AKD2G FIRMWARE RELEASE NOTES

Kollmorgen's AKD2G drive is a leading edge drive product that provides many state of the art features. These release notes for the AKD2G firmware (the software that runs on the AKD2G drive) describe the significant features and changes introduced with each release.

WorkBench 2.8.3.6567 or later is required to use this AKD2G firmware release. In general, Kollmorgen recommends that you update to the latest available WorkBench when you install new AKD2G firmware.

Updating to this firmware version is incompatible with some versions prior to 02-01-02-002. If the update fails and the error message "Invalid image type (bad #IT value)" is reported, update to 02-01-02-002 before updating to this version.

Important safety drive instructions: For drives with safe motion monitor (SMM) hardware
- Updating to WorkBench version 2.8.3.6567 or later is required before downloading or using this AKD2G firmware release.
- The AKD2G firmware release must be used with SMM firmware version 0.71. When updating drive firmware, SMM firmware must be updated to version 0.71 first. After the SMM firmware update, AKD2G firmware must be updated.

Version 02-07-00-001 : June 4, 2021

General

  • Internal Changes Only
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    Version 02-07-00-000 : June 2, 2021

    Fieldbus

  • Add missing CANOpen objects for motor parameters [Req#11057] [S-22561]
  • Details:

    CANOpen objects have been added for the parameters AXIS#.MOTOR.BRAKEPOWERDELAY, AXIS#.MOTOR.BRAKEPOWERLOW, AXIS#.MOTOR.BRAKEPOWERSAVING, AXIS#.MOTOR.IDMAX, AXIS#.MOTOR.LDLL, AXIS#.MOTOR.LISAT, AXIS#.MOTOR.PHSADVK1 and AXIS#.MOTOR.PHSADVK2.

  • EtherCAT and CAN - Added option to re-send EMCY messages after fault reset [Req#11035] [S-22516]
  • Details:

    A new keyword and fieldbus object CANOPEN.EMCYRESEND (300Bh sub 5) has been added that, when enabled, will cause the drive to re-send EMCY messages that are still active after a fault reset.

  • EtherNetIP Added
  • Details:

    Beta support for the EtherNet\IP fieldbus has been added.

  • EtherCAT and CAN - MOTOR objects don't return error when MOTOR.AUTOSET enabled [Req#11044] [D-08905]
  • Issue:

    When AXIS#.MOTOR.AUTOSET is enabled, certain AXIS#.MOTOR keywords should not be writable. They are blocked via the service port but not if executed over the fieldbus.

    Solution:

    The drive firmware was updated to return an error when autoset is enabled and an autoset object is written to.

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    Motor & Power Stage

  • AXIS#.MOTOR.DISAUTOSET for overriding motor autoset parameters
  • Issue:

    In very special circumstances, a parameter stored in feedback motor memory needs to be set to a different value without disabling autoset for other motor parameters.

    Solution:

    AXIS#.MOTOR.DISAUTOSET allows autoset to be disabled for individual motor parameters. Its use is not recommended except in rare cases. See the user help documentation for instructions.

  • Current offset faults do not clear
  • Issue:

    Faults 2005 (Iu current offset) and 2006 (Iv current offset) cannot be cleared once they occur. Rebooting the drive is the only way to recover.

    Solution:

    Faults 2005 and 2006 can now be cleared. The current offset calculations reset when the faults are cleared.

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    General

  • Drive crashes while doing FoE [Req#11042] [D-08901]
  • Issue:

    Every so often, a drive will crash while downloading firmware with FoE.

    Solution:

    The cause was traced to faulty synchronization between tasks, and it was fixed.

  • MotionTask keywords not present in DRV.NVLIST [D-08911]
  • Issue:

    Array NV commands whose values are not set (they use the default values) were not listed with the command DRV.NVLIST.

    Solution:

    Array NV Commands whose values were not set are printed with the default values.

  • MT keywords fail to load from NV and the failure does not fault [D-08912]
  • Issue:

    When upgrading an AKD2G from 02-06-00 and earlier to a newer version, the motion task parameters are not restored and there is no fault indicating that they failed to load.

    Solution:

    The drive firmware was updated to correctly restore the motion task values from 02-06-00 and earlier as well as generate the correct fault if it failed.

  • Support for writing large tables
  • Issue:

    Sending table data to the drive has been performed one element at a time. For large tables, the overhead from this approach has resulted in long times for writing the entire data set.

    Solution:

    Large tables can now be programmed with fewer overall commands. Each command specifies multiple consecutive element values. The command syntax consists of the parameter name, followed by the index of the first element to be written, followed by the data for consecutive elements.

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    Version 02-06-04-000 : May 13, 2021

    Fieldbus

  • Added MT EtherCAT and CAN objects [Req#11048] [S-22538]
  • Details:

    Motion Task parameters have been added to the EtherCAT/CAN object dictionary.

  • EtherCAT and CAN - HWLS and SWLS states available in manufacturer status object
  • Details:

    HWLS and SWLS states have been added to the axis manufacturer status object 50EFh/51EFh: bit 18 is the positive HWLS state, bit 20 is the negative HWLS state, bit 21 is the positive SWLS state, and bit 22 is the negative SWLS state

  • PROFINET - MDI_VELOCITY units do not match between rt jog and profile velocity [D-08892]
  • Issue:

    Siemens documentation for the telegram 9 profile move block specifies MDI_VELOCITY given in drive units, not percent of reference velocity

    Solution:

    Scaling is now changed from N4 to the actual set drive velocity scaling via AXIS#.UNIT.VROTARY/AXIS#.UNIT.VLINEAR.

  • PROFINET - Parameter loading fails depending on some parameter values [D-08867]
  • Issue:

    Loading parameter files can sometimes fail for AXIS#.PROFINET.SETPOINTMAP, AXIS#.PROFINET.ACTUALVALUEMAP, or AXIS#.PROFINET.TELEGRAMID depending on other parameter values.

    Solution:

    The drive will now conditionally save the mapping and telegram id configurations depending on the overall configuration. The mapping is only writable and saved when the telegram id is 0. The telegram id is only writable and saved when PROFINET.USEMODULECFG is set to 0, indicating to not use the PLC's sub-module configuration for telegrams.

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    General

  • Compare channel setpoint direction not working
  • Issue:

    CMP#.DIR sets the direction of the compare channel source value change that triggers the setpoint output. The direction feature was not working for the positive and negative settings, so that the setpoint always triggered on both directions.

    Solution:

    The direction feature has been fixed. The setpoint output can be triggered on positive, negative, or both directions.

  • Fixed compare while using position offset or gain [D-08880]
  • Issue:

    Compare used the position value before any offset or gain was applied. This caused the compare value to not match the source value and would trigger the digital outputs at incorrect positions.

    Solution:

    Position offset and gain are now applied to the compare value.

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    Feedback

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    Motion

  • PL.FILTER problem with MechaWare user models
  • Issue:

    Discontinuities/unexpected motion may occur when changing the value of PL.FILTER while the amp is enabled. Other causes may include homing.

    Solution:

    Prefiler is now working as expected.

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    Version 02-06-03-002 : May 4, 2021

    General

  • Debouncing for AC input phase loss fault (Fault 2014)
  • Issue:

    Fault 2014 (AC input phase loss) occurs when the drive detects a phase or power loss condition on the AC input. In very rare cases, the drive has reported the fault incorrectly.

    Solution:

    The drive checks that the phase and power loss conditions persist over multiple measurement samples before reporting Fault 2014.

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    Feedback

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    Version 02-06-03-000 : April 27, 2021

    Fieldbus

  • EtherCAT - New warning generated when the drive did not finish preparing Tx data when Rx data is received [S-22325]
  • Details:

    For the EtherCAT cyclic data to work correctly the drive has to prepare the Tx data before it receives the Rx data from the master. If the drive receives the Rx data before finishing the preparation of Tx data, it will show a warning W7011. The warning will remain active until it is cleared by clearing faults or warnings. The new parameter ECAT.ENRXWARN can be set to 0 to disable the warning.

  • PROFINET - Provide warning when not using Isochronous Mode with some configurations [D-08894]
  • Details:

    When using standard telegrams 3 and 5, it is advised to run with Isochronous Mode to guarantee timing. The drive now generates a warning when using these telegrams and Isochronous Mode is not configured. The warning can be disabled by setting the keyword PROFINET.ENISOWARNING to 0.

  • PROFINET implementation supports WorkBench over the fieldbus port [S-22267]
  • Details:

    The drive now supports using WorkBench to connect to the PROFINET IP address obtained by connecting to the fieldbus port of the drive.

  • EtherCAT - Dual axis PDOs showing up in single axis ESI [S-22472]
  • Issue:

    In the EtherCAT ESI file, PDOs that only exist on the dual axis devices are listed for the single axis devices in some cases and causing issues with some EtherCAT masters.

    Solution:

    The dual axis PDOs have been removed from the single axis devices in the ESI file.

  • PROFINET - Drive crash when using IRT with manual sample period [D-08894]
  • Issue:

    When the communication configuration was setup to use IRT without Isochronous Mode and the sample period differed from the send clock, the drive will crash.

    Solution:

    The drive firmware was updated to operate properly when using IRT with a sample period different from the send clock.

  • [Bug 11008]Added keyword to disable warnings through the CoE emergency message channel [D-08883]
  • Issue:

    Some EtherCAT controllers are very strict on EMCY messages and detect them as faults although warnings are generating EMCY messages as well.

    Solution:

    New axis related commands AXIS#.ECAT.REPORTWARNINGS are implemented to allow switching off Emergency messages on warnings. Default (1) is to send Emeregency messages on warnings. Object 0x501D / 0x511D is implemented to use via CoE.

  • [Bug 11010] Not all faults are sent via CoE EMCY message at AKD2G startup [D-08882]
  • Issue:

    If faults occurred during startup, the AKD2G would not generate EtherCAT emergency messages.

    Solution:

    Faults will be queued and CoE emergency messages will be sent out once the communication state PreOp is reached

  • [CANopen via CAN or EtherCAT] Value check not working for objects with allowed values 0 and 1 [D-08870]
  • Issue:

    For objects, which have a value range of [0, 1], higher values did not generate a SDO abort. A value of 0 was written instead.

    Solution:

    Trying to write values outside of the valid range deliver now a SDO abort (value too high).

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    General

  • Fixed capture while using position modulo [D-08893]
  • Issue:

    If a position value was captured while AXIS#.PL.MODPEN was enabled, CAP#.P would return the true position value instead of the modulo position value.

    Solution:

    CAP#.P will now return the position modulo value when AXIS#.PL.MODPEN is enabled

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    Version 02-06-02-000 : April 1, 2021

    Motor & Power Stage

  • AC input phase loss warning
  • Issue:

    The AC input phase loss fault (Fault 2014) was reported regardless of whether the axis was enabled. This caused inconveniences when power was intentionally removed from a drive with disabled axes, for example during commissioning, and the fault had to be cleared.

    Solution:

    An AC input phase loss warning (Warning 2014) has been added. It is reported when the drive detects phase and/or power loss conditions on the AC input when the axes are disabled. The warning clears automatically when power is restored, with a delay for the inrush relay to close safely. Warning 2014 and Fault 2014 both depend on VBUS.THREEPHASE and VBUS.DCOPERATION in the same way.

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    Fieldbus

  • Add CANOpen objects for most NV parameters [S-22309]
  • Details:

    CANOpen objects have been created for a majority of the parameters that are stored non-volatile and were not accessible through CANOpen.

  • Object implementation - Object 607Bh and 687Bh Position range limit [S-22362]
  • Details:

    The object for position range limit is available now. It corrsponds to AXIS#.PL.MODP1/2. If one of the sub-indexes is unequal 0 the modulo range is activated (AXIS#.PL.MODPEN = 1).

  • EtherCAT - Using SM2 synchronization causes motor noise [D-08864]
  • Issue:

    The drive mis-aligned the PLC output latch when using SM2 synchronization due to another recent fix around DC synchronization. When jitter occurred around the SM2 interrupt due to packet jitter, position updates would be missed.

    Solution:

    The drive firmware was updated to shift the PLC output latch by 125uS when using DC synchronization. If packet jitter stays within 125uS, position updates should not be missed. If there is higher jitter, additional offset can be applied using ECAT.PLLOFFSETNODC.

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    Feedback

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    Version 02-06-01-000 : March 15, 2021

    General

  • Added compare support
  • Details:

    Compare channels provide a fast, accurate and flexible for controlling an output based on the comparison of a position, or other value, to a threshold. See user help for a full description of the compare feature.

  • Warning 3103 added for duplicate MechaWare Torque Blocks [D-08780]
  • Details:

    If a custom MechaWare model includes a Torque Output block for an axis that already has a Torque block, Warning 3103 will be thrown. It will not prevent the axis from operating, but indicates an unexpected behavior will occur. This warning will go away if one of the blocks is diabled by disabling the appropriate model.

  • DRV.DIFVAR not empty after DRV.RSTVAR
  • Issue:

    DRV.DIFVAR provides a list of NV parameters that are different from their default values. DRV.RSTVAR sets all parameters to their defaults. Therefore after DRV.RSTVAR, DRV.DIFVAR should be empty. DRV.DIFVAR was incorrectly reporting parameter differences after DRV.RSTVAR.

    Solution:

    DRV.DIFVAR as been fixed. It is empty after DRV.RSTVAR.

  • DRV.NVCHECK does not always change [D-08589]
  • Issue:

    DRV.NVCHECK is a checksum of all the NV parameters on a drive. Changing some parameters, like AXIS1.PL.KP, would not change the value DRV.NVCHECK returned.

    Solution:

    DRV.NVCHECK now changes if any of the NV parameters are changed.

  • SD.INFO should return empty values when SD Card not inserted [D-08818]
  • Issue:

    SD.INFO returns error when SD Card not inserted

    Solution:

    SD.INFO returns empty values for Capacity, User and Free sizes.

  • Some info commands use hex when DRV.READFORMAT is set to 16 [D-08827]
  • Issue:

    If DRV.READFORMAT was set to 16 then the output of some informational commands like DRV.INFO, HW.INFO and MODBUS.INFO would incorrectly use the hex format for some fields.

    Solution:

    These info commands now ignore DRV.READFORMAT and always use decimal. DRV.READFORMAT still works when reading parameters.

  • Triggering with AXIS#.TRAJ.VCMD did not work [D-08812]
  • Issue:

    If you tried using AXIS#.TRAJ.VCMD as a trigger with REC.TRIGPARAM the recorder would not trigger at the correct time. This issue was seen when using any IEEE double parameter as a trigger. All other trigger parameters would trigger correctly.

    Solution:

    The recorder has been fixed to work with all IEEE double parameters.

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    Fieldbus

  • Added fieldbus feed forwards to loops and EtherCAT/CANOpen objects. [S-22237]
  • Details:

    New keywords AXIS#.FBUS.PL.FF, AXIS#.FBUS.VL.FF, and AXIS#.FBUS.PL.FF are tied to the control loops and allow fieldbuses to inject position, velocity, and current offsets respectively. Added CANOpen objects 0x60B0, 0x60B1, and 0x60B2 which tie directly to these new keywords and thus the control loops.

  • Added VBUS.ACNOMINAL to CAN and EtherCAT [S-22361]
  • Details:

    VBUS.ACNOMINAL is now accessible via index 300A sub-index 5.

  • EtherCAT-Conformancetest -followup [S-22384]
  • Details:

    A new object 3000h sub 9 is implemented to show the serial number, which is on the name plate of the drive in the format xx-yyyy-zzzzz.

  • EtherCAT - Implemented Input and Output Shift Time objects [S-22104]
  • Details:

    Object 1C32h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and the next drive interrupt executing the position loop. The value is also available using the new keyword ECAT.PLLOFFSET.

    Object 1C33h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and where the input data is latched. The value is also available using the new keywords ECAT.INPUTSHIFT and ECAT.INPUTSHIFTU.

    See documentation for detailed usage.

  • EtherCAT - New keywords for reading timestamps of EtherCAT events [S-22104]
  • Details:

    New keywords ECAT.SYNC0TIME, ECAT.POSLOOPTIME, ECAT.RXDONETIME, ECAT.TXDONETIME have been added to the firmware and can be used to read the timestamps of various EtherCAT related events.

  • EtherCAT - Position latched at wrong time when using PLLOFFSET = 250uS [D-08826]
  • Issue:

    When using ECAT.PLLOFFSET = 250000 ns, the position would be latched at sync0 instead of 250uS offset from sync0.

