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, 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

  • Internal Changes Only
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    Version 02-03-04-002 : April 7, 2020

    General

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

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

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    Fieldbus

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

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

    Solution:

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

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    Telnet

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

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

    Solution:

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

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

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

    Fieldbus

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

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

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

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

    General

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

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

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

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

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    Motion

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

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

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

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    Fieldbus

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

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

    Solution:

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

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

    Fieldbus

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

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

    Solution:

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

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

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

    Solution:

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

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

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

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

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

    Solution:

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

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    Feedback

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    Motor & Power Stage

  • Motor and Drive Foldback I2T Percentage Reporting
  • Details:

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

    AXIS#.IL.DI2T [%]

    AXIS#.IL.MI2T [%]

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

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

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    Functional Safety

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

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

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

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

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

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

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

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

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

    Solution:

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

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

    General

  • Brake faults and warnings
  • Issue:

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

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

    Solution:

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

    Create new faults for drives with SMM hardware:

    - Fault 5011 (Brake 1 under current)

    - Fault 5012 (Brake 2 under current)

    - Fault 5013 (Brake 1 over current)

    - Fault 5014 (Brake 2 over current)

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    Action Table

  • Command Buffer Text Parsing
  • Issue:

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

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

    Solution:

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

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    Motion

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

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

    Solution:

    Gearing now successfully enters gearing mode on the first attempt.

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

    Feedback

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    Fieldbus

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

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

    Solution:

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

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

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

    Solution:

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

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

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

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

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

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    Motion

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

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

    Solution:

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

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

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

    Solution:

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

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

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

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    General

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

    LCD display now shows state of STO signals.

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

    Motion

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

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

    Solution:

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

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    Action Table

  • Command Buffer [S-20775]
  • Details:

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

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

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    Feedback

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    General

  • DRV.CMDDELAY
  • Details:

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

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

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

    Solution:

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

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

    Action Table

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

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

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

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

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    Motion

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

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

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

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

    Solution:

    The drive will now disable.

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

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

    Solution:

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

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    General

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

    Drive doesn't boot up because of incompatible EDS parameters

    Solution:

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

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

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

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

    Solution:

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

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

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

    Solution:

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

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

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    Fieldbus

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

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

    Solution:

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

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

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

    Solution:

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

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    Feedback

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

    General

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

    New screen added to configure and apply IP settings.

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

    Fieldbus

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

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

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    Motion

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

    These keywords are no longer active.

    Solution:

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    General

  • Gantry Command Source Added
  • Details:

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

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

    New screens added to display digital out and bidirectional states.

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

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

    Solution:

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

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    Action Table

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

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

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

    Fieldbus

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

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

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

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

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

    Solution:

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

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

    Fieldbus

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

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

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

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

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

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

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    Motion

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

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

    Solution:

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

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    Motor & Power Stage

  • New Keyword - VBUS.DCNOMINAL
  • Details:

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

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

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

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    Action Table

  • New Source and Task
  • Details:

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

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

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

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

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    General

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

    New screen added to display digital input states.

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

    Fieldbus

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

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

    Solution:

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

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

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

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    General

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

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

    Solution:

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

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

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

    Solution:

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

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

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

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

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

    Solution:

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

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

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

    Solution:

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

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

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

    Solution:

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

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    FieldBus

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

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

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

    The firmware now supports parameter file over FoE

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    Motion

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

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

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

    Solution:

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

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

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

    Solution:

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

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    Motor & Power Stage

  • New keyword - VBUS.DCOPERATION
  • Details:

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

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

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

    Caution:

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

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

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

    Analog & Digital IO

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

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

    Solution:

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

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    Action Table

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

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

    Solution:

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

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    Fieldbus

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

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

    Solution:

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

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

    Functional Safety

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

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

    Solution:

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

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    Motor & Power Stage

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

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

    Solution:

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

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

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

    Solution:

    This issue is resolved.

