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Firmware History S300 - S700 | 28 Apr 2017 | |

Firmware History S300 - S700

New Functions for S300 and S700

Table of Contents

  1. Changes from 6.08 (02/2020) to 6.32 (10/2021)
    1. General
    2. Motor Support
    3. Feedback Support
    4. Feldbus Support
    5. Bug fixes from 6.08 (02/2020) to 6.32 (10/2021)
  2. Changes from 6.07 (03/2019) to 6.08 (02/2020)
    1. General
    2. Motor Support
    3. Feedback support
    4. Fieldbus support
    5. Bug fixes from 6.07 (03/2019) to 6.08 (02/2020)
  3. Changes from 6.01 (11/2017) to 6.07 (03/2019)
    1. Motor Support
    2. Feedback support
    3. Fieldbus
    4. Safety
  4. Changes from 6.00 (01/2017) to 6.01 (11/2017)
    1. Motor Support
    2. Feedback Support
    3. Safety
  5. Changes from 5.90 (05/2016) to 6.00 (03/2017)
    1. Motor Support
    2. General FW extensions
    3. Feedback support
    4. Fieldbus extensions
  6. Changes from 5.86 (03/2015) to 5.87 (10/2015)
    1. Motor Support
    2. General FW extensions
    3. Feedback support
  7. Changes from 5.80 (10/2014) to 5.86 (03/2015)
    1. Motor Support
    2. General FW extensions
    3. Feedback support
    4. Fieldbus extensions
  8. Changes from 5.69 (06/2014) to 5.80 (10/2014)
    1. Motor Support
    2. General FW extensions
    3. Feedback support
    4. Fieldbus extensions
    5. Safety
  9. Changes from 6.67 (12/2013) to 5.69 (06/2014)
    1. General FW extensions
    2. Field bus extensions
    3. Option cards
  10. Changes from 5.50 (04/2013) to 5.67 (12/2013)
    1. Feedback support
    2. General FW extensions
  11. Changes from 5.46 (10/2012) to 5.50 (04/2013)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Safety
    5. Option cards
  12. Changes from 5.43 (06/2012) to 5.45/5.46 (10/2012)
    1. Feedback support
    2. General FW extensions
    3. Safety
  13. Changes from 5.38 (03/2012) to 5.43 (06/2012)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
    5. Safety
    6. Option cards
  14. Changes from 5.18 (05/2011) to 5.38 (03/2012)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
  15. Changes from 5.15 (02/2011) to 5.18 (05/2011)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
  16. Changes from 5.04 (03/2010) to 5.15 (02/2011)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
  17. Changes from 5.01 (02/2010) to 5.04 (03/2010)
    1. General FW extensions
  18. Changes from 5.00 (01/2010) to 5.01 (02/2010)
    1. Feedback support
  19. Changes from 3.65 (07/2009) to 3.75 (03/2010)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
  20. Changes from 3.50 (08/2008) to 3.65 (07/2009)
    1. Motor Support
    2. Feedback support
    3. General FW extensions
    4. Fieldbus extensions
  21. Changes from 2.25 (03/2007) to 3.50 (08/2008)
    1. Motor Support
    2. Drive Support
    3. Feedback Support
    4. Control Extensions
    5. I/O + homing extensions
    6. General FW extensions
    7. Fieldbus extensions

Changes from 6.08 (02/2020) to 6.32 (10/2021)

General

  • Limit value for CSIDMAX changed from 10% of DIPEAK to 30%

Motor Support

  • Storing/Loading of the cogging table as an Excel File on/from the SD card.

Feedback Support

  • HDSL in combination with 64 Bit position storing implemented.
  • BISS-C with 12V implemented (FBTYPE=37 or EXTPOS=14).
  • ENDAT2.2: Double max. position range for ENDAT2.2 Linear encoder.

