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2.4.0

New Feature

  • EVS-115 Implement 0x1029 Error behavior object

  • EVS-138 Detect a disconnected BiSS-C encoder

  • EVS-139 Add global system reset

  • EVS-142 Add support to configure STO error reaction

  • EVS-143 Add capability to detect a wrong ADC offset calibration

  • EVS-171 Add a new STO error to force stop the PWM if STO is activated in operation enable state

  • EVS-175 Add a new absolute encoder type based on SSI but with different scheme clocks

  • EVS-174 New error (0x0007385) triggered when the drive starts up in position mode outside of position limits

  • EVS-156 Implement brake current control

Bug

  • EVS-126 MAC address bytes are swapped

  • EVS-133 Lifeguard EMCY is not sent upon every lifeguard error

  • EVS-135 Warnings not being cleared from the system error queue

  • EVS-76 Communication cycle timeout register (0x5EC5) is not being stored in CANopen FW

  • EVS-131 EtherCAT link is lost after SW reset (from boot to application)

  • EVS-140 Review CiA variables mapping

  • EVS-160 Enable RPDO length error EMCY

  • EVS-177 Position mask is not being applied to absolute encoder frames

  • EVS-179 Everest return an incorrect configuration error when modifying some registers while motor is enabled

  • EVS-180 Bad EMCY message after CAN bus off

  • EVS-181 When forcing a CAN bus off state, the ERR LED is not steady on

  • EVS-188 Fix default values

  • EVS-191 CiA Positioning Following Error (0x60F4) is always reporting 0

  • EVS-128 Low layer CAN error has EMCY send disabled.

  • EVS-164 Incremental encoder 2 is disabled in NET builds

Improvement

  • EVS-136 Replace absolute encoder "wait cycles" by a "maximum refresh rate"

  • EVS-141 Allow transition from fault to switch on disabled if current scaling is changed

  • EVS-172 Control loops feedback options register should be RW

Known issues

ID

Description

Workaround

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

EVS-192

Sometimes the firmware version gets corrupted after restore

None

EVS-193

Default MAC address is inverted

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

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