Home

AKD Firmware Release Notes

1. Release Summaries Version 01 07 00 002 September 08 2012 General Issues Field Bus Specific Issues Version 01 07 00 001 August 17 2012 General Issues BASIC Issues Version 01 07 00 000 Jul General Issues BASIC Issues Version 01 06 07 000 June 22 2012 Feedback Issues General Issues Field Bus Specific Issues BASIC Issues Version 01 06 06 000 June 08 2012 BASIC Issues Feedback Issues General Issues Version 01 06 05 000 May 25 2012 General Issues BASIC Issues Feedback Issues Version 01 06 04 000 May 11 2012 10 Issues General Issues Feedback Issues Version 01 06 03 000 April 27 PA Field Bus Specific Issues General Issues Version 01 06 02 000 April 13 2012 Field Bus Specific Issues IO Issues General Issues Version 01 06 01 000 March 30 2012 Field Bus Specific Issues General Issues Version 01 06 00 002 March 29 2012 General Issues These release notes for the AKD drive firmware the software that executes inside the AKD drive describe the changes between the previous firmware releases and this release Kollmorgen provides different firmware files for each model type Use the file that matches the model number of your drive For example with a Base Analog drive with a model number like AKD Bxxxxx NAAN 0000 use the firmware file AKD B NAAN V01 05 00 000 i00 WorkBench is compatible wit
2. Velocity set point via SDO 60FF was sometimes not taken 2793 Issue Sometimes the velocity set point coming via SDO 60FF is not taken into account correctly The last sent value was often taken again Solution This set point is now handled properly Feature Changes Brake delay times were not observed in DS402 state machine 2411 Issue The state Operation Enabled was signaled too early with motors with brakes This might have confused controls when the set points were taken later than intended Solution The times connected to brake now influence the DS402 state machine The state switches will take longer with brake motors In DS402 profile velocity mode scaling objects 604B and 604C have been replaced with 204C Issue Objects 604B and 604C as implemented are not appropriate for profile velocity mode Solution Manufacturer specific object 204C has been added to implement unit scaling for this mode 000 Release Date December 07 2010 General Issues Fixed Bugs Controlled Stop function logic state illegal on startup 2689 Issue After a power cycle the drive is not in the controlled stop state and the drive can be enabled even though Digital input 1 is configured to generate a controlled stop DIN1 MODE 13 and the input is in the state that should generate the controlled stop Note the drive off time during the power cycle must be approximately 90 seconds in order to see this issue
3. Solution The correction is to allow CControl ExcecuteAccDecLimit to handle 32 bits when in position mode i e not limiting Modbus Home was not readable Issue Modbus Home is a command and did not return a zero when read Solution Add ArgGetVal and ArgGetVallntern to the command handler function of Modbus Home Modbus Reading velocity parameters returned an invalid value most of the time a 1 2995 Issue Reading velocity values like VL FBFILTER or VL CMD returned a 1 Solution Velocity parameters are 64bit values mapped to 32bit values in Modbus The mapping uses flags which were not reset correctly Those flags caused the return of the wrong value New Features Adding Low Pass filter on Analog Output 2977 New Feature Details Noise signals at analog output to be filtered Solution A user configurable Low pass filter is added in the firmware Default filter will be off New user command AOUT CUTOFF is interduced for user configuration of filter frequency The range is 0 100000 Hz and 0 will disable the filter Version 01 03 20 001 Release Date April 04 2011 General Issues New Features Auto Homing for Multi turn Feedback 2439 New Feature Details When a multi turn feedback device is initialized it should be automatically homed with no motion and with the multi turn absolute position preserved Solution The firmware has been modified so that Multi turn feedback devices
4. 1974 Issue The drive moves a motor in Electronic Gearing mode and triggers a limit switch while the motor is in motion The electronic gearing was aborted and therefore it was not possible for the drive to move the motor out of the limit switch Solution The electronic gearing function now remains active even if a limit switch has been triggered This active state allows the drive to leave the limit switch in the opposite direction False brake fault conditions reported during brake enable disable 1857 Issue When enabling or disabling a motor brake a 306 Brake Short Circuit Fault condition occurred intermittently on a working brake Solution The false brake faults no longer occur DRV ENDEFAULT was not working on CANopen drives 1328 Issue DRV ENDEFAULT was ignored on CANopen drives regardless of CMDSOURCE value Solution The drive now prevents CANopen from disabling the drive upon power up DRV ENDEFAULT is now considered even if DRV CMDSOURCE 1 User could not enter maximum value of acceleration deceleration parameters 2098 Issue The user was not able to enter the maximum value of acceleration parameters in UNIT ACCROTARY 3 Solution The CUnitsConversion class has been corrected in order to allow setting the maximum allowed acceleration value which is displayed in the DRV HELP information Delay occurred when starting a Motion Task from the digital inputs 2211 Issue The user has a 2 to 1
5. In the receive direction the mapping 0x1724 includes the object 0x607A sub 0 as target position In the transmit direction 0x1B24 the mapping includes the object 0x6064 sub 0 as position actual value This mode is supported starting with version 1 08 of the AKD xmI file STO fault behavior change 1384 Issue The STO fault appears upon power up which causes a safety chain deadlock Solution The STO fault will not occur unless software and hardware enable are on DS402 state machine should be influenced by the hardware enable input 1743 Issue No change of the state machine occurred if the hardware enable signal was taken away and the drive was disabled Solution The default behavior is changed If the hardware enable goes to 0 then the state of the state machine goes to Switch On Disabled This behavior can be switched off by setting bit 0 of FBUS PARAM05 to 1 Add DS402 support for parameters DOUTx MODE PL ERRWTHRESH IL IFOLD MOTOR PHASE REGEN POWER DRV DISMODE and MT SET 1796 Issue This feature addresses a customer request for SDO access to parameters Solution New objects parameter object index subindex DOUT1 MODE Ox35AF sub 0 DOUT2 MODE 0x35B2 sub 0 PL ERRWTHRESH 0x3483 sub 0 IL IFOLD 0x3425 sub 0 MOTOR PHASE 0x359C sub 0 REGEN POWER 0x3416 sub 0 DRV DISMODE Ox35FF sub 0 MT SET 0x3431 sub 0 Add DS402 support for parameters VL KVFF MOTOR INERTIA MOTOR KT VL ERR WS MODE WS
6. clearing these faults it was possible for the drive to unexpectedly enable Solution The drive no longer enables in this situation when faults are cleared but instead enters the software disabled state as expected Feature Changes DRV EMUERES EEO output resolution too low 2600 Issue The existing resolution of 65535 lines revolution for the emulated encoder output DRV EMEURES is too low for some customer applications Solution The FPGA and firmware have been modified to increase the resolution from 65535 16 bits to 16777215 24 bits VL FB now includes AR Filter 3 and 4 added VL FBUNFILTERED to return raw velocity signal 2678 Issue Previously a user was unable to filter the velocity feedback this was counterintuitive since two filters are listed as feedback filters Solution The value of VL FB has been updated to return the actual velocity after it has passed through Feedback Filers 3 and 4 An additional drive parameter VL FBUNFILTERED has been added which returns the raw feedback value New Features New homing mode required 2607 New Feature Details A new homing mode was requested homing to mechanical stop motion to a home switch Solution A new homing mode 12 has been implemented Require new parameters for linear motor support 2697 New Feature Details Drive parameters LOAD INERTIA and MOTOR KE have been added LOAD INERTIA is in units kg cm 2 for rotary motors and kg fo
7. 000 Release Date May 25 2012 General Issues Feature Changes DIN X PARAM and DOUT X PARAM ranges are now enforced S 08920 Issue Digital Input Output parameter keywords allowed any numerical value This could lead to internal overflows for certain cases Solution Now the appropriate ranges are implemented for each digital input output mode Now each time the digital input or output mode is changed the associated parameter is set to zero to avoid conflicts This also means that the IO Mode must be set before the parameter is set Fixed Bugs Motion Task Table disappeared after reboot of AKD in Beta 01 06 03 000 3865 S 09353 Issue Identified in Version 01 06 03 000 Motion Tasks are not restored after a power cycle or the execution of DRV NVLOAD Solution Motion task tables are now properly restored from non volatile memory Acceleration rates not restored after a drive reboot in Beta 01 06 03 000 3894 Issue Identified in Version 01 06 03 000 Acceleration parameters were not saved properly to non volatile memory This bug was introduced in 01 06 03 000 Solution Acceleration parameters such as DRV ACC are now restored after a power cycle or load from non volatile memory New Features Timeout duration included in DRV HELP response S 09310 New Feature Details Some drive keywords take a long time to complete execution Solution The specific max timeout values are now included in the DRV
8. Afterwards the DRV OPMODE and 10 Issues DRV CMDSOURCE stayed in the mode used in the Wake amp Shake process Version 01 05 03 003 Solution 7 f November 07 2011 The previous values are restored now Additionally the Wake amp Shake is re armed General Issues Wake and Shake changes opmode and command source if arm then disarm is issued before the drive is enabled 4031 Issue If Wake and Shake is armed then disarmed without running Wake and Shake the opmode command source values are restored to unintialized states This results in setting the drive to Torque Mode and Service Mode Field Bus Specific Issues Version 01 05 02 000 October 28 2011 General Issues Solution f ane Issuing a Wake and Shake disarm command no longer restores previous opmode and command source Meron 0150501000 Octone AOUT PSCALE has wrong minimum value reported by DRV HELP 4009 2011 Issue General Issues The minimum value setting for AOUT PSCALE is larger than the maximum value Feedback Issues m Solution Field Bus Specific Issues A signed issue caused the minus sign to be misinterpreted This has been fixed Version 01 04 19 000 Glitch in enable when dynamic brake signal changes 4014 September 30 2011 Issue General Issues A very infrequent glitch was found where the drive will apply the dynamic brake and then briefly re enable for several milliseconds before again applying the dynamic brake and disabling success
9. CMD instead of VL FB 3721 Issue When a Controlled Stop was issued the trajectory towards zero velocity would originate from the current velocity command This can cause problems when the trajectory is at a much higher speed than the current actual motor speed Solution Controlled Stop now begins trajectory calculation based on current velocity feedback not velocity command to ensure a safe trajectory to zero velocity Change name of FBx P related parameter commands S 88220 Issue Some of the Fbx P related parameter might cause confusion to the user so they have to be changed to make them more clear Solution Commands FBx OFFSET FBx UNIT FBx DIR are renamed FBx POFFSET FBx PUNIT FBx PDIR Fixed Bugs Controlled stop overflow bug 3711 Issue After running against a mechanical limit and a disabled following error detection the commanded setpoint velocity will increase inside the drive over a numerical limit If this happens and a control stop is executed e g through a fault situation the drive could execute a control stop from a very high velocity in the opposite direction and then try to slow down Solution The numerical overflow is fixed Unexpected following error fault when in a limit switch 3709 Issue When the drive enters a limit switch it will execute a controlled stop deceleration to zero velocity then come under command of the current operation mode When the controlled sto
10. Features DRV DISSOURCES should be recordable in the Workbench scope New Feature Details It would be helpful to record DRV DISSOURCES Solution This value can now be recorded Fixed Bugs Strange behaviour of axis when motion task movement is blocked 3020 Issue The current command would reverse several times if a motion was commanded position mode and the axis was blocked Solution The acceleration limiting method was rolling over The calculation causing the rollover was revised to correct the problem Unit strings for analog output scaling parameters corrected 3046 Issue The unit strings for the commands AOUT ISCALE AOUT VSCALE and AOUT PSCALE have been wrong Solution The unit strings for the commands AOUT ISCALE AOUT VSCALE and AOUT PSCALE have been corrected Homing Issues Fixed Bugs Jerk during homing in HOME MODE 0 2992 S 06473 Issue A jerk in the motor shaft could happen when triggering a homing via HOME MOVE in HOME MODE 0 while the Drive is enabled The jerk appeared since the parameter DRV MOTIONSTAT was accessed from different priority levels Solution The modification of DRV MOTIONSTAT from different priority levels is now protected IL OFFSET does not work in Torque Mode 2996 Issue A bug was identified that prevented IL OFFSET from applying a torque command while the drive was in Torque Mode IL OFFSET worked fine in Velocity and Position mode Solution Bug
11. IMAX WS DISTMIN WS DISTMAX WS T WS TDELAY1 WS TDELAY2 WS TDELAY3 WS VTHRESH WS STATE and IL KACCFF 1719 Issue This feature addresses a customer request for SDO access to parameters Solution New objects parameter object index subindex VL KVFF 0x354B sub 0 MOTOR INERTIA 0x35AB sub 0 MOTOR KT 0x3493 sub 0 VL ERR 0x3407 sub 4 WS MODE 0x3864 sub 0 WS IMAX 0x3494 sub 1 WS DISTMIN 0x36D1 sub 0 WS DISTMAX 0x3494 sub 2 WS T 0x36D0 sub 0 WS TDELAY1 0x3863 sub 0 WS TDELAY2 0x3865 sub 0 WS TDELAY3 0x3494 sub 3 WS VTHRESH 0x3494 sub 4 WS STATE 0x3494 sub 5 WS NUMLOOPS 0x36E2 sub 0 IL KACCFF 0x3426 sub 0 Add DS402 support for parameters AIN PSCALE AOUT PSCALE MOTOR CTF0 MOTOR LQLL MOTOR POLES MOTOR R and WS commands 2168 Issue This feature addresses a customer request for SDO access to parameters Solution New objects parameter object index subindex AIN PSCALE 0x3472 sub 0 AOUT PSCALE 0x3471 sub 5 MOTOR CTFO 0x3454 sub 0 MOTOR LQLL 0x3455 sub 0 MOTOR POLES 0x359D sub 0 MOTOR R 0x3456 sub 0 PLS P1 PLS P16 0x34A0 sub 1 8 PLS WIDTH1 PLS WIDTH8 0x34A1 sub 1 8 PLS T1 PLS T8 0x34A2 sub 1 8 PLS EN 0x34a3 sub 1 PLS RESET 0x34a3 sub 2 PLS MODE 0x34a3 sub 3 PLS STATE 0x34a3 sub 4 PLS UNITS 0x34a4 sub 0 Allow EtherCAT firmware download with 512 byte and 1024 byte mailbox size 2243 Issue The software download via KAS was not possible because the EtherCAT state transition fro
12. Issues MOVE ABORT not clearing out the position error 3882 S 09714 Issue When executing a MOVE ABORT the motor would not stopped the expected position Solution Now a MOVE ABORT will decelerate and the CS DEC rate and the position error will be cleared CAMVM POSITION reported incorrect position values 3914 S 09639 Issue When reading CAMVM POSITION the values reported would be in internal units Solution Now CAMVM POSITION reports the value in user units EXTENCODER POSMODULO cannot be written while drive is enabled 3911 Issue EXTENCODER POSMODULO cannot be written while drive is enabled Solution Now EXTENCODER POSMODULO can be written when drive is enabled CAMVM GOREL did not work 3912 S 09596 Issue CAMVM GOREL did not work Solution Now CAMVM GOREL works properly CAMVM GOVEL did not execute when the drive was disabled 3913 S 09597 Issue CAMVM GOVEL would stop or not start if the drive is disabled Solution Now CAMVM GOVEL starts and continues when the drive is disabled Program running upon start up i e VM AUTOSTART 1 may not start a move or enable drive 3909 S 09593 Issue Program running upon start up i e VM AUTOSTART 1 may not start a move or enable drive Solution Now the program starts running after the drive has been completely initialized Version 01 06 06 000 Release Date June 08 2012 BASIC Issues Fixed Bugs Incorrect default va
13. Solution Firmware was modified so that now the drive will be in the controlled stop state and it cannot be activated when the controlled stop is configured and the input bit is in the state that will generate a controlled stop Linear motor acceleration limits are too low 1777 Issue When linear motors are selected the limits for allowable command accelerations are too low When the linear motor type is selected the maximum allowable acceleration is 833 encoder counts second 2 For linear motors there are 4294967296 encoder counts per electrical cycle where one electrical cycle is typically on the order of 32 to 36 millimeters in length which translates to a maximum acceleration of 6 e 6 mm sec 2 Solution Problem with units conversion for linear motors was corrected The old conversion was actually poles sec sec instead of counts sec sec Hall Switch U V and W State parameters must be recordable in the WorkBench scope 1125 Issue The new U V and W Hall Switch State parameters cannot be recorded and displayed by the WorkBench scope These parameters are FB1 HALLSTATEU FB1 HALLSTATEV and FB1 HALLSTATEW Solution Firmware has been modified so that these parameters can now be recorded by the WorkBench scope Implementation of DRV ENDEFAULT corrected 2695 Issue The user selects DRV ENDEFAULT 1 HOME AUTOMOVE 1 HOME MODE 4 With this combination of parameters the drive should enable automatically after power u
14. When you used only the digital inputs to control the drive if you cleared a fault with a digital input configured as mode 1 the software enable would also be cleared and you could not enable the drive without sending a command using Telnet Solution DIN MODE 1 fault reset was changed so that it does not clear the software enable DRV HELP returned an inconsistent response 1871 Issue Identified in Version 01 02 00 000 DRV HELP for FB1 HALLSTATE DRV SETUPREQLIST and DRV ONTIME returned a response that did not match the original command gt DRV HELP FB1 HALLSTATE Help for PFB HALLSTATE Info Recordable gt Solution DRV HELP for FB1 HALLSTATE DRV SETUPREQLIST and DRV ONTIME now returns a consistent response Long strings would crash the drive 1308 Issue Identified in Version 01 01 00 000 If you send a long string to the drive using Telnet the drive crashed either immediately or the next time you try to connect to the drive Solution The firmware now detects long strings greater than 256 characters and returns Error Command was not found RxPDOs were not configured as event triggered by default 1881 Issue All RxPDOs should be event triggered by default Solution The default configuration of the transmission type has been set to event triggered Additionally a bug in the event detection algorithm was fixed Electronic gearing was aborted when a HW or SW limit switch is triggered
15. a disable while the drive is enabling Solution This condition should no longer cause a fault Recorder does not trigger on DRV ACTIVE rising edge 0 to 1 3358 Issue Trying to trigger the Recorder by setting the trigger parameter to DRV ACTIVE never triggers the scope Solution The internal scaling of the trigger parameter was incorrect this created a condition that could never be true The internal scaling has been corrected and triggering on DRV ACTIVE works as expected FB2 Faults not always occuring S 07804 Issue When FB2 faults were added to work when FB2 MODE was configured FB2 faults were inadvertently broken for DRV EMUEMODE configurations Solution This has been fixed so either keywords DRV EMUEMODE and FB2 MODE can generate FB2 faults when they are configured as inputs on X9 An additional bug was fixed for FB2 MODE configurations that prevented a 5V overcurrent fault Incorrect Motor Ke unit label 3338 Issue When a Rotary motor is configured the units for MOTOR KE are Vpeak k rpm The correct units for rotary motors is Vrms k rpm Solution This has been fixed Note for Linear Motors the units are still Vpeak m s Ittakes more than 50msec for the drive to begin decelearation after a quickstop trigger 3015 S 07819 Issue The DualMoveTest_Type10_QuickStop_xxx tests check for the time it takes from when the DIN configured for QuickStop is triggered and when the deceleration begins Its observ
16. bit position delta is now used for calculating a position delta within the drive Thus the maximum position delta for the fieldbus command values is 0 5 2 32 FB1 PSCALE motor rev which corresponds to 2431 Fieldbus Counts Added DRV CDMDELAY to add delays in the command buffer for commands which take time to execute such as DRV EN 2177 Issue Some command actions do not occur immediately such as DRV EN When using the command buffer this delay causes the en gt move command sequence to fail Solution By adding DRV CMDDELAY you can insert a delay command into the command buffer For DRV EN this delay allows the drive to enable before the motion command is given Update of the AKD XML File to version 1 09 1335 Issue TwinCAT did not behave according to the EtherCAT conformance test tool during a Mailbox access SDO exchange The mailbox counter was not incremented by TwinCAT Solution The AKD XML file has been updated in order to activate the missing feature in TwinCAT incrementing the mailbox counter for each mailbox access Add DS402 mode 8 cyclic synchronous position mode 1432 Issue The EtherCAT conformance tool demands one of the cyclic set point modes position velocity or torque This mode works in user scaled positions whereas the interpolated position mode works in motor incremental units Solution This new mode is now implemented Two new fixed PDO mappings have been created for this mode
17. contains the actual internal position feedback and the captured position CAPO PLFB AKD xml name Latch 1 pn The scaling is different but should be the same Solution PDO20A6 now has the same scaling as PDO6063 Small changes were made to EtherCAT communication to pass the conformance test 1335 Issue EtherCAT communications were not fully conformant Solution Changes were made to fix the non conformant issues New Features Support Modbus block read write and single register access 2464 New Feature Details Many Modbus HMls require block read write access Solution Block read write is now supported as well as reading individual registers 16 bits out of 32 or 64 bit parameters Support PDO Free Mapping for EtherCAT 1677 New Feature Details Users would like to create dynamic PDO maps rather than relying on fixed mappings Solution Free mapping is now supported Version 01 03 00 004 Release Date August 02 2010 General Issues Feature Changes Add drive support for the Modbus TCP protocol 1669 Issue Modbus TCP is a common communication protocol used primarily for HMI interfaces and low priority communication Solution The drive now fully supports access to drive parameters over Modbus TCP in addition to the existing Telnet interface and WorkBench software See the User Guide and parameter reference for usage instructions This feature does not currently support block
