2.3.0
Bug
- CAP-1018 Wrong EtherCAT EMCY message when clearing a fault
- CAP-1015 Voltage quadrature command stays around the initial value in CANopen
- CAP-981 Index pulse of incremental encoder not working properly
- CAP-840 Trapezoidal commutation is being inefficient
Improvement
- CAP-975 Refactor of absolute feedback names
- CAP-697 Object 0x1003 pre-defined error field wrong abort code when no error
New Feature
- CAP-944 Add heartbeat consumer service in CANopen
- CAP-943 Implement 0x603F error code register over CANopen
- CAP-827 Implement 0x6062 position demand register
- CAP-709 Read bootloader version from NVM
Known issues
| ID | Description | Workaround |
|---|---|---|
| CAP-926 | Lower 3 bytes of the MAC address is not correct (CANopen) | Do not create a LAN with more than one Capitan. If necessary, create a private LAN for each device. |
| Manufacturer specific Store/restore all return wrong error codes (CANopen) | None | |
| CAP-966 | Default values read from the drive are not the same as those in the EDS file (CANopen) | None |
| CAP-967 | RPDO and TPODs registers have incorrect default values (CANopen) | None |
| MOT3-2748 | Register 0x1003 subindex 1 returns an error code when connecting to the device using MotionLab 1.5.0 through CAN. It does not affect the drive functionality and will be fixed in future MotionLab release. | None |