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, 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 2.2.1.4714 or later is required before downloading or using this AKD2G firmware release.
- The AKD2G firmware release must be used with SMM firmware version 0.56. When updating drive firmware, SMM firmware must be updated to version 0.56 first. After the SMM firmware update, AKD2G firmware must be updated.
Version 02-04-00-000 : April 14, 2020
General
Version 02-03-04-002 : April 7, 2020
General
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.
Fieldbus
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.
Telnet
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.
Version 02-03-04-001 : April 1, 2020
Fieldbus
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
Version 02-03-04-000 : March 25, 2020
General
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
Details:
Added a new keyword IP.PROTOCOL with which user can allow SSH access.
Motion
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.
Fieldbus
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.
Version 02-03-03-000 : March 3, 2020
Fieldbus
Issue:
The value of ACTION#.ACTIVE cannot be written using the available CANopen object.
Solution:
EtherCAT access for ACTION#.ACTIVE is now read/write.
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.
Details:
A CANopen object has been added for AXIS#.HOME.SWITCHSOURCE at index 0x5008, subindex 10.
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).
Feedback
Issue:
When the drive was in a service motion and the workbench is connected to the drive. It can happen that it creates a velocity spike or a drive fault. This happens only on drive with a Hiperface DSL encoder.
Solution:
The behavior is fixed on the drive. When a Hiperface DSL encoder is connected and the workbench connects to the drive, the motion behaves normal.
Issue:
AXIS#.PL.KFB and AXIS#.VL.KFB are intended to scale AXIS#.PL.FB and AXIS#.VL.FB respectively. The gains take effect in the control loops but do not scale the feedback keywords.
Solution:
AXIS#.PL.KFB and AXIS#.VL.KFB now scale the AXIS#.PL.FB and AXIS#.VL.FB keywords, as well as scaling the internal control loop signals. Among other uses, this allows setting the direction of a position and velocity loop feedback in a dual loop application, by assigning AXIS#.PL.KFB and AXIS#.VL.KFB positive or negative values as appropriate.
Motor & Power Stage
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.
Functional Safety
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.
Details:
Added a new keyword SAFE.IDANDCRC which returns the safe id and the safe crc value combined as a single value.
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.
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.
Version 02-03-02-000 : January 24, 2020
General
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)
Action Table
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.
Motion
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.
Version 02-03-01-000 : December 19, 2019
Feedback
Details:
Firmware now supports HIPERFACE Analog on X23 and SFA.
Fieldbus
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.
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.
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.
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.
Motion
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.
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.
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.
General
Details:
LCD display now shows state of STO signals.
Version 02-03-00-000 : November 27, 2019
Motion
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.
Action Table
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.
Feedback
Issue:
When the drive was in a service motion and the workbench is connected to the drive. It can happen that it creates a velocity spike or a drive fault. This happens only on drive with a Hiperface DSL encoder.
Solution:
The behavior is fixed on the drive. When a Hiperface DSL encoder is connected and the workbench connects to the drive, the motion behaves normal.
General
Details:
Adding a delay keyword for the command buffer feature. This command allows the user to add a delay between commands.
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.
Version 02-02-05-000 : November 15, 2019
Action Table
Details:
For a drive with a safety option, the safe inputs and safe outputs can be mapped as action table sources.
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).
Motion
Details:
Bit 4 of AXIS#.MOTIONDISSOURCES now indicates that motion is not allowed because Wake and Shake is active.
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.
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).
General
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
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.
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.
Fieldbus
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.
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.
Feedback
Details:
Firmware now supports BiSS-B Analog rotary on X23 and SFA.
Version 02-02-04-000 : October 17, 2019
General
Details:
New screen added to configure and apply IP settings.
Version 02-02-03-000 : October 8, 2019
Fieldbus
Details:
Temperature keywords DRV.TEMP and AXIS#.TEMP are now available via fieldbus objects 3000h sub 8 and 5000h/5100h sub 16 respectively.
