# AKD2G FIRMWARE RELEASE NOTES

Kollmorgen's AKD2G drive is a leading edge drive product that provides many state of the art features. These release notes for the AKD2G firmware (the software that runs on the AKD2G drive) describe the significant features and changes introduced with each release.

WorkBench 2.18.2.11638 or later is required to use this AKD2G firmware release. In general, Kollmorgen recommends that you update to the latest available WorkBench when you install new AKD2G firmware.

Updating to this firmware version is incompatible with some versions prior to 02-01-02-002. If the update fails and the error message "Invalid image type (bad #IT value)" is reported, update to 02-01-02-002 before updating to this version.

# Version 02-15-00-000 : August 22, 2025

## Action Table

- ACTION#.TASKPARAM units would not update if the axis units it depended on changed [Req#87232] [D-09977]

Issue:

The unit string of ACTION#.TASKPARAM would not properly update if the axis units it depended on changed even though the unit conversion properly updated.

Solution:

The unit string of ACTION#.TASKPARAM properly updates if the axis units it depends on changes.

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## Fieldbus

- AXIS1.PROFINET.TELEGRAMID incorrectly included Telegram 800 in settable range [Req#87905] [D-09993]

Issue:

The keyword help for AXIS1.PROFINET.TELEGRAMID included Telegram 800 in the allowed settable range even though it's not settable. Only Axis 2 supports Telegram 800.

Solution:

Updated keyword help for AXIS1.PROFINET.TELEGRAMID to remove Telegram 800 from the settable range.

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# Version 02-14-04-002 : August 13, 2025

## Fieldbus

- CANopen - SDO values written to profile acceleration or deceleration treated as signed [S-25879]

Issue:

Values written to profile acceleration (6083h) or profile deceleration (6084h) via SDO were interpreted as signed values, even though the objects and the related keywords AXIS#.FBUS.ACC/DEC are unsigned. Depending on the scaling, values larger than 2^31-1 could be valid, but attempting to write them resulted in an abort.

Solution:

Values written to Profile Acceleration or Profile Deceleration via SDO are now correctly interpreted as unsigned.

- EtherNet/IP - IP settings lost on firmware updates [D-09975]

Issue:

On certain drive firmware updates, IP settings would be lost and need to be reconfigured.

Solution:

IP settings are now no longer lost between drive firmware updates.

- EtherNet/IP - Object sizes inconsistent between mapping and explicit messaging [Req#86639] [D-09956]

Issue:

Objects that accessed 64-bit keywords, that were not using position, velocity or acceleration scaling, were 64 bits wide when mapped in an assembly, while they were truncated to 32 bits when accessed through explicit messaging. Those objects were also documented and displayed in EIP.OBJECTLIST as being 32-bit.

Solution:

The affected objects have been changed to be 32-bit when mapped in an assembly, matching explicit messaging, EIP.OBJECTLIST and documentation.

- PROFINET - Incorrect behavior of PROFIdrive position feedback interface state machine [S-25924]

Issue:

The drive's PROFIdrive position feedback interface state machine did not properly react to feedback faults. Depending on the current state, it also sometimes allowed transitioning into the "Parking" state, even though the axis was enabled. Furthermore, the reported error codes could be incorrect, especially in situations where multiple errors were active.

Solution:

The firmware was changed so that feedback faults cause the position feedback interface state machine to go into the "Error" state, transitioning into "Parking" is prohibited regardless of the current state and the error codes follow the priority defined in the PROFIdrive specification.

- PROFINET - Configure reduced speed setpoint channel when telegrams 3, 5 or 105 are selected [Req#86002] [S-25905]

Issue:

Firmware automatically determines the operating mode (PNU 930) based on the selected telegram. All telegrams that have the drive operate in velocity mode were configuring operating mode 1 (standard setpoint channel), which limits acceleration / deceleration using AXIS#.FBUS.ACC/DEC. For application class 4 (closing the position loop in the master) this could cause the axis to become unstable.

Solution:

Firmware has been changed to configure the reduced speed setpoint channel (PNU930 = 3), if a telegram is selected that provides position feedback to the PLC (telegrams 3, 5 and 105). With this configuration, the velocity command from the PLC is used without limiting acceleration or deceleration.

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## General

- LOAD.INERTIA supports negative Inertia [D-09954]

Issue:

AXIS#.LOAD.INERTIA was limited to positive inertia values. This was a problem for the Inertia Measurement and Quicktune features if the MOTOR.INERTIA keyword was set to a value higher than the actual motor inertia. This could result in an unstable tuning solution when using Quicktune.

Solution:

AXIS#.LOAD.INERTIA now supports negative values. This allows the Inertia Measurement and Quicktune features to compensate for an incorrect MOTOR.INERTIA value and improves reliability of the Quicktune feature.

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## Motor & Power Stage

- AXIS#.MOTOR.TYPE 2 and 10 wouldn't work after enabling AXIS#.MOTOR.AUTOSET [Req#87121] [D-09969]

Issue:

AXIS#.MOTOR.TYPE 2 (Rotary, V/f Open Loop Induction) and 10 (Rotary, Sensorless Permanent Magnet) would not work properly if AXIS#.MOTOR.AUTOSET was enabled after setting those motor types.

Solution:

Enabling AXIS#.MOTOR.AUTOSET no longer breaks AXIS#.MOTOR.TYPE 2 and 10

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## Security

- New keyword SECURITY.LEVEL [S-26085]

Details:

A new keyword SECURITY.LEVEL is introduced. This is reserved for future use.

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# Version 02-14-04-001 : June 30, 2025

## Motor & Power Stage

- Added AXIS#.FAULT2018.ACTION Keyword [Req#86897] [S-26002]

Details:

AXIS#.FAULT2018.ACTION was added, allowing the user to customize the action taken by the drive when a motor phase loss is detected.

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# Version 02-14-04-000 : June 13, 2025

## Feedback

- FB#.PRES Not Consistent with FB#.P In Niche Situations [S-25901]

Issue:

If a BiSS-C or SSI linear encoder with less than 32 positions bits was not tied to an axis, FB#.PRES matched FB#.RES. However, FB#.P reported the raw position value from the encoder after being internally multiplied by 2^(32 - # feedback bits), causing FB#.P to have no clear correlation to FB#.PRES.

Solution:

In these situations, FB#.PRES is now reported as FB#.RES multipled by 2^(32 - # feedback bits) and correlates to the reported FB#.P value.

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## Fieldbus

- Incorrect handling of expedited EtherCAT SDO download request with complete access [S-25859]

Issue:

When receiving an EtherCAT SDO download request, firmware did not correctly distinguish between normal and expedited requests, if the request's complete access bit was set.

Solution:

The firmware now correctly handles expedited EtherCAT SDO download requests with complete access.

- Profinet - Bit 10 of ZSW1 not following Profidrive specification [S-25890]

Issue:

Profidrive ZSW1 bit 10 is specified to be set, when the actual velocity is above the configured comparison velocity, ignoring sign. Firmware incorrectly considered the sign of the actual / comparison velocity when determining whether to set bit 10.

Solution:

Firmware now sets ZSW1 bit 10 when |actual velocity| > |comparison velocity|. The comparison velocity was kept as a signed value for backwards compatibility.

- Profinet - Bit 8 of ZSW1 not following Profidrive specification [S-25890]

Issue:

Profidrive ZSW1 bit 8 is specified to be set, when the velocity error is within a configured range. Instead, firmware was setting the bit when the actual velocity was within the configured range of the fieldbus velocity setpoint.

Solution:

Firmware was changed, so that bit 8 of ZSW1 follows the Profidrive specification.

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## General

- DRV.NVLIST Returns Error Under Certain Keyword Configurations [Req#85601] [D-09930]

Issue:

In certain keyword configurations, such as setting ACTION#.SOURCE to 26 and not setting ACTION#.SOURCETEXT, DRV.NVLIST would return an error partway through printing NV parameters.

Solution:

DRV.NVLIST no longer returns errors partway through execution. Any NV keywords could not be read are reported in the comments section at the end of the DRV.NVLIST output.

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## Motion

- Controlled Stop decelerates at incorrect speed in dual loop applications [D-09927]

Issue:

A bug was identified when dual loop is configured (when Position Feedback Source is not the same as the Velocity Feedback source) and a controlled stop is initiated (Note: Limit switches also cause a controlled stop). The controlled stop will decelerate and generate a stop trajectory based on the velocity and does not take into account the dual loop scaling.

Solution:

PL.KVFF is now used to generate the stop profile so the position trajectory is scaled with respect to the velocity profile.

- Cogging Comp Teach Speed Expanded Range [Req#85806] [S-25880]

Issue:

The Cogging Comp Teach velocity minimum was set to 0.5 RPM. This meant applications with high dual loop ratios would not be able to "teach" at a reasonable machine speed.

Solution:

The range of the Cogging Comp Teach velocity minimum has been reduced to 0.001RPM.

- Enhance AXIS#.VL.KIWAITFORSETTLE and AXIS#.PL.KIWAITFORSETTLE [S-25850]

Details:

A new mode for AXIS#.VL.WAITFORSETTLE and AXIS#.PL.WAITFORSETTLE with a new value 2. When WAITFORSETTLE equals 0, the integrator is always on, when set to 1 the integrator is only active when the axis is within the settling window. A new mode 2 has been added, the integrator will only be active when the axis is outside of the settling window.

- New Gain AXIS#.VL.GEARRATIO

Details:

A new gain has been added in the position loop path. It allows the user to scale the position loop gains into the correct velocity command for dual loop applications. For most applications AXIS#.VL.GEARRATIO should be set to 1.0, however, if dual loop is being used, it should be set to the ratio between the position loop feedback and velocity loop feedback sources.

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## Motor & Power Stage

- Harmonic cogging compensation not working with AXIS#.DIR 1

Issue:

The cogging compensation configured by the AXIS#.IL.COGCOMPH keywords applied the compensation with an inverted sign when AXIS#.DIR was set to 1.

Solution:

Cogging compensation from AXIS#.IL.COGCOMPH keywords is now applied correctly when AXIS#.DIR is 1.

- Cogging compensation teach move changed to work with harmonic cogging compensation enabled [S-25852]

Issue:

If a cogging compensation teach move was executed, while the harmonic cogging compensation was configured and enabled, it generated a table that contained compensation for the motor cogging, that was already compensated for by the harmonic compensation. With both mechanisms enabled, compensation for motor cogging was applied twice, leading to decreased velocity smoothness.

Solution:

Firmware was changed, so that the cogging compensation table created by the teach move no longer contains compensation for effects that are already compensated for by the harmonic compensation.

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# Version 02-14-03-000 : April 22, 2025

## Analog & Digital IO

- New Keyword DIO.POWERWEN to disable Warning 2011 - to Power on 24V IO Rail [S-25820]

Details:

A new keyword was added to allow the user to disable warning 2011. By default this keyword is 1 (Enabled), to disable this warning set to 0.

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## Feedback

- EnDat 2.2/Safety - Spurious F4x10 fault when using dynamic sampling via SMM

Issue:

The fault F4x10 appeared when using dynamic sampling via SMM with an EnDat 2.2 feedback.

Solution:

The fault F4x10 no longer appears when using dynamic sampling via SMM with EnDat 2.2 feedbacks.

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## Fieldbus

- Profinet and EtherNet/IP Drives Crashed Under Certain Conditions [D-09934]

Issue:

Under certain circumstances, Profinet and EtherNet/IP drives would crash while communicating with a fieldbus master.

Solution:

Profinet and EtherNet/IP drives no longer crash while communicating with a fieldbus master.

- Profinet drives would rarely crash when handling supplementary telegram signals [D-09924]

Issue:

Profinet drives would get a rare crash when supplementary telegram signals were configured on the drive.

Solution:

Profinet drives no longer crash with supplementary telegram signals are configured on the drive.

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## Functional Safety

- Position Jump When SBT Completes While Axis Under Fieldbus Control [Req#85116] [D-09922]

Issue:

Under certain conditions, a position jump would occur when SBT completed while the axis was under fieldbus control.

Solution:

No position jump occurs when SBT completes while the axis is under fieldbus control.

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## Motion

- Jog Motion Defaults lowered [S-25804]

Issue:

The default velocity and acceleration settings for Jogging were set high by default.

Solution:

The default speed has been lowered to 30RPM and the Acceleration/Deceleration settings have been lowered to 1000 RPM/s. This change will make Jogging safer for commissioning as well as being less stressful to mechanical components when the load is unknown.

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# Version 02-14-02-000 : March 26, 2025

## Fieldbus

- EtherNet/IP - CIP Sync Dynamic Mapping Issue On Single Axis Drives [Req#85009] [D-09918]

Issue:

On single axis drives, the CIP Sync assembly dynamic mapping areas did not work properly.

Solution:

The dynamic mapping areas of the CIP Sync assemblies now operate as expected on single axis drives.

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## Motion

- AXIS#.SETTLE.T Missing Units [D-09917]

Issue:

The AXIS#.SETTLE.T keyword did not have the appropriate units defined.

Solution:

The AXIS#.SETTLE.T keyword units are now defined and display properly in DRV.HELP.

- AXIS#.VL.KP Defaults to 0 [Req#84767] [D-09911]

Issue:

In certain configurations, AXIS#.VL.KP was set to 0 on boot or when resetting parameters to the factory defaults - preventing the drive from moving in velocity or position modes.

Solution:

AXIS#.VL.KP is now properly set to a non-zero value on boot or resetting parameters to the factory defaults.

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## Motor & Power Stage

- New cogging compensation algorithm [S-25779]

Details:

A new cogging compensation algorithm has been added for use with programmed motors. The keywords AXIS#.IL.COGCOMPH.A, AXIS#.IL.COGCOMPH.P, and AXIS#.IL.COGCOMPH.N have been added that represent amplitude, phase offset, and frequency, respectively. The algorithm automatically loads data from motor memory into these keywords for smoother motion, provided AXIS#.MOTOR.AUTOSET has been set to 1. AXIS#.IL.COGCOMPH.ENABLE controls whether the feature is enabled (1) or disabled (0).

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# Version 02-14-01-000 : February 21, 2025

## Action Table

- Actions with source SINDUAL or SOUTDUAL not activated after boot

Issue:

Actions that had their source configured as SINDUAL or SOUTDUAL were not activated when the drive booted, even if the safe inputs / outputs were configured as paired inputs.

Solution:

Actions with source SINDUAL or SOUTDUAL are now correctly activated after booting the drive.

- Extended the range of DRV.CMDDELAY and made it useable in the Command Buffer only. [S-25705]

Issue:

The range of DRV.CMDDELAY was unnecessarily restrictive. Furthermore, it could be executed outside of the Command Buffer, even though it was intended to only be used there.

Solution:

The range of DRV.CMDDELAY has been extended up to 2^32-1/4 ms. It is now only executable through the Command Buffer.

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## Fieldbus

- Fault 7000 was not being generated on EtherCAT drives [Req#81286] [S-25589]

Issue:

Fault 7000, "Fieldbus communication lost" was not being generated on EtherCAT drives when an ethernet cable got disconnected from one of the fieldbus ports.

Solution:

Fault 7000 is now generated on EtherCAT drives if an ethernet cable gets disconnected from one of the fieldbus ports.

- Profinet - Allow configuration of axis as gantry slave [Req#83199] [S-25626]

Issue:

When the Profinet configuration is sent to the drive by the PLC, the firmware automatically determines the Profidrive operating mode and the drive's OpMode and command source based on the telegram selection, defaulting to speed control and Fieldbus/Velocity if no telegram was configured for axis 2. This caused issues when axis 2 was configured as a gantry slave, as the fieldbus initialization would override the gantry command source.

Solution:

A new manufacturer specific Profidrive operating mode 0x8001 and a new telegram 800 have been implemented. With telegram 800 configured, the firmware will set the Profidrive operating mode to 0x8001, which will set the drive's command source to Gantry. Telegram 800 contains no data, as the axis is fully under control of the gantry master axis when in gantry mode.

- Added new COE object for DRV.REBOOT (Index 3000h sub 0Ch) [Req#83287] [S-25645]

Details:

A new write-only object for DRV.REBOOT (COE index 3000h, subindex 0Ch) has been added to the object dictionary for EtherCAT/CANopen. This object allows the user to perform a soft reboot to the drive by writing 0xAABBCCDD to this object.

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## General

- CMP#.VAL returned incorrect values after large jumps in CMP#.SOURCEVAL [D-09877]

Issue:

CMP#.VAL would sometimes return incorrect values after a large jump in CMP#.SOURCEVAL, such as a AXIS#.HOME.SET for example. This would cause the compare outputs to no longer be aligned with CMP#.SOURCEVAL.

Solution:

CMP#.VAL no longer returns incorrect values after large jumps in CMP#.SOURCEVAL. Therefore, the compare outputs will always be aligned with CMP#.SOURCEVAL regardless of the change in CMP#.SOURCEVAL.

- DRV.NVCHECK Returned Same Value After Parameter Change [D-09876]

Issue:

Under rare circumstances, it was possible for DRV.NVCHECK to return the same value despite one or more drive parameters being changed.

Solution:

DRV.NVCHECK now returns a 32-bit number instead of 16-bit to greatly reduce the chance of this collision occurring - however it is still possible. To fully guarantee all parameters between two drives are equal, a file difference should be performed between the DRV.NVLIST output of the drives being compared.

- QuickTune yields low gain on some systems [S-25419]

Issue:

Executing AXIS#.TUNING.QUICKTUNE.START yielded low gains on some completely unloaded systems that should have had a 50Hz tuning solution.

Solution:

A bug was identified in the algorithm, correct gains should now be set.

- Added description to DRV.TYPE values [S-25572]

Details:

Reading DRV.TYPE will now return a plain text description of the type alongside the value. DRV.HELP of DRV.TYPE will show the descriptions of all possible values.

- Made AXIS#.WS.STATE recordable [Req#82612] [S-25534]

Details:

AXIS#.WS.STATE has been made recordable.

- Motor Swap Detection [S-25432]

Details:

A new fault has been added F5016 that will be triggered any time the drive detects that a motor change has occurred that may impact safety and stability. When this fault is activated, the drive will implement default tuning based on the new motor parameters.

- New WorkBench Setup Keywords [S-25633]

Details:

Several new keywords used by the WorkBench Setup feature were added and include SETUP.PARAMS.DATA, SETUP.PARAMS.SIZE, SETUP.PARAMS.CLEAR, SETUP.GROUPS.DATA, SETUP.GROUPS.SIZE, and SETUP.GROUPS.CLEAR.

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## Motion

- Stopping an Axis Being Jogged Caused Velocity Jump [Req#83531] [D-09888]

Issue:

Stopping an axis being jogged in velocity mode via action table or AXIS#.STOP would cause a momentary negative jump in velocity.

Solution:

There is no longer a negative jump in velocity when stopping an axis being jogged in velocity mode.

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## Motor & Power Stage

- Feedback faults on axis in sensorless mode [Req#82579] [D-09860]

Issue:

When AXIS#.MOTOR.TYPE is set to 10 (Sensorless PM), faults on feedbacks that are selected to close one of the loops are still reported on the axis, even though the FBSOURCE keywords are marked "not in use".

Solution:

Feedback faults are no longer reported on an axis with AXIS#.MOTOR.TYPE 10.

- Wake and Shake automatically arming in sensorless mode. [Req#82574] [D-09860]

Issue:

If the feedback type of the feedback selected by AXIS#.IL.FBSOURCE was not absolute, the drive would automatically arm Wake and Shake, even when AXIS#.MOTOR.TYPE was set to 10 (Sensorless PM).

Solution:

Wake and Shake is no longer automatically armed on an axis with AXIS#.MOTOR.TYPE 10.

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# Version 02-14-00-000 : November 6, 2024

## Action Table

- Action Task - Set Analog Output scaling not restored properly [Req#80671] [D-09829]

Issue:

A bug was identified that caused the user specified analog scaling for the Action Task 15 - Set Analog Output. This results in the user setting a scaling, then after rebooting seeing a different value.

Solution:

The scaling is dependent on the Action Source, and the source was being restored after the analog scaling. By moving the scaling to restore after the source has been restored fixed the bug.

- Command Buffer will not write negative numbers [Req#81276] [D-09843]

Issue:

If the Command Buffer is being used to write negative numbers to a keyword, the value is not correctly written.

Solution:

Bug was identified and fixed.

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## Feedback

- Added SFD-M Feedback Type [S-25414]

Details:

The SFD-M feedback type (47) is now an available option for the FB#.SELECT keyword for feedbacks 1 and 2. It is also included on the auto-identify list when FB#.SELECT = -1.

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## Fieldbus

- EtherNet IP - CipSync Home Attained status bit bug [D-09837]

Issue:

The CipSync Home Attained status bit (bit 12) was only set if the user explicitly chose the 'Homing Mode' via the control word.

Solution:

The CipSync Home Attained status bit now reflects the same information as the Home Done bit (bit 2) of AXIS#.MOTIONSTAT, unless homing was just triggered (the bit goes low long enough for the controller to see the rising edge back to high).

- PROFIdrive statusword bit 'Home Position Set' not cleared when axis lost homing [Req#81179] [D-09844]

Issue:

When a previously homed axis lost its homing, for example after re-initializing a non-absolute feedback, the 'Home Position Set' bit in the PROFIdrive statusword was not cleared.

Solution:

The 'Home Position Set' bit in the PROFIdrive statusword is now cleared when the axis loses homing.

- Reading SDO Info locking up EtherCAT mailbox or crashing the drive [D-09835]

Issue:

When SDO Info was read from the drive, and the response had to be split into multiple mailbox packets, the drive would sometimes no longer be able to transmit further mailbox messages or crash entirely.

