2.4.0

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

Bug

• 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

Improvement

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

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

Known issues