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 -20ºC

• 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

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.