - PSECMV4-491:  retry on SyncMan queueing status falsified the mailbox message transmit length 
 - PSECMV4-492:  ECM_LLD_REG_REQ_MODE_READ_AL_DL_STATUS reg read type does not correctly return brd alstatus wkc 
 - PSECMV4-493:  topologyfsm triggers memory overwrite by using ECM_LLD_REG_REQ_MODE_ASSIGN_ADDRESS wrong 
 - PSECMV4-497:  wrong flag control of DcControlStatus (some flags set even though they should not be) 
 - PSECMV4-499:  do not use DlStatus IRQ for stopping DcSysTime distribution 
 - PSECMV4-500:  DC Resync does not concur with regular Sync handling 
 - PSECMV4-502:  Implement DC resync retrigger when seeing a error in dc setup calculation 
 - PSECMV4-507:  If first slave is not a DC slave in a DC configuration, the master shows error C0CD0068 (DC Setup Calculation Error) 
 - PSECMV4-513:  mailbox in BOOT state is not correctly handled for receiving mailbox data 
 - PSECMV4-518:  receive mailbox handler on slave without mbx state triggers overwrite of unrelated memory 


V4.3.0.4
--------
 - PSECMV4-510:  Crash through Data alignment error triggered by NXD on a specific MBoxState image alignment 


V4.3.0.3
--------
 - PSECMV4-461:  rx process data freeze if wkc mismatch is not correctly supported by Ext Sync 


V4.3.0.2
--------
 - PSECMV4-436:  xs:boolean in ENI not fully supported according to W3C XML specification 
 - PSECMV4-442:  SDO Downloads with more than 1024 bytes fails with Protocol Timeout 
 - PSECMV4-443:  when HotConnect detect was running before boot up, Ext Sync is not activated when configured 
 - PSECMV4-444:  when first slave is not the Dc Ref clock, ExtSync does not adjust DcRef clock correctly 
 - PSECMV4-446:  change EoE sending to complete one fragmentation before starting another 
 - PSECMV4-449:  multiple ChannelInit can fail on NXD/ENI and resulting into ECM_ERROR_EMC_NO_VALID_TOPOLOGY_CONFIGURATION_DATA (0xC0CD0045) 
 - PSECMV4-453:  mailbox layer accidentally enables checking of MbxState on slaves without mailbox 


V4.3.0.1
--------
 - PSECMV4-433:  Forwarded Callback in EoE Endpoint handling can accidentally forward frames locally 
 - PSECMV4-434:  Remove SYNC HW option from all targets firmware files 