Feldbus Support

  • Support for Kollmorgen ProfiNet option card.
  • ANCNFG=8 for ProfiBus/ProfiNet modified. Position set point can be provided via fieldbus as digital value.
  • INTERPOL=8 for OPMODE=5 implemented. This interpolation eliminates velocity jumps caused by bad fieldbus synchronisation.
  • Bit 0x40 in BUSP1 implemented. When a new motion task in profile position mode has been received during running task the status bit "target reached" will be cleared immediately (Bit=1). This improves compatibility to SR600.

Bug fixes from 6.08 (02/2020) to 6.32 (10/2021)

  • Bugfix for FBTYPE=15/18. Software reset for F04/F08/F25 didn’t work. COLDSTART was necessary for proper error reset.
  • SERCOS: Delay for switching between phase3 and 4 increased by 5 µsec. This solved occasional problems  at phase switching.
  • HDSL: Lock-Up at HDSL-Initialisation fixed.
  • Jump at power stage enable for INTERPOL=5 fixed
  • Motion task with profile table modified.
    When the target velocity cannot be reached an 1:1 profile is executed.
  • Bugfix for combination Resolver + Biss-C fixed (FBTYPE=0, EXTPOS=12 and BISSCNFG>0 didnt work).
  • EtherCAT: Problem with motion task start via control word bit 0x10 fixed. 
  • Comcoder+Safety: Problem with tracking counter and Comcoder fixed. In combination with Safety-Card this caused sporadically safety-card error o19 i02 at switch-on of the drive.

Changes from 6.07 (03/2019) to 6.08 (02/2020)

General

  • DRVCNFG4 Bit 0x200000 for 2 KHz digital input acquisition
  • VCT functionality (similar to SR600) implemented.

Motor Support

  • Switching off of field weakening (MVANGLB=MSPEED) when an AKM2G motor is loaded from the motor database.
  • Number of free motor data sets included in the output of MEMORY command.
  • Motor database 1.50 included

Feedback support

  • New ASCII commands for HDSL memory modifications
    HDSLDIR, HDSLDEL, HDSLREAD, HDSLWRITE, HDSLDATA, HDSL2CARD, CARD2HDSL 
  • new parameters MTEMPTYPE, TEMPMFB, MAXTEMPMFB for Endat 2.2 and HDSL.
    MTEMPTYPE selects the connector for temperature sensor
    (X1/X2 or feedback for motor- and/or feedback-temperature.
    HDSL: supervision of external temperature sensor connected to the encoder instead of the feedback temperature.

Fieldbus support

  • CAN: CAN-PDO’s for DI2T and MI2T implemented
  • DeviceNet functionality included in the standard firmware again. 
  • EtherCAT control word bit 0x10 has the same function as 0x800 (start home move). This improves conformance to DS402.
  • New EtherCAT PDO objects 0x2042 and 0x2043 implemented for real time MPHASE read/write.
  • EtherCAT PDO's 0x20B2 sub1/2 (ANIN1, ANIN2) processed in 250 µsec instead of 1 msec.

Bug fixes from 6.07 (03/2019) to 6.08 (02/2020)

  • Problem with full display control fixed. There was no display function when at 24V "switch on" the right key has been pressed for full display functionality (S300 only). Problem with Display-Parameter S03 (analog offset) fixed.
  • Hall only: MPHASE problem fixed (after clearing of error fault without COLDSTART there was a wrong commutation).
  • For VSCALE1/2 = <-35...0> RPM there was a wrong scaling for the analog velocity input
  • Round-off error for ANIN1/ANIN2 fixed
  • motor temperature calculation for low resistance sensor fixed (PT100), NTC and PTC possible.

