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.

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.

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.

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.

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.

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.

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

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).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.