    ^ Back to Top ^

    General

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

    New screens added so user can home axis using display

    ^ Back to Top ^

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

    Fieldbus

  • Added AXIS#.CMDSOURCE object
  • Details:

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

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

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

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

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

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

    Solution:

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

    index subindex. The indexes are now read-only.

    ^ Back to Top ^

    General

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

    New screens added so user can save NV paramters using display

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

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

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

    Some temperature-reporting keyword names were confusing.

    Solution:

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

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

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

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

    AXIS1.OTFTHRESH >> AXIS1.TEMPFTHRESH

    AXIS1.OTWTHRESH >> AXIS1.TEMPWTHRESH

    AXIS2.OTFTHRESH >> AXIS2.TEMPFTHRESH

    AXIS2.OTWTHRESH >> AXIS2.TEMPWTHRESH

    ^ Back to Top ^

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

    Fieldbus

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

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

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

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

    * Set while W&S is active

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

    New objects were created to monitor faults on all feedbacks:

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

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

    ^ Back to Top ^

    Motion

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

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

    Solution:

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

    ^ Back to Top ^

    General

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

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

    Solution:

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

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

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

    Solution:

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

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

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

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

    Added support for following feedback type:

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

    ^ Back to Top ^

    Functional Safety

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

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

    ^ Back to Top ^

    Action Table

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

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

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

    Feedback

    ^ Back to Top ^

    Display

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

    Faults not updated until returning to previous screen

    Solution:

    Fault screen now updates when faults change

    ^ Back to Top ^

    Action Table

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

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

    Solution:

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

    ^ Back to Top ^

    Motor & Power Stage

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

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

    ^ Back to Top ^

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

    Feedback

    ^ Back to Top ^

    Functional Safety

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

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

    Solution:

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

    ^ Back to Top ^

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

    Feedback

    ^ Back to Top ^

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

    Motion

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

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

    Solution:

    Acceleration signal is zeroed upon amp enable to suppress discontinuities.

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

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

    Solution:

    The integrators have been re-instated for controlled stop.

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

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

    Solution:

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

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

    If VL.CMDU is non-zero, and a subsequent Service Motion is commanded, VL.CMD will be the sum of the two commands

    Solution:

    VL.CMDU will not longer be allowed to be commanded if a service motion is in progress. If a Service Motion is commanded while VL.CMDU is non-zero, the service motion will supercede the VL.CMDU setting.

  • AXIS#.MT.RUNNING keyword [S-20238]
  • Details:

    AXIS#.MT.RUNNING takes the index of a valid motion task as an argument, and indicates whether the specified task is running. Value 1 indicates the task is running, and 0 indicates the task is not running.

  • VL.AINACC and VL.AINDEC added [S-20232]
  • Details:

    New accel/decel limits have been added which affect Velocity Mode Analog Command Source. Use these keywords to limit the accel/decl of an analog based trajectory

    -[S-20262]
  • Details:

    New accel/decel limits have been added which affect Velocity Mode Analog Command Source. Use these keywords to limit the accel/decl of an analog based trajectory

    ^ Back to Top ^

    Analog & Digital IO

  • Analog Output Can Be Outside 0 to 10V Range [D-08212]
  • Issue:

    When driving an analog output from the action table the output voltage can be reported outside the 0 to 10V range the output supports.

    Solution:

    The firmware has been changed so that the analog output is always within the 0 to 10V range.

  • Analog Output offset [D-08212]
  • Issue:

    When using a analog output offset with the action table the output voltage was clipped at a voltage within the expected 0 to 10V range.

    Solution:

    The firmware has been changed so that the analog output is only limited by the 0 to 10V range.

    ^ Back to Top ^

    Functional Safety

  • AXIS#.SAFE.SBC.BRAKE#ATTACHED keywords not updated [D-08263]
  • Issue:

    When uploading a new safety parameter file to the drive, the AXIS#.SAFE.SBC.BRAKE#ATTACHED keywords are not updated correctly.