    Solution:

    The drive firmware was fixed to latch the position at the correct offset from sync0.

  • EtherCAT - TxPDO data can be delayed by up to a cycle
  • Issue:

    There was an issue in the drive that could cause the TxPDO data (PLC Inputs) to be delayed by a cycle.

    Solution:

    The drive firmware was updated so that the time the TxPDO data is sent from the drive is at a consistent time. As long as there is < 125uS jitter in the SM2 event then data should be sent within a cycle from the drive.

  • EtherCAT - Unable to get into OP at cycle times greater than 5ms [D-08841]
  • Issue:

    The AKD2G would timeout when going from SAFEOP to OP when distributed clocks are in use and using cycle times > 5ms. The PLL used inside the AKD2G to synchronize to the distributed clock requires a certain number of cycles to pass in order to be synchronized. Longer cycle times caused a timeout to occur while waiting for the PLL to lock.

    Solution:

    The SAFEOP to OP timeout has been increased to allow more time for the PLL to synchronize at longer cycles.

  • EtherCAT - Writing odd-length strings via SDO appended an additional character [D-08837]
  • Issue:

    When writing a string with an odd length through an EtherCAT SDO an additional character was appended to the string.

    Solution:

    The firmware now terminates strings written via EtherCAT SDO at the correct length.

  • [Bug 10909] DS402 Statusword bit 10 target reached behavior [D-08839]
  • Issue:

    The "Target reached" bit 10 in the DS402 statusword was not set when drive came to a standstill in the Quickstop state.

    Solution:

    The "Target reached" bit 10 in the DS402 statusword is now set when drive is in Quickstop with quick stop option codes 5 and 6 (axis stays enabled in Quickstop) when in standstill.

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    Motion

  • Bug 10836 - GANTRY.HOME.REQUIRED 0 has issues when re-homing [D-08793]
  • Issue:

    When rehoming an axis in Gantry mode, then the Gantry state would remain active (3) even when homing failed.

    Solution:

    The Gantry state is set to pending homing (1) once homing is activated. Therefore, if homing fails then the state will remain pending homing (1).

  • Activating Gearing Makes Axis Move in Wrong Direction [D-08814]
  • Issue:

    When gearing is stopped and re-activated, it starts moving in the wrong direction first.

    Solution:

    When gearing is stopped, position command must follow position feedback, so that when activated, it moves in the right direction.

  • Gantry Command Source and Wake and Shake Incompatible [D-08794]
  • Issue:

    A bug was identified that prevented an axis from being enabled while command source was set to gantry if Wake and Shake had been run - even when successful.

    Solution:

    Axes that have already completed wake and shake can now be successfully used as the master or slave in a gantry configuration. Note: wake and shake is still not supported while any axis is configured as gantry command source.

  • Home mode 0 failed with both limit switches active [D-08852]
  • Issue:

    Home mode 0 makes the current position the home position and no motion is needed. If both hardware limit switches are active home mode 0 would fail.

    Solution:

    Home mode 0 has been changed to succeed if both limit switches are active.

  • New Keyword GANTRY.PL.ERRTTHERSH [S-22358]
  • Details:

    A new keyword has been added that allows the user to define how long gantry position error must exceed the Gantry Position Error Threshold before the fault is thrown. By setting GANTRY.PL.ERRTTHRESH to a non zero value (in seconds) the error must be present for that period of time before the fault is generated.

  • Homing using an index pulse now works the when using an SFA. [S-21825]
  • Details:

    Homing modes that need an index pulse previously only worked when using feedback 3 via X23. These homing modes now also work if you are using an encoder with a index pulse connected to an SFA via X1 or X2.

  • New Keyword AXIS#.GEAR.AUTOSTART [S-22260]
  • Details:

    Sometimes a user does not want Electronic Gearing to start as soon as the amp is enabled, or if the command source transitions to Electronic Gearing.

    If a user disables Autostart, then gearing synchronization will not begin until GEAR.MOVE is manually commanded.

  • HOME.PERRTHRESH changing to 45 Degrees
  • Issue:

    The original default value for HOME.PERRTHRESH was 180 degrees. This is much higher than most applications require and can cause unexpected behavior when homing to a hard stop.

    Solution:

    The default has been lowered to 45 degrees for more compatibility across applications.

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    Feedback

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    Motor & Power Stage

  • Monitor motor temperature during sensorless operation
  • Details:

    When AXIS#.MOTOR.TYPE = 2 or 10, the drive can spin a motor without a feedback device. Since a feedback device carrying the motor temperature sensor is not available, a different method of setting up temperature measurements is provided. AXIS#.MOTOR.TEMPSOURCE sets the drive connector to which the temperature sensor is connected.

  • New fault and warning for Sensorless Control and Operational Mode conflict
  • Details:

    Sensorless PM field oriented control is available in Velocity mode only. If AXIS#.MOTOR.CONTROL is 10 (Rotary Sensorless PM) and AXIS#.OPMODE is not 2 (Velocity), and the axis is disabled, Warning 5103 is reported. Attempting to enable the axis when the warning is present results in Fault 5103.

  • Sensorless selection using AXIS#.MOTOR.TYPE
  • Issue:

    The most natural and consistent way to select sensorless operation is through the AXIS#.MOTOR.TYPE keyword, whose meaning includes the motor control algorithm.

    Solution:

    A new value has been added to the AXIS#.MOTOR.TYPE selections: Rotary Sensorless PM can be selected with the value 10.

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    Functional safety

  • SDI status bits of Axis 1 are not reported correctly in the safety graph.[Bg10912],[D-08838]
  • Issue:

    Worbench wasn't reporting safety as monitoring when SDIp or SDIn was active. Moreover when SDIn was faulted, the safety graph wasn't painting the SDIn box in red.

    Solution:

    AXIS#.SAFE.FUNCTIONSTATUS command is fixed to report SDI status bits correctly and safety graph does now paint SDIn box in read when it is faulted.

  • SDIn active bit of Axis 1 cannot be linked to a SOUT with FSoE SRA parameters on a dual axis.[Bg10929]
  • Issue:

    SDIn active bit of Axis 1 cannot be linked to a SOUT with FSoE SRA parameters on a dual axis.

    Solution:

    ESI file has been fixed in order to allow the user to link a SOUT to SDIn active bit of Axis 1 with FSoE SRA parameters.

  • SDIn active bit of Axis 1 returns SDIp active axis 2 when link to a SOUT with FSoE SRA parameters on single axis.None
  • Issue:

    SDIn active bit of Axis 1 was wrongly returning SDIp active of Axis 2 when link to a SOUT with FSoE SRA parameters on single axis (SDIp active of Axis 2 is always 0 on a single axis).

    Solution:

    ESI file has been fixed to map SDIn active of Axis 1 to the right value on a single axis.

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    Version 02-06-00-001 : March 3, 2021

    Fieldbus

  • EtherCAT - Interpolation of position setpoint not synchronized with Sync0 signal [D-08826]
  • Issue:

    The time when the drive interpolated position setpoints was not synchronized with the fieldbus cycle. Once the drive was running, it would always happen at the same time in the fieldbus cycle, but that time could change when rebooting the drive.

    Solution:

    The interpolation is now synchronized to the Sync0 signal, so that it will always happen at the same deterministic time.

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    Version 02-06-00-000 : February 25, 2021

    Fieldbus

  • Added PDO loopback signal for EtherCAT and CAN
  • Details:

    A set of new PDO signals were added to provide a mechanism to verify data is updating at the correct times. The 'Input Loopback' object at index 0x300b sub-index 3 and 'Output Loopback' object at index 0x300b sub-index 4 can be mapped into PDOs. The output loopback can be written to by the PLC and the input loopback can be checked to see how long the drive takes to respond to data. Using DC on EtherCAT, the input loopback should update on the next cycle if everything is synchronized correctly.

  • EtherCAT - Implemented Input and Output Shift Time objects [S-22104]
  • Details:

    Object 1C32h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and the next drive interrupt executing the position loop. The value is also available using the new keyword ECAT.PLLOFFSET.

    Object 1C33h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and where the input data is latched. The value is also available using the new keywords ECAT.INPUTSHIFT and ECAT.INPUTSHIFTU.

    See documentation for detailed usage.

  • EtherCAT - New keywords for reading timestamps of EtherCAT events [S-22104]
  • Details:

    New keywords ECAT.SYNC0TIME, ECAT.POSLOOPTIME, ECAT.RXDONETIME, ECAT.TXDONETIME have been added to the firmware and can be used to read the timestamps of various EtherCAT related events.

  • EtherCAT - Velocity jumps when using CSP mode at longer cycle times (8ms) [S-22317]
  • Issue:

    When using cyclic synchronous position mode at some longer cycle times, the velocity may jump at higher velocities.

    Solution:

    An issue in the drive firmware was fixed that corrects for a rollover condition in the position being maintained between fieldbus updates. At the longer fieldbus cycles with higher velocities, the position rolled over and caused the velocity command to step.

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    Motion

  • Activating Gearing Makes Axis Move in Wrong Direction [D-08814]
  • Issue:

    When gearing is stopped and re-activated, it starts moving in the wrong direction first.

    Solution:

    When gearing is stopped, position command must follow position feedback, so that when activated, it moves in the right direction.

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    General

  • DRV.READFORMAT with bad argument crashes drive [D-08822]
  • Issue:

    Passing any non-numeric argument to DRV.READFORMAT causes the drive to crash.

    Solution:

    Catch and report back bad non-numeric arguments.

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    Version 02-05-05-000 : January 29, 2021

    Fieldbus

  • Added AXIS#.PL.KFB to CAN and EtherCAT [S-22253]
  • Details:

    AXIS#.PL.KFB can now be accessed via CAN and EtherCAT via object 500Ch sub-index 13. It is a signed 32 bit integer, scaled to AXIS#.PL.KFB 1000:1.

  • EtherCAT - Allow SDO writes to string objects with fewer characters than overall object length [S-22207]
  • Issue:

    When writing a string type SDO the data written needed to be the full length of the object. Shorter strings needed to be padded with null characters, but not all EtherCAT master do so automatically.

    Solution:

    String type objects can now be written with a shorter string without having to pad the string with null characters.

  • Improved responsiveness of DS402 profile position mode [D-08797]
  • Issue:

    When starting a motion in DS402 profile position mode, it took the drive multiple milliseconds to actually start the configured motion task. Similarly, the target reached bit in the DS402 status word did not go high until multiple milliseconds after the motion task had finished.

    Solution:

    The drive now immediately starts the configured motion task as soon as it receives the command from the DS402 control word, and it sets the target reached bit in the status word in the next fieldbus cycle after finishing the motion task.

  • PROFINET - Allow selecting telegrams larger than PLC configuration using keywords [S-22208]
  • Issue:

    When a user tried setting AXIS#.PROFINET.TELEGRAMID or AXIS#.PROFINET.SUPPTELEGRAMID to select a telegram that was larger than the telegram configured by the PLC, the keyword returned an error and the telegram was not changed.

    Solution:

    A user can now select a telegram that is larger than the one configured by the PLC with AXIS#.PROFINET.TELEGRAMID or AXIS#.PROFINET.SUPPTELEGRAMID. A warning will be active as long as a user selected telegram is larger than the one configured by the PLC.

  • PROFINET - Don't allow STW1 and ZSW1 to be mapped anywhere but index 0 of telegram 0 [D-08807]
  • Issue:

    It was possible to map STW1 and ZSW1 to indices other than 0 in telegram 0 and to the supplemental telegrams, even though doing so leads to an invalid telegram configuration.

    Solution:

    Trying to map STW1 or ZSW1 anywhere but index 0 of telegram 0 will create an error.

  • Stop active homing when switching DS402 mode of operation away from homing mode [S-21752]
  • Issue:

    When switching the DS402 mode of operation from homing mode to any other mode, an active homing procedure would continue running.

    Solution:

    An active homing is now stopped when switching the DS402 mode of operation from homing mode to any other mode.

  • Intermittent fault when initializing EEM37 HiperfaceDSL encoders [S-21843]
  • Issue:

    When initializing an EEM37 HiperfaceDSL encoder, the encoder sometimes reports an error, which leads to a fault "F4009: Feedback Device-Unique Fault 0" in the drive.

    Solution:

    A procedure supplied by encoder manufacturer SICK, to be able to reliably initialize EEM37 encoders, has been implemented in the firmware.

  • PROFINET - Siemens SINA_PARA_S block does not work [D-08762]
  • Issue:

    For most types of PROFINET parameters, the single parameter block SINA_PARA_S did not work correctly.

    Solution:

    The drive firmware was fixed so that the SINA_PARA_S block can read/write individual parameters correctly.

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    Feedback

    ^ Back to Top ^

    General

  • Change axis and drive name information in display [S-21816]
  • Issue:

    Axis names were only visible periodically in the rotating information in the middle of the display. The drive name was not shown on the display at all.

    Solution:

    The axis names have been moved to below the icons for command source and mode of operation. The drive name has been added to the rotating information in the middle of the display.

  • Fault History Does Not Show Startup Faults [D-08804]
  • Issue:

    Startup faults are not stored in the fault history. Examples are SMM failures and Crash-recovery.

    Solution:

    Faults are not pushed to Fault History storage till it was ready.

    ^ Back to Top ^

    Analog & Digital IO

  • Help for Compare Parameters [S-22151]
  • Issue:

    DRV.HELP for Compare parameters like CMP1.DIR was missing the min, max and default information.

    Solution:

    DRV.HELP now includes the min, max and default information.

    ^ Back to Top ^

    Motion

  • Find end stop homing may ignore hardware limit switch [D-08790]
  • Issue:

    If homing mode 8, 9 or 10 are started and a hardware limit switch is also active the axis will start moving and can not be stopped with AXIS#.STOP. If the limit switch becomes active while homing mode 8, 9 or 10 is active the axis will stop and homing fails.

    Solution:

    Homing modes 8, 9 and 10 will now immediately generate an error if a limit switch is active when homing is started.

    ^ Back to Top ^

    Motor & Power Stage

  • Power Saving Brake Voltage Incorrectly Set by AXIS#.MOTOR.BRAKEPOWERLOW [D-10810]
  • Issue:

    The voltage applied to a brake when power saving is set by AXIS#.MOTOR.BRAKEPOWERLOW. The default voltage of 17V is correct but increasing this parameter would reduce the voltage applied to the brake.

    Solution:

    AXIS#.MOTOR.BRAKEPOWERLOW now correctly controls the voltage applied to the brake.

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    Version 02-05-04-000 : December 18, 2020

    Motor & Power Stage

  • AXIS#.SENSORLESS.ENPHASELEAD keyword
  • Issue:

    When the motor electrical frequency gets close to the bandwidth of the sensorless algorithm, the phase lag in the estimated commutation angle increases. This can increase the required voltage and current to produce the same amount of torque.

    Solution:

    A phase lead compensator is added to the sensorless algorithm.

    This phase lead compensator eliminates the phase lag in all velocities, no matter the bandwidth.

    One can enable this feature by setting AXIS#.SENSORLESS.ENPHASELEAD to 1.

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    Fieldbus

  • Configurable behavior of target reached bit of DS402 status word in profile position mode [S-22080]
  • Details:

    A new keyword AXIS#.CANOPEN.TARPOSMODE has been added to the firmware. When set to the default value of 0, a drive in profile position mode will set the target reached bit in the DS402 status word (bit 10) once bit 11 of AXIS#.MOTIONSTAT is set (trajectory finished and actual position in target position window). When AXIS#.CANOPEN.TARPOSMODE is set to 1, the target reached bit will be set once bit 15 of AXIS#.MOTIONSTAT is set (actual position in target position window). The new keyworkd is also accessible through CANopen object 5003h/5103h subindex 9.

  • DS402 standard object 6076h 'Motor rated torque' [S-22184]
  • Details:

    Object 6076h 'Motor rated torque' was added to the firmware. Its value is calculated from AXIS#.ICONT and AXIS#.MOTOR.KT.

    ^ Back to Top ^

    General

  • GANTRY.HOME.REQUIRED added [S-22045]
  • Details:

    A new feature has been added for gantry control. Use the new keyword GANTRY.HOME.REQUIRED to specify whether each axis of the gantry needs to be homed before gantry mode is active.

  • Using Multiple MechaWare Models causes crash [D-08752]
  • Issue:

    A memory allocation error was discovered which caused a drive crash if 3+ models were used at once.