18. feedback is not supported on all drive models Solution Setting FB1 SELECT to 42 manually selects Tamagawa feedback as the primary feedback A new NV parameter F451 ACTION has been added to to select if the feedback battery fault F451 should be ignored 0 Disable amplifier 1 Ignores the fault The following new faults can be reported when using Tamagawa feedback devices F453 Tamagawa communication fault timeout F454 Tamagawa communication fault transfer incomplete F456 Tamagawa communication fault CRC F457 Tamagawa communication fault start timeout F458 Tamagawa communication fault UART Overrun F459 Tamagawa communication fault UART Framing F460 Tamagawa encoder fault over speed F461 Tamagawa encoder fault counting Error F462 Tamagawa encoder fault counting overflow F463 Feedback overheat fault F464 Tamagawa encoder fault multi turn error F465 Tamagawa encoder fault battery error F467 Feedback Battery Fault Add a programmable delay on the HW Enable input so the drive can apply the brake before the disable R 01936 New Feature Details With a vertical load bias in one direction some movement could occur when the drive was disabled with a hardware input because the power stage was disabled immediately before the brake could apply Solution A user parameter DRV HWENDELAY has been added which will delay the disabling of the power stage During this delay time the drive will apply the bra
19. is version FP0004_0100_00_02 The Homing complete output is on when the drive is first powered up 2546 Issue When the drive powers on when an absolute feedback device is connected SFD Endat Biss Hiperface or Resolver the home found bit is true As a result the homing complete output is on as well The intent of this was so that absolute feedback devices could execute a motion task without having to first be homed Solution The firmware has been modified so that absolute feedback devices are not considered homed when they first power up reference bug 2439 The ability to execute a motion task without first homing is now handled by the new parameter MT HOMEREQUIRE reference bug 2038 Infrequent watchdog error upon receipt of drive discovery message from WorkBench 2130 Issue The drive would occasionally experience watchdog errors upon receipt of a drive discovery message when WorkBench was opened on a connected computer Solution This issue has been corrected Running multiple instances of WorkBench can cause some drives not to appear in the Connect screen Issue If using multiple copies of WorkBench on a network drives sometimes disappear from the Connect screen Solution Drives now respond properly to discovery messages when multiple instances of WorkBench are on the network F703 occurs after disabling the drive for the first time 2435 Issue The drive issues an F703 fault emergenc
20. log as a bad log entry Digital Input Mode 23 broken when input is high on boot 3751 Issue If a digital input is configured to be mode 23 and the digital input is high on boot the digital input will not be configured correctly Solution The mode is configured on a state change because the digital input started high no state change the input was not being configured This bug has been solved so that the input is correctly configured on boot Version 01 06 02 000 Release Date April 13 2012 Field Bus Specific Issues New Features Wake and Shake support via SynqNet Autonomous Action S 09111 New Feature Details This issues only affected firmware release 01 06 01 000 earlier versions worked as expected Solution SynqNet now supports the Autonomous Drive Action mode as well as the parameter command WS ARM The MPI software will now work as follows 1 ensure drive is disabled 2 set WS ARM warning will be triggered 3 set mode to Autonomous Action 4 enable drive to start WS When WS is completed the drive will set autonomous action complete bit to 1 The MPI software then disables the drive which responds by clearing the autonomous action complete bit The MPI software then changes the operating mode back to torque 10 Issues Fixed Bugs In 01 06 01 000 DOUT9 STATEU DOUT10 STATEU and DOUT11 STATEU Would Not Drive Any Outputs S 03221 Issue This issues only affected firmware release 01 06 01 000
21. minimum value to 512ms the measured time to ramp the current up to WS IMAX also could be a little bigger than the setting time but won t drift too far F493 will not be generated in some opmode commandd source combinations 4088 Issue An error caused commutation validation to not run in Fieldbus Velocity Analog Torque and Analog Velocity modes Solution The state machine has been updated to run commutation checking in all opmode command source combinations DRV DIS is ignored if performing a Controlled Stop S 10049 Issue If DRV DISMODE is 0 or 1 disable immediately or dynamic brake immediately and the drive is performing a controlled stop issuing a DRV DIS or removing the fieldbus enable would be ignored and the drive would continue to complete the controlled stop Solution The drive now terminates the controlled stop and will immediately disable or dynamic brake The reaction to an overspeed fault should have been to dynamic brake 4059 Version 01 06 00 001 March 26 Issue 2012 The reaction to a overspeed fault was to initiate a controlled stop If the overspeed is due to a loss of commutation or an unstable servo tuning the controlled stop will not be able to slow the axis down If the DRV DISTO is set to a long time the axis will not stop General Issues until this timeout has been reached Field Bus Specific Issues Solution n The firmware has been changed to perform a dynamic brake in response to an oversp
22. on feedback errors 3153 Issue When a feedback devices was incorrectly configured or any feedback fault was detected the 5V power was disconnected This made diagnosing feedback problems difficult and aligning Sin Cos feedback devices required an external power supply Solution Feedback connectors have been configured to always output 5V when the feedback type is selected Note 5V will NOT be active if a feedback fault occurs while Auto Identify a feedback type MUST be selected for 5V to be active Faults not returned for FB2 3101 S 07392 Issue Feedback faults for FB2 were not always returned when FB2 is configured using FB2 SOURCE Solution This problem has been fixed and now FB2 faults are returned when configured on connectors X9 and X7 General Issues Feature Changes Access parameters in Modbus with Workbench scaling units S 07422 Issue Modbus has its own scaling algorithms For some simple HMI s it is desirable to use Workbench units instead of these Modbus specific units Solution The paramter MODBUS SCALING allows users to disable Modbus scaling and enable WB Telnet scaling Field Bus Specific Issues Feature Changes Adda fieldbus disable flag separate from the user software disable flag S 07388 Issue It is desirable to have separate disable bits in DRV DISSOURCES for disabling enabling the drive from Workbench and from Ethernet IP Solution Bit 0x40 of DISSOURCES is now a Fieldbus Di
23. triggers warning not error 1 06 and trunk S 08781 Issue A software disable was executed when the STO was seen by the DS402 state machine This was faster detected then the STO fault Solution STO fault will come in every case General Issues Fixed Bugs Position Loop not executing when inside a software limit switch 3773 Issue If the motor is driven into a software limit switch a controlled stop is executed and held until motion is commanded away from the limit switch A bug was found that caused the position loop to stop executing which allowed the position error to slowly grow over time Solution The bug has been fixed and the drive will correctly hold the axis at the command position the controlled stop ended at New Features Added support for the I O option Board S 08903 Solution The firmware will now support the new I O option board Version 01 06 00 002 Release Date March 29 2012 General Issues Fixed Bugs Poor system performance when connected via EtherCAT Issue Identified in Version 01 05 01 000 Under certain circumstances recent beta versions 1 5 1 can suffer poor performance when under a heavy load and connected to an EtherCAT master Solution System performance has been dramatically improved with an EtherCAT connection Version 01 06 00 001 Release Date March 26 2012 General Issues Feature Changes Controlled Stop starts from VL
24. user Solution The trajectory generator now will return an error to the user and accepts a larger range of values With Digital Input mode 22 cannot set DINx PARAM to command source Gearing or Analog 3356 Issue Since 01 04 16 000 Digital Input mode 22 has a bug where you cannot set the command source portion of DINx PARAM to 2 or 3 Solution All valid values of DINx PARAM are now accepted when the input mode is 22 Recorder trigger does not work when capturing on CAPO PLFB and CAP1 PLFB 3353 Issue When the recorder was set to CAPO PLFB or CAP1 PLFB the capture will work and capture new positions but will not trigger the recorder Solution A bug was found in the triggering code that was preventing this from working reliably Downloading Parameter Files To Configure a Drive For Electronic Grearing Generates An Error Message 3350 Issue If you have a parameter file which sets up the drive for electronic gearing you can not download it without generating an error setting DRV CMDSOURCE This is becuse setting DRV CMDSOURCE to gearing when DRV OPMODE is in its default torque mode generated an error message Solution The firmware has been modified to remove the error generated when setting DRV CMDSOURCE before DRV OPMODE F307 Brake Applied During Enable State 3047 Issue When using a motor with brake you may sometimes see F307 if you command a drive enable while the drive is in the process of braking or command
25. will be automatically homed with no motion The multi turn position is preserved and the home done flag is set to true This will allow software limits to also be active The keyword MT HOMEREQUIRE has also been removed as part of this change since it is no longer required since mult turn feedback devices will automatically be homed Voltage thresholds for HV and MV Drives needs to be lowered on demand 1096 New Feature Details voltag thresholds for an MV or HV Drive needs to be lowered on demand in case that the Drive will be supplied with a lower DC bus voltage Solution Anew command called VBUS HALFVOLT has been implemented in order to lower voltage thresholds for the overvoltage fault generation and for the inrush relay and regen resistor activation thresholds Fixed Bugs Overspeed takes too long to detect 3005 Issue A velocity over speed takes too long to detect problem introduced in the 01 03 19 000 Solution The drive will now respond to a velocity overspeed in 13ms or less Feature Changes On CC drives the default was Has been changed to 2 3007 Issue On CC drives DRV TYPE should default to EtherCAT not Analog Solution The default for DRV TYPE has been changed Field Bus Specific Issues Fixed Bugs DS402 Profile velocity object 6081 gives a four times too high velocity set point 2993 Issue The target speed for the profile position mode didn t work as in former firmwares lt
26. 0 Release Date May 23 2011 General Issues Fixed Bugs Switch from velocity to position mode with limited torque 3030 Issue Some Applications needs to limit the current torque in velocity mode and then switch to position loop to hold the position This can result in instable velocity loop which sets a higher set point for the current loop than allowed due to the limited current torque This affects only applications which use the KI in the velocity loop and the limitation of the current torque Solution If the users limit the current torque with IL LIMITN and IL LIMITP also the upper limit for integral error in the velocity loop is affected The set point for the current loop from the velocity will now be given in this limited range and a faster response of the velocity loop is given Switch from velocity to position mode with limited torque 3038 Issue The AKD executes a Motion Task or Service Motion and enters the fault state or warning state Executing the Controlled Stop CS caused a Watchdog F3bar Tests showed that high Modbus traffic plus performing motion caused the Watchdog F3bar Solution A high data rate request rate of Modbus plus executing a motion led to a watchdog timeout because other background tasks did not get enough CPU time A data rate monitor was added to Modbus If the delay between the last response message and a new request is too small for 10 consecutive messages the Modbus thread is s
27. 0 should cause the brake to apply immediately S 08628 Issue The drive was ignoring the timer when TBRAKETO 0 so would not apply brake in until velocity fell below CS VTHRESH Solution The brake will now apply immediately in the case of a disable when MOTOR TBRAKETO 0 Gearing slave moves during time that brake is releasing no motion is expected during this time 3649 Issue When a gearing slave is disabled through the Hardware Enable input and then re enabled the motor may move at a constant velocity during the time the brake is releasing Solution When the drive is disabled gearing motion is now aborted and the velocity feedforward is zeroed New Features With a vertical axis and certain other situations it should be possible to immediately apply the brake in the event of the drive disabling for any reason S 08628 New Feature Details With a vertical axis the brake must be applied immediately in the event of a fault which causes the power stage to disable Any other disabling event should also ensure that the brake is applied immediately Solution With the new keyword MOTOR BRAKEIMM Brake Immediately set to 1 the brake will be applied immediately in the event of the drive disabling for any reason Drive discovery protocol extended to return extra data S 08585 New Feature Details Currently the Ethernet protocol WorkBench uses to discover drives in the Ethernet network only provides drive name a free
28. 00 Release Date April 27 2012 Field Bus Specific Issues New Features Profinet More manufacture specific PNUs are now supported 3816 New Feature Details Identified in Version 01 06 02 000 DRV DIR and FB1 OFFSET were not accessable through pure PROFINET PROFldrive interface Solution DRV DIR is accessibale via PNU 2117 FB1 OFFSET is accessible via PNU 2145 Further PNUs are now supported see PROFINET manual Feature Changes Additional parameters are now availble through the fieldbus service channel PROFINET SyqnNET Modbus EtherNet IP Issue Some drive parameters were not available through the fieldbus service channel Solution Many additional parameters are now available through the fieldbus service channels Fixed Bugs Unwanted movement in motor when switching the AKD off via control word in CAN application in interpolated position mode 3843 Issue Identified in Version 01 06 02 000 Customer used interpolated position mode in CAN same in EtherCAT A jump occured when switching off the drive and again when switching to enable Solution The bug had been that position values were taken in other states than Operation Enable setpoint enable bit of interpolated position mode This is solved Scaling of DS402 object 60F4 sub 0 wrong 3815 Issue Identified in Version 01 06 00 002 The value of the PDO content of object 60F4 sub 0 was 4096 times too high Only with FBUS PA
29. 1 3 17 0 Solution A new conversion had been introduced The PDO function and SDO function for the object 6081 fits now to the new scheme Version 01 03 19 000 Release Date March 28 2011 Field Bus Specific Issues Fixed Bugs Multiple Ethercat errors 2905 Issue Halt bit in profile position mode only works one time Writing 0 to object 6098 sub 0 Home mode doesn t work correctly gives a timeout Solution Halt bit bit 8 control word works now correctly Value 0 for object 6098 generates now an abort message as well as the other not supported values Object 6072 sub 0 influenced only the positive torque limit 2969 Issue Object 6072 sub 0 max torque should set both current limits but the negative isn t changed Solution Bug fixed Now also IL LIMITN is changed Motion Tasking Issues New Features Parameter PL MODPDIR extended 2957 New Feature Details A user enables modulo axis and starts an absolute motion task within the modulo range The user requests that the motor moved the shortest distance to the expected target position Solution The parameter PL LMODPDIR has been extended PL LMODPDIR 3 let the motor move to the expected target position via using the shortest distance General Issues Fixed Bugs Motor brake behviour corrected 2958 Issue The MOTOR BRAKE parameter was not correctly initialized in case that a feedback device with motor id memory version 0 2 has been c
30. 2 Solution General Issues Object 3470 sub 3 works as expected by SDO or PDO access Version 01 05 07 000 January 06 EtherCAT fieldbus disable causes glitch before controlled stop 4060 2012 Issue Disabling the drive via control word when running interpolated or cyclic position mode can introduce a short velocity jump till a control stop is executed This occurs when the master freezes the position set point value and in the same moment disables the 10 Issues drive Solution The drive now maintains the last valid velocity command from the master until the controlled stop has started General Issues Version 01 05 06 000 December 23 2011 Field Bus Specific Issues Version 01 07 00 001 Release Date August 17 2012 General Issues Version 01 05 05 000 General Issues December 09 2011 Fixed Bugs General Issues F301 Motor overheated appears after power cycle 3966 Field Bus Specific Issues Issue After a power cycle there is a chance that Fault 301 Motor Overheated is generated eroneously Version 01 05 04 000 Solution Novemberz 5420 The fault is now inhibited until the sensors are fully initialized General Issues Restore DRV OPMODE and DRV CMDSOURCE to initial condition when W amp S fails because of a disable of the Feedback Issues power stage S 09829 Field Bus Specific Issues Issue User disabled accidentally the Wake amp Shake process by disabling the power stage
31. 2 command source opmode change was added Add support for Programmable Limit Switches for turning on outputs at programmed positions 1673 Issue Additional support needed for Programmable Limit Switches Solution Added support for Programmable Limit Switches for turning on outputs at programmed positions Add DRV HWENMODE 1744 Issue A rising edge on the hardware enable input would always clear any faults on the drive If you are using the drive with an EtherCAT or CANopen master you may want to control the clearing of faults independently using the network Solution A new parameter DRV HWENMODE has been added This parameter controls whether or not the rising edge of the hardware enable clears any drive faults 0 default The rising edge of the hardware enable clears the drive faults 1 The rising edge of the hardware enable does not clear the drive faults The high low state of the hardware enable is always used to control the active enable state of the drive Increase the maximum allowed position delta between two fieldbus position command values 2136 Issue The motor moves in the wrong direction when the position delta between two fieldbus position command values is larger than 0 5 motor rev which corresponds to 24 FB1 PSCALE Fieldbus Counts Solution Instead of only considering the position delta within one revolution the lower FB1 PSCALE bits in the fieldbus position command value the whole 32
32. 2 ms delay in starting a motion task from the digital inputs This delay occurs in digital inputs modes 2 and 4 Solution Digital input mode 2 and mode 4 were corrected to have a maximum delay of 1 ms Analog position mode correction 2224 Issue A problem existed with the interpolation mechanism of the analog position mode Solution A bug existed in the interpolation mechanism of the analog position mode The flag for new position command was missing causing the interpolation to repeat on the same command DRV STOP behavior corrected for motion in opmode 2 1907 Issue A problem occurred when a motion task was running with a very low PL KP gain and a DRV STOP command was triggered while the motion task was in the deceleration phase The software scope exposed that the motion task was triggered again although a stop procedure had been triggered Solution A race condition was the root cause of this bug The motion task class displayed that the sto procedure is finished although the underlying trajectory generator was still active Consequently the motion task was triggered again when PL CMD was set to PL FB at the end of the stop procedure even though the motion task was not completed by the trajectory generator This condition has been fixed Corrected the target position reached bit in DRV MOTIONSTAT 2239 Issue The user adjusts a sequence of motion tasks that are consecutively called one motion task calls the next on
33. Default values for DINx FILTER help are missing Solution Support for Min Max and Default values for DINx FILTER added Restoring parameters for a linear motors may not work correctly Issue If you used DRV NVLIST to save parameters for a system with a linear motor and you tried to restore these parameters to a new drive some of the position velocity and acceleration parameters were not restored correctly o Solution DRV NVLIST has been changed to output the MOTOR TYPE parameter at the top of the list of parameters output by DRV NVLIST New digital input mode 23 added 2676 Issue The user wants to change the algebraic sign of the measured analog voltage upon a rising edge on the digital input in order to change the direction of motion The user wants to zero the measured voltage upon a falling edge on the digital input Solution A new digital input mode mode 23 has been added DRV DISMODE should not be writable when the drive is enabled 2779 Issue Kollmorgen recommends that you do not change the disable mode when the drive is enabled due to complex interactions Solution The drive must now be disabled before changing DRV DISMODE New Features Multi turn Hiperface support added 1664 New Feature Details Current AKD firmware treats multi turn Hiperface encoders as single turn Hiperface encoders The multi turn information is ignored Solution Firmware has been modified so that the multi turn in
34. EMUEMTURN specifies in which turn the Z pulse will be but the units are reported incorrectly as counts when they should be revolutions Solution The drive firmware has been changed to now report the units as rev Version 01 04 10 000 Release Date July 01 2011 General Issues Fixed Bugs MOTOR VMAX minimum lowered to 1RPM 1mm s 3039 Issue The minimum for MOTOR VMAX was 100RPM Some Motors have a VMAX lower than 100RPM Solution The range of MOTOR VMAX has been increased so the minimum value is now 1 RPM or 1mm s for Linear Motors Biss Analog Feedback Will F3Bar After a Power Cycle 3055 Issue When Biss Analog Feedback is selected FB1 SELECT 32 and the drive is power cycled with no feedback device connected when the clear faults command is issued the drive will generate an F3Bar fault Solution The firmware has been modifed so that the conditions described above do not generate an F3Bar fault New Features Report the hardware revision number in DRV INFO and via fieldbus 3118 New Feature Details It is desirable to read the hardware revision number Solution The hardware revision number is now accessible in Workbench with the DRV INFO command or in EtherCat CANopen in SDO 1009 Version 01 04 09 000 Release Date June 21 2011 General Issues Fixed Bugs Autoset Value of VL THRESH 2660 S 06606 Issue When a feedback device with motor feedback memory SFD ENDAT BISS or