Solution:

Firmware now correctly handles large SDO Info responses without locking up or crashing.

- EtherNet/IP - EIP.PLLMODE No Longer Reset on Disconnect

Issue:

EIP.PLLMODE was automatically reset to a value of 0 by the drive whenever any assembly connection was closed.

Solution:

EIP.PLLMODE is now only reset to 0 when a standard or free mapping assembly connection is opened for the first time.

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## General

- Read-only keywords generated by MechaWare model not working if defined in multiple models [Req#78894] [D-09810]

Issue:

If a read-only keyword was defined in multiple MechaWare models, the data was always read from the first model to define the keyword, even if that model was not active.

Solution:

Read-only keywords generated by a MechaWare model will now read from the active model that defined them. A configuration warning is triggered if there are multiple active models defining the same read-only keyword.

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## Motion

- AXIS#.HOME.MODE 19 not activating when Axis enters Gantry Mode [Req#80002] [D-09820]

Issue:

Home Mode 19 is a special home mode to assist in Gantry Mechanics allowing the second axis to follow the primary axis. In most cases this will be activated automatically.

Solution:

A few edge cases were identified that did not set the following axis to HOME.MODE 19. This logic has been fixed.

- Improved Cogging Compensation Completion Status [Req#79647] [D-09804]

Issue:

If a user configured cogging compensation with parameters that yielded poor results, the drive would silently allow the user to implement a poor cogging compensation table.

Solution:

If cogging compensation completes with more than 0.5% empty records, the cogging compensation will complete with a Status 3 - Complete with Missing Data to help the user identify that they may be able to achieve better results with different settings.

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## Motor & Power Stage

- AXIS#.MOTOR.RSOURCE did not affect motor temperature supervision [Req#79316] [S-25293]

Issue:

Drive firmware always read the motor temperature from the encoder, if it supported temperature measurement and directly from the feedback connector otherwise, regardless of the setting of AXIS#.MOTOR.RSOURCE.

Solution:

Firmware now considers the value of AXIS#.MOTOR.RSOURCE when determining how to read motor temperature. For backwards compatibility reasons, the behavior remains unchanged if the default value of 0 is selected. Additionally, a new warning W5006 has been added, which is active if temperature supervision is inactive due to the AXIS#.MOTOR.RSOURCE setting.

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# Version 02-13-01-000 : August 23, 2024

## Feedback

- Feedback warnings not shown on axis after changing axis' feedback source [Req#79661] [D-09796]

Issue:

After changing one of the axis' feedback sources (AXIS#.IL.FBSOURCE, AXIS#.VL.FBSOURCE, AXIS#.PL.FBSOURCE, AXIS#.GEAR.FBSOURCE) feedback warnings would sometimes no longer be correctly displayed on that axis.

Solution:

Feedback warnings are now correctly displayed on an axis after changing one of the axis' feedback sources.

- Homing offset is not cleared in certain situations [D-09757]

Issue:

The keyword AXIS#.HOME.OFFSET is not cleared when the feedback is changed or when AXIS#.PL.FBSOURCE is changed.

Solution:

The keyword AXIS#.HOME.OFFSET is now correctly cleared in all situations.

- Add EnDat encoder error bits to FB#.INFO [S-25133]

Issue:

When a fault F4x09 "Feedback Unique Fault 0" was triggered using an EnDat feedback, no further information on the root cause could be gathered from the drive.

Solution:

The EnDat encoder error bits are now visible in FB#.INFO to help find the root cause of F4x09 faults.

- Added warning for feedback rollover [S-25172]

Details:

A new warning W4x32 has been added to the firmware, which is triggered when the position of a feedback has moved out of the range of the encoder, and rebooting the drive or reinitializing the feedback would lead to loss of absolute position. The warning is disabled by default, but can be enabled using the keyword FB#.ROLLOVERWEN.

- New keyword FB#.POSLOWPASS for setting Position Low Pass Filter [S-25167]

Details:

A new keyword FB#.POSLOWPASS was created to set the position low-pass filter feedbacks that support it.

- Support SFD-M diagnostic bits [S-25147]

Details:

FB#.INFO displays a line that enumerates fault bits corresponding to a feedback sensor fault.

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## Fieldbus

- EtherNet/IP - Standard Assembly - Negative torque value receives error [Req#78140] [D-09752]

Issue:

For the Torque Move command type (0x05) with the standard assembly, negative torque values were returning an error.

Solution:

Negative torque values can be passed in the data segment of the assembly without receiving an error.

- EtherNet/IP - Standard Assembly - Wrong keyword updated for command type 0x06 and 0x07 [Req#78141] [D-09753]

Issue:

For the Position Move (0x06) and Jog (0x07) command types (specifically in velocity mode), both AXIS#.FBUS.V and AXIS#.FBUS.VL.CMD were updated with the target velocity value.

Solution:

Now, for these command types, only AXIS#.FBUS.V is updated with the velocity value. This now matches our documentation.

- EtherNet/IP - Standard Assembly - Incorrect AOI Execution [Req#73908] [S-25095]

Issue:

Several standard EtherNet/IP AOIs did not execute as documented when AXIS#.CMDSOURCE did not equal to Fieldbus.

Solution:

The affected standard EtherNet/IP AOIs no longer require AXIS#.CMDSOURCE to equal Fieldbus for proper execution.

- Added EtherCAT Mode for Electronic Gearing [Req#75400] [S-25184]

Details:

Added new EtherCAT Mode of Operation (object 6060h/6860h) -3 for electronic gearing support.

- Added SFD-M serial number to FB#.INFO [S-25229]

Details:

The SFD-M serial number has been added to FB#.INFO. The format of the serial number is as follows: "YYWW-LLLL-SSSS" where YY is the year, WW is the work week, LLLL is the lot number, and SSSS is the serial number.

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## General

- Display crashed drive or stopped responding if buttons were pressed during 'Canceled' popup [Req#78249] [D-09759]

Issue:

Pressing the external buttons on the drive after canceling an SD backup (having the 'Canceled' popup open) could potentially crash the drive.

Solution:

Pressing the external buttons with popups open now does not crash the drive.

- Gantry would not enable with different DISMODEs [D-09361]

Issue:

If a gantry was configured and each axis had a different dismode and the gantry was configured to enable on boot (AXIS#.ENDEFAULT), the gantry would not enable on boot.

Solution:

A synchronization bug was identified and fixed. Gantry will now enable successfully regardless of the disable mode.

- Service port did not give valid responses to pings [Req#79758] [D-09801]

Issue:

The drive behaved as if the drive was not connected to the network when pinged from a PC on the service port. This issue was introduced in 02-13-00-000.

Solution:

The drive now correctly responds to pings from a PC on the service port.

- Made W3101 Configurable [Req#75317] [S-25234]

Details:

A new keyword MW.CONFIGWEN was added to selectively enable or disable warning W3101 - MechaWare Configuration. By default, MW.CONFIGWEN is set to 0 and the warning is disabled. W3101 is enabled on the first reboot after downloading a new MechaWare model regardless of the value of MW.CONFIGWEN.

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## Motion

- Fix for Limit Switch Position Jump on Enable [Req#79327] [D-09787]

Issue:

Moving a disabled axis while a limit switch (software or hardware) was active would cause a position jump on axis enable.

Solution:

No position jump occurs on enable in this condition.

- Setting Bode Inject Point to None Does Not Reset Excitation [Req#78222] [D-09754]

Issue:

If AXIS#.BODE.INJECTPOINT was set to 0 (None) while excitation was in progress, excitation did not stop and the motor ran away.

Solution:

Setting AXIS#.BODE.INJECTPOINT to 0 (None) while excitation is in progress now stops all excitation and the motor does not run away.

- Added keywords AXIS#.PL.KIWAITFORSETTLE and AXIS#.VL.KIWAITFORSETTLE [S-25046]

Details:

Added new keywords which are 0 by default. When set to 1, the position and the velocity integrator keywords activate the corresponding integrator only when the axis has settled (as defined by AXIS#.MOTIONSTAT.SETTLED).

- Configured Motion Settling Time added [S-25045]

Details:

A new keyword AXIS#.SETTLE.T was added which determines the time in milliseconds the axis has to be in position and velocity windows for the motion to be considered settled.

- New Feature - Quicktune [S-25048]

Details:

Tuning a servo takes a few steps. A new feature has been added to streamline the process of getting a system commissioned.

Executing AXIS#.TUNING.QUICKTUNE.START will measure the motor's load inertia and determine a suitable bandwidth and set the tuning gains appropriately. The user can check the value of bandwidth achieved by checking AXIS#.TUNING.BANDWIDTH.

- New In Position and In Velocity window [S-25044]

Details:

General purpose status bits have been added so a user can determine if AXIS#.PL.FB is close to AXIS#.PL.CMD and if AXIS#.VL.FBFILTER is close to AXIS#.TRAJ.VCMD. These new motion status bits are included in AXIS#.MOTIONSTAT as well as exposed individually by the keywords AXIS#.MOTIONSTAT.INPOSITION and AXIS#.MOTIONSTAT.INVELOCITY. AXIS#.SETTLE.P and AXIS#.SETTLE.V are used to set the window size.

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# Version 02-13-00-000 : June 10, 2024

## Action Table

- ACTION#.CONDITIONVALUE didn't populate when loading a saved parameter file [Req#77861] [D-09745]

Issue:

ACTION#.CONDITIONVALUE did not load properly from a saved parameter file due to a dependency order conflict.

Solution:

Adjusted the priorities of the action keywords so the order they are loaded in from parameter files matches their dependency order.

- ACTION#.CONDITIONVALUE incorrectly changed when changing ACTION#.SOURCETEXT on the Recordable Parameter source [Req#77194] [D-09729]

Issue:

ACTION#.CONDITIONVALUE was changing to a seemingly random value when changing ACTION#.SOURCETEXT on the Recordable Parameter source.

Solution:

When changing ACTION#.SOURCETEXT, ACTION#.CONDITIONVALUE is now reset to zero or the minimum limit of ACTION#.CONDITIONVALUE if it's greater than zero.

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## Fieldbus

- AXIS#.PL.FILTER.Q Deprecation Breaks FoE Download for Old Parameter Files [Req#77959] [D-09749]

Issue:

When AXIS#.PL.FILTER.Q was deprecated, the keyword was removed causing older parameter files with this keyword to fail when downloaded via FoE.

Solution:

A dummy AXIS#.PL.FILTER.Q keyword was added and older parameter files no longer fail when downloaded via FoE.

- Checksum Not Calculated Properly for EoE

Issue:

Checksums for packets sent by the drive over EoE were not calculated correctly, effectively breaking EoE connectivity.

Solution:

Checksums for packets sent by the drive over EoE are now calculated correctly allowing proper EoE connections.

- EtherCAT - Dummy objects no longer produce errors [Req#76238] [D-09736]

Issue:

Dummy objects, such as CoE object 500Ch sub 10h, used to produce "Subindex does not exist" abort codes if read from or written to.

Solution:

Dummy objects no longer produce errors if read or written. The read value is always 0, and the written value is ignored.

- Changed EIP keywords to be recordable for diagnostic purposes [Req#76956] [S-25033]

Issue:

EIP.ASY105.AXIS#.SYSTEMTIME and EIP.ASY105.AXIS#.P, the time and position data, respectively, received from the PLC, were not recordable.

Solution:

EIP.ASY105.AXIS#.SYSTEMTIME and EIP.ASY105.AXIS#.P are now recordable. Users can now use these keywords to compare the PLC data to the post-interpolated position data.

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## Functional Safety

- Non-64 bit signed safety parameters returned values as unsigned [Req#78101] [D-09750]

Issue:

Reading a non-64 bit signed safety parameter that had a negative value would return the unsigned value instead.

Solution:

Non-64 bit signed safety parameters now return the correct values.

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## General

- AXIS#.IL.KVFF range expanded [Req#77825] [S-25125]

Issue:

Some applications with high viscous loads might find they cannot increase IL.KVFF enough before hitting the keyword maximum.

Solution:

The range of AXIS#.IL.KVFF has been increased to 1,000,000.

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## Motion

- Incorrect velocity command when triggering motion task with another task running [Req#77618] [D-09731]

Issue:

Under certain conditions, triggering a motion task while another task was already running caused the velocity command to immediately jump up to a velocity higher than either task's target velocity. This happened when the second task's target velocity was lower than that of the first task, and it was triggered close to its target position.

Solution:

The firmware has been updated to correctly calculate the trajectory from a motion task's parameters when it is triggered with another task already running.

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## Motor & Power Stage

- Firmware allows VBUS.OVFTHRESH to be set to bad values [Req#77632] [D-09732]

Issue:

VBUS.OVFTHRESH was allowed to be writable sometimes.

Solution:

VBUS.OVFTHRESH is now read-only.

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# Version 02-12-02-000 : May 13, 2024

## Action Table

- ACTION#.CONDITIONVALUE range was not matching the range of the keyword it is checked against [Req#76803] [D-09722]

Issue:

The range displayed on the help for ACTION#.CONDITIONVALUE was not matching the allowed range on the keyword it was checking against.

Solution:

The range of ACTION#.CONDITIONVALUE has been fixed.

- Command Buffer will not write AXIS#.MT.P [Req#R75416] [D-09704]

Issue:

Action Table would not allow a non-zero value to write to AXIS#.MT.P and would throw an Action Table error and a Drive warning.

Solution:

Data is now correctly handled and successfully writes to the Motion Task Position value specified in the command buffer.

- Action Table - Absolute options added to Action Table conditions [Req#76533] [S-24981]

Details:

Four new conditions were added to the Action Table: Absolute Less Than (13), Absolute Greater Than (14), Absolute Rises Above Threshold (15), Absolute Falls Below Threshold (16). These are the absolute counterparts to conditions Less Than (3), Greater Than (4), Rises Above Threshold (7), and Falls Below Threshold (8), respectively. Since they only look at the absolute value of the source and condition values, the absolute conditions enable a comparison between the source and both the positive and negative condition values.

- New Action Source Ready to Enable [D-09408]

Details:

A new Action Source has been added which is similar to Ready to Operate with the addition of AXIS#.DISSOURCES to indicate if the axis can be enabled in its current state.

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## Display

- QR Codes to WebHelp pages on LCD Display [Req#39460] [S-24767]

Details:

The LCD display interface has a new menu screen "Quick Links" with QR codes to the WebHelp home page and faults page.

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## Display/SD Card

- Drive Crashed when Restoring from SD Card on Display [D-09690]

Issue:

The drive crashed when attempting to navigate away from the SD card restore screen when an SD card error occurred.

Solution:

The drive no longer crashes when navigating away from the restore screen when an SD card error occurred.

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## Feedback

- Fixed unclearable SFA communication fault when selecting MOTOR.TYPE 2 or 10 [Req#76693] [D-09718]

Issue:

When selecting the sensorless or V/f open loop induction MOTOR.TYPE's, an unclearable SFA communication fault was emitted even if the feedback type was not SFA or None.

Solution:

The drive no longer emits an unclearable SFA communication fault when selecting a sensorless or V/f open loop induction MOTOR.TYPE when the feedback type is not SFA or None.

- Initialization on Full Range of Gurley SSI Encoder [Req#73802] [D-09679]

Issue:

When the Gurley SSI encoder was initialized on the upper half of the absolute scale, an incorrect negative position was reported.

Solution:

The feedback position is now accurately reported when a Gurley SSI encoder is initialized on the upper half of the absolute scale.

- Support for latest Hiperface DSL encoders [Req#74272] [S-24770]

Issue:

The Hiperface DSL specification was changed, so that certain configuration data can now be stored in a different location. The drive failed initializing encoders that made use of that new location, because it failed accessing the data in the old location.

Solution:

The firmware has been changed to consider both locations when trying to access configuration data.

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## Fieldbus

- CANopen - Reading objects 0x3000 sub12 and sub13 lead to F3002 fault [Req#75309] [D-09703]

Issue:

The CANopen objects 0x3000 sub12 and sub13 (DISPLAY.MONITOR.LABEL and DISPLAY.MONITOR.VALUE, respectively) were implemented incorrectly as string objects instead of array objects.

Solution:

The objects DISPLAY.MONITOR.LABEL and DISPLAY.MONITOR.VALUE have been assigned to indexes 0x3016 and 0x3017, respectively and are now properly implemented as array objects.

- EtherNet/IP CipSync - Bugfix for homing after quick stop [Req#74644] [D-09691]

Issue:

Setting the Home Start bit in the CipSync control word while in the Quick Stop Active state (or any state other than Operation Enabled) set the home position to the current position, even if the axis was enabled.

Solution:

This issue was resolved and the functionality of setting the home position to the current position (if homing was requested and the state machine was not in Operation Enabled state) has been removed. If this functionality is still desired, an explicit message bound to the AXIS#.HOME.SET command or the homing mode 0 (Current Position) can be used instead.

- EtherNet/IP - Static IP address configuration not always restored properly [Req#73865] [D-09694]

Issue:

Using a value of 0.0.0.0 for EIP.IPGATEWAY meant that the configuration would not be loaded properly on reboot.

Solution:

The configuration would be loaded properly after reboot regardless of values.

- EtherNet/IP Assembly Status Keywords Refresh Issue [Req#76428] [D-09716]

Issue:

EtherNet/IP assembly status keywords had stale data persist even after the connection was closed.

Solution:

EtherNet/IP assembly status keywords are now cleared to 0 when a connection is closed.

- Fixed Backward Compatibility for CoE Objects 500Ch sub10h and 510Ch sub10h [Req#76238] [D-09713]

Issue:

Dummy CoE objects 500Ch sub10h and 500Ch sub10h were incorrectly implemented as read-only instead of read-write, which broke backward compatibility.

Solution:

Dummy objects 500Ch sub10h and 510Ch sub10h now implemented as read-write objects, fixing backward compatibility.

- Regression in switching between homing and CSP-mode in EtherCAT [Req##75714] [D-09706]

Issue:

Big velocity jumps after switch from DS402 Homing mode to Cyclic Synchronous Position mode.

Solution:

Measure implemented to reduce effect. Main part is coming from NC-implementation of mode switch.

- AXIS#.VL.ERR changed to PDO mappable [Req#75829] [S-24908]

Issue:

AXIS#.VL.ERR was not PDO mappable.

Solution:

AXIS#.VL.ERR was made Tx PDO mappable.

- EtherCAT - Fixed Object Type for Command Array Objects [S-24889]

Issue:

Multiple command array objects (e.g. AXIS#.MT.MOVE) were formatted incorrectly in the object list.

Solution:

All command array objects are now listed with the correct format.

- Followup to FSoE-plugfest

Issue:

Safety-PDO definition had one object with different sub-indices, which must be in the ascending order.

Solution:

Issue has been fixed. Also changed BOOL to BIT in Safety PDO's. Not possible to change WORD and BYTE to UINT and USINT because they are in the EtherCAT specs (some MainDevice vendors have problems with that).

- CANopen - Added DS402 objects 6062h and 6862h [Req#75799] [S-24948]

Details:

DS402 objects 6062h/6862h, "Position Demand Value - Axis #", have been added to the object dictionary. This is a read-only object that gives the ability to read (via PDO) the scaled position command.

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## Functional Safety

- Warning W9016 on drive and SMM parameter version mismatch

Details:

If the drive and the SMM firmware use different versions of the safety parameters, a warning W9016 is generated. After a restart, the drive firmware adapts to the safety parameter version of the SMM.

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## General

- Biquad Filter cannot be turned off [Req#75940] [D-09708]

Issue:

To Turn off a first or second order lowpass filter the user should set the frequency to zero. A bug was found that prevented the user from setting the frequency below 5Hz, meaning the user could not turn off the biquad.

Solution:

The limit has been fixed and the biquad is now at unity gain when the frequency is set to 0Hz.

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## Motion

- Homing - AXIS#.MOTIONSTAT bit 21 not properly cleared at the start of homing [Req#76327] [D-09711]

Issue:

If AXIS#.MOTIONSTAT bit 21 (which specifies that the actual drive position is within the target position in homing) was already set before initiating a home, it would not be cleared at the start of the homing sequence.

Solution:

AXIS#.MOTIONSTAT bit 21 is now properly cleared at the start of homing.

- Motor Runs away when changing from Sensorless to Normal commutation [Req#76982] [D-09727]

Issue:

When changing the motor type from Sensorless to Normal commutation and re-energizing the motor, the motor speed becomes uncontrollably high.

Solution:

The motor behaves normally when changing the type from Sensorless to Normal commutation.

- Velocity jump when homing with AXIS#.VL.KVFF not set to 1

Issue:

When a homing procedure found the home position while the motor was moving, and AXIS#.VL.KVFF was not set to 1, the velocity command momentarily jumped up (AXIS#.VL.KVFF < 1) or down (AXIS#.VL.KVFF > 1).

Solution:

Finding the home position while the motor is moving no longer causes a jump in velocity command, regardless of the value in AXIS#.VL.KVFF.

- Allow Motion Task Triggers Under Certain Fieldbus Configurations [S-24934]

Issue:

Motion tasks were not triggered by the action table while AXIS#.CMDSOURCE was set to "Fieldbus" even if the drive was following an internal trajectory at the time of the trigger.

Solution:

Motion tasks triggered by the action table while AXIS#.CMDSOURCE is set to "Fieldbus" are allowed as long as the drive is already following an internal trajectory.

- AXIS#.VL.KVFF moved to prevent interactions with other Feedforwards [Req#73123] [D-09658]

Issue:

The original placement of AXIS#.VL.KVFF gain had an unintended interaction of scaling AXIS#.IL.KACCFF and AXIS#.IL.KVFF.

