2.3.0
Bug
- [EVS-159] Wrong EtherCAT EMCY message when clearing a fault
- [EVS-158] Trapezoidal commutation is being inefficient
- [EVS-152] Index pulse of incremental encoder not working properly
- [EVS-150] Voltage quadrature command stays around the initial value in CANopen
- [EVS-70] Wrong bus voltage readings
Improvement
- [EVS-151] Object 0x1003 pre-defined error field wrong abort code when no error
- [EVS-155] Refactor of absolute feedback names
New feature
- [EVS-154] Implement 0x6062 position demand register
- [EVS-153] Read bootloader version from NVM
- [EVS-86] Add heartbeat consumer service in CANopen
- [EVS-85] Implement 0x603F error code register over CANopen
Known issues
| ID | Description | Workaround |
|---|---|---|
| EVS-75 | Lower 3 bytes of the MAC address is not correct (CANopen) | Do not create a LAN with more than one Capitan. If necessary, create a private LAN for each device. |
| Manufacturer specific Store/restore all return wrong error codes (CANopen) | None | |
| EVS-121 | Default values read from the drive are not the same as those in the EDS file (CANopen) | None |
| EVS-122 | RPDO and TPODs registers have incorrect default values (CANopen) | 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 |