Changes from 6.01 (11/2017) to 6.07 (03/2019)

Motor Support

  • support for motors with MPOLES>= 172 (this MPOLES setting was not possible because of MSPEED/SLJSWITCH deadlock).
  • Function for motor inductivity measurement (CALCML)
  • CALCHALL function implemented (testing of hall/motor assignment).
  • Support for motor database 1.46 (AKM2G)

Feedback support

  • VCOMM limit value extended to 25000 RPM
  • ramp function (ACCR) for analog position command (ANCNFG=8)
  • HDSL: Software reset for F04 implemented

Fieldbus

  • PLL command can be accessed via Object Number 1057
  • PROFIBUS: CONTINUE problem fixed (no automatically start of motion task after HALT OFF fixed)
  • Support for BISS-C multi-turn implemented. BISSREVOL defines number of multi-turn bits.
  • Pllhub is used not only for EtherCAT but also for CAN and Aquarius
  • (only Synqnet,Sercos and Sigmatek are using constant value 2 instead of PLLHUB)
  • EtherCAT: EIOBUF command for EtherCAT mapping values implemented. DRIVE Bit 0x2000 reports support for CALCML and EIOBUF for the DriveGUI.

Safety

  • SFD3 problem at switch on with DIR=20 and Safety card (error F31o19i02) fixed.

Changes from 6.00 (01/2017) to 6.01 (11/2017)

Motor Support

  • EXTBRAKE setting can be changed during operation (without SAVE/COLDSTART)

Feedback Support

  • Error handling for SFD3/HDSL modified. Position interpolation in case of transmission faults.
  • Bit "reference valid" set when feedback configured for SSI with multi turn information.

Safety

  • Display of the Safety firmware version extended

Changes from 5.90 (05/2016) to 6.00 (03/2017)

Motor Support

  • COGMODE=3 table available with high resolution, also for linear axes. Tables with high resolution can be saved/loaded to/from the SD Card.
  • Motor database Version 1.44.
  • ZEROTIME parameter for the ZERO function. The value is saved in the Flash and is used when ZERO is started.

General FW extensions

  • Servo pump functionality
  • Macro buffer extended from 100 to 200 Bytes. Large macro expressions and long macro names can be used in macro programs now.

Feedback support

  • ENDAT 2.2 with diagnostics Information (FBTYPE=32)
  • Hiperface DSL support (FBTYPE=35)
  • SFD3 support (FBTYPE=36)
  • Improved ramp Resolution for HALL only Feedback. MPHASE calculation corrected and implenented for both counting directions.
  • Feedback switch-over between primary and secondary Feedback by digital input (function INxMODE=37) implemented. VMIX can be used to mix velocity loop speed of both feedback sources.

Fieldbus extensions

  • Bus-Off Fault (F23) can be switched off via CPHASE bit 0x80.

Changes from 5.86 (03/2015) to 5.87 (10/2015)

Motor Support

  • SLJSWITCH limitation to 599 Hz, no frequency limitation for FTYPE=11 (Hall only) above the SLJSWITCH threshold.

General FW extensions

  • new status information about the active password protection
    Bit 2 (0x004) in STAT set when password protection active (PASSX>0)
    Bit 4 (0x010) in STAT set when PLC password protection active (PASSXPLC>0)
  • Extension for SSI settling time (parameter SSITOUT). SSITOUT=2 8µsec settling time, SSITOUT=3 variable SSI settling time via new parameter SSITIME (in µsec).
  • New configuration for PASSCNFG implemented. For PASSCNFG=3 no RSTVAR or SAVE allowed.Number of scope channels extended from 4 to 10. Only first 4 channels are visible on the scope page, but all channels are stored in the Scope-Excel-File. The channel names can be edited with the current DriveGUI (extended channels).

Feedback support

  • Decimal places for ENCLINES and ENCIN implemented (ENCFIX/ENCDIV and ENCFIXD/ENCDIVD). With these extensions, it's possible to support linear motors with non-integer number of sinus periods pro pol pitch.
  • Possibility for SSI reading via Macro program (Drvcnfg4 bit 17 for X1 and bit 18 for X5).
  • SSIMASK implemented. This can be used for removing of warning/error bits from the SSI stream in case the control is transmitting this information inside of the position stream (Default = 0xffffffff).