Solution:

AXIS#.VL.KVFF has been moved to operate independently of AXIS#.IL.KACCFF and AXIS#.IL.KVFF

- Velocity Loop Integrator Saturation Limit added [Req#76367] [S-24988]

Details:

AXIS#.VL.INTOUTMAX (amps) has been added to the firmware. This limits the velocity loop integrators saturation limit.

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# Version 02-12-01-000 : December 14, 2023

## Display

- Live Monitor Screen [Req#64627] [S-24159]

Details:

This new screen allows user to display and monitor up to six keyword values of their choice on the LCD display. This screen can be navigated to through the menu screen. Use the new keywords DISPLAY.MONITOR.LABEL and DISPLAY.MONITOR.VALUE to set your monitor labels and keywords, respectively.

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## Feedback

- Position from linear EnDat or Hiperface scaled incorrectly when used with SFA [Req#72847] [D-09649]

Issue:

When using a linear EnDat or Hiperface encoder with an SFA, the position was not scaled correctly.

Solution:

The firmware was changed to correctly scale positions read from linear EnDat and Hiperface encoders used with an SFA.

- SSI Encoder Issues [Req#73355] [D-09657]

Issue:

Readings from the POSITAL IXARC SSI feedback were jumpy and unreliable.

Solution:

FB#.SSIBAUD was added to allow a configurable clock rate for SSI encoders, which resolved the issues with the POSITAL encoder by setting to 1,750,000.

- BiSS-B Digital Feedback Interface Support [S-24657]

Details:

Both BiSS-B Digital and BiSS-B Digital over SFA feedback types are now supported. BiSS-B Digital can be configured by setting FB#.SELECT to [35]. If you wish to use BiSS-B Digital over SFA set FB#.SELECT to [135].

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## Fieldbus

- CANopen - Changing quick stop option code could cause infinite controlled stop [Req#72856] [D-09646]

Issue:

If quick stop option code (605Ah/685Ah) was set to 5 or 6 and a quick stop was activated, changing quick stop option code afterward could cause the controlled stop disable source to never cease.

Solution:

Changing quick stop option code (605Ah/685Ah) no longer allowed for the erroneous condition.

- EtherNet/IP - AXIS#.MOTIONCONTROL command did not allow home move [Req#72616] [D-09637]

Issue:

Unless an axis was configured for the Fieldbus command source, dynamic mapped keywords that triggered homing would not home.

Solution:

All dynamic mapped keywords functioned properly in Service command source, but would no longer function if the axis was in Fieldbus command source.

- EtherNet IP - Changing AXIS#.EIP.QUICKSTOPACTION could cause infinite controlled stop [Req#72856] [D-09646]

Issue:

If AXIS#.EIP.QUICKSTOPACTION was set to 5 or 6 and a quick stop was activated, changing AXIS#.EIP.QUICKSTOPACTION afterward could cause the controlled stop disable source to never cease.

Solution:

Changing AXIS#.EIP.QUICKSTOPACTION no longer allowed for the erroneous condition.

- EtherNet/IP - PTP not automatically enabled [D-09636]

Issue:

If PTP, the time synchronization protocol that enables CIP Sync, was disabled then the drive did not automatically enable it.

Solution:

The drive automatically enabled the PTP time synchronization.

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## General

- AXIS#.MOTOR.TYPE Option [10] reintroduced after temporary removal [S-24662]

Issue:

The option for Surface Permanent Magnet (SPM) motor with sensorless control (10) had been removed temporarily from the AXIS#.MOTOR.TYPE keyword.

Solution:

The option for Surface Mount Permanent Magnet (SPM) motor with sensorless control (10) has been added to the AXIS#.MOTOR.TYPE keyword.

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## Motion

- MechaWare AIN and AOUT blocks did not work [Req#R73170] [D-09656]

Issue:

A bug was introduced that broke the Analog Input and Analog Output blocks.

Solution:

Runtime logic has been fixed

- Some functions requiring axis to be homed did not work after axis was homed using AXIS#.HOME.AUTOMOVE 1 [Req#72963, 72979] [D-09651]

Issue:

If an axis using an absolute feedback was homed by enabling the axis with AXIS#.HOME.AUTOMOVE set to 1, some functions that required the axis to be homed were not working correctly, even though AXIS#.MOTIONSTAT showed the axis was successfully homed. The affected functions were starting a cogging compensation teach move and synchronized operation of two axis in a gantry setup.

Solution:

Homing an axis using an absolute feedback by enabling the axis with AXIS#.HOME.AUTOMOVE set to 1 now correctly enables functions requiring the axis to be homed.

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# Version 02-12-00-001 : November 17, 2023

## Motor & Power Stage

- AXIS#.MOTOR.TYPE Option [10] Temporarily Removed

Issue:

---

Solution:

The option for Surface Permanent Magnet (SPM) motor with sensorless control (10) has been temporarily removed from the AXIS#.MOTOR.TYPE Keyword.

Note: After installing this version of firmware it will not be possible to revert back to previous versions of firmware.

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# Version 02-12-00-000 : October 16, 2023

## Action Table

- Drive crashes when homing started by action uses index pulse from SFA [Req#72106] [D-09607]

Issue:

When a homing mode using the feedback's index pulse was configured, and the feedback device was connected through an SFA, starting a homing from an action lead to the drive crashing.

Solution:

The drive no longer crashes when starting a homing from an action, with a homing mode configured to use the feedback's index pulse, and the feedback device connected through an SFA.

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## Analog & Digital IO

- Fixed bug with Home Mode 11 and SFA [Req#71973] [D-09606]

Issue:

There was a problem with Home Mode 11 that prevented using the mode with an SFA on axis 1 (X1).

Solution:

Home Mode 11 worked with SFA on either axis (X1 or X2).

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## Feedback

- F4x09 after first initialization of Hiperface DSL encoder [Req#70441] [D-09584]

Issue:

Immediately after the first initialization of some Hiperface DSL encoder models, the drive was showing a fault F4x09, even though the encoder was working correctly.

Solution:

Firmware no longer triggers an invalid F4x09 after the first initialization of Hiperface DSL encoders.

- Scaling of linear EnDat Analog absolute position wrong when feedback was not used to close a loop [Req#67170] [D-09524]

Issue:

If an EnDat Analog encoder was not used to close an axis' control loop, the firmware used an incorrect scaling for the absolute position, that is read during initialization of the encoder. Absolute position was therefore not consistent across reinitialization of the feedback or rebooting the drive.

Solution:

The firmware now correctly scales the absolute position of an EnDat Analog encoder, even when it's not used to close one of the drive's control loops.

- SFA#.UPDATE did not clear home status [D-09465]

Issue:

After SFA#.UPDATE command is executed, homing status was retained always.

Solution:

After SFA#.UPDATE command is executed, homing status is now cleared or restored based on the configuration of the drive and is now similar to the behavior when the drive is power-cycled.

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## Fieldbus

- Could not set static IP address for EtherNet/IP fieldbus port when cable was unplugged [Req#65898] [D-09587]

Issue:

The user could not set a static IP address on the EtherNet/IP fieldbus port as long as the cable as disconnected.

Solution:

When the user tried to set the EtherNet/IP fieldbus port IP address (EIP.IPRESET), a message was displayed indicating that the settings could not be applied immediately, but that they would be applied when the cable was reconnected. The settings could be applied after power cycle as well.

- Drive crashes when mapping 1026h sub 1 into PDO [Req#71718] [D-09600]

Issue:

The drive crashed when sending PDO 1026h sub 1

Solution:

The drive does not crash when sending PDO 1026h sub 1

- EtherNet/IP address lost on NetX firmware upgrade [Req#63468] [D-09450]

Issue:

When the NetX firmware was upgraded, the IP settings of the user in the NetX remanent data would be lost.

Solution:

User IP settings persisted through NetX firmware upgrades.

- EIP CIPSync - Toggling Home Start and Home Mode bits in same cycle bug [D-09590]

Issue:

When Op Mode and Command Source are not Position and Fieldbus respectively, the drive would not home when the Home Start and Home Mode bits were toggled at the same time.

Solution:

Independent of Op Mode and Command Source, the drive did home when the Home Start and Home Mode bits were toggled at the same time.

- EtherNet/IP F7005 When Downloading PLC Program [Req#66156] [D-09499]

Issue:

When a new program was downloaded to a PLC connected to an EtherNet/IP drive, both axes would fault with code 7005.

Solution:

Axes no longer fault when downloading to a connected PLC.

- EtherNet/IP Expose CIP Sync Quick Stop Option as Keyword [S-24494]

Details:

A new keyword AXIS#.EIP.QUICKSTOP was created to allow for configuring the quick stop action executed by CIP Sync.

- Implement Touch Probes for EtherNet/IP [S-24420]

Details:

Touch probe capability is now implemented for EtherNet/IP drives. The following keywords are now accessible via WorkBench terminal, explicit messaging, and mapping in any dynamic assemblies.

AXIS#.EIP.TP.CONTROL#   AXIS#.EIP.TP.STATUS#   AXIS#.EIP.TP.SOURCE#   AXIS#.EIP.TP.POSLATCH#   AXIS#.EIP.TP.NEGLATCH#   AXIS#.EIP.TP.POSTIME#   AXIS#.EIP.TP.NEGTIME#   AXIS#.EIP.TP.POSCOUNT#   AXIS#.EIP.TP.NEGCOUNT#

^ Back to Top ^

## General

- CMP#.VAL wrong when homing offset is restored on power-cycle [D-09594]

Issue:

When the compare source is AXIS#.PL.FB and the home offset is restored on a power-cycle, the compare engine will not operate correctly.

Solution:

The compare engine will now operate correctly when the source is AXIS#.PL.FB and a home offset is restored on a power-cycle.

- Cogging compensation teach move with modulo not working when position was negative [Req#71589] [D-09599]

Issue:

With cogging compensation configured with modulo enabled, doing a teach move did not create a compensation table if the axis' feedback position during the move was negative.

Solution:

The cogging compensation teach move now correctly handles negative position values.

- DRV.TEMPFTHRESH and DRV.TEMPWTHRESH Report Incorrect Values [D-09595]

Issue:

DRV.TEMPFTHRESH and DRV.TEMPWTHRESH reported temperature threshold values that were different than the drive's programming. Faults and warnings triggered at the correct temperatures, only the output of these parameters was incorrect.

Solution:

Now correctly report temperature threshold values that are in agreement with the drive's programming.

- Support for Registration Capture within Position Window [S-24486]

Details:

AKD2G now supports using the Compare Engine to act both as a pre-condition (PreSelect) and a trigger for Capture.

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## Motion

- Velocity jump when homing with non-zero AXIS#.PL.FILTER.FREQ [Req#R67541] [D-09533]

Issue:

A bug was found with homing and resetting the axis position while in motion and using the position command filter.

Solution:

The filter has been changed out with a better filter for motion as well as fixing the reset logic to properly zero while in motion. AXIS#.PL.FILTER.Q has been deprecated and no longer used by the drive.

- Added AXIS#.HOME.OFFSETUSERLIMIT [Req#R70109] [D-09582]

Details:

This new limit affects AXIS#.HOME.OFFSETUSER. If HOME.OFFSETUSER is set above/below the new AXIS#.HOME.OFFSETUSERLIMIT an error will be returned.

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# Version 02-11-03-000 : August 30, 2023

## Action Table

- Condition Value not correctly returned for feedback current

Issue:

Condition Values when condition was feedback current were shown with wrong values.

Solution:

Condition Values when condition was feedback current are now shown as entered.

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## Analog & Digital IO

- PWM signal on DIO [S-22053]

Details:

The drive can now output a PWM signal on its bidirectional digital IOs. A DIO can be used as a PWM output by setting DIO#.SOURCE to 6. New commands PWM1.PERIOD and PWM1.DUTYCYCLE can then configure the PWM signal.

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## Feedback

- Selecting feedback sometimes faults with MotorParamsSetupIncomplete [D-09579]

Issue:

When rebooting with FB#.SELECT set to 1 (None), and then selecting a valid feedback, the drive sometimes faulted with F5#05 (Motor Parameters Setup Incomplete).

Solution:

Selecting a valid feedback after rebooting with FB#.SELECT set to 1 (None), now consistently succeeds without any fault.

- SFD2 & SFD3 feedbacks failed to identify if there are faults [D-09577]

Issue:

The SFD feedbacks (generation 2 and 3) failed to identify even if there are faults unrelated to identifying the feedback.

Solution:

The SFD feedbacks (generation 2 and 3) are now correctly identified by the drive if there are faults not related to feedback identification.

- Thermal resistance calculation for SFD is wrong [Req#68864] [D-09556]

Issue:

The calculated thermistor resistance for SFD was wrong.

Solution:

The thermistor resistance for SFD is correctly calculated.

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## Fieldbus

- EtherNet/IP IP setting bug [D-09495]

Issue:

Configuring EtherNet/IP IP address mode using EIP.IPMODE from static to DHCP failed and would prevent an IP from being found until the cable was disconnected and reconnected or the drive was rebooted. Additionally, trying to configure a static IP address after DHCP had been configured would fail on the first try.

Solution:

The EtherNet/IP IP settings could be configured properly as long as the cable was plugged into the fieldbus port.

- EtherNet/Ip Forces Fieldbus Command Source

Issue:

When the EtherNet/Ip connection was active, the drive's command source would be forced to Fieldbus with no way of switching it back to Service.

Solution:

The drive's command source can now be set to Service while the EtherNet/Ip connection is active.

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## General

- Compare Engine axis feedback position is displayed without home offset. [Req#69256] [D-09569]

Issue:

CMP#.SOURCEVAL displayed the feedback position without the home offset.

Solution:

CMP#.SOURCEVAL now correctly displays feedback position with the home offset.

- IP.ADDRESS change does not apply [Req#R#69340] [D-09562]

Issue:

When setting IP.MODE = 1 (Static IP address) and then setting IP.ADDRESS to the new address, the IP address reverts to the original address.

Solution:

The IP.ADDRESS setting is retained and does not revert to the original address.

- Menu items ordered incorrectly on TCP IP screen [Req#70082] [D-09581]

Issue:

The menu items of the display's TCP/IP screen appeared in the wrong order.

Solution:

The menu items of the TCP/IP screen are now ordered correctly.

- Clearing brake faults didn't disable brake override. [Req#67692] [S-24340]

Issue:

After a brake fault was detected, the brake was immediately applied by the drive. If a brake was forced to be released by setting AXIS#.MOTOR.BRAKECONTROL to 2 when a brake fault happened, the brake was immediately released again, when the fault was cleared.

Solution:

Clearing a brake fault now disables the brake override of the axis controlling that brake by setting AXIS#.MOTOR.BRAKECONTROL to 0.

- KUP.SEPARATOR [S-24496]

Details:

The Kollmorgen UDP protocol, KUP, has a new parameter to select an alternative character sequence in the requests to and responses from the AKD2G drive. This allow a comma to separate parameters instead of the \r\n for the requests and \r\n--> for responses.

^ Back to Top ^

# Version 02-11-02-001 : August 11, 2023

## Fieldbus

- CIP Sync Home Attained Doesn't Change on Rehome [D-09571]

Issue:

The home attained bit of the status word would not change when the axis was rehomed.

Solution:

The home attained bit of the status word is now cleared for at least 4 stream periods upon rehoming.

- AXIS#.EIP.STREAMPERIOD is writable again [D-09559]

Issue:

In a recent beta, AXIS#.EIP.STREAMPERIOD was set automatically on connection to the controller and was therefore read-only.

Solution:

AXIS#.EIP.STREAMPERIOD was made writable since it needed to be set to a value other than the drive-controller RPI packet interval. The value is also no longer automatically set on connection the controller.

- EtherNet/IP Finalize CIP Sync Assemblies [S-24250]

Issue:

The previous CIP Sync assemblies were spread out and did not include any dynamic mappable space.

Solution:

CIP Sync assemblies now include a dynamic mapping area, which can be accessed via the EIP.ASY105/6.MAP2 keywords.

^ Back to Top ^

# Version 02-11-02-000 : July 31, 2023

## Action Table

- Cannot activate Action if Source is User-Variable and Task is Analog-Output [Req#R#69375] [D-09563]

Issue:

If an Action row with an Analog-Output Task and User-Variable Source is activated, it fails.

Solution:

Action Row activation of Analog-Output Task and User-Variable Source succeeds.

^ Back to Top ^

## Feedback

- Identified Feedback types are being updated during Auto-Identify [D-09543]

Issue:

FB#.IDENTIFIED and FB#.LASTIDENTIFIED are set during the Auto-Identify process before the feedback identification process is complete.

Solution:

FB#.IDENTIFIED and FB#.LASTIDENTIFIED are set only after a feedback is correctly identified at the end of the Auto-Identify process.

FB#.LASTIDENTIFIED is, by default, 1 (No Feedback)

^ Back to Top ^

## Fieldbus

- EtherNet/IP CIP Sync - Limit Switch Doesn't Stop Motion [D-09558]

Issue:

When streaming positions over EtherNet/IP CIP Sync with limit switches configured, the axis wouldn't stop motion upon reaching the limit.

Solution:

Motion is now correctly stopped at limit switches when streaming positions over EtherNet/IP CIP Sync.

- Added new Fault 7018 [D-09520]

Details:

A new fault was added (F7018) for EtherNet/IP that indicates when the CIP Sync position command received from the controller was late. The timestamp portion of any position command must be greater than the timestamp of the previous command or the drive will fault.

^ Back to Top ^

# Version 02-11-01-001 : July 25, 2023

## Feedback

- Linear Hiperface absolute position initialized incorrectly [Req#67050] [D-09564]

Issue:

If the number of periods of a linear Hiperface encoder's analog signal per motor pole pitch was not a power of two, the absolute feedback position was not initialized correctly and was inconsistent when the feedback was re-initialized.

Solution:

Firmware has been changed to correctly initialize a linear Hiperface encoder's absolute position, even when the number of periods of the encoder's analog position per motor pole pitch was not a power of two.

^ Back to Top ^

# Version 02-11-01-000 : July 11, 2023

## Feedback

- Homing not saved on reboot for Multi-turn feedbacks [Req#66438] [D-09511]

Issue:

Homing offset and MotionStat bits 1 and 2 were not getting restored on reboot for multi turn feedbacks

Solution:

Homing state is correctly restored on reboot for multi turn feedbacks.

- New AXIS DISSOURCE bit added -- FEEDBACK [D-09530]

Issue:

When a feedback associated with an axis is not initialized, an axis cannot be enabled. No Disable Source bit indicates when this situation occurs.

Solution:

A new FEEDBACK bit was added as an Axis Disable Source (DISSOURCES) to indicate when an axis was disabled because the associated axis feedback was not initialized.

^ Back to Top ^

## Fieldbus

- EIP Improve OBJECTLIST [S-24281]

Issue:

Existing AXIS#.EIP.OBJECTLIST keywords only return user mappable objects. Some command objects are missing.

Solution:

AXIS#.EIP.OBJECTLIST keywords have been merged into a single EIP.OBJECTLIST keyword. All objects supported by EIP are now listed. User mappable keywords are denoted by an attribute integer.

- EIP Integrate New Map Implementation [S-24318]

Issue:

Previous implementation of fixed and dynamic maps was confusing and hard to maintain. Associated map keyword layout needed to be revised.

Solution:

Firmware was refactored to use new map implementation. The following keywords were updated:

AXIS1.EIP.DYNAMICCMDDATA -> EIP.ASY101.DATA2

AXIS1.EIP.DYNAMICCMDINDEX -> EIP.ASY101.INDEX2

AXIS1.EIP.DYNAMICCMDMAP -> EIP.ASY101.MAP2

AXIS1.EIP.DYNAMICRSPDATA -> EIP.ASY102.DATA2

AXIS1.EIP.DYNAMICRSPINDEX -> EIP.ASY102.INDEX2

AXIS1.EIP.DYNAMICRSPMAP -> EIP.ASY102.MAP2

AXIS1.EIP.FIXEDCMDDATA -> EIP.ASY101.DATA1

AXIS1.EIP.FIXEDCMDMAP -> EIP.ASY101.MAP1

AXIS1.EIP.FIXEDRSPDATA -> EIP.ASY102.DATA1

AXIS1.EIP.FIXEDRSPMAP -> EIP.ASY102.MAP1

AXIS2.EIP.DYNAMICCMDDATA -> EIP.ASY101.DATA4

AXIS2.EIP.DYNAMICCMDINDEX -> EIP.ASY101.INDEX4

AXIS2.EIP.DYNAMICCMDMAP -> EIP.ASY101.MAP4

AXIS2.EIP.DYNAMICRSPDATA -> EIP.ASY102.DATA4

AXIS2.EIP.DYNAMICRSPINDEX -> EIP.ASY102.INDEX4

AXIS2.EIP.DYNAMICRSPMAP -> EIP.ASY102.MAP4

AXIS2.EIP.FIXEDCMDDATA -> EIP.ASY101.DATA3

AXIS2.EIP.FIXEDCMDMAP -> EIP.ASY101.MAP3

AXIS2.EIP.FIXEDRSPDATA -> EIP.ASY102.DATA3

AXIS2.EIP.FIXEDRSPMAP -> EIP.ASY102.MAP3

The following keywords were added:

EIP.ASY105.DATA   EIP.ASY105.INDEX   EIP.ASY105.MAP   EIP.ASY106.DATA   EIP.ASY106.INDEX   EIP.ASY106.MAP   EIP.ASY103.DATA   EIP.ASY103.INDEX   EIP.ASY103.MAP   EIP.ASY104.DATA   EIP.ASY104.INDEX   EIP.ASY104.MAP

- Modbus watchdog only starts on valid packets [D-09383]

Issue:

Before this change, the Modbus watchdog started on any received Modbus packet.

