Added the StopMultipleAxis type to EventOutput in the Event module and CoreMotion module. When the EventInput condition is met, this feature allows multiple axes to be stopped. It executes a stop command corresponding to the AxisCommandMode of each axis.

Added Vel and Trq options to CyclicBufferCommandType. These options allow the cyclic buffer to be operated in CSV or CST mode if the axis command mode is set to Velocity or Torque.

Added ClosedLoop feature to CoreMotion. Please refer to Closed-Loop Parameters and Closed-Loop for further detail.

Added the isolateFileHandling option and ringBufferExpandFactor option to the file log option parameters of the Log module. These options may prevent logging overflow caused by disk access I/O latency.

The M4Platform supports a communication cycle of 62.5 us. Note: M4Configurator may optimize certain parameters in conjunction with the communication cycle. Therefore, please use M4Configurator whenever possible to change the communication cycle or network parameters.

M4LogInput/M4LogOutput for recording statistical information on the M4Platform is supported.

Added ApiBufferMultiCondition feature to ApiBuffer for advanced flow control using logical gate nodes (AND, OR, NOT). This enables more flexible and maintainable condition handling. Please refer to Flow Control for further detail.

Added Jerk-Limited Sinusoidal Jerk profile type. In this profile type, jerk varies according to a sine wave.

Added waitTimeMilliseconds as a parameter to the SetServoOn function. When waitTimeMilliseconds is set to a value greater than 0, this function will wait for the axis to transition to the target state (servo on or servo off) after sending the signal to the servo.

Added the SetOutAnalogData type to IoEventOutput in the IO module.

In CCLinkPlatform, support for new statistical information has been added. For details, see CCLinkStatisticsInfo.

In CCLinkPlatform, communication cycles of 62.5 μs and 31.25 μs are now supported.

In CCLinkPlatform, several settings that improve performance have been added. For details, see WMX3_PLATFORM_FUNC_TSN_DEF_TUNING.

In CCLinkApi, a function has been added to retrieve and change certain network settings during communication. For details, see SetMasterParam.

Added the EqualPosTargetAxis, GreaterPosTargetAxis, and LessPosTargetAxis type to CoreMotionEventInput in the CoreMotion module. Please refer to Core Motion Inputs.

Added followingError to SyncGroupStatus.

Added followingError and syncError to CoreMotionAxisStatus.

Added followingError and syncError, which are in user unit, to CoreMotionAxisLogOutput.

Changed the mask parameter in the TxPdoWrite function in EcApi from unsigned int to unsigned long long.

Added new parameters (actualBitLen, bitOffset) to the PdoRead function in EcApi to retrieve bit-level size and offset information.

Modified the JerkLimited, JerkLimitedFixedVelocityT, JerkLimitedFixedVelocityS, and CycleTimeIndependentJerkLimited profile types to not exceed the specified jerk limit when the target velocity cannot be reached.

Modified the Execute, Halt, Clear, and Rewind functions of the ApiBuffer module to return the ApiBufferNotOpened error when called while the specified API Buffer channel has not been opened with the CreateApiBuffer function. In previous versions, the RequestModeChangeTimeout error is returned, and subsequent calls would return the PrevSettingsBeingApplied error.

The behavior of UserDef=1 has been changed in M4Platform, and the HaltOnNetworkDiff parameter has been removed.

Stability and usability have been improved in M4Platform. Several network parameters have been added for stability, and the Offline status has been replaced with a more detailed ConnectionStatus.

Changed the argument type of SetLog, SetApiLog, and OpenApiLogFile to const char* / const wchar_t* in Log module (previously char* / wchar_t*). Changed the argument type of SetLogHeader to const char* const* (previously char**).

In CCLinkPlatform, when the communication cycle is shorter than 1 ms, the TSLT0 processing frequency has been changed to 1 ms. To process it every cycle as before, set Tslt0Cycle to 1.

In CCLinkApi, the statistical information showing percentages has been changed to counts.

The number of IDs obtainable via ApiLogToString for the GetAllEventID function in the Event module has been changed from 3 to 64.

Refactored the internal (cyclic) sequence for the Watch function in the ApiBuffer module.

Refactored the internal (cyclic) sequence in the CyclicBuffer module.

Implemented internal logic to determine whether a latched switch (home, limit, Z-pulse, etc.) originates from a physical switch or from a synchronized master axis.

Desync Handling is now supported for Sync Group.

The data type of the actualFollowingError has been changed from double to int.

