EtherCAT Slave Firmware - Change Log


Release Notes - EtherCAT Slave - Version V2.5.42.0 

** Bug
    * [PSECS-1226] - Identity Object name differ from definition in specification
    * [PSECS-1227] - Update ODV2 to V1.1.3.0


Release Notes - EtherCAT Slave - Version V2.5.41.0

** Bug
    * [PSECS-1143] - [netX50] Set IO Size fails in some cases when send while processdata is exchanged
    * [PSECS-1144] - Invalid NJ51 and NJ51 device names in device description file.
    * [PSECS-1151] - Allow disable of Explicit Device Identification via ALCONTROL/ALSTATUS
    * [PSECS-1204] - SAFEOP -> SAFEOP+ERR state change by application has to disable SM channel

** Change
    * [PSECS-1128] - add new data type definitions from ETG.1020 V1.1.0
    * [PSECS-1223] - update to HAL V2.1.0.0


Release Notes - EtherCAT Slave - Version V2.5.40.0

** Change
    * [PSECS-1203] - Integrate FoE from ECS V4 into V2.5.X


Release Notes - EtherCAT Slave - Version V2.5.39.0

** Bug
    * [PSECS-1003] - BUS On flag remains set after Watchdog event
    * [PSECS-1036] - EoE tag entry missing in ESI files of LFW device description
    * [PSECS-1038] - [comX100] ECS XML does not allow Distributed Clock operation mode selection
    * [PSECS-1046] - Network state display is wrong sometimes
    * [PSECS-1129] - EoE allows to transfer partial 32 byte segments if the frame ends within that mailbox message
    * [PSECS-1130] - DataLinkLayer="1" entry missing in Mailbox entry in ESI files of LFW device description
    * [PSECS-1170] - Update EtherCAT XC and HAL to V1.7.0.1 (netX50/100/500)

** New Feature
    * [PSECS-1187] - [ECSv2] Add Address Switch support (Explicite Device ID) to AP-Task of ECSv2.5 stack that it can be used on netTAP-ECS/xx


Release Notes - EtherCAT Slave - Version V2.5.38.0

** Bug
    * [PSECS-1019] - BUS ON flag can be triggered in unconfigured stack state
    * [PSECS-1113] - [LFW] PHYs are not disabled on startup if stack is not configured
    * [PSECS-1127] - FoE timer was not started at all


Release Notes - EtherCAT Slave - Version V2.5.37.0

** Bug
    * [PSECS-1105] - AL Confirmed Status Service does not correctly handle SAFEOP+ERR to SAFEOP state transition 


Release Notes - EtherCAT Slave - Version V2.5.36.0

** Bug
    * [PSECS-1098] - Bit 4 in SM Control should not be checked by slave (ECAT_IRQ enable bit)
    * [PSECS-1099] - Disable Partial Complete Access Support within 2.5.X


Release Notes - EtherCAT Slave - Version V2.5.35.0

** Bug
    * [PSECS-1033] - Support sending of "AL control changed" indication in transition SafeOpErr to SafeOp
    * [PSECS-1047] - [NXIO50] Changed string for "IdentificationReg134" from "True" to "1"

** Change
    * [PSECS-1091] - update to rcX v2.0.8.24

** New Feature
    * [PSECS-1085] - feature: provide mechanism to inhibit the state change from Boot->Init


EtherCAT Slave Firmware - V2.5.34.0 
=======================================================
- 0021902: [Firmware] Change: correct chip type in V3 file header for cifX and comX 


EtherCAT Slave Firmware - V2.5.33.0 
=======================================================
- 0021343: [Firmware] feature: LFW: add servX in TCP/IP mode 
- 0019313: [Firmware] Feature: support for additional (SDO) abort codes of ETG1020, table 21 
- 0021491: [Firmware] feature: update to TCP/IP V2.1.17.0 


EtherCAT Slave Firmware - V2.5.32.0 
=======================================================
- 0020759: [Firmware] Bugfix: configured bootstrap mailbox size not applied when normal mailbox size is < 128 
- 0020855: [Firmware] Explicit Device Identification not allowed in Bootstrap state 
- 0020733: [Firmware] fix IdentificationReg134 in NXIO100 Device Description 
- 0020730: [Firmware] correct Explicit Device Identification Handling within AlStatus 


EtherCAT Slave Firmware - V2.5.31.0 
=======================================================
- 0020392: [Firmware] NXIO 100 data from switches is always 0 