V4.3.0.0
--------
 - PSECMV4-4:  [DPM 8bit/16bit] IRQs are not enabled 
 - PSECMV4-6:  DC Resync does not return to the correct state when an error happens specific to a slave 
 - PSECMV4-9:  ECM_IF: CoE SDO Download fragmentation with ECM_IF_CMD_COE_SDO_DOWNLOAD_REQ does not work 
 - PSECMV4-10:  EoE sending adds undefined padding to Ethernet frames being shorter than 60 bytes 
 - PSECMV4-23:  ENI file containing no slaves crashes firmware 
 - PSECMV4-24:  correct wrong cases in ECM_IF where ECM_ERROR_IF_OUT_OF_PACKETS should have been returned 
 - PSECMV4-33:  AP task needs to clear DPM when loading config through ChannelInit via CONFIG.NXD/ETHERCAT.XML 
 - PSECMV4-34:  ECM_IF: CoE SDO Upload fragmentation with ECM_IF_CMD_COE_SDO_UPLOAD_REQ does not work 
 - PSECMV4-36:  Emergencies in emergency queue handling have to set faulted flag on slave 
 - PSECMV4-44:  NXD parsing ignores CoE InitCmds 
 - PSECMV4-46:  CoE SDO uses wrong error code when reaching timeout 
 - PSECMV4-48:  copying Free-Run process data takes too long when using ENI 
 - PSECMV4-58:  enable WcStateInfo support when using CONFIG.NXD 
 - PSECMV4-61:  Support for FoE 
 - PSECMV4-64:  support module (NXO) on rcX V2.1.X base firmware 
 - PSECMV4-66:  Implement NDIS support for rcX 
 - PSECMV4-85:  Receive of DcSystime into process image does not show correct data 
 - PSECMV4-89:  wrong Error LED pattern when Link is lost 
 - PSECMV4-100:  RCX_START_STOP_COMM_REQ reports wrong error code when parameter is wrong (should be RCX_E_INVALID_PARAMETER) 
 - PSECMV4-106:  add support for mapping BRD ALSTATUS into receive process data image 
 - PSECMV4-120:  Always set bits 0 to 2 in ETHERCAT_MASTER_CMD_GET_ENTRYDESC_CNF 
 - PSECMV4-122:  DPM watchdog does not trigger correct LED pattern Triple Flash 
 - PSECMV4-128:  Error Led Double Flicker not used in all slave missing, Topology Error cases 
 - PSECMV4-132:  It is currently not possible to load NXO correctly to any other channel than 0. 
 - PSECMV4-149:  AutoInc state VerifyAddresses can wrongly direct to BusScan mode 
 - PSECMV4-155:  Unit Type in ETHERCAT_MASTER_CMD_GET_ENTRYDESC_REQ is not correctly reported 
 - PSECMV4-159:  support AutoInc addressing for EEPROM functions when master is in BUS_SCAN 
 - PSECMV4-164:  update to rcX V2.0.8.29 
 - PSECMV4-180:  by using frame buffers from INTRAM3 segment, the amount of cyclic frames can be increased to 7 
 - PSECMV4-183:  Update rcX to V2.1.11.8  
 - PSECMV4-192:  Implement INIT to PREOP - Second Station Address addressing 
 - PSECMV4-197:  Support external synchronization (e.g. EL6692) 
 - PSECMV4-209:  Implement ENI CoE InitCmd Loading for Comparing values 
 - PSECMV4-214:  Implement SoE Mailbox InitCmds for Comparing Values 
 - PSECMV4-221:  Support compressed storage of ENI 
 - PSECMV4-233:  Implement a bit list version of RCX_GET_SLAVE_HANDLES_REQ 
 - PSECMV4-237:  allow readout of cyclic command mapping in process data image 
 - PSECMV4-248:  Implement cable break localization diagnostics (topology info readout) 
 - PSECMV4-267:  Implement Slave-to-slave support for process data 
 - PSECMV4-293:  Implement CoE Mailbox InitCmds for Comparing Values 
 - PSECMV4-294:  Support Station Alias Addressing 
 - PSECMV4-309:  Implement Explicit Device Identification for non-Hot-Connect slaves during Boot Up 
 - PSECMV4-329:  report ulCurrentState == UNKNOWN when master state is BusOff 
 - PSECMV4-330:  Old BusScan request does not timeout 
 - PSECMV4-331:  Bus Scan Abort does not work when no bus is connected 
 - PSECMV4-332:  Provide Sync Window Monitoring Raw Data in input process data 
 - PSECMV4-334:  reduce memory footprint 
 - PSECMV4-335:  memory leak when freeing configuration (e.g. by ChannelInit) 
 - PSECMV4-341:  Implement SoE Read Compare 
 - PSECMV4-342:  support register initcmd with compares 
 - PSECMV4-343:  a few error cases in CoE,SoE error results in slave do not trigger showing the error 
 - PSECMV4-345:  offset calculation when using WkcCompare offset and no RxProcData mapping results into wrong input data size info 
 - PSECMV4-346:  frame repeat configuration cannot leave state WAIT_FOR_LINK 
 - PSECMV4-347:  receive code drops frames when using additional frames from INTRAM2 or INTRAM3 when possible to use within firmware 
 - PSECMV4-348:  GET_CYCLIC_CMD_MAPPING reports process data of unmapped cyclic cmds as being at 65535 
 - PSECMV4-349:  Repeated Broadcast Write for clearing Fixed Station Address is only setting one byte 
 - PSECMV4-350:  support extraction of length from Data tag within ENI CyclicCmd 
 - PSECMV4-353:  Support VoE InitCmds 
 - PSECMV4-354:  extend extended status in DPM for visual diagnostic based on DPM dumps 
 - PSECMV4-355:  When switching from BUS_SCAN to OP without BUS_OFF, the bus cycle does not start 
 - PSECMV4-356:  add usWkcCompareReceiveOffset to ECM_IF_CMD_GET_CYCLIC_CMD_MAPPING_REQ 
 - PSECMV4-357:  add missing support for usWkcCompareReceiveByteOffset when using Tx Only Process Data Cyclic Cmd 
 - PSECMV4-358:  add WcStateBit area to Cyclic Cmd Mapping 
 - PSECMV4-359:  add VoE InitCmdFailed diagnostic log entry 
 - PSECMV4-363:  Verifying SII during startup after having done the topology scan can fail on link changes and stop the startup 
 - PSECMV4-364:  Regs for watchdogs are not written to slave when ENI/NXD is used 
 - PSECMV4-366:  when all EoE frame ids to a station address are used, EoE blocks all mailbox transmissions 
 - PSECMV4-371:  add read access to threshold counters and add cyclic frame specific frame loss counters 
 - PSECMV4-372:  make transport type definitions use fixed values 
 - PSECMV4-373:  unify type usage in packet API headers 
 - PSECMV4-377:  Hot Connect groups with register based IDs higher than 255 not recognized correctly during boot up 
 - PSECMV4-378:  Active slaves and Faulted slaves is not reset on reconfiguration 
 - PSECMV4-382:  duplicate identical ECM_IF_CMD_MASTER_CURRENT_STATE_IND are produced consecutively 
 - PSECMV4-384:  CommCOS Ready has to be hold until configuration has been loaded 
 - PSECMV4-385:  when configuration loading fails within ChannelInit, the BusOn request can be triggered and the old configuration would be booted up 
 - PSECMV4-388:  when there is no Working count compare value, master should not generate a WcState bit 
 - PSECMV4-389:  Mailbox receive handler is not always triggered when using Mailbox polling 
 - PSECMV4-390:  CompleteAccess=1 from NXD is not processed correctly and results into wrong legacy access 
 - PSECMV4-391:  when a ChannelInit is processed immediately after BusOn the next ChannelInit will timeout 
 - PSECMV4-392:  Add slave oriented status update indication 
 - PSECMV4-402:  DC_STOPPED error is not cleared when BUS_OFF is requested 
 - PSECMV4-410:  When master restarts,mailbox protocol requests must be aborted 
 - PSECMV4-414:  optimize startup time (verification of addresses takes long) 
 - PSECMV4-423:  initialize padding of acyclic frames shorter than 60 bytes 
 - PSECMV4-424:  generic bus scan does not allow accessing slave mailbox 
 - PSECMV4-426:  support EL6695 for Ext Sync 
 - PSECMV4-431:  configurations with transmit data in any other frame than the first can produce invalid frames 


