Bug
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SUMMIT-2714 Fake soft-multiturn is happening when the encoder position oscillates around "0"
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SUMMIT-2703 Protect encoder resolution from 0 value
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SUMMIT-2701 Deprecated Current loop feedback bypass register
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SUMMIT-2682 Drive moves 1 entire revolution when settings absolute encoder offset and position range settings
Improvement
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SUMMIT-2704 Don't allow quality factor equal to 0 or negative in filters
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SUMMIT-2699 Mask voltage errors in power stage if Vbus charge has not happened
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SUMMIT-2695 Decrease ADC sampling time
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SUMMIT-2694 Make ADC sampling delay configurable
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SUMMIT-2693 Make "low side on time" dependent of switching frequency
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SUMMIT-2562 Allow disconnecting feedbacks from control loops
New Feature
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SUMMIT-2662 Add velocity accumulated integral value
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SUMMIT-2652 Add velocity integral reset feature
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SUMMIT-2553 Add torque loop
This version introduces new storable registers. It is necessary to follow a special update procedure:
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Save the drive configuration to a file.
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Restore the drive to defaults.
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Update to the new firmware.
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Load again the drive configuration from the previously saved file.
It may be necessary to redo the phasing.