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

ID

Description

Workaraund

SUMMIT-3237

Wrong value conversion between homing speeds (CiA to manufacturer)

None

SUMMIT-3372

Absolute encoder stops responding when reconnected

None

SUMMIT-3425

Feedback CLK not being reset after changing the refresh rate

None

EVR-954

Register 0x5EC5 does not keep modified values after store and power cycling in EtherCAT

None

EVR-995

Register 0x1001 does not properly reset when clearing a fault

None

EVR-964

Register 0x1029 Error behavior object not being stored

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