2.9.0

Bug

COMOCOAPP-448 Fixed the Target Reached bit behavior in the Status Word during relative movements.

COMOCOAPP-475 Fixed the absolute encoder position calculation for negative absolute encoder position offsets.

COMOCOAPP-487 Fixed a bug that occasionally prevented writing the interpolation buffer value.

COMOCOAPP-501 Fixed access to Monitoring/Disturbance data subindex 0. Now is read-only.

New Feature

COMOCOAPP-492 Added support for Dual BiSS C encoders on the Primary Absolute Feedback.

COMOCOAPP-496 Added a new register (Store Status - 0x5EE7) to report the status of the “Store all” procedure

COMOCOAPP-485 Added support for loading configuration files over EtherCAT FoE upload.

COMOCOAPP-499 Implementation of Cogging compensation to the torque loop output.

Improvement

COMOCOAPP-464 Added a glitch filter to the Vbus measurement for the "Fast" overvoltage sensitivity setting. Without this filter, enabling the motor could occasionally trigger a false hardware overvoltage fault.

COMOCOAPP-476 EtherCAT frames are fully processed before updating the new motion inputs. Output values sent by the master in an EtherCAT frame are processed in the same loop cycle.

This strategy may add latency to processing new inputs in the control loops due to full-frame processing time. Latency depends on the PDO mapping size. Standard PDO mapping (4x RPDOs and 4x TPDOs) introduces no additional latency.

COMOCOAPP-493 Homing status updates only after triggering a new homing procedure. Previously, changing the operation mode reset the homing status.

COMOCOAPP-498 The “Store all” procedure is now blocked when the communications state machine is in the “Operational” state.

Known issues