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2.4.0

New Feature

  • CAP-978 Implement the 0x1029 Error Behavior register

  • CAP-1000 Detect a disconnected BiSS-C encoder

  • CAP-1002 Add global system reset

  • CAP-1005 Add support to configure STO error reaction

  • CAP-1006 Add capability to detect a wrong ADC offset calibration

  • CAP-1032 Add a new STO error to force stop the PWM if STO is activated in operation enable state

  • CAP-1036 Add a new absolute encoder type based on SSI but with different clock schemes

  • CAP-1035 New error (0x0007385) triggered when the drive starts up in position mode outside of position limits

  • CAP-1017 Implement brake current control

Bug

  • CAP-794 MAC address format is incorrect

  • CAP-834 Lifeguard EMCY is not sent upon every lifeguard error

  • CAP-915 Warnings not being cleared from the system error queue

  • CAP-963 Register Communication cycle timeout 0x5EC5 not being stored in CANopen FW

  • CAP-994 EtherCAT link is lost after SW reset (from boot to application)

  • CAP-1003 Review CiA variables PDO mapping

  • CAP-1027 Enable RPDO length error EMCY

  • CAP-1037 Position mask is not being applied to absolute encoder frames

  • CAP-1038 The drive returns an incorrect configuration error when modifying some registers while the motor is enabled

  • CAP-1041 Bad EMCY message after CAN bus off

  • CAP-1043 When forcing a CAN bus off state, the ERR LED is not steady on

  • CAP-1049 Fix default values

  • CAP-1054 Positioning Following Error 0x60f4 is always reporting 0

Improvement

  • CAP-998 Replace absolute encoder "wait cycles" with a "maximum refresh rate"

  • CAP-1033 Control loops feedback options register should be RW

Known issues

ID

Description

Workaround

SUMMIT-3237

Wrong value conversion between homing speeds (CiA to manufacturer)

None

SUMMIT-3372

Absolute encoder stops responding when reconnected

None

SUMMIT-3425

Feedback CLK not being reset after changing the refresh rate

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


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