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 2.0.12.3850 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, please 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 2.0.12.3850 or later is required before downloading or using this AKD2G firmware release.
- The AKD2G firmware release must be used with SMM firmware version 0.38. When updating drive firmware, SMM firmware must be updated to version 0.38 first. After the SMM firmware update, AKD2G firmware must be updated.

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

Analog & Digital IO Issues

  • 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.

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    Action Table Issues

  • 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.

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    Fieldbus Issues

  • 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.

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

    Functional Safety Issues

  • 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.

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    Motor & Power Stage Issues

  • 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.

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    General Issues

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

    New screens added so user can home axis using display

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

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

    Solution:

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

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

    Fieldbus Issues

  • 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.

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    General Issues

  • 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

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

    Fieldbus Issues

  • 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

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    Motion Issues

  • 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.

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    General Issues

  • 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)

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    Functional Safety Issues

  • 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

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    Action Table Issues

  • 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.

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

    Feedback Issues

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    Display Issues

  • 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

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    Action Table Issues

  • 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.

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    Motor & Power Stage Issues

  • 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.

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

    Feedback Issues

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    Functional Safety Issues

  • 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.

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

    Feedback Issues

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

    Motion Issues

  • 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

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    Analog & Digital IO Issues

  • 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.

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    Functional Safety Issues

  • 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.

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    General Issues

  • 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.

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    Feedback Issues

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    Fieldbus Issues

  • 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.

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    Action Table Issues

  • 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 Issues

  • 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 Issues

  • 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 Issues

  • 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

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    Motor & Power Stage Issues

  • 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.

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    Fieldbus Issues

  • 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.

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    Feedback Issues

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    Version 02-01-00-004 : April 3, 2019

    Fieldbus Issues

  • 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.

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    Version 02-01-00-003 : March 26, 2019

    Fieldbus Issues

  • 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.

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    Version 02-01-00-001 : March 12, 2019

    Motor & Power Stage Issues

  • 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.

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    Version 02-01-00-000 : March 11, 2019

    Feedback Issues

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    General Issues

  • 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.

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    Motor & Power Stage Issues

  • 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.

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    Action Table Issues

  • 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.

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    Motion Issues

  • 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.

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    Fieldbus Issues

  • 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.

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    Version 02-00-01-000 : January 31, 2019

    Fieldbus Issues

  • 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.

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    Motion Issues

  • 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.

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    Gearing Issues

  • 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 Issues

  • 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.

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    General Issues

  • 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.

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    Version 02-00-00-001 : January 11, 2019

    General Issues

  • 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.

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    Version 02-00-00-000 : December 20, 2018

    General Issues

  • 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

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