Solution:

The watchdog has been modified to only start once the drive receives a valid Modbus packet (ie. a Modbus packet that does not produce an error response).

- Move EIP Keywords to New Groups [S-24252]

Issue:

Location of current keywords does not reflect well on the different available connections with the addition of Cip Sync.

Solution:

Previous EIP keywords related to the different EtherNet/IP connections have been moved under their own respective groups.

AXIS#.EIP.CMD.ACC -> EIP.ASY101.AXIS#.ACC

AXIS#.EIP.CMD.ATTRIBUTE -> EIP.ASY101.AXIS#.ATTRIBUTE

AXIS#.EIP.CMD.BLOCKNUM -> EIP.ASY101.AXIS#.BLOCKNUM

AXIS#.EIP.CMD.CMDTYPE -> EIP.ASY101.AXIS#.CMDTYPE

AXIS#.EIP.CMD.CONTROL1 -> EIP.ASY101.AXIS#.CONTROL1

AXIS#.EIP.CMD.CONTROL2 -> EIP.ASY101.AXIS#.CONTROL2

AXIS#.EIP.CMD.DATA -> EIP.ASY101.AXIS#.DATA

AXIS#.EIP.CMD.DATA2 -> EIP.ASY101.AXIS#.DATA2

AXIS#.EIP.CMD.DEC -> EIP.ASY101.AXIS#.DEC

AXIS#.EIP.CMD.P -> EIP.ASY101.AXIS#.P

AXIS#.EIP.CMD.RSPTYPE -> EIP.ASY101.AXIS#.RSPTYPE

AXIS#.EIP.CMD.V -> EIP.ASY101.AXIS#.V

AXIS#.EIP.RSP.ATTRIBUTE -> EIP.ASY102.AXIS#.ATTRIBUTE

AXIS#.EIP.RSP.BLOCKNUM -> EIP.ASY102.AXIS#.BLOCKNUM

AXIS#.EIP.RSP.DATA -> EIP.ASY102.AXIS#.DATA

AXIS#.EIP.RSP.DATA2 -> EIP.ASY102.AXIS#.DATA2

AXIS#.EIP.RSP.MOTIONSTAT -> EIP.ASY102.AXIS#.MOTIONSTAT

AXIS#.EIP.RSP.P -> EIP.ASY102.AXIS#.P

AXIS#.EIP.RSP.RSPTYPE -> EIP.ASY102.AXIS#.RSPTYPE

AXIS#.EIP.RSP.STATUS1 -> EIP.ASY102.AXIS#.STATUS1

AXIS#.EIP.RSP.STATUS2 -> EIP.ASY102.AXIS#.STATUS2

AXIS#.EIP.RSP.STATUS3 -> EIP.ASY102.AXIS#.STATUS3

AXIS#.EIP.RSP.V -> EIP.ASY102.AXIS#.V

AXIS#.EIP.PADBYTE -> EIP.PADBYTE

The following keywords were added:

EIP.ASY105.AXIS#.CONTROL   EIP.ASY105.AXIS#.P   EIP.ASY105.AXIS#.SYSTEMTIME   EIP.ASY106.AXIS#.STATUS   EIP.ASY106.AXIS#.P   EIP.ASY106.AXIS#.PFB   EIP.ASY106.AXIS#.SYSTEMTIME

^ Back to Top ^

## General

- AXIS#.MOTOR.KT, AXIS#.LOAD.INERTIA and AXIS#.MOTOR.VMAX Units Sometimes Incorrect

Issue:

The units for AXIS#.MOTOR.KT, AXIS#.LOAD.INERTIA and AXIS#.MOTOR.VMAX were always the same for both axes even if one axis was rotary and the other was linear.

Solution:

The units for these parameters now correctly use AXIS#.MOTOR.TYPE.

- Compare Engines Problems [Req#65358] [D-09482]

Issue:

Compare Engine was not triggering reliably around position values.

Solution:

Compare Engine triggers as expected on position values.

- DRV.NVLOAD results in error for some MOTOR.DISAUTOSET entries [Req#67999] [D-09540]

Issue:

Some indices in AXIS#.MOTOR.DISAUTOSET returned "Data Invalid" when attempting to clear the associated entry.

Solution:

The "Data Invalid" error is caught properly and no longer thrown when clearing entries 1, 2, 22, and 23 of AXIS#.MOTOR.DISAUTOSET

- KUP - Kollmorgen UDP Protocol [S-24391]

Details:

KUP is an ASCII protocol for sending commands to the drive. The commands that you can send to the drive are the same ASCII commands that telnet and WorkBench use but using UDP packets instead of TCP packets. The drive will respond with the value as an ASCII string if reading a parameter, or the string "OK". The protocol is disabled by default and can be enabled by setting the KUP.PORT parameter to a non-zero port number.

^ Back to Top ^

# Version 02-10-06-000 : June 5, 2023

## Analog & Digital IO

- Captured axis position was incorrect [D-09500]

Issue:

When capturing an axis position with CAP#.P, the position was incorrect. This error increased as the speed of the axis increased. This issue also affected the accuracy of the captured EtherCAT touch probe positions. There is no error with the position when capturing the feedback position, with CAP#.SOURCE 1 to 5.

Solution:

The error in the captured position has been removed.

- Captured position from SFA was incorrect [D-09500]

Issue:

When capturing a position from and SFA with CAP#.P, the position was incorrect. This issue also affected the accuracy of the captured EtherCAT touch probe positions.

Solution:

The error in the captured position has been removed.

^ Back to Top ^

## Motion

- MT.VCMD had a discontinuity at the start of a controlled stop [Req#65355] [D-09489]

Issue:

The signal AXIS#.MT.VCMD displayed a discontinuity at the start of a controlled stop action (regardless of source).

Solution:

This signal is now correctly displayed and does not contain a discontinuity.

^ Back to Top ^

# Version 02-10-05-001 : May 15, 2023

## Fieldbus

- EtherCAT -- Missed Rx Event Counter Not Reset Before Going OP [Req#63352] [D-09444]

Issue:

Synchronization error counts were not cleared when the network was transitioning from SAFE-OP to OP.

Solution:

Synchronization error counts are cleared on transition from SAFE-OP to OP.

^ Back to Top ^

## General

- AXIS#.IL.KACCFF range is enhanced [Req#67528] [D-09534]

Issue:

The range for AXIS#.IL.KACCFF was too small to allow for some larger machines.

Solution:

The max range has been changed from 1,000 to 10,000 to allow expanded functionality for larger machines.

^ Back to Top ^

# Version 02-10-05-000 : April 28, 2023

## Action Table

- Action task 27 broke ACTION#.TASKPARAM [D-09403]

Issue:

Setting ACTION#.TASK to 27 ("Set Axis Command-Source and Op-Mode") made it impossible to set ACTION#.TASKPARAM through the action table in WorkBench for any other task.

Solution:

The firmware was fixed so that ACTION#.TASKPARAM could be changed via the action table in WorkBench.

- ACTION#.TASK 31 (Set User Variable Bits, Continuous) did not work with negative numbers [D-09452]

Issue:

When using ACTION#.TASK 31 (Set User Variable Bits, Continuous) if ACTION#.TASKPARAM was negative then USER.INT# never changed.

Solution:

Negative values given to ACTION#.TASKPARAM were correctly applied to the USER.INT#.

^ Back to Top ^

## Feedback

- Absolute position incorrect after feedback scaling changed [S-24160]

Issue:

When feedback scaling was changed after the feedback was already initialized, e.g. when changing AXIS#.MOTOR.PITCH, the position was not properly re-scaled. This meant, the absolute feedback position changed the next time the feedback was initialized.

Solution:

The firmware has been changed to re-scale the position when the scaling of an absolute feedback device changes.

- HALLMAP.x will not retain value after clear fault [Req##64520] [D-09476]

Issue:

When setting hall mappings using keywords FB#.HALLMAP.U/V/W, and a fault occurred, then the hall mappings would revert to the default values on clear faults.

Solution:

The hall mapping values are retained after clearing faults

- Hiperface initial position calculation error

Issue:

After moving a motor with a Hiperface feedback device, reinitializing the feedback could result in a position error.

Solution:

The Hiperface initial position calculation has been fixed.

- Incorrect resolution for linear Hiperface DSL encoders [Req#64062] [D-09470]

Issue:

Firmware was not calculating the correct resolution from linear Hiperface DSL encoders' electronic type labels.

Solution:

Firmware now determines whether a connected Hiperface DSL encoder is rotary or linear and calculates the correct resolution from linear Hiperface DSL encoders' electronic type labels. FB#.MECHTYPE, FB#.PRES, FB#.RES, FB#.LINEPITCH will all be set to the correct values automatically.

^ Back to Top ^

## Fieldbus

- Accessing MW.MODEL#.NAME or MW.MODEL#.VERSION via SDO caused fault [D-09463]

Issue:

Reading MW.MODEL#.NAME or MW.MODEL#.VERSION via EtherCAT SDO caused "Internal firmware error" if the model slot was empty.

Solution:

MW.MODEL#.NAME and MW.MODEL#.VERSION returned an empty string, both when accessed from telnet and EtherCAT SDO.

- EIP response assembly position command was not affected by modulo [Req#64070] [D-09468]

Issue:

It was discovered that the position command in the EIP response assembly was not affected by drive modulo settings.

Solution:

The position command in the EIP response assembly was changed to follow drive modulo settings.

- PROFINET - acceleration and deceleration limited when using the reduced speed setpoint channel [Req#62923] [S-24037]

Issue:

When using the PROFINET reduced speed setpoint channel (PNU 930 = 3) the drive is not supposed to limit acceleration and deceleration on the speed setpoints. The drive was limiting acceleration and deceleration with AXIS#.FBUS.ACC/DEC anyway.

Solution:

The drive no longer limits acceleration and deceleration on speed setpoints from a PROFINET controller if the reduced speed setpoint channel is configured.

- PROFINET - Not possible to enable axis requiring Wake and Shake through PROFIdrive state machine [Req#64056] [D-09471]

Issue:

During Wake and Shake the drive temporarily switches to command source service, which resulted in the "Control Requested" bit in ZSW1 going low, to indicate to the PLC, that it is not in control of the axis. PLCs reacted to this by disabling the axis, often before Wake and Shake was finished, which caused subsequent attempts at enabling the axis to fail for the same reason.

Solution:

While Wake and Shake is running, the firmware will now keep the "Control Requested" bit in ZSW1 high and the PROFIdrive state machine in state "S3: Switched On".

- PROFINET - Velocity command did not interpolate between fieldbus updates

Issue:

When commanding velocity moves from PROFINET, the velocity command would ramp the velocity command along the FBUS.ACC trajectory until it reached the target velocity and then hold the velocity until the next setpoint. Current spikes would result due to the stepping/holding of velocity command when the next setpoint was received.

Solution:

The velocity command is now interpolated in the drive across the fieldbus update rate. The drive will gradually ramp the velocity command to reach the velocity target at the end of the fieldbus update rate, at which a new command will be received. This provides a smoother velocity command response and results in not having current spikes along the trajectory.

- Added additional fault actions for F6004, F7015, and F7016 [S-23999]

Issue:

AXIS#.FAULT6004.ACTION, AXIS#.FAULT7015.ACTION, and AXIS#.FAULT7016.ACTION only supported the Disable Amplifier (0) or Ignore (1) actions.

Solution:

AXIS#.FAULT6004.ACTION, AXIS#.FAULT7015.ACTION, and AXIS#.FAULT7016.ACTION could be set to any value between 0 and 4. Value 1 ignores the faults. Value 4 generates a warning. Values 0, 2, and 3 specify how the drive should react to the fault. See http://webhelp.kollmorgen.com/AKD2G/English/Content/AKD2G%20Commands/AXISx.FAULT6004/AXISx.FAULT6004.ACTION.htm, http://spec.kollmorgen.com/webhelp/akd2g/Content/AKD2G%20Commands/AXISx.FAULT.ACTION/AXISx.FAULT7015.ACTION.htm, or http://spec.kollmorgen.com/webhelp/akd2g/Content/AKD2G%20Commands/AXISx.FAULT.ACTION/AXISx.FAULT7016.ACTION.htm for details.

^ Back to Top ^

## Functional Safety

- Added warning 9015 for non-certified firmware pairs [S-23966]

Details:

A new warning (9015) was added to warn users who are running SMM and drive firmware versions that were not certified to work together.

^ Back to Top ^

## General

- MechaWare Comparator Block failed to load [D-09480]

Issue:

When the comparator/relational block was loaded, it would fail to parse and the model would not load.

Solution:

The block comparator/relational block parsing logic has been corrected.

^ Back to Top ^

## Motion

- Velocity jump after feedback fault [Req#61858] [D-09393]

Issue:

If a feedback fault occurred during a motion task, after clearing the fault, the next motion task would resume immediately at the previous speed.

Solution:

The fault handling logic has been fixed to clear out the previous trajectory.

- Velocity Limit raised to 30,000 RPM [S-24243]

Issue:

The AKD2G had a velocity limit of +/- 15,000 RPM.

Solution:

The motion limits have been raised to +/- 30,000 RPM.

^ Back to Top ^

## Motor & Power Stage

- Commutation feedback source not handled correctly in sensorless mode

Issue:

If an axis was configured for sensorless operation (AXIS#.MOTOR.TYPE = 10) and the commutation source for the axis (AXIS#.IL.FBSOURCE) was set to a valid feedback, then the sensorless algorithm failed due to a conflict between the feedback position and the sensorless position estimate.

Solution:

The axis commutation source (AXIS#.IL.FBSOURCE) is now correctly ignored in sensorless mode (AXIS#.MOTOR.TYPE = 10).

- Fixed induction motor open loop [D-09330]

Issue:

It was found in testing that the voltage output with AXIS#.MOTOR.TYPE set to induction motor open loop was half of the intended value.

Solution:

The voltage output was updated to match expectations.

^ Back to Top ^

# Version 02-10-04-000 : January 3, 2023

## Action Table

- New Set User Variable Bits action task [S-23962]

Details:

A new ACTION#.TASK (31) was added. The task sets or clears bits in a user variable (eg. USER.INT1) continuously based on the source and a bitmask provided by ACTION#.TASKPARAM.

^ Back to Top ^

## Fieldbus

- EtherNet/IP - Fixed issue with cyclic data not updating

Issue:

Occasionally the EtherNet/IP cyclic assembly data would go stale and stop updating. Only a reboot would get the cyclic data updating again.

Solution:

A timing issue was fixed in the drive firmware to prevent cyclic data from stopping updates.

- EtherNet/IP - New IN and OUT velocity and acceleration scaling added [S-23965]

Issue:

Using the prior EIP.PROFUNIT scaling would allow any value 1 to 2^32-1, but required using powers of 2 to prevent accumulation/rounding errors.

Solution:

EIP.PROFUNIT is now deprecated and EIP.VUNIT.IN/OUT were added. Any ratio can be entered into the IN/OUT values and error will not accumulate. Existing applications that use EIP.PROFUNIT will upgrade correctly and set IN/OUT based on the stored PROFUNIT value. See help for more details.

- Added fieldbus velocity limit faults and keywords to disable them [S-23874]

Details:

Two new faults were added: fault 7015 and fault 7016. They are both disabled by default to not break existing applications. If enabled, fault 7015 is triggered when the fieldbus commands a velocity that is lower than the velocity limit (AXIS#.VL.LIMITN). Fault 7016 is triggered by a fieldbus command that is higher than the velocity limit (AXIS#.VL.LIMITP). Additionally, two keywords were added to enable or disable faults: AXIS#.FAULT7015.ACTION and AXIS#.FAULT7016.ACTION.

- EtherCAT and CAN - Added IP.RESET to object dictionary [Req#62479] [S-23975]

Details:

IP.RESET was added to the CANOpen dictionary at index 3013h sub-index 7 to be available via CAN and EtherCAT.

- EtherNet/IP - Added cyclic setpoint fault [S-23963]

Details:

Fault 7005 'cyclic setpoints missing' has been added for EtherNet/IP. A counter will increment by 3 on every missed cyclic packet and decrements by 1 on every received packet. By default, if the counter reaches 9 then the drive will fault. The tolerance can be adjusted with EIP.PACKETMISSTHRESHOLD and the current counter value can be read or recorded with EIP.MISSEDPACKETS.

- EtherNet/IP - New dynamic assemblies [S-23960]

Details:

Some applications required smaller and less advanced IO assemblies than standard applications. New assemblies 103 (consuming) and 104 (producing) were added to allow a fully dynamic mapping from 1 byte to 32 bytes in size. The Kollmorgen provided AOIs will not work with these mappings. Instead, the application must interact directly with the IO and configure the mapping with AXIS#.EIP.DYNAMICCMDMAP and AXIS#.EIP.DYNAMICRSPMAP parameters.

^ Back to Top ^

## General

- X#.MODE was incorrect for certain hardware configurations [Req#62263] [D-09397]

Issue:

On single axis drives with the X5 connector, X2.MODE was incorrectly used instead of X5.MODE.

Solution:

The drive firmware was updated to properly create X5.MODE

- Decreased loop timing fault threshold [S-23872]

Issue:

Loop timing fault 3008 was set to trigger at about 75% of 16kHz total interrupt period.

Solution:

The loop timing fault was configured to trigger at 50% of 16kHz interrupt period. Additionally, the DRV.FAULT3008.ACTION keyword was added to disable this fault. Keyword DRV.CPUPERCENT was added so users can monitor drive load. Users should expect fault 3008 to trigger when DRV.CPUPERCENT exceeds 50%.

^ Back to Top ^

## Motion

- Homing a gantry after enabling does not work correctly [D-09386]

Issue:

If a gantry was setup and homed, then disabled and re-enabled. If homing was issued again after enabling only Axis 1 would move to the home position and Axis 2 would remain still.

Solution:

Both axes 1 nd 2 now move when homing is requested.

^ Back to Top ^

# Version 02-10-03-000 : November 17, 2022

## Action Table

- Action Table Motion Task Feedrate task did not activate correctly

Issue:

The Action Table Motion Task Feedrate task (task 20) appeared to automatically configure the action source to a usable value. However, trying to activate the action resulted in an error (Action table configuration invalid).

Solution:

The Motion Task Feedrate task no longer misrepresents the action source configuration. The user must explicitly set the source, after which the action can be activated.

- Action table task 29 no longer incremented ACTION#.RUNCOUNT [Req#60372] [D-09326]

Issue:

Action table task 29 (Motion Task Select Bit, Continuous) incremented ACTION#.RUNCOUNT even though it was a continuous task.

Solution:

ACTION#.RUNCOUNT correctly showed 0 for task 29.

^ Back to Top ^

## Feedback

- Fixed issue with certain feedback selections not showing F4x15 'Failed to set feedback type' when no feedback is connected [Req#58792] [D-09292]

Issue:

With no feedback connected, certain analog feedback selections would sometimes indicate they could be identified.

Solution:

Drive firmware was updated to consistently report fault F4x15 'Failed to set feedback type' when no feedback is present.

- Linear absolute feedbacks initialize with incorrect or inconsistent values [D-09245]

Issue:

Absolute linear feedbacks did not initialize with the correct absolute position value when FB#.INITSIGNED is set to the default of 1.

Solution:

Signed positions have been disabled with linear feedbacks and are always treated as unsigned.

- Added ability to retain absolute single turn homing [Req#55696] [S-23647]

Details:

AKD2G can now retain the homed position of a single turn absolute feedback within a single rev similar to homing mode 17 on AKD.
Once FB#.SINGLETURNMODE is to 1 to enable this feature and the axis is homed, the drive will restart with the home position set.
Note that by default, enabling this will only home within one rev. Modulo should be enabled and the range set to one revolution for this mode to show the position correctly on reboots. Alternatively, the FB#.STOREMULTITURN feature can be used to enable absolute multi-turn like behavior and retain the multi-turn absolute homed position across reboots.
If neither modulo nor store multi-turn are enabled and the feedback has been moved multiple revs before homing, the position restored will be multiple revs away on a reboot due to the absolute single turn feedback only restoring a single turn position while the homing offset will include the multi turn information.

- Added FB#.SCALED.ZERO [Req#58420] [S-23756]

Details:

FB#.SCALED.ZERO was added to give the user an easy way to set FB#.SCALED.P to 0. The keyword works by setting FB.SCALED.OFFSET to the negative value of FB#.SCALED.P before it was zeroed.

- Added SFA#.UPDATE [S-23245]

Details:

This keyword updates the selected SFA to the latest firmware version that is packaged with the currently installed drive firmware.
Note: The SFA firmware download may take up to 30 seconds to complete.

- Updated SFA#.INFO and DRV.INFO output

Details:

SFA#.INFO and DRV.INFO were updated to include the currently installed SFA fpga version and the available fpga version to download via SFA#.UPDATE.

^ Back to Top ^

## Fieldbus

- EtherCAT - Write access to object 60C2 sub 1 or 2 did not create any abort message in communication state SafeOp or Op [D-09275]

Issue:

Two issues were seen:
1. In SafeOp and Op-state the cycle time must not be changed.
2. Wrong values for the cycle time seemed to be accepted (no abort message), but not applied internally.

Solution:

Writing these objects in communication state SafeOp and Op is prohibited.
Abort messages are created when an illegal combination of subindex 1 and 2 was written.
Both have to be written.

- Fieldbus Acceleration had incorrect value [S-23777]

Issue:

A bug in the fieldbus interpolator would cause AXIS#.IL.CMDACC to have the wrong value and was not scaled correctly for the fieldbus cyclic rate.

Solution:

The interpolator was fixed.

- EtherNet/IP - New PIN and POUT scaling added [S-23869]

Issue:

Using the prior EIP.POSUNIT scaling would allow any value 1 to 2^32-1, but if relative moves were commanded, error would accumulate and positions would be off unless powers of 2 were used.