EtherCAT Slave Firmware - V2.5.30.0 
=======================================================
- 0020146: [Firmware] twr-Firmware mmio map defect in V2.5.29.0 
- 0020356: [Firmware] update netX100/500 HAL to V1.5.5.0 
- 0020355: [Firmware] update netX50 HAL to V1.5.5.0 
- 0020229: [Firmware] RegisterApp Request may trigger broken first indication for ALStatus depending on Explicit Device Identification State 
- 0004174: [Firmware] FW not return any error code after error event (e.g. communication loss) 
- 0020274: [Firmware] NJ50 target does not require swap led link activity tag 
- 0020296: [Firmware] NJ 50D-RE can not be accessed via its serial (RS232) port. (was fixed before V2.5.29.0) 
- 0020287: [Firmware] NJ50: APP led is on (was fixed before V2.5.29.0) 


EtherCAT Slave Firmware - V2.5.29.0 
=======================================================
- 0020122: [Firmware] OP->SAFEOP transition disables SM2 
- 0019448: [Firmware] Updated ESC HALs netX50 and netX100/500 to V1.5.3.0 
- 0019104: [Firmware] feature: change to rcX V2.0.8.8 
- 0019939: [Firmware] USB_ENABLE on netX50 LFW missing 
- 0020144: [Firmware] feature: update to TCP/IP V2.1.15.1 
- 0019539: [Firmware] feature: add tag to swap link/active led outputs 
- 0020141: [Firmware] feature: add EthernetIF controlling TagList Entry (EoE Mode tag) 
- 0020143: [Firmware] feature: add CoE/SoE stack select tag list entry 
- 0020142: [Firmware] feature: add Mailbox Size tag list entry 
- 0018532: [Firmware] bugfix: examples: corrected type specifies/modifiers in fprintf/fscanf calls (storage of Configured Station Alias) 
- 0014644: [Firmware] No error message when try to create Object but index already exist 
- 0016013: [Firmware] Show Boot state on Status Led as flickering 
- 0015232: [Technical Documentation] check all information about process data lengths docu (attention: variable mailbox sizes) 
- 0014252: [Firmware] SII: When using SetConfigReq, Station Alias is only written to ESC register and not to SII - closed.


EtherCAT Slave Firmware - V2.5.28.3 
=======================================================
- 0019538: [Firmware] feature: add tag to swap link/active led outputs 


EtherCAT Slave Firmware - V2.5.28.2 
=======================================================
- 0019449: [Firmware] Updated ESC HALs netX50 and netX100/500 to V1.5.3.0 


EtherCAT Slave Firmware - V2.5.28.1 
=======================================================
- 0019103: [Firmware] feature: change to rcX V2.0.8.8 


EtherCAT Slave Firmware - V2.5.28.0 
=======================================================
- 0018096: [Firmware] Explicit Device Identification via AlStatus/AlStatusCode 
- 0018173: [Firmware] Updated ESC HALs netX50 and netX100/500 to V1.5.2.0 
- 0018151: [EcsStack] Memory "local resources" will overwrite in function TaskCommand_EcatSdo_SdoInfo_GetEntryDesc 
- 0018165: [Firmware] EntryDesc fragmentation does not occur correctly when EntryDesc response exceeds mailbox by 1 to 5 bytes 
- 0018167: [Firmware] Minimum, Maximum and Default Value is not passed from object dictionary to GetEntryDescResponse 
- 0016775: [Firmware] review handling of __ALIGN4_POST 


EtherCAT Slave Firmware - V2.5.27.0 
=======================================================
- 0017789: [Firmware] LED blink code corrected to "Blinking" instead of "Single Flash" (on wrong SM settings set by master) 
- 0017819: [Firmware] feature: Enable Bootstrap state tag 


EtherCAT Slave Firmware - V2.5.26.0 
=======================================================
- 0017229: [Firmware] Border check against mailboxes towards SM3 on Input only configuration is broken 
- 0017286: [Firmware] comX: change of SyncPDI parameters to Sync Outputs Enabled / Low Active (including ESI) 
- 0017288: [Firmware] comX: correct firmware name in default SII (COMX RE/ECS instead of COMX 100XX-RE/ECS) 


EtherCAT Slave Firmware - V2.5.25.0 
=======================================================
- 0016879: [Firmware] cifx EoE firmware with 524 Byte mailbox contains wrong SII information 
- 0016969: [Firmware] NJ 50 can not be accessed by Serial (RS232) driver 
- 0017137: [Firmware] ECAT_ESM_SII_WRITE_IND have wrong tHead.ulLen 
- 0015622: [Firmware] produced data on bus broken when len > 256 and Sync Manager configuration from delivered ESI is used (netX100) 
- 0016779: [Firmware] ECS_SourceCode.zip incomplete (Build_ECS.bat fails to build foe lib) 


