Features
DRIVSUS-196 Implement output power limitation feature.
DRIVSUS-236 Implemented register “User i2t value” (0x2103).
Bugs
COMOCOAPP-256 Torque bit in “Control loop feedback options” (0x2510) was writeable. Now it’s blocked.
COMOCOAPP-506 Fixed rounding issue when writting the register “Phasing accuracy” (0x2157)
DRIVSUS-38 Velocity becomes unstable after long operation when using Halls as velocity sensor.
DRIVSUS-124 Incorrect behavior of the positioning option “Shortest way” when working in Profile Velocity mode.
DRIVSUS-242 Fixed I2T activation time when using trapezoidal and sinusoidal modes.
DRIVSUS-274 Encoder disconnection or frame overlap is wrongly detected when enabling absolute feedbacks.
DRIVSUS-275 Absolute encoder wraparound is not correctly calculated.
DRIVSUS-276 Fixed limitations for interpolation time exponent (0x21F0) and Interpolation time index (0x60C2:0x2) registers
DRIVSUS-290 Name and description aligned with documentation for 0x262E register .
DRIVSUS-293 Torque demand in the drive profile section (0x6074) is not being updated.
DRIVSUS-309 “Auxiliar feedback” renamed to “Auxiliary feedback” in the dictionary files and documentation.
DRIVSUS-317 Incremental encoder 2 option as Homing index pulse source was missing in the XDF of some variants.
DRIVSUS-321 The register “Synchronization signal configuration” had some invalid options in the XDF of some variants.
DRIVSUS-329 Fixed unexpected position movement when using the Positioning option “Shortest way” after the first operation enable.
DRIVSUS-330 Fixed units of the Target velocity register in the XDF file.
DRIVSUS-333 Fixed position demand after movement is halted.
DRIVSUS-338 System I2T error was reported twice for every I2T error event.
DRIVSUS-339 Low-side transistors initial state was not correct after a power-cycle depending on some configurations. For example when Dynamic brake was enabled.
DRIVSUS-343 Support BiSS-C control communication for feedbacks with non-adaptive timeouts.
DRIVSUS-350 Fixed false frame overlapping errors when using the Secondary absolute encoder.
Improvements
DRIVSUS-252 Reviewed Power stage deadtime values for all variants.
DRIVSUS-259 Improved Pre-enable sequence (charge of bootstrap capacitors) to prevent HW overcurrent.
DRIVSUS-261 Disabled unused peripherals to improve current consumption.
Kwown issues
DRIVSUS-389 Wrong bootloader version in CAN products