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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


  • 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-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





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



Sometimes the firmware version gets corrupted after restore



Default MAC address is inverted



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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