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Firmware 2.4.0

New Feature

  • EVR-909 Detect a disconnected BiSS-C encoder

  • EVR-915 Add support to configure STO error reaction

  • EVR-916 Add capability to detect a wrong ADC offset calibration

  • EVR-939 Add a new STO error to force stop the PWM if STO is activated in operation enable state

  • EVR-946 Add a new absolute encoder type based on SSI but with different scheme clocks

  • EVR-945 New error (0x0007385) triggered when the drive starts up in position mode outside of position limits

  • EVR-928 Implement brake current control

Bug

  • EVR-951 The drive returns an incorrect configuration error when modifying some registers while motor is enabled

  • EVR-966 Fix default values

Improvement

  • EVR-907 Replace absolute encoder "wait cycles" by a "maximum refresh rate"

  • EVR-914 Allow transition from fault to switch on disabled if current scaling is changed

  • EVR-942 Control loops feedback options register should be RW

Known issues

ID

Description

Workaraund

SUMMIT-3372

Absolute encoder stops responding when reconnected

None

SUMMIT-3425

Feedback CLK not being reset after changing the refresh rate

None

EVR-999

Out of position limits errors have inconsistent behavior in CORE compared to NET and XCR versions

None


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