Firmware 2.4.0

New Feature

• EVR-893 Implement the 0x1029 Error Behavior register

• 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

• EVR-944 Implement register number of axis in CAN and ECAT

Bug

• EVR-762 TPDO mapping parameter 0x1A03 is missing

• EVR-764 Bad CANopen default mapping in volcano

• EVR-766 Position limits 0x607D is not being updated in CANopen when writing to 0x21EA and 0x21EB

• EVR-767 Store all triggers an SDO error of register 0x200F in EtherCAT

• EVR-778 0x2068, 0x2069 and 0x206A cannot be read properly from PDO in EtherCAT

• EVR-782 Lifeguard EMCY is not sent upon every lifeguard error

• EVR-875 Register Communication cycle timeout 0x5EC5 not being stored in CANopen FW

• EVR-900 Low layer CAN error has EMCY send disabled

• EVR-911 Review CiA variables mapping

• EVR-934 Enable RPDO length error EMCY

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

• EVR-953 Bad EMCY message after CAN bus off

• EVR-956 When forcing a CAN bus off state, the error LED is not steady on

• EVR-959 Register 0x2743 Brake frequency is not writable through CAN

• EVR-966 Fix default values

• EVR-978 Positioning Following Error 0x60f4 is always reporting 0

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-922 Implement user MAC assignation process

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

Known issues