V4.2.3.0
--------
 - PSECMV4-426:  support EL6695 for Ext Sync 


V4.2.2.0
--------
 - PSECMV4-382:  duplicate identical ECM_IF_CMD_MASTER_CURRENT_STATE_IND are produced consecutively 
 - PSECMV4-384:  CommCOS Ready has to be hold until configuration has been loaded 
 - PSECMV4-385:  when configuration loading fails within ChannelInit, the BusOn request can be triggered and the old configuration would be booted up 
 - PSECMV4-388:  when there is no Working count compare value, master should not generate a WcState bit 
 - PSECMV4-389:  Mailbox receive handler is not always triggered when using Mailbox polling 
 - PSECMV4-390:  CompleteAccess=1 from NXD is not processed correctly and results into wrong legacy access 
 - PSECMV4-391:  when a ChannelInit is processed immediately after BusOn the next ChannelInit will timeout 
 - PSECMV4-392:  Add slave oriented status update indication 
 - PSECMV4-402:  DC_STOPPED error is not cleared when BUS_OFF is requested 
 - PSECMV4-410:  When master restarts,mailbox protocol requests must be aborted 
 - PSECMV4-414:  optimize startup time (verification of addresses takes long) 
 - PSECMV4-419:  an unused field usWkcCompareReceiveByteOffset was accidentally added to ECM_IF_CMD_GET_WC_STATE_INFO_REQ 
 - PSECMV4-423:  initialize padding of acyclic frames shorter than 60 bytes 
 - PSECMV4-424:  generic bus scan does not allow accessing slave mailbox 


