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0.4.1

Bug

  • CAP-228 PDO units are not correctly read on TwinCAT
  • CAP-226 Store is not storing some registers
  • CAP-182 HW overcurrent depending on boot-up sequence
  • CAP-162 Third on-board temperature sensor is not read

Known issues

IDDescriptionworkaround
CAP-206

PDO mappings and PDO assigns have no default value

Write EtherCAT PDO mapping registers before entering into the Operational state:

CAP-211

EMCY is not working and neither registers 0x1001 and 0x1003

Use manufacturer-specific register for error management.

CAP-212

EtherCAT cable disconnection safety reaction not working

None
CAP-213

Interpolation time exponent and mantissa names and ranges are wrong

Modify these parameters directly from the EtherCAT master instead of using Motionlab.

CAP-215

Max and min position limits not working

None
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