Changes from 5.80 (10/2014) to 5.86 (03/2015)

Motor Support

  • Motor data base 1.43
  • Switching off of current clamp during TBRAKE0. This prevent hanging load to slide down (motor with brake) Bit 10 in DRVCNFG4 (0x400).

General FW extensions

  • Flying velocity loop synchronization to rotating motor at power stage enable Bit 12 in DRVCNFG4 (0x1000).

Feedback support

  • S300: support for ROD input via X1 (FBTYPE=30/31, EXTPOS=27/30)

Fieldbus extensions

  • EtherCat object 0x2402 (safety card status) can now be used for flexible PDO mapping

Changes from 5.69 (06/2014) to 5.80 (10/2014)

Motor Support

  • EXTBRAKE=4 implemented. External brake control for all operation modes.

General FW extensions

  • Calculation of electrical power for sensor less has been added.
  • “non-dual use” version, output frequency for sensor less limited to 599 Hz.

Feedback support

  • New settings for MNUMBER
    MNUMBER= -1 -> no MPHASE and no MNUMBER are read from the Encoder
    MNUMBER= -2 ->only MPHASE value is read from the encoder (no MNUMBER)
  • Resolver cable break supervision has been extended (Not only amplitude but also Sine/Cosine phase is controlled now). New parameter RESAMPL for minimal resolver amplitude. This functionality can be activated via CPHASE Bits 4 and 5 set to 1.

Fieldbus extensions

  • EtherCat: Operation enable reported when the set point accepted and not when power stage enabled. For backward compatibility this modification can be switched off via DRVCNFG4 Bit 8 (0x100)C
  • CAN/EtherCAT: Bit 7 DRVCNFG4 implemented: If set, the power stage will not be enabled in the DS402 state "Switched On".

Safety

  • Support of Safety-Firmware 1.01

Changes from 6.67 (12/2013) to 5.69 (06/2014)

General FW extensions

  • object numbers for parameters PMECH and P defined (977 and 978)

Field bus extensions

  • Parameter file download over EtherCat implemented

Option cards

  • synchronization of the SynqNet state machine with the communication-task implemented

Changes from 5.50 (04/2013) to 5.67 (12/2013)

Feedback support

  • Hall only function modified

  • SSI support improved (multiple SSI reading at startup)

General FW extensions

  • VBUSOFFS command for VBUS offset compensation. This ensures more precise bus sharing In case of bus coupled drives.
  • DRVCNFG4 Bit 0x40=1 allows to switch off the regen threshold adjustment. This adjustment is necessary for bus coupled drives but may be annoying in case of single drives.
  • PBALMAX for S748/S772 changed from 6 KW to 8 KW (voltage > 230V)
  • VBUSBAL=4 implemented for the new regen threshold (790V instead of 840V)
  • VBUSBAL default value for S748/S772 changed from 3 to 4.
  • F18 generated when PBAL>=PBALMAX and VBUSBAL=4

Changes from 5.46 (10/2012) to 5.50 (04/2013)

Motor Support

  • Motor temperature filter TEMPMFILT for NTC implemented

Feedback support

  • Feedback gearing FBGEARI/FBGEARO implemented for ENDAT2.2 and BISS-C
  • For BISS-C and ENDAT2.2 as secondary feedback, F04 generation for position reading can be switched off via DRVCNFG4=0x20
  • Support for Hiperface SEK37 implemented

General FW extensions

  • Support for the monitor program 0.52 and newer
  • PBALRES min value for S300 changed from 91 to 85.
  • DRVCNFG3=0x4000000 activates a ramp correction for the table motion task stop procedure (until now active only for trapeze motion tasks). This ensures that the target position of the motion task cannot be exceeded when the motion task has been cancelled.

Safety

  • support for S1/2 and S2/2 safety cards.

Option cards

  • New macro variables ROD1INVAL and ROD2INVAL for POSIOCARD in slot 1/2.