V4.2.1.0
--------
 - PSECMV4-61:  Support for FoE 
 - PSECMV4-66:  Implement NDIS support for rcX 
 - PSECMV4-85:  Receive of DcSystime into process image does not show correct data 
 - PSECMV4-106:  add support for mapping BRD ALSTATUS into receive process data image 
 - PSECMV4-132:  It is currently not possible to load NXO correctly to any other channel than 0. 
 - PSECMV4-149:  AutoInc state VerifyAddresses can wrongly direct to BusScan mode 
 - PSECMV4-159:  support AutoInc addressing for EEPROM functions when master is in BUS_SCAN 
 - PSECMV4-164:  update to rcX V2.0.8.29 
 - PSECMV4-183:  Update rcX to V2.1.11.8  
 - PSECMV4-192:  Implement INIT to PREOP - Second Station Address addressing 
 - PSECMV4-197:  Support external synchronization (e.g. EL6692) 
 - PSECMV4-209:  Implement ENI CoE InitCmd Loading for Comparing values 
 - PSECMV4-214:  Implement SoE Mailbox InitCmds for Comparing Values 
 - PSECMV4-221:  Support compressed storage of ENI 
 - PSECMV4-233:  Implement a bit list version of RCX_GET_SLAVE_HANDLES_REQ 
 - PSECMV4-237:  allow readout of cyclic command mapping in process data image 
 - PSECMV4-248:  Implement cable break localization diagnostics (topology info readout) 
 - PSECMV4-267:  Implement Slave-to-slave support for process data 
 - PSECMV4-293:  Implement CoE Mailbox InitCmds for Comparing Values 
 - PSECMV4-294:  Support Station Alias Addressing 
 - PSECMV4-309:  Implement Explicit Device Identification for non-Hot-Connect slaves during Boot Up 
 - PSECMV4-329:  report ulCurrentState == UNKNOWN when master state is BusOff 
 - PSECMV4-332:  Provide Sync Window Monitoring Raw Data in input process data 
 - PSECMV4-334:  reduce memory footprint 
 - PSECMV4-335:  memory leak when freeing configuration (e.g. by ChannelInit) 
 - PSECMV4-341:  Implement SoE Read Compare 
 - PSECMV4-342:  support register initcmd with compares 
 - PSECMV4-343:  a few error cases in CoE,SoE error results in slave do not trigger showing the error 
 - PSECMV4-345:  offset calculation when using WkcCompare offset and no RxProcData mapping results into wrong input data size info 
 - PSECMV4-346:  frame repeat configuration cannot leave state WAIT_FOR_LINK 
 - PSECMV4-347:  receive code drops frames when using additional frames from INTRAM2 or INTRAM3 when possible to use within firmware 
 - PSECMV4-348:  GET_CYCLIC_CMD_MAPPING reports process data of unmapped cyclic cmds as being at 65535 
 - PSECMV4-349:  Repeated Broadcast Write for clearing Fixed Station Address is only setting one byte 
 - PSECMV4-350:  support extraction of length from Data tag within ENI CyclicCmd 
 - PSECMV4-353:  Support VoE InitCmds 
 - PSECMV4-354:  extend extended status in DPM for visual diagnostic based on DPM dumps 
 - PSECMV4-355:  When switching from BUS_SCAN to OP without BUS_OFF, the bus cycle does not start 
 - PSECMV4-356:  add usWkcCompareReceiveOffset to ECM_IF_CMD_GET_CYCLIC_CMD_MAPPING_REQ 
 - PSECMV4-357:  add missing support for usWkcCompareReceiveByteOffset when using Tx Only Process Data Cyclic Cmd 
 - PSECMV4-358:  add WcStateBit area to Cyclic Cmd Mapping 
 - PSECMV4-359:  add VoE InitCmdFailed diagnostic log entry 
 - PSECMV4-363:  Verifying SII during startup after having done the topology scan can fail on link changes and stop the startup 
 - PSECMV4-364:  Regs for watchdogs are not written to slave when ENI/NXD is used 
 - PSECMV4-366:  when all EoE frame ids to a station address are used, EoE blocks all mailbox transmissions 
 - PSECMV4-371:  add read access to threshold counters and add cyclic frame specific frame loss counters 
 - PSECMV4-372:  make transport type definitions use fixed values 
 - PSECMV4-373:  unify type usage in packet API headers 
 - PSECMV4-377:  Hot Connect groups with register based IDs higher than 255 not recognized correctly during boot up 
 - PSECMV4-378:  Active slaves and Faulted slaves is not reset on reconfiguration 
 - PSECMV4-381:  ChannelReady is hold "not set" for too long during ChannelInit 