35. HELP string BASIC Issues Feature Changes BASIC Compiler and VM now support MOTOR TBRAKETO 3873 S 09348 Issue Compiler error when MOTOR TBRAKETO is in the params section Solution MOTOR TBRAKETO is now available to BASIC programs Fixed Bugs Occasionally drive crashes when connecting disconnecting from Workbench Console 3808 S 09315 Issue Drive can crash when connecting or disconnecting from the Workbench Console Solution This issue has been resolved MOVE MOVING 1 when disabled and move command is issued 3877 S 09355 Issue MOVE MOVING 1 when disabled and move command is issued Solution MOVE MOVING will now be 0 when disabled It will only be 1 when both enabled and moving 107 Warning Positive Limit Switch Triggered when software limit switches weren t configured 3860 S 09349 Issue 107 Warning Positive Limit Switch Triggered when software limit switches weren t configured Solution This problem has been resolved A negative value of PL Mod2 should not be allowed 3821 S 09316 Issue A negative value of PL MODP2 in the BASIC firmware causes the Modulo positioning to malfunction Solution The minimum value of PL MODP2 in the BASIC firmware is now 0 zero Do not allow BASIC motion including EGearing Camming and CamVM in non BASIC mode 3841 S 09364 Issue Can initiate BASIC Trajectory Generator EGearing Camming and CamVM motion in non BASIC m
36. HIPERFACE is connected and autosetting is TRUE MOTOR AUTOSET 1 the value of VL THRESH is automatically set to the value read from the feedback MOTOR VMAX Three changes were needed to improve this feature 1 VL THRESH should be set to 120 of MOTOR VMAx it was getting set to 100 2 When units other than RPM are used the value is not set properly 3 The value for VL THRESH should only be set to 120 of MOTOR VMAX when the current value at initialization time is set to the default value Solution These three issues have been corrected 1 VL THRESH will be set to 120 of MOTOR VMAX it was getting set to 100 2 When units other than RPM are used the value of VL THRESH is set properly 3 The value for VL THRESH will only be set to 120 of MOTOR VMAX when the current value of VL THRESH at initialization time is set to the default value This will allow the user to set a value for VL THRESH that is different than the value saved in motor memory and the drive will preserve this value To recover the value saved in motor memory the user can issue a DRV RSTVAR or set the value of VL THRESH back to the default value and toggle MOTOR AUTOSET from 1 to 0 and back to 1 New Features Get Motion task Target Velocity value from Analog Input or User parameter S 07070 New Feature Details The user wants to determin the target velocity of a motion task via the voltage measured on an analog input signal Solution The motion tas
37. LTHRESH is used to set the velocity threshold for auto calibration The unit depends on the UNIT settings The auto calibration is activated by setting FB1 TRACKINGCAL to 1 General Issues Fixed Bugs HOME AUTOMOVE conditional modifications 3572 S 08545 Issue If automatic homing procedure is activated it should work until the drive is homed successfully Solution Following modification incorporated 1 If an auto home failed due to STO or Fault or HW disable it is possible to re start auto home after clearing 2 If an auto home done then another auto home will not be allowed until a power cycle Electronic Gearing Accel Decel defaults are too low 3635 Issue Identified in Version 01 05 01 000 Electronic Gearing Accel Decel clamping was fixed in 01 05 01 000 Afterwards it was found that the default values for GEAR ACCMAX and GEAR DECMAX often caused oscillations in the movement profile Solution These limits were meant to be safety limits and not trajectory shaping parameters such as DRV ACC and DRV DEC The solution to this was to raise GEAR ACCMAX and GEAR DECMAxX to their maximum values and users can attenuate these values based on machine application requirements Field Bus Specific Issues Feature Changes Improvements to EtherNet IP messages Issue Several issues were identified with IO command and response messages that could be improved Solution 1 It is now possible to send 0 values for accel
38. RAMO05 bit 4 0 telnet scaling OK with DS402 scaling Solution The content is now consistent General Issues Feature Changes Improved timing and bugfixes for W amp S mode 0 S 09018 Issue Faster and more reliable wake and shake mode 0 Solution Improved mode 0 timing Calculated more accurate angles from W amp S Detected and fixed a coding error that caused the last coarse angle to be used instead of the calculated average Added new command WS DELAY4 to set the time between the initial shake which should move the rotor from the cogging point and the start of actual W amp S When WS DELAY is 0 there is no delay Fixed Bugs AIN PSCALE has invalid Range 3742 Issue The range of AIN PSCALE was incorrect A second bug prevented the user from setting AIN PSCALE to a negative value Solution Range has been updated to only allow valid values and range checking has been fixed Note this bug only applied to Analog Position Mode Fault history log cannot recover if it is corrupted 3819 Issue The drive saves a fault log to non volatile memory If an entry is corrupted such as power loss during the write of a log entry the system could fail to provide correct log data until DRV CLRFAULTHIST is executed Solution The code for reading and writing fault history entries is now robust so that the system can gracefully recover from corrupted entries The particular bad entry will simply be reported in the fault
39. SH and IL MI2T are supported by CAN EtherCAT via the objects 3427 sub 1 2 and 3 Support for Hiperface SEK 160 Feedback Device 2915 New Feature Details Support is required for the Hiperface SEK 160 type 255 Feedback device Solution Firmware has been modified to include support for the Hiperface SEK 160 Feedback device Version 01 04 00 000 Release Date March 18 2011 General Issues New Features Support for SFD sensor fault added 1921 New Feature Details When the SFD Feedback Sensor Resolver does not provide the correct signal to the SFD feedback board the AKD firmware should generate a signal amplitude fault Fault 402 Solution The firmware has been modified so it will generate a signal amplitude fault Fault 402 when the SFD Feedback Sensor resolver does not provide the correct signal to the SFD Sensor board Allow writing of motor parameters to encoder memory 2606 New Feature Details When using Endat and Hiperface encoders the ability to write the motor parameters to the motor is required Solution The firmware has been modified to allow writing the motor parameters motor ID to the Endat and Hiperface encoder memory The command to write to the memory is password protected Note that for Hiperface feedback devices the ability to read motor parameters from the memory has also been implemented Endat Feedback devices already have the ability to read the motor parameters from the memory To r
40. SynqNet master with no user involved Field Bus Specific Issues New Features AKD now supports SynqNet Fieldbus in torque mode only 1795 New Feature Details SynqNet fieldbus users want to use AKD drives Solution The SynqNet fieldbus is implemented on AKD in torque mode only Note that once a drive is under the full control of the SynqNet master that is in cyclic mode some Workbench and Telnet commands have restricted parameter lists or are read only to avoid interference with the master For details please see the AKD SynqNet Manual Fixed Bugs PDO with torque actual value report wrong data on MV3 3212 Issue The DS402 object 6077 showed a wrong value when negative values should be shown Object 6072 via SDO was scaled wrong according to DS402 Solution The object 6077 and 6072 show now correct scaled values in 1 1000 of rated torque Cannot save or clearfaults on Ethernet IP using Explicit Messages S 07616 Issue When sending a DRV CLRFAULTS or DRV NVSAVE command with an explicit message to the Parameter Object the connection times out Solution These commands now work properly The response will be given right away and the commands will execute in the background Note that no error checking is possible so the response will show a success whether or not the command succeeds Version 01 0 002 Release Date August 29 2011 Feedback Issues Feature Changes Feedback 5V Supply is active even
41. V range limited to 0 only S 08253 Solution DIOx INV range is limited to 0 until mode one and two are implemented The actual mode one will be mode two as it behaves diffrent from the inverting function from the other in outputs as it is a hardware impletation in the fpga The new mode one will behave the same way the other inverting functions do Version 01 05 03 003 Release Date November 07 2011 General Issues New Features W amp S validation step added to Wake and Shake algorithm 3412 New Feature Details There are known failure modes for the current implementations of Wake and Shake These failure modes can allow Wake and Shake to finish with an incorrect motor phase angle Enabling a motor with an invalid motor phase can result in a runaway Solution An extra step has been added to both Wake and Shake mode 0 and 1 which validates that Wake and Shake returned a valid motor phase Feature Changes SFD Resolver signal level faults changed from generic 402 Analog signal fault to 421 SFD resolver signal fault S 08041 Issue Generic signal level faults with sin cos and quadrature encoders could generate a 402 Analog signal fault SFD feedback devices could also trigger this fault however internally this means something different This can lead to difficult debugging Solution When a SFD feedback device has a resolver signal fault a new fault 421 SFD resolver signal fault is thrown instead of the old 402 Anal
42. at the port code recognizes the node guarding message CANopen Interface NMT reset creates no bootup message 2113 Issue CANopen specification requires a message after nmt reset DS301 This message is currently not provided Solution Port code triggered bootup message transmission but the request was not forwarded to the application code CCanOpen A new flag was added to forward the request Version 01 0 000 Release Date October 11 2010 General Issues Fixed Bugs The maximum value in DRV HELP for IL KP is not correct 2110 Issue The maximum value from DRV HELP IL KP should be 2 000 but it was reported incorrectly Solution The firmware has been modified to report the maximum value correctly Ona 24A drive DRV HELP WS IMAX reports an incorrect maximum value 2598 Issue When using a 24A drive and setting the MOTOR IPEAK to a large value greater than about 30A you can not set WS IMAX to a value larger than 6A Solution The firmware has been changed to report and use the correct maximum value DRV DBLIMIT can not be set to ICONT of drive 2595 Issue Using a 24A drive and with the MOTOR IPEAK set to a value larger than 65 535A will give a incorrect maximum value for DRV DBILIMIT This will prevent you from entering a large value for DRV DBILIMIT Solution The firmware has changed to report and use the correct maximum value Motor jumps when transitioning from analog velocity to dig
43. ault can be cleared and the drive will continue to operate correctly Solution The firmware is fixed so that data read from the EnDAT device is now consistently read correctly Drive will intermittently not setup up encoder resolution FB1 ENCRES properly when using EnDat 2 1 2453 Issue When the drive powers on and you are using EnDAT 2 1 feedback the drive intermittently does not get the correct value for the encoder resolution FB1 ENCRES The drive will not report any faults but the motor commutation will not work properly As a result when motion is commanded the motor will not move and the drive may generate a 503 fault Bus Capacitor Overload This problem can be cleared by toggling the feedback selection between 30 Endat 2 1 and 1 auto identify or by power cycling the drive Solution The firmware has been fixed so that data read from the EnDAT device is now consistently read correctly Drive will intermittently issue a signal amplitude fault with Endat 2 1 or Biss analog feedbacks 2426 Issue When the drive powers on or you switch feedback types using FB1 SELECT when using an EnDAT 2 1 or Biss Analog feedback device the drive intermittently will get a signal amplitude fault fault 402 The fault cannot be cleared with a clear faults command in WorkBench It can only be cleared by power cycling the drive Solution A new FPGA was created that will prevent this from occurring The new FPGA that corrects this issue
44. ber 30 2011 General Issues Fixed Bugs Electronic Gearing States not cleared after Command Source change 3185 Issue Identified in Version 01 04 00 000 When Electronic Gearing was enabled and the Command Source was subsequently changed out of Electronic Gearing mode the Electronic Gearing Active state and Electronic Gearing Slave Synchronized state were not cleared This prevented other types of motion in other command source modes Solution The Electronic Gearing states are now cleared when changing out of electronic gearing mode Endat Feedback Does Not Read Sine Cosine Information During Initialization 2994 Issue Endat Feedback devices were not reading the sine cosine information during initialization so the initialization accuracy was on the order of arc minutes not arc seconds Solution Anew FPGA has been impelemented and firmware has been modified so that the sine cosine information is now read during Endat feedback device initialization So now initialization accuracy is on the order of arc seconds Homing direction has the wrong default value 2872 Issue HOME DIR should default to the positive direction 1 Solution The default value of HOME DIR is now positive DRV ACC and DRV DEC does not update trajectory with large numbers 3349 Issue A bug was found in the trajectory generator where large values of DRV ACC and DRV DEC would be rejected from the trajectory generator without alerting the
45. busy status the MAC address and IP address of the drive Solution The discory protocol now includes extra information including the model number serial number and hardware revision of the drive in addition to the executing firmware and FPGA version numbers Older versions of WorkBench will still work with new firmware WorkBench will just not show the extra information Newer versions of WorkBench will work with any version of firmware if the drive supports this extended protocol the extra information is available Feature Changes MOTOR TBRAKETO should apply the brake if controlled stop is unable to stop motion S 08628 Issue When a controlled stop was in progress the brake timer MOTOR TBRAKETO was previously not started until motion had stopped Solution The brake timer MOTOR TBRAKETO will now be started at the beginning of a controlled stop rather than waiting until motion has stopped If this timer expires before the controlled stop has completed the brake will apply and then the drive will be disabled 10 Issues Fixed Bugs Range on AIN PSCALE is invalid 3653 Issue Identified in Version 01 05 07 000 AIN PSCALE had its range increased in firmware version 01 05 07 000 however it was not marked as a signed value which caused an overflow Solution The paramter has been marked as a signed value and now works as expected Feedback Issues New Features New commands for FB2 and FB3 S 08672 New Featur
46. cal overflow or truncation gt DRV EN gt AIN PSCALE 4294967296 gt AIN PSCALE 4294967296 000 Counts V gt AIN OFFSET 1 000 V gt AIN VALUE 1 016 V gt PL CMD 4362692968 000 Counts gt AIN OFFSET 2 gt AIN VALUE 2 016 V gt PL CMD 4362158398 000 Counts Solution The position command variable was 64 bits long and casting of this variable to 32 bits lost all data of the higher 32 bits The casting was removed and now the command works properly Current sensor short cannot be reset 1803 Issue When the drive issues Fault 526 Current sensor short the WorkBench Disable and Clear Faults buttons do not clear this fault Solution When the drive was in dynamic brake mode the clearing of the relevant fault bit in the FPGA did not occur because the drive was considered enabled This issue has been fixed Record reports the value of MT VCMD incorrectly 2117 Issue When using WorkBench to record MT VCMD the value is off by a factor of 4 Solution Recording is now correct for MT VCMD DCT capture result is incorrect when near zero 2491 Issue Capture of the EtherCAT Distributed Clock DCT was not correct when the result was near zero Solution DCT is now accurate near zero Drive failure occurred when running feedback auto identify on devices that do not support auto ID 2511 Issue The drive could intermittently fail during the auto ID process Solution The issue has b
47. city and profile torque mode Solution The drive does not take set points now in states other than Operation Enable Feature Changes No full access to MT CNTL via SDO Issue Bit 0 of MT CNTL is reserved for the use via the DS402 control word Solution Now if the full access is needed bit 6 of FBUS PARAMOS5 can be set to 1 to get it Version 01 0 000 Release Date November 09 2010 General Issues Fixed Bugs Homing Mode 10 does not work 1635 Issue The user starts a homing mode 10 in any direction and hits a mechanical stop Instead of changing the direction and searching for the index signal the drive states that a homing procedure error occurred Solution The homing mode 10 now works properly Wrong exception handling for 1 1 profile handling 2677 Issue The total time calculation is using maximum velocity instead of target velocity Solution The calculation has been corrected Provide specific warning messages for various types of motion task errors 2466 Issue The warning numbers assigned are clashing with some Error numbers Solution Warning numbers are changed to 150 series The updated list can be found in log for release version 01 03 05 000 Drive unexpectedly enables when clearing a fault while in dynamic braking and DISMODE 2 2673 Issue Certain faults cause the drive to enter dynamic brake mode regardless of the value of DRV DISMODE This is expected but when
48. ck device is functioning properly Power cycling is not required to clear this fault Read the availability of a motor brake from the feedback NV memory Issue A setting of MODBUS PSCALE 20 did not work as expected Solution The shift factor is now calculated correctly Field Bus Specific Issues New Features CANopen autobaud detection added 2818 New Feature Details If the two CANopen nodes have a fix but not the same baudrate the communication will not work Autobaud creates a flexible and easy to install CANopen Bus configuration Solution Instead of using a fix baudrate the autobaud detection can be configured A master node can send an initial CANopen Frame on the CANopen Bus and the drive measures the bit rate and initializes the baudrate of the CAN Controller with the measured baudrate 125 250 500 or 1000 kBit s New parameters supported via CANopen 2901 New Feature Details Customer requested support for parameters MOTOR VRATED MOTOR VOLTMIN MOTOR VRATED PLL SYNCDIST and PLL SYNCWND Solution The parameters MOTOR VRATED MOTOR VOLTRATED and MOTOR VOLTMIN are implemented as SDO 3457 sub 1 2 and 3 The support for the PLL commands is not provided Fixed Bugs CANopen SDO request answered before Bbootup message has been sent 2907 Issue After power on a CANopen master polls a CANopen object via SDO request before the bootup message of the drive has been sent The drive d
49. e The error was that the target position reached flag in DRV MOTIONSTAT was high after finishing the first motion task although further motion tasks follow This behavior also adversely affected digital output mode 3 which considers this particular bit in DRV MOTIONSTAT Solution The line in the motion task class source code which sets the target position reached flag too early has been identified and has been removed Analog input low pass filter blocked input 1730 Issue If the low pass filter is set to any value below 4 then the input signal is blocked and no response occurred to a changing input signal Solution The minimal value allowed to be written to low pass filter is now 1 PDO scaling of DS402 object 0x606C sub 0 was wrong 1681 Issue A still motor returned large values for the actual speed in PDO Solution The scaling was not correct for negative values The value is now scaled in rpm 1000 DRV DISMODE 2 enables the drive automatically when HW enable is set to 1 2037 Issue The drive was creating motion when the hardware enable was set to 0 After stopping motion and setting the hardware enable to 1 again the axis was enabled automatically This happened only with DRV DISMODE 2 Solution The definition of DRV DISMODE 2 is Use a controlled stop to ramp down and then disable the drive This setting is now fixed When the TwinCAT EtherCAT master is re started the axis does not move when
50. e software enable such as Wake amp Shake This phase find procedure was not re armed automatically in case that the previous process failed The user expects that the W amp S function will be re started after the next software enable in case that the previous W amp S function failed Solution The DRV CLRFAULTS command identifies a pending W amp S error and re arms the phase find process again Field Bus Specific Issues New Features Adda Torque attribute to the EtherNet IP Position Controller Object attribute 0x19 R 01589 New Feature Details It is desirable to access actual torque through Polled I O by using the Get Attribute field But Torque is not a supported attribute Solution Torque may now be read with attribute 0x19 of the Position Controller Object DS402 Standard objects for touch probe functionality 60b8 etc shall be implemented 1676 S 07661 New Feature Details Besides the latch implementation nearly compatibel with Servostar the DS402 touch probe functionality is needed Solution The DS402 standard objects are implemented Fixed Bugs DS402 Creation of a SFD fault creates besides the correct fault emergency codes a generic warning emergency code 3417 Issue The Emergency Error Code for F438 was built wrongly the warning n414 lead to the generic warning Solution F438 leads now to the error code 0x86B0 n414 to the error code 0x7390 Version 01 04 19 000 Release Date Septem
51. e 13 and they are not aware of the DRV DISMODE setting they will not get the behavior that they want dinx mode 13 should behave like DRV DISMODE 3 but not be dependant on that setting Solution The controlled stop input DINx MODE 13 behaves the same way for all DRV DISMODE values Version 01 04 05 000 Release Date May 11 2011 General Issues Fixed Bugs Information of External Regen Resistor 3076 S 06788 Issue Two parameter values for regen resistor external is wrong help sends back wrong values 1 REGEN REXT 2 REGEN WATTEXT Solution 1 REGEN REXT is changed as read only parameter with 330 ohm as default value This Resistance value is fixed 2 REGEN WATTEXT data is corrected as MAX value to 6000 Watt CAPx MODE is not saved to NV memory 3021 S 06805 Issue The capture parameter are not stored to non volatile memory If the user needs a special capture setting e g for homing the setting will be lost after power cycle Solution CAPx MODE CAPx EDGE CAPx EN CAPx EVENT CAPx FILTER CAPx PREFILTER CAPx PRESELECT CAPx PREEDGE are now stored to non volatile memory Furthermore HOME AUTOMOVE is working with homing mode 3 6 10 11 The home modes are dependent on one capture engine Field Bus Specific Issues New Features Allow Rotary Switch to Set EtherCAT Station Alias 2414 S 06598 New Feature Details The address set by the rotary switches should be usable for the EtherCAT conf