Changes from 5.43 (06/2012) to 5.45/5.46 (10/2012)

Feedback support

  • Limit for ENCLINES increased from 65535 to 262144
  • Support for multi-turn encoder HEIDENHAIN with battery-buffer (EBI 1135).

General FW extensions

  • The ERRCODE2 variable does now display a unique error-code for any F29 (SERCOS / FIELDBUS Error). The ERRCODE2 value will also be shown in the 7-segment display similar to the Safety-card fault indication.
  • software limit switch function for analog position set point ANCNFG=8 implemented
  • function to discharge the DC-link capacitor through the regen resistor using a digital input as trigger (INxMODE=62).
  • A new limit for the current is added to avoid extraordinary high-levels. The F14 is used as fault, but with an additional text in ERRCODE2
  • KTY support for motor temperature. The temperature characteristic can be defines with MTAB command.
  • error/warning support for I/O slot card (no 24V power supply, short circuit).
  • Firmware support for the monitor program 0.53. This fixed problems with hiperface and with BAUD command in combination with monitor program 0.53.
  • velocity depending phase shift extended (similar to SR600, parameter MVANGLMODE=1).
  • OxMODE=54 extended. Output is set to high after the current offset calculation is finished
  • Extended internal memory for macro programs

Safety

  • generation of n14 (Wake & Shake) during the safe brake test.
  • safe brake test now also possible with PROFIBUS

Changes from 5.38 (03/2012) to 5.43 (06/2012)

Motor Support

  • motor data base 1.42 implemented

Feedback support

  • ENDAT 2.2 (12V) implemented (FBTYPE=34)

General FW extensions

  • PTEACH function implemented (similar to the SR600 implementation)
  • max velocity changed from 15000 to 16000 RPM.
  • move back to the start position after W&S can be activated with DRVCNFG4=1
  • commands HIFACT1,HISOFFS,HICOFFS accepted also when no SinCos configured (but no saving in Flash).
  • 4 KHz PWM implemented (DPWM=4)
  • current offset calculation at switching on of the bus voltage (NETBTB) this function can be switched off with DRVCNFG3=8 (in this case calculation is done at 24V switch on).

Fieldbus extensions

  • CAN: object 1020 implemented
  • SERCOS: with Drvcnfg2-Bit 0x10000000: modified synchronisation for cycle time >= msec. For this setting synchronization is done in 250µsec instead of 1 msec.
  • ETHERCAT: new objects for flexible mapping
    0x3570 for Iq (actual current in mA)
    0x3618 for V (actual velocity in VUNIT)
    0x6064 for PFB (actual position in PUNIT)
    0x361A for bus voltage (VBUS in Volt)
    0x38BD for actual feedback 1 position PFBC (internal counts)
    0x2357 for actual feedback 1 position PFBC (PUNIT)

Safety

  • AENA fix for safety card (sometimes after "safety card reset" software enable was missed).

Option cards

  • OPTION command for POSIO card changed. Bit 7 (0x80) provides the information about the type of this card (bit7=0 POSIO-Monitor, bit7=1 POSIO card)

Changes from 5.18 (05/2011) to 5.38 (03/2012)

Motor Support

  • Motor database 0.41 implemented
  • MBRAKE=4 implemented (brake control without brake error supervision)
  • NTC support implemented (MAXTEMPM<0, MAXTEMPM=0 mtemp control switched off).