EtherCAT Slave Firmware - V2.5.20.1 
======================================================
- 0016880: [Firmware] V2.5.20.1: cifx EoE firmware with 524 Byte mailbox contains wrong SII information 


EtherCAT Slave Firmware - V2.5.24.0 
=======================================================
- 0016752: [Firmware] CoE: Introduce packet for modifying SDO subobject 0 access rights (no access through CreateObject) 
- 0016604: [Firmware] AP task does not show Boot state in Extended Status 
- 0015908: [Firmware] When entering Boot State the stack signals errorneously PreOperational indication to application 
- 0016076: [Firmware] ECAT_ESM_SET_AL_STATUS_REQ does not acknowledge BOOT state 
- 0016623: [Firmware] ECAT_ESM_SII_READ_REQ erroneously checks against maximum packet length which is arbitrary (abData length != allocated length) 
- 0016176: [Firmware] NJ50: APP led is on 
- 0016616: [Firmware] Support ECS Product Information tag 
- 0014662: [Firmware] SDO download to Process data object is rejected 
- 0015404: [Firmware] Read serial number from SecMem when 0 is configured 
- 0014994: [Firmware] EcatEsm_Send_CoE_Emergency() sends random reserved field in CoE header 
- 0014323: [Firmware] LED items are missing in TagList Table 
- 0016646: [Firmware] Default DC Control Loop changed to Beckhoff Control Loop behaviour 
- 0015307: [Firmware] check USB on netJACK DPM (netX50) 
- 0015203: [Firmware] adjust dpmTotalSize 
- 0016166: [Firmware] remove superfluous file EcatFoE_Config.c from source distribution as it is an empty one 
- 0016589: [Firmware] NXO does not load 
- 0016615: [Firmware] Updated ESC HALs netX50 and netX100/500 to V1.5.1.0 
- 0015350: [Firmware] FoE: no error handling when volume full 
- 0014043: [Firmware] ECAT_HARDWARE_ERROR_IND: defined but unused 
- 0015975: [Firmware] error header missing in dist packet 


EtherCAT Slave Firmware - V2.5.23.0 
=======================================================
- 0015594: [Firmware] User example application "Module Device" 
- 0015343: [XML] review DDFs for FoE 
- 0015351: [Firmware] FoE: firmware download (NXF) does not work on netJACK50/100 
- 0015353: [Firmware] netJACK50/100: wrong product code in SII 


EtherCAT Slave Firmware - V2.5.22.0 
=======================================================
- 0015218: [Firmware] FoE File Download/Upload does not work if (file size % (mailbox size -12)) bytes == 0 
- 0015220: [Firmware] feature: change the ESI name from "comX" to comX100" 
- 0015275: [XML] extend ESI for netX100/500 based targets to support max. 256 bytes of IO data 
- 0014962: [Firmware] feature: ECS should work on netJACK100EN-RE (PCIe) target 
- 0014963: [Firmware] feature: ECS should work on netJACK50D-RE (DPM) target 


EtherCAT Slave Firmware - V2.5.21.0 
=======================================================
- 0015150: [Firmware] FoE: when file matches file size % (mailbox size - 12) == 0 the FoE transfer cannot be completed 


EtherCAT Slave Firmware - V2.5.20.0 
=======================================================
- 0014907: [Firmware] GetEntryDesc: uObjectAccess is incomplete 
- 0014872: [Firmware] Mbx handling: excessive memset causes high CPU-Load 
- 0015168: [Firmware] Allow master to download (octet) strings with length below maximum 
- 0015081: [Firmware] DeleteObject/DeleteSubObject does not completely free the memory resulting in memory leak 


EtherCAT Slave Firmware - V2.5.19.0 
=======================================================
- 0014738: [Firmware] feature: FoE File written indication 
- 0014784: [Firmware] LOM: variable mailbox size support (update netX100 ECS to Build 12) 
- 0014665: [Firmware] NXIO100: Rx/TxPdoMap flags set wrong on objects 0x2000/0x3000 
- 0014783: [Firmware] LOM: Added Boot State enable parameter (boot state mailbox size) 
- 0014235: [Firmware] Feature: Configuration using database (config.nxd) 


EtherCAT Slave Firmware - V2.5.18.0 
=======================================================
- 0014417: [Firmware] Chip Type is not correctly set in NXF / NXO 
- 0014444: [Firmware] feature: CONFIG.NXD support 