52. e Details The user wants to read the value of the feedback seperatly and set the unit of the value Also the diretion and the offset of feedback 3 should be changeable Solution Feedback 1 3 should be readable seperatly and independend addition keywords are needed FB1 P FB2 P FB3 P in 64Bit count 32Bit Multiturn 32Bit Singleturn or user specific To set the unit for each feedback use the new commands FB1 UNIT FB2 UNIT FB3 UNIT Following unit are avaible 0 for 64Bit counts and 3 for user specific The User specific unit can be set with FBx PIN and FBx POUT Additional new command are FB3 DIR which will change the counting direction of feedback 3 and FB3 OFFSET which wil set set the offset of feedback 3 does not affect the position loop offset when feedback 3 used as position loop feedback Version 01 05 10 000 Release Date January 27 2012 Feedback Issues New Features Added new commands FB1 P DRV HANDWHEELSRC and a new warning n604 EMUEMODE incompatible with HANDWHEELSRC S 08499 New Feature Details The customer wants use the feeback 3 as handwheel and will compare the value of feeback 1 with feedback 3 for safety applications Solution Add command to read raw value of feedback 1 and allow the user to select the handwheel source Added new parameter to configure sine cosine auto calibration S 08572 New Feature Details Customers cannot configure auto calibration for sine cosine encoders Solution FB1 CA
53. e an F532 fault due to changing the value of DRV SETUPREQBITS Solution DRV SETUPREQBITS is no longer modified when the drive display blinks Version 01 03 16 000 Release Date February 16 2011 General Issues New Features Modulo extension added 1672 New Feature Details The modulo axis feature should be completed Solution The following scopable variables are converted into modulo format if selected upon a recorder retrieve command CAPO PLFB CAP1 PLFB PL FB PL CMD Read motor phase from Hiperface feedback memory added 2814 New Feature Details Hiperface feedback devices are not aligned to the motor s windings As a result the commutation offset angle must be read from the Hiperface feedback memory and set on the drive using the MOTOR PHASE parameter Solution The commutation offset angle will be read from the Hiperface feedback memory The angle is read from the S 300 drive memory location which is Datafield 0 bytes 2 and 3 When autoset is true MOTOR AUTOSET 1 this read value is automatically stored in the drive in the parameter MOTOR PHASE Note that AKM motors will have this value programmed into their memory when shipped from the factory For non AKM motors an S 300 drive must be used to program this value in the Hiperface memory When full motor ID is implemented for Hiperface in the future the drive will be able to store this angle in the Hiperface memory Fixed Bugs Inputs switch bo
54. e executions when a Modbus master is writing to Modbus Mt repeatedly the commands are only executed when the corresponding bit changes from 0 to 1 positive edge triggered 10 Issues Fixed Bugs Digital Output mode 4 In Position does not function properly 2921 S 06557 Issue Output mode 4 In Position does not change state based on a window around a target position as it should Rather it functions as Position Error gt x Solution DOUT Mode 17 is added as MtInPosition and will enable the DOUT using a window around target position of the Motion task which donot have any further following Motion tasks DOUT Mode 4 is renamed as PositionErrorMonitor Motion Tasking Issues New Features New DRV MOTIONSTAT bit 15 added 2921 S 06557 New Feature Details A new output mode needs to be ccreated in order to set the digital output to high as soon as the actual position PL FB is within a certain area around the target position of a motion task Solution Anew DRV MOTIONSTAT bit has been implemented in order to allow creating the new digital output mode Field Bus Specific Issues New Features Support for some AKD parameters is needed 3052 S 06622 New Feature Details Support needed for the following parameters VBUS UVMODE VBUS UVFTHRESH VBUS UVWTHRESH DOUT1 PARAM DOUT2 PARAM DIN1 PARAM DIN7 PARAM HOME AUTOMOVE HOME DIST Solution New SDOs EDS file revision 24 parameter object index subi
55. e homing direction as soon as the homing is triggered If the limit switch is active before the index the motor turns its direction of rotation and searches for the index As soon it finds the index home position found status should be set The actual position and command position is set to the home position VBUS OVWTHRESH was changed to R W 1251 Issue The over voltage warning was not operative Solution VBUS OVWTHRESH changed to be R W with default 0 which inhibits the warning The user can define this parameter to allow the warning to appear Increase the fault log size 1594 Issue The fault log size is too small Solution Fault log size was increased to 50 entries VBUS UVFTHRESH was changed to R W 1790 Issue A customer requested an option to execute a controlled stop when main loss is discovered Solution VBUS UVFTHRESH was changed to be read write type and can now be stored on the NV VBUS UVFTHRESH default value is the value set on the EE which is also the parameter minimum value and its maximum value is VBUS OVFTHRESH Changed active disable behavior on INMODE 13 and on DRV DIS 1874 Issue Confusion around the behavior of INMODE 13 and DRV DIS resulted in a request to unite CS TMAX and DRV DISTO Solution CS TMAX was removed and DRV DISTO is activated whenever active disable is requested Fixed Bugs Digital input mode 1 fault reset would clear the software enable 1744 Issue
56. e with the drive New Features Added object 0x3473 for CANopen access to the rotary switch New Feature Details The rotary switch cannot be read via CANopen Solution Subindex 1 provides access to DIN ROTARY and subindex 2 gives access to DIN1 INV DIN7 INV via bits 0 to 6 Added object 0x35D2 for access to FB1 MECHPOS New Feature Details An object is not provided for accessing mechanical position of feedback 1 Solution This value is now available via object 0x35D2 Version 01 03 01 000 Release Date September 17 2010 General Issues Fixed Bugs Change the syntax for fault F106 1540 Issue Users should be made aware that Fault 106 might happen after a firmware download Solution The phrase might occur when downloading firmware is added to the fault message Fix FB1 MEMDUMP Command for Biss feedback 2578 Issue parameter FB1 MEMDUMP does not work properly for Biss analog feedback devices Solution parameter FB1 MEMDUMP for Biss Analog Feedback devices is now functioning properly The drive will intermittently not setup properly when using EnDat feedbacks 2451 Issue When the drive powers on and you are using EnDAT feedback and MOTOR AUTOSET is 1 the drive intermittently does not get the motor identification data from the feedback device and will not setup the drive correctly The drive will report a 534 Failed to read motor parameters from feedback device fault This f
57. ead the memory contents the autoset parameter MOTOR AUTOSET must be set to True Read the availability of a motor brake from the feedback NV memory 575 New Feature Details The availability of a motor brake was not read from a feedback device with memory even if the information was available Solution For feedback devices with factory programmed memory SFD EnDat and Biss the firmware will read the availability of the motor brake from the feedback NV memory and initialize the corresponding MOTOR BRAKE parameter Current loop gain scheduling feature added 2776 New Feature Details When motors saturate their effective inductance decreases which can cause instabilities in the current loop since the current loop gain is dependent on motor inductance Solution Current loop gain scheduling has been implemented under the Current Loop view so that a user can specify a current loop lookup table to change the current loop gain based on a current command level Fixed Bugs Hiperface encoder locks up sometimes with clear faults 2890 Issue Sometimes Hiperface encoders would not be able to clear the Failed to Set Feedback Fault Fault 401 with the clear faults command The drive had to be power cycled in order to clear this fault Solution The firmware has been modified so that Hiperface feedback devices can clear the Failed to Set Feedback Fault Fault 401 with the clear faults command assuming that the feedba
58. earlier versions worked as expected Solution The firmware has been changed to fix this issue so that General Issues New Features Added command grouping telnet E 01446 New Feature Details The telnet protocol was inifficient because the client could only send one command to the drive at a time and would have to wait for the response before sending the next command Solution The client can now send multiple commands separated by CR LF in one message The drive will respond with the responses grouped into one message with each response terminated with the cursor gt A drive that suppoorts this new protocol will respond to aread of DRV FEATURES with a line 003 Message grouping Fixed Bugs Analog Velocity Mode cannot operate when UNIT VSCALE 0 3766 Issue When an AKD is configured as a Linear Motor in Velocity Mode and the units have been set to Counts UNIT VSCALE 0 the range of UNIT VSCALE was being calculated improperly Solution Calculation has been fixed in this mode Feature Changes FPGA Updated to version 0301 3813 Issue The FPGA has been updated to version 0301 Solution Additionally a new 15 5kHz filter has been added to the internal feedforward term of the FPGA interpolator to smooth out noise This will improve low resolution feedback device performance Version 01 06 01 000 Release Date March 30 2012 Field Bus Specific Issues Fixed Bugs STO sometimes
59. ect values IO Issues General Issues SD SAVE saves active parameters instead of NV parameters 3976 S 09800 Issue Version 01 03 20 001 April 04 SD SAVE saves active parameters instead of NV parameters which may result in incorrect drive state saved in the SD card zoti Solution General Issues Now SD SAVE performs a DRV NVLOAD prior to saving away the parameters Users should be aware that current changes to their parameters will be overwritten when performing SD SAVE Field Bus Specific Issues Version 01 03 19 000 March 28 New Features 2011 F a The parameters EXTENCODER POSITION EXTENCODER FREQ CAM MASTERPOS CAMVM POSITION Field Bus Specific Issues CAMVM FREQ are now recordable and triggerable S 09724 Motion Tasking Issues New Feature Details When debugging camming applications it is useful to see plots of these parameters on the scope General Issues Solution Version 01 04 00 000 March 18 User can view plots of above parameters as part of developing testing and debugging camming programs 2011 General Issues Field Bus Specific Issues Version 01 06 07 000 Release Date June 22 2012 Version 01 03 18 000 March 16 Feedback Issues 2011 Fixed Bugs General Issues FB1 ENCRES Changed to be Read Only When Using Tamagawa Abs Feedbacks S 09616 Version 01 03 16 000 February 16 Issue f l 2011 If you upload a parameter file from a drive using a Tamagawa feedback a
60. ed to take as long as 67 5msec in some instances This is seen on both the Release candidate M_01 04 00 002 and the trunk M_01 03 20 000 Solution Quickstop inputs were sampled in a background task As a fix inputs in quick stop mode are now sampled in the 1kHz task Velocity blend move with same velocity donot work 3360 S 07798 Issue Identical or very close velocities cause problem when configured as blend in to velocity Next motion task donot take over Solution The condition for triggering next notion task is modified which now can handle both positive and negative velocity conditions New Features Adding new command DRV DIFVAR to see parameters changed S 07569 New Feature Details Add DRV DIFVAR servostar name to see parameters changed Solution DRV DIFVAR command is added Clear multiplier when DINx MODE changes from mode 23 to another mode 3296 New Feature Details If you change the DINx MODE from mode 23 to another mode the analogue input will remain inverted or zeroed Solution The firmware has been changed to restore the analogue input to the state without inversion or zero when changing away from DINx MODE 23 Field Bus Specific Issues Fixed Bugs Correction of the latch functionality via DS402 objects 20a4 20a5 S 07661 Issue The use of capture engine 1 via the DS402 objects 20a4 20a5 20a2 20a3 was depending on the parameter CAPO MODE Solution The capture engine 1 functiona
61. eed fault Version 01 05 13 000 March 02 202 F106 fault and parameters lost when upgrading from earlier firmware versions 4041 General Issues Issue i When upgrading from certain earlier versions changes in parameter types can result in an F106 Nonvolatile Memory data error and Field Bus Specific Issues parameter settings stored in the drive are lost Version 01 05 12 000 February 17 Solution 2012 Parmeter type changes are now handled such that upgrading from older versions will result in proper parameter values and no fault will be reported Field Bus Specific Issues Motion Tasking Issues Kknowilssi s General Issues Position Loop not executing when inside a software limit switch 3773 10 Issues Issue Identified in Version 01 06 01 000 Feedback Issues This bug was fixed in version 01 06 01 000 but caused a larger bug 4092 This bug has been intentionally re introduced until a full fix for both 3773 and 4092 can be implemented Behavior is unchanged from previous AKD production releases same behavior as Version 01 05 10 000 January 27 ee Eoncte 2012 Feedback Issues Field Bus Specific Issues General Issues Fixed Bugs Field Bus Specific Issues DS402 Object 3470h sub 3 AOUT VALUEU doesn t work as PDO but as an SDO 3939 Issue Version 01 05 08 000 January 20 The object mapping works but the value written to the PDO doesn t get into effect The SDO access works as expected 201
62. een resolved Wrong minimum and maximum values for BODE IAMP 2202 Issue The drive reported incorrect minimum and maximum values for BODE IAMP which could cause problems in WorkBench Solution These values are now reported correctly New Features Customer Profile Tables 1689 New Feature Details Users would like to download various S Curve profiles and other customer defined profiles to be executed as motion tasks by the drive Solution Customer profile tables can now be loaded and executed by the drive Field Bus Specific Issues Fixed Bugs EtherCAT Stability Improvements 2435 Issue When using EtherCAT communications the drive would perform erratically and the ASCII SDO would take a long time to respond to the master Solution Several performance improvements and stability changes were made to the firmware allowing the drive to operate reliably The drive allows an EtherCAT mailbox size of only 512 bytes 2449 Issue Users should be able to configure a mailbox size of 40 to 512 bytes The drive however allows a mailbox size of only 512 bytes for the SyncManagers 0 and 1 mailbox The drive should allow a mailbox size of 40 to 512 bytes for these state transitions Solution The drive now accepts even numbered mailbox sizes between 40 and 512 bytes for the SyncManagers 0 and 1 Scaling of PDO20A6 is not the same as PDO6063 2344 Issue The fixed mapping for TxPDOS 0x1B23
63. eral Issues VL FBFILTER overflows i ituations 3954 Issue BUR hs en VL FB reaches a speed of gt 35 or the acceleration is very high an overflow can occur in the calculation o Version 01 03 09 000 When VL FB reach d of gt 3500 RPM or th leration i high rfl in the calculation of December 28 2010 VL FBFILTER General Issues Solution Field Bus Specific Issues Calculation has been modified so that an overflow cannot occur Version 01 03 08 000 ae oo Comman oS controlled stop initiates 3981 Issue Identified in Version 01 06 00 Decemberoir0il When a controlled stop is commanded it is expected that the velocity command will immediatly be set to actual velocity and then General Issues decelerate at the rate of CS DEC But if the actual velocity is above 3500 rpm the velocity command at controlled stop initiation will lt es be set to a wrong value possibly lower than expected or in the wrong direction The velocity command then decelerates from this Field Bus Specific Issues wrong initial command value resulting in unexpected deceleration rates or acceleration in the wrong direction Version 01 03 07 000 Solution November 23 2010 A bug has been fixed in VL FBFILTERED the 10Hz filtered actual velocity value which is used to set the initial velocity command for a controlled stop The behavior is now that a controlled stop from above 3400 rpm will decelerate properly at CS DEC from the 10 Issues starting actual velocity to a s
64. eration and deceleration in Jog and Move commands In this case the existing values will be used 2 The direction bit now reports the command direction of motion not the actual velocity direction The bit is now stable when moving in one direction at low speed Version 01 05 08 000 Release Date January 20 2012 General Issues Fixed Bugs Bug in Wake and Shake Validation Routine S 08531 Issue A bug was found in the Wake and Shake validation routine when DRV DIR was set to 1 Solution Wake and Shake now takes into account the DRV DIR setting BiSS Mode C Failed to initalise feedback device S 08520 Issue Since firmware version 01 05 05 000 selecting BISS mode C FB1 SELECT 34 would fail to identify the feedback device Solution The firmware has been corrected so that selecting BISS mode C FB1 SELECT 34 will now correctly identify and initalise BISS mode C feedbacks New Features Ascii parameter from type integer can be written in hexadecimal format S 08531 New Feature Details The user might want to write ascii parameters from type integer directly in hexadecimal format comparable to the user manual instead of the convert it to decimal Bitcombination are easier to modify Solution Hexadecimal format is supported e g MT CNTL 0x2003 Added Support for Tamagawa feedbacks S 08482 New Feature Details Tamagawa feedback devices are now supported as a primary feedback device Tamagawa
65. ested prior to complete system initialization The test is now done at the proper time External Regen Resistor needs to be read write not read only 3076 Issue External Regen resister valaue to be made Read Write Solution REGEN REXT is changed as Read Write parameter with 330 ohm as default value Min value is 0 and MAx value is 330 Ohm Modbus writes of large values to MT ACC_32 and MT DEC_32 is not correct 3111 Issue When writing large values gt 0x80000000 gt 2147483648 to MT ACC_32 2056 or MT DEC_32 2058 via Modbus the write fails and when reading the value backthe returned value reading is negative Solution Fixed the sign extension handling for 64bit parameters mapped to 32bit Field Bus Specific Issues New Features AKD Test with interpolated position mode via CAN 3077 New Feature Details The information about the state of the hardware limit switches and home switch were not inside of the object 6OFD This CNC needs this information in this object Solution Now the state of the negative HWLS is in bit 0 of the positive HWLS is in bit 1 and the state of the home switch is in bit 2 Problems with state switch from SWITCHED ON to OPERATION ENABLE 3084 New Feature Details User needed the state SWITCHED ON with free rotating motor shaft as it is demanded in the DS402 spec of the ETG Solution This behaviour can now be forced by setting bit 8 of FBUS PARAM05 to 1 Version 01 04 07 00
66. eters which are read only for certain motor types to be reported in parameter files Solution A new section has been added to the bottom of the parameter file which is created by the Workbench Save Parameters to File button This section is for information purposes only and will not be loaded into the drive when the parameter file is loaded Version 01 05 000 Release Date December 09 2011 General Issues New Features SM MODE 2 constant torque velocity with SM I2 SM V2 S 08247 New Feature Details Solution With SM MODE 2 the SM I2 SM V2 and SM T2 parameters are used for the service motion This is the only difference to SM MODE 0 Allow ignoring of Fault 702 Bus Communication Lost S 08276 New Feature Details It some situations it may be desirable to ignore certain faults Solution Anew keyword FAULT702 ACTION has been added With the default value of 0 normal fault handling occurs Set the value to 1 Ignore to ignore this fault The fault will not be reported and drive will remain enabled Fixed Bugs FB1 faults can be cleared without initialized feedback 3550 Issue Identified in Version 01 05 03 002 A bug since 01 05 03 002 could allow a user to clear faults without correctly configuring feedback and subsequently allowing the amplifier to enable Solution The fault mechanism has been repaired and functions as expected Field Bus Specific Issues New Features Jog 1 and J
67. ew Feature Details It is desirable to detected whether the EthernetIP connection is active from Workbench Solution The parameter EIP CONNECTED returns a 1 if connected to an EthernetIP master and a 0 if disconnected Parameter AOUT CUTOFF needs DS402 support 2977 S 06468 New Feature Details DS402 support for LPF of analogue output is needed Solution The new object is 3470 sub 6 UNSIGNED32 General Issues New Features New general indexed parameter USER INT1 to USER INT24 S 07288 New Feature Details A customer user needs a set of parameters to store application specific values in the AKD drive Solution Parameter USER INT1 to USER INT24 were added New parameter value checksum needs to be visible on EtherCAT S 07267 New Feature Details Customers must be able to read the parameter checksum via EtherCAT CANOpen Solution SD0O2019 Subindex 0 was added and is linked to DRV NVCHECK Trigger scope on exact values and on bitmasks R 01729 New Feature Details The scope is triggered on the slope of a parameter passing a value It would be helpful at times to trigger on an exact value or when a value matches a bitmask Solution Two new trigger types have been added 1 Parameter Exact Value this is like normal triggering off a parameter but instead of setting a slope to positive or negative and waiting for the value to be greater or less this triggers if and only if the value exactly matc
68. formation is used Field Bus Specific Issues Fixed Bugs The first event Tx PDO or event Rx PDO will not get processed Starting with the second event PDO the processing is executed 2674 Issue The first event Tx PDO or event Rx PDO will not get processed Starting with the second event PDO the processing is executed Solution A minor bug in event RxPDO processing prevented the first RxPDO from being executed Feature Changes DS402 status work now displays the status of the Safe Torque Off input Issue The STO status should be displayed in the status word Solution Bit 8 of the DS402 status word now reflects the STO state HOME IPEAK SDO35E2s0 should be scaled in mA not in Amps 2345 Issue Amps is not a useful scaling for HOME IPEAK Solution The value is now in mA Version 01 03 07 000 Release Date November 23 2010 10 Issues New Features Added switch bounce conditioning to the digital inputs 2065 New Feature Details Digital Input debounce switches create problems such as multiple activations multiple triggers etc based on the mode of the Digital Input assigned Solution FPGA is built with configurable filters for Digital I O channels New user command DINX FILTER is added as user command which can alter the configuration of DIN filter DINX FILTER simply returns the present value of the filter of channel X DINX FILTER followed with data will alter the value of the filte
