2.4.0
New Feature
CAP-1000 Detect a disconnected BiSS-C encoder
CAP-1005 Add support to configure STO error reaction
CAP-1006 Add capability to detect a wrong ADC offset calibration
CAP-1032 Add a new STO error to force stop the PWM if STO is activated in operation enable state
CAP-1036 Add a new absolute encoder type based on SSI but with different scheme clocks
CAP-1035 New error (0x0007385) triggered when the drive starts up in position mode outside of position limits
CAP-1017 Implement brake current control
Bug
Improvement
CAP-998 Replace absolute encoder "wait cycles" with a "maximum refresh rate"
CAP-1033 Control loops feedback options register should be RW
Known issues
ID | Description | Workaround |
|---|---|---|
Absolute encoder stops responding when reconnected | None | |
Feedback CLK not being reset after changing the refresh rate | None | |
Out of position limits errors have inconsistent behavior in CAP-CORE compared to NET and XCR | None |