    Solution:

    Fixed the issue. The parameter cache for this safety parameters is now updated correctly when a new parameter file is uploaded.

  • Safety Basic functions
  • Details:

    Supported safety functions: STO, SS1, SBC, SDB

    Supported safe fieldbus: FSoE and FSoE parametrization

    Safe Module version: 0.38 or higher

    Limitation: SBT (safe brake test) is not usable yet.

    ^ Back to Top ^

    General

  • F2007 & F2014 are reported on disabled axis [D-08113]
  • Issue:

    F2007 and F2014 were reported on disabled axis, even if no motor is connected.

    Solution:

    F2007 and F2014 are now reported only on enabled axis.

  • IL.CMD is non-zero after amp disable [D-08234]
  • Issue:

    A bug was identified which allowed the power stage to command current even after the amplifier was disabled.

    Solution:

    The bug has been fixed and IL.CMD will always be zero after the amp has been disabled

  • New warning for brake override without brake configured [D-08250]
  • Details:

    A new warning W5007 has been added to the firmware, indicating that the brake state is overridden by AXIS#.MOTOR.BRAKECONTROL, but no brake is configured.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

    Fieldbus

  • New CoE object for AXIS#.UNIT.LABEL [S-20237]
  • Details:

    A new CoE object was added for AXIS#.UNIT.LABEL at 5010h sub-index 9.

    ^ Back to Top ^

    Action Table

  • Specify motion task number for Motion Task In Position action source [S-20262]
  • Issue:

    Motion task in position action source (7) is set when any motion task reaches target position. Customer would like the option to have it set when a specific motion task reaches position.

    Solution:

    ACTION#.SOURCEPARAM has been added and can be used to configure a specific motion task for the Motion Task In Position source. Values 0-31 specify a motion task number. The default value -1 retains the earlier behavior, i.e. the trigger occurs when any motion task is in position (see AXIS#.MOTIONSTAT and MT in position bit)

  • Specify motion task number for Move Complete action source [S-20203]
  • Issue:

    Some applications need to trigger an action when a specific motion task completes. This has not been possible with the Move Complete action source, which has triggered when any motion task sequence on an axis completes.

    Solution:

    ACTION#.SOURCEPARAM has been added and can be used to configure a specific motion task for the Move Complete source. Values 0-31 specify a motion task number. The default value -1 retains the earlier behavior, i.e. the trigger occurs at the completion of any motion task sequence.

    ^ Back to Top ^

    Version 02-01-01-000 : April 9, 2019

    General

  • Action Task Enable After Reboot Fails [D-08216]
  • Issue:

    If an Action Task is set to Enable an axis with Action Source = Ready To Operate (RTO/RTB), when the drive is rebooted, the axis is not enabled. If the drive is disabled via HW enable with SW enable still set and a DRV.RSTVAR is issued, SW enable remains set but should be cleared.

    Solution:

    The drive when rebooted, does enable the desired axis set in the Action Task. It now clears the SW enable bit when DRV.RSTVAR is issued.

  • Some faults not able to be cleared [D-08188]
  • Issue:

    A power stage fault was generated and unable to be cleared without a power cycle.

    Solution:

    An issue in firmware was fixed where certain hardware faults remained after a clear faults was issued.

  • SW enable remains set after DRV.RSTVAR [D-08231]
  • Issue:

    If the drive is disabled via HW enable with SW enable still set and a DRV.RSTVAR is issued, SW enable remains set but should be cleared.

    Solution:

    The drive now clears the SW enable bit when DRV.RSTVAR is issued.

  • Linear Motor Support for SinCos and Incremental Feedbacks [S-20109]
  • Details:

    New Keywords: FB#.LINEPITCH and FB#.MECHTYPE.

    FB#.MECHTYPE can be set to Rotary(0) or Linear(1) - use FB#.ENCLINES for Rotary Motors and FB#.LINEPITCH for Linear motors.

