Firmware 2.3.0
Bug
- EVR-930 Trapezoidal commutation is being inefficient
- EVR-926 Voltage quadrature command stays around the initial value in CANopen
- EVR-891 Torque offset register 0x60B2 not being properly calculated in EtherCAT
- EVR-879 Wrong EtherCAT EMCY message when clearing a fault
- EVR-788 Max current register 0x6073 not being properly calculated in EtherCAT
Improvement
- EVR-897 Refactor of absolute feedback names
- EVR-785 Object 0x1003 pre-defined error field wrong abort code when no error
New Feature
- EVR-858 Implement 0x603F error code register over CANopen
- EVR-769 Implement 0x6062 position demand register
EVR-860 Add heartbeat consumer service (CANopen)
Known issues
| ID | Description | Workaraund |
|---|---|---|
| EVR-898 | Manufacturer specific Store/restore all return wrong error codes (CANopen) | None |
| EVR-898 | Default values read from the drive are not the same as those in the EDS file (CANopen) | None |
Register comms cycle timeout 0x5EC5 is not being stored in CAN FW | None | |
Registers monitoring-disturbance channel map cannot be written | None | |
| [MOT3-2748] | Register 0x1003 subindex 1 returns an error code when connecting to the device using MotionLab 1.5.0 through CAN. It does not affect the drive functionality and will be fixed in future MotionLab release. | None |