V4.2.0.2
--------
 - PSECMV4-159:  support AutoInc addressing for EEPROM functions when master is in BUS_SCAN 
 - PSECMV4-335:  memory leak when freeing configuration (e.g. by ChannelInit) 
 - PSECMV4-345:  offset calculation when using WkcCompare offset and no RxProcData mapping results into wrong input data size info 
 - PSECMV4-388:  when there is no Working count compare value, master should not generate a WcState bit 
 - PSECMV4-410:  When master restarts,mailbox protocol requests must be aborted 


V4.2.0.1
--------
 - PSECMV4-149:  AutoInc state VerifyAddresses can wrongly direct to BusScan mode 
 - PSECMV4-347:  receive code drops frames when using additional frames from INTRAM2 or INTRAM3 when possible to use within firmware 
 - PSECMV4-349:  Repeated Broadcast Write for clearing Fixed Station Address is only setting one byte 
 - PSECMV4-355:  When switching from BUS_SCAN to OP without BUS_OFF, the bus cycle does not start 
 - PSECMV4-385:  when configuration loading fails within ChannelInit, the BusOn request can be triggered and the old configuration would be booted up 
 - PSECMV4-389:  Mailbox receive handler is not always triggered when using Mailbox polling 
 - PSECMV4-390:  CompleteAccess=1 from NXD is not processed correctly and results into wrong legacy access 
 - PSECMV4-391:  when a ChannelInit is processed immediately after BusOn the next ChannelInit will timeout 


