Firmware 2.0.0

Bug

• S-curve:

  • SUMMIT-2995 A positive velocity demand appears in a negative direction movement

  • SUMMIT-2806 At the end of a movement, the velocity demand is taking the velocity set-point value

  • SUMMIT-2801 High velocity command is sent when profile is latched

  • SUMMIT-2793 Acceleration discontinuity when latching new setpoints

  • SUMMIT-2792 Overshoot occurs when latching with non-zero initial velocities

  • SUMMIT-2303 When a profile position S-curve movement ends, velocity demand is set to profiler max. velocity instead of 0 rev/s

• Object dictionary:

  • SUMMIT-2975 Some registers have incorrect names in extended versions

  • SUMMIT-2960 Bad access in some torque registers for extended versions

  • SUMMIT-2929 Reference angle offset register cannot be written

  • SUMMIT-2335 Motor temperature protection threshold has wrong data range

  • SUMMIT-2968 Remove deprecated current loop feedback bypass register

• Feedbacks

  • SUMMIT-2858 Actual position is not computed correctly when absolute encoder position has 32 bits

  • SUMMIT-2840 Feedback runaway check is not working with absolute encoders

• SUMMIT-2855 Following error bit is not updated correctly in statusword register

• SUMMIT-3004 Reference angle offset has no limits

• SUMMIT-2884 Derivative filter of the control loop PID is wrong

• SUMMIT-2742 Incorrect implementation of derivative continuity feature

• SUMMIT-2507 Halt functionality is not working

Improvement

• SUMMIT-2838 Change default behavior of brake override

• SUMMIT-2871 Applied new configuration to improve DC bus utilization and current sensing at high duties

• SUMMIT-2872 Create register to report maximum bus utilization

• SUMMIT-1886 Improve hardware configuration registers documentation

New Feature

• SUMMIT-1670 Add control loops error registers

• SUMMIT-2943 Add functionality to enable or disable the +5V output of the drive

• SUMMIT-3046 Implement field weakening algorith

Known issues