    End Resolution of Linear Motors will be the result of MOTOR.PITCH / FB#.LINEPITCH

    ^ Back to Top ^

    Analog & Digital IO

  • AOUT value incorrect when driven by action table with high scaling [D-08199]
  • Issue:

    When using ACTION#.TASK 15 (Set Analog Output) with a velocity command as the source (ACTION#.SOURCE 16), and the scaling ACTION#.TASKPARAM is high the analog output may not be correct.

    Solution:

    The firmware has changed so that the analog output stays at 10V or 0V when the signal is greater than 10V or less than 0V.

  • AOUT#.OFFSET range is wrong [D-08175]
  • Issue:

    The AOUT#.OFFSET range was from -5V to 5V, while documentation said the range for this keyword should be from -10 to 10V.

    Solution:

    Changed the AOUT#.OFFSET range from -10V to 10V.

    ^ Back to Top ^

    Motion

  • AXIS#.DIR inconsistency in WorkBench scope [D-08221]
  • Issue:

    AXIS#.IL.FB and AXIS#.IL.CMD signs were opposite in WorkBench scope when using recorder and using the keywords when AXIS#.DIR was set for negative commutation.

    Solution:

    An issue in firmware was fixed where the value being sent to the recorder did not account for AXIS#.DIR properly.

  • Change of PL.FB.SOURCE does not clear homing [D-08189]
  • Issue:

    A change of PL.FB.SOURCE does not clear homing. The Axis was still homed.

    Solution:

    The homing is now cleared when PL.FB.SOURCE is changed to a different feedback.

  • Service Motion decel has discontinuity in Velocity Mode [D-07879]
  • Issue:

    When the drive is in Velocity Mode and an AXIS#.STOP command is issued, a discontinuity occurs on initial deceleration

    Solution:

    Loop logic has been updated and fixed

    ^ Back to Top ^

    Motor & Power Stage

  • AXIS#.IL.FOLDFTHRESHU default setting incorrect [D-08177]
  • Issue:

    The default value for AXIS#.IL.FOLDFTRESHU is set to 0. In this case the AXIS#.IL.FOLDFTHRESH is also set to 0.

    Solution:

    The default value for AXIS#.IL.FOLDFTHRESHU is now set to AXIS#.IPEAK and AXIS#.IL.FOLDFTRESH is also unequal to 0 by default.

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

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

    Solution:

    This issue is resolved.

  • Transition between nominal and high PWM frequency at wrong temperature for HV12 [D-08182]
  • Issue:

    Transition between nominal and high PWM frequency happens at wrong temperature for HV12 model.

    Solution:

    This issue is resolved.

    Now, the transition happens at the correct threshold, which is

    0.75*(TemperatureFaultThreshold-60C)+60C.

  • Drive Foldback Recovery Time
  • Issue:

    Drive Foldback Recovery time was previously set to 5 seconds.

    Solution:

    In the new FW version, the Drive Foldback Recovery Time is set at boot time such that the average drive current remains equal to or lower than the drive continuous current at worst case condition.

    ^ Back to Top ^

    Fieldbus

  • EtherCAT emergency service [S-20087]
  • Details:

    The drive now supports the EtherCAT emergency service. Whenever a fault or warning occurs, it will send a CoE frame containing a CANopen emergency object. Additionally, once all faults and warnings are cleared the drive will send a similar frame with the emergency code in the emergency object set to 0.

  • PLL synchronization added to CANbus [S-17092]
  • Details:

    CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.

  • PLL timeout fault even with no fieldbus connected [D-08229]
  • Issue:

    The drive would get a F7003 'PLL failed to acquire lock' after any unrelated fault was cleared.

    Solution:

    An issue in firmware was fixed that inadvertently set this fault when clearing faults.

