New Features
SACOAPP-138 Add support for using the SRA CRC.
COMOCOAPP-284 Implement NVM user space.
SACOAPP-105 Implement the safety function SS1 (safe stop 1).
SACOAPP-105 Implement the safe inputs.
SACOAPP-21 Implement the error manager.
SACOAPP-142 Add identification registers to the safety subnode (product code, software version and serial number).
Bug Fixes
SACOAPP-141 Fix complete access for safety registers.
Improvements
SACOAPP-173 Make the build number of software version fixed-size.
SACOAPP-134 Remove the termination character at the end of string objects in EtherCAT.
SACOAPP-85 Exclude 0 from the Safety Address range.
SACOAPP-137 Update the limits of the FSoE watchdog.
SACOAPP-135 Block SDO write access to safety registers while in Operational state.
SACOAPP-124 Add store subnode and restore subnode to the store all and restore all registers.
SACOAPP-131 Review the object dictionary.
Known issues
|
ID |
Description |
Workaround |
|---|---|---|
|
Wrong value conversion between homing speeds (CiA to manufacturer). |
None |
|
|
Feedback CLK not being reset after changing the refresh rate. |
None |
|
|
Default MAC address is inverted. |
None |
|
|
Register 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 |