Bug
-
CAP-400 Brake pin should have a fw configured pull-down or "low level" at startup
-
CAP-398 0x6073 register does not work correctly
-
CAP-395 Register BiSS-C polarity is writing to the register frame type
-
CAP-379 Apply software multi-turn on multi-turn absolute encoders
-
CAP-376 Manufacturer specific serial number returns wrong values
-
CAP-336 Add timeout in fault reaction state
-
CAP-290 Halt input functionality is not working and the halt input register shows random values
-
CAP-284 Add torque control block
-
CAP-263 Incremental encoder against halls error option code naming error
-
CAP-179 Ibus readings are always 0
Improvement
-
CAP-343 Make velocity and position PID parameters pdo mappable
-
CAP-316 Improve EMCY error messages management
This version introduces new storable registers. It is necessary to follow the standard after-update procedure which includes:
-
Save the drive configuration to a file.
-
Restore the drive to defaults.
-
Load the drive configuration file again.
Known issues
|
ID |
Description |
workaround |
|---|---|---|
|
CAP-215 |
Max and min position limits not working |
None. |
|
CAP-311 |
Cable disconnection reaction is always fault |
None. |
|
CAP-313 |
Register BiSS2 frame size is not being stored |
If using BiSS-C 2, re-configure BiSS-C 2 frame after power up before operation. |
|
CAP-409 |
Error management registers not seen in EtherCAT. They don't appear in the offline dictionary (ESI), only in the online dictionary |
Use SDO Info service. |
|
CAP-410 |
Velocity out of limits error is not working |
None. |
|
CAP-413 |
Register Command source 1 cannot be stored in NVM |
If being used, set it again after each power cycle. |