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Kollmorgen Support Network

KAS v4.02 Software is now available! | 19 Jun 2024 | |

KAS v4.02 Software is now available!

New Features

  • PCMM2G (Production):
    • Performance/Reliability
      • Reduced EtherCAT cycle jitter
      • Improved EtherCAT Rx frame reliability
    • Security
      • Firmware file signed for Integrity Protection
  • Coordinated Motion
    • S-Curve Profile support
    • Linear Moves with S-Curve Corner Transition
  • Misc
    • Actual Position Interpolation with bad/missing Rx frames
    • The KAS Runtime response to drive status bit #11 is now configurable via PLC code.
    • MC_Power() State Machine for 3rd party Drives
      • The internal state machine has been modified to add the switched-on state for compliance with the DS- 402 specification. 
      • Some third-party drives (non-Kollmorgen) may require a switched-on state before the operation-enabled state. 
        See CANopen Status Machine for details.


  • The KAS-IDE and Runtime have been tested with AKD v1-23-00-000 and AKD2G v2-13-00-000 Production Release firmware. 
    • The KAS-IDE installer has been updated to include the AKD and AKD2G ESI files from these releases.
  • The KAS-IDE's embedded WorkBench has been updated to v2.16.0.10303. 

For more details, see the KAS Release Notes (

Software Availability

PCMM/PDMM Runtime software:


PCMM2G Runtime software:


For customers, the KAS IDE software package is available for purchase and upgrades are included. 
The latest and previous versions can be downloaded from KAS IDE Distribution Page in KDN.

About this Article

Prashanth Morishetty