    Solution:

    Allocation has been fixed to allow use of all four model slots under all conditions.

    ^ Back to Top ^

    Motion

  • Motor stops motion on wrong limit switch [D-08741]
  • Issue:

    While moving in the positive direction, if the negative limit switch is triggered, motion will stop, and vice versa.

    Solution:

    Behavior has been changed so that motion in the opposite direction of a triggered limit switch is allowed. This is particularly helpful if an axis over-travels a limit switch.

    ^ Back to Top ^

    Feedback

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    Version 02-05-03-001 : December 2, 2020

    General

  • Internal Changes Only
  • ^ Back to Top ^

    Version 02-05-03-000 : November 30, 2020

    General

  • Drive Crash on Enable from CAN and EtherCAT [D-08726]
  • Issue:

    If a fault was present on an axis and the user tried to enable the axis from the CAN or EtherCAT master, the drive would try to clear the fault and a crash would occur.

    Solution:

    If a fault is present and the fieldbus master tries to enable, the enable will fail and not complete. Drive faults must be cleared by the user.

  • Drive crash when giving array keyword large index [D-08708]
  • Issue:

    For example AXIS1.MT.ACC 100000000000 crashes the drive. Smaller index values return the correct error status.

    Solution:

    Values above 4294967295 now return the correct error status.

  • Position Loop numerical precision has been increased to 64 bits [S-21964]
  • Issue:

    The Position Loop was being done with double-precision math. This created a scenario if the position command or feedback exceeded 53 bits, resolution would be lost.

    Solution:

    The Position Loop has been changed to be done with integer math to ensure all resolution and precision is maintained. As a result PL.FILTERTIME has been replaced by PL.FILTER.FREQ and PL.FILTER.Q.

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    Fieldbus

  • Modbus Function Code 6 (write single register) [S-21967]
  • Details:

    Some Modbus controllers can use function code 6 (write single register) as well as function code 16 (write multiple registers) to read a single register. AKD2G now supports function code 6 in addition to function code 16.

  • [Bug 10755] F3000 fault when creating ESI-file via export-function in Workbench [D-08706]
  • Issue:

    A fault 3000 occurred when using the ESI-export function of Workbench or the ECAT.PRINTESI command in Workbench-terminal with a dual-axis Safety drive (SIL3).

    Solution:

    The timeout is increased from 5 to 8 seconds.

    ^ Back to Top ^

    Motion

  • Motion possible when both hardware limit switches are active [D-08723]
  • Issue:

    When both hardware limit switches are active, commanding motion is possible in both directions.

    Solution:

    Motion is now blocked in both directions when both hardware limit switches are active.

    ^ Back to Top ^

    Safety

  • SRA parameters did not allow linking SOUTs to only FS2 functions in FS2 variants[Bg 10800], [D-08744]
  • Issue:

    Depending on the safety variant or the number of axis, the function that can be linked to SOUTs differs. This should be taken into account and we should not let the user see all values.

    Solution:

    Enums have been duplicated to match the safety variant and the number of axis. For instance, single axis drive will only be able to link SOUTs to Axis 1 safety function.

  • The safety function graph did not display the SS2 fault reaction correctly[Bg 10806], [D-08743]
  • Issue:

    Safety function graph is not displaying the SS2 fault reaction correctly. SS2 fault reaction is hardcoded to be STO when it is actually configurable by the user (it could be STO or SS1 Instance 1).

    Solution:

    Safety function graph is now looking in the configuration to retrieve the SS2 fault reaction.

    ^ Back to Top ^

    Version 02-05-01-000 : October 21, 2020

    General

  • Added AXIS#.CLRWARNINGS [D-08437]
  • Details:

    Each axis has several warnings that stay set after motion is commanded. These can be cleared if new motion is commanded, AXIS#.CLRFAULTS is commanded or the axis is disabled and then re-enabled. These warnings include W6000 and W6014. AXIS#.CLRWARNINGS has been added to allow these warnings to be cleared.

  • Display support for gantry command source [S-21584]
  • Details:

    Display main screen now supports gantry command source

  • AXIS#.CLRFAULTS could disable the axis [D-08437]
  • Issue:

    If an axis is enabled with no faults but with a warning then AXIS#.CLRFAULTS would disable the axis. If the axis is enabled and there are not warnings or faults AXIS#.CLRFAULTS would not disable the axis.

    Solution:

    AXIS#.CLRFAULTS has been changed to only disable the axis if there is a fault present. The axis stays enabled irrespective of the presence of warnings.

  • The output of MODBUS.MAP is sometimes incorrect [D-08661]
  • Issue:

    When MODBUS.MAP was executed when a fault is present and a specific mapping is loaded the output sometimes has a few incorrect characters.

    Solution:

    The firmware has been changed to always give the correct output.

    ^ Back to Top ^

    Motion

  • Electronic Gearing tracks Source Position when Limit Switch is active [D-08694]
  • Issue:

    If an axis enters a limit switch while it is gearing the position the axis will ramp down to a stop. While the limit switch is active any further motion of the master is ignored. When the limit swtich is released the axis will attempt gearing synchronization again.

    Solution:

    Electronic gearing has been modified so that while inside a limit switch, the axis will do a controlled stop once the limit switch is triggered and servo at this position. Internally the master position is still tracked - when the limit switch is released, or the master position becomes less than the triggered limit switch position, motion will be allowed again.

  • Warning 6000 was not always generated [D-08700]
  • Issue:

    When commanding service motion warning 6000 "Last motion command modified" should be generated if the motion exceed the range given by AXIS#.VL.LIMITP and AXIS#.VL.LIMITN. If AXIS#.SM.V1, AXIS#.VL.LIMITP or AXIS#.VL.LIMITN are changed after a continuous service motion, AXIS#.SM.MODE 0 or 2, has started this warning is was not generated and the commanded motion was not mofified to the AXIS#.VL.LIMIT. The warning was correectly generated when using AXIS#.SM.MOVE or reversing motion, AXIS#.SM.MODE 1.

    An effect of not modifying the veloicty is that unexpeted position error faults can be generated.

    Solution:

    Warning 6000 is now generated when service motion is started or the parameters are modified while moving. The commanded continious motion is also now reduced to AXIS#.VL.LIMIT if AXIS.SM.V1 is greater.

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    Feedback

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    Action Table

  • Increase Command Buffer Elements to 8 [S-21691]
  • Issue:

    The Action Table Task: Command Buffer only supports 4 sequential commands. This is limiting for some applications.

    Solution:

    The Command Buffer has been updated to support 8 sequential commands.

  • New Action Table Source Recordable Parameter [S-21833]
  • Details:

    An Action can now be triggered by any existing recordable parameter. To configure, use the new keyword ACTION#.SOURCETEXT and enter any recording parameter. ACTION#.CONDITIONVALUE will have its units and range update based on the recording parameter specified.

    ^ Back to Top ^

    Fieldbus

  • PROFINET - 250uS operation fixed [S-21885]
  • Issue:

    When trying to use 250uS cycle times with PROFINET, data would not be updated every cycle.

    Solution:

    An issue was fixed in the firmware that caused drive outputs to not update every cycle at 250uS cycle times.

  • PROFINET - Added Dynamic Servo Control (DSC) [S-21807]
  • Details:

    Support for Dynamic Servo Control (DSC) has been added along with telegram 5 support.

  • PROFINET - Added safety objects [S-21633]
  • Details:

    PROFINET PNUs added to support running safe drive with non-safe PLC

  • PROFINET - Support of 'measurement on the fly' feature of sensor interface [S-21822]
  • Details:

    The firmware now supports the 'measurement on the fly' feature of the PROFIdrive sensor interface with two probes, each with positive and negative direction.

  • Statusword bit 10 (Target reached) in homing [S-21571]
  • Details:

    When in DS402 mode of operation = Homing the bit 10 of the statusword is set, when the homing is done and the position is in the position window defined by AXIS#.SETTLE.P.

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    Version 02-05-00-000 : September 29, 2020

    Feedback

    ^ Back to Top ^

    Motion

  • AXIS#.PL.KITHRESH unidirectional [D-08660]
  • Issue:

    AXIS#.PL.KITHRESH would not engage when crossing the velocity threshold in the negative direction.

    Solution:

    This has been fixed to work in the negative velocity direction.

    ^ Back to Top ^

    Safety

  • Add a warning when rotary switches value differs from validated safe ID[S-21826]
  • Details:

    Warning 9013 is added. It is active when the rotary switches value differs from the validated safe ID.

  • [Safety] Add CANopen objects to read SMM-hardware and firmware-version [S-21847]
  • Details:

    Object 2040h was created. Subindex 1 is a string to show the hardware revision, Subindex 2 is an UNSIGNED16 showing the software version.

  • Parameters through FSoE errors[D-08673], [Bg10709]
  • Issue:

    Several issues have been found on the ESI file when configuring the SMM using FSoE parameters

    Solution:

    Brake 1 can now only be attached on axis 1. STO and SS1_1 can only be set to "Ready for Activation". SDB readback default value has been fixed. SLP and SCA naming errors have been fixed. SOS range of possible values have been fixed. SLA, SLP and SLS cannot be set to "Always Active" anymore.

  • Repair the safety system when FB#.SELECT is set to the expected value with a safe feedback[S-21823], [Bg10680]
  • Issue:

    If a safe feedback is configured in the safety parameters but if FB#.SELECT does not reflect the physical encoder then the safety system will fail to read the safety file and a reboot will be required

    Solution:

    The implemented solution is to automatically reset the safety system when FB#.SELECT is finally set to the right value in order to force a read of the safety file. Reboot is not required anymore.

  • Safety graph must handle all types of I/O failures[D-08682], [Bg10714]
  • Issue:

    I/O failure leading to STO without going through SS1_1 are not visible on the safety graph.

    Solution:

    change the safety graph to include a new node for I/O failure leading directly to STO.

  • No warning when SBT pre-conditions are not met[S-21806], [Bg10124]
  • Issue:

    When SBT is launched from the action table, the user gets not status in case it cannot start because the pre-conditions are not met.

    Solution:

    Warning 9012 has been added and it will be activated when SBT is launched from the action table and the pre-confitions are not met. The warning will then be cleared when the SBT pre-conditions will finally be met.

  • Software disable is set when using SS1 with SBC [D-08674]
  • Issue:

    If an axis with a brake using SBC is moving and SS1 is triggered then the axis will correctly come to a stop. The software disable bit in AXIS#.DISSOURCES is also incorrectly set.

    Solution:

    The reaction to SS1 was changed so that the software disable bit in AXIS#.DISSOURCES is not set.

    -[S-21847]
  • Issue:

    If an axis with a brake using SBC is moving and SS1 is triggered then the axis will correctly come to a stop. The software disable bit in AXIS#.DISSOURCES is also incorrectly set.

    Solution:

    The reaction to SS1 was changed so that the software disable bit in AXIS#.DISSOURCES is not set.

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    General

  • Firmware & FPGA version mismatch faults
  • Details:

    Fault 1000 is reported when the control FPGA major version does not match the version firmware expects.

    Fault 1001 is reported when the power FPGA major version does not match the version firmware expects.

    Fault 4x27 is reported when the SFA major version does not match the version firmware expects. For example, Fault 4127 is reported if the SFA is connected to FB1 and Fault 4227 if FB2.

    The major version occupies the upper 2 digits of the overall version. In the FPGA version string AABB_CC_DD, the major version is given by AA.

    FPGA versions are reported in DRV.INFO and SFA#.INFO.

    ^ Back to Top ^

    Functional Safety

  • Software disable is set when using SS1 with SBC [D-08674]
  • Issue:

    If an axis with a brake using SBC is moving and SS1 is triggered then the axis will correctly come to a stop. The software disable bit in AXIS#.DISSOURCES is also incorrectly set.

    Solution:

    The reaction to SS1 was changed so that the software disable bit in AXIS#.DISSOURCES is not set.

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    Fieldbus

  • [Safety] Add CANopen objects to read SMM-hardware and firmware-version [S-21847]
  • Details:

    Object 2040h was created. Subindex 1 is a string to show the hardware revision, Subindex 2 is an UNSIGNED16 showing the software version.

    ^ Back to Top ^

    Version 02-04-06-002 : September 15, 2020

    Motion

  • Fixed Homing Mode 1 while Hardware Limit Switch is Active [D-08646 ]
  • Issue:

    Starting homing mode 1 while a hardware limit switch was active in the direction of motion would cause the motor to not move thus prevent homing from completing.

    Solution:

    The homing state machine was changed to allow homing mode 1 to complete while a hardware limit switch is active in the direction of motion.

    ^ Back to Top ^

    Version 02-04-06-001 : September 1, 2020

    Motion

  • Auto-homing on gantry axis does not work
  • Issue:

    When AXIS1.HOME.AUTOMOVE = 1 on a gantry drive (where AXIS2.CMDSOURCE = 4), enabling Axis 1 should initiate homing moves on both axes. However, Axis 2 does not automatically home.

    Solution:

    Auto-homing behavior has been fixed, so that enabling Axis 1 causes both Axis 1 and Axis 2 run the homing moves they are configured to perform.

    ^ Back to Top ^

    Version 02-04-06-000 : August 24, 2020

    Fieldbus

  • Added keywords for fieldbus motion commands [S-19935]
  • Details:

    Keywords for fieldbus motion commands are now available for reading and saving:

    • AXIS#.FBUS.P
    • AXIS#.FBUS.V
    • AXIS#.FBUS.ACC
    • AXIS#.FBUS.DEC
    • AXIS#.FBUS.PL.CMD
    • AXIS#.FBUS.VL.CMD
    • AXIS#.FBUS.IL.CMD
    See help for more information about each command.

  • PROFINET - Additional telegram signals [S-21594]
  • Details:

    The ProfiDRIVE standard signals E_DIGITAL (21), A_DIGITAL (22), E_ANALOG (23) and A_ANALOG (24) are now supported.

    Some manufacturer specific PNUs have been made available as signals for mapping in cyclic data:
    5025 - AXIS#.MOTIONSTAT
    5100 - AXIS#.FBUS.ACC
    5101 - AXIS#.FBUS.DEC
    5901 - AXIS#.PL.ER
    6104 - AXIS#.HOME.DIST
    6107 - AXIS#.HOME.MODE
    6311 - AXIS#.MT.FEEDRATE
    23101 - AIN2.VALUE
    24151 - AOUT2 fieldbus value

  • PROFINET - Display blinks on DCP blink command
  • Details:

    In addition to the LEDs on the fieldbus Ethernet ports that blink on a PROFINET DCP blink command, the drive now also flashes a message on the display.

  • PROFINET - Keywords for reading cyclic data [S-21774]
  • Details:

    New keywords AXIS#.PROFINET.ACTUALVALUEDATA and AXIS#.PROFINET.SETPOINTDATA can be used to read the cyclic data exchanged between the drive and the controller in the configured telegram. Similarly, AXIS#.PROFINET.SUPPACTUALDATA and AXIS#.PROFINET.SUPPSETPOINTDATA read the cyclic data exchanged in the configured supplemental telegram.

  • PROFINET - Real-time jog [S-21504]
  • Details:

    Real-time jog feature added for standard telegram 9 using STW1 device-specific bits 12 and 13 for on and direction and MDI submode for velocity, acc, and dec.

  • PROFINET - Report PROFINET name and IP settings [S-21753]
  • Details:

    PROFINET device name and IP settings are now displayed in DRV.INFO and PROFINET.INFO

  • PROFINET - Support supplemental data telegrams [S-21719]
  • Details:

    PROFINET support added for Supplementary Data Telegrams 970, 971, 972, and 973.

  • PROFINET- Support for torque mode [S-21750]
  • Details:

    The firmware now supports torque mode via Profinet. This includes a new manufacturer specific setting 0x8000 for PNU 930, which activates the drive's torque mode, and cyclic access to AXIS#.FBUS.IL.CMD (signal 5104), AXIS#.IL.FB (signal 5803) and combined AXIS#.IL.LIMITP/N (signal 5829).

  • EtherCAT-CAN - Quick Stop results in unclearable disable [D-08518]
  • Issue:

    When issuing a quick stop, the controlled stop disable does not always clear.

    Solution:

    An issue was fixed in the firmware where the controlled stop disable was not cleared if a fault occurred during the quick stop command.

  • PROFINET - Serial and OrderId are incorrect in I&M0 [S-21789]
  • Issue:

    The serial number and order id that are detected in PROFINET do not match the drive's values.

