Known issue, scheduled for new releasesTemporary workaround





Codesys compatible branch (choose the right CRC tool firmware setting)

Firmware version numberSRECS Mod RequestChanges with respect to previous versionDate of release
V4.0
(new hardware only)		017+018Due to availability reasons: new MEMS chip supported, including corresponding new low-pass filter (-3dB 10Hz) for inclination (object 3014h)
Object 3014h added:
0 = OFF
1 = 1st order Bessel lowpass filter
2 = 2nd order Bessel lowpass filter (default)
3 = 3rd order Bessel lowpass filter
Implemented CAN object 1008h (manufacturer device name)
Implemented CAN object 1009h,0 (manufacturer hardware version – euId)
Implemented CAN object 1009h,1 (manufacturer hardware version – duId)
Implemented CAN object 100Ah (manufacturer software version)
Solved: Output freezes when switched from NMT-state ‘STOP’ to ‘OPERATIONAL’
New EDS-files are available		2023-01-02
V3.1015+016Multiple zeroing actions could lead to an output ≠0.This has been repaired. Brandlabbeling is now supported, having a supplier-specific Vendor-ID.2021-06-07
V3.0012+013The angle in SRDO messages werenot updated in case ‘TPDO event time’was set to 0ms.Now the angle in SRDO-messages is independent of ‘TPDO even time’ settings.The low pass ‘Output filter’ (default off) was inaccurate in case of sensor-usage of a 1-axis 360° sensor and a movement passing the ±180°singularity point. With this firmware update the angle is accurate also in this specific situation.2020-12-15
V2.9011Incidentally one of the MEMS chips does not startup properly. This situation is immediately found by the µC, while comparing both MEMS chips. To prevent for hazardous situations the
sensor switches to safe mode, by sending an error message only. Rebooting the device solves this issue in most situations. This modification improved the initialisation of the MEMS chips
in such a way that the sensor will start up normally.		2019-07-25










010SRDO-messages data was dependent on TPDO mode settings like sync-mode. This had to be split. Changes:SRDO-messages data now independent of TPDO modesOutput filter time maximized to ‘redudancy_compare_time’TPDO_event_time maximized on 5000ms‘Load default settings’ with a sensor in TPDO sync-mode will quit the TPDO sync modeOutput filter time constant maximized to ‘Redundancy compare time’TPDO1 and TPDO2 event time maximized to 5sec.Redundancy compare time maximized to 10sec.Released in
V2.9





009Since v2.5 the sensor does not go into error-mode when operating outside it’s measuring range. But at returning to a position inside the measuring range the sensor sometimes jumped into error-mode. Now this process is improved, making
the sensor significant less critical on this point and therefore the chance is having a false-alarm has decreased		Released in
V2.9
V2.8008Functionality ‘peak suppression filter’ added
This functionality can be switched on by the CANopen object
dictionary if required.
This function makes the sensor less sensitive for vibrating
situations, resulting in a significant lower chance to have a
false-alarm and a non-necessary error situation.		2018-04-03
V2.7007Not used mappings for RPDO and TPDO are now not readable as ‘0’ anymore but simply does not exist 2017-11-07





006Due to difference in interpreting the CiA standard on CANopen Safety between company Codesys and DIS-sensors the CRC calculation did not match. As Codesys is market-leader the firmware was upgraded in such a way that the sensor is
compatible with Codesys. Consequences:    The online DIS-sensors CRC tool had to be expanded with a firmware-version selector, to keep the tool usable for both versions of CRC calculationThe sensor is not backwards compatible with v2.5 as the number of bytes in the SRDO-messages had to be changed		Released in
V2.7
V2.5005A 30° device used outside it’s measuring range (> 30° up to 90°) now gives angle data 200° (clearly a wrong angle the safety application can recognized) instead of the sensor going into error mode.2017-07-12





004Switching between RMS and PEAK value in Acceleration mode improved. Now correct valuesReleased in
V2.5
V2.4003Safety check on 3V3 voltage monitor improved at boot-up2016-08-16
V2.3n.a.By DEKRA released firmware, SIL2/PLd certified2016-08-04
V2.2002Calibration table improved for better accuracy
Code readability improved









001Watchdog tolerances optimized to prevent for false-alarms




Non-Codesys compatible branch (choose the right CRC-tool firmware-setting)

Firmware version numberSRECS Mod RequestChanges with respect to previous versionDate of release
V2.5.4
(new hardware only)		017+018Due to availability reasons: new MEMS chip supported, including corresponding new low-pass filter (-3dB 10Hz) for inclination (object 3014h)
Object 3014h added:
0 = OFF
1 = 1st order Bessel lowpass filter
2 = 2nd order Bessel lowpass filter (default)
3 = 3rd order Bessel lowpass filter
Implemented CAN object 1008h (manufacturer device name)
Implemented CAN object 1009h,0 (manufacturer hardware version – euId)
Implemented CAN object 1009h,1 (manufacturer hardware version – duId)
Implemented CAN object 100Ah (manufacturer software version)
Solved: Output freezes when switched from NMT-state ‘STOP’ to ‘OPERATIONAL’
New EDS-files are available		2023-01-02

V2.5.3
005.4
Incidentally one of the MEMS chips does not startup properly. This situation is immediately found by the µC, while comparing both MEMS chips. To prevent for hazardous situations the sensor switches to safe mode, by sending an error message only. Rebooting the device solves this issue in most situations.
This modification improved the initialisation of the MEMS chips in such a way that the sensor will startup normally.
2019-07-25






005.3
SRDO-messages data was dependent on TPDO mode settings like sync-mode. This had to be split. Changes:-SRDO-messages data now independent of TPDO mode settings-Output filter time constant maximized to redundancy_compare_time’-TPDO_event_time’s maximized to 5000ms-‘Load default settings’ with a sensor in TPDO sync-mode will quit the TPDO sync mode-Redundancy compare time maximized to 10sec.
Released in V2.5.3

>
005.2
Since v2.5 the sensor does not go into error-mode when operating outside it’s measuring range. But at returning to a position inside the measuring range the sensor sometimes jumped into error-mode. Now this process is improved, making the sensor significant less critical on this point and therefore the chance is having a false-alarm has decreased
Released in V2.5.3

V2.5.2
005.1
Functionality ‘peak suppression filter’ addedThis functionality can be switched on by the CANopen object dictionary if required.This function makes the sensor less sensitive for vibrating situations, resulting in a significant lower chance to have a false-alarm and a non-necessary error situation.
2018-05-07






005		A 30° device used outside it’s measuring range (> 30° up to 90°) now gives angle data 200° (clearly a wrong angle the safety application can recognized) instead of the sensor going into error mode.




2017-07-12






004		Switching between RMS and PEAK value in Acceleration mode improved. Now correct values




Released in V2.5

V2.4
003		Safety check on 3V3 voltage monitor improved at boot-up




2016-08-16

V2.3
n.a.		By DEKRA released firmware, SIL2/PLd certified




2016-08-04

V2.2
002		Calibration table improved for better accuracy
Code readability improved










001		Watchdog tolerances optimized to prevent for false-alarms