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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


  • 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


  • 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





Wrong value conversion between homing speeds (CiA to manufacturer)



Absolute encoder stops responding when reconnected



Feedback CLK not being reset after changing the refresh rate



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



Register 0x1001 does not properly reset when clearing a fault



Register 0x1029 Error behavior object not being stored



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.


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