EtherCAT Slave Firmware - V2.5.17.2 
======================================================
- 0014294: [Firmware] NXIO 100 servX: Modify Name and add FoE tag to Xml 
- 0014363: [Firmware] Sdo Info GetObjectDesc: Transmitted name too short 
- 0014367: [Firmware] Sdo Info GetEntryDesc: Data field (Unit, Default, Min, Max, Name) not transmitted (only using host managed objects) 
- 0014216: [Firmware] SII: Do NOT reload sync impulse length to ESC if SII reload is requested 


EtherCAT Slave Firmware - V2.5.16.1 
=======================================================
- 0013405: [Firmware] SDO Info Get List service: Merge / Fragmentation algorithm fails 


EtherCAT Slave Firmware - V2.5.17.0 
=======================================================
- 0014088: [Firmware] SII: CRC must be modified if write access happens from PDI side 
- 0014012: [Firmware] SII: Creation of common interface for SII access 
- 0013571: [Firmware] OdList handling: remove fEmpty handling (dead code) 
- 0013574: [Firmware] startup parameter fEnhancedSdoMode of Sdo-Task is ignored 
- 0013533: [Firmware] code cleanup: parameter passing in SdoInfo service 
- 0013610: [Firmware] cleanup of packet flow in service GetEntryDesc 
- 0013573: [Firmware] wrong packet pool handling in function Task_EcatSdo_ObjectWriteNotifyCallback() 
- 0013575: [Firmware] clearify: startup parameter fCheckSeqNo of Mbx-Task is ignored 
- 0013594: [Firmware] Change to EtherCAT HAL V1.4.1.0 (netX50) / V1.4.3.0 (netX100/500) 
- 0014187: [Firmware] SII: Do NOT reload Station Alias to ESC if SII reload is requested 
- 0014033: [Firmware] SII: Brand ECAT_ESM_SII_UPDATE_VENDOR_DATA_IND as legacy packet 
- 0014087: [Firmware] SII: Major rework SII functions 
- 0014028: [Firmware] SII: Introduce new ECAT_ESM_SII_WRITE_IND - replaces ECAT_ESM_SII_UPDATE_VENDOR_DATA_IND 
- 0013857: [Firmware] NXIO50: Wrong memory value in ld-File 
- 0013525: [Firmware] ECAT_OD_SDOINFO_GET_OBJ_RES: Inconsistent length handling 
- 0013628: [Firmware] Implement faster Mailbox handling (visible within EoE, SoE, fragmented SdoInfo) 
- 0013526: [Firmware] uninitialized emergency payload send (fifth byte) 
- 0013625: [Firmware] Remove API for EcatMbx_StackDiagProtocol() 


EtherCAT Slave Firmware - V2.5.15.1 
=======================================================
- 0013230: [Firmware] CoE: wrong handling of GetEntryDesc for min/max/default value (Host OD) 
- 0013207: [Firmware] ECAT_OD_SDOINFO_GET_ENTRY_DESC_RES: abData field not evaluated 
- 0013241: [Firmware] inconsistent handling of bValueInfo in GetEntryDesc (Host OD) 


EtherCAT Slave Firmware - V2.5.16.0 
=======================================================
- 0013350: [Firmware] update to RCX 2.0.8.5 


