2.6.0

Bug

COMOCOAPP-196 Fix status word bit 12 behavior (Set-point acknowledge) for PP. Switch limits active bit (previously bit 12) was moved to bit 11.

COMOCOAPP-212 Fixed behavior of the abs/rel. bit in the Control Word (0x2010 & 0x6040).

The relative position mode uses the last set-point as the initial condition for computing the profiler. This usually matches the position demand value except for the first movement after reaching the operation enable state.

COMOCOAPP-233 Halt bit was not processed when set through the CiA Control Word (0x6040).

COMOCOAPP-234 Abort connection (0x6007) reaction 3, triggers a fault instead of a Quick Stop Command.

COMOCOAPP-237 CANopen heartbeat is wrongly disabled after the Reset Communications event (NMT state machine).

COMOCOAPP-248 Bit 12 does not work in CST mode.

COMOCOAPP-249 Status word target reached not working properly on the relative position.

COMOCOAPP-250 Max and Min position don't work properly with the relative position.

COMOCOAPP-271 Registers 0x1C00 and 0x10F8 missing from the ESI file

New Feature

COMOCOAPP-207 Modify CAN Node ID based on GPIs (see register 0x5820 - CANopen Node Id Bits Input).

Improvement

COMOCOAPP-252 Communications error management has been updated to be safer in EtherCAT networks.

COMOCOAPP-259 The value of PDO assign register 0x1C12 and 0x1C13 entries is 0 when loading the dictionary via SDO information.

Summit drives implemented two errors on top of the standard EtherCAT error management mechanism:

• Cable disconnection

• Lack of PDO cycle detection

These two errors have been removed and now only the standard EtherCAT mechanism is used. The rationale:

• The cable disconnection is only useful in a P2P connection during commissioning. In a standard EtherCAT network (daisy chain), the sync manager watchdog and DC synchronization issues detection already cover this mechanism. The cable disconnection error was triggered in some scenarios where was not helping or protecting properly the system.

• The Lack of PDO cycle detection is covered by the sync manager watchdog protection, so there was a redundancy in this protection.

Sync manager watchdog timeout is linked to error 0xFF43

From this release, cable disconnection protection (0xFF43) is only working in the EtherCAT Operational state.

For clearing the detection of the error 0xFF43, it is required a transition from PreOperational to Operational. The behaviour of this error can be set through register 0x6007 - Abort Option code

Known issues