Firmware 1.7.2

Bug

• SUMMIT-2611 Errors reported when accessing ETH params in EtherCAT
• SUMMIT-2605 Serial number is not working properly
• SUMMIT-2602 Position following error in EtherCAT and CAN 0x60F4 not corresponding with Motionlab values
• SUMMIT-2601 Positioning option code 0x60F2 reads always 0 in EtherCAT and CAN

• SUMMIT-2590 Correct MCBus vulnerability that makes that communications can be lost

• SUMMIT-2557 0x6073 register does not work correctly
• SUMMIT-2549 ESI file mismatches in FW versions >= 1.7.1. Add files for legacy products
• SUMMIT-2543 CANopen lifeguard not working properly
• SUMMIT-2516 Absolute encoder overflow does not work correctly when moving the motor
• SUMMIT-2508 CANopen register 0x6077 (torque actual value) mapped in PDO crashes the drive
• SUMMIT-2463 Power Stage actual maximum temperature takes value 0 when ambient temperature is negative
• SUMMIT-2456 The actual position could be increased / decreased one undesired turn when absolute encoder polarity is inverted
• SUMMIT-2438 Linear Motor Temperature sensor should not be affected by Pull-up value or pull-up voltage
• SUMMIT-2416 Motor temperature sensor supplied at 3.3V are not correctly read
• SUMMIT-2258 0x6078 register does not seem to work in EtherCAT firmware version
• SUMMIT-2179 CANopen registers 0x6077 and 0x6078 can crash in PDO
• SUMMIT-2033 Biss-C BP3 frame type is processing error bit as warning bit

New Feature

• SUMMIT-2460 Add timeout in fault reaction state
• SUMMIT-2600 Implement analog gain, offset and value
• SUMMIT-2584 Adjust minimum temperatures
• SUMMIT-2453 Add Fault reset functionality to general inputs

Improvement

• SUMMIT-2483 Make velocity and position PID parameters PDO mappable
• SUMMIT-2470 Create register to consult all the received BISS-C frame bits
• SUMMIT-2380 Refactor all internal position variables to int32
• SUMMIT-2360 Add the possibility to set a zero offset in absolute encoders

Known issues