EtherCAT Slave Firmware - V2.5.15.0 
=======================================================
- 0012505: [Firmware] FoE checks modification 
- 0012750: [Firmware] PDI config not updated within SII-Image 
- 0012124: [Firmware] length check for SET_(SUB)OBJECT_NAME_REQ is wrong 
- 0007745: [Firmware] Client SDO: NXHX 500 fails to read/write SDO 
- 0007374: [Firmware] Config lock is not supported 
- 0012507: [Firmware] Check and add packet length limitations within SoE part 
- 0012538: [Firmware] fix ECAT_ESM_SII_READ_REQ handling 
- 0012519: [Firmware] make sync polarity equal for all targets 
- 0009753: [XML] cifx50-RE Rev3: add Distributed Clock modes 
- 0012145: [Firmware] wrong length handling of "Get OD List Response" 
- 0011843: [Firmware] Name of ECAT_ESM_ALCONTROL_XXX_IND packets foxing 
- 0010221: [EcsStack] add support for segmentation of SDOInfo (GetEntryDesc) 
- 0012357: [Firmware] Change to EtherCAT HAL V1.4.2.0 
- 0011836: [Firmware] No response packets for several indications 
- 0012532: [Firmware] Error codes from ODV2 not correct translated to EtherCAT abort codes 
- 0012171: [Firmware] Ecs_Public.h: Duplicate defines 
- 0012415: [Firmware] fix ECAT_ESM_SII_WRITE_REQ handling 
- 0012557: [Firmware] uninitialized packet variable causes crash 
- 0012500: [EcsStack] Users application doesn't recieve the Write Notification of an Object when using SHM API 
- 0012618: [Firmware] SdoPacket_Public.h: Header uses __PACKED_XXX instead of __TLR_PACKED_XXX 
- 0012160: [Firmware] SDOInfo Get Entry Description: fragmentation fails 
- 0012087: [Firmware] inconsistent length handling in ECAT_LOCAL_SDO_UPLOAD_EXP_REQ 
- 0012686: [Firmware] ECAT_LOCAL_SDO_DOWNLOAD_EXP_REQ packet length is not strict enough 
- 0012707: [Firmware] TaskEnter_EcatFoE() causes compiler warnings in every target (where used) 
- 0012626: [Firmware] Ecs_Public.h: Header uses __PACKED_XXX instead of __TLR_PACKED_XXX 
- 0012622: [Firmware] SdoPacket_Public.h: Wrong define for SDO_UPLOAD_EXP_DATA_CNF_SIZE 
- 0012621: [Firmware] SdoPacket_Public.h: Header uses TLR_PACKET_HEADER define 
- 0012627: [Firmware] Ecat_CoE_Structs.h: Header uses __PACKED_XXX instead of __TLR_PACKED_XXX 
- 0012625: [Firmware] Ecat_Structs.h: Header uses __PACKED_XXX instead of __TLR_PACKED_XXX 
- 0012660: [Firmware] introduced ECAT_OD_SET_(SUB)OBJECT_NAME_R2_REQ_T in Ecs_Public.h 
- 0012595: [Firmware] remove unused commands from public header 
- 0012153: [Firmware] GetObjDesc reports mailbox message length > 122 if name is too long 
- 0012682: [Firmware] introduced SDO_DOWNLOAD_EXP_R2_REQ/CNF_T and SDO_UPLOAD_EXP_R2_REQ/CNF_T in SdoPacket_Public.h 
- 0011912: [Firmware] Incomplete typedefs within Ecs_Public.h 
- 0012086: [Firmware] definition of SDO_UPLOAD_EXP_CNF_T uses wrong data length 
- 0012659: [Firmware] no packet len check for RCX_DELETE_CONFIG_REQ 
- 0012681: [Firmware] ECAT_OD_CREATE_SUBOBJECT_REQ shall fail if no object has been created before 
- 0012151: [Firmware] CreateSubObject shall fail if SubIndex > 1 and object not "indexed" 
- 0012434: [Firmware] GetEntry Description with invalid subindex reports wrong SDO abort code 
- 0012140: [Firmware] object name is "0x1" if no name defined 
- 0008011: [Firmware] strange packet structure 
- 0012489: [XML] Modify NXIO50 DevDesc for faster bus scan 
- 0012553: [Firmware] Ecs_Public.h: Invalid data type used in header (UINT8) 
- 0009754: [Firmware] cifx50-RE Rev3: enable Sync signals (x51 connector) 
- 0011575: [Firmware] Simple Variable objects accessed with bSubIndex != 0 do not result into SUBINDEX_DOES_NOT_EXIST 
- 0011242: [Firmware] RCX_GET_DPM_IO_INFO_REQ: wrong result for ulSubblockIndex 


EtherCAT Slave Firmware - V2.5.9.3 
======================================================
- 0011021: [Firmware] Hotfix for V2.5.9.3: Change HAL for netX100/500 to V1.4.0.0 (Build 9) 


EtherCAT Slave Firmware - V2.5.9.2 
======================================================
- 0011012: [Firmware] Hotfix for V2.5.9.2: Inconsistency in process data 


EtherCAT Slave Firmware - V2.5.14.0 
=======================================================
- 0011350: [Firmware] NXIO 100: CoE part incomplete / inconsistent 
- 0011388: [Firmware] NXIO 100: Target does NOT produce valid input data in SafeOp 
- 0011299: [Firmware] SDO_DOWNLOAD_EXP_REQ_T packet length is NOT checked 
- 0011118: [Firmware] ECAT_COE_SEND_EMERGENCY_REQ: parameter usStationAddress ignored 
- 0008130: [Firmware] Local SDO Read returns wrong data 
- 0011014: [Firmware] Change to new HAL V1.4.0.0 (Build 9) 
- 0011322: [Firmware] Define for SDO_UPLOAD_EXP_DATA_REQ_SIZE is incorrect 
- 0011324: [Firmware] SdoPacket_Public.h: Wrong __PACKED_POST usage 
- 0011341: [Firmware] Sdo_Packets.h: Wrong __PACKED_POST usage 
- 0011300: [Firmware] SDO_UPLOAD_EXP_REQ_T packet length is NOT checked 
- 0010842: [Firmware] SDO_UPLOAD_EXP_REQ_T does NOT work 
- 0011117: [Firmware] libmarshaller update required > V2.0.14 