  • Rollover of target position (607Ah) causes following error in CSP mode [D-08208]
  • Issue:

    When using cyclic position mode (CSP) and the 32-bit target position (CANopen object 607Ah) rolls over from positive to negative, the PL.CMD value jumps from a large positive to large negative value. This causes a following error fault and the drive disables.

    Solution:

    The drive firmware was updated to account for 32-bit rollover and only observes the difference in target positive values while in CSP mode.

  • Unable to clear PLL fault from fieldbus
  • Issue:

    A PLL fault was generated at start-up and only a WorkBench command DRV.CLRFAULTS could clear the fault. Resetting faults with the CANopen control word (6040h) did not succeed.

    Solution:

    The drive was updated to permit clearing the PLL fault with the control word (6040h) as well as the AXIS#.CLRFAULTS keyword.

    ^ Back to Top ^

    Feedback

    ^ Back to Top ^

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

    Fieldbus

  • Rollover of target position (607Ah) causes following error in CSP mode [D-08208]
  • Issue:

    When using cyclic position mode (CSP) and the 32-bit target position (CANopen object 607Ah) rolls over from positive to negative, the PL.CMD value jumps from a large positive to large negative value. This causes a following error fault and the drive disables.

    Solution:

    The drive firmware was updated to account for 32-bit rollover and only observes the difference in target positive values while in CSP mode.

    ^ Back to Top ^

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

    Fieldbus

  • PLL synchronization added to CANbus [S-17092]
  • Details:

    CANbus drives can now synchronize to SYNC messages when CANBUS.PLLMODE is enabled.

  • Unable to clear PLL fault from fieldbus
  • Issue:

    A PLL fault was generated at start-up and only a WorkBench command DRV.CLRFAULTS could clear the fault. Resetting faults with the CANopen control word (6040h) did not succeed.

    Solution:

    The drive was updated to permit clearing the PLL fault with the control word (6040h) as well as the AXIS#.CLRFAULTS keyword.

    ^ Back to Top ^

    Version 02-01-00-002 : March 21, 2019

    General

  • Internal Changes Only
  • ^ Back to Top ^

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

    Motor & Power Stage

  • Bus overvoltage fault not reported when axis disabled
  • Issue:

    Fault 2006: Bus over voltage should be reported regardless of whether an axis is enabled or disabled. The fault is not reported with disabled axis.

    Solution:

    Fault 2006: Bus over voltage is reported for both enabled and disabled axis.

    ^ Back to Top ^

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

    Feedback

    ^ Back to Top ^

    General

  • AXIS#.DIR doesn't work properly [D-08164]
  • Issue:

    In torque mode AXIS#.IL.CMDU and AXIS#.IL.CMD signs do not match when AXIS#.DIR = 1. In position mode AXIS#.PL.ERR has a different sign from AXIS#.IL.CMD.

    Solution:

    Changed the signs of AXIS#.IL.CMD and AXIS#.IL.FB.

  • Fault 'Failed to read motor parameters' when MOTOR.AUTOSET is 0 [D-08106]
  • Issue:

    A fault F4016 indicating that invalid motor data was read from the feedback was triggered even when MOTOR.AUTOSET was set to 0.

    Solution:

    F4016 should now only occur when MOTOR.AUTOSET is set to 1.

  • Autotuner failing friction test [D-08152]
  • Issue:

    When performing the friction test in the Autotuner, the motor will move in the incorrect direction and the Autotuner will fail to determine an excitation current.

    Solution:

    While consolidating some code an error was introduced which caused the excitation current to be the wrong sign.

  • Clearing Faults takes too long [D-08114]
  • Issue:

    Clearing faults with Feedbacks configured to Auto-Identify may take a long time to clear faults

    Solution:

    Code architecture has been optimized to reduce time spent clearing faults.

  • No fault thrown when PTC resistor input is missing [D-08107]
  • Issue:

    No fault thrown when PTC resistor input is missing.

    Solution:

    When PTC resistor input is missing, a fault is thrown and the faulted axis is disabled.