    Solution:

    The internal parameters that are communicated over PROFINET were updated to be correct for the drive being communicated with.

  • Expanded the default Modbus map [S-21443]
  • Issue:

    The default Modbus map the drive has when you receive it from the factory or after executing MODBUS.RSTMAP or DRV.RSTVAR only had three parameters in it.

    Solution:

    The number of entries in the default map has been increased to include some more parameters for both axis 1 and axis 2.

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    General

  • Biquad and Observers are not duplicated in user models correctly [D-08633]
  • Issue:

    User models are not linking blocks correctly when a block tries to duplicate a factory block.

    Solution:

    Logic was enhanced to support more complex blocks like biquads and observers so they successfully duplicate.

  • Controlled stop fault reactions should not set the software enable
  • Issue:

    Some faults, like bus under-voltage, have a controlled stop fault reaction. When these faults are generated the axis will perform a controlled stop down to zero speed before disabling the axis. The axis would incorrectly set the software disable bit in AXIS#.DIOSSOURCES when the axis disables. This is inconsistent with the other faults which will not set the software disable bit when they disable. When using the AKD2G drive with wired digital controlled inputs it is inconvenient to have this behaviour as it requires the software disable bit to be cleared before the axis can be enabled again.

    Solution:

    The controlled stop fault reaction now does not set the software enable when the axis disables.

  • Triggering STO would incorrectly trigger a SW disable in some instances.
  • Issue:

    Triggering STO would incorrectly trigger a SW disable in some instances. Beause of this, with AXIS#.STO.REPORTFAULT set, the axis would not generate a fault when it should and when not set the axis would not allow the STO to re-enable as it should. The axis was always physically disabled by the removal of the STO signal. The issue was with not allowing re-enable or reporting the correct fault.

    Solution:

    The fault is now always generated.

  • Default AXIS#.UNIT.PROTARY changed to 4 (16-bit counts)
  • Issue:

    The default value for AXIS#.UNIT.PROTARY has been 0 (32-bit feedback counts). This value does not match the AKD default, and is an area of confusion when setting up Modbus mapping.

    Solution:

    The default value for AXIS#.UNIT.PROTARY has been changed to 4 (16-bit feedback counts) to match AKD.

    ^ Back to Top ^

    Analog & Digital IO

  • New ACTION#.TASK 28 Clear Faults - software enable unchanged [D-08640]
  • Details:

    When using the AKD2G drive with wired digital control inputs lines it is convenient to be able to clear faults and not have the software disable set automatically by the drive. Action task 12 is very similar, it will clear faults but it behaves like AXIS.CLRFAULTS and will set the software disable bit in AXIS.DISSOURCES if there was a fault.

    This the axis will can immediately enable after the fault is cleared when using this new action task.

    Note: The rising edge of the hardware input will clear faults if a fault is present.

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    Feedback

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    Safety

  • Safe ID validation screen rework [S-21488]
  • Issue:

    Before pressing the button to validate the displayed safe Id, the user must wait 2 seconds and then he has 8 seconds to validate

    Solution:

    Add progress bars and messages to guide the user and help him pressing the button at the right time

    ^ Back to Top ^

    Version 02-04-05-001 : August 6, 2020

    Fieldbus

  • Default MODBUS.MAP not correctly reported by DRV.HELP [D-08595]
  • Issue:

    DRV.HELP MODBUS.MAP 40001 would not return the correct default value. This would also make DRV.DIFVAR incorrectly report the first six MODBUS.MAP parameters.

    Solution:

    DRV.HELP MODBUS.MAP with an idex not correctly returns the correct default.

  • Drive crashed when logging Modbus errors from action commands [D-08595]
  • Issue:

    If you have an action command mapped to a Modbus register, for example MODBUS.MAP 40100 AXIS1.MT.MOVE. and triggered it via Modbus and it generated an error, for example the drive is disabled, then the drive would crash.

    Solution:

    The firmware has changed to not crash and log the error.

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    General

  • Fan runs full speed on single axis drives [D-08631]
  • Issue:

    Single axis drives run the fan at full speed constantly

    Solution:

    An issue in the drive firmware was fixed to properly control the fans based on temperature

  • PL.KFB causes position errors on enable, disable and homing [D-08619]
  • Issue:

    A bug has been identified when PL.KFB is not unity (1.0), position errors occur each time the amp disables, as well as when performing homing.

    Solution:

    Calculations have been re-worked so that PL.KFB is correctly applied in these conditions

  • Second order lowpass filters (like PL.FILTERTIME) can be set above nyquist [D-08628]
  • Issue:

    If a second order lowpass has its filter value set at or above the nyquist frequency, it can cause an asymptotic calculation.

    Solution:

    Second order lowpass filters have been limited to 98% of their nyquist frequency.

    ^ Back to Top ^

    Version 02-04-05-000 : July 28, 2020

    Action Table

  • ACTION.RUNNING and source ActionRowRunning now indicate the duration of task execution. [S-21698]
  • Details:

    ACTION.RUNNING, which contains the bits corresponding to Action Rows, now sets a bit high for the duration of the task execution. This is a change from its prior behavior of only going high when the task starts executing.

    The behavior of the Action Source, ActionRowRunning, has correspondingly changed. It will have a high value when the task execution for specified Action Row is in progress.

  • Enable Axis Task does not enable both axes in gantry mode [D-08614]
  • Issue:

    When Enable Axis Task is executed when Axis 2 is configured as Command Source = Gantry, Axis 2 is not enabled.

    Solution:

    The Action Task has been re-worked to enabled both axes when Axis 2 is configured as Gantry Command Source.

    ^ Back to Top ^

    Motor & Power Stage

  • Add AXIS#.MOTOR.RSOURCE [S-21392]
  • Details:

    AXIS#.MOTOR.RSOURCE indicates whether the motor thermal sensor, if present, is connected through a discrete wire (value 0) or a digital feedback (value 1).

  • Motor foldback changes
  • Issue:

    1- AXIS#.IL.MI2T keyword used to report motor I2T value in %.

    2- AXIS#.IL.FOLDFTHRESH was set to minimum of peak currents of motor and drive by default.

    3- AXIS#.IL.FOLDWTHRESH was set to zero by default.

    Solution:

    1- Now, AXIS#.IL.MI2T keyword reports motor RMS current value scaled such that motor continuous current will result in 100%.

    2- Now, AXIS#.IL.FOLDFTHRESH is set to zero, by default. Note that this is a NV parameter.

    3- AXIS#.IL.FOLDWTHRESH was set to minimum of peak currents of motor and drive by default. Note that this a NV parameter.

    ^ Back to Top ^

    Fieldbus

  • Added AXIS#.PROFINET.STATE [S-21597]
  • Details:

    This keyword returns the current value of the PROFIdrive state machine along with a text string.

  • Added fieldbus analog torque and velocity modes [S-21675]
  • Details:

    Fieldbus now supports analog velocity and torque modes. The mode of operation object (6060h) can be set to -1 for analog torque and -2 for analog velocity.

  • CANopen generate EDS file [S-19222]
  • Details:

    CANBUS.PRINTEDS keyword added to generate and print CANopen electronic data sheet (EDS) file.

  • EtherCat SDO added for AXIS#.IL.BW [D-08625]
  • Details:

    A CANOpen object has been added for AXIS#.IL.BW at index 0x500A subindex 22.

  • Modbus
  • Details:

    Modbus is now supported.

    See the documentation for a description of the Modbus features supported.
  • PROFINET - Added standard telegram 0 [S-21654]/[S-21701]
  • Details:

    Standard telegram 0 can now be used to map custom signals.
    AXIS#.PROFINET.SIGNALLIST (p923) will retrieve the list of available signals.
    AXIS#.PROFINET.TELEGRAMID (p922) can be used to select the telegram id and is saved to NV.
    AXIS#.PROFINET.SETPOINTMAP (p915) and AXIS#.PROFINET.ACTUALVALUEMAP (p916) allow setting up the mappings for the telegram and are saved to NV.
    Note: the mappings are only writable when telegram 0 is selected

  • PROFINET - Added PNUs to support rebooting, parameter reset, NV save, and NV load [S-20921]
  • Details:

    PROFIdrive parameters were added to support rebooting the drive, NV reset, NV save, and NV load. P972 - Writing a 1 to this PNU will reboot the drive. Note that the current connection will be lost after writing this value. On start-up it will read 0. P976 - Writing a 1 to this PNU will perform DRV.NVSAVE. It will remain 1 until the save is complete, at which time it will change to 0. P977 - Writing a 1 to this PNU will perform DRV.RSTVAR, resetting writable parameters back to defaults. A 2 will perform DRV.NVLOAD. The value written will remain until the operation is complete, at which time it will change back to 0.

  • CAN - NMT Reset did not reset PDO mapping [D-08507]
  • Issue:

    Issuing an NMT reset via CAN did not reset PDO mapping back to default.

    Solution:

    An bug in the firmware was fixed to handle NMT reset commands correctly.

    ^ Back to Top ^

    General

  • Added DRV.TEMPFTHRESH and DRV.TEMPWTHRESH
  • Details:

    Added two new keywords that will display the thresholds for the control board temperature fault and warning

  • FLASH.DIR and DRV.FILES - Report all power board & SFA files [S-19770]
  • Issue:

    FLASH.DIR and DRV.FILES doesn't contain all Power Board files or SFA files.

    Solution:

    FLASH.DIR and DRV.FILES updated to include all Power Board and SFA files when SFA is connected.

    ^ Back to Top ^

    SD Card

  • Added option to display drive names to restore from [S-21672 and S-21709]
  • Details:

    When the option to "Restore Firmware" or "Restore Params" is selected, the drive displays all the drive names stored in the SD Card of the same drive type as the current drive. When one of these drive names are selected, the associated firmware or NV parameters is loaded.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Version 02-04-04-003 : July 21, 2020

    General

  • Internal Changes Only
  • ^ Back to Top ^

    Version 02-04-04-002 : July 15, 2020

    Motor & Power Stage

  • AXIS#.IL.FOLDFTHRESHU & AXIS#.IL.FOLDWTHRESH default values [S-21697]
  • Issue:

    Preferred default behavior is to report a warning when the thermal capacity algorithm begins to limit current, and to allow the algorithm to operate fully to continuous current without faulting. The default has been to fault as soon as the algorithm begins to limit current.

    Solution:

    The default value of AXIS#.IL.FOLDFTHRESHU has changed to zero, and the default value of AXIS#.IL.FOLDWTHRESH has changed to axis peak current. If these values have previously been set and saved as NV parameters, the saved values will continue to be used.

  • AXIS#.IL.MI2T units change [S-21697]
  • Issue:

    For consistency with AKD1G and to meet customer expectations, AXIS#.IL.MI2T should be reported as percentage of thermal capacity in units of current. It has been reported in units of squared current (power).

    Solution:

    AXIS#.IL.MI2T is now percentage of thermal capacity in units of current.

    ^ Back to Top ^

    Version 02-04-04-001 : July 7, 2020

    Action Table

  • Gantry added to Set Command-Source and Op-Mode Action Task
  • Issue:

    Some applications need to set Axis 2 command source to Gantry using the Action Table.

    Solution:

    Gantry command source has been added to the list of options for Action Task 27 (Set Axis Command-Source and Op-Mode).

  • USER.INT# parameters are non-volatile
  • Issue:

    Some applications use the USER.INT# parameters to save and check state information across a drive reset.

    Solution:

    USER.INT# parameters are now non-volatile. They are managed as part of the drive's configuration using DRV.NVSAVE and DRV.NVLOAD.

    Edge-triggered Action Table actions can no longer rely on the Action Source 23 (User Variable) having value 0 at power-up. The corresponding USER.INT# value needs to be reset before setting it to the Condition Value that triggers the action.

    ^ Back to Top ^

    Version 02-04-04-000 : June 30, 2020

    Action Table

  • Add Current feedback action source [S-21596]
  • Details:

    Current Feedback added as Action Table source

  • Added "Action Row Running" as action table source [S-21592]
  • Details:

    The "Action Row Running" source can be used to determine whether a specific Action Row is getting executed (i.e. whether the Action Condition is being satisfied).

    ^ Back to Top ^

    Feedback

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    Service

  • Flooding the Service Port can crash drive. [D-08599]
  • Issue:

    If Ethernet packets are sent at a high rate, the drive crashs because of a watchdog

    Solution:

    The Ethernet stack is throttled when it can't process it fast enough, and a warning, 3001, is presented to the LCD Display, during this condition.

    ^ Back to Top ^

    Motion

  • Home Mode 19 could cause de-synchronized homing [D-08547]
  • Issue:

    An issue was identified when using Home Mode 19 (Gantry Homing) where Axis one would start homing but axis 2 would not.

    Solution:

    A logic issue was identified and fixed to prevent this from happening.

    ^ Back to Top ^

    Fieldbus

  • PROFINET - Added new keyword for current sign of life error count [S-21636]
  • Details:

    A new recordable keyword, AXIS#.PROFINET.SOLFAILCNT has been added that returns the current sign of life error count.

    ^ Back to Top ^

    Version 02-04-03-000 : June 24, 2020

    Action Table

  • ACTION#.TASKTEXT can clear text now [S-21413]
  • Issue:

    If the user wishes to remove text from the ACTION#.TASKTEXT parameter there was no option to clear this.

    Solution:

    If the user issues ACTION#.TASKTEXT clear, it will clear the stored text within the command.

    ^ Back to Top ^

    Motor & Power Stage

  • AXIS#.IL.MI2T Calculation Method
  • Issue:

    AXIS#.IL.MI2T calculation method is changed.

    Solution:

    Hereafter, AXIS#.IL.MI2T will show the I^2t value of the motor in percentage. The I^2t value is scaled such that if the user applies I_continuous for a long time, this keyword will return 100%.

    ^ Back to Top ^

    General

    Details:

    Display shows user logo during boot/startup. Logo can also be viewed from main display menu by navigating to and selecting Contact Info. User logo can be stored on SD card or in flash. SD card takes priority over flash.

  • Luenberger Observer added to Control Loop [S-21528]
  • Details:

    A Velocity Observer has been implemented. It can be configured by setting the gain AXIS#.OBS.KO, bandwidth AXIS#.OBS.BW and turning it on by using AXIS#.OBS.ENABLED.

  • New command DISPLAY.AXISORDER
  • Details:

    The command DISPLAY.AXISORDER allows the user to change the order of Axes shown on the display.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Version 02-04-02-001 : June 11, 2020

    Action Table

  • Maximum command buffer delay extended
  • Issue:

    The 5000 msec maximum command buffer delay (maximum value of DRV.CMDDELAY) is not sufficient for some applications.

    Solution:

    The maximum value of DRV.CMDDELAY has been extended to 25000 msec.

    ^ Back to Top ^

    Fieldbus

  • PROFINET - Fixed issues with 250uS cycle and IRT delays
  • Issue:

    When using IRT input packets are delayed by a cycle and 250uS cycle times cause sign of life errors.

    Solution:

    Issues have been fixed in the PROFINET stack that allows cycle times down to 250uS and fixed input delays found in previous version.

  • Zip file download to netX
  • Issue:

    On Profinet drives, netX firmware images need to be downloaded in a compressed zip format to fit in the available flash memory.

    Solution:

    Support for netX compressed images has been added to drive firmware.

    ^ Back to Top ^

    Version 02-04-02-000 : June 7, 2020

    Fieldbus

  • Added PROFINET support
  • Details:

    Beta PROFINET support has been added: Features:

    • Telegrams 1, 2, 3, 7, and 9 are supported
    • IRT/RT to 1ms is supported currently
    • Multi-axis is supported
    • Multi-parameter access is supported
    • ProfiDrive fault buffer supported
    Known Issues:
    • IRT drive input packets (PLC outputs) are delayed by one cycle
    Features not implemented yet:
    • Not all keywords are supported as PNUs
    • Dynamic telegram (Telegram 0)
    • Dynamic servo control (DSC - Telegram 5)
    • Homing support
    • Probe support
    • Safety (Cfg through WorkBench, not ProfiSAFE)
    • WorkBench PROFINET view

  • EtherCAT/CAN SDO added for AXIS#.MOTOR.NAME
  • Details:

    A CANopen object has been added for AXIS#.MOTOR.NAME at index 0x500B, subindex 33.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    General

  • Display factory logo during startup [S-21203]
  • Details:

    Display shows Kollmorgen logo during boot/startup. Logo can also be viewed from main display menu by navigating to and selecting Contact Info.