Feedback support

  • "reference set" bit cleared when F04 occured.
  • ENDAT2.2 + SinCos Encoder implemented

General FW extensions

  • RDP functionality implemented
  • AUTOTUNE function implemented
  • Saving of energy data in a flash segment
  • DPWM=2, PWM 16 KHz implemented
  • Motion tasks with sine2 modified. Flying switch-over during the ramps possible. The switch can be delayed until the ramp is finished (DRVCNFG2 0x00020000).
  • Acceleration calculation for OPMODE=5 and INTERPOL=5,6. GPFFT is active when FFTSW=6.
  • VLO parameter switchable (VLO_X)
  • PMODE=8 implemented (same as PMODE=4 but with n05 warning).
  • Proportional part of velocity/position loop linear switchable between GV/GP and GV2/GP2. The linear interpolation of the proportional gain is velocity depending. Velocity thresholds are defined by GVS1/GVS2 and GPS1/GPS2.
  • COGMODE=3 (increased size of cogging table for rotary axis) implemented
  • At the end of W&S the drive moves to the start position. This solves problems with some control devices
  • PBALRES min limit for 230V drives changed from 33 to 20.
  • Negative values for ISCALE1/ISCALE2 possible.

Fieldbus extensions

  • EtherCat, new free mapping objects (6062)
  • GUI over EtherCat support

Changes from 5.15 (02/2011) to 5.18 (05/2011)

Motor Support

  • Motor temperature filter implemented (TEMPMFILT)

Feedback support

  • ENDAT2.2 and BiSS-C as secondary feedback implemented (ENDAT2.2: EXTPOS=13, BiSS-C: EXTPOS=12).

General FW extensions

  • Support for new Fan Option card
  • Cubic interpolation for the position set point via fieldbus implemented (INTERPOL=5).
  • Linear acceleration interpolation for the position set point via fieldbus (INTERPOL=6).

Fieldbus extensions

  • CAN Bootup-Message is now delayed by SDLY
  • Flexible mapping for EtherCAT implemented

Changes from 5.04 (03/2010) to 5.15 (02/2011)

Motor Support

  • Motor phase loss control implemented
  • Asynchronous motor support up to 21000 RPM

Feedback support

  • BiSS line delay compensation implemented
  • BiSS-C support (FBTYPE=33)
  • Sensorless support
  • SSI output for position feedback (PFB, ENCMODE=5)
  • ROFFSABS can be used for resolver (when DRVCNFG=256)
  • SSI linear implemented (FBTYPE/EXTPOS=25 and FBTYPE=9, EXTPOS=5)
  • S700: ROD/SSI output via X1 implemented

General FW extensions

  • S700: support for 230V drives
  • AN1TRIG/AN2TRIG implemented (scaling for analog output)
  • Zero pulse suppression for POS-I/O cards implemented
  • Analog input filter can be switched off (AVZ1/2=0)
  • Firmware download for POS-I/O card via Drive firmware implemented
  • S700: Output functions OxMODE=71,72 implemented (velocity in-pos)

Fieldbus extensions

  • EtherCAT motion tasks implemented (new XML file)
  • Jog move over EtherCAT implemented
  • Firmware download over EtherCAT implemented

Changes from 5.01 (02/2010) to 5.04 (03/2010)

General FW extensions

  • Support for the POS-I/O and POS-I/O-Monitor card

Changes from 5.00 (01/2010) to 5.01 (02/2010)

Feedback support

  • Hiperface support

Changes from 3.65 (07/2009) to 3.75 (03/2010)

Motor Support

  • no MSPEED limitation of 10000 RPM for linear motors

Feedback support

  • Hiperface - the switchover from transmit to receive is now controlled with the channel status register of the usart. This eliminate the sporadic communication error during power on.
  • SSI read function discards the first 2 two SSI telegrams. This fixed the problem with the SSI absolute position shifted by 1 to left in case of inverse clock.
  • some problems with 64 bit encoder position fixed (POSCIFG=2)
  • ENDAT 2.2: corrected calculation of data delay timer
  • Command ENCDATA for BISS and HIPERFACE implemented
  • F04 problem with BISS at switch on fixed

General FW extensions

  • SW limit switches problem at startup fixed (sometimes n06 warning for multiturn encoder)
  • S700: Flash functions for TRUN and 64 Bit encoder position modified - fixes flash damage issue.
  • Fan control implemented
  • Problem with long ramps fixed. For some settings the motion task was not stopped at the target position.
  • Motion task delay implemented (waiting until brake off)
  • DIRIN command implemented (inversion of digital inputs)
  • Fast input latch for distributed clocks implemented

Fieldbus extensions

  • Saving of motion tasks over CAN changed.
  • DRVCNFG3 Bit 10 implemented (DeviceNet, positioning via "Polled I/O":
    Motion task type is no longer reverted to trapezoidal if this bit is set).

