| Firmware Version | Release Time | Changes and Features |
| X4012911X | 2024/1/31 | Pulse Direction Control Mode- New Feature: Pulse direction control mode now includes IO-motion completion signal output.
- Optimization: Input IO enable function only operates in conjunction with the pulse direction control mode; IO enable is ineffective in other control modes.
Power-Up Time- Optimization: Reduced the time required for the servo to be fully prepared from 8 seconds to 5 seconds during power-up.
Brake Control- Optimization: Improved the handling of brake release after enabling, reducing the time required for brake release.
Object Dictionary- New Feature: Modify the "Bus Adjust PID" parameter through object dictionary 0x2383.
- New Feature: Configure velocity feedforward gain via object dictionary 0x2382-03h.
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| X3100909X | 2023/10/09 | Brake Control- Optimized the processing logic of Enable brake release.
Object Dictionary- Modified the contents of object dictionary 0x1009 and 0x100A.
CANopen Communication- Fixed CANopen Ver. TxPDO no response issue.
Operation Mode- Added support for Homing mode.
Fault Protection- Optimized：When the power supply voltage drops to 19V, only update error code 0xF008 (the bus voltage is lower than the minimum allowable power supply voltage of 19V)
Modbus Communication- Added a Modbus address to read the singleturn encoder value at the motor end and the singleturn encoder value at the load end.
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| X3071220X | 2023/07/18 | PT Mode- Added torque ramp planning in PT mode.
Profile Position Mode(immediate update)- Optimized immediate update in profile position mode
Pulse Direction Function- Fixed the problem that the control mode set by the pulse direction control does not take effect;
- Optimized the pulse direction control function. Servo enable by default after power-on can be configured by inputting the IO function, and it will take effect when the IO polarity is reversed.
Mechanical Zero Calibration- Fixed the problem that the position jump after the power is turned off and on at a particular position after the mechanical zero point calibration function is applied to the singleturn and multiturn actuators.
Fail Safe- Added the disconnection detection function of CANopen, and the error code is 0x8130.
- Optimized the processing logic of 0xA000 alarm.
Brake Control- Optimized the handling of brake release after enabling.
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