CiA 406 Changelog

[4.02] - 2026-09-09

Added

• Cos406_SetAlarms(), Cos406_SetOperatingStatus(), Cos406_SetOperatingTime(), and Cos406_SetWarnings() — public setter functions for application-side encoder state reporting
• DS406_OPER_STATUS_e enumeration for object 6500h (operating status bits)
• DS406_ALARM_e enumeration for object 6503h (alarm bits)
• DS406_WARN_e extended with eWARN_SR, eWARN_AR, and eWARN_JR (speed, acceleration, and jerk range bits 6, 7, 8 per CiA 406 Table 150)

Changed

• MISRA C:2025 compliance

Removed

• deprecated symbols DS406_HIGH_PRECISION and DS406_REVOLUTIONS_MULTI_TURN

[4.00] - 2025-12-16

Added

• Cos406_Idx6005() for object 6005h (Linear encoder measuring step settings) with Cos406_LinearMeasuringStep_ts structure
• Cos406_Idx6040() for object 6040h (Acceleration value)
• Cos406_Idx6050() for object 6050h (Jerk value)
• DS406_RESOLUTION_MULTI_TURN_32 and DS406_REVOLUTIONS_MULTI_TURN configuration definitions
• Initial dynamic TPDO mapping entries (cos406_tpdo.inc)

Changed

• DS406_SUPPORTED_ALARMS, DS406_SUPPORTED_WARNINGS, and DS406_RESOLUTION_SINGLE_TURN wrapped in preprocessor guards to allow user-side override

[3.02] - 2023-05-31

Added

• COS_DS406_VERSION_MAJOR and COS_DS406_VERSION_MINOR module version macros
• Add-on module description