Solution:

EIP.POSUNIT is now deprecated and EIP.PUNIT.PIN/POUT were added. Any ratio can be entered into the PIN/POUT values and error will not accumulate. Existing applications that use EIP.POSUNIT will upgrade correctly and set PIN/POUT based on the stored POSUNIT value. See help for more details.

- PROFINET - New command PROFINET.RESET to reset Name of Station and IP settings [Req#61174] [S-23906]

Details:

A new command PROFINET.RESET has been implemented. When executed, it resets the Profinet Name of Station and the Profinet interface's IP settings, including across a reboot. The command can also be executed through the Fieldbus menu of the drive's display.

^ Back to Top ^

## Functional Safety

- Error code when validating an incorrect safe ID was fixed [Req#39308] [D-09249]

Issue:

The error returned when an incorrect safe ID was used to validate safety parameters was "SMM parameter does not exist".

Solution:

The new error returned with an incorrect safe ID entered was "Data value is invalid."

^ Back to Top ^

## General

- Faults and warnings on the gearing feedback source could not be cleared if the user was not in Electronic Gearing mode [Req#58793] [D-09293]

Issue:

Faults and warnings generated on the gearing feedback source could not be cleared after switching the command source from Electronic Gearing mode

Solution:

Faults and warnings on the gearing feedback source are now clearable when you switch the command source from Electronic Gearing mode.

- Fixed error with AXIS#.IL.COMPTABLE.DATA on HV24 [Req#59347] [D-09311]

Issue:

Trying to assign any value to AXIS#.IL.COMPTABLE.DATA entries resulted in an "Error: [0004] Argument greater than maximum" message on HV24 drives.

Solution:

AXIS#IL.COMPATABLE.DATA has been changed to not generate an error if the value is within the expected range.

- Gantry does not maintain position after disable [D-09379]

Issue:

If a gantry was brought up with GANTRY.HOME.REQUIRED = 0, when the gantry is disabled, the two axes can drift. The next time the amp was enabled, the drift would be maintained instead of the gantry coming back to its state before the amplifier disabled.

Solution:

After re-enabling, the gantry will maintain the previous established home configuration.

- Model with no blocks crashed the drive [Req#58331] [D-09278]

Issue:

If a MechaWare model was loaded with no blocks, the drive would not boot.

Solution:

The bug preventing correct operation has been fixed.

- Synchronized gantry axis disable bits [S-23802]

Issue:

Prior to this change, the disable bits (ie: STO, HW enable, controlled stop) were not synchronized across axes when using Gantry. A hardware disable on axis 2 would not disable either axis.

Solution:

Disable bits are now correctly synchronized so that an STO, hardware disable, etc. on either axis will cause a disable on both axes when using Gantry.

^ Back to Top ^

## Motion

- Disabling emergency timeout caused perpetual controlled stop [Req#61426] [D-09374]

Issue:

If the emergency timeout was disabled (ie. setting AXIS#.DISTO to zero), and the motor was in an uncontrollable state (ie unstable tuning). The drive would attempt a controlled stop but the axis would never be stationary for sufficient time to complete and disable.

Solution:

The emergency timeout can no longer be disabled (AXIS#.DISTO). The minimum timout setting is 1 ms and the maximum is 120,000 ms.

If the emergency timeout was previously saved as 0ms, it will be restored to the maximum of 120,000 ms.

- Velocity Jog move into a limit switch would continue after limit switch clears [Req#58866] [D-09299]

Issue:

If an axis is in velocity mode and performing a jog motion into a limit switch. Motion would pause when the limit switch is hit, but continue to move when the limit switch was cleared.

Solution:

Jog motion now clears when a limit switch is hit in all modes. Motion will not automatically start after the limit switch is cleared.

- IL.CMD has discontinuity when direction changes while in saturation [Req#62086] [D-09391]

Issue:

If an axis was in current saturation and one of the integrators was in use (AXIS#.PL.KI or AXIS#.VL.KI) if the error direction changed while in saturation the integrator would be zeroed - causing a noticeable discontinuity in AXIS#.IL.CMD

Solution:

The integrator behavior has changed to decay when the direction changes instead of immediately discharge creating a smooth transition between directions.

^ Back to Top ^

## Motor & Power Stage

- Foldback and motor broken wire faults not reported

Issue:

Faults 2001 (Drive Foldback), 2017 (Motor Foldback), and 2018 (Broken Wire Connection to Motor) were not being reported under their respective fault conditions. The missing faults prevented effective monitoring and troubleshooting. For foldback, the current limits were still enforced, and the default drive settings disabled the faults. For broken wire, losing a motor phase would prevent the drive from achieving commanded motion and would typically result in a motion related fault.

Solution:

Faults 2001, 2017, and 2018 are now reported correctly.

^ Back to Top ^

# Version 02-10-02-000 : September 21, 2022

## Feedback

- DRV.INFO, SFA#.INFO show SFA FPGA fallback version [S-23685]

Issue:

The DRV.INFO and SFA#.INFO commands only listed the operational FPGA version for SFAs.

Solution:

DRV.INFO and SFA#.INFO were updated to list the fallback FPGA version.

- Linear absolute encoders can now start up homed [D-09308]

Issue:

After being homed once, absolute multi-turn rotary encoders could start-up already homed, but absolute linear encoders could not.

Solution:

The drive firmware was updated to permit absolute linear encoders to start-up homed.

^ Back to Top ^

## Fieldbus

- EtherCAT - Position jumped when switching from homing mode to cyclic position mode [Req#60211] [D-09320]

Issue:

When running certain homing modes that moved after finding a reference position, such as Mode 2 "Find limit swithc then find zero angle", the position command would jump when switching back to cyclic synchronous position mode for one fieldbus cycle.

Solution:

The internal fieldbus position command now follows the position command for the entire homing move. As long as the external fieldbus position command matches upon switching into cyclic position mode, there will be no jump.

- PROFINET - Fixed overflow in DSC following error calculation

Issue:

In case the following error became larger than half a revolution an overflow happened in the PROFINET DSC calculation, which lead to the axis moving in the direction opposite to what was commanded by the master.

Solution:

The PROFINET DSC calculation has been fixed to work correctly with position errors greater than half a revolution.

- [EtherCAT] Increased minimum mailbox size [D-09264]

Issue:

The minimum mailbox size of 40 bytes mentioned in ESI-files and emulated EEProm was not sufficient for the InitCmd for setup of EoE(Ethernet over EtherCAT).

Solution:

The minimum mailbox size was now set to 68 bytes, which is sufficient for all InitCmds.

- PROFINET - PNUs for commands made readable [D-09303]

Issue:

PNUs for command type keywords (i.e.: AXIS#.HOME.MOVE) could not be read. Certain Siemens PLC blocks for writing parameters always read a PNU before writing it, which made it impossible execute command type keywords with these blocks.

Solution:

PNUs for command type keywords can now be read. The value read will always be 0.

- EtherCAT - Changed W7011 synch monitoring to a fault F7011

Details:

The warning W7011 was thrown when the SM2 event (Rx-PDO) came prior to send out of the Tx-PDO (SM3). Two counters were implemented to count synchronizations events. One for situation where the cyclic events come earlier then they should, one for missing SM2 events in the cycle time. With each error event an internal counter is increased by three, with a correct update the counter is decreased by one. If a limit is overrun a fault F7011 is created afterwards.

^ Back to Top ^

## General

- Rebooting from SD firmware continually boots into SD firmware [Req#58378] [D-09076]

Issue:

When running firmware from an SD card and downloading firmware from WorkBench, the drive will reboot back into the SD firmware instead of the newly downloaded firmware.

Solution:

The drive firmware was updated so that if a reboot without power cycle occurs from the SD card firmware, it will boot up from firmware stored in the drive, not from the SD card.

- Fault reactions changed to controlled stop [Req#57657] [D-09256]

Issue:

A number of fault reactions were to disable the power stage or dynamic brake when it was unnecessary.

Solution:

These fault reactions were changed to controlled stops.

- Added new performance fault [S-23458]

Details:

A performance fault has been implemented to protect the user from overloading the drive with customizable features and MechaWare.

^ Back to Top ^

# Version 02-10-01-001 : September 8, 2022

## Motion

- Motor jumps when homing to current position while limit switch is active [Req#58788] [D-09289]

Issue:

After hitting a limit switch and it remaining active, if a home to current position (mode 0) is executed, the motor will jump/runaway.

Solution:

The position command was updated to align with the feedback position correctly when running home mode 0 while a limit switch is active.

^ Back to Top ^

## Motor & Power Stage

- Current limits were incorrect with AXIS#.DIR = 1

Issue:

With reversed axis motion (AXIS#.DIR = 1) the user current limits (AXIS#.IL.LIMITP, AXIS#.IL.LIMITN) were applied incorrectly, resulting in a reduced range of allowed current.

Solution:

The current limit calculations for reversed axis motion have been fixed.

^ Back to Top ^

# Version 02-10-01-000 : August 19, 2022

## Feedback

- FB#.RES was calculated inconsistently across feedback types [D-08987]

Issue:

FB#.RES was showing actual encoder resolution for some feedbacks but for others was showing how the drive interpreted position.

Solution:

The calculation was updated to always show the encoder's resolution and a new resolution, FB#.PRES, was added to show how the drive interprets the position in FB#.P.
Analog feedbacks (ie: Sin/Cos types and resolver) include the A/D factor in the encoder resolution calculations to show the higher resolution available.

^ Back to Top ^

## Fieldbus

- EtherCAT - EEprom emulation - direction of PDO-contents was wrong [S-20023]

Issue:

The Rx-PDOs were seen as Inputs e.g. in TwinCAT

Solution:

Direction was changed and is Ok in TwinCAT.

- Invalid device was part of AKD2G-SPE ESI file [D-09263]

Issue:

The AKD2G-SPE ESI file contained an "AKD2G Power Supply" device, which should not have been in this ESI file.

Solution:

The "AKD2G Power Supply" device has been removed from the AKD2G-SPE ESI file.

- Added fieldbus objects for some MW.MODEL keywords [S-23535]

Issue:

Fieldbus could not access the MW.MODELINFO string keyword to see which models are loaded.

Solution:

New keywords: MW.MODEL#.NAME, MW.MODEL#.VERSION, and MW.MODEL#.ACTIVE were added to fieldbus for acylic/SDO access

- EtherCAT monitoring of missed SM2 events [S-23543]

Details:

Object 0x10F1 was implemented. Subindex 2 sets a limit for missed SM2 (= setpoint PDO) events for the drive. In case of reaching that limit the communication state will change from OP to SAFEOP with an error 0x22 in the AL status code.

^ Back to Top ^

## General

- AXIS#.FAULT# is no longer recordable [Req#58784] [D-09291]

Issue:

Prior to this change, AXIS#.FAULT# was recordable but would cause the drive to crash if it was scoped.

Solution:

AXIS#.FAULT# is now no longer recordable. Consider using AXIS#.FAULTED to trigger the scope when an axis throws a fault.

^ Back to Top ^

## Motion

- DRV.STOP fixed on gantry mode [D-09205]

Issue:

Executing the DRV.STOP command with gantry configured would stop motion, but would return an error to execute on the master axis.

Solution:

DRV.STOP no longer throws an error when executed on gantry configuration.

- Fixed home mode 13 to clear AXIS#.HOME.OFFSET [Req#55697] [D-09234]

Issue:

Home mode 13 used to set AXIS#.HOME.OFFSET to the position error, causing the home position to drift with subsequent homings.

Solution:

Home mode 13 now clears AXIS#.HOME.OFFSET so the homing position is the feedback position, as designed.

- Fixed various gantry issues [D-09084]

Issue:

In gantry mode there were problems with axes enabling or disabling at different times, braking at different times, or not controlled stopping when a controlled stop was commanded on the master axis.

Solution:

The gantry mode implementation has been changed to fix many of these issues.

- Motion Task Select Bit and Motion Task Start Selected were added as Action Table Tasks

Details:

Motion Task Select Bit and Motion Task Start Selected were added as Action Table Tasks 29 and 30, respectively. These tasks allow users to run any Motion Task based on Digital Input levels.

^ Back to Top ^

# Version 02-10-00-001 : November 22, 2022

## Motor & Power Stage

- Changed default AXIS#.IL.FOLDFTHRESHU and AXIS#.IL.FOLDWTHRESH

Issue:

To ensure compliance with regulatory solid state motor overload requirements, the drive should fault after a defined amount of time when an overload condition (motor current above AXIS#.MOTOR.ICONT) is present. The default drive behavior was to report Warning 2002: Motor foldback imminent, but not Fault 2017: Motor Foldback. The fault could be turned on by setting AXIS#.IL.FOLDFTHRESHU to an appropriate threshold, but the default value of 0 turned off the fault. Note that the motor foldback scheme, which is always active, was designed to prevent overheating the motor windings by limiting current in response to overload conditions. However, reporting a fault and disabling the axis are required to ensure regulatory compliance.

Solution:

The default value for AXIS#.IL.FOLDFTHRESHU has been changed to AXIS#.IPEAK, meaning that the default behavior of the drive is to throw Fault 2017 when motor overload is detected. The default value for AXIS#.IL.FOLDWTHRESH has been changed to 0, turning off Warning 2002 by default. These parameters can still be adjusted. However, if AXIS#.IL.FOLDFTHRESHU is set to a value that relaxes the overload fault detection, it becomes the user's responsibility to provide external overload protection to ensure regulatory compliance.

^ Back to Top ^

# Version 02-10-00-000 : July 27, 2022

## Feedback

- SFA feedback faulted with communication fault F4x17

Issue:

Noise on the 2-wire SFA connection would cause sporadic communication faults (F4117 and F4217).

Solution:

The communication between the drive and SFA was made more robust during initialization.

- SFA resolver feedbacks faulted with over current fault F4x18

Issue:

During resolver excitation voltage initialization with an SFA, an issue could occur that would result in an SFA over current fault (F4118 and F4218).

Solution:

The resolver excitation voltage was corrected to not generate an over current condition during initialization.

^ Back to Top ^

## Fieldbus

- EtherCAT - Fixed issue with PDOs not working when certain PDOs mapped [Req#58221] [D-09271]

Issue:

Some PDOs did not map the size correctly and caused PDO exchange to fail.

Solution:

The PDO size calculation was corrected in the drive firmware.

^ Back to Top ^

## General

- Added HV24 model support

Details:

Firmware support for all HV24 models has been added.

^ Back to Top ^

# Version 02-09-03-000 : June 20, 2022

## Action Table

- Action table errors latched [S-23457]

Issue:

ACTION#.ERROR and ACTION.ERRORS showed the last error to occur on an action, even if that action had subsequently run successfully. This and the associated warning could only be cleared using DRV.CLRFAULTS.

Solution:

ACTION#.ERROR and ACTION.ERRORS now show the current status of the actions based on the last execution. A successful action execution after a failure clears the error and warning statuses.

^ Back to Top ^

## Feedback

- Auto-termination added for some feedback types [D-09233]

Issue:

Certain feedback types that utilized analog and digital signals did not properly enable the termination resistor on the analog signal pins, which could result in F4x11 Analog Signal faults. The affected feedback types were Hiperface, EnDat, and BiSS.

Solution:

The termination resistor is now enabled on the analog signal pins DIO3/DIO4 for Hiperface, EnDat, and BiSS.
Note: If an external resistor was added to these pins, it can either be removed or the auto-termination must be disabled using DIO#.TERM 2 (override to not terminated) in order for voltage levels to work

- Changed FB#.P and FB#.FBUS to use full 64 bit range [Req#55218] [D-09226]

Issue:

Before this change, FB#.P and FB#.FBUS could not represent values at the high ranges of a 64-bit integer.

Solution:

Now, FB#.P and FB#.FBUS can represent the full 64-bit integer range.

- Add warning W4031 for invalid hall sequence.

Issue:

Incorrectly wired feedbacks using halls would not work properly and the user was not alerted.

Solution:

Produce a warning when an invalid hall sequence is detected.

- Dual loop linear encoder resolution calculation now includes AXIS#.MOTOR.PITCH [S-22599]

Issue:

When using dual loop with a linear encoder, the relationship to the rotary motor must be accounted for in order for control to work correctly. The only way to accomplish this was with PL.KFB, but this was complicated and difficult to understand.

Solution:

The drive's linear encoder resolution calculation was updated to include AXIS#.MOTOR.PITCH, similar to how it behaves when using a linear motor. For applications where the linear encoder will move a set number of millimeters for the rotary motor revolution, the user can specify the distance using AXIS#.MOTOR.PITCH and the control loops and user scaling then should work out better. For applications where the distance cannot be accurately represented using the motor pitch, a combination of motor pitch and PL.KFB must be used. An app note for these configurations is being developed.

- Linear feedbacks used as secondary position sources were difficult to scale correctly [S-22599]

Issue:

If a linear feedback was used a secondary position feedback on an axis, the scaling was difficult to configure correctly.

Solution:

When a linear feedback is used as the secondary position feedback, AXIS#.MOTOR.PITCH will now be used in the resolution calculation. The value for this parameter should be the distance the linear encoder travels in one revolution of the rotary motor to make the control loops operate correctly.
If the distance cannot be specified correctly in MOTOR.PITCH, due to gearing etc, AXIS#.PL.KFB.PIN and POUT must be used to further scale the position value to ensure the control loops get the position units in distance/rev for the velocity/position calculations to relate correctly.
AXIS#.PL.FB will be given in counts per motor pitch and custom units with UNIT.PIN and UNIT.POUT can be utilized to scale into desired units.

- Added ability to set DSL encoder's absolute multi-turn position [Req#54529] [S-23473]

Details:

A new keyword, FB#.SETMULTITURNS was added that allows setting a Hiperface DSL encoder's absolute multi-turn position to any value within the encoder's multi-turn resolution. The single turn position is unchanged in order to maintain proper commutation.

^ Back to Top ^

## General

- EEO#.ZP and EEO#.ZOFFSET did not update units based on EEO#.SOURCE units [D-09243]

Issue:

EEO#.ZP and EEO#.ZOFFSET units would always show as Counts, even if the EEO#.SOURCE was using something different.

Solution:

EEO#.ZP and EEO#.ZOFFSET were updated to always show the units of the EEO#.SOURCE.

- Hall and sine-cosine signal keywords were recordable on feedbacks that don't support these signals without an SFA. [S-23480]

Issue:

Hall signals and sine-cosine signals cannot be recorded when the feedback is using a Smart Feedback Adapter. Related keywords like FB#.HALLSTATE or FB#.SIGNALAMPLITUDE were still recordable for feedbacks, that only supported feedback types with these signals through a Smart Feedback Adapter.

Solution:

Keywords related to hall signals or sine-cosine signals are now only recordable for feedbacks that support feedback types with these signals without using a Smart Feedback Adapter. When used with a Smart Feedback Adapter, these signals can be recorded using FB#.MONITOR keywords.

^ Back to Top ^

## Motion

- Gantry Homing failed when Axis 2 had different OpMode [Req#55308] [D-09225]

Issue:

If Axis 2 had a different OpMode than Axis 1 when Gantry mode was set, homing would fail

Solution:

As soon as Axis 2 is set to Gantry command source, Axis 2 inherits the OpMode of Axis 1 for the gantry homing phase, ensuring homing occurs the same on both axes.

^ Back to Top ^

# Version 02-09-02-000 : May 13, 2022

## Action Table

- Added new action source checking for completed motion task [Req#54285] [D-09211]

Issue:

Action source 10 (Move complete) only looked at AXIS#.MT.RUNNING and AXIS#.MT.RUNNINGTASK to determine whether a move is complete. It did not consider the actual position at all.

Solution:

Action source 10 has been renamed "MT not running". Additionally, a new action source 28 (Move complete) has been added to the firmware, that checks whether a motion task has finished running (i.e. it's no longer updating position command values) and whether the actual position has reached the motion task's target position.

^ Back to Top ^

## Feedback

- Added support for linear Hiperface encoders. [S-23494]

Details:

Support for linear Hiperface encoders was added to the firmware.

^ Back to Top ^

## Fieldbus

- ECAT.ENEMCY added to SDO object list [S-23495]

Details:

ECAT.ENEMCY keyword has been added to the available SDO objects for reading and writing.

^ Back to Top ^

## General

- Added keywords EEO#.STATUS and EEO#.FAULTAXIS [S-23425]

Details:

A new keyword EEO#.STATUS has been added to the firmware that reads the status of the EEO. Additionally, EEO#.FAULTAXIS has been added, that allows selecting axis to be faulted if the EEO is in a faulted state.

- Additional recovery keywords [S-23431]

Details:

New keywords were added to aid in recovering in the event of bad parameters or MechaWare model:
DRV.NVDUMP outputs the parameters that are currently in NV memory
DRV.NVCLEAR with value 0xAABBCCDD deletes all parameters that are in NV memory
MW.MODEL#.ERASE erases the MechaWare model in the designated slot

^ Back to Top ^

## Motor & Power Stage

- AC input power loss fault was reported incorrectly at low line voltage

Issue:

Fault 2019 (AC input power loss) was reported at reduced single phase line voltages, due to the operating range of the power loss detection circuit. There was not a minimum AC line voltage check for the fault.

Solution:

Fault 2019 and the related Warning 2019 are turned off when VBUS.ACNOMINAL is set below 40% of the default AC nominal voltage. For MV drives, the fault and warning are turned off when VBUS.ACNOMINAL is less than 96V. For HV drives the threshold is 192V.

^ Back to Top ^

# Version 02-09-01-000 : April 21, 2022

## Action Table

- Drive crashed when using Axis 2 actions and gantry mode [Req#52306] [D-09180]

Issue:

The drive would crash if using gantry mode and enabling the axis when an action table row commanding axis 2 was active.

