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.

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