Motion
Issue:
These keywords are no longer active.
Solution:
General
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.
Details:
New screens added to display digital out and bidirectional states.
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.
Action Table
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.
Version 02-02-02-001 : September 26, 2019
Fieldbus
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.
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.
Version 02-02-02-000 : September 16, 2019
Fieldbus
Details:
Action table keywords are not exposed to EtherCat and CAN via objects 3900h-3909h.
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.
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.
Motion
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.
Motor & Power Stage
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.
Action Table
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).
General
Details:
New screen added to display digital input states.
Version 02-02-01-000 : August 21, 2019
Fieldbus
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.
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.
General
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.
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.
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.
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.
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.
FieldBus
Details:
Added axis object (500Ah sub 17) to limit axis current based on percent of axis peak current.
Details:
The firmware now supports parameter file over FoE
Motion
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.
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.
Motor & Power Stage
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.
Version 02-02-00-001 : August 2, 2019
Analog & Digital IO
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.
Action Table
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.
Fieldbus
Issue:
The EtherCAT touch probe was not capturing the distributed clock correctly.
Solution:
The firmware was changed to correctly capture the distributed clock correctly.
Version 02-02-00-000 : July 23, 2019
Functional Safety
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.
Motor & Power Stage
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.
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.
General
Details:
New screens added so user can home axis using display
Version 02-01-05-000 : July 10, 2019
Fieldbus
Details:
A new object to access AXIS#.CMDSOURCE was added at 5000h sub 14
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.
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.
General
Details:
New screens added so user can save NV paramters using display
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.
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
Version 02-01-04-000 : June 27, 2019
Fieldbus
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
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
Motion
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.
General
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.
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.
Details:
AXIS#.HOME.OFFSET can be used to read the position offset resulting from execution of a homing procedure.
Details:
Added support for following feedback type:
- SFA - SFD (Smart Feedback Device) (141)
Functional Safety
Details:
AXIS#.SAFE.STO.REPORTFAULT is now accessible via EtherCat and CANBus using object 5007h sub 1
Action Table
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.
Version 02-01-03-000 : May 21, 2019
Feedback
Issue:
Drive boots with SFA communication fault when SFA feedback is selected
Solution:
Fixed issue with motor temperature read causing communication fault
Details:
Added SFA support for following feedback types:
- SFA - Incremental Encoder with Halls (110)
- SFA - Incremental Encoder without Halls (111)
Display
Issue:
Faults not updated until returning to previous screen
Solution:
Fault screen now updates when faults change
Action Table
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.
Motor & Power Stage
Details:
When AC mains voltage is inconsistent with VBUS.ACNOMINAL, a warning is given and inrush relay is prevented from closing.
Version 02-01-02-002 : June 6, 2019
Feedback
Issue:
Drive boots with SFA communication fault when SFA feedback is selected
Solution:
Fixed issue with motor temperature read causing communication fault
Details:
Added SFA support for following feedback types:
- SFA - Incremental Encoder with Halls (110)
- SFA - Incremental Encoder without Halls (111)
Functional Safety
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.
Version 02-01-02-001 : May 15, 2019
Feedback
Issue:
The line pitch scaling (FB#.LINEPITCH) for linear Incremental Encoder, Sine Encoder, and BiSS-C Digital (feedback types 10,11,20,21,34) is incorrect.
Solution:
The line pitch scaling for the affected feedback types has been fixed.
Version 02-01-02-000 : May 10, 2019
Motion
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.
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.
Issue:
MT.CLEAR command did not clear MT.CAP correctly.
Solution:
MT.CLEAR command behavior has changed, and clears the MT.CAP now correctly.
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.
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.
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
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
Analog & Digital IO
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.
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.
Functional Safety
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.
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.
General
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.
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
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.