Solution:

The firmware was updated so that it would no longer deactivate an active action when enabled while in gantry mode. The action will fail to execute since commanding axis 2 is not allowed while in gantry mode, but it will remain active and the drive will not crash.

- Added warning for action errors and implemented keywords ACTION#.ERROR and ACTION.ERRORS [S-22579]

Details:

A new warning W3007 was added to the firmware that is triggered when an action encounters an error during execution of its task. ACTION#.ERROR and ACTION.ERRORS have been added get a description of the errors that triggered the warning.

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## Fieldbus

- CANopen - object 60E3h added [D-09109]

Issue:

The EtherCAT Conformance test (V2.3) demands to have the object 60E3h - Supported homing methods.

Solution:

Object 60E3 was added. The subindex 1 demands the homing method 37. This was implemented as well.

- Starting homing motion using bit 2 of AXIS#.MOTIONCONTROL via Modbus failed [Req##51956] [D-09181]

Issue:

A rising edge of bit 2 of AXIS#.MOTIONCONTROL should start a homing motion. If this parameter was mapped to a Modbus register then bit 2 would not start a homing motion. This problem was unique to bit 2 of AXIS#.MOTIONCONTROL when using Modbus, the other bits of this parameter worked as expected. If you use AXIS#.MOTIONCONTROL from the terminal bit 2 would start a homing move. This was working in version 02-05-03-001. This is not working in firmware versions 02-06-03-000 or 02-08-02-001.

Solution:

The firmware was changed to allow bit 2 of AXIS#.MOTIONCONTROL to start homing when using Modbus.

Some operations that fail that were started via Modbus were not reported in the Modbus error log, MODBUS.ERRORS. The firmware now records the failures using the new error code 36 (Deferred Error).

- EtherCAT - Added modular profile for IO objects [S-23310]

Issue:

The ESI file for EtherCAT indicated all models have all IO, but certain models do not have certain IO and will return an error when they are accessed.

Solution:

The ESI file and drive have been updated to include X22 and X23 modules that will dynamically add/remove additional IO objects based on the model being used.

- Added a CANopen-object for AXIS#.MOTOR.SERIALNUM to CAN and EtherCAT [S-21883]

Details:

Added object 500Bh/510Bh sub 44 for AXIS#.MOTOR.SERIALNUM.

- EtherCAT and CAN - SDO message log added [Req#51120] [S-23271]

Details:

To aid in troubleshooting issues with certain masters, an SDO log was added that shows the last 100 SDO messages sent/received from the drive. CANOPEN.SDOLOGEN enables or disables the logging and CANOPEN.SDOLOGDUMP outputs the log.

^ Back to Top ^

## Functional Safety

- Mismatch between keyword and safegrid name for AXIS#.SAFE.SDIx.MOVING [Req#R#47677] [D-09120]

Issue:

In the SafeGrid, the safe output mapping for SDI status was called "SDIx Motion Active". The keyword however was called "AXIS#.SAFE.SDIx.MOVING". For all other safety functions the SafeGrid name and the parameter were aligned.

Solution:

The keyword has been renamed to match the SafeGrid name.

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## General

- Drive crashed when SafeId validation display screen was active [D-09175]

Issue:

Drive crashed if SafeId screen is active in conjunction with another screen.

Solution:

Drive firmware was fixed so it doesn't crash.

- Axis' position command and feedback added as Encoder Emulation source [S-23317]

Issue:

Feedback positions of feedback 1-5 were the only possible sources for the Encoder Emulation. It was not possible to use an axis' position command or position feedback.

Solution:

Position command and position feedback of the drive's axes have been added as sources for Encoder Emulation.

- Added EEO support to SFA connectors [S-23419]

Details:

The SFA now supports EEO. X1.MODE and X2.MODE must be set to EEO mode (1). X1 corresponds to EEO3 and X2 corresponds to EEO4. They both behave similarly to EEO1 on X23 as long as an SFA connector is attached to X1 or X2.

- Added new keyword DRV.BLOCKEDCMDS [S-22779]

Details:

A new keyword DRV.BLOCKEDCMDS has been added to the firmware. It prints a list of all currently blocked commands and the reason, why they are blocked.

^ Back to Top ^

## Motion

- AXIS#.PL.INTOUTMAX was not saved to NV [Req#53242] [D-09192]

Issue:

AXIS#.PL.INTOUTMAX was not being saved to NV memory, any changes to the user was lost on power cycle.

Solution:

This parameter has been correctly changed to an NV parameter and is now saved to memory.

- Start Cogging Teach Sooner when Modulo Enabled

Issue:

When using cogging compensation, running teach (AXIS#.IL.COGCOMP.TEACH.MOVE) would take a long time when modulo (AXIS#.IL.COMPTABLE.MODULO) was enabled.

Solution:

The teach algorithm takes less time.

^ Back to Top ^

## Motor & Power Stage

- AC input phase loss was not reliable at low voltages

Issue:

The AC input phase loss fault (F2014) and warning (W2014) are generated when a hardware circuit detects the phase loss condition. The circuit output is not reliable below 40% of the standard AC line voltage, which was causing spurious faults and warnings at lower voltages.

Solution:

The drive now disables the AC input phase loss fault and warning when VBUS.ACNOMINAL is less than 40% of the standard input voltage. That is, phase loss detection is turned off when VBUS.ACNOMINAL is less than 96V for MV drives and 192V for HV drives.

^ Back to Top ^

# Version 02-09-00-001 : April 4, 2022

## General

- Certain drive configurations still failed to load action table row 1 with an NV fault 1100

Issue:

Some drives were misprogrammed and led to the same failure seen previously where the action table fault relay action row 1 failed to load properly and fault 1100 was received every time.

Solution:

The drive firmware was updated to account for the misprogrammed drives.

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# Version 02-09-00-000 : March 23, 2022

## Motor & Power Stage

- Inrush disable source did not clear automatically

Issue:

Under some conditions involving AC line power loss (Warning 2019), the inrush disable source failed to clear automatically. The axes could not be enabled without clearing faults, even when no faults were present.

Solution:

The inrush disable logic for AC line power loss has been fixed, so that the disable source clears automatically.

^ Back to Top ^

# Version 02-08-03-000 : February 23, 2022

## Action Table

- ACTION#.SOURCE 26 (Recordable Parameter) did not trigger for some float parameters [D-09121]

Issue:

When an action was configured to use source 26 (Recordable Parameter) and ACTION#.SOURCETEXT selected a float parameter, the action did not correctly trigger at the threshold configured in ACTION#.CONDITIONVALUE, but at a thousandth of that threshold instead.

Solution:

The firmware has been changed to trigger at the correct threshold when using ACTION#.SOURCE 26 with a float parameter.

^ Back to Top ^

## Feedback

- F4x28 when FB#.STOREMULTITURN.ENABLE [Req#51903] [D-09179]

Issue:

When FB#.STOREMULTITURN.ENABLE was set to 1 (on), then on power cycle the drive would fault with 4x28.

Solution:

FB#.STOREMULTITURN.ENABLE works correctly.

- SFA Auto-Identify caused SFA communication problems [D-09168]

Issue:

Upon trying to auto-identify SFA feedbacks, the drive reported communication problems with the SFA.

Solution:

The root cause of the communication problems was identified and fixed, letting the drive auto-identify the SFA feedbacks without issues.

^ Back to Top ^

## Fieldbus

- [CANopen via CAN] EDS-files should have subindices in hex notation [Req#50676] [D-09164]

Issue:

The specification DS306 demands that index and subindex of a CANopen object must be put in hex-format into the CAN eds-file. The subindexes were in decimal notation, visible starting at subindex 10 of sum objects.

Solution:

Both, index and subindex, were changed now to hex notation.

- CAN Objects - PL.OFFSET added and 500Ah sub19 PDO mappable [Req#49021] [S-23160]

Details:

- CANopen objects were added for AXIS1.PL.OFFSET (500Ch sub 19) and AXIS2.PL.OFFSET (510Ch sub 19) - the object 500Ah sub 19 / 510Ah sub 19 has been made PDO-mappable (AXIS1/2.IL.MI2T)

- CANopen (EtherCAT and CAN) - Added object 603fh for CodeSys compatibility [S-23198]

Details:

Codesys and other EtherCAT masters use the object 603Fh to detect the last occurred fault / warning instaed of checking object 1003h. The object 603Fh sub 0 was added.

^ Back to Top ^

## General

- Triggering off large values did not work [Req#46052] [D-09070]

Issue:

An error was received if users attempted to set REC.TRIGVAL to a value outside of that keywords range even though it was within the range of the keyword being used for REC.TRIGPARAM.

Solution:

The drive firmware was updated to accept a wider range of values in REC.TRIGVAL.

- Triggering the scope with an array keyword that was a double did not work [D-08953]

Issue:

When setting up a trigger value with a double type array keyword, the trigger would not capture the value correctly and the recording may not have triggered.

Solution:

The drive firmware was updated to handle double array type keywords correctly for the scope trigger.

- Triggering the scope with decimal values did not trigger off the correct value [D-08953]

Issue:

When setting up a trigger value with a decimal, some keywords would truncate down to an integer value. For example, triggering off 0.5 would actually trigger at 0.

Solution:

The drive firmware was updated to handle decimal values correctly.

- Unrecognized MechaWare block caused drive to crash [D-09115]

Issue:

If an unrecognized block was used in a user model, the drive would crash.

Solution:

Block detection and error handling has been improved to handle this failure gracefully and allow the user to delete the bad model once booted.

- Added DIOs as limit, home, and hardware enable switch sources [Req#43096] [S-22846]

Issue:

Only DINs could be used as input sources for limit, home, and hardware enable switches. It is useful to permit DIOs as well because DINs do not permit TTL level inputs while DIOs do.

Solution:

The firmware was updated to also be able to use DIOs to toggle limit, home, and hardware enable switches.

^ Back to Top ^

## Motion

- AXIS#.STOP while using AXIS#.PL.CMD.OFFSET caused discontinuity [D-09143]

Issue:

If the value AXIS#.PL.CMD.OFFSET was non-zero and an AXIS#.STOP command was issued; a discontinuity with the magnitude of PL.CMD.OFFSET would occur immediately after stopping.

Solution:

The drive stop was not accounting for offsets into the position command, this is fixed.

- VL.FF did not include all velocity feedforwards [D-09152]

Issue:

If a user was monitoring VL.FF it would be noticed that this only included feedforwards directly from the position loop.

Solution:

VL.FF was re-worked to include all velocity feedforward signals

- New keyword PL.CMD.OFFSET [D-09152]

Details:

A new keyword was added which contains all of the Position Command offset values; AXIS#.PL.CMD.FBUSOFFSET and AXIS#.PL.CMD.MWOFFSET

^ Back to Top ^

# Version 02-08-02-000 : January 18, 2022

## Action Table

- MT Feedrate task default does not match keyword [D-07929]

Issue:

The default value for the MT Feedrate action task is 0. If the user does not update this before activating the task, it will overwrite MT.FEEDRATE and no motion will occur leading to confusion and difficulty troubleshooting.

Solution:

The default for the MT feedrate action task has been updated to 100% to match the keyword.

^ Back to Top ^

## Feedback

- Hiperface does not work properly when using a non-Kollmorgen motor [Req#47968] [D-09108]

Issue:

When using a non-Kollmorgen motor without Kollmorgen motor memory present, a Hiperface feedback would appear to identify, but would not show position correctly.

Solution:

The drive firmware was updated to properly identify Hiperface feedbacks when Kollmorgen motor memory is not present.

- Homing with PL.KFB results in discontinuity [D-09082]

Issue:

If non-unity scaling is used with dual loop implementations, a discontinuity can occur during homing.

Solution:

Homing offset calculations now correctly take PL.KFB into consideration when homing is performed.

- Feedback initialization failed for high resolution linear EnDat 2.2 encoders [S-23041]

Issue:

The drive could not initialize certain high resolution linear EnDat 2.2 encoders (e.g. Heidenhain LIP 21). These encoders store their measuring step length in a different way, which was not implemented in the firmware.

Solution:

The alternative algorithm for calculating the encoder step length from encoder memory data was implemented in the firmware so that encoders using it can now be initialized by the drive.

- Added FB#.TEMPC and FB#.TEMPCEN for Hiperface DSL feedbacks [S-22901]

Details:

Hiperface DSL feedbacks can provide not only the motor winding temperature (AXIS#.MOTOR.TEMP), but also the encoder device temperature. FB#.TEMPC will provide this temperature when FB#.TEMPCEN is set to 1.
Note: Enabling this functionality will slow the response time for the F5000 'Motor overheated' fault by up to 150ms due to only being able to read one temperature at a time. Typically the delay is much shorter depending on cable quality.

^ Back to Top ^

## Fieldbus

- EEO objects not always created [S-22929]

Issue:

When using an AKD2G model that had the X22 (EEO2) connector but not the X23 (EEO1) connector, the incorrect EEO objects were created.

Solution:

EEO2 objects are now created correctly when X23 is not supported by the drive model.

- EtherCAT - No fault is created when SyncManager 2 is disabled [D-08863]

Issue:

When cyclic data is active via EtherCAT and the connection is interrupted by cutting the Ethernet line, the fault F7005 is created. This was not generated, when the SyncManager 2 on the drive was disabled, i.e. no more data from the EtherCAT master was processed The position extrapolation still was working and led to a moving motor.

Solution:

Switching off the SyncManager 2 leads now to a F7005 and stops any movement.

- Fieldbus external feedback position direction [Req#46718] [S-22973]

Details:

New keywords have been added to provide the ability to invert the position provided by an external feedback via fieldbus. For EtherCAT and CAN, the keyword AXIS#.CANOPEN.FB#.DIR and DS402 drive profile object 60F1h, will invert the direction of the associated additional feedback position provided in object 60E4h. For PROFINET and EtherNet/IP, the keyword FB#.FBUSDIR will invert the position provided by FB#.FBUSP. Note that the inversion only gets applied to the value read from the additional feedback positions at 60E4h and 68E4h for EtherCAT and CAN or FB#.FBUSP for PROFINET and EtherNet/IP. It is not applied to the position value used by an axis for motion control.

^ Back to Top ^

## General

- Action row 1 failed to activate and led to an NV load fault 1100. [Req#48424] [D-09116]

Issue:

The drive firmware did not properly initialize the default value for DOUT9.SOURCE, which lead to a load failure during start-up when activating action row 1 that sets DOUT9.

Solution:

The default value for DOUT9.SOURCE was fixed to be set to the action table source. Action row 1 now can be activated by default as expected.

- Firmware update fails sometimes with unknown error [Req#47554] [D-09105]

Issue:

The firmware had an internal error.

Solution:

The firmware was fixed and firmware updates succeed consistently.

- Failing to initialize default values caused NV to not load [Req#48424] [D-09116]

Issue:

The drive would not load any NV parameters if initializing default values did not complete successfully.

Solution:

If initializing parameters to default values fails, the error is logged and a fault 3001 is still generated, but the drive will still continue to load parameters from NV to prevent loss of data.

- MW Integer gain block does not calculate correctly

Issue:

An integer gain block would not calculate its output correctly on small deltas.

Solution:

The block has been fixed.

- Required parameters status not updated while FB#.SELECT is 1 (No Encoder) [D-09047]

Issue:

While the feedback type of the commutation feedback was 1 (None) AXIS#.SETUPREQLIST and AXIS#.SETUPREQBITS were not updated. If any required parameters for the selected motor type were unset before FB#.SELECT was set to 1, setting FB#.SELECT to a different value would immediately create a fault F5005 (Drive motor parameters setup incomplete), even if all required parameters had been set in the meantime.

Solution:

The drive will now correctly track the status of required parameters while FB#.SELECT is 1 (No Encoder).

- Changed error code when number with more than 3 digits is written to float keyword. [D-09091]

Issue:

When writing a number with more than three digits after the decimal point to a float number, that only has a precision of three digits after the decimal point, an error "[0009] Argument is out of data-range" was created by the drive. The description did not match the cause of the error.

Solution:

A new error "[0360] More than three digits after decimal point" is now created in the case described above.

- Do not use cogging table output when homing is not complete [S-23025]

Issue:

If a cogging table had been loaded, but homing not complete, the cogging table output would be sent to the motor output even though the index is not aligned.

Solution:

Now the cogging table output will not be sent to the motor until homing has been completed.

- Added INPUT (after modulo) keyword to compensation table [S-23023]

Details:

Workbench needs to show the user where the feedback (AXIS#.PL.FB) is relative to the active cogging compensation table.

- Added new CAP#.REARM mode for continuous arming on startup [Req#44267] [S-22907]

Details:

A new CAP#.REARM mode has been added to automatically arm the compare channel on startup. It can be enabled by setting CAP#.REARM to 2. Additionally, while using a motion task with the Registration move type, the user can now specify which rearm mode to use.

^ Back to Top ^

## Motion

- Discontinuity when using PL.MWFF [S-23077]

Issue:

If the AXIS#.PL.MWFF position feedforward was being used during a controlled stop (either directly, or indirectly during limit switch control or homing), the feedforward value would not be compensated causing a discontinuity in the resulting PL.CMD signal.

Solution:

PL.MWFF has been compensated during these procedures so no discontinuity exists.

- Homing deceleration has discontinuity in trajectory

Issue:

When using a homing mode and AXIS#.PL.FILTER is active, then a discontinuity occurred exactly when the homing position offset was updated.

Solution:

The PL.FILTER block now accounts for this homing offset change properly and the discontinuity has been removed.

^ Back to Top ^

## Motor & Power Stage

- AC input power loss & phase loss warnings took too long to clear

Issue:

Warnings 2014 (AC input phase loss) and 2019 (AC input power loss) are reported when the axis is disabled, and automatically clear when the AC input state is satisfactory. The time to clear was excessive, in some cases over 3 sec. If an axis enable was attempted during the delay, the corresponding fault was reported on the axis.

Solution:

The timing has been fixed so that the warnings automatically clear within 50 msec.

- Current loop gain incorrect

Issue:

The current loop gain (AXIS#.IL.KP) calculation was about 23% high.

Solution:

The current loop gain calculation has been fixed. The corrected AXIS#.IL.KP values should work with most existing motion tuning.

^ Back to Top ^

# Version 02-08-01-000 : November 9, 2021

## Feedback

- Hiperface DSL model EDM35 throws F4x06 fault [Req#44190] [D-09063]

Issue:

The Hiperface DSL model EDM35 would fault with F4x06 after feedback selection.

Solution:

This feedback type no longer throws the F4x06 fault.

- Auto-Identify feedback feature now includes SFA-connected feedbacks [S-20403]

Issue:

Auto-Identify feature was not available for SFA feedbacks.

Solution:

Auto-Identify will work for all plug-and-play feedbacks, including those connected with an SFA.

- Linear Analog EnDat feedbacks now supported [S-22802]

Details:

Linear analog EnDat feedbacks are now able to be identified and used.

^ Back to Top ^

## Fieldbus

- EtherNet/IP - Class 3 connections will cause cyclic update period to be incorrect [D-09036]

Issue:

When a class 3 connection is opened, it will cause the class 1 cyclic connection to change update rates within the drive as well as change the connected status LED in WorkBench.

Solution:

Class 3 connections no longer impact the sample period or connected status in the drive.

- EtherNet/IP - Additional motion command information [S-22858]

Issue:

It's difficult to observe the commanded motion from EtherNet/IP in WorkBench.

Solution:

Drive units were added to the cyclic EtherNet/IP keywords, AXIS#.FBUS.VL.CMD was added, and depending on the commanded motion in progress, certain commands will show with the NotInUse tag for WorkBench to improve the display.

- EtherNet/IP - Gantry mode support [S-22630]

Issue:

Gantry mode was not fully working while using EtherNet/IP fieldbus.

Solution:

Some issues were fixed around gantry mode with EtherNet/IP. Once the second axis is set to gantry mode, all commands can be issued to axis 1 and axis 2 will follow.

- PROFINET - Added MechaWare cyclic signals [Req#43168] [S-22855]

Details:

AXIS#.MW.FBUS# keywords are now available to read/write via PROFINET telegram signals cyclically. MW.FBUS1-16 can be written to using signal numbers 7600-7615 and read from using signal numbers 7700-7715.

^ Back to Top ^

## General

- DRV.HELP for Array parameters incorrectly returns the actual value [Req#43263] [D-09031]

Issue:

For example "DRV.HELP CMP2.WIDTHT 2" would return a line without the actual value being returned "Actual value =".

Solution:

DRV.HELP now correctly returns the actual value.

- Extraneous entries in fault history during drive reboot

Issue:

Shutting down drive systems to prepare for a reboot could cause some faults to appear in DRV.FAULTHIST that should be ignored. For example, the reboot that happens after downloading firmware caused Fault 2503 (Power board under temperature) on some drives.

Solution:

Any new faults that occur after a drive reboot starts are not written to fault history.

- Integer Lookup Tables in User Models cause FW to crash [D-09030]

Issue:

Integer Lookup Tables in User Models cause FW to crash

Solution:

Integer Lookup Tables in User Models now work correctly.

- Missing config conflict reason for AXIS#.GEAR.FBSOURCE 0 [D-09049]

Issue:

When AXIS#.GEAR.FBSOURCE was set to 0 (None) while AXIS#.CMDSOURCE was 2 (Electronic Gearing) a config conflict was active for AXIS#.GEAR.FBSOURCE but no matching conflict reason was added to DRV.CONFIGCONFLICTS.

Solution:

A config conflict reason for AXIS.GEAR.FBSOURCE 0 was implemented.

