Ver 3.1.2.0
24 August 2026

The following models MAC404, MAC604, MAC804, MAC1004, MAC1404, MAC802, MAC1202, MAC1403 will be referred to as Gen. 3

Important:
 - It is recommended to upgrade to the latest MacTalk version before this release
 - This firmware covers the Gen. 3 models only


New functionality:
 - New FREE mode (mode 27): Changing from an active mode into free mode allows the motor to coast fully, and not go through a controlled deceleration.
 - Brake variants draw noticeably less control supply power while the motor is in an active mode: the brake is released at full power and then held at a reduced level, cutting the control supply consumption by roughly 40%. 
    The hold level is configurable in register 236, bits 29-31 (default 62.5% of full power, applied 2 seconds after release), and the brake PWM runs at 1 kHz, see table:
	The value is a share of the power the motor uses to release the brake, which is itself adjusted for the actual control voltage:
	0: 62.5% - the default
	1: 75%
	2: 87.5%
	3: 100% - the power is not reduced at all
	4: 12.5%
	5: 25%
	6: 37.5%
	7: 50%
	There is no setting for 0%, since that would let the brake fall.

 - Module errors are now reported in ERR_STAT bit 29, coherently with the cyclic process data

Bugs fixed:
 - Modbus error counters (registers 240 and 241) counted up continuously when other traffic was present on the bus
 - Motor performed a relative move when resuming from passive to active with SYNCPOSAUTO = 0
 - Various minor fixes and improvements



Network module - this is a release targeting EtherCAT, Ethernet/IP, and PROFInet for Gen. 3 motors only.
App version 1.08.00.02 BETA
Stack Version:
    - EtherCAT:     5.05.00.00
    - EtherNet/IP:  5.05.00.00
    - PROFINet:     5.07.00.01

    The EtherCAT DSP402 support in this version is a beta. EtherCAT DSP301, EtherNet/IP and PROFInet are production releases and are not affected by it.



Ver 3.1.0.0
18 May 2026

The following models MAC404, MAC604, MAC804, MAC1004, MAC1204, MAC1404, MAC802, MAC1202, MAC1403 will be referred to as Gen. 3

Important:
 - It is recommended to upgrade to the latest MacTalk version before this release


New functionality:
 - Support for MAC604
 - Support for MAC804
 - Added option for full 32-bit positioning range (register 246, bit 9)
 - Configurable brake engage and release times via registers 287 and 288 (max 1000ms)
 - Long-term persistent eventlog logging errors and diagnostic events (requires latest MacTalk version and only on Gen. 3 motors) 


bugs fixed:
 - Fix velocity command overflow at very large position differences
 - Fix brake issue causing position loss due to delayed brake activation
 - Fixed issue with index homing fast method
 - Various minor fixes and improvements



Network module - this is a release targeting EtherCAT, Ethernet/IP, and PROFInet for Gen. 3 motors only.
App version 1.07.00
Stack Version:
    - EtherCAT:     5.05.00.00
    - EtherNet/IP:  5.05.00.00
    - PROFINet:     5.07.00.01
    


    @features
    - Firmware update via ethernet supported
    - EtherCAT DSP301 supported (DSP402 is planned)
    - PROFIdrive improve diagnostic messages via PLC
    - PROFIdrive available as pre-release feature, we encourage testing and sending feedback through our support team. 
        PROFIdrive conformance testing is scheduled for later in the year.
    - PROFIdrive IRT (sync) is coming in next release
    - MacTalk TCP: Now support scoping (requires latest MacTalk version)

    @fix
    - Eliminate possible intermittent internal communication error
    - Homing over cyclic interface when start mode is non-zero issue
    - PROFIdrive wrong scaling for ST2 and ST3 issue
    - PROFInet read register issue
    - EthernetIP default byte order issue
    - Motor command via cyclic interface issue
    - Improve the default cyclic PDO
    - Various minor fixes and improvements


    @limitations
    - after upgrading to this version downgrading to versions below 1.6.x is not supported

Ver 3.0.4
- Skipped

Ver 3.0.3
22 January 2026
- EC Sync error fix for internal SPI communication issue

Ver 3.0.2 
24 November 2025
 - Fix encoder issue on MACxxxG3 motors.

Ver 3.0.1
17. November 2025

network module:
App version 1.04.02
Stack Version:
    - EtherCAT:     5.05.00.00
    - EtherNet/IP:  5.04.00.06
    - PROFINet:     5.07.00.01
    
    @fix
    - Missing error messages issue
    - "Reset Motor" issue


Ver 3.0.0.0
29. October 2025
 - Official support for MAC generation 3 motors with builtin network module.
 - Support for MAC1004
 - Support for MAC404
 - Support for MAC802
 - Support for MAC1202
 - Support for MAC1403
 - Support for MAC1404
 - Introduce motor eventlog on MAC generation 3.
 - Otimize MAC320L current controller.
 - Fix B42 module digital output voltage issue
 - Improve motorload calculation to allow for higher loads at low velocities.
 - Fix coil mode issue. 
 - improve 24V control voltage measurmeent stability.


network module:

App version 1.04.00
Stack Version:
	- EtherCAT: 	5.05.00.00
	- EtherNet/IP: 	5.04.00.06
	- PROFINet:	5.07.00.01
	
    @fix
    - EtherCAT Object 0x2012/13. Object size fixed to correct size 
    - EtherNet/IP, fixed several objects in relation to Conformance test.
    - Issue in cyclic use of homing and command register is now fixed.
    
	@issues
	 - PROFInet not operational.