EtherCAT Slave Firmware - V2.5.13.0 
=======================================================
- 0010580: [Firmware] V2.5.12.0: ECAT_OD_SDOINFO_GET_ENTRY_DESC_IND on SdoInfo register does not work 


EtherCAT Slave Firmware - V2.5.12.0 
=======================================================
- 0010460: [Firmware] feature: support TagList on all targets 


EtherCAT Slave Firmware - V2.5.11.0 
=======================================================
- 0009522: [Firmware] feature: add marshaller to netX50/100/500 LFW target to get diagnosis capability 
- 0010452: [Firmware] Update to rcx 2.0.8.3 (USB bugfix) 
- 0010428: [Firmware] Firmware signals several times CommCOS without any change in ulCommunicationCOS 
- 0010547: [Firmware] comX/cifX/netX100/500 LFW: Sync interrupts were not working due to wrong interrupt configuration 
- 0009890: [Firmware] RCX_SET_WATCHDOG_TIME_REQ returns TLR_S_OK if Tlr_Watchdog_Activate fails 
- 0010333: [Firmware] update USB marshaller at least to V2.0.14.0 


EtherCAT Slave Firmware - V2.5.10.0 
=======================================================
- 0010201: [Firmware] Unregister application shall fail if no application registered 
- 0010147: [Firmware] netX50, netX100, netX500: support RAM-based bootloader start 
- 0010157: [Firmware] feature: support for CIFX104-RE 
- 0010222: [EcsStack] Task_EcatSdo_ObjectWriteNotifyCallback: conversion of the bit values to a byte value is missing 
- 0009951: [EcsStack] Ecs_Public.h contains the head of the file EcatEoE_Public.h 
- 0009521: [Firmware] feature: add marshaller to comX target to get diagnosis capability 
- 0010029: [XML] ECS_Diag.xml does not contain FoE stack diagnostic structures 


EtherCAT Slave Firmware - V2.5.9.1 
======================================================
- 0010431: [Firmware] fixed in V2.5.9.1: Firmware signals several times CommCOS without any change in ulCommunicationCOS 


EtherCAT Slave Firmware - V2.5.9.0 
======================================================
- 0009778: [Firmware] APP_CONTROLLED flag does not always work 
- 0009780: [Firmware] bus flag unchanged after channel init 
- 0009798: [Firmware] Error counter not incremented in DPM on Watchdog error 


EtherCAT Slave Firmware - V2.5.8.0 
======================================================
- 0009724: [Firmware] ECAT_OD_CREATE_SUBOBJECT_REQ: wrong handling for ulMode 
- 0009728: [Firmware] netX50: since V2.5.6 state change from SafeOp+Err via SafeOp to Op does not re-enable outputs 
- 0009415: [Firmware] EoE task does not register structure information for additional diagnostic structures 
- 0009508: [Firmware] EoE: SetIpParamResponse was not correctly formatted on the mailbox 
- 0009509: [Firmware] EoE: added multicast MAC control functions for TcpIp Stack 
- 0009721: [Firmware] netX50 LFW: without *_STACK_CFG_ENABLE_SYNC_OUTPUT_CONFIG disables sync outputs 
- 0009715: [Firmware] NXIO50: sync outputs and sync impulse length are not enabled 
- 0009499: [Firmware] EoE: SetIpParam indication produces high cpu load 


EtherCAT Slave Firmware - V2.5.7.0 
======================================================
- 0009419: [Firmware] updated netX100 Esc xc code (NextSync1Time was wrong) 
- 0009457: [Firmware] netX100/500: new sum of process data is 512 Byte 


EtherCAT Slave Firmware - V2.5.6.0 
======================================================
- 0009355: [Firmware] introduced bug fixes from PlugFest related to CTT V1.20.0 
- 0009371: [Firmware] added Build 7 Esc 
- 0009376: [Firmware] Change to SafeOP sets Stack into Error-SafeOP due to ProcDataWdg 


EtherCAT Slave Firmware - V2.5.5.0 
======================================================
- 0009816: [EcsStack] MD5 checksum calculation fails 
- 0008781: [Firmware] support DMA on PCI targets 
- 0008787: [Firmware] support Slot Number Switch on cifX50 
- 0008932: [Firmware] Firmware located in flash is downloaded again on restart 


