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  • [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


  • [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




CAP-926Lower 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

Default values read from the drive are not the same as those in the EDS file (CANopen)

CAP-967RPDO and TPODs registers have incorrect default values (CANopen)None
MOT3-2748Register 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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