  • Warning 6015 isn't cleared by HOME.SET [D-08172]
  • Issue:

    When warning 6015 appears on the drive and homing is set with AXIS#.HOME.SET, the warning was not cleared.

    Solution:

    The home warnings are now cleared when home is set with AXIS#.HOME.SET.

  • Motor phase loss detection feature is added
  • Details:

    - With this feature, a broken wire connection to the motor, whether one phase or three phase, can be detected.

    - Upon detection, a fault is thrown and the faulted axis is disabled.

  • Over Temperature and Under Temperature Faults and Warning
  • Issue:

    In the previous versions, all temperature faults & warnings are applied to both axes. For example, an over temperature fault on axis 1 can shut down axis 2 too.

    Solution:

    The new version of the FW distinguishes between the temperature faults:

    1- Control board temperature faults & warnings are applied to both axes.

    2- Power board temperature faults & warnings are only applied to their corresponding axis. For example, and over temperature fault on axis 1 is only reported for axis 1 and does not block axis 2 from operating.

    3- Power board EDS parameters (over temperature fault and warning levels) are changed from scalars to arrays to determine the thresholds for each axis separately.

  • Sine and cosine encoder error signal [S-20051]
  • Details:

    Added the following new keywords to get informations about the sine/cosine encoder signal quality: FBX.SIGNALAMPLITUDE, FBX.SIGNALSIN, FBX.SIGNALCOS.

    ^ Back to Top ^

    Motor & Power Stage

  • AXIS#.IL.DIFOLD return-value change
  • Issue:

    In the previous versions, AXIS#.IL.DIFOLD always returns a value between AXIS#.ICONT and AXIS#.IPEAK. In other words, the drive foldback algorithm output is always clamped to the drive peak current.

    The drive foldback algorithm, however, lets the fold current to go above the peak current in order to ensure a minimum delay time before current foldback kicks in.

    Solution:

    In the new version, AXIS#.IL.DIFOLD is not clamped to AXIS#.IPEAK so that the user can see how the drive foldback algorithm works.

    ^ Back to Top ^

    Action Table

  • Changed ACTION#.RUNCOUNT behavior for continuous tasks and added new keyword ACTION.RUNNING [S-19893]
  • Details:

    For continuous tasks the ACTION#.RUNCOUNT is always set to 0. The new ACTION.RUNNING keyword shows which tasks are executed in the actual cycle. Each of the 32 bits shows if the corresponding action is executed in the current cycle.

    ^ Back to Top ^

    Motion

  • Controlled Stop in Torque Mode may not disable axis [D-08170]
  • Issue:

    If an axis is in motion in torque mode, and a controlled stop is issued (from any source), the axis will not disable until VL.FBFILTER is below AXIS#.DISVTHRESH. However, if there is an external force (or current offset) producing motion, the axis may never disable on it's own.

    Solution:

    If controlled stop is issued from Torque Mode, the axis will activate dynamic brake to help drive the axis to zero velocity. This will ensure the axis can disable even when an external force is being applied to the motor.

  • Blend into ACC and Blend into VEL did not work when queuing alternating motions [D-07927]
  • Issue:

    When using blending as a transition between motion tasks, if the direction of motion is not in the same direction, the target position will be overshot - and the transition between motion tasks may behave unpredictably.

    Solution:

    If blending is selected when transitioning to an alternating direction, blending will be ignored, and the two motion tasks will be executed as a zero dwell delay move to the trajectory does not overshoot.

    ^ Back to Top ^

    Fieldbus

  • CoE Tab Offline [D-08093]
  • Issue:

    The CoE tab in TwinCat 3 would indicate offline.

    Solution:

    Fixed firmware issue when receiving abort messages.

    Firmware supports SDO's with large (greater than 4 bytes) payloads.

  • CANopen SDO objects in ESI file with incorrect read/write permissions [D-08148]
  • Issue:

    Many CANopen objects containing subindices had the wrong read/write attributes in the EtherCAT Slave Information (ESI) file. The attributes in the drive were correct.

