Documentation issue status

C8

• This firmware enables a higher number of objects (increased from 149 to 254) from index 0x6000 (device-specific objects, see CAN CIA DS401).
• 0x6000, 0x6200, 0x6401, 0x6411 (digital input bytes, digital output bytes, analog inputs, analog outputs)
• 0x6423, 0x6424, 0x6425 and 0x6426 (Global Interrupt Mask, Upper-, Lower- Limit, Delta).
• For the delta function smaller values than 255 are possible

C7

• Error argument in EMCY message corrected (was only relevant for firmware C6)

C6

• Changing the transmission types from asynchronous to synchronous now also works in OPERATIONAL state.
• The PDO event time and the heartbeat time are now stored correctly via object 0x1010.
• The automatic transition to OPERATIONAL during startup (can be activated via table 100) now also works if the baud rate is not set to a fixed value.
• Upper/lower limit monitoring for analog inputs works if delta is set to 0.
• The station address and baud rate can now be specified via table 100.

• The boot-up message is now generated reliably under all boundary conditions.
• The receive queue no longer overruns if the startup takes too long (could only happen if many sync frames were active on the bus at the same time).
• Occasional problems with the delta function (analog inputs) are fixed.
• Occasional problems with the interrupt mask (0x6126) are fixed.

C5

• Optimized synchronizing of K-Bus cycle with sync telegram.
• If the K-Bus cycle is not yet completed before the next SYNC telegram arrives, an emergency telegram is sent and the Tx overrun LED flashes slowly. The LED signal and EMCY are reset 10 seconds after the last occurrence of this situation.
• KS2000 online mode is supported.
• KL6201 (AS interface master terminal) is also supported in 38 byte mode.
• KL8001 is automatically switched to CANopen-compatible data format.

• Change-over to operational is denied if K-Bus error is present. 
• Boot-up message is received reliably even for low baud rates.
• Default mapping for node ID 64.

C4

• New: Object 0x6126 interrupt mask. Allows the data changes that lead to the transmission of event-driven TxPDOs to be selected. No change in the default behavior.
• AS interface master terminal KL6201 is supported. For details see KL6201 documentation.
• SDO response times to objects with PDO parameters (0x1400ff, 0x1800ff, 0x5500) shortened drastically.

• Lifetime factor of 2 no longer results in a guard error when guarding is correct.
• RxPDOs of length 0 no longer cause the firmware to halt.
• The boot-up message is only now sent when the coupler has reached the pre-operational state (and not when the status is still changing).

C2

• 1 wait state introduced for RAM access. This means that C2 also runs reliably on couplers having old hardware versions.

C1

• Firmware download now also possible via CAN (object 0x5FFF was introduced for this purpose). Requires Beckhoff CANopen PCI card FC510x.

C0

From firmware version C0 the Bus Couplers correspond to CANopen communication profile version 4.01. Main changes/extensions:

• Default identifier now also for PDO3 + 4.
• Firmware performance was increased significantly - this may lead to increased bus load.
• The PDO event timer is now supported.
• If all PDOs were configured for synchronized communication and the SYNC interval (0x1006) was parametrized, communication is now synchronized throughout with the I/O update (K-Bus)
• Mapping changes (variable mapping) are only allowed according to the CANopen standard.
• The LED behavior now corresponds to the new CANopen recommendation DRP303-3.
• Identity object is now supported.
• The guarding identifier (object 0x100E) is now read only.
• Object 0x1004 (number of PDOs) is no longer used - otherwise the conformance test is not passed.
• The timeout for SYNC monitoring was extended to 1.5 times the SYNC interval.
• The boot-up message now uses the guarding identifier.
• Heartbeat is now also supported in addition to guarding.
• The firmware update is now also possible via CANopen. This requires a FC510x CANopen card.

Additional notes regarding CANopen version 4 can be found in the Appendix.

The Bus Coupler can be downgraded to firmware version BA at any time, if required. The firmware and a download program are available from the Beckhoff website at www.beckhoff.de A special cable is required for the download. Please contact Beckhoff support.

BA

• Identity object 0x1018 is now implemented.
• The watchdog for the SYNC interval is now set to 1.5 times the value written in object 0x1006.
• The response time was improved.

B9

• Object 0x6424 limit value monitoring analog inputs: monitoring of upper limit for greater/equal revised (adaptation to DS401 V2.)
• Shorter boot time after reset: Firmware checksum test now only after cold start.

• No change of state to “pre-operational” if the warning limit was exceeded (error was in B8).
• PDO3 is now also created if 57..64 digital inputs or outputs are available.

B8

• During internal change of state from operational to pre-operational, the outputs are set to „fieldbus error“ state.

B7

• Automatic CAN baud rate detection for DIP switch 7.8= 0.0 introduced.
• Extended NODE IDs possible.
• Sync time limited to 65535 ms.
• New Bus Coupler IDs implemented.
• Extended terminal diagnostics active.
• KL1212 mapping implemented.

• Reset emergency now operational
• SYNC/GUARDING Emcy is now sent
• Bit timing 10 kBit CAN transfer rate adapted to CANopen standard

B4

• ERR LED flash code for guarding and sync ERROR introduced.

• Guarding error is now reset at start node.

B2

• First release