  • Display now supports backup and restore using an SD Card [S-21203]
  • Details:

    LCD Display has a new top-level menu item for an SD Card which has a sub-menu supporting backup/restore of firmware and parameters

  • New commands SD.BACKUP and SD.LOADFW
  • Details:

    SD.BACKUP backs up the drive to the SD Card.

    SD.LOADFW restores the stored user image from the SD Card and loads it to flash.

    ^ Back to Top ^

    Version 02-04-01-001 : May 19, 2020

    Action Table

  • Command Buffer Crashes with one command [D-08554]
  • Issue:

    When ACTIONx.TASKTEXT contained one command, it crashes the drive when action row was activated and executed.

    Solution:

    The drive firmware was updated to prevent the crash and execute the command correctly.

    ^ Back to Top ^

    Version 02-04-01-000 : May 15, 2020

    Motion

  • Added AXIS#.ZEROACC
  • Issue:

    Noisy feedbacks made it difficult to configure zero speed detection for a controlled stop.

    Solution:

    The AXIS#.ZEROACC keyword was added to allow the user to configure their own acceleration threshold for the zero speed check.

  • AXIS#.VL.ACCFILTERED added
  • Details:

    Added a new read only keyword which will show the filtered acceleration value

  • Home Mode 19 Gantry Homing [S-21359]
  • Details:

    Home Mode 19 has been added. When axis 2 is configured for Home Mode 19, all of the settings and signals will be used from Axis 1 (configured inputs, index and mechanical zero signals). This mode is intended to help with commissioning of Gantry systems.

  • Jog Motion [S-21371]
  • Details:

    New keywords have been created AXIS#.JOG.V, JOG.ACC and JOG.DEC which define the jog motion. To start a jog motion, execute the command AXIS#.JOG.MOVEP for positive jog and AXIS#.JOG.MOVEN for negative jog.

  • Fix Add Gearing Position task [S-21396]
  • Issue:

    If Add Gearing Position was triggered at the same time as "Activate Gearing" the position offset would not work correctly

    Solution:

    A logic bug was fixed that now ensures the position offset is added correctly.

    ^ Back to Top ^

    General

  • All recordable keywords have been made triggerable
  • Issue:

    Not every keyword that was recordable could be used as a trigger

    Solution:

    Every recordable keyword has been given the ability to be used as a trigger on the scope

  • New keywords SD.SAVEPARAM and SD.LOADPARAM [S-21283]
  • Details:

    Two new keywords, SD.SAVEPARAM and SD.LOADPARAM have been added. SD.SAVEPARAM saves NV Parameters to the SD Card, and SD.LOADPARAM restores the NV parameters from the SD Card.

  • New keywords SD.BACKUP, SD.SSTATUS and SD.INFO [S-21442] & [S-21283]
  • Details:

    Three new keywords, SD.BACKUP, SD.STATUS and SD.INFO have been added. SD.BACKUP backs up the firmware and parameters to the SD card. SD.STATUS displays the status of the SD Card, whether it is inserted, write-protected or ready. SD.INFO prints out the disk usage on the SD Card.

  • User variables for Modbus & action table [S-21218]
  • Details:

    New user scratchpad variables USER.INT# and ACTION#.SOURCE “User Variable". User variables can be mapped to Modbus to support triggering Actions over Modbus.

    ^ Back to Top ^

    Motor & Power Stage

  • Current-Offset-Nulling Fault
  • Issue:

    Current offset nulling algorithm does not report a fault when sample to sample discrepancy goes above 2% of drive's peak current.

    Solution:

    Current offset nulling algorithm detects a fault when sample to sample discrepancy goes above 2% of drive's peak current. Clearing this fault resets the algorithm, allowing the algorithm to measures the offset again.

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    Safety

  • Safety keyword renameNone
  • Issue:

    Safety keyword consistency

    Solution:

    Some safety keywords have been renames to be more consistent with standard and Workbench description

  • Safety, FS2: Some CoE entries are duplicated and some are missingBG10580
  • Issue:

    In the ESI file, in the part describing the safety parameters, the entries 0x3154 (SS1_2) are duplicated and the entries 0x3155 (SS1_3) are missing

    Solution:

    Firmware and ESI file are fixed

    ^ Back to Top ^

    Version 02-04-00-001 : April 29, 2020

    General

  • Internal Changes Only
  • ^ Back to Top ^

    Version 02-04-00-000 : April 14, 2020

    General

  • Internal Changes Only
  • ^ Back to Top ^

    Version 02-03-04-002 : April 7, 2020

    General

  • Controlled Stop now operates in Position Mode [S-20218]
  • Details:

    Up until now controlled stop (including when initiated by a limit switch) would turn off the position loop which allowed the axis to drift. Now the position loop is left on and wil hold position until the axis is commanded in the opposite direction of the limit.

    ^ Back to Top ^

    Fieldbus

  • Motor jumps when issuing quick stop command [D-08519]
  • Issue:

    When quick stop mode was set to stay enabled and the quick stop command was issued during a profile position move, the motor could jump when the quick stop was cleared.

    Solution:

    The drive firmware was updated to zero out the profile position command when a quick stop was initiated.

    ^ Back to Top ^

    Telnet

  • [Bug 10539] Discovery message (targeted to that specific drive) is coming back with empty IP address [D-08514]
  • Issue:

    When trying to connect with WorkBench after disconnecting, and the drive is on a different subnet, the drive sends back a bad response so WorkBench is unable to connect.

    Solution:

    Targeted discovery requests, even if from a different subnet, return the correct IP address so WorkBench connections will succeed.

    Also see the keyword IP.DEFAULTINTERFACE used when both EoE and Service interfaces are used to connect to the drive from a different subnet.

    ^ Back to Top ^

    Version 02-03-04-001 : April 1, 2020

    Fieldbus

  • Added analog input keywords to the EtherCat and CAN object dictionary [S-21261]
  • Details:

    Several analog input keywords were added to the EtherCat/CAN object dictionary.

    • AIN#.CUTOFF - 3780/3781h sub 2
    • AIN#.DEADBANDMODE - 3780/3781h sub 3
    • AIN#.DEADBAND - 3780/3781h sub 4
    • AIN#.OFFSET - 3780/3781h sub 5
    • AXIS#.IL.AINSCALE - 500A/510Ah sub 20
    • AXIS#.IL.AINSOURCE - 500A/510Ah sub 21
    • AXIS#.PL.AINSOURCE - 500C/510Ch sub 12
    • AXIS#.VL.AINSOURCE - 5011/5111h sub 32

    ^ Back to Top ^

    Version 02-03-04-000 : March 25, 2020

    General

  • Added new bit for 'axis current limit active' [S-21230]
  • Details:

    The information, that the axis current / torque is actually limited, is now displayed in bit 6 of the CANopen manufacturer status (object 50EFh sub 1 / 51EFh sub 1) and in AXIS#.MOTIONSTAT bit 18

  • New keyword IP.PROTOCOL [S-21161]
  • Details:

    Added a new keyword IP.PROTOCOL with which user can allow SSH access.

    ^ Back to Top ^

    Motion

  • AXIS#.HOME.OFFSETUSER added [S-20835]
  • Details:

    For axes that are mechanically coupled, it is difficult to perfectly align homing signals. To compensate for this a new keyword AXIS#.HOME.OFFSETUSER has been created.

    Its ideal use case is when there is a current offset between axes that are mechanically coupled.

    ^ Back to Top ^

    Fieldbus

  • Change AKD2G variants names in ESI file [S-21265]
  • Issue:

    The AKD2G variant names in the EtherCAT ESI file are not consistent with the label printed on the drive.

    Solution:

    The new variant names in the ESI file are now the following: AKD2G Single Axis FS1, AKD2G Single Axis FS2, AKD2G Single Axis FS3, AKD2G Dual Axis FS1, AKD2G Dual Axis FS2, and AKD2G Dual Axis FS3. The names of the safety modules have also been changed according to the drive variant names.

    ^ Back to Top ^

    Version 02-03-03-000 : March 3, 2020

    Fieldbus

  • Action table row cannot be activated via EtherCAT
  • Issue:

    The value of ACTION#.ACTIVE cannot be written using the available CANopen object.

    Solution:

    EtherCAT access for ACTION#.ACTIVE is now read/write.

  • [Bug 10500] CANBus - Specific fault when CAN initialization fails [S-21014]
  • Issue:

    A customer had some bad wiring (transposition of CAN-L and CAN-GND) on their CAN connection, which caused the Zynq CAN controller to remain in config mode without any fault display (only unclear statements in LOG.LIST).

    Solution:

    Now a Fault 7006 is created under this circumstances with more explicit statements in the LOG.LIST.

  • EtherCAT SDO added for AXIS#.HOME.SWITCHSOURCE
  • Details:

    A CANopen object has been added for AXIS#.HOME.SWITCHSOURCE at index 0x5008, subindex 10.

  • Fieldbus fault codes do not handle individual feedback ids [D-08239]
  • Issue:

    If a feedback faults, the receiver of the Emergency message can not determine which feedback generated it.

    Solution:

    In the manufacturer byte, which was used to show the axis number with bit 0 and bit 1, now bits 4 to 7 (byte 3 of the EMCY message) contain the number of the feedback that generated the fault (Numbering starts with a 1 for feedback 1).

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Motor & Power Stage

  • Motor and Drive Foldback I2T Percentage Reporting
  • Details:

    The following two keywords are created to report the "thermal load" of the drive and motor, also known as I2T, respectively:

    AXIS#.IL.DI2T [%]

    AXIS#.IL.MI2T [%]

    0% means the peak current can be applied without any current limitation. 100% means that the maximum applicable current is the continuous current.

    For more information about these keywords, please refer to the user documents.

    ^ Back to Top ^

    Functional Safety

  • New keyword AXIS#.SAFE.ACTIVE and new EtherCat object [S-20911]
  • Details:

    A new keyword AXIS#.SAFE.ACTIVE is a bit encoded value which shows the active safety functions. This value is also available over EtherCat via 5007h subindex 5 and 5107h subindex 5.

  • New keyword SAFE.IDANDCRC [S-20854]
  • Details:

    Added a new keyword SAFE.IDANDCRC which returns the safe id and the safe crc value combined as a single value.

  • Split SAFE.CRC into SAFE.CRC and SAFE.ID [S-20745]
  • Details:

    A new keyword SAFE.ID has been added, this return the actual safe id from the SMM.

    The SAFE.CRC keyword now returns only the safe crc from the SMM.

  • SAFE.MONITOR1.DATA does not show negative values [D-08464]
  • Issue:

    When using SAFE.MONITOR*.DATA to return e.g. velocity values from a safety feedback, the returned value is always positive.

    Solution:

    This issue is now fixed and SAFE.MONITOR*.DATA returns also negative values.

    ^ Back to Top ^

    Version 02-03-02-000 : January 24, 2020

    General

  • Brake faults and warnings
  • Issue:

    A numbering conflict exists between Fault 5001 (Brake 1 current out of range) and Warning 5001 (Brake override active).

    Additionally, Faults 5001 and 5002 (Current out of range for both Brake 1 and 2) can be split into separate over and under current faults on drives with SMM hardware.

    Solution:

    Reassign Warning 5001 (Brake override active) to Warning 5008.

    Create new faults for drives with SMM hardware:

    - Fault 5011 (Brake 1 under current)

    - Fault 5012 (Brake 2 under current)

    - Fault 5013 (Brake 1 over current)

    - Fault 5014 (Brake 2 over current)

    ^ Back to Top ^

    Action Table

  • Command Buffer Text Parsing
  • Issue:

    A bug was identified if text was supplied to a numeric keyword on ACTION#.TASKTEXT, the drive would crash.

    Additionally, if multiple commands were entered into a command buffer with Text as the value, the same text would be used for each target keyword.

    Solution:

    Command parsing has been fixed to use separated strings for each destination keyword in the command buffer, and numeric parsing has been fixed to return an error if an invalid value is passed in.

    ^ Back to Top ^

    Motion

  • Issuing AXIS#.STOP command prevents Gearing from auto-starting [D-08492]
  • Issue:

    A bug was identified if motion was being commanded in Service mode, then that motion was "stopped", if the drive was put into Gearing mode, the gearing wouldn't auto-start, but would start the second time.

    Solution:

    Gearing now successfully enters gearing mode on the first attempt.

    ^ Back to Top ^

    Version 02-03-01-000 : December 19, 2019

    Feedback

    ^ Back to Top ^

    Fieldbus

  • Added mechanism to guarantee edges on target reached and homing attained bits in DS402 statusword. [S-20772]
  • Issue:

    When executing a movement in profile position mode or a homing procedure in homing mode, the move or the homing procedure could be finished in less than one fieldbus cycle. In that case there was no change in the DS402 statusword that indicated that the movement or homing was actually done.

    Solution:

    A new keyword AXIS#.CANOPEN.STATUSEDGETIME has been added to the firmware. After starting a homing procedure or a profile position movement via the DS402 controlword, the homing attained bit or the target reached bit is guaranteed to be zero for the duration configured in AXIS#.CANOPEN.STATUSEDGETIME.

  • Update ECAT.PLLMODE with DC or non-DC changes [S-20721]
  • Issue:

    The EtherCAT-master with DC-support should decide, if the drive should use its pll, and not a parameter.

    Solution:

    In non-DC-mode the parameter ECAT.USEPLL may be used to decide for not using the pll with EtherCAT for low-performance EtherCAT masters. In DC-mode the master decides.

  • Added support of Ethernet over EtherCAT (EoE) [S-20701]
  • Details:

    The drive now supports the Ethernet over EtherCAT protocol. When using the drive with an EtherCAT master supporting the protocol, Ethernet frames can be tunneled through an EtherCAT connection, which allows connecting to the drive with WorkBench, without the need of a separate ethernet connection to the drive's service port.

  • New keyword AXIS#.CANOPEN.PLERRMODE [S-20904]
  • Details:

    Bit 13 of the DS402 statusword is set in profile position or cyclic synchronous position mode, when the following error fault F6001 is active. With the new keyword AXIS#.CANOPEN.PLERRMODE set to one, the drive will also set the bit, when the following error warning W6001 is active.

    ^ Back to Top ^

    Motion

  • AXIS#.VL.CMDU is not zeroed after controlled stop and stay enabled [S-20769]
  • Issue:

    If action task 11, controlled stop and stay enabled, is used to stop an axis that is moving using the AXIS#.VL.CMDU keyword the axis will decelerate to a stand still and stay at a zero speed until the digital input is released. After the digital input is released the axis would start moving again, all other motion types the motion is cancelled.

    Solution:

    The drive will now zero the AXIS#.VL.CMDU command during the controlled stop.

  • Controlled stop while limit switch is active disables the drive [S-20769]
  • Issue:

    If an axis has a limit switch active and is slowing down and a controlled stop is also requested the axis will immediately disable.

    Solution:

    The firmware has been changed so that the axis continues to decelerate to zero speed.

  • New keyword AXIS#.FAULT6004.ACTION [S-20771]
  • Details:

    When overshooting a motion task target position, the drive will trigger a fault F6004 and disable. The new keyword AXIS#.FAULT6004.ACTION can be used to disable this fault. In this case the trajectory will initially overshoot and then move back to the target position.

    ^ Back to Top ^

    General

  • Show STO signals on LCD display [S-20876]
  • Details:

    LCD display now shows state of STO signals.

    ^ Back to Top ^

    Version 02-03-00-000 : November 27, 2019

    Motion

  • AXIS#.STOP takes very long time to complete [D-08422]
  • Issue:

    If a motion was being commanded that resulted in the current command saturating, the velocity integrator would wind up very high. When the user requested the axis to stop, the integrator would need to dissipate before the axis would - giving the behavior of taking a long time to stop.

    Solution:

    A bug was found with the integrator anti-windup. The anti-windup mechanism has been fixed and no longer affects AXIS#.STOP behavior.

    ^ Back to Top ^

    Action Table

  • Command Buffer [S-20775]
  • Details:

    A new Action Table Task has been added, the Command Buffer. To use it, set the Task Type to Command Buffer, then enter a semi-colon delimited string of commands into the keyword ACTION#.TASKTEXT.

    When the task is executed all of the commands you entered will be queued and executed sequentially.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    General

  • DRV.CMDDELAY
  • Details:

    Adding a delay keyword for the command buffer feature. This command allows the user to add a delay between commands.