EtherCAT Slave Firmware - V2.5.4.0 
======================================================
- 0006327: [Firmware] ECAT_ESM Task states in task overview of SyCon.net 
- 0008824: [Firmware] fixed activation of OdIndication Timeout value (fix from V2.5.2.1 branch) 
- 0008887: [EcsStack] added EoE to source distribution 


EtherCAT Slave Firmware - V2.5.3.0 
======================================================
- 0003860: [Firmware] EoE, Ethernet over EtherCAT 


EtherCAT Slave Firmware - V2.5.2 
====================================================
- 0008067: [Firmware] updated xC code 
- 0008069: [Firmware] corrected PhysicalPortDetails in SII generator 
- 0008068: [Firmware] changed to rcX V2.0.5.0 
- 0008021: [Firmware] implementation error in ECAT_LOCAL_SDO_UPLOAD_EXP_REQ 
- 0007857: [Firmware] ECAT_DPM_SET_CONFIGURATION_REQ has wrong ulLen check 


EtherCAT Slave Firmware - V2.5.1 
====================================================
- 0007891: [Firmware] Watchdog problem (counts up if the watchdog fields are not equal or an error occured) 
- 0008008: [Firmware] Mailbox full after unexpected ECAT_OD_NOTIFY_READ_RES 
- 0002573: [Firmware] No error message when try to create Object but index already exist 


EtherCAT Slave Firmware - V2.4.2 
====================================================
- 0007765: [Firmware] SetConfigReq may lock ESM task (SII access impossible at that time) 
- 0007764: [Firmware] fixed issue 0006908 reintroduced to V2.4.1 (Proper error code when application is already registered) 


EtherCAT Slave Firmware - V2.4.1 
====================================================
- 0007597: [EcsStack] CreateIdn in SoE does not handle fragmented service correctly 
- 0007683: [Firmware] SoE: IDN task does not release buffer on segmentation error during Write Request 
- 0007684: [Firmware] SoE: On Write Request, the last segment is rejected 
- 0007664: [EcsStack] changed build environment 
- 0007362: [Firmware] NXHX 50 fails to start communication 
- 0007361: [Firmware] NXIO 50 reports wrong Revision 
- 0007671: [Firmware] added Object dictionary Host indication timeout feature (warmstart extension) 


EtherCAT Slave Firmware - V2.3.5 
====================================================
- 0006908: [Firmware] Proper error code when application is already registered 
- 0007265: [Firmware] Wrong data exchange with NXIO 100RE 


EtherCAT Slave Firmware - V2.3.4 
====================================================
- 0007077: [EcsStack] added Eight Byte List and Eight Byte data length to SoE 
- 0006727: [Firmware] RCX_SET_WATCHDOG_TIME not supported 
- 0006353: [Technical Documentation] Incorrect VendorID and Revision Numb. default values 


EtherCAT Slave Firmware - V2.3.3 
====================================================
- 0007030: [EcsStack] SoE list length handling specifies 4 byte too much in ReadOpData 


EtherCAT Slave Firmware - V2.3.2 
====================================================
- 0006772: [Firmware] FoE firmware update enabled on comX, netX50, netX100, netX500 
- 0006869: [Firmware] Wrong PDO names in DDF files 


EtherCAT Slave Firmware - V2.3.1 
====================================================
- 0003861: [Firmware] SoE, Servodrive over EtherCAT 
- 0006432: [EcsStack] reorganized lib structure due addition of new stack features 
- 0005153: in the diagnostic menu of the netTap there are some uncorrect names of the tabs in the navigation area. 
- 0006082: No indications in the General Diagnostic of the Slave for EtherCat. 
- 0006281: [Firmware] Incorrect diagnostic for netSLAVE DTM ("Unknown command in packet header"). 
- 0006171: [Firmware] netStick: Bus Scan fails in EtherCAT Configurator 


EtherCAT Slave Firmware - V2.2.4 
====================================================
- 0005836: [Firmware] NXIO 100 XML file does not work correctly with TwinCAT System Manager (Build 1328) 
- 0005772: [EcsStack] changed DPM watchdog behaviour back to entering PREOP+ERR (own definition of AlStatusCode allows that) 


EtherCAT Slave Firmware - V2.2.2 
====================================================
- 0005681: [Firmware] Operational state after DPM watchdog eror 


