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Firmware 2.3.0


  • 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


  • 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


Manufacturer specific Store/restore all return wrong error codes (CANopen)

EVR-898Default 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


Registers monitoring-disturbance channel map cannot be written

[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
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