  • Renamed keywords for motor zero velocity detection [S-20820]
  • Issue:

    Keywords AXIS#.DISVTHRESH and AXIS#.DISTVTHRESH could be used to configure conditions in which the motor would be considered as being at zero velocity and AXIS#.ISSETTLED could be read to see if those condition were met. The keyword names did not reflect the keywords' function.

    Solution:

    The keywords were changed from AXIS#.DISVTHRESH to AXIS#.ZEROV, from AXIS#.DISTVTHRESH to AXIS#.ZEROT and from AXIS#.ISSETTLED to AXIS#.ZEROREACHED. When upgrading the firmware, saved values of AXIS#.DISVTHRESH and AXIS#.DISTVTHRESH will be loaded into AXIS#.ZEROV and AXIS#.ZEROT. When downgrading firmware, after saving parameters with the new firmware, AXIS#.DISVTHRESH and AXIS#.DISTVTHRESH will be set to their default values.

    ^ Back to Top ^

    Version 02-02-05-000 : November 15, 2019

    Action Table

  • Added SIN & SOUT as action table sources [S-20829]
  • Details:

    For a drive with a safety option, the safe inputs and safe outputs can be mapped as action table sources.

  • Added Action Table Task to change CmdSource and OpMode (Bugzilla 10430) (S-20858)
  • Details:

    The task for "Setting CmdSource and Opmode" can be triggered by any edge-triggered condition. There are also two new conditions for triggering on activation assuming implicit edges (e.g., when the level is HIGH and the edge is rising).

    ^ Back to Top ^

    Motion

  • Added new bit to AXIS#.MOTIONDISSOURCES for Wake and Shake
  • Details:

    Bit 4 of AXIS#.MOTIONDISSOURCES now indicates that motion is not allowed because Wake and Shake is active.

  • Axis did not stop after action task 11 then 10 are triggered [D-08373]
  • Issue:

    If a controlled stop with disable (action task 10) is requested while an axis is already performing a controlled stop that does not disable (action task 11) the axis will come to a stop but will not disable.

    Solution:

    The drive will now disable.

  • Velocity spike after re-enable. [D-08408]
  • Issue:

    During re-enable, a short velocity spike could be seen when in velocity mode (command source service or fieldbus). Depending on the acceleration/deceleration limit setting, the velocity spike command could take longer to be removed.

    Solution:

    The issue can be resolved by updating the firmware. The velocity command now is set properly back to zero after re-enable in velocity mode (command source service or fieldbus).

    ^ Back to Top ^

    General

  • AKD2G hangs on boot up with power board mismatch fault [D-08400/Bug 10417]
  • Issue:

    Drive doesn't boot up because of incompatible EDS parameters

    Solution:

    Firmware has been fixed so drive no longer hangs because of incompatible EDS parameters

  • Changing X23 mode from feedback to GPIO does not work [D-08394/Bug 10415]
  • Issue:

    1) Faults are thrown on FB3 when X23.MODE is not feedback.

    2) Feedback not reset and initialized when X23.MODE changes to Feedback

    Solution:

    Firmware has been changed to not report faults when X23.MODE isn't feedback. Feedback is now reset when X23.MODE changes to Feedback.

  • IL.OFFSET causes Wake and Shake failures [D-08362]
  • Issue:

    If IL.OFFSET has been set before commutation is successfully established, uncontrolled motion may result.

    Solution:

    If IL.OFFSET is non-zero and W&S is armed, a warning will be thrown alerting the user.

    If the amp is enabled while this condition exists, a fault will be thrown.

    ^ Back to Top ^

    Fieldbus

  • Position jumps when switching between PV and PP and CSP modes [D-08408]
  • Issue:

    If a velocity command is issued in EtherCat position velocity (PV) mode, stopped, and then the mode is switched to profile position (PP) or cyclic synchronous position (CSP), the position command will jump.

    Solution:

    An issue in firmware was fixed that did not properly reset the internal position to the current position when switching operation modes.

  • Set DS402 statusword bit 12 in profile velocity mode when velocity is 0
  • Issue:

    Bit 12 of DS402 statusword was not influenced by velocity in Profile Velocity mode

    Solution:

    The DS402 statusword Bit 12 is now set to 1, if the velocity is near 0 in the Profile Velocity mode.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Version 02-02-04-000 : October 17, 2019

    General

  • Edit IP settings using display [S-20494]
  • Details:

    New screen added to configure and apply IP settings.

    ^ Back to Top ^

    Version 02-02-03-000 : October 8, 2019

    Fieldbus

  • Added DRV.TEMP and AXIS#.TEMP to CANopen objects [S-20796]
  • Details:

    Temperature keywords DRV.TEMP and AXIS#.TEMP are now available via fieldbus objects 3000h sub 8 and 5000h/5100h sub 16 respectively.

    ^ Back to Top ^

    Motion

  • AXIS#.PL.PDELAY and AXIS#.VL.FFDELAY are removed.
  • Issue:

    These keywords are no longer active.

    Solution:

    ^ Back to Top ^

    General

  • Gantry Command Source Added
  • Details:

    The dual axis drive can now be configured as a Gantry for applications requiring tight synchronization between multiple axes. To start this mode, set AXIS#.CMDSOURCE = 4 (GANTRY). See documentation for more details.

  • Show digital out and bidirectional states on display [S-20731]
  • Details:

    New screens added to display digital out and bidirectional states.

  • Power Stage Starts Unexpectedly [D-08390]
  • Issue:

    An issue has been discovered where running the drive under low voltage supply, the supply can then be removed, and re-applied without faulting the drive.

    Solution:

    Additional logic has been added to the in rush relay, any time the inrush opens, a under voltage fault will be generated, preventing unexpected starting of the power stage.

    ^ Back to Top ^

    Action Table

  • Release brake via digital input [S-20694]
  • Details:

    A new task (Task 25) has been added to the Action Table. This new task allows releasing of the brake, e.g. the brake can be released via a digital input.

    ^ Back to Top ^

    Version 02-02-02-001 : September 26, 2019

    Fieldbus

  • EtherCat PDO Padding [S-20722]
  • Details:

    EtherCat now supports padding PDO entries using index 0000h and sub-index 00h.

    For example, writing 0x00000010 as an entry will reserve 2 bytes in the PDO.

  • Updated default multi-axis PDO mapping [D-08377]
  • Issue:

    The default multi-axis PDO mapping did not permit controlling both axes in TwinCAT 2 without modification.

    Solution:

    The default PDO mappings for multi-axis utilize one PDO per axis. TwinCAT 2 now will map both axes properly and permit control of both without modification.

    ^ Back to Top ^

    Version 02-02-02-000 : September 16, 2019

    Fieldbus

  • Action table available over fieldbus [S-20643]
  • Details:

    Action table keywords are not exposed to EtherCat and CAN via objects 3900h-3909h.

  • Added support for quick stop option code object (605Ah) [S-19346]
  • Details:

    The standard object 605Ah is now available. This object allows for specifying how the drive reacts when commanded to perform a quick stop (bit 2) with the control word.

  • DS402 - Bit 10 of the status word should get set when motion is halted [S-20546]
  • Details:

    Bit 10 (Target Reached) is now set in the status word when motion is halted via the control word and the motor has reached zero velocity.

    ^ Back to Top ^

    Motion

  • AXIS#.VL.LIMITP and LIMITN minimum and maximum values do not match the user documentation [D-08363]
  • Issue:

    The minimum and maximum values for VL.LIMITP/LIMITN were 30000 RPM which is different to the documentation and inconsistent with AXIS#.VL.THRESH.

    Solution:

    The minimum and maximum values for VL.LIMITP/LIMITN has been changed to 15000 RPM to match the documentation.

    ^ Back to Top ^

    Motor & Power Stage

  • New Keyword - VBUS.DCNOMINAL
  • Details:

    When DC Mains is used, the nominal dc voltage must be set using this keyword if different from drive's default nominal voltage.

    VBUS.DCOPERATION determines whether DC or AC mains is used.

    Note that when VBUS.DCOPERATION = 1, then, VBUS.ACNOMINAL and VBUS.THREEPHASE are not used. Likewise, when VBUS.DCOPERATION = 0, then, VBUS.DCNOMINAL is not used.

    ^ Back to Top ^

    Action Table

  • New Source and Task
  • Details:

    The following Source and Task types are added to the action table:

    Source 22- Feedback Fault: edge triggered, can be used to start an action when a feedback fault is detected.

    Task 24- Fault Axis: can be used to trigger an "Action Table Fault" in a specific axis.

    Using this task/source combination, one can set up an action to get faults in Axis(n) when a fault happens in Feedback(m).

    ^ Back to Top ^

    General

  • Show digital input states on display [S-20681]
  • Details:

    New screen added to display digital input states.

    ^ Back to Top ^

    Version 02-02-01-000 : August 21, 2019

    Fieldbus

  • Acceleration scaling is not scaling in velocity units per second
  • Issue:

    Acceleration should be scaled in velocity units / s, but it is currently scaled in position units /s.

    Solution:

    A bug was fixed in the drive firmware where the velocity factor was not used in the acceleration scaling factor.

  • CANopen added acceleration factor object 0x6097 [S-20628]
  • Details:

    CANopen object 6097h is defined in the CANopen drive profile specification DS402. It is part of the factor group and provides a scale factor that is applied to all acceleration values.

    ^ Back to Top ^

    General

  • AXIS#.HOME.OFFSET not restored after rebooting the drive [D-08353]
  • Issue:

    Homing an axis via AXIS#.HOME.MOVE calculates and sets AXIS#.HOME.OFFSET. That offset should remain unchanged when the drive is rebooted, but was set to 0 instead.

    Solution:

    The drive now correctly loads the home offset set via AXIS#.HOME.MOVE when rebooting.

  • Enabling an axis with a feedback fault could generate F3000 and F3005 Faults [D-08350]
  • Issue:

    If an axis has a feedback fault and no feedback connected and feedback auto-identify selected with FB#.SELECT -1 then AXIS#.EN can generate F3000 and F3005 Faults on both axes. This can also be seen with the axis enable button in WorkBench. These timeout faults are reported because the AXIS#.EN tries to clear the fault and this takes longer then the default timeout.

    Solution:

    The DRV.HELP for AXIS#.EN now has an extended timeout of 20s which is the same timeout for AXIS#.CLRFAULTS.

    For axis commands the command timeout fault F3000 is now only generated on that axis.

    F3005 was a watchdog fault that was incorrectly being reported in this case. The watchdog is nolonger being reported in this case.

  • Homing bits in AXIS#.MOTIONSTAT not properly cleared by AXIS#.HOME.CLEAR [D-08353]
  • Issue:

    When homing an axis using AXIS#.HOME.MOVE, disabling the axis and issuing AXIS#.HOME.CLEAR, bits 1 and 2 in AXIS#.MOTIONSTAT were initially cleared, but were set again the next time the axis was enabled.

    Solution:

    AXIS#.HOME.CLEAR not properly clears bits 1 and 2 of AXIS#.MOTIONSTAT.

  • KAS command timeout / thread watchdog issue [D-08340]
  • Issue:

    Thread watchdog fault (3005) set when command timeout occurs. Thread watchdog fault can't be cleared by AXIS#.CLRFAULTS

    Solution:

    Firmware no longer sets thread watchdog fault when command timeout occurs. Thread watchdog fault can be cleared using AXIS#.CLRFAULTS.

  • Unclearable fault on EtherCat drives without X22 connector (Feedback 5) [D-08325]
  • Issue:

    On EtherCat drives without the X22 connector, an unclearable fault would be generated.

    Solution:

    An issue in firmware was fixed where feedback 5 was being incorrectly referenced.

    ^ Back to Top ^

    FieldBus

  • New CANOpen object to limit current based on percent of peak current[S-20588]/Bugzilla 10353
  • Details:

    Added axis object (500Ah sub 17) to limit axis current based on percent of axis peak current.

  • Support ASCII parameter file over FoE [S-19293]
  • Details:

    The firmware now supports parameter file over FoE

    ^ Back to Top ^

    Motion

  • Homing with limit switch, reversing and searching to find rising edge of limit switch was done at full speed [D-07862]
  • Issue:

    When using homing modes 1, 2 or 3 the axis will search for the limit switch at the full AXIS#.HOME.V speed. When it finds a falling edge of the limit switch it decelerates to zero speed and then starts to move backwards to find the rising edge of the limit switch. This move back towards the limit switch is done at the full AXIS#.HOME.V speed.

    Moving at a slower speed improves the accuracy of the home position.

    Solution:

    Homing modes 1, 2 and 3 have been changed to search for the rising edge of the limit switch with a speed reduced by AXIS#.HOME.CREEPFACTOR.

  • Spike in motion task velocity when interrupting tasks [D-08359]
  • Issue:

    When interrupting a motion task during its constant velocity phase by another task with the same velocity but a smaller deceleration the trajectory velocity showed a short spike before decelerating. Depending on the magnitude of the difference in deceleration, this could cause large unexpected motion of the motor.

    Solution:

    The firmware has been changed to correctly transition between motion tasks with the same velocity and different deceleration.

    ^ Back to Top ^

    Motor & Power Stage

  • New keyword - VBUS.DCOPERATION
  • Details:

    VBUS.DCOPERATION {=0/1} keyword is created.

    This parameter indicates whether the mains input is DC or AC.

    If the mains input in DC and it is connected to DC+/DC- terminals, not setting this parameter to 1 will cause “AC input phase loss” error.

    Caution:

    If using DC mains, Kollmorgen recommends that the mains input is connected to RST terminal as opposed to DC+/DC- terminal.

    The reason is that the voltage of DC+/DC- may go above the mains voltage in regenerative breaking mode, and this can damage the DC power supply feeding the drive.

    ^ Back to Top ^

    Version 02-02-00-001 : August 2, 2019

    Analog & Digital IO

  • Action table Analog Input Source ACTION#.SOURCE 13 Incorrectly Scaled [D-08324]
  • Issue:

    When using the action table and selecting ACTION#.SOURCE 13 (Analog Input) would not trigger actions at the correct threshold or output a signal of the correct magnitude.

    Solution:

    The firmware was changed to correctly scale the analog input value correctly.

    ^ Back to Top ^

    Action Table

  • The range for ACTION#.TASKPARAM could be from zero to zero [D-08328]
  • Issue:

    When using ACTION#.TASK 15 (Set Analog Output) with some of the sources the range of ACTION#.TASKPARAM reported by DRV.HELP was incorrectly reported as from 0 to 0.

    Solution:

    The range of ACTION#.TASKPARAM is now reported correctly.

    ^ Back to Top ^

    Fieldbus

  • Touch probe was not capturing the DC correctly [D-08342]
  • Issue:

    The EtherCAT touch probe was not capturing the distributed clock correctly.

    Solution:

    The firmware was changed to correctly capture the distributed clock correctly.

    ^ Back to Top ^

    Version 02-02-00-000 : July 23, 2019

    Functional Safety

  • Brake consistency warning occurring when it shouldn't [D-08321]
  • Issue:

    The brake consistency warning would be triggered when SBC was not configured, AXIS1.MOTOR.BRAKE = 1, and BRAKE1.AXIS = 0. Since SBC was not configured, we shouldn't get a brake inconsistent warning.

    Solution:

    When no SBC is configured, no brake parameter consistency check is performed. It is up to the user to verify they have AXIS#.MOTOR.BRAKE and BRAKE#.AXIS assigned correctly.

    ^ Back to Top ^

    Motor & Power Stage

  • Drive and fuse protection against fast consecutive on-off ac-mains transitions
  • Issue:

    Fast on/off transitions of ac mains will cause high inrush currents that can possibly damage the drive and the protective fuse.

    Solution:

    When ac mains is disconnected, the new algorithm detects a "phase loss fault", disables the drive, and opens the inrush relay. User must clear this fault in order to reset the inrush relay state machine. This mechanism will protect against high inrush currents when fast ac mains on/off transitions happen.

  • Motor Foldback fault is thrown if rebooting and connecting immediately
  • Issue:

    Per UL requirement, one of the filters in the motor foldback class initializes to 50% when booting. This initialization takes place when constructing the class, and at this time not all motor parameters are configured yet. Therefore, it may initialize to a level that is above the fault threshold. The filter output will eventually converge to the correct level after some time.

    Solution:

    This issue is resolved.

