2.6.0
Bug
MOCOAPP-86 Fix status word bit 12 behavior (Set-point acknowledge) for PP. Switch limits active bit (previously bit 12) was moved to bit 11.
MOCOAPP-89 Bit 12 does not work in CST mode.
MOCOAPP-83 Fixed behavior of the abs/rel bit in the Control Word (0x2010 & 0x6040).
MOCOAPP-87 Status word target reached not working properly on relative position.
MOCOAPP-88 Max and min positions don't work properly in profile position mode when a relative position is commanded.
The relative position mode uses the last set-point as the initial condition for computing the profiler. This usually matches the position demand value except for the first movement after reaching the operation enable state.
Improvement
CAPCORE-35 Remove the option Sensor gain 4 from register 0x24FF (Current scaling gain factor).
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 CORE compared to NET and XCR versions | None |