Breadcrumbs

0.7.1

Bug

  • CAP-586

    Drive moves 1 entire revolution when settings absolute encoder offset and position range settings

  • CAP-568

    Fake soft-multiturn is happening when the encoder position oscillates around "0" 

  • CAP-175

    Fix loop frequencies values

  • CAP-528 Forced alignment might not work with analog command source selected

Improvement

  • CAP-381

    Improve Bus Voltage utilization

  • CAP-330

    Decrease ADC sampling time

  • CAP-498 User I2T option code doesn't allow to generate a fault

New Feature

  • CAP-507

    Implement torque loop registers

  • CAP-527

    Create registers to reset and monitor PID integral

  • CAP-331

    Make ADC sampling delay configurable


This version introduces new storable registers. It is necessary to follow a special update procedure:

  • Save the drive configuration to a file.

  • Restore the drive to defaults.

  • Update to the new firmware.

  • Load again the drive configuration from the previously saved file.

It may be necessary to redo the phasing.