    ^ Back to Top ^

    General

  • Perform homing from display [S-20512]
  • Details:

    New screens added so user can home axis using display

    ^ Back to Top ^

    Version 02-01-05-000 : July 10, 2019

    Fieldbus

  • Added AXIS#.CMDSOURCE object
  • Details:

    A new object to access AXIS#.CMDSOURCE was added at 5000h sub 14

  • Added STO objects for Sil2 drive variant [S-20505]
  • Details:

    When using the Sil2 drive variant, the only way to know if the drive was disabled due to STO was to monitor the axis manufacturer status object 50EFh/51EFh. PDO mappable STO specific objects are now available for AXIS#.SAFE.STO.ACTIVE, AXIS#.SAFE.STO.A, and AXIS#.SAFE.STO.B at 5007h/5107h sub 2, 3, and 4.

  • Set sub-indices 2 and 3 of objects 0x5000 and 0x5100 to read-only and change abort code [S-20473]
  • Issue:

    The parameters AXIS#.ACC and AXIS#.DEC were taken out. The access to sub-indexes 2 and 3 were delivering an abort code "object does not

    exist". They should deliver "sub-index does not exist".

    Solution:

    The access to the sub-indexes is fixed. Names are changed to Reserved

    index subindex. The indexes are now read-only.

    ^ Back to Top ^

    General

  • Perform NVSAVE using display [S-20475]
  • Details:

    New screens added so user can save NV paramters using display

  • Retain home offset when power cycling the drive [S-20422]
  • Details:

    The offset stored in AXIS#.HOME.OFFSET when homing an axis will now be kept when power cycling the drive. A new keyword AXIS#.HOME.CLEAR can be used to clear the stored information. Another new keyword AXIS#.HOME.MULTITURNMODE can be set to configure the behavior of the homing status bits in AXIS#.MOTIONSTAT.

  • Temperature keyword name change [S-20507]
  • Issue:

    Some temperature-reporting keyword names were confusing.

    Solution:

    The following read-only key word names have been changed:

    HW.TEMP1 >> DRV.TEMP (control board temperature)

    HW.TEMP2 >> AXIS1.TEMP (axis 1 power board temperature)

    HW.TEMP3 >> AXIS2.TEMP (axis 2 power board temperature)

    AXIS1.OTFTHRESH >> AXIS1.TEMPFTHRESH

    AXIS1.OTWTHRESH >> AXIS1.TEMPWTHRESH

    AXIS2.OTFTHRESH >> AXIS2.TEMPFTHRESH

    AXIS2.OTWTHRESH >> AXIS2.TEMPWTHRESH

    ^ Back to Top ^

    Version 02-01-04-000 : June 27, 2019

    Fieldbus

  • Added bit 11 'Internal Limit Active' to CANopen status word [S-19532]
  • Details:

    The CANopen spec defines bit 11 of the status word (object 6040h) as internal limit active. This is now implemented and controlled by the following conditions:

    * Set if motion is being commanded into a limit switch and clears when moving out of a limit switch

    * Set if a controlled stop is in progress (SS1, action table, etc.) and clears once the controlled stop is complete...note: the drive will usually be disabled at the end of most controlled stop actions and this bit will clear. If using ACTION#.TASK 11 this bit will remain active as long as the action is active

    * Set while W&S is active

  • Unassigned feedback faults available via fieldbus [S-20158]
  • Details:

    New objects were created to monitor faults on all feedbacks:

    3001h sub0 is a U32 representing drive status. It contains bits indicating if a feedback has an active fault

    3505h-3509h, each sub-index contains the first five currently active fault numbers for FB1-FB5

    ^ Back to Top ^

    Motion

  • AXIS#.ACC and AXIS#.DEC removed
  • Issue:

    The drive-level acceleration/deceleration keywords were often a blocking feature-level accel/decel settings.

    Solution:

    We have removed drive-level accel/decel settings, and now motion is defined entirely at the feature level. Controlled stop has its own deceleration, motion tasks have their own deceleration, service motion, etc.

    ^ Back to Top ^

    General

  • AXIS#.ENDEFAULT causes drive to crash
  • Issue:

    When AXIS#.ENDEFAULT was set to enable the drive on start-up, the drive could potentially crash if feedback detection took a long time.

    Solution:

    A firmware issue was fixed around AXIS#.ENDEFAULT to prevent the drive from crashing when attempting to enable during start-up.

  • FB1.OFFSET and FB1.ORIGIN replaced by AXIS#.PL.OFFSET [S-19931 ]
  • Issue:

    Two separate offsets FB1.OFFSET and FB1.ORIGIN existed in the firmware. Even though they were FB1 keywords, the offset was actually applied to AXIS1.PL.FB, regardless of which feedback was used for closing the position loop. There were no equivalent keywords for the second axis.

    Solution:

    A new keyword AXIS#.PL.OFFSET has been added to the firmware for each of the drive's axes to replace FB1.OFFSET and FB1.ORIGIN.

  • New keyword AXIS#.HOME.OFFSET [S-19931 ]
  • Details:

    AXIS#.HOME.OFFSET can be used to read the position offset resulting from execution of a homing procedure.

  • SFA SFD support [S-20265]
  • Details:

    Added support for following feedback type:

    • SFA - SFD (Smart Feedback Device) (141)

    ^ Back to Top ^

    Functional Safety

  • AXIS#.SAFE.STO.REPORTFAULT accessible via fieldbus [S-20377]
  • Details:

    AXIS#.SAFE.STO.REPORTFAULT is now accessible via EtherCat and CANBus using object 5007h sub 1

    ^ Back to Top ^

    Action Table

  • Compare Digital Inputs source [S-20426]
  • Details:

    A new source (Source 21 - Compare Digital Inputs) has been added to the action table. This source includes all Digital Inputs and DIO pins. The ACTION#.SOURCEPARAM is used to mask out inputs and the ACTION#.CONDITIONVALUE is an and operation over all masked inputs.

    ^ Back to Top ^

    Version 02-01-03-000 : May 21, 2019

    Feedback

    ^ Back to Top ^

    Display

  • AKD2G display fault window not updated regularly [D-08230]/Bugzilla 10267
  • Issue:

    Faults not updated until returning to previous screen

    Solution:

    Fault screen now updates when faults change

    ^ Back to Top ^

    Action Table

  • Fix action task analog output scaling [D-08269]
  • Issue:

    The actual scaling unit when using analog output was V/unit.

    Solution:

    The new scaling unit when using analog output is now unit/V.

    ^ Back to Top ^

    Motor & Power Stage

  • New warning when VBUS.ACNOMINAL is inconsistent with AC mains voltage
  • Details:

    When AC mains voltage is inconsistent with VBUS.ACNOMINAL, a warning is given and inrush relay is prevented from closing.

    ^ Back to Top ^

    Version 02-01-02-002 : June 6, 2019

    Feedback

    ^ Back to Top ^

    Functional Safety

  • Single Axis FSoE not working [D-08284]
  • Issue:

    When using a single axis safety drive, FSoE transactions are not processed and drive cannot clear STO.

    Solution:

    An issue was fixed in the firmware to process FSoE PDOs for single axis drives.

    ^ Back to Top ^

    Version 02-01-02-001 : May 15, 2019

    Feedback

    ^ Back to Top ^

    Version 02-01-02-000 : May 10, 2019

    Motion

  • Acceleration FF not being zeroed [D-08252]
  • Issue:

    If a motion source is non-zero upon amp enable, an instantaneous acceleration will be calculated.

    Solution:

    Acceleration signal is zeroed upon amp enable to suppress discontinuities.

  • Controlled Stop with IL.OFFSET results in unexpected drift [D-08191]
  • Issue:

    A bug was introduced where the integrators would be disabled during controlled stops. This caused vertical axes, and axes with IL.OFFSET configured to drift during controlled stop

    Solution:

    The integrators have been re-instated for controlled stop.

  • MT.CLEAR does not clear MT.CAP [D-08223]
  • Issue:

    MT.CLEAR command did not clear MT.CAP correctly.

    Solution:

    MT.CLEAR command behavior has changed, and clears the MT.CAP now correctly.

  • Service Motion and VL.CMDU superimpose motion [D-08249]
  • Issue:

    If VL.CMDU is non-zero, and a subsequent Service Motion is commanded, VL.CMD will be the sum of the two commands

    Solution:

    VL.CMDU will not longer be allowed to be commanded if a service motion is in progress. If a Service Motion is commanded while VL.CMDU is non-zero, the service motion will supercede the VL.CMDU setting.

  • AXIS#.MT.RUNNING keyword [S-20238]
  • Details:

    AXIS#.MT.RUNNING takes the index of a valid motion task as an argument, and indicates whether the specified task is running. Value 1 indicates the task is running, and 0 indicates the task is not running.

  • VL.AINACC and VL.AINDEC added [S-20232]
  • Details:

    New accel/decel limits have been added which affect Velocity Mode Analog Command Source. Use these keywords to limit the accel/decl of an analog based trajectory

    -[S-20262]
  • Details:

    New accel/decel limits have been added which affect Velocity Mode Analog Command Source. Use these keywords to limit the accel/decl of an analog based trajectory

    ^ Back to Top ^

    Analog & Digital IO

  • Analog Output Can Be Outside 0 to 10V Range [D-08212]
  • Issue:

    When driving an analog output from the action table the output voltage can be reported outside the 0 to 10V range the output supports.

    Solution:

    The firmware has been changed so that the analog output is always within the 0 to 10V range.

  • Analog Output offset [D-08212]
  • Issue:

    When using a analog output offset with the action table the output voltage was clipped at a voltage within the expected 0 to 10V range.

    Solution:

    The firmware has been changed so that the analog output is only limited by the 0 to 10V range.

    ^ Back to Top ^

    Functional Safety

  • AXIS#.SAFE.SBC.BRAKE#ATTACHED keywords not updated [D-08263]
  • Issue:

    When uploading a new safety parameter file to the drive, the AXIS#.SAFE.SBC.BRAKE#ATTACHED keywords are not updated correctly.

    Solution:

    Fixed the issue. The parameter cache for this safety parameters is now updated correctly when a new parameter file is uploaded.

  • Safety Basic functions
  • Details:

    Supported safety functions: STO, SS1, SBC, SDB

    Supported safe fieldbus: FSoE and FSoE parametrization

    Safe Module version: 0.38 or higher

    Limitation: SBT (safe brake test) is not usable yet.

    ^ Back to Top ^

    General

  • F2007 & F2014 are reported on disabled axis [D-08113]
  • Issue:

    F2007 and F2014 were reported on disabled axis, even if no motor is connected.

    Solution:

    F2007 and F2014 are now reported only on enabled axis.

  • IL.CMD is non-zero after amp disable [D-08234]
  • Issue:

    A bug was identified which allowed the power stage to command current even after the amplifier was disabled.

    Solution:

    The bug has been fixed and IL.CMD will always be zero after the amp has been disabled

  • New warning for brake override without brake configured [D-08250]
  • Details:

    A new warning W5007 has been added to the firmware, indicating that the brake state is overridden by AXIS#.MOTOR.BRAKECONTROL, but no brake is configured.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Fieldbus

  • New CoE object for AXIS#.UNIT.LABEL [S-20237]
  • Details:

    A new CoE object was added for AXIS#.UNIT.LABEL at 5010h sub-index 9.

    ^ Back to Top ^

    Action Table

  • Specify motion task number for Motion Task In Position action source [S-20262]
  • Issue:

    Motion task in position action source (7) is set when any motion task reaches target position. Customer would like the option to have it set when a specific motion task reaches position.

    Solution:

    ACTION#.SOURCEPARAM has been added and can be used to configure a specific motion task for the Motion Task In Position source. Values 0-31 specify a motion task number. The default value -1 retains the earlier behavior, i.e. the trigger occurs when any motion task is in position (see AXIS#.MOTIONSTAT and MT in position bit)

  • Specify motion task number for Move Complete action source [S-20203]
  • Issue:

    Some applications need to trigger an action when a specific motion task completes. This has not been possible with the Move Complete action source, which has triggered when any motion task sequence on an axis completes.

    Solution:

    ACTION#.SOURCEPARAM has been added and can be used to configure a specific motion task for the Move Complete source. Values 0-31 specify a motion task number. The default value -1 retains the earlier behavior, i.e. the trigger occurs at the completion of any motion task sequence.

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    Version 02-01-01-000 : April 9, 2019

    General

  • Action Task Enable After Reboot Fails [D-08216]
  • Issue:

    If an Action Task is set to Enable an axis with Action Source = Ready To Operate (RTO/RTB), when the drive is rebooted, the axis is not enabled. If the drive is disabled via HW enable with SW enable still set and a DRV.RSTVAR is issued, SW enable remains set but should be cleared.

    Solution:

    The drive when rebooted, does enable the desired axis set in the Action Task. It now clears the SW enable bit when DRV.RSTVAR is issued.

  • Some faults not able to be cleared [D-08188]
  • Issue:

    A power stage fault was generated and unable to be cleared without a power cycle.

    Solution:

    An issue in firmware was fixed where certain hardware faults remained after a clear faults was issued.

  • SW enable remains set after DRV.RSTVAR [D-08231]
  • Issue:

    If the drive is disabled via HW enable with SW enable still set and a DRV.RSTVAR is issued, SW enable remains set but should be cleared.

    Solution:

    The drive now clears the SW enable bit when DRV.RSTVAR is issued.

  • Linear Motor Support for SinCos and Incremental Feedbacks [S-20109]
  • Details:

    New Keywords: FB#.LINEPITCH and FB#.MECHTYPE.

    FB#.MECHTYPE can be set to Rotary(0) or Linear(1) - use FB#.ENCLINES for Rotary Motors and FB#.LINEPITCH for Linear motors.

    End Resolution of Linear Motors will be the result of MOTOR.PITCH / FB#.LINEPITCH

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    Analog & Digital IO

  • AOUT value incorrect when driven by action table with high scaling [D-08199]
  • Issue:

    When using ACTION#.TASK 15 (Set Analog Output) with a velocity command as the source (ACTION#.SOURCE 16), and the scaling ACTION#.TASKPARAM is high the analog output may not be correct.

    Solution:

    The firmware has changed so that the analog output stays at 10V or 0V when the signal is greater than 10V or less than 0V.

  • AOUT#.OFFSET range is wrong [D-08175]
  • Issue:

    The AOUT#.OFFSET range was from -5V to 5V, while documentation said the range for this keyword should be from -10 to 10V.

    Solution:

    Changed the AOUT#.OFFSET range from -10V to 10V.

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    Motion

  • AXIS#.DIR inconsistency in WorkBench scope [D-08221]
  • Issue:

    AXIS#.IL.FB and AXIS#.IL.CMD signs were opposite in WorkBench scope when using recorder and using the keywords when AXIS#.DIR was set for negative commutation.

    Solution:

    An issue in firmware was fixed where the value being sent to the recorder did not account for AXIS#.DIR properly.

  • Change of PL.FB.SOURCE does not clear homing [D-08189]
  • Issue:

    A change of PL.FB.SOURCE does not clear homing. The Axis was still homed.

    Solution:

    The homing is now cleared when PL.FB.SOURCE is changed to a different feedback.

  • Service Motion decel has discontinuity in Velocity Mode [D-07879]
  • Issue:

    When the drive is in Velocity Mode and an AXIS#.STOP command is issued, a discontinuity occurs on initial deceleration

    Solution:

    Loop logic has been updated and fixed

    ^ Back to Top ^

    Motor & Power Stage

  • AXIS#.IL.FOLDFTHRESHU default setting incorrect [D-08177]
  • Issue:

    The default value for AXIS#.IL.FOLDFTRESHU is set to 0. In this case the AXIS#.IL.FOLDFTHRESH is also set to 0.

    Solution:

    The default value for AXIS#.IL.FOLDFTHRESHU is now set to AXIS#.IPEAK and AXIS#.IL.FOLDFTRESH is also unequal to 0 by default.

  • Motor Foldback fault is thrown if rebooting and connecting immediately
  • Issue:

    Per UL requirement, one of the filters in the motor foldback class initializes to 50% when booting. This initialization takes place when constructing the class, and at this time not all motor parameters are configured yet. Therefore, it may initialize to a level that is above the fault threshold. The filter output will eventually converge to the correct level after some time.

    Solution:

    This issue is resolved.

  • Transition between nominal and high PWM frequency at wrong temperature for HV12 [D-08182]
  • Issue:

    Transition between nominal and high PWM frequency happens at wrong temperature for HV12 model.