- Using FB#.STOREMULTITURN can cause unclearable 4x28 and 4x29 faults [Req#43886] [D-09035]

Issue:

Enabling store multiturn with the incorrect setup (like non-absolute feedback) caused the drive to fault. These faults could not be cleared and required the drive to be power cycled.

Solution:

Now when store multiturn faults occur, the user can disable store multiturn feature (FB#.STOREMULTITURN.ENABLE 0) and clear the faults.

- Added AXIS#.PL.KFB.PIN and AXIS#.PL.KFB.POUT [D-09034]

Issue:

AXIS#.PL.KFB did not provide enough precision. For example, a gear ratio of 1 / 3 cannot be represented precisely by 0.333333.

Solution:

Added keywords AXIS#.PL.KFB.PIN and AXIS#.PL.KFB.POUT where AXIS#.PL.KFB = AXIS#.PL.KFB.PIN / AXIS#.PL.KFB.POUT.

- CANbus - Add nodeid and baudrate settings to display [S-22803]

Details:

As there are no DIP-switches it is now possible to set the CAN-Node Id via the AKD2G-display. Additionally also the baudrate can be set.

^ Back to Top ^

## Motion

- Changing FB Source or Type Resets Gantry State [D-09068]

Issue:

If Axis 2 is configured as a Gantry, and the feedback source or type is changed, then the effective Axis 2 home origin is no longer valid. However the Gantry remained active and synchronized. When Axis 2 was enabled after this, it would run away.

Solution:

The Gantry state is reset to "Pending Homing" if any feedback type changes or any axis feedback source changes.

- Cogging Compensation Added

Details:

Cogging Compensation had been added as a new feature. See documentation for all related configuration and activation keywords. Workbench version 2.9.5 enables a GUI tool to use this feature.

^ Back to Top ^

## Motor & Power Stage

- Initial DC bus above regen threshold fault and warning

Issue:

The name of Warning 2012, "Inconsistent mains voltage", is not descriptive enough to indicate the cause of the warning. In addition, a corresponding fault should occur when an attempt is made to enable the axis.

Solution:

Warning 2012 has been renamed to "Initial DC bus above regen threshold", and Fault 2020 has been added with the same name. The warning is reported when the axis is disabled, and the fault occurs when an attempt is made to enable the axus

^ Back to Top ^

# Version 02-08-00-000 : October 18, 2021

## Functional Safety

- AXIS#.SAFE.ABSOLUTEPOSVALID value is inverted [Req#45298] [D-09055]

Issue:

When AXIS#.SAFE.ABSOLUTEPOSVALID returned 1, the absolute safe position was actually invalid and when it returned 0, the absolute safe position was valid.

Solution:

The value returned has been corrected to be 1 when valid and 0 when invalid.

^ Back to Top ^

## General

- NV Memory Data fault when updating firmware

Issue:

Fault 1100 (NV Memory Data) might occur when updating from 02-07-00-0xx to one of several 02-07-0x-0xx beta releases.

Solution:

The parameter update causing Fault 1100 has been fixed. The fault does not occur when updating from 02-07-00-0xx to 02-08-00-0xx and later.

- File Download over EtherCAT crashes drive [D-09046]

Issue:

While doing a firmware download over EtherCAT (FoE), the drive crashed.

Solution:

The firmware was changed so it doesn't crash.

^ Back to Top ^

# Version 02-07-04-000 : October 1, 2021

## Fieldbus

- EtherCAT and CAN - Incorrect datatype for HOME.P and HOME.OFFSETUSER

Issue:

Objects for HOME.OFFSETUSER (5008h sub14) and HOME.P (5008h sub15) did not handle signed values.

Solution:

The drive firmware was updated so that objects for HOME.OFFSETUSER (5008h sub14) and HOME.P (5008h sub15) can handle signed values.

- Modbus connection unexpectedly closed by drive [D-09019]

Issue:

When continually reading or writing through a Modbus connection over a longer period, the drive would sometimes close the connection for no apparent reason.

Solution:

The drive should no longer unexpectedly close Modbus connections.

^ Back to Top ^

## Functional Safety

- SBC with two brakes on a single axis drive cannot be parameterized by FSoE [Req#10972] [D-09015]

Issue:

There is no way to change the second axis' parameters on a single axis drive and the default for SBC on axis 2 is to have the second brake attached. If a second brake was attached to the single axis, there is a parameter conflict even though the second axis is unable to be configured.

Solution:

The default for the second axis' SBC was updated to not be attached.

^ Back to Top ^

## General

- Fault 1100 (NV Memory Data) when updating firmware

Issue:

When updating from version 02-07-00-000 to 02-07-02-000 and later beta releases, Fault 1100 (NV Memory Data) occurs due to a change to AXIS#.MOTOR.DISAUTOSET. The condition may affect AXIS#.MOTOR.DISAUTOSET values after download. The fault can be cleared and does not occur again after saving NV parameters.

Solution:

The initial report of Fault 1100 due to AXIS#.MOTOR.DISAUTOSET after updating firmware has been suppressed.

- New fault for AC power loss [S-22851]

Issue:

When a drive configured for AC input detected a loss of AC input power, it triggered a fault 'F2014: AC input phase loss'. The same fault was created when the drive detected the loss of a single input phase.

Solution:

To better distinguish between the loss of input phases and the complete loss of input power a new fault 'F2019: AC input power loss' has been implemented.

- Added EEO#.P, EEO#.PIN, and EEO#.POUT [Req#39463] [S-21435]

Details:

EEO#.PIN/EEO#.POUT is a gain that can be applied to the feedback source position value. EEO#.P is a read only parameter that returns the position after the gain is applied.

- Keywords for reading configuration conflict descriptions [S-22405]

Details:

A new keyword DRV.CONFIGCONFLICTS has been added to the firmware. It shows a list of all active configuration conflicts, giving a description of the reason for the conflict. Another new keyword DRV.CONFIGCONFLICTLIST displays a list of all configuration conflict reasons currently implemented in the firmware.

^ Back to Top ^

## Motion

- Motion tasks using relative moves and blending do not always blend [Req#43450] [D-09021]

Issue:

When using blended motion tasks (MT.TRANSITION = 2 or 3) and relative positions, the motion task could ramp to 0 instead of blending between tasks.

Solution:

The firmware was fixed so that blending would occur for relative motion task moves.

^ Back to Top ^

## Motor & Power Stage

- Brushed motor support should be removed [S-22877]

Issue:

The AKD2G does not support brushed motors.

Solution:

Brushed motor selection has been removed and is no longer supported.

- AXIS#.IL.COMMANGLE parameter for commutation angle

Details:

AXIS#.IL.COMMANGLE is a new read only parameter that reports the commutation angle for an axis that is either in motion or locked in position in UVW current command mode.

^ Back to Top ^

# Version 02-07-03-000 : September 15, 2021

## Action Table

- ACTION#.CONDITIONVALUE crashes drive with empty ACTION#.SOURCETEXT [D-09014]

Issue:

With an action source selected, that uses ACTION#.SOURCETEXT, setting ACTION#.SOURCETEXT to an empty string and then accessing ACTION#.CONDITIONVALUE crashed the drive.

Solution:

The drive will now return an error on accesses to ACTION#.CONDITIONVALUE, when ACTION#.SOURCETEXT is used by the selected action source but is empty.

- New action source to execute action after drive initialized [S-22747]

Details:

A new action source '27 - Drive Initialized' has been added to the firmware. An action using this new source will execute its task exactly once when the drive has finished initialization after booting.

^ Back to Top ^

## Feedback

- Some EnDat feedbacks fail to initialize [Req#41417] [D-08799]

Issue:

Older EnDat's may have an invalid ordering designation and cause feedback initialization to fail.

Solution:

EnDat feedbacks will now initialize regardless of if the ordering designation was programmed correctly or not.

- Added FB#.TEMPC keyword [S-21817]

Details:

FB#.TEMPC is a read only keyword that returns the encoder temperature. Currently, the Hiperface DSL feedback is the only feedback that supports reading encoder temperature.

^ Back to Top ^

## Fieldbus

- EtherNet/IP - Issue with AKD_Home and AKD_Move not showing new moves in progress [D-08980]

Issue:

When re-triggering the AKD_Home or AKD_Move AOI blocks, the IP output never shows true and PC stays true, indicating that the move has completed when it may still be in progress.

Solution:

A timing issue was fixed in the drive firmware where the load complete bit was set prior to starting a move. The load complete bit will now remain low for at least one fieldbus cycle before being set to allow a move to start and update the in progress bit.

- EtherCAT and CAN - Profile Position mode bit 9 on the fly move [Req#42040] [S-22786]

Details:

When using profile position mode (mode 1) in CAN or EtherCAT, bit 9 of the control word will now blend moves together when triggering a new point while one is progress rather than ramping to 0 RPM between moves.

^ Back to Top ^

## General

- Crash when saving parameters to SD card [Req#43050] [D-09013]

Issue:

The drive crashes when running saving parameters to the SD card.

Solution:

The drive firmware was fixed to not crash when saving parameters to the SD card.

^ Back to Top ^

## Motion

- Following motion task will bounce between + and - target position [D-08995]

Issue:

When a motion task was set up to do an absolute move with transition type 3 and next task id set to itself, the axis would bounce back and forth between the +/- target position.

Solution:

The motion task will now stay at the target position.

^ Back to Top ^

## Motor & Power Stage

- Added regen resistor test [Req#39461] [S-21181]

Details:

A new feature was added to the drive to be able to verify the regen resistor has been wired correctly. Executing REGEN.TEST will put current through the regen resistor circuit and verify bus voltage drops by a percentage (REGEN.TESTVTHRESH) of the initial voltage. If the timeout, REGEN.TESTTO, is exceeded the test will fail. REGEN.TESTSTATUS shows the results of the test. If the bus voltage reaches the threshold before the timeout, everything is considered correct and the test passes. If a short circuit is present, the test will fail early and a fault will be present. If an open circuit is present, the test timeout will be hit and the failure is reported in the test status.

- UVW current commands in torque mode

Details:

UVW phase currents can now be commanded in torque mode. Setting AXIS#.IL.CMDMODE = 1 turns off normal commutation and enables the use of phase U and V current commands, with phase W calculated automatically. With commutation turned off, constant phase currents lock the rotor at a position determined by the relative magnitudes.

AXIS#.IL.IUCMDU and AXIS#.IL.IVCMDU specify the phase currents, and AXIS#.IL.SETCMD applies them as a coherent set for the power stage output. AXIS#.IL.IUCMD, AXIS#.IL.IVCMD, and AXIS#.IL.IWCMD give the actual phase current commands after limits have been applied.

The default AXIS#.IL.CMDMODE = 0 supports normal commutation in torque mode, with AXIS#.IL.CMDU setting the torque-producing current.

^ Back to Top ^

# Version 02-07-02-000 : August 12, 2021

## Action Table

- Action Source Recordable Parameter issues [D-08993]

Issue:

Three issues were recently identified if an Action was configured to use the Recordable Parameter as a source.

Solution:

Fixed a crash condition if the Recordable Parameter has not been specified before the Action was activated. Made USER.INT# keywords recordable to enhance flexibility with the action table. Fixed a bug that prevented recordable array parameters from being used as a Recordable Parameter source in the Action table.

- Command Buffer does not work with Array keywords [D-08954]

Issue:

A bug was identified trying to use array keywords (like AXIS1.MT.MOVE) in the Action Table Command Buffer.

Solution:

Arrays are now correctly accepted by the command buffer action.

^ Back to Top ^

## Analog & Digital IO

- Added option to select 'None' as analog input source. [S-22701]

Details:

The keywords AXIS#.IL.AINSOURCE, AXIS#.VL.AINSOURCE and AXIS#.PL.AINSOURCE can now be set to 0 to select no analog input as the source. In that case, an axis in analog mode will not command any motion, i.e. in torque or velocity mode it will have a current or velocity command of zero and in analog position mode it will keep its actual position.

^ Back to Top ^

## Feedback

- Feedback initialization sequence fault when selecting SFA feedback

Issue:

Fault 4x05 (Feedback initialization sequence) frequently appeared incorrectly when selecting a feedback connected through an SFA. The fault could be cleared and the feedback used, but the fault was misleading.

Solution:

Fault 4x05 no longer appears when selecting an SFA feedback, unless there is a legitimate fault condition.

- Linear SSI resolution incorrect

Issue:

The resolution of linear SSI feedbacks was calculated incorrectly, resulting in much larger position count values than expected.

Solution:

Linear SSI resolution has been fixed.

- FB#.SCALED.DIR for setting scaled feedback direction

Issue:

In the initial scaled feedback implementation, negative values of FB#.SCALED.PIN were used to reverse direction. This implementation was not consistent with direction settings for other features such as AXIS#.DIR and AXIS#.HOME.DIR.

Solution:

FB#.SCALED.DIR has been added to set the scaled feedback direction to standard (0) or reverse (1). FB#.SCALED.PIN is now restricted to positive values.

- Added encoder designation to FB#.INFO for EnDat 2.2 encoders [Req#10447] [S-21182]

Details:

FB#.INFO will now show the encoder designation, for example EQI1131, for EnDat encoders that support the EnDat 2.2 protocol.

- SFA FPGA is part of a standard Firmware User Image [S-22562]

Details:

Previous to this release, an SFA FPGA was only available as a separate image, and the installed SFA image is only upgraded when it is downloaded with the feedback already selected as an SFA. Furthermore, if the drive has two SFA feedbacks, each had to upgraded separately.

With this release, an SFA FPGA is part of a standard user image and will be downloaded automatically to all SFA feedback(s) if the installed version(s) needs to be upgraded. This happens when an SFA feedback is selected with the command FBx.SELECT.

^ Back to Top ^

## Fieldbus

- EtherCAT - Fixed PDO mappings excluding PDO mappings of other axis [D-08928]

Issue:

The EtherCAT ESI file contained some excluded combinations of fixed PDO mappings, where the mappings each mapped an object with the same function but for a different axis.

Solution:

The EtherCAT ESI file has been changed so that selecting a fixed PDO mapping for one axis is not affecting the fixed PDO mapping options for the other axis.

- EtherCAT - Synchronization warning 7011 triggered incorrectly when using 250uS cycle time [D-08931]

Issue:

The synchronization warning 7011 would occur incorrectly when using a 250uS cycle time.

Solution:

The drive firmware was updated to disable warning 7011 for 250uS. The tight timing requirements for 250uS cycle times means that the drive Tx may occur in the prior sync0 cycle in order to guarantee stable signals.

- EtherCAT - Synchronization warning 7011 triggered incorrectly when using ECAT.PLLOFFSET

Issue:

The synchronization warning 7011 did not properly account for the ECAT.PLLOFFSET setting and would get triggered when there was no synchronization issue.

Solution:

The drive firmware was updated to properly account for the ECAT.PLLOFFSET when detecting synchronization issues.

- EtherNet/IP - Issue with negative velocities during jog command in position mode [D-08971]

Issue:

When a negative velocity is used during the jog command type (7) while in position mode, the velocity will not match the commanded velocity.

Solution:

The drive firmware was updated to correctly interpret negative velocities and the commanded velocity direction will now match the velocity mode operation. The velocity will be negative if either the velocity setpoint is negative or the direction bit indicates negative direction. The velocity will be positive if the velocity setpoint is positive and direction bit is positive or if both are negative.

- EtherNet/IP - Torque move doesn't stop with Smooth_Stop AOI [D-08972]

Issue:

When executing a torque move, the Smooth_Stop AOI does not correctly stop motion. The root cause was tracked to the 'in progress' bit of the status word is not getting set.

Solution:

The firmware was updated to set the in progress bit when not at zero speed during a torque move. See AXIS#.ZERO commands for setting up zero speed.

- Firmware download occasionally fails [D-08974]

Issue:

When using the fieldbus port for WorkBench (Profinet and EtherNet/IP), download would occasionally fail.

Solution:

Firmware was fixed to make downloads work.

- Parameter load may fail without error notification when using FoE [Req#40705] [D-08973]

Issue:

When sending a small parameter file over FoE that fits within one EtherCAT mailbox frame, the parameters were not evaluated even though the file transfer succeeded.

Solution:

All parameter files independent of size are handled correctly.

- PROFINET - FB#.P positions do not have separate scale factors [D-08884]

Issue:

With other fieldbusses each FB#.P can be scaled separately from the axis scaling. This is useful when using a feedback not tied to a specific axis. PROFINET currently uses the axis scaling when accessing an object that returns a FB#.P position.

Solution:

Additional scale factors were added to each feedback: FB#.PROFINET.FEEDRATIO.FEED, FB#.PROFINET.FEEDRATIO.SHAFTREV, FB#.PROFINET.GEARRATIO.MOTORREV, and FB#.PROFINET.GEARRATIO.SHAFTREV. These factors are used when accessing the FB#.P command directly or a command that returns a specific FB#.P value, such as compare and capture when FB#.P is selected as a source.

- EtherNet/IP - Added support for dynamic mapping array parameters [S-22544]

Details:

Array parameters can now be mapped in the EtherNet\IP dynamic map. Array indexes are specified using the AXIS#.EIP.DYNAMICCMDINDEX and AXIS#.EIP.DYNAMICRSPINDEX keywords.

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## General

- Autotuner fails to record intermittently [D-08959]

Issue:

An issue was found with the Autotuner/Bode tool if the scope had been used previously, the Autotuner/Bode tool may fail to start recording subsequent attempts.

Solution:

The recorder trigger mechanism was found to have a bug introduced. The trigger mechanism has been fixed and the Autotuner/Bode will now work correctly.

- Gain Block Output invalid number causing issues when connecting to WorkBench

Issue:

The Gain block's output (MODEL#.BLOCK#.OUTPUT) (BLOCK number for the gain block varies per model) in the MechaWare model was returning a very large incorrect value. This caused WorkBench to not allow connection to the drive.

Solution:

The block now returns the correct value.

- Added a new CMP#.REARM mode for continous arming on startup [S-22711]

Details:

A new CMP#.REARM mode has been added to automatically arm setpoints on startup. It can be enabled by setting CMP#.REARM [Setpoint index] to 2

- Drive serial number and AXIS#.MOTOR.SERIALNUM added to diagnostic section of parameter files [S-22513]

Details:

The diagnostic section of parameter files will now contain the drive's serial number and AXIS#.MOTOR.SERIALNUM.

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## Motion

- Integrator not discharge after saturation

Issue:

The velocity loop integrator block did not discharge after exiting current saturation. This is a rare condition because saturation is not an expected operating condition.

Solution:

The velocity loop integrator block will now discharge after exiting current saturation.

- Motion task does not always stop executing [D-08966]

Issue:

When using a motion task with a following motion task, the stop command could occasionally be ignored.

Solution:

The drive firmware was updated to always abort the following motion task when the stop command is issued.

- PL.KFB does not work for values not equal to 1 [Req#41744] [D-08994]

Issue:

When PL.KFB is not equal to 1 and feedback values greater than 360 degrees in the PL.KFB gain block, then the output produces an unexpected value.

Solution:

The PL.KFB gain block operates as expected for all values of the gain and feedback.

- Enhance GANTRY.PL.ERRFTHRESH [S-22644]

Issue:

If an axis was configured as a gantry, the GANTRY.PL.ERRFTHRESH would only be active after successful homing of the gantry. This meant the gantry could still become damaged if the axes opposed each other with enough force prior to successful homing.

Solution:

GANTRY.PL.ERRFTHRESH is now calculated as AXIS2.PL.ERR - AXIS1.PL.ERR prior to homing. Once homing is successful and GANTRY.STATE is at 3, gantry error resumes normal calculation as the value of AXIS1.PL.FB - AXIS2.PL.FB.

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## Motor & Power Stage

- AXIS#.DBILIMIT incorrectly resets to its default value

Issue:

On axes with MOTOR.AUTOSET = 1, AXIS#.DBILIMIT would reset to its default value after a reboot if its value was equal to MOTOR.ICONTs default value.

Solution:

AXIS#.DBILIMIT has been added to the list of MOTOR.AUTOSET and MOTOR.DISAUTOSET parameters. Its value should now be equal to MOTOR.ICONT while its MOTOR.DISAUTOSET index is set to 0. This may trigger Fault 1100 on startup. Clear the fault and perform a DRV.NVSAVE to stop it from reoccurring. A new read only parameter, AXIS#.DBILIMITACTUAL, has also been added which returns the minimum value of the AXIS#.DBILIMIT, AXIS#.ICONT, and AXIS#.MOTOR.ICONT parameters.

- AXIS#.MOTOR.VOLTMAX does not permit low voltage motors [Req#11102] [S-22685]

Issue:

AXIS#.MOTOR.VOLTMAX minimum value is 110v and does not support lower voltage motors.

Solution:

The minimum voltage was decreased to 0V to allow lower voltage motors.

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# Version 02-07-01-000 : June 14, 2021

## Action Table

- Action Table Command Buffers ignored some fractional values [Req#11060] [S-22566]

Issue:

This issue affected using ACTON#.TASK 16 (command buffer) to set a floating point parameter. When the command buffer action was triggered the fractional part of the value was ignored for some parameters. For example "ACTION#.SOURCETEXT AXIS1.VL.AINSCALE 123.456" would set AXIS1.VL.AINSCALE to 123.000.

Solution:

ACTION#.SOURCETEXT in the example above will now set the value, including the fractional part, when the action is triggered.

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## Feedback

- Feedback initialisation sometimes fails [D-08917]

Issue:

When changing FB#.SELECT between 1 and 31 EnDat Digital, or 34 BiSS C, the feedback sometimes generated a fault.

Solution:

Changing FB#.SELECT will consistently identify and initialise the EnData and BiSS feedbacks without generating a fault.