V4.2.0.0
--------
 - PSECMV4-4:  [DPM 8bit/16bit] IRQs are not enabled 
 - PSECMV4-6:  DC Resync does not return to the correct state when an error happens specific to a slave 
 - PSECMV4-7:  LLD: support MAC address from Security Memory 
 - PSECMV4-8:  when received EthType does not match 0x88a4 the frame is not correctly put into empty FIFO 
 - PSECMV4-9:  ECM_IF: CoE SDO Download fragmentation with ECM_IF_CMD_COE_SDO_DOWNLOAD_REQ does not work 
 - PSECMV4-10:  EoE sending adds undefined padding to Ethernet frames being shorter than 60 bytes 
 - PSECMV4-11:  Improve error code resulting from a CONFIG.NXD without any slaves 
 - PSECMV4-12:  RCX_SET_HANDSHAKE_CONFIG_REQ does not reset bErrorPDInCnt and bErrorPDOutCnt 
 - PSECMV4-14:  EoE pass through is not adjusted for rcX V2.1.X monitor send resources handling 
 - PSECMV4-15:  slaves with known addresses have to be fixed to defined topology 
 - PSECMV4-16:  Older versions of BK1120 can trigger ALSTATUS_CHANGED handling before processing ALCONTROL in INIT->PREOP transition 
 - PSECMV4-17:  Larger DC setups keep state hanging in BEGIN_DC_SYNC state 
 - PSECMV4-18:  NXO is not adjusted in priorities in the same way as the LFW 
 - PSECMV4-19:  NOP 0x900 from ENI/NXD is required to be used for DC RxTime Latching 
 - PSECMV4-20:  topology information is not built when verifying slaves 
 - PSECMV4-22:  Startup is prevented when synchronization mode 2 set by RCX_SET_HANDSHAKE_REQ 
 - PSECMV4-23:  ENI file containing no slaves crashes firmware 
 - PSECMV4-24:  correct wrong cases in ECM_IF where ECM_ERROR_IF_OUT_OF_PACKETS should have been returned 
 - PSECMV4-25:  DC Sync / Resync states need to check for all slaves completing action before state is entered 
 - PSECMV4-26:  Improve slave-related DC diagnostic error codes related to DC errors which are localizable to specific slaves 
 - PSECMV4-28:  When slave supporting DC exist trigger DC Resync on non-DC configuration if any slave is reconnected 
 - PSECMV4-29:  bErrorPDOut count is expected to count misses in OEM1 and OEM2 mode 
 - PSECMV4-30:  Better error codes needed when ENI/NXD exceeds available process image size (All resulted into "ECM_ERROR_LLD_INVALID_CYCLIC_TELEGRAM_CONFIG) 
 - PSECMV4-31:  Master does not handle slave states correctly after detecting a link loss between master and slaves 
 - PSECMV4-32:  Freeze Input variant of process data not considered for WcStateInfo 
 - PSECMV4-33:  AP task needs to clear DPM when loading config through ChannelInit via CONFIG.NXD/ETHERCAT.XML 
 - PSECMV4-34:  ECM_IF: CoE SDO Upload fragmentation with ECM_IF_CMD_COE_SDO_UPLOAD_REQ does not work 
 - PSECMV4-35:  No boot up when Slave is (DC supported, DC Sync not supported) and master is DC configured 
 - PSECMV4-36:  Emergencies in emergency queue handling have to set faulted flag on slave 
 - PSECMV4-37:  WcStateInfo support has to check correctly whether space is left according to NXD database parameters 
 - PSECMV4-38:  Mailbox INIT to PREOP transitions are not executed 
 - PSECMV4-39:  when a non DC-slave placed between of two DC slaves the master fails to correctly setup DC parameters 
 - PSECMV4-40:  AlControl request handling wrongly reports INVALID_PARAMETER for timed out request 
 - PSECMV4-41:  Improve Topology Change Detection support 
 - PSECMV4-42:  Parsing Hot Connect groups can result into crash of firmware 
 - PSECMV4-43:  EMC_EMC_SLAVE_PORT_NOT_CONNECTED should be ECM_EMC_SLAVE_PORT_NOT_CONNECTED 
 - PSECMV4-44:  NXD parsing ignores CoE InitCmds 
 - PSECMV4-45:  with simple slaves (AL Emulation) master rarely does consider such slaves as having an INIT error 
 - PSECMV4-46:  CoE SDO uses wrong error code when reaching timeout 
 - PSECMV4-47:  add bit mask filter to ECM_IF_CMD_GET_SLAVE_DC_INFO_REQ when retrieving info about 32bit DC or no DC support slaves 
 - PSECMV4-48:  copying Free-Run process data takes too long when using ENI 
 - PSECMV4-50:  When all slaves are lost, the master has to prevent output data to be written to simple slaves by using NOP 
 - PSECMV4-51:  when first connected DC slave is not configured for SYNC, master does not reach OP 
 - PSECMV4-52:  add missing EcmEoEIF_rcX_V2_1.h header 
 - PSECMV4-53:  when a cyclic tag within ENI contains multiple frames, only the last frame is used 
 - PSECMV4-55:  change ECM V4 to use Free-Run as default 
 - PSECMV4-56:  add ullDcResyncSystimeOffsetNs to ECM_IF_CMD_GET_SLAVE_DC_INFO_REQ 
 - PSECMV4-58:  enable WcStateInfo support when using CONFIG.NXD 
 - PSECMV4-59:  revise topology detection during switch from BUS_OFF to INIT 
 - PSECMV4-64:  support module (NXO) on rcX V2.1.X base firmware 
 - PSECMV4-65:  Implement Hot-Connect 
 - PSECMV4-67:  Add automatic mapping and API for Working Counter State Bits 
 - PSECMV4-89:  wrong Error LED pattern when Link is lost 
 - PSECMV4-100:  RCX_START_STOP_COMM_REQ reports wrong error code when parameter is wrong (should be RCX_E_INVALID_PARAMETER) 
 - PSECMV4-120:  Always set bits 0 to 2 in ETHERCAT_MASTER_CMD_GET_ENTRYDESC_CNF 
 - PSECMV4-122:  DPM watchdog does not trigger correct LED pattern Triple Flash 
 - PSECMV4-128:  Error Led Double Flicker not used in all slave missing, Topology Error cases 
 - PSECMV4-155:  Unit Type in ETHERCAT_MASTER_CMD_GET_ENTRYDESC_REQ is not correctly reported 
 - PSECMV4-180:  by using frame buffers from INTRAM3 segment, the amount of cyclic frames can be increased to 7 
 - PSECMV4-330:  Old BusScan request does not timeout 
 - PSECMV4-331:  Bus Scan Abort does not work when no bus is connected 