For the following error feedback received from the servo, double type followingError is changed into int type actualFollowingError for CoreMotionAxisLogOutput. The same change applies to CoreMotionAxisLogInput.

Fixed an issue in the PathInterpolationLookAhead that the velocity of a motion segment would decelerate to 0 if a non-motion segment (such as IO) followed after the motion segment.

Fixed an issue where, when setting GreaterVelocity as a condition in the Event module, the event condition would be met even if the FeedbackVelocity in Status had not yet reached the specified value. The event has been corrected to reference the same FeedbackVelocity as Status.

Fixed an issue in the Event module and CoreMotion module where the parameter movingAverageTimeMilliseconds of StartSinglePos/Mov and StartMultiplePos/Mov (in EventOutput) was missing.

Fixed an issue in which the distLSToMasterLS and distHSToMasterHS statuses returned by GetHomeData could become nonzero when "Gantry Homing Use Slave HS" or "Gantry Homing Use Slave LS" was set to false.

Fixed an issue in which calling the CyclicBuffer::ExecQuickStop function would cause subsequent CyclicBuffer::GetStatus functions to return the MaxAccError state until CyclicBuffer::Execute was called again. Now, GetStatus correctly returns Stopped.

Fixed an issue for cyclic buffer commands in which setting intervalCycles to 2 or greater may cause the final command position to differ slightly.

Fixed an issue where out-of-range I/O data could be specified using EqualIOBytes, GreaterIOBytes, and LessIOBytes in IoEventInput.

Fixed an issue where processing would not complete when extracting information using ApiLogToString from API log data containing the response of GetAllEventID.

Fixed an issue in which the ResetLog function of the Log module did not initialize stopLoggingOnBufferOverflow and triggerEventID.

Fixed an issue in CCLinkApi where the API log output content was insufficient.

In CCLinkPlatform, fixed an issue where an abnormal interrupt interval could cause communication errors.

Fixed an issue where the Halt function would fail while Wait was running with SetWatch applied in ApiBuffer. Cause: internal StateMachine race condition.

Improved the DancerControl function in AdvancedMotion to consider negative input values. Input values are treated as char (1), short (2), int (4), or long long (8).

Fixed an issue in the CyclicBuffer module where, after stopping an interval command and starting a new interval command, the previous one would still be triggered.

Fixed an issue in the Log module where calling ResetMemoryLog would cause subsequent calls to GetMemoryLogData to return an ArgumentOutOfRange error.

Fixed an issue in the Log process where data of type unsigned long long was processed as signed long long during string conversion.

Fixed an issue where repeated axis stop commands kept the Operation state stuck.

Fixed an issue where commanding the SyncToJog function in the negative direction caused an error due to unintended profile validation.

Fixed an issue where overriding a position command could force the profile to change to Trapezoidal.

Fixed an issue where overriding a position command could cause the axis to enter the Idle state if the commanded position was greater than 2^38 or less than -(2^38)-1.

Fixed an issue where the source of ActualVelocity obtained via GetStatus differed from the ActualVelocity used internally.

Fixed an issue in the Jerk-Limited profile where jerk limits could be violated if the profile became wedge-shaped.

Fixed an issue in the Jerk-Limited and Jerk-Limited Advanced-S profiles under certain conditions (initial velocity > profile velocity, overshoot, single segment) that could cause completion in a single cycle.

Fixed an issue in the EtherCAT Platform where slave status was not updated when TurnOffOnTopoChange=1.

Fixed an issue in the EtherCAT Platform where calling an API to change slave status while communication was stopping could cause an infinite loop during hot connect.

Fixed an issue in the EtherCAT Platform where the enifile= setting defined in userdef was not applied correctly.

Added CyclicBuffer section under Motion Programming Guideline \ Other Functions.

Updated graph of Motion Programming Guideline \ Advanced Motion \ Spline \ Velocity Acceleration Limited Spline.

RealTek NICs set as incompatible in Support Specifications \ WMX3 RTX Version \ Compatible NIC.

Updated description of UserDef=1 in M4Platform.

Updated settings for disabling Virtualization-Based Security in Setup Guide \ Real-time OS Configuration \ WMX3 RTX Version \ RTX Configuration 2 - Critical System Settings.

Added API references of SetDeviceTimeout and GetDeviceTimeout.

Fixed incorrect description in SetUpdatePeriod function documentation.

Updated EcScanNetworkMode enumeration in EcApi reference.

Updated parameters of ScanNetwork function in EcApi reference.