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2.0.0

Bug

  • S-curve:
    • CAP-599 A positive velocity demand appears in a negative direction movement
    • CAP-753 At the end of a movement, the velocity demand is taking the velocity set-point value
    • CAP-754 High velocity command is sent when profile is latched
    • CAP-755 Acceleration discontinuity when latching new setpoints
    • CAP-756 Overshoot occurs when latching with non-zero initial velocities
    • CAP-292 When a profile position S-curve movement ends, velocity demand is set to profiler max. velocity instead of 0 rev/s
  • Object dictionary:
    • CAP-721 System last error has bad data type
    • CAP-717 Some registers have incorrect names
    • CAP-705 Torque demand register is missing in CANopen
    • CAP-594 Access error, reading CANopen identification registers
    • CAP-503 Analog value is missing
    • CAP-508 Halt option code is RO and should not
    • CAP-436 CANopen register 0x1f56 has wrong value
    • CAP-408 Registers 0x1008 and 0x100A are only present in online dictionary, not in the offline one (ESI file)
    • CAP-716 Incorrect accesses and defaults of registers between products

    • CAP-686 Registers command source 1 and 2 must be RO
    • CAP-695 Registers store and restore all cannot be read
    • CAP-687 Analog gains and offsets have to be RW
    • CAP-241 Missing bootloader version register 
    • CAP-621 Missing register restart all feedbacks
    • CAP-628 Reference angle offset register has to be RW
  • Communications:

    • CAP-624 CAN drive unable to recover from bus OFF state

    • CAP-588 Lifeguard error is sending two EMCY error messages
    • CAP-576 Having EOE working can hang the drive after some time
    • CAP-459 Fix EDS file errors
  • Feedbacks
    • CAP-675 Actual position is not computed correctly when using BiSS-C absolute multiturn encoder in system with gearbox
    • CAP-313 Register BiSS2 frame size is not being stored
    • CAP-267 Feedback runaway check is not working with Absolute encoders
  • CAP-611 Drive gets stuck in fault state and is unable to reset it

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

  • CAP-481 Minimum high side on time is necessary to generate output signal without distorsion at maximum duty

  • CAP-417 Correct value of register min low side time on 

  • CAP-598 Incorrect implementation of derivative continuity feature

  • CAP-674 Following error bit is not updated correctly in statusword register 

  • CAP-651 With ethernet, disturbance is sometimes not loading correctly

  • CAP-650 EtherCAT EEPROM product string name is wrong

  • CAP-635 CAP-CORE velocity filter should be 1 as default value

  • CAP-595 Derivative part of position PID is not working

  • CAP-567 PDO mapping and configuration are not stored into the NVM for CANopen version

  • CAP-542 Under temperature threshold has to be -20ยบC

  • CAP-541 Communications watchdog error option code 2 and 3 are not working as expected

  • CAP-540 Interpolation time exponent not working properly and goes to 0

  • CAP-533 Brake frequency is not working

  • CAP-499 Ethernet link-activity LED signalling wrong behaviour

  • CAP-497 Port1 led should blink when having Ethernet application

  • CAP-413 Register Command source 1 cannot be stored in NVM

  • CAP-283 Correct EtherCAT CTT errors

  • CAP-694 Derivative filter of the control loop PID is wrong

  • CAP-443 Reset monitoring also reset disturbance

  • CAP-464 Motor temperature reading problems in several modes

Improvement

  • Monitoring and disturbance:

    • CAP-763 Remove monitoring buffer size limits
    • CAP-764 Protect monitoring read data form size 0

    • CAP-758 Add monitoring submodule version register

    • CAP-759 Add monitoring status additional bits

    • CAP-761 Create a monitoring status register

    • CAP-762 Add monitoring trigger status

    • CAP-768 Implement a mechanism to detect wrong update rate
  • CAP-521 Rename Force Boot register

  • CAP-438 CANopen bus off detection

  • CAP-333 Remove high side time on

  • CAP-311 Cable disconnection reaction is always fault and it should be configurable

  • CAP-643 Change default behavior of brake override

  • CAP-535 Missing COREs option code enums

  • CAP-506 Distinguish names on CANopen dictionary between manufacturer and CiA registers

  • CAP-723 Document error queue registers

  • CAP-699 Current quadrature/direct min/max output default values should be set to 48 V, not 24 V

  • CAP-524 EtherCAT and PWM PLL registers needs to be added

  • CAP-482 Create register to report maximum bus utilization

New Feature

  • CAP-641 Add if halt is active in the 15th bit of the status word
  • CAP-525 Fault reset input implementation

  • CAP-673 Add control loops error registers

  • CAP-523 Add Ethernet IP address configuration registers. IP address is now configurable

  • CAP-475 Implement link LED to CANopen FW (Ethernet)

  • CAP-708 Add functionality to enable or disable the +5V output of the drive

  • CAP-696 Add a protection in case packages are not received from an EtherCAT master

Known issues

IDDescriptionWorkaround
CAP-738

Sometimes register Biss-C 2 frame size gives an error when writing it

-
CAP-734

Halt is not working properly in some modes (velocity, profile velocity and profile position)

-
CAP-730

Homing on current position with limits triggers positioning error

Set the position inside the limits
CAP-748Motor temperature limits are not correctConfigure a valid temperature sensor
CAP-744Kd filter should not take 0 value-
CAP-741Interpolation time exponent should not take negative values-
CAP-752

Halt option code register (0x605D) can't be read and write

Use manufacturer specific register 0x2620
CAP-605

EtherCAT register 0x6502 value is wrong

-

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.

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