X3071220X
New |
2023/07/18 |
PT Mode
- Added torque ramp planning in PT mode.
Profile Position Mode(immediate update)
- Optimized immediate update in profile position mode
Pulse Direction Function
- Fixed the problem that the control mode set by the pulse direction control does not take effect;
- Optimized the pulse direction control function. Servo enable by default after power-on can be configured by inputting the IO function, and it will take effect when the IO polarity is reversed.
Mechanical Zero Calibration
- Fixed the problem that the position jump after the power is turned off and on at a particular position after the mechanical zero point calibration function is applied to the singleturn and multiturn actuators.
Fail Safe
- Added the disconnection detection function of CANopen, and the error code is 0x8130.
- Optimized the processing logic of 0xA000 alarm.
Brake Control
- Optimized the handling of brake release after enabling.
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X3032220X
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2023/03/24 |
Mechanical Zero Calibration
- Fix the problem of position jump after power off and power on in the multiturn eRob actuator applied with mechanical zero calibration function.
CiA402 State Machine
- Fix the problem that the enable bit of the status word is not cleared when the brake is enabled by using the object dictionary 0x4602 after the enable is turned off.
Profile Position Mode(Immediate update)
- Fix the problem that profile position mode does not run according to the set deceleration during the immediate update reverse movement process.
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| X3022016X |
2023/02/22 |
Fail Safe
- Delete multiturn counting error.
- Fix the problem of multiturn count failure caused by voltage fluctuation after quick power-off and power-on.
CAN communication firmware upgrade function
- Fix the problem that the firmware upgrade fails when the EtherCAT version rotary actuator performs online firmware upgrade through CAN communication.
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| X3020217X |
2023/02/03 |
Control Mode Switching Function
- Fix the problem that the mode switching fails when the master controller frequently switches the operating mode of the eRob rotary actuator slave online through 0x6060.
Mechanical Zero Calibration Function
- Add mechanical zero calibration function of eRob multiturn rotary actuator (applicable to eRob model: eRobxxxxxxxx-xM-18xx ).
Pulse direction Function
- Optimize the pulse direction control function, which can be configured through the input IO function to enable the servo to be enabled by default after power-on.
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