2.9.1

New safety features

EVSSNET-724 Implement SDO complete access for Safety registers

EVSSNET-731 Implement PDO dynamic mapping

SACOAPP-138 Implement 3 submodules with different SRA CRC use cases

EVSSNET-736 Implement Incremental encoder usage

EVSSNET-737 Implement Digital halls encoder usage

EVSSNET-729 Implement BISS C Absolute encoder usage

EVSSNET-753 Implement Safe Position

EVSSNET-752 Implement Safe Velocity

EVSSNET-877 Implement Safe Homing

EVSSNET-975Implement Gear Ratio support

EVSSNET-745 Implement safety function Safe Stop 1 (SS1)

EVSSNET-748 Implement safety function Safe Operating Stop (SOS)

EVSSNET-746 Implement safety function Safe Stop 2 (SS2)

EVSSNET-971 Implement safety function Safe Limited Speed (SLS)

EVSSNET-749 Implement safety function Safe Speed Range (SSR)

EVSSNET-739 Implement safety function Safe Limited Position (SLP)

EVSSNET-750 Implement safety function Safe Limited Increment (SLI)

EVSSNET-751 Implement safety function Safe Direction (SDI)

SACOAPP-243 Implement user over-temperature configurable limit

New standard features

COMOCOAPP-398 Implement dynamic braking

COMOCOAPP-421 Enable the internal generator option in the auxiliary feedback.

DRIVSUS-48 Separate error codes for absolute encoders 1 and 2.

COMOCOAPP-42 Add user temperature warning levels (overtemperature and undertemperature).

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.

Bug fixes

COMOCOAPP-294 The bootloader version does not show the build number.

SUMMITNPI-48: Fix forced phasing after boot-up executed in the wrong operation mode.

COMOCOAPP-291 Motor can run away when transitioning between CSP and CST.

MOCOAPP-110 Fix disconnection or frame overlap with Zettlex Biss C encoder

COMOCOAPP-273 Abort connection option code should be storable.

COMOCOAPP-479 Fix wrong store of 0x2156 phasing timeout

COMOCOAPP-475 Fix absolute encoder position calculation with offset

EVSNET-115 Fix inverted default MAC address.

COMOCOAPP-456 The MAC address register is sometimes showing an extra byte of data in EtherCAT products.

COMOCOAPP-478 Velocity loop input offset (0x207B), Interpolation time mantissa (0x21EF) and Interpolation time exponent (0x21F0) are not being stored.

COMOCOAPP-479 Commutation phasing timeout (0x2165) shows a wrong value after storing.

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.

COMOCOAPP-539 Fixed hardware overcurrent on first operation enable transition for Denali products.

Improvement

COMOCOAPP-392 Charge bootstrap capacitors before PWM starts

COMOCOAPP-396 Remove electrical velocity limit of 600Hz

COMOCOAPP-213 Rename object 0x214F Commutation modulation to Control mode and update the value description.

DRIVSUS-43 Add DisplayName attribute in ESI file arrays.

COMOCOAPP-331 Implement the standard register Manufacturer device name.

COMOCOAPP-415 Fix EtherCAT CTT warnings related to register names.

COMOCOAPP-364 Fix inconsistencies in dictionaries.

COMOCOAPP-419 Force a Restore all after a firmware update.

COMOCOAPP-456 Ethernet configuration registers should be read-only in EtherCAT products.

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.

Starting with this update, configuration values will be automatically reset to their default settings after every firmware upgrade (previously, this step had to be performed manually by the user). If you update the firmware without first saving your current configuration to an .xcf file, your settings will be lost and cannot be recovered.

Known issues