    Solution:

    The ESI file has been updated with the correct attributes.

  • Added support for touch probe time stamp objects using DC and CAP#T.[S-19317]
  • Details:

    Added CANopen objects 60D1h-60D4h and 68D1h-68D4h. Added keyword CAP#.T.

    ^ Back to Top ^

    Version 02-00-01-002 : February 25, 2019

    General

  • Internal Changes Only
  • ^ Back to Top ^

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

    General

  • Internal Changes Only
  • ^ Back to Top ^

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

    Fieldbus

  • Added AXIS#.CANOPEN.STATUSWORD and AXIS#.CANOPEN.CONTROLWORD
  • Details:

    Added new keywords for EtherCat/CANBus drives to view the status and control words.

  • Added CanOpen object 1008h "Manufacturer Device Name"
  • Details:

    The new CanOpen object 1008h "Manufacturer Device Name" returns a string that contains the full AKD2G model number. This model number is on the label on the side of the drive and available using DRV.INFO.

  • Added CANBUS.DIAG and ECAT.DIAG
  • Details:

    Diagnostic keywords for CANBus and EtherCat were added to collect various diagnostic information for each fieldbus.

  • AXIS#.MOTOR.BRAKECONTROL applied to released condition causes software disable
  • Issue:

    The internal drive state machine would issue a disable when the brake was manually released or applied while enabled.

    Solution:

    The firmware was updated to not disable the axis when the brake was manually controlled while enabled.

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    Motion

  • DRV.STOP causes velocity spike in some instances(D-07222)
  • Issue:

    Depending on configuration and tuning, an axis in motion stopping due to DRV.STOP may see a velocity spike as soon as VL.FB dips below AXIS#.DISVTHRESH.

    Solution:

    The axis was trying to immediately come to rest when VL.FB is below AXIS#.DISVTHRESH by setting PL.CMD equal to PL.FB, this has been changed to allow the axis to come to rest naturally.

  • Motion task target velocity reached keeps changing during a motion task
  • Issue:

    Bit 12 of AXIS#.MOTIONSTAT should be set when a motion task is executing and the target velocity has been reached. Instaed of this bit being set once when getting to close to the slew speed and being cleared when the motion task finished, the bit would keep changing.

    Solution:

    The default value of AXIS#.SETTLE.V was changed to 60rpm. AXIS#.SETTLE.V is used to decide if the speed of the axis is sufficiently close to the target speed. The default value for AXIS#.SETTLE.V was previously too small.

    The logic to set bit 12 of AXIS#.MOTIONSTAT has been changed to use AXIS#.VL.FBFILTER instead of AXIS#.VL.FB. This filtered version of the velocity feedback is significantly smoother allowing AXIS#.SETTLE.V to be set much smaller.

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    Gearing

  • Gearing still permitted when using the same GEAR.FBSOURCE as IL/VL/PL.FBSOURCE
  • Issue:

    When gearing is selected as CMDSOURCE and the GEAR.FBSOURCE matches the same feedback as IL/VL/PL.FBSOURCE the axis cannot be controlled.

    Solution:

    A warning is now generated when GEAR.FBSOURCE matches IL/VL/PL.FBSOURCE and CMDSOURCE is set to gearing. If the axis is enabled then a fault is generated as well and the axis is forced to disable.

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    Wake and Shake

  • Wake and Shake continues even when a limit switch is active(D-07889)
  • Issue:

    Wake and Shake (all modes) will continue even when the axis moves past a software or hardware limit switch.

    Solution:

    This behavior has been fixed, and a new fault added (F5514) which will trigger when this condition occurs.

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    General

  • Motor Voltage Units Issue
  • Details:

    - AXIS#.IL.VCMD and AXIS#.IL.VDCMD were reporting wrong units. Now they are fixed and both report "Vrms L-N" (line to neutral).