V4.1.4.0
--------
 - PSECMV4-6:  DC Resync does not return to the correct state when an error happens specific to a slave 
 - PSECMV4-9:  ECM_IF: CoE SDO Download fragmentation with ECM_IF_CMD_COE_SDO_DOWNLOAD_REQ does not work 
 - PSECMV4-10:  EoE sending adds undefined padding to Ethernet frames being shorter than 60 bytes 
 - PSECMV4-24:  correct wrong cases in ECM_IF where ECM_ERROR_IF_OUT_OF_PACKETS should have been returned 
 - PSECMV4-33:  AP task needs to clear DPM when loading config through ChannelInit via CONFIG.NXD/ETHERCAT.XML 
 - PSECMV4-34:  ECM_IF: CoE SDO Upload fragmentation with ECM_IF_CMD_COE_SDO_UPLOAD_REQ does not work 
 - PSECMV4-36:  Emergencies in emergency queue handling have to set faulted flag on slave 
 - PSECMV4-44:  NXD parsing ignores CoE InitCmds 
 - PSECMV4-46:  CoE SDO uses wrong error code when reaching timeout 
 - PSECMV4-52:  add missing EcmEoEIF_rcX_V2_1.h header 
 - PSECMV4-180:  by using frame buffers from INTRAM3 segment, the amount of cyclic frames can be increased to 7 


V4.1.3.0
--------
 - PSECMV4-12:  RCX_SET_HANDSHAKE_CONFIG_REQ does not reset bErrorPDInCnt and bErrorPDOutCnt 
 - PSECMV4-23:  ENI file containing no slaves crashes firmware 
 - PSECMV4-29:  bErrorPDOut count is expected to count misses in OEM1 and OEM2 mode 
 - PSECMV4-48:  copying Free-Run process data takes too long when using ENI 
 - PSECMV4-55:  change ECM V4 to use Free-Run as default 
 - PSECMV4-58:  enable WcStateInfo support when using CONFIG.NXD 
 - PSECMV4-64:  support module (NXO) on rcX V2.1.X base firmware 


V4.1.2.0
--------
 - PSECMV4-14:  EoE pass through is not adjusted for rcX V2.1.X monitor send resources handling 
 - PSECMV4-32:  Freeze Input variant of process data not considered for WcStateInfo 
 - PSECMV4-37:  WcStateInfo support has to check correctly whether space is left according to NXD database parameters 
 - PSECMV4-42:  Parsing Hot Connect groups can result into crash of firmware 


V4.1.1.0
--------
 - PSECMV4-7:  LLD: support MAC address from Security Memory 
 - PSECMV4-8:  when received EthType does not match 0x88a4 the frame is not correctly put into empty FIFO 
 - PSECMV4-11:  Improve error code resulting from a CONFIG.NXD without any slaves 
 - PSECMV4-16:  Older versions of BK1120 can trigger ALSTATUS_CHANGED handling before processing ALCONTROL in INIT->PREOP transition 
 - PSECMV4-17:  Larger DC setups keep state hanging in BEGIN_DC_SYNC state 
 - PSECMV4-18:  NXO is not adjusted in priorities in the same way as the LFW 
 - PSECMV4-19:  NOP 0x900 from ENI/NXD is required to be used for DC RxTime Latching 
 - PSECMV4-20:  topology information is not built when verifying slaves 
 - PSECMV4-22:  Startup is prevented when synchronization mode 2 set by RCX_SET_HANDSHAKE_REQ 
 - PSECMV4-25:  DC Sync / Resync states need to check for all slaves completing action before state is entered 
 - PSECMV4-26:  Improve slave-related DC diagnostic error codes related to DC errors which are localizable to specific slaves 
 - PSECMV4-28:  When slave supporting DC exist trigger DC Resync on non-DC configuration if any slave is reconnected 
 - PSECMV4-30:  Better error codes needed when ENI/NXD exceeds available process image size (All resulted into "ECM_ERROR_LLD_INVALID_CYCLIC_TELEGRAM_CONFIG) 
 - PSECMV4-31:  Master does not handle slave states correctly after detecting a link loss between master and slaves 
 - PSECMV4-35:  No boot up when Slave is (DC supported, DC Sync not supported) and master is DC configured 
 - PSECMV4-38:  Mailbox INIT to PREOP transitions are not executed 
 - PSECMV4-39:  when a non DC-slave placed between of two DC slaves the master fails to correctly setup DC parameters 
 - PSECMV4-40:  AlControl request handling wrongly reports INVALID_PARAMETER for timed out request 
 - PSECMV4-41:  Improve Topology Change Detection support 
 - PSECMV4-43:  EMC_EMC_SLAVE_PORT_NOT_CONNECTED should be ECM_EMC_SLAVE_PORT_NOT_CONNECTED 
 - PSECMV4-45:  with simple slaves (AL Emulation) master rarely does consider such slaves as having an INIT error 
 - PSECMV4-47:  add bit mask filter to ECM_IF_CMD_GET_SLAVE_DC_INFO_REQ when retrieving info about 32bit DC or no DC support slaves 
 - PSECMV4-50:  When all slaves are lost, the master has to prevent output data to be written to simple slaves by using NOP 
 - PSECMV4-51:  when first connected DC slave is not configured for SYNC, master does not reach OP 
 - PSECMV4-53:  when a cyclic tag within ENI contains multiple frames, only the last frame is used 
 - PSECMV4-56:  add ullDcResyncSystimeOffsetNs to ECM_IF_CMD_GET_SLAVE_DC_INFO_REQ 
 - PSECMV4-59:  revise topology detection during switch from BUS_OFF to INIT 
 - PSECMV4-65:  Implement Hot-Connect 
 - PSECMV4-67:  Add automatic mapping and API for Working Counter State Bits 