69. fully This condition can only be seen when the drive is disabling and Field Bus Specific Issues it is configured to use the dynamic brake DRV DISMODE 1 or 3 Homing Issues Solution A bug has been identified and fixed so this re enabling glitch cannot occur Version 01 04 18 000 September 16 2011 Reading FB1 USERBYTE USERWORD or USERDWORD may cause a drive crash 3969 Issue General Issues Using FB1 USERBYTEx commands with no feedback with memory leads to a drive crash Version 01 04 17 000 Solution September 12 2011 The behaviour is now fixed General Issues WS MODE 1 results in incorrect motor phase when DRV DIR 1 4003 10 Issues Issue Field Bus S ific Wake and Shake Mode 1 does not work properly when the drive direction DRV DIR is set to 1 The value of the commutation le us specific Issues angle is wrong MOTOR PHASE after commutation alignment was succesful terminated Version 01 04 15 002 August 29 Solution 2011 Eliminated a sign problem that caused the the wrong motor phase Feedback Issues General Issues BASIC Issues Field Bus Specific Issues Fixed Bugs Version 01 04 14 000 August 23 Drive crash when using a camming program 4027 S 09935 Issue uit When the compiler generates an odd number of data bytes it could be placed on an odd boundary that would cause a misaligned Field Bus Specific Issues access exception General Issues Solution The firmware wa
70. h all previous AKD firmware versions WorkBench forward compatibility however cannot be ensured When a behavior in the firmware changes an older WorkBench version may not function correctly with the new firmware Kollmorgen recommends that you update WorkBench when you install new firmware Please update to WorkBench version 1 5 0 00000 or later when using this firmware Version 01 07 00 002 Release Date September 08 2012 General Issues New Features New keyword WS CHECKMODE S 09884 New Feature Details As a user want to select between active passive or no commutation check as my application may not work with one of the modes Solution The addition of WS CHECKMODE allows the user to specify which method the drive will confirm a valid commutation after Wake and Shake When WS CHECKMODE is set to 0 No commutation check neither passive nor active commutations checks will be executed When WS CHECKMODE is set to default value 1 Active commutation check AKD will make a short torque move after an angle has been selected If the motor fails to move in the expected direction a fault will be generated When WS CHECKMODE is set to 2 Passive commutation check AKD will monitor torque commands and acceleration values for 10 revolutions after Wake and Shake has completed During this time a fault will be generated if unexpected motion is detected Fixed Bugs Drive crashes on EtherNet IP drive when disconnect reconnect netw
71. has been removed and now IL OFFSET works in Torque Mode Field Bus Specific Issues Fixed Bugs DS402 Cyclic synchronous position mode Motor jumped back to old position when switching on 2970 Issue The motor jumped to its old set point position when drive was disabled moved in the disabled state and afterwards got to the DS402 state Switched on again Solution Behaviour corrected Set points are only taken when DS402 state Operation enabled is reached NMT reset communication command 2670 Issue After the AKD node receives a NMT reset communication command the SDO transmission stops Solution The SDO communication is now working after NMT reset command Version 01 04 01 000 Release Date April 11 2011 10 Issues Fixed Bugs Jog move out of the software or hardware limits and triggered via digital input mode 6 has been corrected 3010 Issue A user moves into a positive negative software hardware limit switch in DRV OPMODE velocity or position The attempt moving out of this limit switch by triggering a jog move via digital input mode 6 did not work reliable Sometimes a user has to trigger the jog move for several times before the motor moves Solution The code has been corrected in a way that only one trigger event is needed for moving out of the limit switches General Issues Fixed Bugs Brake delay for apply and release does not seem to work 1241 Issue Brake handling in ear
72. he MT TNUM parameter 2347 Issue A maximum value of 8 for the MT TNUM parameter was allowed but the AKD returns an error when sending the motion task with MT TNUM 8 to the drive via the MT SET command Solution The maximum value check has been changed from 8 to 7 for the MT TNUM parameter CANopen SDO objects for the velocity channel biquad filters were not responding 1929 Issue CANopen SDO objects for the velocity channel biquad filters were not responding to read or write requests Solution The SDO objects have been fixed and now function properly HOME SET prevents motion in electronic gearing mode 2269 Issue HOME SET should not prevent any subsequent motion if the drive is enabled Solution Issuing HOME SET no longer suppresses motion in electronic gearing mode DCT capture feature was incomplete 2133 Issue Capture of the EtherCAT Distributed Clock DCT was not implemented Solution Capture of the EtherCAT Distributed Clock is now supported SDO access to object 60FD sub 0 does not work 2327 Issue The read access to 60FD sub 0 delivers 0 instead of the read value of the PDO Solution The read access to 60FD sub 0 now delivers the correct value Safe torque off warning is missing 1384 Issue Safe torque off does not issue a fault until the user tries to make the drive active As soon as the user tries to make the drive active the drive faults The drive should issue a war
73. he drive can still operate normally Solution Fault F465 Tamagawa encoder fault battery error has been deleted Fault F451 Feedback battery fault has been maintaind and is generated if the feedback loses the battery power while the drive is powered off A new warning n451 Feedback battery has been added to indicate that the Tamagawa feedback does not currently have any battery power The n451 warning is not shown if FAULT451 ACTION is 1 MOTOR PHASE with Tamagawa feedbacks was being set incorrectly S 09322 Issue When using a Tamagawa feedback wake and shake would fail becuase MOTOR PHASE was used incorrectly MOTOR PHASE is correct for all other feedbacks Solution Reading and writing MOTOR PHASE is now correctly used for Tamagawa feedbacks General Issues Fixed Bugs Wake and Shake fails often with Fault 492 3899 Issue Identified in Version 01 05 08 000 When Wake and Shake completes a short validation routine runs to ensure the commutation angle is correct User may observe that high friction high inertia systems Fault 492 occurs often Solution It was discovered that WS IMAX was overriding the current peak limits for the entirety of Wake and Shake including the validation This was found to be incorrect and should only affect the execution portion of Wake and Shake not the validation This prevented the validation check from using the full current motor continuous rating Version 01 06 05
74. he resulting setpoint value in the profile velocity mode is 4 4 times higher than the demanded value Solution PDO and SDO setpoint values are synchronized now New Features Switch fieldbus type DRV TYPE without a Workbench connection S 07092 New Feature Details For CC drive models the user wants to be able to switch from fieldbus type EtherCAT to CAN and vice versa without connecting with Workbench to the Drive The DRV TYPE parameter need to be accessed in a second way Solution For AKD CC drive models the user can set the rotary switches to the value of 89 and press the B1 button for about 3 seconds The Drive will indicate the DRV TYPE switch on the 7 segment display The AKD needs to power cycled after the procedure see documentation General Issues New Features New user specific ASCII commands USER VAR1 USER VAR24 added 3118 S 07113 New Feature Details The user wants to have 24 general purpose keywords which are stored in the NV memory for own purposes Solution 24 new ASCII commands USER1 USER24 have been implemented These commands will be stored in the NV memory The object numbers for SDO Mailbox access are 2030 sub 1 to Oxc for USER VAR1 12 and 2090 sub 1 to Oxc for USER VAR13 24 Feature Changes The Units for DRV EMUEMTURN have been corrected to be revolutions 3135 S 07137 Issue When using emulated encode output EEO mode 2 the Z pulse is located at an absolute position DRV
75. hes the trigger value 2 Parameter Bitmask this adds a mask parameter and does a bitwise AND with the data before comparing to the trigger value F trigger_data amp mask trigger_value THEN trigger REC TRIGTYPE 4 Parameter Exact 5 Parameter Bitmask REC TRIGMASK mask value to use with TRIGTYPE 5 REC TRIGVALUE this existing parameter is used for both new trigger types New parameter DRV NVCHECK added to check if NV parameters have changed R 01705 New Feature Details n some applications it is desired that a master in the systems wishes to confirm the AKD drive contains an expected set of drive parameters You could read the drive parameters indevidually from the drive but this could be a long process DRV NVCHECK is a checksum on all the NV parameters that can be read in a single transaction to confirm that the drive paramters match the expected Solution DRV NVCHECK will return the same number if all the drive parameters match if any of the drive parameters are changed or are different then DRV NVCHECK will return a different value This parameter is accessible via EtherCAT CANOpen using SDO2019 Subindex 0 This parameter is accessible via Modbus using address Fixed Bugs VBUS VALUE reported as high number when actual voltage is negative 3132 Issue When the VBUS goes negative due to voltage or improper calibration settings the VBUS VALUE reported may report a negative number resulting in
76. hing to velocity mode then back to torque mode the motor will immediately move according to the previous torque command Solution When entering torque mode the fieldbus torque command is cleared The master must send a new torque command after switching the operational mode to initiate motion 000 Release Date February 17 2012 Field Bus Specific Issues Fixed Bugs ZSW1 bits shall be set before drive is enabled S 08607 Issue The ZSW1 bits were set only if the drive was enabled ProfiDrive state S4 Solution The ZSW1 bits are now directly set depending on the opmode ZSW1 traversing task ACK bit S 08606 Issue If a motion task was triggered without a homed axis position mode the ZSW1 ack bit was set in any case Solution The traversing task acknowledge bit in ZSW1 is not set in case of an error like homing was not done Cannot Disable Enable with WB after Ethercat was running 3660 Issue After disconnecting a running ethercat communication it was not possible to reenable the drive via Workbench Solution If the ethercat cyclic communication writing the control word is done the drive will again accept commands over the service channel WB Disable over DS402 allows uncontrolled velocity until controlled stop takes effect D 03004 Issue A disable over fieldbus will allow a vertical load to drop quickly until the controlled stop eventually starts Solution The code resolves th
77. igured station alias usage Solution When there is built a Hot Connect Group in TwinCAT or other EtherCAT masters the address of the drive can be either fixed by the parameter FBUS PARAMO3 if the rotary switches are on 0 or via the rotary switches if they are not on 0 FBUS PARAMO03 can be used independently of the rotary switches when FBUS PARAMO5 bit 5 0x20 is set 000 Release Date May 09 2011 General Issues Fixed Bugs Motor Phase Needs to be Set to 0 with Memory Version 0 01 2985 S 06488 Issue Motor phase is not defined for feedback device memory version 0 01 As a result if motor phase MOTOR PHASE has been previously set for a different motor the non zero value will remain for memory version 0 01 feedback devices Solution Motor phase will be set to 0 if the feedback memory is version 0 01 Reconnection of LAN cable results in IP address 1 DHCP 3051 S 06615 Issue If the IP address is assigned through DHCP after a reconnection of the cable the IP address will be set to 0 0 0 1 instead assigned IP address by DHCP server Solution The assigned DHCP server address also after reconnection used Modbus Receiption of fragmented request messages or multiple request messages S 06401 Issue The former handling expected a complete Modbus request in the TCP IP receiption queue The Modbus via TCP IP specification prermits multiple requests Depending on the delay between requests it
78. in Version 01 04 05 000 Modbus Dynamic Mapping could only be configured through Modbus itself Workbench was not able to store the mapping in the parameter file Solution DRV NVLIST used by Workbench to save the configuration includes the Modbus mapping The following new commands were added MODBUS DYNMAP to enable 0 or disable 1 MODBUS CLRDYNMAP to reset default the dynamic mapping table MODBUS ADDR3 indexed parameter to read write dynamic mapping entries First index register address is 8192 000 Release Date August 15 2011 General Issues New Features New Keyword IP MODE R 07325 New Feature Details Understanding what mode the drive would use to select an IP address was complicated Solution The addition of IP MODE allows the user to specify which method the drive will acquire an IP Address IP MODE 0 is the default and current operation where the Rotary Switches are tried first then DHCP and lastly AutolP When IP MODE is set to 1 the IP ADDRESS IP SUBNET and IP GATEWAY settings are used When IP Mode is set to 2 the operation is the same as Mode 0 except the Rotary switches are bypassed and the akd immediately goes to DHCP followed by AutolP Feature Changes IP RESET is inhibited when drive is enabled S 07326 Issue A safety concern has been identified if the drive is in operation and the user accidentally initiates a IP RESET and loses communication Solution IP RESET is now
79. inhibited when the drive is enabled and will return an error message IP ADDRESS IP SUBNET and IP GATEAY now displayed in IPv4 format S 07385 Issue Identified in Version 01 04 05 000 When the IP Keywords were implemented in 01 04 05 000 when NVRam was saved to a parameter file IP Addresses would be listed as a single 32 bit unsigned integer This is hard to read and hard for a user to edit Solution IP ADDRESS IP SUBNET and IP GATEWAY are now listed in parameter files as a standard IPv4 address ie 192 168 0 1 Note Any parameter file saved betwen betas 01 04 05 000 and 01 04 13 000 will not restore IP ADDRESS IP SUBNET or IP GATEWAY correctly due to this change Field Bus Specific Issues Feature Changes Minimum value for PLL offset variable changed from 10 ns to 2 ns S 07370 Issue TG Drives requests that the minimum value for the CAN object 0x3496 subindex 4 is lowerd to 2 Solution The minimum value for the CAN object 0x3496 subindex 4 has been changed according to the customer request Send motion commands over Ethernet IP in a single communication cycle S 05942 Issue Motion commands take too long to execute because position velocity and acceleration values are sent to the drive in successive packets Solution Motion commands are now sent in a single message 000 Release Date August 01 2011 Field Bus Specific Issues New Features EIP CONNECTED parameter added S 07016 N
80. is possible that more than one request is in the TCP IP receiption queue If so only the first request was processed Solution Added a preprocessor to handle all request stored in the receiption queue including fragmented messages Drive does not re enable after clearing CS input if DRV DISMODE 2 or 3 3048 Issue When the CS input was activated DIN mode 13 a controlled stop would set the software disable if DRV DISMODE is 2 or 3 This would require DRV EN to re enable thed drive when the CS input was no longer active Solution A check was made for controlled stop input being active in DISMODE 2 and 3 and the SW disable was not set in this case New Features Add Support for Hiperface SEK90 Feedback Device R 01616 New Feature Details Support is required for SEK 90 Hiperface Feedback Device This is a Single Turn Hollow Rotary Feedback Device Solution Support for the SEK 90 Hiperface Feedback device has been added The firmware has also been modified so that any future Hiperface feedback device with the label type OxFF can be automatically configured Feedback Devices SEK90 and SEK160 have this label type and all new Hiperface encoders should also have this label type so that the firmware does not have to be modified in order to support these new devices New warning n140 added when changing VBUS HALFVOLT 1096 S 06599 New Feature Details Changing VBUS HALFVOLT takes only affect in case that the para
81. is problem in 2 ways First after a disable DS402 will provide interpolated velocity or position requesting 0 Second AKD now triggers a controlled stop much more quickly after receiving the disable command PDO transmision stops after some NodeGuard requests 3616 Issue Remote frames like node guarding frames could lead to undefined behaviour in the CANopen communication Solution Remote frames are now properly handled by the AKD with CANopen interface New Features Analog Output 0 can be written via Synqnet S 08479 New Feature Details The user can now write the value for Analog Output 0 This value will be written cyclic in to register of Analog Input 0 Solution Analog Input 0 will now cyclic be set with the value from Analog Output 0 via Synqnet Motion Tasking Issues New Features Fault 139 Action command implemented S 08637 New Feature Details If a motion task was unable to successfully complete without the trajectory overshooting due to a command change on the fly Fault 139 would be generated even if this was acceptable behavior Solution FAULT139 ACTION has been implemented to allow the user to ignore this fault When the fault is ignored Motion tasking will not throw a fault even in cases where on the fly moves cause trajectory overshoots Note The target position will be correct even in the case of an overshoot when Fault 139 is ignored General Issues Fixed Bugs MOTOR TBRAKETO
82. ital position mode 2477 Issue When using a digital input to change opmode and cmdsource the motor will sometimes jump when transitioning from analog velocity to digital position mode Solution The motor no longer jumps when transitioning modes Fix the unexpected Global Motion Task Warning for motion tasks in negative direction 2448 Issue A motion task in negative direction was triggered and the motion task was stopped in the middle via a DRV STOP command The n123 warning Global Motion Warning was accidently shown Solution A bug was present in the source code responsible for creating the n123 warning when crossing the target position of a motion task upon a DRV STOP command This bug is fixed Modify CS VTHRESH min and default value and use filtered velocity for controlled stop 2371 Issue Velocity threshold and default value for controlled stop are too high and the velocity is too noisy Solution CS VTHRESH min value was changed to 0 and default value was changed to 5 rpm Velocity filtered by 10 Hz LPF like VL FBFILTER is used for controlled stop Bode would sometimes fail due to negative limits Issue Bode would sometimes fail Solution Negative limits are now written correctly on power up removing the issue Feature Changes Reduce minimum value for DRV DISTO so that the disable timeout can be disabled 1819 Issue There is no way to disable the disable timeout Solutio
83. k which is supposed to be started has been set to true 000 Release Date February 01 2011 General Issues New Features Modbus Mapping of 64 bit parameters to 32 bit added New Feature Details HMI devices or PLCs using Modbus do not always support 64bit variables parameters Solution An interim solution is provided Starting at register address 2000 the low 32 bit word of 64 bit parameters are mirrored The mapping of these registers is described in Modbus documentation Digital output modes 5 amp 6 should function with PL FB in linear or in modulo scaling depending on the PL MODPEN setting 1672 New Feature Details Certain functionalities of the drive should work with modulo scaled position variables when a modulo axis is selected Solution The digital output modes 5 amp 6 now work with modulo scaled position variables when a modulo axis is selected Software limit switches should function with PL FB in linear or in modulo scaling depending on the PLLMODPEN setting 1672 New Feature Details Some certain functionalities of the drive should work with modulo scaled position variables when a modulo axis has been selected Solution The software limit switch functionality now works with modulo scaled position variables when a modulo axis has been selected Fixed Bugs PLS also should follow modulo scaling if enabled 2797 Issue Programable Limit Switches also need to be follow modulo
84. k control word has a bit bit 16 that determines if the Motion task Traget Velocity is set by the MT V parameter Stored in motion task table from the user bit value 0 or if it is scaled by the analog input bit value 1 Feature Changes Add velocity acc and dec limits in analogue position mode S 07044 Issue In analogue position mode a sudden change will accelerate the motor with maximum torque to the highest possible speed Solution Acceleration is limited to DRV ACC and the velocity ot VL LIMITP AND VL LIMITN Service Motion Issues Fixed Bugs Changing service motion parameter on the fly did not work properly 3138 S 00000 Issue The user starts a reversing service motion in DRV OPMODE 1 or 2 The motor continuous moving with 1 4 times the expected service motion speed when changing a service motion parameter e g SM T1 2 or SM V1 2 on the fly Solution The code has been fixed and the motor moves with the expected speed when changing service motion parameters on the fly for reversing mode Version 01 04 08 000 Release Date June 08 2011 General Issues Fixed Bugs Rev 8 and 9 Control boards occasionally get 2V5 undervoltage errors 3103 Issue After power up some boards have fault 507 2V5 under voltage The Rev 8 and 9 control boards have no 2 5 v supply There should never be a fault for this voltage on these boards Solution This fault was triggered erroneously when the condition was t
85. ke immediatly and simultaneously attempt to follow normal disable procedures according to DRV DISMODE and CS settings Version 01 05 07 000 Release Date January 06 2012 General Issues Fixed Bugs Brake may not be applied under certain fault conditions Issue With a fault disable the brake logic previously would never apply the brake until velocity fell below CS VTHRESH However on a vertical axis it is not guaranteed that motor velocity will fall below CS VTHRESH when an axis disables since it may accelerate downward This may result in the axis falling to the floor in the case of a fault Solution MOTOR TBRAKETO was previously added to solve a similar problem for a hardware disable the brake will apply after TRBRAKETO milliseconds regardless of velocity This logic has been extended to ALL disable conditions In all cases the brake will now apply no more than TBRAKETO milliseconds after the disable On a vertical axis this parameter should be set to a small value according to system mechanics Motion task relative to previous target position does not work properly after homing 3563 S 08418 Issue Motion task relative to previous target position does not work properly after homing only for the first activation The final position will not be as expected when HOME DIST is used Solution Position scale will be refreshed when HOME P hold any value The motion task after homing in this situation will now end a