Feedback
Details:
Linear BiSS-C feedback support has been added. To use a linear BiSS-C feedback, FB#.MECHTYPE must be set to 1 (Linear), and FB#.BITS and FB#.LINEPITCH must be configured, where # identifies the feedback connector. FB#.SELECT 34 (BiSS-C Digital) selects the BiSS-C feedback type.
Details:
Support for Smart Feedback Adapter (SFA) has been added. SFA allows feedback devices that normally connect to X23 (FB3) to connect through X1 (FB1) and X2 (FB2) instead. The following feedback devices are supported: Resolver, BiSS-C Digital, EnDat 2.1 Analog, EnDat 2.2 Digital, Sine Encoder with and without Halls.
Issue:
On X22 the termination was not set correctly and the user was unable to set termination when an incremental feedback was selected.
Solution:
The termination on X22 is no set correctly. And the user is able to set the termination with DIO#.TERM keyword when an incremental feedback is selected.
Fieldbus
Details:
A new CoE object was added for AXIS#.UNIT.LABEL at 5010h sub-index 9.
Action Table
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)
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.
Version 02-01-01-000 : April 9, 2019
General
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.
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.
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.
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
Analog & Digital IO
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.
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.
Motion
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.
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.
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
Motor & Power Stage
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.
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.
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.
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.
Fieldbus
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.
Details:
CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.
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.
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.
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.
Feedback
Issue:
If FB#.IDENTIFIED returns 0 (UnIdentified) then FB#.INFO for that feedback would crash the drive.
Solution:
The firmware has been changed to display an appropriate message instead of crashing.
Issue:
When a feedback is not connected properly to the device, a fault was thrown after initialization and the feedback is shown as identified.
Solution:
When a fault occurs during initialization, the feedback is shown as unidentified.
Issue:
Some Endat 2.2 encoders did not work correctly on FB3. They reported CRC faults or temperature reading faults.
Solution:
Added correct reading of temperature sensor on Endat 2.2 with safety encoders. Also added new initialization routine for Endat 2.2 encoders.
Issue:
Some Endat 2.2 encoders did not work correctly on FB3. They reported CRC faults or temperature reading faults.
Solution:
Added correct reading of temperature sensor on Endat 2.2 with safety encoders. Also added new initialization routine for Endat 2.2 encoders.
Version 02-01-00-004 : April 3, 2019
Fieldbus
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.
Version 02-01-00-003 : March 26, 2019
Fieldbus
Details:
CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.
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.
Version 02-01-00-002 : March 21, 2019
General
Version 02-01-00-001 : March 12, 2019
Motor & Power Stage
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.
Version 02-01-00-000 : March 11, 2019
Feedback
Details:
The new command FB#.INFO prints details like the encoder model number or encoder serial number if this information is available.
General
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.
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.
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.
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.
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.
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.
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.
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.
Details:
Added the following new keywords to get informations about the sine/cosine encoder signal quality: FBX.SIGNALAMPLITUDE, FBX.SIGNALSIN, FBX.SIGNALCOS.
Motor & Power Stage
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.
Action Table
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.
Motion
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.
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.
Fieldbus
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.
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.
Details:
Added CANopen objects 60D1h-60D4h and 68D1h-68D4h. Added keyword CAP#.T.
Version 02-00-01-002 : February 25, 2019
General
Version 02-00-01-001 : February 12, 2019
General
Version 02-00-01-000 : January 31, 2019
Fieldbus
Details:
Added new keywords for EtherCat/CANBus drives to view the status and control words.
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.
Details:
Diagnostic keywords for CANBus and EtherCat were added to collect various diagnostic information for each fieldbus.
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.
Motion
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.
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.
Gearing
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.
Wake and Shake
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.
General
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).
Details:
- AXIS#.IL.DEADBAND privilege is changed from read-only to read/write.
- Its unit is nano-seconds when reading/writing.
Version 02-00-00-001 : January 11, 2019
General
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.
Version 02-00-00-000 : December 20, 2018
General
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