Version 1.3.0

Bug

• [EMCL-123] - Daisy chain does not work

• [EMCL-132] - Register 0x1200 is not reporting the correct values

• [EMCL-142] - Health output is inverted

• [EMCL-143] - Digital output polarity has to be inverted

• [EMCL-150] - Repeat functions keeps in an endless loop

• [EMCL-153] - Fault state signalling is not received when using UART communications

Improvement

• [EMCL-23] - Improve trap signalling and add it to documentation

• [EMCL-116] - Include brake out PWM modulation

• [EMCL-120] - Modify local/remote behaviour

• [EMCL-124] - Remove non-used Analog input 4

• [EMCL-128] - Modes of operation can be changed always

• [EMCL-129] - Torque control loop independent of current readings

• [EMCL-140] - Add the possibility to map the Enable/Disable input feature in any GPI

New Feature

• [EMCL-96] - Include possibility to change CANopen baud rate via USB

• [EMCL-103] - Binary RS232 communications

• [EMCL-119] - Add new motor type

• [EMCL-125] - Signal status events by means of an digital output

• [EMCL-126] - Add the possibility to execute functions by means of a digital input

Backward compatibility notes

Version 1.3.0 implements a new GPIO manager that allows monitoring the Driver status or remap a specific function to a General Purpose Digital Output. It also allows setting a specific functionality for each General Purpose Digital Input.

Two new registers have been added and five registers has been removed for this purpose. Users upgrading driver into EMCL version 1.3.0 will have to take this change of registers into consideration to assure proper configuration.

Registers added in EMCL 1.3.0

Registers removed in EMCL 1.3.0