86. kward compatibility Fixed Bugs SDO 1010 sub 1 stores parameters on read access 2549 Issue The object 1010 has one subindex which gives the right response on read access line 11 of trace but it takes one second to respond Investigation showed that the parameters are stored when reading subindex 1 This should only happen for write access with the special value 0x65766173 meaning save which works also Solution SDO1010 sub 1 triggered an NVSAVE on a read request because the code did not check for a read access The code always assumed a write access Separate read write access was implemented and tested and resolved this issue SDO 1011 sub 1 does not work 2550 Issue Writing of this SDO should reset all parameters The drive returns an abort code of 0606 0000 which means SDO hardware fault Solution Only the infrastructure of SDO1011 was implemented The actual functionality was missing This functionality was added and tested to reset parameters to default values CanOpen DS301 nodegard is not responding 2113 Issue The drive did not process node guarding messages Index 701 RTR zero length The incoming message was ignored Solution Processing of RTR messages was not built into the CANopen controller interface To resolve this issue the following were implemented Configuration of CANopen controller to accept incoming RTR messages node guarding only Include RTR flag in message data so th
87. l flash 5 times E1 Drive is enabled E2 Non volatile storage of the new setting failed E3 Invalid rotary switch selection 000 Release Date January 26 2011 General Issues New Features Improved motion task blending registration move added 2666 New Feature Details Users want to interrupt a currently active motion task and start a new motion task via a digital input When the input is triggered the actual position value is latched and the second motion task is started depending on the latched position Solution Users can use CAPx MODE 4 to continuously capture the actual feedback position depending on a digital input configurable via CAPx TRIGGER With DINx MODE 2 or 4 a motion task can be started via a digital input With MT CNTL 5 relative to external start position the specific motion task uses the captured position as start position of the triggered motion task Fixed Bugs Biss Mode C Encoder initializes with incorrect position 2849 Issue Biss Mode C Resolute Single Turn encoders with 32 bits of precision do not initialize the position correctly If the starting position is greater than 180 degrees the position was being initialized to a value of 180 degrees minus the start position Solution Now when the start position is greater than 180 degrees the position is initialized properly Capture Issues New Features CAPO PLFB and CAP1 PLFB should be converted in modulo format when a m
88. l the brake has fully engaged for any disable situation Since version 01 03 04 000 some fault conditions would cause the drive to disable at the same time that the brake begins engaging This created a short period of time during which the load would not be under control Solution The problem has been identified and fixed The drive will now wait for the brake to fully engage before disabling Motion task and DIN MODE 14 do not work properly after homing starts but fails 3563 S 08418 Issue Motion task and DIN MODE 14 do not work properly after homing starts but fails Solution DOUT monitor based on DRV MOTIONSTAT is modified The four bits of DRV MOTIONSTAT to be checked before enabling DOUT gt BIT 1 Home position found reference point set High gt BIT2 Home routine finished High gt BIT3 Homing active low gt BIT4 Homing error condition has occurred low Error loading parameter file FB1 ENCRES Issue If the drive is currently set to a feedback type which does not allow setting of FB1 ENCRES and a parameter file is loaded which contains FB1 ENCRES an error will be reported Solution FB1 SELECT is now listed in the parameter file before FB1 ENCRES This ensures that the value will always be accepted properly New Features Report Motor autoset parameters in drive parameter files 3433 New Feature Details For diagnosing system problems it would be very helpful for motor auto set param
89. le executing a controlled stop Drive should enable when Controlled Stop input is set 3048 Issue If controlled stop input is cleared to active a stop and then set to enable the drive does not enable but a software enable command must be sent to enable Solution Setting the controlled stop input will now enable the drive as long as all other disable inputs are cleared Can t change digital input mode 13 when controlled stop input is cleared 3170 Issue If controlled stop input is cleared to active a stop the digital input mode cannot be changed This is to ensure that changing the input mode does not cause the drive to unexpectedly enable Solution When leaving digital input mode 13 controlled stop if the input is cleared the mode will be changed as requested and the software enable will be cleared to keep the drive disabled Fault not issues for undervoltage when enabled S 07691 Issue When VBUS UVMODE 1 and bus power is below the threshold the drive should fault when it is enabled A bug was introduced in 01 04 10 000 which prevents the drive from faulting in this condition Solution The drive now faults in this condition Motor Overtemperature fault not seen when sensor was disconnected S 07690 Issue A bug was introduced in 01 04 10 000 that rejected certain raw values including the value for a disconnected sensor returned by the sensor ADC Solution The drive now faults in this condi
90. lier versions of the drive firmware had several problems involving the apply or release sequence The release delay should prevent motion until after the mechanical delay in releasing the brake that is normally seen when power is applied to the brake Similarly disabling the power stage may also be delayed until the motor has stopped and the brake has been applied Solution This sequencing has been corrected in this version of the firmware to match the behavior escribed in the AKD documentation MOTOR TBRAKEAPP MOTOR TBRAKERLS DRV DISMODE Need ability to disarm wake and shake after arming 2237 Issue There were various problems with Wake and Shake for both mode 0 and mode 1 Faults could not be cleared 2336 2488 time scale was incorrect disarming was not an option 2237 Solution These problems were corrected in this release Cannot generate fault 138 Instability during autotune on the trunk firmware 2999 Issue N A Solution The Fault mask is properly configured and the GetBodeFaults procedure is modified Strange behavior of axis occurs when motion task movement is blocked 3020 Issue This problem was caused by a rollover in CControl ExcecuteAccDecLimit in position mode The Position PI output is limited to 32 bits while CControl ExcecuteAccDecLimit is limited to 28 bits This problem was introduced when the acceleration resolution was increased between 1 3 2 and 1 3 3 and is not seen in 1 3 0 012
91. lity is now dependant on CAP1 MODE New Features The DS402 objects allow only a torque resolution of 0 1 of the rated torque R 01785 New Feature Details The DS402 objects 6071 6077 allow only a torque resolution of 0 1 of the rated torque Solution The new objects 2071 2077 are 32 bit values and are given in mAmps Feature Changes CANOpen DRV NVCHECK re assigned to SDO3895 Issue DRV NVCHECK was assigned to SDO2019 This was inconsistent with the general SDO groups Solution DRV NVCHECK is now assigned to SDO3895 SDO2019 got deleted Homing Issues Fixed Bugs HOME MODE 4 did not work in case that homing velocity is very low 2872 S 07604 Issue The user selects a small homing velocity lt 2 rpm In HOME MODE 4 when hitting the reference switch the motor turns the direction instead of stopping the motion and indicating that the home position has been found Solution A wrong program sequence has been corrected The homing mode 4 works from now on also with a very small homing speed Version 01 04 18 000 Release Date September 16 2011 General Issues Fixed Bugs A fault should be issued if the emergency timer times out while executing a controlled stop 3169 Issue DRV DISTO emergency timeout should be applied to controlled stop The drive will disable after the timer expires but does not reliably issue F703 Solution F703 is now issued if the disable time expires whi
92. ls or step and direction or step up step down signals Solution Tertiary feedback FB3 support has been added for Endat 2 2 feedback devices Two new keywords have been created FB3 P and FB3 MODE A new fault Fault 420 FB3Endat communication fault has been added In addition keywords DRV EMUEMODE and PL FBSOURCE have been modified The FB3 Endat 2 2 Feedback device is connected to the X9 connector on the drive To configure X9 for FB3 input the X9 mode is set to 11 DRV EMUEMODE 11 The FB3 feedback type currently Endat 2 2 only is selected with FB3 MODE 0 Endat 2 2 The position value is reported by FB3 P as raw encoder counts FB3 can be selected as the position loop feedback by setting PL F BSOURCE to 2 Then the keyword PL FB reports the FB3 position With this configuration the FB3 position can used to provide dual loop control via the drive Or the FB3 value can be retrieved via the PL CMD position by a control computer connected by a fieldbus to the drive This position can be used by the control computer for diagnostic purposes or it can be used to control the axis s position loop with the control computer When FB3 feedback has been selected DRV EMUEMODE 11 if the feedback device is not connected or is not operating properly fault 420 FB3 Endat communication fault will be generated A clear fault command can clear this fault once the device is connected and operating properly Fixed Bugs Elect
93. lue for EGEAR RATIO 3902 S 09509 Issue EGEAR RATIO had incorrect default value of 0 Solution EGEAR RATIO default value changed to 1 Incorrect handling of Over Travel MOVE ABORT and drive disable in the Trajectory Generator including Electronic Gearing and Camming 3891 S 09437 Issue Trajectory Generator did not operate properly when OT switch MOVE ABORT or drive disabled occured Solution Trajectory Generator now behaves per specification when the drive is disabled OT switch or MOVE ABORT occurs MOVE ABORT would cause MOVE DEC to be over written by the value of CS DEC 3904 S 09541 Issue MOVE ABORT would cause MOVE DEC to be over written by the value of CS DEC Solution MOVE ABORT now uses the CS DEC value without modifying MOVE DEC New Features Stop and restart a BASIC program with the rotary switches and B1 S 09553 New Feature Details Need to be able to stop and restart a program without a PC connected Solution Set the rotary switch to 0x12 to stop or 0x13 to restart and long press B1 to stop restart the BASIC program Feedback Issues Fixed Bugs Battery Fault was generated for Tamagawa feedback devices if the Battery Power was lost when AKD is still powered S 09322 Issue When using a Tamagawa feedback and the battery was disconnected while the drive was powered on a F465 fault was generated As long as the AKD drive is still powered a fault should not be generated because t
94. lution Firmware has been modified so that the SEL37 multi turn Hiperface feedback will initialize A delay was added to the firmware to accommodate the longer than typical time to power up the encoder According to the SEL37 data sheet it takes 1200 ms for this encoder to power up and initialize Note that the hiperface specification says that this time is no longer than 900 ms for a typical Hiperface encoder Hiperface feedback selection initializes properly 1664 Issue If the user selects Hiperface explicitly FB1 SELECT 33 then the absolute position will not be initialized properly for both single turn and multi turn hiperface encoders Solution Firmware has been modified so that the user can select either auto identify FB1 SELECT 1 or explicitly select Hiperface FB1 SELECT 33 and the absolute position information will be correct New Features Warnings added for unreasonable parameter combinations of homing mode and feedback type 2792 New Feature Details Some combinations of motor feedback types with the selected homing mode are unreasonable For example a SFD feedback is used together with homing mode Find index In this case a warning 137 Homing and Feedback mismatch is generated because no index signal is generated by the SFD feedback Solution A warning is issued when the selected homing mode cannot be used with the feedback device Use another homing mode Field Bus Specific Issues Fixed Bugs
95. lution An interface bug was found causing these values not to record correctly it has been corrected DIN21 32 VALUE and DOUT21 30 VALUE can now be recorded General Issues New Features IL VCMD IL VUFB IL VVFB are now recordable in the Scope S 09072 New Feature Details It is difficult to diagnose all problems To aid in difficult problems three voltages have been added to the available traces for the Scope Solution IL VCMD is the torque producing voltage output by the current loop IL VUFB is the voltage on the U winding of the motor IL VVFB is the voltage on the V winding of the motor Support for reading and writing parameter data and BASIC programs to an SD card S 09107 New Feature Details The new drive variant with an I O Option Card supports an SD Card for storing parameter data and BASIC project files Solution New commands SD SAVE and SD LOAD have been added to AKD On drives equipped with an option card these commands will copy parameter and project data to and from an SD Card Feedback Issues Fixed Bugs Motor parameters are not properly stored with FB1 MOTIDSAVE and Hiperface feedback S 09236 Issue The parameters MOTOR CTFO MOTOR PHASE MOTOR TBRAKERLS MOTOR BRAKE MOTOR TBRAKEAPP MOTOR VOLTMAX MOTOR VMAX are always set to zero for an Hiperface encoder when executing FB1 MOTIDSAVE Solution These set of parameters can now be stored properly in the feedback memory Version 01 06 03 0
96. m Init gt Bootstrap was denied by the drive This state was denied because originally a reconfigured mailbox size of 1024 bytes was required Solution The drive now allows a mailbox size of 512 bytes and 1024 bytes when switching from Init to Bootstrap state Correction of the electronic gearing behavior when hitting a hardware limit switch 2362 Issue The electronic gearing class continued counting master pulses when hitting a hardware limit switch in a certain direction This behavior let the following error grow While this situation was pending it would be problematic to release the hardware limit switch since the position loop tries immediately to move the motor to PL CMD It appears as a runaway problem in the drive Solution The electronic gearing class no longer considers master signals which try to move the motor in direction of an active hardware limit switch SDO access needed for WS ARM 2412 Issue SDO Access needed for WS ARM Solution SDO 0x3494 sub 6 implemented for WS ARM Added new homing mode 1709 Issue This feature was added to address customer requests that a new homing mode Homing Mode 11 be added to the already existing homing modes This new mode searches for the index signal without the need to identify a hardware limit switch a home switch or a mechanical stop prior to the index signal detection Solution The new homing mode searches for the index The motor starts rotating in th
97. meters are stored on the NV memory and the Drive is power cycled This needs to be indicated to the user Solution A new arning n140 indicates that a DRV NVSAVE and a power cycle of the Drive needs to be triggered in case that the user changes the numerical value of VBUS HALFVOLT New Homing Mode 13 Use current feedback position S 06623 New Feature Details With homing mode 0 the current position of the feedback is set to HOME P But some application needs the possibility to set the current feedback position directly to home position without explicit configuring HOME P or FB1 OFFSET Solution Homing mode 13 sets the current feedback position as home position without starting a movement Modbus Mt commands are positive edge triggered New Feature Details Modbus Mt executes several commands like MT SET or MT MOVE If a master writes to Modbus Mt repeatedly commands might be executed with each write request leading to an undesired behavior Solution To avoid multiple executions when a Modbus master is writing to Modbus Mt repeatedly the commands are only executed when the corresponding bit changes from 0 to 1 positive edge triggered Modbus Mt commands are positive edge triggered New Feature Details Modbus Mt executes several commands like MT SET or MT MOVE If a master writes to Modbus Mt repeatedly commands might be executed with each write request leading to an undesired behavior Solution To avoid multipl
98. multiple faults Fault 501 Bus Over Voltage Fault 503 Bus Capacitor Over Load Fault 308 Voltage Exceeds Motor Rating Solution This has been fixed to display the correct negative number Feature Changes Initialize absolute linear position properly for Endat Feedback 1776 S 07189 Issue When using Linear Endat Feedback devices the initialization is not correct The encoder resolution parameter FB1 ENCRES is not set properly In addition the absolute linear position is not set properly Solution The firmware has been changed so that the parameter FB1 ENCRES is set properly and the linear absolute position is initialized properly for all endat feedback devices Version 01 04 11 000 Release Date July 18 2011 Field Bus Specific Issues Fixed Bugs Fieldbus synchronization improvement correction 3125 S 07180 Issue The synchronization of the Slave when work with an Eckelmann CAN master did not work properly for certain FBUS SYNCDIST settings Solution The fieldbus synchronization routine has been improved and simplified so that the AKD works properly with the Eckelmann CAN controller New CANopen objects 3496 sub 1 to 4 for FBUS SYNCDIST FBUS SYNCACT FBUS SYNCWND and FBUS COMPTIME last not available via Telnet Default FBUS COMPTIME changed to 150 ns and FBUS SYNCDIST default changed from 100000 to 320000 for CAN First PDO value of DS402 object 60FF gives a wrong velocity setpoint 3167 S 07233 Issue T
99. n The range of DRV DISTO minimum value is modified to allow setting it to 0 which disables the disable timeout VBUS VALUE will be changed to float type and recording it will show the value calculated based on the last 2 samples done at 16Khz 1853 Issue User read only parameter VBUS VALUE is an integer data type and this means the reportable value is quantized to 1 Volt which is not enough Second VBUS VAULE variable is so filtered it is too sluggish to accurately catch rapidly rising bus voltages Solution VBUS VALUE has been changed to float and the deep moving average changed to averaging last 2 values sampled in 16Khz Field Bus Specific Issues Fixed Bugs Small changes were made to CANopen code to pass conformance tests Issue The drive would fail the conformance test due to small configuration issues Solution Configuration issues fixed in EDS file and in firmware Feature Changes SDO object 606C is now scaled in units of 0 001 rpm 2427 Issue The PDO and SDO of object 606C are scaled differently Solution Both the PDO and SDO of object 606C are now scaled in units of 0 001 rpm Changed operation of the EtherCAT master mailbox counter to allow communication with master devices which are not standard conformant Issue Some EtherCAT masters which are not fully conformant to the specification cannot communicate with the drive Solution Non conformant drives can now communicat
100. nd download it back to the same drive you get the following error message Error 0054 Unknown Encoder Type General Issues Solution Motion Tasking Issues FB1 ENCRES has been changed to be read only when the Tamagawa feedback is selected With this parameter read only it will not be included in an uploaded parameter file or output by DRV NVLIST With this paramter not in the parameter file downloading it Version 01 03 14 000 February 01 back to a drive will not generate any error messages 2011 General Issues General Issues Field Bus Specific Issues Fixed Bugs Version 01 03 13 000 January 26 Scope traces for IL VCMD were inverted S 09650 2011 Issue General Issues If you scoped plotted IL VCMD and IL CMD then you would see the IL VCMD is not the correct sign Capture Issues Solution P IL VCMD now reports the voltage with the correct sign Version 01 03712000 tanuary 18 W amp S was sometimes automatically disarmed after drive enable 3932 2011 7 Issue General Issues When W amp S is armed and the drives gets enabled to start the WSS procedure the drive has self disarmed W amp S In this case it was i oa also possible that even disarmed the motor moves when the motor phase has been altered to angle that would lead to a Field Bus Specific Issues commutation fault Version 01 03 10 000 January 04 Solution 2011 Drive will no longer self disable W amp S d overflows in some situations Gen
101. ndex DIN1 PARAM SDO 3474 sub 1 8 low high DIN7 PARAM SDO 3474 sub 7 0xE low high DOUT1 PARAM SDO 3475 sub 1 3 low high DOUT2 PARAM SDO 3475 sub 2 4 low high HOME DIST SDO 3484 sub 0 VBUS UVWTHRESH SDO 3495 sub 0 VBUS UVMODE SDO 3617 sub 0 VBUS UVFTHRESH SDO 361D sub 0 HOME AUTOMOVE SDO 36D7 sub 0 Version 01 04 02 000 Release Date April 21 2011 General Issues Feature Changes Modbus MODBUS HOME AND MODBUS DRV commands are edge triggered Issue A level triggered command executes the command with each write request This is inefficient and may lead to error responses Solution Added edge detection and to avoid repeated execution of commands Unit strings retruned by a TelNet command need to be modified S 06482 Issue For some parameters the TelNet command response of the units were not coherent in terms of using brackets and spaces Example A velocity parameter could be displayed with the unit PIN POUT s although the related acceleration parameter is using brackets as follows PIN POUT s 2 Solution The unit strings of the TelNet commands have been modified in order to be coherent Crash dump diagnostic information can now be cleared by the user Issue When diagnosing drive problems it is sometimes helpful to clear out old diagnostic information Solution The command DRV CLRCRASHDUMP may now be entered in the terminal window in Workbench to clear old diagnostic information New
102. ndividual Hall switches U V and W 1125 Issue During setup of non catalog motors with Hall switches the user needs to be able to see the states of the individual Hall switches using the WorkBench scope Solution Parameters were added to report the states of the three Hall switches U V and W These parameters are FB1 HALLSTATEU FB1 HALLSTATEV and FB1 HALLSTATEW Differentiate the warnings for motion tasks add new emergency error codes for CANopen and EtherCAT 2466 Issue A general motion warning was shown to the customer This warning was not informative enough Solution New emergency error codes corresponding to the new warnings Warning number aa emor warning n151 0x8686 Not enough distance to move Motion Exception n152 0x8687 Not enough distance to move Following Motion Exception n153 0x8688 Velocity Limit Violation Exceeding Max Limit n154 0x8689 Following Motion Failed Check Motion Parameters n156 0x868a Target Position crossed due to Stop command n157 0x86a0 Homing Index pulse not found n158 0x86a1 Homing Reference Switch not found n159 0x86a2 Failed to set motion task parameters n160 0x86a3 Motion Task Activation Failed n161 0x86a4 Homing Procedure Failed Wrong behavior in DS402 quickstop state when new set point was given 2716 Issue When the state machine of DS402 was in the state of quick stop the drive moved when getting a new set point in profile velo