Changes from 3.50 (08/2008) to 3.65 (07/2009)

Motor Support

  • motor data base 0.38 integrated

Feedback support

  • EnDat 2.2 support implemented
  • S700: support for ROD at port X1 (digital) Pin 5/13 and 8/15 (FBTYPE=30,31, GEARMODE=30)
  • S700: GEARMODE=27 implemented (pulse/direction over X1)
  • SSIINV extension for SSI emulation (SIMOTION support)
  • Max. ROD emulation resolution changed from 16384 to 524277 (for FBTYPE>0)
  • SSI-Clock for SSI input can be configured now: 125kHz, 250kHz, 500kHz, 1MHz(default), Parameter SSITOUT
  • S700: REFMODE=6 implemented (zero pulse from the POSIO card)
  • BISS: several bug fixes
  • ENDAT: encoder synchronisationproblem fixed (F04)

General FW extensions

  • MultiLink functionality implemented
  • new output function OxMODE=61/62 (message for motion task target velocity reached)
  • MACRO programming: max. PLC program size increased from 64 KB to 128 KB, memory range for PLC variables increased from 600 to 1600 Bytes.
  • New status information (TRJSTAT) for acceleration/deceleration phase of the motion tasks
  • Support for the SD/MMC card (in combination with the Boot program 0.40 or newer)
  • long ramps implemented. Accuracy of the ramps generation for the linear motion tasks and for the velocity setpoints increased. Now it's possible to accelerate from 0 to 3000 RPM within 120 Hours
  • New DRVCNFG3-Bit 0x10. With bit=1 some additional error messages can be cleared by software reset instead of hardware reset. These errors are: F04,F08,F11,F18,F21,F23,F25,F27
  • S700: support for the fan card
  • homing limit switches HLIMIT1,HLIMIT2,HLIMIT3 implemented

Fieldbus extensions

  • EtherCat S700: Added support for the Configured Station Alias address; new ASCII
  • Parameter ECATCSA that holds the Configured Station Alias address;
  • EtherCat S700: Extended EEPROM emulation; the emulated EEPROM has been
  • enlarged to 2048 bytes, the following information has been added:
    a) FMMU / Sync Manager configuration
    b) Available TxPDO and RxPDO mappings
  • DeviceNet: problem with explicit messages fixed
  • SERCOS: communication problems with 16 Mbaud fixed

Changes from 2.25 (03/2007) to 3.50 (08/2008)

Motor Support

New Motor data base

  • Version 0.36
  • Support of ILH/MWZ motors
  • Support of AKM35S motors

Drive Support

New Power Stage S700

  • support for a new power stage 24/72A (cont/peak)

Feedback Support

Resolver + BISS support

  • EXTPOS=11

Support for 2 absolute encoders

  • SSI + Endat / Hiperface

Support for SSI linear (SICO)

  • FBTYPE=26 (SICO over X1)
  • FBTYPE=28 (SICO over X5)
  • SSIRESOL number of counts per motor pole pitch

Extended analog hall support (hall + SinCos)

  • Very cost effective feedback for linear motors
  • Hall signals at analog Input1/2 used for commutation alignment
  • no W&S necessary
  • FBTYPE=7 and WSCNFG=5

S700: Support of digital encoder at X1

  • ROD/SSI input available
  • SSI: FBTYPE=25/EXTPOS=25/GEARMODE=25

Storing of the 64 Bit position in the nonvolatile memory

  • Extension of the encoder multi turn ability
  • For modulo axis POSCNFG=2
  • For non modulo axis DRVCNFG2=0x400000
  • Function available also for BISS encoder

