Release notes for  GPL version 5.x
Updated 12/03/2025

Starting at

5.0h1   06/01/2023

    o Add support for EtherCAT master stack.

    o Add support for PFD1 controller boards, version 0 and 1.

    o Add support for G5xxx and G6xxx controller boards.

    o Add Ethernet/IP interface.

    o Add standard license option that enables the following:
          Advanced control features
          Advanced kinematics
          Complex kinematics
          Conveyor tracking
          Encoder latching
          GPL software application
          GuidanceMotion application
          XY compliance
          Z height detection
      Older GPL versions report this option as "18: Unknown option".

5.1d1   09/12/2024

    o Always set standard license options.  No license installation required.

    o Add support for for PWM brake pulse in G5xxx controllers.

    o Fix bug in configuring dedicated DIN.

5.1d2   03/17/2025

    o Add load of controller.pac file on servo network slave boards.

    o Allow saving of controller.pac file on servo network slave boards.
      Allows setting DIO configuration on slave boards.

5.1d3   04/16/2025

    o Fix bug that prevents datalogging of digital I/O values.

5.1d4   04/25/2025

    o Fix bug causing spurious error -526 "Latch data overrun" during latching.

5.1d5   08/11/2025

    o Fix bug causing occasional amp fault or over-current error from FPGA.

5.1d6   08/14/2025

    o Fix bug transitioning from free mode to position mode if axis is moving at the time of the transition.  Can cause thump in direct drive robots which results in oscillation for a few seconds.

    o Remove check of Modbus/TCP unit number when PCR controller is configured as a slave or server.  Improves compatibility with 3rd-party MODBUS masters.

    o Fix bug setting up ADC when all axes are disabled.

5.1d7   12/03/2025

    o Fix bug if encoder latch processing takes more than 32 milliseconds.
    o Add special handling in case of unexpected HP disable occurs during
      ESTOP shutdown. Feature is enable/disable using new DataID 10112.

      10112, Keep servo alive, Uint16
      If set to 1, servo will maintain trajectory control as long as amplifier
      is still enabled after ESTOP or unexpected high power disable.
      By default, this DataID is set to 0 (disable feature) to keep servo
      behavior the same as previous versions.
      
    o Correct amp fault signal routing for channel #3 and #4 in G66xx.


5.1e2	04/01/2026

	o Add cogging comp phase advance and gain reduction scale. This
	  is useful for high cogging torque and low inertia C10 J4 motors
	  moving at high speed.
	  Add ID 10659 and 10660 to setup gain reduction scale.
	  Add ID 10698 to setup phase advance gain.
	  Add read-only ID 12692 to show the active phase advance.
	  Add read-only ID 12693 to show the active gain reduction scale.

	  Documentation update:	  

	    10659, Cogging comp gain reduction, %/(mcnt/sec), Flt32
	    If non-zero, the value represents the percentage of cogging
	    compensation gain reduction per command speed change. The active
	    scale is limited between 0 and 1.
	    By default, this DataID is set to 0 to disable gain reduction.

	    10660, Reverse gain reduction above speed, mcnt/sec, Flt32
	    Reverse cogging comp gain reduction when speed is above the input
	    value.
	    By default, this DataID is set to 0.

	    10698, Cogging comp phase advance, degree/(mcnt/sec), Flt32
	    If non-zero, the value represents the phase advance (in mechanical
	    degree) for applying cogging compensation per command velocity
	    change. The maximum phase advance is limited to one motor
	    revolution.
	    By default, this DataID is set to 0 to disable phase advance.


5.1e3	05/19/2026

	o Remove servo debug code.


5.1e4	05/22/2026