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