Firmware 2.0.0

Bug

• S-curve:

  • SUMMIT-2995 A positive velocity demand appears in a negative direction movement

  • SUMMIT-2806 At the end of a movement, the velocity demand is taking the velocity set-point value
  • SUMMIT-2801 High velocity command is sent when profile is latched

  • SUMMIT-2793 Acceleration discontinuity when latching new setpoints

  • SUMMIT-2792 Overshoot occurs when latching with non-zero initial velocities

  • SUMMIT-2303 When a profile position S-curve movement ends, velocity demand is set to profiler max. velocity instead of 0 rev/s
• Object dictionary:

  • SUMMIT-2985 System last error bad data type

  • SUMMIT-2975 Some registers have incorrect names in extended versions
  • SUMMIT-2656 Torque demand register is missing in CANopen
  • SUMMIT-2657 Torque demand register has a wrong conversion
  • SUMMIT-2960 Bad access in some torque registers for extended versions

  • SUMMIT-2929 Reference angle offset register cannot be written

  • SUMMIT-2927 Missing identification registers on ECAT and CANopen dictionary

  • SUMMIT-2841 Manufacturer device name and software version are only present in online dictionary, not in the offline one (ESI file)

  • SUMMIT-2335 Motor temperature protection threshold has wrong data range
  • SUMMIT-2968 Remove deprecated current loop feedback bypass register
• Feedbacks
  • SUMMIT-2858 Actual position is not computed correctly when absolute encoder position has 32 bits
  • SUMMIT-2840 Feedback runaway check is not working with absolute encoders

• SUMMIT-2855 Following error bit is not updated correctly in statusword register
• SUMMIT-2603 EtherCAT and CANopen register supported drive mode (0x6502) value is wrong
• SUMMIT-2538 CANopen lifeguard ERR LED malfunctioning
• SUMMIT-3004 Reference angle offset has no limits

• SUMMIT-2884 Derivative filter of the control loop PID is wrong

• SUMMIT-2842 Program signature CANopen register has a wrong value

• SUMMIT-2408 Configured station alias is giving a warning in CTT

• SUMMIT-2742 Incorrect implementation of derivative continuity feature
• SUMMIT-2507 Halt functionality is not working

Improvement

• Monitoring and disturbance:

  • SUMMIT-2404 Remove monitoring buffer size limits

  • SUMMIT-2024 Protect monitoring read data form size 0

  • SUMMIT-2520 Add monitoring submodule version register

  • SUMMIT-2519 Add monitoring status additional bits

  • SUMMIT-1784 Create a monitoring status register

  • SUMMIT-1768 Add monitoring trigger status

  • SUMMIT-2920 Implement a mechanism to detect wrong update rate

• SUMMIT-2838 Change default behavior of brake override

• SUMMIT-2871 Applied new configuration to improve DC bus utilization and current sensing at high duties

• SUMMIT-2872 Create register to report maximum bus utilization

• SUMMIT-1886 Improve hardware configuration registers documentation

New Feature

• SUMMIT-2794 As a user I want to keep the IP configuration if I only want to restore the motion parameters

• SUMMIT-1670 Add control loops error registers

• SUMMIT-2943 Add functionality to enable or disable the +5V output of the drive

• SUMMIT-2886 Add a protection in case packages are not received from an EtherCAT master

• SUMMIT-2805 Implement bootloader version register in CANopen and EtherCAT networks

Known issues

This version introduces new storable registers. It is necessary to follow a special update procedure:

• Save the drive configuration to a file.
• Restore the drive to defaults.
• Update to the new firmware.
• Load again the drive configuration from the previously saved file.

It may be necessary to redo the phasing.