New Feature

  • DEN-342 Implement 0x1029 Error behavior object

  • DEN-442 Detect if the BiSS-C encoder is disconnected

  • DEN-443 Add global system reset

  • DEN-455 Add support to configure STO error reaction

  • DEN-456 Add capability to detect a wrong ADC offset calibration

  • DEN-488 Add a new STO error to force stop the PWM if STO is activated in operation enable state

  • DEN-508 Add a new absolute encoder type based on SSI but with different scheme clocks

  • DEN-496 New error (0x0007385) triggered when the drive starts up in position mode outside of position limits

  • DEN-437 Implement Brake Current Control


  • DEN-171 MAC address format is incorrect

  • DEN-226 Lifeguard EMCY is not sent upon every lifeguard error

  • DEN-336 Register comms cycle timeout 0x5EC5 is not being stored in CANopen FW

  • DEN-392 EtherCAT link is lost after SW reset (from boot to application)

  • DEN-438 Warnings not being cleared from the system error queue

  • DEN-444 Review CiA variables PDO mapping

  • DEN-475 Enable RPDO length error EMCY

  • DEN-514 Position mask is not being applied to absolute encoder frames

  • DEN-519 Everest returns an incorrect configuration error when modifying some registers while the motor is enabled

  • DEN-525 Bad EMCY message after CAN bus off

  • DEN-528 When forcing a CAN bus off state, the ERR LED is not steady on

  • DEN-547 Fix default values

  • DEN-554 CiA Positioning Following Error (0x60f4) is always reporting 0.

  • DEN-580 Secondary Absolute Slave is not working

  • DEN-630 0x5EC5 "Communication cycle timeout" defaults to 1 but it must be 0

  • DEN-632 DEN-NET-E reports random 0x0000FF43 "EtherCAT cable disconnected" errors in bursts and when changing state in TwinCAT


  • DEN-440 Replace absolute encoder "wait cycles" with a "maximum refresh rate”

  • DEN-493 Control loops feedback options register should be RW

Known issues





Wrong value conversion between homing speeds (CiA to manufacturer)



Absolute encoder stops responding when reconnected



Feedback CLK not being reset after changing the refresh rate



Abort connection option code (0x6007 - fault) is not working in EtherCAT



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.