103. ner Solution A bug was identified in the acceleration clamping mechanism Correct clamping of acceleration and not deceleration has been fixed FAN Bit is overwritten earlier set through FPGA 3415 Issue The fan speed cotntrol bit in the FPGA does not always get set or cleared when ising the test mode Solution The firmware has been modified to consistently write to the fan control bit in the FPGA Secondary Feedback faults occur on boot 3419 Issue A condition was identified where the FPGA would latch faults before setting up the secondary feedback and was using the wrong fault mask so it would allow faults when they should not be allowed Solution The logic has been corrected and FB2 faults are only returned when they should be Feedback Issues Fixed Bugs SFD Fault 402 421 occurs on DRV RSTVAR command S 08093 Issue A condition was identified where the FPGA would latch a fault before configuring feedback devices This led to false faults being returned for correctly identified smart feedback devices Solution Start up logic has been modified to clear feedback faults before feedbacks have been configured Field Bus Specific Issues New Features Fault 702 Fieldbus communication lost added S 08032 New Feature Details If the PROFINET connection times out the drive generates no fault Solution Fault 702 Fieldbus communication lost added 10 Issues Feature Changes DIOx IN
104. ning when the drive is inactive and the safe torque is off Solution Added a warning to the state in which the drive is inactive and safe torque is off
105. o requires that the calculated error must be greater than the fault threshold for 100ms Error Calculation with PLLERRMODE 1 ERROR PL ERR velocityDelta 1 VL KVFF PL KP where velocityDelta standard control loop trajectory velocity feed forward output Note When PL ERRMODE 1 and VL KVFF 1 the error is calculated the same as PLLERRMODE 0 However the 100ms requirement is still true When the drive is first configured for IP MODE 1 Static IP setting a DHCP server can subsequently reset the address 3411 Issue When the drive is configured for static IP addressing a DHCP server can change the address Solution IP addressing now shuts down the DHCP client when configured for Static IP mode Version 01 05 01 000 Release Date October 14 2011 General Issues Feature Changes FB1 ENCRES may be set with an uninitialized feedback device Issue FB1 ENCRES is dependent on the feedback type as it is not used for some types Sometimes it may be desirable to set ENCRES before selecting the feedback type Solution FB1 ENCRES may now be set if no feedback type has been identified FB1 IDENTIFIED 0 In addition DRV HELP will report properly whether FB1 ENCRES is read only or read write New Features Added Warning for OPMODE incompatible with CMDSOURCE S 07857 New Feature Details It is possible to configure the drive with DRV CMDSOURCE set to electronic gearing and DRV OPMODE set t
106. o torque or velocity modes In this state the drive will not perform any motion a zero command is pased to control loops because gearing will only work in position mode This may be confusing if your drive was in this statre by mistake Solution Anew warning 603 OPMODE incompatible with CMDSOURCE has been added and is generated when the drive is enabled and the gearing command source is selected at the same time as torque or velocity op mode Known Issues Current Loop Gain Scheduling modified tables stored in older versions of FW will be lost when upgrading 1 Issue The tables for storing current gain scheduling have been modified and are not compatible with older versions of firmware If you use this feature save parameters to a file and then restore them to the drive after upgrading to this version Feedback Issues New Features New Keyword FB2 DIR allows user to change direction of secondary feedback input S 07794 New Feature Details FB2 has always always incremented positive for positive inputs on either X9 or X7 Solution The user can now configure FB2 to move positive by leaving FB2 DIR 0 default and configure FB2 to count negative by setting FB2 DIR 1 Fixed Bugs Re arm the commutation phase find procedure in case that the previous procedure failed S 07486 Issue The user connects a motor feedback combination to the AKD which required a commutation phase find procedure after th
107. ode Solution Set DRV CMDSOURCE to Program 5 to use BASIC Trajectory Generator including EGearing Camming and CamVM Feedback Issues Fixed Bugs Tamagawa Feedback Battery fault Issues S 09272 Issue If you disconnect the battery to the Tamagawa feedback device you correctly get a feedback battery fault If you then clear the battery fault without connecting the battery the battery fault is cleared it should continue to be reported Solution The clear faults will now not clear the feedback battery fault if the barrery is not connected The fault number for the Feedback battery fault has change to 451 to be consistent with the FAULT451 ACTION that you use to ignore this fault Changing the FAULT451 ACTION would not imediatly ignore or enable the feedback battery fault now the firmware imediatly applies the setting change Version 01 06 04 000 Release Date May 11 2012 10 Issues Fixed Bugs AIN2 VALUE not returning correct values when recorded 3836 Issue AIN2 VALUE shows up correctly on the Analog Input screen and when accessed by AIN2 VALUE but when recorded AIN2 VALUE returns wrong value Solution AIN2 VALUE was pointing at the value of AIN VALUE it has been corrected DIN21 32 DOUT21 30 when recorded always return 0 3823 Issue When recording DIN21 32 VALUE or DOUT20 30 VALUE the recorder always returns 0 even though the values can be accessed via the terminal or the Digital IO screen So
108. odulo axis is selected 1672 New Feature Details Certain functionalities of the drive should work with modulo scaled position variables when a modulo axis has been selected Solution CAPO PLFB and CAP1 PLFB are converted in modulo format when the modulo axis is selected Version 01 03 12 000 Release Date January 18 2011 General Issues Fixed Bugs Motion task complete does not work with S curve enabled 2645 Issue S Curve Motion task do not set Motion Task complete status bit after reaching target position Solution Motion task complete now works with S curve enabled S curve profiles moving to wrong position 2732 Issue 1 1 S curve Motion task always reach the specified target position by 360 degrees Solution S curve profiles move to correct position now Problems occur when recording using an immediate trigger at a rate other than 16 kHz 2837 Issue When recording data using immediate trigger the first data point would sometimes be duplicated Also REC RETRIEVE would return data starting at an incorrect index Solution This problem has been identified and fixed Inputs switch bounce changes the motion task profile 2065 Issue Customers using an earlier version of DINMODE 2 requested the interruptible Motion Task feature Solution Digital Input Mode 2 Start Motion task was reverted as interruptible Motion Task and new DIN mode was added Digital Input Mode 24 Star
109. oes not answer this request until it is fully initialized This initialization is done when the boot up message has been sent Solution A SDO request is not answered until the bootup message has been sent Bit 10 of the DS402 status word did not work in profile velocity mode 2805 Issue Bit 10 target reached of the DS402 status word did not work in profile velocity mode Solution The objects 606D sub 0 Velocity Window and 606E sub 0 Velocity window time determine the setting for the surveillance of the velocity demand value If the velocity reached the window and is in for the defined time bit 10 will be set Sometimes the commanded torque value is not taken by the drive 2830 Issue The object 6071 sub 0 is sent periodically From time to time the old value is kept and the new not taken Solution The takeover of the command value via SDO 6071 always works now The PDO access was not affected Version 01 03 18 000 Release Date March 16 2011 General Issues Fixed Bugs Range specified for MOTOR KE is too small 0 000 1000 000 2952 Issue The range for the motor back emf constant MOTOR KE is too small The maximum value that can be set is 1000 Volts Krpm This range should be increased to 100 000 Volts Krpm to cover DDR Motors Solution The range has been increased to 100 000 Volts Krpm Blink Drive causes fault F532 2971 Issue Using the blink drive button in Workbench can caus
110. og 2 for PROFINET added S 08247 New Feature Details Solution The user can now configure the jog velocity 1 with PNU 1004 jog velocity 2 with PNU 1005 and the acceleration and deceleration for the jog move with PNU 1006 and PNU 1007 The jog move is started with Bit 8 and 9 in STW1 Fixed Bugs DS402 Drive enabled after stopping application 3254 Issue When a specific KAS application stopped running the drive enabled after a short time and stayed enable afterwards Solution The application didn t look for the DS402 status word before switching states There should be looked always after feedback from the status word when the control word changes states Firmware behaviour changed because of safety relevance Version 01 05 04 000 Release Date November 25 2011 General Issues Fixed Bugs Failure to Read Motor Parameters from Hiperface Feedback Memory 3229 Issue When the drive is power cycled sometimes the motor parameters were not read from the feedback device This would result in a 534 Fault Failed to Read Motor Parameters From Feedback Device Solution Firmware modifications have made the reading of motor parameters from Hiperface Feedback more reliable Analog Position Mode creates limit cycles 3455 Issue Under certain circumstances where DRV ACC was set to a low value 1000 RPM s or less the motor would overshoot the target position then undershoot the target position in a sinusoidal man
111. og signal fault Field Bus Specific Issues Fixed Bugs Using PROFINET in position mode the traversing task acknowledge bit in the status word ZSW1 was not cleared properly S 08012 Issue If the user implements a handshake algorithm and loads a new motion task AFTER the current motion task has finished the traversing task acknowledge bit is not cleared after the actviate traversing task bit in the control word STW1 is cleared Solution The acknowledge bit is cleared also when the motion task has finished Using PROFINET and run homing the homing was not aborted properly S 08080 Issue When a homing is started and the Do Not Reject Traversing Task bit in control word bit 4 in STW1 is cleared the home procedure cannot be aborted by clearing the homing bit STW1 Solution The homing bit 11 can be used for stopping the home procedure although the Do Not Reject Traversing Task is cleared 000 Release Date October 28 2011 General Issues Fixed Bugs PL ERRMODE 1 is broken 3383 Issue When PL ERRMODE is set to 1 unless the Position Error Tolerance PL ERRFTHRESH is extremely low a position following error fault cannot be generated Solution When PL ERRMODE is 0 and 1 the displayed Error is always the same PL ERR When PL ERRMODE is 1 the value that triggers a position following error fault is not PL ERR but an internal calculation of position error based on the trajectory PLLERRMODE 1 als
112. onnected to the AKD and in case that MOTOR AUTOSET has been set to 1 Solution The initialization process of the MOTOR BRAKE parameter for MOTOR AUTOSET 1 has been corrected Motion task deceleration rate otherthan expected 2918 Issue This is a condition of change on fly exception when new MT is activated and creeping to target position with adjusted deceleration ramp Solution 1 When the motion task encounter exception during activation process and another Motion task is already active On fly a new behaviour is implemented that the currently active Motion task will decelerate to zero velocity and dduring the process if it exceeds next motion task target position fault F139 will be raised otherwise the balance distance will be covered with the activation of new motion task 2 Bit 13 of DRV MOTIONSTAT is configured to indicate motion task exception during activtion static or dynamic activation The bit will get reset up on sucessfull activation of another motion or by using DRV CLRFAULTS command New Features New motor protection I2t added 2900 New Feature Details The actual motor load should be calculated and displayed in Solution A new l2t motor load algorithm has been implemented in order to show the motor load in Furthermore the applied current will be limited according to the load of the motor The new mode can be activated via a new parameter called IL MIMODE The commands IL MIMODE IL MIZTWTHRE
113. ork cable 3762 Issue Occasionally the drive crashes after replugging the network cable and when an EtherNet IP TCP connection is running Solution Non thread safe function call generated this problem The problem is fixed Can t reset IP Address while drive is in a dynamic brake state DRV STATUS 3 4018 Issue When the drive is disabled it should be possible to reset the IP address But if the drive is disabled with dynamic brake engaged due to DRV DISMODE setting or certain faults it is not possible to reset the IP address Solution A bug was identified and fixed where the IP Address could not be reset when the drive was in a dynamic braking state Wake and Shake remains active after a fault 4030 Issue A problem in the Wake and Shake state machine can allow Wake and Shake to remain active after a fault occurs Solution The state machine has been re worked to prevent conflicting commands WS TSTANDSTILL can set values out of the range 4043 Issue WS TSTANDSTILL returns successfully when set values bigger than the maximum value and smaller than the minimum value Solution Add range check for WS TSTANDSTILL The measured time to ramp the current up to WS IMAX takes longer than the setting value 4046 Issue In wake and shake mode 1 set WS TIRAMP 256 ms WS IMAX 1 the measured time to ramp the current up to WS IMAX could be more than 100 ms longer than the setting value Solution Modify WS TIRAMP
114. p and start immediately afterwards a homing procedure But instead the drive immediately creates an undervoltage fault after the boot sequence when trying to start the homing procedure The root cause was the attempt to move the motor before the inrush relay was closed Solution The DRV ENDEFAULT feature pays attention to the status of the inrush relay and the drive will only be enabled when the inrush relay is closed Inputs switch bounce changes the motion task profile 2065 Issue The multiple raising edges on digital input were triggering the same motion task again and again which is unexpected Solution Digital Input Mode 2 Start Motion task was modified as an un interrupted profile and ignores any sub sequent activate signals of the same motion task from same digital input These input signals could be occurring because of bouncing switches Need to issue two DRV CLRFAULTS commands in order to clear a safe torque off STO fault 1844 Issue Need to issue two DRV CLRFAULTS commands in order to clear a safe torque off STO fault Solution It is now possible to clear the STO fault after one DRV CLRFAULTS command Modbus speed improvements added 2624 Issue The response time was too slow sometimes as high as 200ms Solution Response time has been dramatically improved 10ms response typical Help string not covering Min Max and Default values for DINx FILTER parameters 2766 Issue Min Max and
115. p completes a following error may occur Solution Properly calculate position error during the controlled stop previously it was not being updated during a controlled stop dynamic brake flickers off and on when enabling in DISMODE 1 or 3 3727 Issue If the drive is configured to use the dynamic brake when disabled the dynamic brake might go and and off when enabling the drive so that DRV ACTIVE changes between 1 and 3 repeatedly Solution The source of the problem has been identified and fixed Biss Mode C allows feedback to be set when faults exist 3658 Issue In certain intermittent instances it is possible to set FB1 SELECT 34 and the feedback will be identified even when there is nothing connected to the X10 connector Solution The initialization process was happening quicker than the faults coudl be detected allowing the feedback to pass initialization A short delay was added to the initialization of Biss Mode C devices to detect faults and fail the init process reliably When downloading firmware the seven segment display did not show the correct characters D 03107 Issue If you download firmware from WorkBench the seven segment display would show Fr during whole of the download process The seven segment display should be showing a the sequence dd d5 d7 Solution The firmware will now show the correct sequence of characters Field Bus Specific Issues Fixed Bugs SDO value read or written with objec
116. r The data allowed is 0 to 3 0 No filter setting 40ns 1 Fast filter setting 10 24us 0 64s 2 Standard filter setting 163s 10 24us 3 Slow filter setting 2 62ms 0 16384ms Fixed Bugs When the value of AINDEADBAND is non zero the value of AIN VALUE is affected 2741 Issue If the AIN DEADBAND value was set to a value then the value of AIN VALUE would reflect AINIDEADBAND applied to the actual value of the analog input This is incorrect AIN VALUE should always return the actual value on the Analog Input Solution Firmware was modified so that AINIDEADBAND does not affect the value of AIN VALUE General Issues Fixed Bugs Provide specific warning messages for various types of motion task errors 2466 Issue Clearing of motion task warnings to be done on successful activation of motion Solution Clearing of motion task warnings implemented on successful activation of motion Also users can clear these warnings by DRV CLRFAULTS command Controlled stop should ramp down from present actual velocity to zero not from present velocity command 2717 Issue Controlled stop would ramp down from present commanded velocity to zero If the commanded velocity was very high the ramp would cause the motor to accelerate rather than decelerating when in controlled stop Solution The present actual velocity is now used for the start of the controlled stop ramp Add parameter for states of the i
117. r linear motors MOTOR KE Back EMF Constant is in units of Vpeak k rpm for rotary motors and Vpeak m s for linear motors Solution Added LOAD INERTIA and MOTOR KE as drive parameters Added VL FBUNFILTERED and VL FBFILTER to available Analog Output options 2556 New Feature Details VL FBUNFILTERED raw velocity feedback and VL FBFILTER 10Hz filter applied to raw velocity feedback have been added as AOUT MODE 10 and 11 respectively Analog Input Deadzone feature added 2469 New Feature Details The existing operation of the AINIDEADBAND value holds the output at zero when the input is less than the deadband once the value has exceeded the deadband the full input is used to calculate the output This new AINIDEADBANDMODE 1 changes this operation When AIN DEADBANDMODE 1 while the input is less than the deadband the output will be held at zero once the input exceeds the deadband the output will be calculated Output Input Deadband Scaling Field Bus Specific Issues Fixed Bugs Add several available CANopen objects to EtherCAT xml file 2682 Issue Objects 0x3440sub1 CS DEC 0x3440sub2 CS VTHRESH 0x3440sub3 CS TO and 0x3440sub4 CS STATE should be in the EtherCAT xml file Solution The xml file has been updated Version 01 03 05 000 Release Date October 26 2010 General Issues Fixed Bugs Units need to be correct for Linear Motor mode 2652 Issue When putting the AKD in
118. read write A future update will include block read write access This feature also does not currently support partial reads of 64 bit parameters A future update will include the ability to read 64 bit variables as 32 bit variables to help support more devices and programs Add support for single ended pulse command inputs on X7 high speed opto inputs 2135 Issue Support for single ended pulse command inputs was needed for the X7 high speed opto inputs pins 9 and 10 Solution Support for single ended pulse command inputs for the X7 high speed opto inputs has been added This support was added to the firmware using the parameters FB2 XX The new parameters are the source FB2 SOURCE the mode FB2 MODE and the resolution FB2 ENCRES The emulated encoder input X9 connector modes can be defined using these keywords also or with the previous keywords DRV EMUEMODE DRV EMUERES Add support for Endat 2 2 feedback 1776 Issue Support for Endat 2 2 encoders is required Support is required for rotary single turn and multi turn encoders and linear encoders Solution Support for Endat 2 2 encoders has been added to the firmware Rotary single turn and multi turn encoders are currently supported The drive does not support linear Endat 2 2 encoders yet Add Mode 22 Command source opmode change 1603 Issue Applications require command source and opmode changes during operation via digital inputs Solution DINx MODE 2
119. rive discovery protocol 10 Issues New Features Use signals of the X9 connector as general purpose IOs S 07416 New Feature Details Fieldbus masters need to be able to use the signals of the X9 connector as general purpose lOs Solution New keywords have been added in order to allow adjusting the signals of the X9 connector as general purpose lOs in case that DRV EMUEMODE has been set to 10 The keywords are called DIOx DIR DlIOx INV DOUTx STATE DOUTx STATEU and DINx STATE with x 9 10 amp 11 New DRV EMUEMODE 10 allows X9 connector to be used as General Purpose IO or SynqNet fieldbus controlled 10 2003 New Feature Details Some customers would like to use the bidirectional IOs of X9 for their own use SynqNet applications expect these lOs to be directly under the control of the SynqNet master via the SynqNet FPGA Solution DRV EMUEMODE 10 allows the 3 bidirectional IOs on the X9 connector to be controlled as general purpose digital IO The new commands DIN9 DIR DIN10 DIR and DIN11 DIR can be used to set the direction of these pins individually where DINx DIR 0 indicates input and is the default and DINx DIR 1 indicates and output When one of these pins is an input the value can be read at DINx STATE When it is configured as an output it can be set at DOUTx STATEU In the special case of the SynqNet fieldbus when the fieldbus is in cyclic mode and is set to an output the output value will be set directly from the
120. ronic Gearing Deceleration clamp not working S 07518 Issue Acceleration is properly clamped however when the command position reaches the gearing master rather than overshoot and slowly decelerate the trajectory decelerates uncontrolled to ensure no overshoot This causes discontinuities in the velocity command and therefore audible noise and eratic motion Solution The Deceleration clamp has been fixed Secondary Feedback Faults un clearable S 07610 Issue In FW 01 04 15 000 FB2 faults were fixed so that they would alert users to wiring issues on FB2 connectors X7 and X9 A bug was discovered where when FB2 was being used on X9 where all possible faults were enabled Making the X9 unusable for most secondary feedback applications like Step amp Direction or Up Down Solution FB2 faults have been modified so only faults relevant to the secondary feedback mode selected are active Further new keywords FAULT130 ACTION FAULT131 ACTION FAULT132 ACTION and FAULT134 ACTION have been added which allow the user to further allow ignore FB2 faults See documentation for keyword usage Drive Sometimes Was Not Listed in the WorkBench Connect Window 3286 Issue Sometimes after a power cycle or a firmware download the drive would not appear atall or appear as unknown in the list of drives in the WorkBench connact dialoge Solution The firmware of the drive has been fixed to correct an intermitent problem with responing to the d