Control Extensions

16 khz interpolation for velocity commands and current feed forward

  • Smoothing of velocity command
  • No trade off

Extended current feed forward functionality

  • FFTSW for activation of the new functionality
  • Feed forward added before or after the set point filter
  • Inertia feed forward

Velocity and torque depending phase angle advance

  • MVANGLB,MVANGLP, MVANGLF – increase of torque at velocity limit
  • achievable velocity limit increased by 30%
  • Improved performance for GOLDLINE motors

Additional overspeed control

  • Automatic reduction of the overspeed limit after the power on
  • deactivation after the homing move or by the PLC
  • More safety for W&S or homing move
  • Function activation: VOSPDREF>0

U/f control for induction machines

  • Simple and robust sensorless control
  • Slip Compensation
  • Activation: MTYPE=3, FBTYPE=10

Sensorless control for permanent magnet synchronous machines

  • e.g. support for milling spindles

Field weakening with a superposed controller for the output voltage

  • self adjusting field weakening
  • Activation: DRVCNFG2=0x08000000

Higher order observer

  • improved suppression of high frequency resonances

Brake energy depending voltage level control

  • equal split of the brake energy control in the case of parallel connected drives

I/O + homing extensions

Homing to the analog position

  • REFNOFFS = 1…360 ° : homing to the specified position within one encoder line
  • REFNPOS : real position of the zero pulse edge

Polling cycle for the zero pulse edge improved from 4KHz to 16 KHz Inverse logic for digital outputs (DIROUT command

INxMODE=25 (ENCZERO calculation) implemented also for non binary ROD resolutions.

Internal connections between the digital outputs and the corresponding digital inputs

  • Activation with IOLINK>0 (bit parameter)
  • Every bit corresponds to the I/O pair
  • Easy way to realize small control functions inside of the drive
  • Useable for hardware and software In-/Outputs

S700: Analog/Output for the ROD/SSI card

  • 2 analog outputs 16 Bits / 4 KHz

General FW extensions

Extended error informations ERRCODE2

  • Additional informations for the collective error messages (F25, F32)

Improvement for SW oscilloscope

  • Display of cogging table (trigger: COGTAB)

Improvements for W & S procedure

  • WSTIME2: time between the current shots
  • WSTIME3: time between coarse and fine MPHASE calculation

New method for commutation alignment

  • Using of position loop for MPHASE calculation
  • Advantage: very small motor movement, no oscillation
  • Disadvantage: control loop has to be tuned, torque load restrictions
  • Activation: FBTYPE=7 and WSCNFG=1

MACRO programming for customer

  • 62.5µs/ 250µs/ 1ms/ 4ms/ 16ms/ IDLE/ IRQ
  • memory extended from 64 kbyte to 128 kbyte
  • IEC1131 structured text
  • 400 easy instructions every 62.5 µs
  • CAN objects for multi axis control

Position latch calculation changed from 32 to 64 bits

  • better accuracy, no overflow problems

Current in-position function CINPOS

  • CINPOS current window for CINPOS control
  • DRVSTAT2 Bit 2 (0x04) for in-position message

new parameters in the switchable parameter data sets

  • ACC/DEC added
  • PARCNFG=4 operation mode depending switch, first data set for OPMODE 0…3 and second data set for position control modes 4…8
  • It is now possible to use different velocity loop parameters for velocity mode and position mode

Fieldbus extensions

CAN

  • Filter masks for Tx-Pdo’s
  • Support for PLC firmware download

    new functions for the internal PLC CAN-master functionality

  • Better compatibility to the DS402 standard

EtherCAT

  • S700: Ethercat on Board support.
  • ETHMODE defines on board bus (0=CAN, 1=automatic recognition of the Ethercat/CAN communication, 2=EtherCat)

SERCOS

  • S700: 125 µsec cycle time support
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