V4.1.0.7
--------
 - PSECMV4-4:  [DPM 8bit/16bit] IRQs are not enabled 


V4.1.0.6
--------
 - PSECMV4-48:  copying Free-Run process data takes too long when using ENI 


V4.1.0.5
--------
 - PSECMV4-18:  NXO is not adjusted in priorities in the same way as the LFW 
 - PSECMV4-55:  change ECM V4 to use Free-Run as default 


V4.1.0.4
--------
 - PSECMV4-15:  slaves with known addresses have to be fixed to defined topology 
 - PSECMV4-16:  Older versions of BK1120 can trigger ALSTATUS_CHANGED handling before processing ALCONTROL in INIT->PREOP transition 
 - PSECMV4-39:  when a non DC-slave placed between of two DC slaves the master fails to correctly setup DC parameters 


V4.1.0.3
--------
 - PSECMV4-25:  DC Sync / Resync states need to check for all slaves completing action before state is entered 
 - PSECMV4-38:  Mailbox INIT to PREOP transitions are not executed 
 - PSECMV4-40:  AlControl request handling wrongly reports INVALID_PARAMETER for timed out request 
 - PSECMV4-41:  Improve Topology Change Detection support 


V4.1.0.2
--------
 - PSECMV4-17:  Larger DC setups keep state hanging in BEGIN_DC_SYNC state 
 - PSECMV4-20:  topology information is not built when verifying slaves 
 - PSECMV4-28:  When slave supporting DC exist trigger DC Resync on non-DC configuration if any slave is reconnected 
 - PSECMV4-35:  No boot up when Slave is (DC supported, DC Sync not supported) and master is DC configured 
 - PSECMV4-51:  when first connected DC slave is not configured for SYNC, master does not reach OP 
 - PSECMV4-59:  revise topology detection during switch from BUS_OFF to INIT 


V4.1.0.1
--------
 - PSECMV4-22:  Startup is prevented when synchronization mode 2 set by RCX_SET_HANDSHAKE_REQ 


V4.1.0.0
--------
 - PSECMV4-5:  Implement suitable indications in AP tasks for mandatory slaves missing and DC XRMW Stopped 
 - PSECMV4-21:  DC Slaves don't work with Bus cycle times > 5ms 
 - PSECMV4-27:  SII should be always assigned to PDI when entering PREOP and higher 
 - PSECMV4-49:  250us database does not seem to be working (CPU load problem) 
 - PSECMV4-54:  count communication errors only when there is a change in value 
 - PSECMV4-57:  Enable DC resync after slave loss 
 - PSECMV4-60:  SYNC Macro cycles must be correctly shifted 
 - PSECMV4-62:  Allow switching to bootstrap state 
 - PSECMV4-63:  Support different cycles times to be produced on different EtherCAT commands 