EtherCAT Slave Firmware - V2.2.1 
====================================================
- 0006361: [EcsStack] First Warmstart or BusOn (Application Controlled) enables PHYs 
- 0000792: [Firmware] Crash due to alignment fault (caused by assembly files) 
- 0005670: [Firmware] included feature for PDOUpload (single XML file for all configurations) 
- 0003920: [Firmware] Some indication have not initialized parameters 
- 0005405: [Firmware] cifX50: low IO refresh rate causes slave to go to SAFE_OP ERR 
- 0003924: [Firmware] AL control indication packets with undefined state 
- 0003935: [Firmware] GET_LIST_IND contains undefined data 
- 0005671: [Standard] changed process data length check to exact match 


EtherCAT Slave Firmware - V2.1.2 
====================================================
- 0005131: [Firmware] EtherCat, after the restart of the computer an error message in the diagnostic tab appears( 0x800C0012),no communication. 


EtherCAT Slave Firmware - V2.0.14 
=====================================================
- 0003882: [Firmware] DC adjustment control loop does not react properly on FRMW/ARMW bursts 
- 0003888: [Firmware] ECAT_OD_NOTIFY_REGISTER_REG / Enabled WriteNotification crashes firmware 


EtherCAT Slave Firmware - V2.0.9.0 
======================================================
- 0003114: [Firmware] System Start on cifX firmware can cause a freeze of the card 
- 0002439: [Firmware] netSTICK SYS LED yellow after restart of communication 
- 0003270: [Firmware] Total crash of the netX after a system restart (when trying to load a new XC microcode) 


EtherCAT Slave Firmware - V2.0.8.0 
======================================================
- 0001997: [Firmware] DPM receive are not cleared after output size was decreased - closed.
- 0002600: [Firmware] Request an SDO Upload to a server lead to block FW (if slave with SDO Client is not supported by master) 


EtherCAT Slave Firmware - V2.0.2 
===================================================
- 0001993: [Firmware] Communication state 'Stop' when not configured 
- 0002042: [Firmware] SDO Download with max 112 bytes data 


EtherCAT Slave Firmware - V2.0.1 
====================================================
- 0000435: [Firmware] The Protocol Interface Manual. 
- 0000073: [Firmware] Wrong CoE data is transferred to the client for Read Notify registered objects 
- 0000427: [Firmware] Safety;The DPM data area is not set to 0 or Hold On values in case an error occurs. 
- 0000703: [Firmware] Clear the DPM/Hold On in case of bus failure etc. 
- 0002040: [Firmware] Wrong LED indication on Bus OFF 
- 0002043: [Firmware] Name of mapping Object is "PDO DPM Data" 
- 0001994: [Firmware] Watchdog 1..19 ms can be configured 
- 0000441: [Firmware] ECAT_OD_NOTIFY_REGISTER_REQ; the indication about write/read of the object is not sent. 
- 0000426: [Firmware] RUN bit is cleared after Channel Init 
- 0002037: [Firmware] Slave remains in ERR_INIT after requesting BOOTSTRAP state 


EtherCAT Slave Firmware - V0.97.3.1 
=======================================================

libecs V0.96.1.7
librcx V2.0.3.3

- 0002259: [Firmware] Firmware crashes if Bit0 (old Host Ready Bit) is toggled in Handshake flags. 


EtherCAT Slave Firmware - 0.97.2 (build 1) 
==============================================================

libecs V0.96.1.1
librcx V2.0.3.0

- 0000995: [Firmware] The data in the frame are inconsistent by every 6th update of Process data Output Image 
- 0001008: [Firmware] DPM: Device Class is empty - device class not defined 
- 0001007: [Firmware] DPM; Production Data (0x001A) is empty. 
- 0001006: [Firmware] DPM: Manufacturer field is set to zero - manufacturer not defined 
- 0000419: [Firmware] Host not Ready/Host Ready has not influency for card. 


EtherCAT Slave Firmware - V0.1.0.22 
=======================================================
- 0000063: [Firmware] No Confirmation on Create Object message 
- 0000061: [Firmware] No Confirmation to SDO download message 
- 0000062: [Firmware] No Confirmation to SDO upload message 
- 0000074: [Firmware] CoE object data is not updated, when object is registered for Write Notify 


EtherCAT Slave Firmware - V0.1.0.21 
=======================================================
- 0001009: [Firmware] The firmware does not start. 


EtherCAT Slave Firmware - T0.001 
====================================================
- 0000064: [Firmware] Confirmation to Register for Notifiy Indication is appears continuously after registration 
- 0000069: [Firmware] SDO Download confirmation appears repeatedly 
- 0000067: [Firmware] Get/Set ECAT_SDO task timeouts confirmation packets appear continuously 


