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 |