121. s generated because no index signal is generated by the SFD feedback Solution An emergency is issued when the selected homing mode cannot be used with the feedback device Use another homing mode Version 01 03 10 000 Release Date January 04 2011 General Issues Fixed Bugs Opmode switching over SDO causes runaway 2567 Issue When switching opmode via command word in CANOpen unexpected motion occurs about 10 of the time Solution Code has been corrected so that opmode and command source are cleanly handled from all change sources Fault reaction time is too slow 2767 Issue Fault response time is not deterministic and can take over 50 ms in a worst case scenario Solution Response time is now deterministic and under 5 ms Feature Changes DIN mode 22 opmode switching with multiple digital inputs added 2573 Issue DIN mode 22 was initially implemented with only one input changing The case of multiple inputs changing was not defined This implementation extends the original design with the following rule if more than one input is active at a time the lowest numbered input will determine the desired opmode Solution Mode 22 works as described above for multiple inputs Version 01 0 000 Release Date December 28 2010 General Issues Fixed Bugs Hiperface Type SEL37 does not initialize 2775 Issue The multi turn Hiperface feedback device SEL37 does not initialize properly So
122. s modified to avoid the misaligned access exception Version 01 04 13 000 August 15 2011 General Issues Version 01 07 00 000 Release Date July 27 2012 Field Bus Specific Issues General Issues Version 01 04 12 000 August 01 Fixed Bugs 2011 a DRV FAULTHIST reports incorrect time stamps due to bad runtime values 3619 S 09413 Field Bus Specific Issues Issue General Issues The runtime value got stuck at 48days which led to incorrect fault history values once the runtime hit this limit Solution Version 01 04 11 000 July 18 2011 Removed the limiting bug in the code Field Bus Specific Issues General Issues BASIC Issues Fixed Bugs Version 01 04 10 000 July 01 2011 General Issues After MOVE ABORT the decel rate used is CS DEC instead of MOVE DEC 3958 Issue Version 01 04 09 000 June 21 After MOVE ABORT the decel rate used is CS DEC instead of MOVE DEC eod Solution General Issues Now MOVE DEC is restored as the decel rate after a MOVE ABORT Service Motion Issues Drive crash with BASIC telnet console output 3940 S 09703 Issue Version 01 04 08 000 June 08 A drive crash can occur when a BASIC program is printing and receiving messages simultaneously 2011 G I Solution eneral Issues The BASIC program can now send and receive messages from Workbench or another client simultaneously Receiving strings from Field Bus Specific Issues yar ge program still occurs on port 54321 Now
123. sable bit When Ethernet IP enters cyclic communication the Software Disable bit 0x01 of DISSOURCES will be cleared and Fieldbus Disable will follow the fieldbus command When exiting cyclic communication the Software Disable will be set if the Fieldbus Disable was set and then the Fieldbus Disable will be cleared This allows for user control of enable disable when the fieldbus is disconnected This also allows the user to disable the drive from Workbench while in cyclic communication 000 Release Date August 23 2011 Field Bus Specific Issues New Features New CANopen Ethercat object 0x3544 IL KVFF added S 07373 New Feature Details IL KVFF no accessible over CANopen Solution Feedforward gain for torque mode now also accessible via CANopen access Ethernet IP Cyclic Message Enhancements S 07283 New Feature Details User programs often need to monitor actual position and velocity in each cycle Solution The cyclic message now returns actual position and velocity in each response Ethernet IP Motion task control S 07283 New Feature Details User programs may wish to setup and control motion task sequences through Ethernet IP Solution The cyclic message now provide the ability to trigger motion task sequences and report the active motion task General Issues Feature Changes Add Modbus Dynamic Mapping to DRV NVLIST so that the mapping is stored in the parameter file S 07193 Issue Identified
124. scaling Solution The Programable Limit Switch functionality now works with modulo scaled position variables when a modulo axis has been enabled Field Bus Specific Issues New Features MODBUS FAULT1 MODBUS FAULT10 now return the fault numbers of the active faults New Feature Details It was not possible to determine the fault status of the drive via Modbus Solution Up to 10 active faults are now stored in registers MODBUS FAULT1 to MODBUS FAULT10 If MODBUS FAULT1 is zero then no fault is active lf MODBUS FAULT1 is non zero then the following register may contain further fault numbers A fault register with a value of zero marks the end of the fault list CANopen baud rate can be configured via the rotary switches and button B1 2583 New Feature Details The user wants to configure the CANopen baud rate without using a PC Solution The new feature supports CANopen baud rate configuration through the rotary switches and button B1 The following sequence will configure a new baud rate and store the setting in non volatile memory 1 Drive must be disabled 2 Set the rotary switches to 91 125K bit 92 250K bit 93 500K bit 94 1000K bit 1M 3 Push the button B1 and hold it for at least 3 seconds 4 To confirm the new setting the setting of the rotary switches will flash 5 times on the 7seg LEDs 5 Reset the rotary switches to the original setting If an error occured the following error messages wil
125. set to operation enabled in profile velocity mode 2170 Issue When the TwinCAT EtherCAT master is re started the axis does not move when set to operation enabled in profile velocity mode The drive gets a communication fault and cannot be re started Solution The fault situation was not handled correctly This problem is fixed and the axis moves Correction of the motion abort when moving out of the limit switches 2246 Issue You create a motion in DRV OPMODE 2 service motion into a hardware limit switch and afterwards the motion stops When you try to move out of the hardware limit switch via a service motion in the opposite direction the motion is immediately aborted after starting that motion due to the behavior of the hardware limit switch code Solution The hardware limit handler now aborts only motion in direction of the limit switch and does not abort the motion when the motor leaves the limit switch The DS402 state machine does not change its state when software enable is removed via Telnet 2102 Issue The external software disable does not change the state of the DS402 state machine from operation enable Solution The state of the DS402 state machine is now changed by an external software disable This behavior can be switched off by setting bit 3 of FBUS PARAM05 to 1 Some objects in the fixed EtherCAT PDOs are not scaled 1915 Issue The actual position given by object 6063 and object 60C1 sub 1 and
126. t 6081 are wrong by factor 4 3790 Issue Identified in Version 01 05 13 000 The SDO value of object 0x6081 sub 0 is wrong when DS402 scaling is used FBUS PARAM05 bit 4 1 Solution Now PDO and SDO deliver the same correct value for object 0x6081 sub 0 AKD DRIVE STATUS through SDO 3737 Issue The drive is enabled via Telnet The DS402 statusword does not show the transition as it in earlier KAS versions Solution The DS402 statusword goes again to the state SWITCHED ON 0x33 when the drive is enabled via Workbench if FBUS PARAMO5 bit 2 set to 0 Version 01 0 000 Release Date March 02 2012 General Issues Fixed Bugs MT CONTINUE only continues the current task and not following tasks 3616 Issue When a series of sequential motion tasks is configured and during one of the motion tasks a DRV STOP commands is issued motion stops as expected If motion is resumed using MT CONTINUE only the motion task that was interrupted finishes and not any following motion tasks Solution The logic bug has been identified which caused following tasks to not occur DOUT1 MODE DOUT2 MODE 13 range does not allow user to set values 3656 Issue The range for DOUT1 PARAM and DOUT2 PARAM when DOUT1 2 MODE is set to 13 has a range of Minimum 0 to Maximum 0 This range does not allow the user to enter a valid value for the digital output parameter Solution The range was not being correctly set for Digital Outpu
127. t mode 12 or 13 the range is now set appropriately based on the user units for velocity the user has selected F439 unexpected FollowingError 3707 Issue Under certain circumstances an unexpected following error can occur fault F439 Solution The issue is fixed New Features Added new homing mode for rotary motors and new homing command S 08737 New Feature Details A homing mode is needed which will turn the motor into one direction until the reference switch is found When the reference switch is active when the drive starts homing it is not allowed to move the motor into the opposit direction to deactivate the switch like it is for homing mode 4 Also distance the motor is allowed to turn should be restritable so that the motor won t spin endless into one direction and reaching the maximum distance should lead to an error Solution Homing mode 14 has been added This homing mode will always let the motor spin into the direction set with HOME DIR Even when the reference switch is active while starting the homing procedure To restrict the maximum distance a new command has been added HOME MAXDIST with this command the user can set the distance relative to the starting postion the motor is allowed to move until an the drive will have an error Field Bus Specific Issues Fixed Bugs Clear the fieldbus torque command when switching operational mode S 08717 Issue When operating EtherNet IP in torque mode switc
128. t the desired position IL KP Gain Scheduling rounding down when not necessary S 08496 Issue An integer math error was uncovered in some instances when a value was entered for the gain scheduling term it would be rounded down further than necessary Solution Integer math rounding fixed 10 Issues Fixed Bugs Analog Output scaling units are incorrect 3513 Issue Identified in Version 01 05 00 000 The units for analog output scaling were inadvertently inverted Solution The unit label has been corrected Version 01 05 06 000 Release Date December 23 2011 Field Bus Specific Issues Fixed Bugs Acceleration Feedforward causes audible noise when used over Fieldbus 2485 Issue Identified in Version 01 00 00 000 When using acceleration feed forward IL KACCFF and a field bus where the sample rate is less than 4khz audible noise is heard during acceleration and deceleration Solution The algorithm which derives the acceleration has been modified to take into account the field bus sample rate This ensures the correct acceleration is calculated regardless of sample rate and that the acceleration feedforward is applied for the correct duration General Issues Fixed Bugs When a fault occurs the drive should continue servoing until the brake has been engaged Issue Identified in Version 01 03 04 000 For overhanging loads it is very important for the drive to continue servoing unti
129. t uninterrupted Motion task Feature Changes Fault 133 Instability during autotune number changed to 138 Fault is now also shown in the display 2731 Issue Fault was not shown on display Solution Fault number was changed and enabled to show on display New Features FB1 MECHPOS should be recordable by the WorkBench scope 1125 New Feature Details When setting up motor commutation it is helpful to be able to plot the mechanical position of the motor FB1 MECHPOS in conjunction with the Hall switch states The parameter FB1 MECHPOS should be made recordable in order to achieve this Solution The firmware has been modified so that FB1 MECHPOS is recordable Field Bus Specific Issues Fixed Bugs FBUS PARAM01 was reset to its default value by DRV RSTVAR and object 1011 sub 1 2550 Issue With the object or the command DRV RSTVAR the CANopen baudrate was reset to its default value This leads to problems in working machines Solution FBUS PARAM01 is no longer reset to default by DRV RSTVAR and object 1011 sub 1 New Features Emergency 0x8AF0 added for unreasonable parameter combinations of homing mode and feedback type 2792 New Feature Details Some combinations of motor feedback types with the selected homing mode are unreasonable For example a SFD feedback is used together with homing mode Find index In this case a emergency message Ox8AFO Homing and Feedback mismatch i
130. the latched values 20A0 to 20a3 are not scaled by FB1 PSCALE Also the object 60F4 following error is not scaled correctly Solution The objects 6063 60C1 and 20A0 to 20A3 are now scaled via object 608F sub 1 which is connected to the parameter FB1 PSCALE and gives the increments per motor revolution power of 2 Bit 5 of the DS402 control word does not work correctly in profile position mode 2223 Issue If you try to start more than one motion task the first works correctly but the next ones are not stored to motion task 0 Solution The bit 5 set to 0 works now correctly When a first motion task is running and a second one is started with bit 5 0 the execution of it is delayed until the first reaches its target position Bit 13 of the DS402 status word was not supported 1720 Issue Bit 13 in the DS402 status word was not supported Solution Bit 13 is set when the following fault F439 occurs This condition can happen in all positioning modes profile position homing interpolated position mode cyclic synchronous position mode Position mode capture returns raw data results instead of position values that are adjusted for scaling and homing 2262 Issue CAPx PLFB returns raw data values that are not scaled or adjusted for homing as PL FB is Solution The value returned by CAPx PLFB is now scaled and homed It will match what the user expects from PL FB Wrong maximum value check returned for t
131. tion Feature Changes Changing REC TRIGPARAM Sometimes generates an Error Argument bigger than maximum 3320 Issue Some time if you change the trigger parameter using REC TRIGPARAM it will generate an error Solution The firmware has changed to not generate this error New Features New Emulated Encoder modes for Step Direction and CW CCW pulse width of emulated encoder signals is configurable fault 486 is raised if the drives velocity exceeds the emulators capability New Feature Details Step Direction and CW CCW modes adjustable pulse width of emulated output raise fault if the velocity exceeds the pulse width This fault is disabled masked by default Solution Added DRV EMUEPULSEWIDTH to configure the pulse width Added DRV EMUECHECKSPEED to enable disable fault 486 velocity exceeds emulator s capability pulse width too high Added new modes to DRV EMUEMODE 6 Step Direction Z pulse rev 7 Step Direction Z pulse absolute 8 CW CCW Z pulse rev 9 CW CCW Z pulse absolute Added new fault 486 Velocity exceeds maximum speed of emulated encoder Version 01 04 17 000 Release Date September 12 2011 General Issues New Features Tertiary feedback FB3 support has been added for Endat 2 2 S 07498 New Feature Details Users need to connect a digital feedback device to the X9 connector for use as a dual feedback device Currently this connector only supports A Quad B encoder signa
132. to Linear motor mode Motor units are returned in rotary units Solution MOTOR KT set to N Arms and MOTOR INERTIA set to kg MOTOR PITCH default value changed to 32mm MOTOR VMAX units set to mm s Provide specific warning messages for various types of motion task errors 2466 Issue There is only a single warning type for motion task problems It can be difficult to debug the source of the problem Solution Several warnings were added for motion tasking Note that the way to reset these warnings is by using DRV CLRFAULTS command Emergency Stop Fail 150 MT exception 151 Following MT exception 152 Target Velocity Limit 153 MT Next Fail 154 Target Position Overstep 156 Home Index Fail 157 Home Ref Switch Fail 158 MT Set Fail 159 MT Activation Fail 160 Home Procedure Fail 161 Version 01 03 04 000 Release Date October 19 2010 General Issues Feature Changes The resolution of acceleration parameters is too coarse 1271 Issue The resolution of acceleration parameters is 1 86 rpm sec This resolution is too coarse Solution Resolution has been increased to 0 224 rpm sec for all acceleration parameters Field Bus Specific Issues Feature Changes CANopen SDO object 606C position feedback scaling is reverted to maintain backward compatibility 2427 Issue The scaling of this object was changed in the previous beta release breaking backward compatibility Solution The change is reverted to maintain bac
133. top General Issues 2 W amp S mode 0 Occasional Fault 475 Excessive movement failures 3956 Issue Version 01 03 06 000 During W amp S mode 0 sometimes a fault 475 was triggered although the axis moved in the allowed position range November 09 2010 General Issues Solution The start position for the W amp S monitoring was not always properly initialized Field Bus Specific Issues Version 01 03 05 000 October 26 Field Bus Specific Issues 2010 Fixed Bugs General Issues Profinet Signal ITIST_GLATT torque value not updated 3955 ion 01 03 04 Issue Digan 01 03504000 October 18 The torque value in telegram 350 was not updated General Issues Solution r Torque value is now available as actual value in telegram 350 Field Bus Specific Issues Version 01 03 02 000 October 11 New Features 2010 General Issues Profinet New manufacture specific telegram 351 created 3957 New Feature Details Field Bus Specific Issues Telegram 350 has for velocity mode only the actual current and actual velocity In some application there is also need for the actual position Version 01 03 01 000 September 17 2010 Solution General Issues For the velocity mode a new manufacture specific telegram 351 is created which returns the actual current velocity and position Field Bus Specific Issues BASIC Issues Version 01 03 00 004 August 02 Fixed Bugs 2010 General
134. unce changes the motion task profile 2065 Issue More DIN modes were created to enable interruptible and uninterruptible motion task features Solution Bit No 13 and 14 in control word MT CNTL are used to identify the authentication of activation of new motion task externally If control word bits 13 and 14 are not set then normal operation occurs Any motion task is allowed for Activation If control word bit 13 is set and any motion task is active then Deny Activate Otherwise Allow Activation occurs If control word bit 14 is set and no motion task is active then Deny Activate Otherwise Allow Activation occurs Motor KT Limit too low for linear motors 2833 Issue The drive firmware limits the value of to 65 Nm A for rotary motors and 65 N A for linear motors This value is too low as it is easy to exceed this limit on a linear motor Solution The firmware limit has been changed to 1 000 000 Nm A for rotary motors and 1 000 000 N A for linear motors Motion Tasking Issues New Features Additional options for the registration move added 2666 New Feature Details Two additional bits were added to the motion task control word which both have an impact on the motion task trigger Solution A motion task can not be interrupted if bit 13 of the MT CNTL parameter of a running motion task has been set to true A motion task can not be started from velocity 0 if bit 14 of the MT CNTL parameter of that motion tas
135. uspended for 5ms to free CPU time for other background tasks The new warning 601 is raised to inform the user that the data rate is too high and that the respones time has increased Jump in the position command value during command source switch fixed 3077 Issue The can master triggered the following sequence in DRV OPMODE 2 Position 1 Start a homing in mode 5 and stop the process after a while 2 Switch command source to fieldbus and move the motor a bit 3 Switch back to command source Service After these three steps a jump in PL CMD has been obsereved Solution The actual position need to be forwarded to the motion classes when switching the command source from one value to another in order to avoid the jump in PL CMD F125 fault doesn t open fault relay 3095 Issue Behavior was changed prior to version 01 04 00 000 so that an F125 fault no longer opened the fault relay The relay should be opened Solution The relay will now open if an F125 fault occurs FW setting of DRV DISMODE should not be tied to DINx mode 13 2887 Issue When a user sets a digital input for a controlled stop dinx mode 13 they expect a controlled stop where the drive ramps down the velocity to zero using the power of the drive DRV DISMODE actually controls the desired behavior the controlled stop The default value is 0 This value corresponds to an immediate power stage disable NOT A CONTROLLED STOP If a user sets a digital input to mod
136. when sending string to the BASIC program the Telnet client must use port Merston401502 07 0001Mayt23 T20 Virtual Encoder Master moving flag CAMVM MOVING not working correctly 3974 S 09770 General Issues Issue Starting a move like CAMVM GOREL and checking the CAMVM MOVING flag immeidately afterwards could result in incorrect Version 01 04 05 000 May 11 2011 value General Issues Solution CAMVM MOVING is now reporting the correct value Field Bus Specific Issues pene EXTENCODER FREQ CAMVM FREQ did not report correct values for large internal values gt 2432 of these Version 01 04 03 000 May 09 2011 parameters 3972 General Issues Issue ExtEncoder Frequency Velocity conversion routine does not work correctly for large values 10 Issues a Solution Motion Tasking Issues EXTENCODER FREQ and CAMVM FRE Q is now reporting the correct values Field Bus Specific Issues Analog Position Mode does not work 3918 S 09667 TF 5 Issue See 01 04 02 000 April 21 In Analog Position mode the drive does not respond to analog commands General Issues Solution Analog position mode is now working correctly Homing Issues Incorrect unit conversions for FB1 P FB2 P and FB3 P 3937 S 09657 Issue Reading the values of FB1 P FB2 P and FB3 P returns incorrect values Field Bus Specific Issues Version 01 04 01 000 April 11 2011 Solution Reading FB1 P FB2 P and FB3 P now returns corr
137. y timeout when it receives a disable command for the first time after the boot process Solution A variable was not initialized and therefore the disable function did not work properly This issue has been resolved and the fault does not occur All homing modes should move to home position home distance 2191 Issue When home distance is set to zero motion should stop at the home position Instead the motion stops at a different position due to deceleration distance Solution The target position is now set to home position home distance even when the home distance is set to zero Default value for VL OBSBW is incorrect 2205 Issue The default value for VL OBSBW is below the stated minimum value Solution The default value has been updated from 0 3 Hz to the correct value of 30 Hz Units for IL FF and IL BUSFF are incorrect 1539 Issue IL BUSFF and IL FF units should be Arms Solution IL BUSFF and IL FF units are now shown as Arms Drive issues wrong error message for IL DLIMITP minimum value 1593 Issue When IL DLIMITP is set to 1 the user gets a message stating Argument bigger than maximum Solution A signed integer compared to an unsigned integer caused this bug This issue has been resolved Analog command does not work properly in position mode 1600 Issue When setting AIN PSCALE to a value equals or greater than 2432 the actual scale is wrong The scale resembles a numeri

AKD Firmware Release Notes

Contents

Download Pdf Manuals

Related Search

Related Contents