    - AXIS#.IL.VUFB and AXIS#.IL.VVFB are also fixed to report correct values in "V L-N" (line to neutral).

  • AXIS#.IL.DEADBAND read/write privilege
  • Details:

    - AXIS#.IL.DEADBAND privilege is changed from read-only to read/write.

    - Its unit is nano-seconds when reading/writing.

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

    General

  • On some single axis drives, HW.TEMP3 returns a negative temperature and Warning 2503 is reported.
  • Issue:

    Most single axis drives only have one power board temperature sensor and HW.TEMP3 should not be visible on these drives.

    Solution:

    HW.TEMP3 is now not visible on most single axis drives, and Warning 2503 is not reported on these drive models. HW.TEMP3 does work on a 7V12S which does have two power temperature sensors.

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

    General

  • AKD2G Version 02-00-00-000 Release
  • AKD2G firmware version 02-00-00-000 is available for download and general use. AKD2G is a leading edge drive product that provides many state of the art features.

    Highlights:

    • Multi-axis operation with complete feature support on each axis
    • Improved feedback management
    • Improved electronic gearing support
    • Action table enhancements to digital input and output modes
    • Improved control loop capabilities and performance
    • Improved capture and motion task registration move functionality
    • Enhanced fieldbus capabilities and performance
    • File download security
    • LCD graphics display

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    Version 01-90-14-002 : December 14, 2018

    General

  • Internal Changes Only
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    Version 01-90-14-000 : December 10, 2018

    General

  • Internal Changes Only
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    Version 01-90-13-000 : November 19, 2018

    General

  • Internal Changes Only
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    Version 01-90-12-004 : November 6, 2018

    General

  • Internal Changes Only
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    Version 01-90-12-003 : October 23, 2018

    General

  • Internal Changes Only
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    Version 01-90-12-002 : October 11, 2018

    General

  • Internal Changes Only
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    Version 01-90-12-001 : October 4, 2018

    General

  • Internal Changes Only
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    Version 01-90-12-000 : October 3, 2018

    General

  • Internal Changes Only
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    Version 01-90-11-002 : September 20, 2018

    General

  • Internal Changes Only
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    Version 01-90-11-001 : September 14, 2018

    General

  • Internal Changes Only
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    Version 01-90-11-000 : Aug 8, 2018

    General

  • Internal Changes Only
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    Version 01-90-11-000 : Aug 16, 2018

    General

  • Internal Changes Only
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    Version 01-90-10-000 : July 26, 2018

    General

  • Internal Changes Only
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    Version 01-90-09-000 : May 22, 2018

    General

  • Internal Changes Only
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    Version 01-90-08-004 : March 22, 2018

    General

  • Internal Changes Only
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    Version 01-90-08-003 : February 27, 2018

    General

  • Internal Changes Only
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    Version 01-90-08-002 : February 26, 2018

    General

  • Internal Changes Only
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    Version 01-90-08-001 : February 20, 2018

    General

  • Internal Changes Only
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    Version 01-90-08-000 : January 29, 2018

    General

  • Internal Changes Only
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    Version 01-90-07-003 : October 26, 2017

    General

  • Internal Changes Only
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    Version 01-90-07-002 : October 17, 2017

    General

  • Internal Changes Only
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    Version 01-90-07-001 : September 28, 2017

    General

  • Internal Changes Only
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    Version 01-90-06-005 : May 18, 2017

    General

  • Internal Changes Only
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    Version 01-90-06-004 : April 20, 2017

    General

  • Internal Changes Only
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    Version 01-90-06-000 : April 07, 2017

    General

  • Internal Changes Only
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    Version 01-90-05-000 : December 22, 2016

    General

  • Internal Changes Only
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    Version 01-90-04-000 : October 10, 2016

    General

  • Internal Changes Only
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    Version 01-90-00-000 : July 01, 2016

    General

  • Internal Changes Only
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    Version emptyfolde :

    General

  • Internal Changes Only
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