    Solution:

    This issue is resolved.

    Now, the transition happens at the correct threshold, which is

    0.75*(TemperatureFaultThreshold-60C)+60C.

  • Drive Foldback Recovery Time
  • Issue:

    Drive Foldback Recovery time was previously set to 5 seconds.

    Solution:

    In the new FW version, the Drive Foldback Recovery Time is set at boot time such that the average drive current remains equal to or lower than the drive continuous current at worst case condition.

    ^ Back to Top ^

    Fieldbus

  • EtherCAT emergency service [S-20087]
  • Details:

    The drive now supports the EtherCAT emergency service. Whenever a fault or warning occurs, it will send a CoE frame containing a CANopen emergency object. Additionally, once all faults and warnings are cleared the drive will send a similar frame with the emergency code in the emergency object set to 0.

  • PLL synchronization added to CANbus [S-17092]
  • Details:

    CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.

  • PLL timeout fault even with no fieldbus connected [D-08229]
  • Issue:

    The drive would get a F7003 'PLL failed to acquire lock' after any unrelated fault was cleared.

    Solution:

    An issue in firmware was fixed that inadvertently set this fault when clearing faults.

  • Rollover of target position (607Ah) causes following error in CSP mode [D-08208]
  • Issue:

    When using cyclic position mode (CSP) and the 32-bit target position (CANopen object 607Ah) rolls over from positive to negative, the PL.CMD value jumps from a large positive to large negative value. This causes a following error fault and the drive disables.

    Solution:

    The drive firmware was updated to account for 32-bit rollover and only observes the difference in target positive values while in CSP mode.

  • Unable to clear PLL fault from fieldbus
  • Issue:

    A PLL fault was generated at start-up and only a WorkBench command DRV.CLRFAULTS could clear the fault. Resetting faults with the CANopen control word (6040h) did not succeed.

    Solution:

    The drive was updated to permit clearing the PLL fault with the control word (6040h) as well as the AXIS#.CLRFAULTS keyword.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Version 02-01-00-004 : April 3, 2019

    Fieldbus

  • Rollover of target position (607Ah) causes following error in CSP mode [D-08208]
  • Issue:

    When using cyclic position mode (CSP) and the 32-bit target position (CANopen object 607Ah) rolls over from positive to negative, the PL.CMD value jumps from a large positive to large negative value. This causes a following error fault and the drive disables.

    Solution:

    The drive firmware was updated to account for 32-bit rollover and only observes the difference in target positive values while in CSP mode.

    ^ Back to Top ^

    Version 02-01-00-003 : March 26, 2019

    Fieldbus

  • PLL synchronization added to CANbus [S-17092]
  • Details:

    CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.

  • Unable to clear PLL fault from fieldbus
  • Issue:

    A PLL fault was generated at start-up and only a WorkBench command DRV.CLRFAULTS could clear the fault. Resetting faults with the CANopen control word (6040h) did not succeed.

    Solution:

    The drive was updated to permit clearing the PLL fault with the control word (6040h) as well as the AXIS#.CLRFAULTS keyword.

    ^ Back to Top ^

    Version 02-01-00-002 : March 21, 2019

    General

  • Internal Changes Only
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    Version 02-01-00-001 : March 12, 2019

    Motor & Power Stage

  • Bus overvoltage fault not reported when axis disabled
  • Issue:

    Fault 2006: Bus over voltage should be reported regardless of whether an axis is enabled or disabled. The fault is not reported with disabled axis.

    Solution:

    Fault 2006: Bus over voltage is reported for both enabled and disabled axis.

    ^ Back to Top ^

    Version 02-01-00-000 : March 11, 2019

    Feedback

    ^ Back to Top ^

    General

  • AXIS#.DIR doesn't work properly [D-08164]
  • Issue:

    In torque mode AXIS#.IL.CMDU and AXIS#.IL.CMD signs do not match when AXIS#.DIR = 1. In position mode AXIS#.PL.ERR has a different sign from AXIS#.IL.CMD.

    Solution:

    Changed the signs of AXIS#.IL.CMD and AXIS#.IL.FB.

  • Fault 'Failed to read motor parameters' when MOTOR.AUTOSET is 0 [D-08106]
  • Issue:

    A fault F4016 indicating that invalid motor data was read from the feedback was triggered even when MOTOR.AUTOSET was set to 0.

    Solution:

    F4016 should now only occur when MOTOR.AUTOSET is set to 1.

  • Autotuner failing friction test [D-08152]
  • Issue:

    When performing the friction test in the Autotuner, the motor will move in the incorrect direction and the Autotuner will fail to determine an excitation current.

    Solution:

    While consolidating some code an error was introduced which caused the excitation current to be the wrong sign.

  • Clearing Faults takes too long [D-08114]
  • Issue:

    Clearing faults with Feedbacks configured to Auto-Identify may take a long time to clear faults

    Solution:

    Code architecture has been optimized to reduce time spent clearing faults.

  • No fault thrown when PTC resistor input is missing [D-08107]
  • Issue:

    No fault thrown when PTC resistor input is missing.

    Solution:

    When PTC resistor input is missing, a fault is thrown and the faulted axis is disabled.

  • Warning 6015 isn't cleared by HOME.SET [D-08172]
  • Issue:

    When warning 6015 appears on the drive and homing is set with AXIS#.HOME.SET, the warning was not cleared.

    Solution:

    The home warnings are now cleared when home is set with AXIS#.HOME.SET.

  • Motor phase loss detection feature is added
  • Details:

    - With this feature, a broken wire connection to the motor, whether one phase or three phase, can be detected.

    - Upon detection, a fault is thrown and the faulted axis is disabled.

  • Over Temperature and Under Temperature Faults and Warning
  • Issue:

    In the previous versions, all temperature faults & warnings are applied to both axes. For example, an over temperature fault on axis 1 can shut down axis 2 too.

    Solution:

    The new version of the FW distinguishes between the temperature faults:

    1- Control board temperature faults & warnings are applied to both axes.

    2- Power board temperature faults & warnings are only applied to their corresponding axis. For example, and over temperature fault on axis 1 is only reported for axis 1 and does not block axis 2 from operating.

    3- Power board EDS parameters (over temperature fault and warning levels) are changed from scalars to arrays to determine the thresholds for each axis separately.

  • Sine and cosine encoder error signal [S-20051]
  • Details:

    Added the following new keywords to get informations about the sine/cosine encoder signal quality: FBX.SIGNALAMPLITUDE, FBX.SIGNALSIN, FBX.SIGNALCOS.

    ^ Back to Top ^

    Motor & Power Stage

  • AXIS#.IL.DIFOLD return-value change
  • Issue:

    In the previous versions, AXIS#.IL.DIFOLD always returns a value between AXIS#.ICONT and AXIS#.IPEAK. In other words, the drive foldback algorithm output is always clamped to the drive peak current.

    The drive foldback algorithm, however, lets the fold current to go above the peak current in order to ensure a minimum delay time before current foldback kicks in.

    Solution:

    In the new version, AXIS#.IL.DIFOLD is not clamped to AXIS#.IPEAK so that the user can see how the drive foldback algorithm works.

    ^ Back to Top ^

    Action Table

  • Changed ACTION#.RUNCOUNT behavior for continuous tasks and added new keyword ACTION.RUNNING [S-19893]
  • Details:

    For continuous tasks the ACTION#.RUNCOUNT is always set to 0. The new ACTION.RUNNING keyword shows which tasks are executed in the actual cycle. Each of the 32 bits shows if the corresponding action is executed in the current cycle.

    ^ Back to Top ^

    Motion

  • Controlled Stop in Torque Mode may not disable axis [D-08170]
  • Issue:

    If an axis is in motion in torque mode, and a controlled stop is issued (from any source), the axis will not disable until VL.FBFILTER is below AXIS#.DISVTHRESH. However, if there is an external force (or current offset) producing motion, the axis may never disable on it's own.

    Solution:

    If controlled stop is issued from Torque Mode, the axis will activate dynamic brake to help drive the axis to zero velocity. This will ensure the axis can disable even when an external force is being applied to the motor.

  • Blend into ACC and Blend into VEL did not work when queuing alternating motions [D-07927]
  • Issue:

    When using blending as a transition between motion tasks, if the direction of motion is not in the same direction, the target position will be overshot - and the transition between motion tasks may behave unpredictably.

    Solution:

    If blending is selected when transitioning to an alternating direction, blending will be ignored, and the two motion tasks will be executed as a zero dwell delay move to the trajectory does not overshoot.

    ^ Back to Top ^

    Fieldbus

  • CoE Tab Offline [D-08093]
  • Issue:

    The CoE tab in TwinCat 3 would indicate offline.

    Solution:

    Fixed firmware issue when receiving abort messages.

    Firmware supports SDO's with large (greater than 4 bytes) payloads.

  • CANopen SDO objects in ESI file with incorrect read/write permissions [D-08148]
  • Issue:

    Many CANopen objects containing subindices had the wrong read/write attributes in the EtherCAT Slave Information (ESI) file. The attributes in the drive were correct.

    Solution:

    The ESI file has been updated with the correct attributes.

  • Added support for touch probe time stamp objects using DC and CAP#T.[S-19317]
  • Details:

    Added CANopen objects 60D1h-60D4h and 68D1h-68D4h. Added keyword CAP#.T.

    ^ Back to Top ^

    Version 02-00-01-002 : February 25, 2019

    General

  • Internal Changes Only
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    Version 02-00-01-001 : February 12, 2019

    General

  • Internal Changes Only
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    Version 02-00-01-000 : January 31, 2019

    Fieldbus

  • Added AXIS#.CANOPEN.STATUSWORD and AXIS#.CANOPEN.CONTROLWORD
  • Details:

    Added new keywords for EtherCat/CANBus drives to view the status and control words.

  • Added CanOpen object 1008h "Manufacturer Device Name"
  • Details:

    The new CanOpen object 1008h "Manufacturer Device Name" returns a string that contains the full AKD2G model number. This model number is on the label on the side of the drive and available using DRV.INFO.

  • Added CANBUS.DIAG and ECAT.DIAG
  • Details:

    Diagnostic keywords for CANBus and EtherCat were added to collect various diagnostic information for each fieldbus.

  • AXIS#.MOTOR.BRAKECONTROL applied to released condition causes software disable
  • Issue:

    The internal drive state machine would issue a disable when the brake was manually released or applied while enabled.

    Solution:

    The firmware was updated to not disable the axis when the brake was manually controlled while enabled.

    ^ Back to Top ^

    Motion

  • DRV.STOP causes velocity spike in some instances(D-07222)
  • Issue:

    Depending on configuration and tuning, an axis in motion stopping due to DRV.STOP may see a velocity spike as soon as VL.FB dips below AXIS#.DISVTHRESH.

    Solution:

    The axis was trying to immediately come to rest when VL.FB is below AXIS#.DISVTHRESH by setting PL.CMD equal to PL.FB, this has been changed to allow the axis to come to rest naturally.

  • Motion task target velocity reached keeps changing during a motion task
  • Issue:

    Bit 12 of AXIS#.MOTIONSTAT should be set when a motion task is executing and the target velocity has been reached. Instaed of this bit being set once when getting to close to the slew speed and being cleared when the motion task finished, the bit would keep changing.

    Solution:

    The default value of AXIS#.SETTLE.V was changed to 60rpm. AXIS#.SETTLE.V is used to decide if the speed of the axis is sufficiently close to the target speed. The default value for AXIS#.SETTLE.V was previously too small.

    The logic to set bit 12 of AXIS#.MOTIONSTAT has been changed to use AXIS#.VL.FBFILTER instead of AXIS#.VL.FB. This filtered version of the velocity feedback is significantly smoother allowing AXIS#.SETTLE.V to be set much smaller.

    ^ Back to Top ^

    Gearing

  • Gearing still permitted when using the same GEAR.FBSOURCE as IL/VL/PL.FBSOURCE
  • Issue:

    When gearing is selected as CMDSOURCE and the GEAR.FBSOURCE matches the same feedback as IL/VL/PL.FBSOURCE the axis cannot be controlled.

    Solution:

    A warning is now generated when GEAR.FBSOURCE matches IL/VL/PL.FBSOURCE and CMDSOURCE is set to gearing. If the axis is enabled then a fault is generated as well and the axis is forced to disable.

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    Wake and Shake

  • Wake and Shake continues even when a limit switch is active(D-07889)
  • Issue:

    Wake and Shake (all modes) will continue even when the axis moves past a software or hardware limit switch.

    Solution:

    This behavior has been fixed, and a new fault added (F5514) which will trigger when this condition occurs.

    ^ Back to Top ^

    General

  • Motor Voltage Units Issue
  • Details:

    - AXIS#.IL.VCMD and AXIS#.IL.VDCMD were reporting wrong units. Now they are fixed and both report "Vrms L-N" (line to neutral).

    - AXIS#.IL.VUFB and AXIS#.IL.VVFB are also fixed to report correct values in "V L-N" (line to neutral).

  • AXIS#.IL.DEADBAND read/write privilege
  • Details:

    - AXIS#.IL.DEADBAND privilege is changed from read-only to read/write.

    - Its unit is nano-seconds when reading/writing.

    ^ Back to Top ^

    Version 02-00-00-001 : January 11, 2019

    General

  • On some single axis drives, HW.TEMP3 returns a negative temperature and Warning 2503 is reported.
  • Issue:

    Most single axis drives only have one power board temperature sensor and HW.TEMP3 should not be visible on these drives.

    Solution:

    HW.TEMP3 is now not visible on most single axis drives, and Warning 2503 is not reported on these drive models. HW.TEMP3 does work on a 7V12S which does have two power temperature sensors.

    ^ Back to Top ^

    Version 02-00-00-000 : December 20, 2018

    General

  • AKD2G Version 02-00-00-000 Release
  • AKD2G firmware version 02-00-00-000 is available for download and general use. AKD2G is a leading edge drive product that provides many state of the art features.

    Highlights:

    • Multi-axis operation with complete feature support on each axis
    • Improved feedback management
    • Improved electronic gearing support
    • Action table enhancements to digital input and output modes
    • Improved control loop capabilities and performance
    • Improved capture and motion task registration move functionality
    • Enhanced fieldbus capabilities and performance
    • File download security
    • LCD graphics display

    ^ Back to Top ^

    Version 01-90-14-002 : December 14, 2018

    General

  • Internal Changes Only
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    Version 01-90-14-000 : December 10, 2018

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    Version 01-90-13-000 : November 19, 2018

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    Version 01-90-12-004 : November 6, 2018

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    Version 01-90-12-003 : October 23, 2018

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    Version 01-90-12-002 : October 11, 2018

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    Version 01-90-12-001 : October 4, 2018

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    Version 01-90-12-000 : October 3, 2018

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    Version 01-90-11-002 : September 20, 2018

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    Version 01-90-11-001 : September 14, 2018

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    Version 01-90-11-000 : Aug 8, 2018

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    Version 01-90-11-000 : Aug 16, 2018

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    Version 01-90-10-000 : July 26, 2018

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    Version 01-90-09-000 : May 22, 2018

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    Version 01-90-08-004 : March 22, 2018

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    Version 01-90-08-003 : February 27, 2018

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    Version 01-90-08-002 : February 26, 2018

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    Version 01-90-08-001 : February 20, 2018

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    Version 01-90-08-000 : January 29, 2018

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    Version 01-90-07-003 : October 26, 2017

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    Version 01-90-07-002 : October 17, 2017

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    Version 01-90-07-001 : September 28, 2017

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    Version 01-90-06-005 : May 18, 2017

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    Version 01-90-06-004 : April 20, 2017

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    Version 01-90-06-000 : April 07, 2017

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    Version 01-90-05-000 : December 22, 2016

    neral
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    Version 01-90-08-001 : February 20, 2018

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    Version 01-90-08-000 : January 29, 2018

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    Version 01-90-07-003 : October 26, 2017

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    Version 01-90-07-002 : October 17, 2017

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    Version 01-90-07-001 : September 28, 2017

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    Version 01-90-06-005 : May 18, 2017

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    Version 01-90-06-004 : April 20, 2017

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    Version 01-90-06-000 : April 07, 2017

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    Version 01-90-05-000 : December 22, 2016

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    Version 01-90-04-000 : October 10, 2016

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    Version 01-90-00-000 : July 01, 2016

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    Version emptyfolde :

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