- Motor parameters setup fault (F5005) when No Encoder is selected (FB#.SELECT = 1)

Issue:

When FB#.SELECT = 1 (No Encoder) for the current loop feedback source (AXIS#.IL.FBSOURCE) belonging to an axis, the drive is not able to read motor parameters from the feedback or enable the axis. The drive has been reporting Fault 5005 (Motor parameters setup incomplete) when FB#.SELECT = 1. The fault should only occur when a valid feedback has been selected and identified.

Solution:

Fault 5005 can be cleared when FB#.SELECT = 1.

- Scaled position feedback

Details:

The position feedback FB#.P used for motion control, when connected to an axis, has units of counts and is scaled so that 2^32 counts corresponds to one revolution for a rotary motor. For convenience, a scaled feedback FB#.SCALED.P has been added for non-control purposes.

The scaling is defined using FB#.SCALED.PIN and FB#.SCALED.POUT. An offset can be applied using FB#.SCALED.OFFSET. Custom units are set using FB#.SCALED.LABEL.

- SFA support for SSI

Details:

SSI feedback devices can be connected to the drive through SFA, using FB#.SELECT = 136 (SSI - SFA).

- Support Two New SFA Models [S-22378]

Details:

We have added support for the two new SFA models. AKD2G-CON-SFA-E00 (Feedbacks except resolver) AKD2G-CON-SFA-R00 (Resolver only) You will get the new F4030 fault if you try and select a feedback that the SFA does not support. The existing SFA, AKD2G-CON-SFA-000, will be replaced by the two new models.

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## Fieldbus

- EtherCAT and CAN - Change modulo direction via control word bit [Req#11052] [S-22557]

Details:

A new set of keywords, AXIS#.CANOPEN.CONTROLBITxx.MODE, have been added to tie a function to the five manufacturer bits in the DS402 control word. When the mode is set to 1 for a specified bit, AXIS#.PL.MODPDIR will be set to the positive direction when the corresponding control word bit is 0 and set to the negative direction when the control word bit is 1. If multiple control word bits are used with the same mode, the upper bit directs the MODPDIR setting and overrides the lower bit.

- EtherCAT and CAN - Cyclic Synchronous Velocity mode added [Req#11073] [S-22583]

Details:

The AKD2G can now be configured to run in cyclic synchronous velocity mode. Set fieldbus op mode using object 6060h to 9 and set the target velocity using object 60FFh to cyclically command velocity.

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## General

- FBUS Pdo block overflows when the value goes negative [D-08920]

Issue:

A bug was found that if the user had a MechaWare model using a PDO block, if the input went negative the model would overflow the signal and incorrectly handle negative values.

Solution:

Data handling has been fixed.

- REC.CH# and REC.TRIGPARAM not showing array index [D-08919]

Issue:

Reading REC.CH# or REC.TRIGPARAM did not show the array index when they were set to an array type keyword.

Solution:

REC.CH# and REC.TRIGPARAM now show the array index of array type keywords.

- Webserver dies after being connected to WorkBench for a long time [D-08904]

Issue:

If WorkBench is connected for a few days, the drive's webserver will die and the drive won't be able to download unless restarted.

Solution:

The webserver stays up and the drive will be able to download even after WorkBench is connected for a long time.

- DRV.INFO should display SFA#.INFO [S-22560]

Issue:

When a customer collects drive information using the command DRV.INFO, the SFA information is not displayed

Solution:

SFA#.INFO is now integrated into DRV.INFO

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## Motion

- Extend range of AXIS#.VL.AINSCALE and AXIS#.IL.AINSCALE [Req#11060] [S-22566]

Issue:

Before this release these parameters could only take positive values and could not be set to zero. The default value was the smallest permissible value.

Solution:

The range of AXIS#.VL.AINSCALE and AXIS#.IL.AINSCALE has been extended to include zero and negative values. The default values are now zero. This changes allows a 0-10V input to generate motion in the negative direction when using the analog command source.

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# Version 02-07-00-000 : June 2, 2021

## Fieldbus

- EtherCAT and CAN - MOTOR objects don't return error when MOTOR.AUTOSET enabled [Req#11044] [D-08905]

Issue:

When AXIS#.MOTOR.AUTOSET is enabled, certain AXIS#.MOTOR keywords should not be writable. They are blocked via the service port but not if executed over the fieldbus.

Solution:

The drive firmware was updated to return an error when autoset is enabled and an autoset object is written to.

- Add missing CANOpen objects for motor parameters [Req#11057] [S-22561]

Details:

CANOpen objects have been added for the parameters AXIS#.MOTOR.BRAKEPOWERDELAY, AXIS#.MOTOR.BRAKEPOWERLOW, AXIS#.MOTOR.BRAKEPOWERSAVING, AXIS#.MOTOR.IDMAX, AXIS#.MOTOR.LDLL, AXIS#.MOTOR.LISAT, AXIS#.MOTOR.PHSADVK1 and AXIS#.MOTOR.PHSADVK2.

- EtherCAT and CAN - Added option to re-send EMCY messages after fault reset [Req#11035] [S-22516]

Details:

A new keyword and fieldbus object CANOPEN.EMCYRESEND (300Bh sub 5) has been added that, when enabled, will cause the drive to re-send EMCY messages that are still active after a fault reset.

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## General

- Drive crashes while doing FoE [Req#11042] [D-08901]

Issue:

Every so often, a drive will crash while downloading firmware with FoE.

Solution:

The cause was traced to faulty synchronization between tasks, and it was fixed.

- MotionTask keywords not present in DRV.NVLIST [D-08911]

Issue:

Array NV commands whose values are not set (they use the default values) were not listed with the command DRV.NVLIST.

Solution:

Array NV Commands whose values were not set are printed with the default values.

- MT keywords fail to load from NV and the failure does not fault [D-08912]

Issue:

When upgrading an AKD2G from 02-06-00 and earlier to a newer version, the motion task parameters are not restored and there is no fault indicating that they failed to load.

Solution:

The drive firmware was updated to correctly restore the motion task values from 02-06-00 and earlier as well as generate the correct fault if it failed.

- Support for writing large tables

Issue:

Sending table data to the drive has been performed one element at a time. For large tables, the overhead from this approach has resulted in long times for writing the entire data set.

Solution:

Large tables can now be programmed with fewer overall commands. Each command specifies multiple consecutive element values. The command syntax consists of the parameter name, followed by the index of the first element to be written, followed by the data for consecutive elements.

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## Motor & Power Stage

- Current offset faults do not clear

Issue:

Faults 2005 (Iu current offset) and 2006 (Iv current offset) cannot be cleared once they occur. Rebooting the drive is the only way to recover.

Solution:

Faults 2005 and 2006 can now be cleared. The current offset calculations reset when the faults are cleared.

- AXIS#.MOTOR.DISAUTOSET for overriding motor autoset parameters

Issue:

In very special circumstances, a parameter stored in feedback motor memory needs to be set to a different value without disabling autoset for other motor parameters.

Solution:

AXIS#.MOTOR.DISAUTOSET allows autoset to be disabled for individual motor parameters. Its use is not recommended except in rare cases. See the user help documentation for instructions.

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# Version 02-06-04-000 : May 13, 2021

## Feedback

- Hiperface DSL initialization failure

Issue:

A timing issue was causing occasional failures during Hiperface DSL feedback initialization under some conditions.

Solution:

The timing issue has been fixed and no longer causes Hiperface DSL initialization failures.

- Hiperface encoder position drift

Issue:

The drive was reporting position movement for some Hiperface encoder models when the motor was stationary and the axis disabled.

Solution:

The underlying issue has been fixed, and the drive reports the correct position for the affected Hiperface models.

- SSI feedback support

Details:

Support for SSI feedbacks has been added for the X23 connector (FB3). SSI feedbacks are configured by setting FB3.SELECT to 36 and FB3.SSITYPE to the protocol type that matches the feedback model.

FB3.SINGLETURNBITS and FB3.MULTITURNBITS must also be set to initialize the feedback when FB3.MECHTYPE = 0 (Rotary). FB3.BITS must also be set to initialize the feedback when FB3.MECHTYPE = 1 (Linear).

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## Fieldbus

- PROFINET - MDI_VELOCITY units do not match between rt jog and profile velocity [D-08892]

Issue:

Siemens documentation for the telegram 9 profile move block specifies MDI_VELOCITY given in drive units, not percent of reference velocity

Solution:

Scaling is now changed from N4 to the actual set drive velocity scaling via AXIS#.UNIT.VROTARY/AXIS#.UNIT.VLINEAR.

- PROFINET - Parameter loading fails depending on some parameter values [D-08867]

Issue:

Loading parameter files can sometimes fail for AXIS#.PROFINET.SETPOINTMAP, AXIS#.PROFINET.ACTUALVALUEMAP, or AXIS#.PROFINET.TELEGRAMID depending on other parameter values.

Solution:

The drive will now conditionally save the mapping and telegram id configurations depending on the overall configuration. The mapping is only writable and saved when the telegram id is 0. The telegram id is only writable and saved when PROFINET.USEMODULECFG is set to 0, indicating to not use the PLC's sub-module configuration for telegrams.

- Added MT EtherCAT and CAN objects [Req#11048] [S-22538]

Details:

Motion Task parameters have been added to the EtherCAT/CAN object dictionary.

- EtherCAT and CAN - HWLS and SWLS states available in manufacturer status object

Details:

HWLS and SWLS states have been added to the axis manufacturer status object 50EFh/51EFh: bit 18 is the positive HWLS state, bit 20 is the negative HWLS state, bit 21 is the positive SWLS state, and bit 22 is the negative SWLS state

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## General

- Compare channel setpoint direction not working

Issue:

CMP#.DIR sets the direction of the compare channel source value change that triggers the setpoint output. The direction feature was not working for the positive and negative settings, so that the setpoint always triggered on both directions.

Solution:

The direction feature has been fixed. The setpoint output can be triggered on positive, negative, or both directions.

- Fixed compare while using position offset or gain [D-08880]

Issue:

Compare used the position value before any offset or gain was applied. This caused the compare value to not match the source value and would trigger the digital outputs at incorrect positions.

Solution:

Position offset and gain are now applied to the compare value.

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## Motion

- PL.FILTER problem with MechaWare user models

Issue:

Discontinuities/unexpected motion may occur when changing the value of PL.FILTER while the amp is enabled. Other causes may include homing.

Solution:

Prefiler is now working as expected.

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# Version 02-06-03-002 : May 4, 2021

## Feedback

- EnDat Auto-Identify Fails with Some Devices [Req#11038] [D-08900]

Issue:

If auto identify was enabled and an EnDat device that supported analog and digital signals was connected, some newer devices that support the “Ordering Designation” would incorrectly be identified as EnDat Digital. Also, if you manually selected EnDat Analog the feedback would fail to be initialized. If you typed FB#.INFO the “Ordering Designation” would incorrectly say EnDat10 when EnDat01 would have been the correct value.

Solution:

The firmware has been changed to correctly auto-identify these devices as EnDat Analog devices and report the correct “Ordering Designation” from FB3.INFO. Selecting EnDat analog with FB#.SELECT will also initialize the feedback correctly without any faults.

- EnDat linear resolution has an extra factor of 1000 [Req#11039] [D-08899]

Issue:

When using an EnDat linear motor, the resolution would be off by a factor of 1000, which caused the position to be incorrect.

Solution:

The drive firmware has been updated to provide the correct resolution.

- EnDat linear resolution incorrect [Req#11039] [D-08899]

Issue:

The EnDat linear resolution would be the incorrect value for any devices using a MOTOR.PITCH other than 32mm (default value).

Solution:

The drive firmware was fixed to recalculate the resolution when MOTOR.PITCH is set. Previously it would only calculate the resolution during feedback initialization, which occurs prior to MOTOR.PITCH loading.

- FB#.INITSIGNED added to set initial position sign

Details:

The initial 64-bit position of a multiturn feedback device needs to be treated as an unsigned or signed value, depending on the application. FB#.INITSIGNED instructs the drive how to interpret the initial position sign.

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## General

- Debouncing for AC input phase loss fault (Fault 2014)

Issue:

Fault 2014 (AC input phase loss) occurs when the drive detects a phase or power loss condition on the AC input. In very rare cases, the drive has reported the fault incorrectly.

Solution:

The drive checks that the phase and power loss conditions persist over multiple measurement samples before reporting Fault 2014.

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# Version 02-06-03-000 : April 27, 2021

## Fieldbus

- EtherCAT - Dual axis PDOs showing up in single axis ESI [S-22472]

Issue:

In the EtherCAT ESI file, PDOs that only exist on the dual axis devices are listed for the single axis devices in some cases and causing issues with some EtherCAT masters.

Solution:

The dual axis PDOs have been removed from the single axis devices in the ESI file.

- PROFINET - Drive crash when using IRT with manual sample period [D-08894]

Issue:

When the communication configuration was setup to use IRT without Isochronous Mode and the sample period differed from the send clock, the drive will crash.

Solution:

The drive firmware was updated to operate properly when using IRT with a sample period different from the send clock.

- [Bug 11008]Added keyword to disable warnings through the CoE emergency message channel [D-08883]

Issue:

Some EtherCAT controllers are very strict on EMCY messages and detect them as faults although warnings are generating EMCY messages as well.

Solution:

New axis related commands AXIS#.ECAT.REPORTWARNINGS are implemented to allow switching off Emergency messages on warnings. Default (1) is to send Emeregency messages on warnings. Object 0x501D / 0x511D is implemented to use via CoE.

- [Bug 11010] Not all faults are sent via CoE EMCY message at AKD2G startup [D-08882]

Issue:

If faults occurred during startup, the AKD2G would not generate EtherCAT emergency messages.

Solution:

Faults will be queued and CoE emergency messages will be sent out once the communication state PreOp is reached

- [CANopen via CAN or EtherCAT] Value check not working for objects with allowed values 0 and 1 [D-08870]

Issue:

For objects, which have a value range of [0, 1], higher values did not generate a SDO abort. A value of 0 was written instead.

Solution:

Trying to write values outside of the valid range deliver now a SDO abort (value too high).

- EtherCAT - New warning generated when the drive did not finish preparing Tx data when Rx data is received [S-22325]

Details:

For the EtherCAT cyclic data to work correctly the drive has to prepare the Tx data before it receives the Rx data from the master. If the drive receives the Rx data before finishing the preparation of Tx data, it will show a warning W7011. The warning will remain active until it is cleared by clearing faults or warnings. The new parameter ECAT.ENRXWARN can be set to 0 to disable the warning.

- PROFINET - Provide warning when not using Isochronous Mode with some configurations [D-08894]

Details:

When using standard telegrams 3 and 5, it is advised to run with Isochronous Mode to guarantee timing. The drive now generates a warning when using these telegrams and Isochronous Mode is not configured. The warning can be disabled by setting the keyword PROFINET.ENISOWARNING to 0.

- PROFINET implementation supports WorkBench over the fieldbus port [S-22267]

Details:

The drive now supports using WorkBench to connect to the PROFINET IP address obtained by connecting to the fieldbus port of the drive.

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## General

- Fixed capture while using position modulo [D-08893]

Issue:

If a position value was captured while AXIS#.PL.MODPEN was enabled, CAP#.P would return the true position value instead of the modulo position value.

Solution:

CAP#.P will now return the position modulo value when AXIS#.PL.MODPEN is enabled

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# Version 02-06-02-000 : April 1, 2021

## Feedback

- Loading parameter file fails due to FB5.LASTIDENTIFIED [D-08868]

Issue:

Loading a parameter file that was saved with older firmware could fail with an error with a value out of range error.

Solution:

The drive firmware was updated to allow a value of 1 (No feedback selected) for FB5.LASTIDENTIFIED.

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## Fieldbus

- EtherCAT - Using SM2 synchronization causes motor noise [D-08864]

Issue:

The drive mis-aligned the PLC output latch when using SM2 synchronization due to another recent fix around DC synchronization. When jitter occurred around the SM2 interrupt due to packet jitter, position updates would be missed.

Solution:

The drive firmware was updated to shift the PLC output latch by 125uS when using DC synchronization. If packet jitter stays within 125uS, position updates should not be missed. If there is higher jitter, additional offset can be applied using ECAT.PLLOFFSETNODC.

- Add CANOpen objects for most NV parameters [S-22309]

Details:

CANOpen objects have been created for a majority of the parameters that are stored non-volatile and were not accessible through CANOpen.

- Object implementation - Object 607Bh and 687Bh Position range limit [S-22362]

Details:

The object for position range limit is available now. It corrsponds to AXIS#.PL.MODP1/2. If one of the sub-indexes is unequal 0 the modulo range is activated (AXIS#.PL.MODPEN = 1).

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## Motor & Power Stage

- AC input phase loss warning

Issue:

The AC input phase loss fault (Fault 2014) was reported regardless of whether the axis was enabled. This caused inconveniences when power was intentionally removed from a drive with disabled axes, for example during commissioning, and the fault had to be cleared.

Solution:

An AC input phase loss warning (Warning 2014) has been added. It is reported when the drive detects phase and/or power loss conditions on the AC input when the axes are disabled. The warning clears automatically when power is restored, with a delay for the inrush relay to close safely. Warning 2014 and Fault 2014 both depend on VBUS.THREEPHASE and VBUS.DCOPERATION in the same way.

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# Version 02-06-01-000 : March 15, 2021

## Feedback

- SFD Gen II Initialization Error

Issue:

A higher than expected SFD Gen II initialization error was reported.

Solution:

SFD Gen II initialization error is eliminated.

- Maximum Supported Steps Per Rev for A Quad B Encoders

Issue:

Maximum supported steps/rev for A quad B was 2^21-1.

Solution:

Maximum supported steps/rev for A quad B is increased to 2^32-1.

- Resolver Auto-Calibration

Details:

A resolver auto-calibration loop is created to automatically calibrated the resolver above a certain threshold speed. This calibration algorithm is turned off at low speeds.

- Resolver Phase Delay Compensation

Issue:

A phase delay in resolver's output position is present with respect to the input analog signals at high motor speeds.

Solution:

A feed-forward phase-delay compensation term is added to the resolver tracking loop to compensate for the phase delay at high motor speeds.

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## Fieldbus

- EtherCAT - Position latched at wrong time when using PLLOFFSET = 250uS [D-08826]

Issue:

When using ECAT.PLLOFFSET = 250000 ns, the position would be latched at sync0 instead of 250uS offset from sync0.

Solution:

The drive firmware was fixed to latch the position at the correct offset from sync0.

- EtherCAT - TxPDO data can be delayed by up to a cycle

Issue:

There was an issue in the drive that could cause the TxPDO data (PLC Inputs) to be delayed by a cycle.

Solution:

The drive firmware was updated so that the time the TxPDO data is sent from the drive is at a consistent time. As long as there is < 125uS jitter in the SM2 event then data should be sent within a cycle from the drive.

- EtherCAT - Unable to get into OP at cycle times greater than 5ms [D-08841]

Issue:

The AKD2G would timeout when going from SAFEOP to OP when distributed clocks are in use and using cycle times > 5ms. The PLL used inside the AKD2G to synchronize to the distributed clock requires a certain number of cycles to pass in order to be synchronized. Longer cycle times caused a timeout to occur while waiting for the PLL to lock.

Solution:

The SAFEOP to OP timeout has been increased to allow more time for the PLL to synchronize at longer cycles.

- EtherCAT - Writing odd-length strings via SDO appended an additional character [D-08837]

Issue:

When writing a string with an odd length through an EtherCAT SDO an additional character was appended to the string.

Solution:

The firmware now terminates strings written via EtherCAT SDO at the correct length.

- [Bug 10909] DS402 Statusword bit 10 target reached behavior [D-08839]

Issue:

The "Target reached" bit 10 in the DS402 statusword was not set when drive came to a standstill in the Quickstop state.

Solution:

The "Target reached" bit 10 in the DS402 statusword is now set when drive is in Quickstop with quick stop option codes 5 and 6 (axis stays enabled in Quickstop) when in standstill.

- Added fieldbus feed forwards to loops and EtherCAT/CANOpen objects. [S-22237]

Details:

New keywords AXIS#.FBUS.PL.FF, AXIS#.FBUS.VL.FF, and AXIS#.FBUS.PL.FF are tied to the control loops and allow fieldbuses to inject position, velocity, and current offsets respectively. Added CANOpen objects 0x60B0, 0x60B1, and 0x60B2 which tie directly to these new keywords and thus the control loops.

- Added VBUS.ACNOMINAL to CAN and EtherCAT [S-22361]

Details:

VBUS.ACNOMINAL is now accessible via index 300A sub-index 5.

- EtherCAT-Conformancetest -followup [S-22384]

Details:

A new object 3000h sub 9 is implemented to show the serial number, which is on the name plate of the drive in the format xx-yyyy-zzzzz.

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## Functional safety

- SDI status bits of Axis 1 are not reported correctly in the safety graph.[Bg10912],[D-08838]

Issue:

Worbench wasn't reporting safety as monitoring when SDIp or SDIn was active. Moreover when SDIn was faulted, the safety graph wasn't painting the SDIn box in red.

Solution:

AXIS#.SAFE.FUNCTIONSTATUS command is fixed to report SDI status bits correctly and safety graph does now paint SDIn box in read when it is faulted.

- SDIn active bit of Axis 1 cannot be linked to a SOUT with FSoE SRA parameters on a dual axis.[Bg10929]

Issue:

SDIn active bit of Axis 1 cannot be linked to a SOUT with FSoE SRA parameters on a dual axis.

Solution:

ESI file has been fixed in order to allow the user to link a SOUT to SDIn active bit of Axis 1 with FSoE SRA parameters.

- SDIn active bit of Axis 1 returns SDIp active axis 2 when link to a SOUT with FSoE SRA parameters on single axis.None

Issue:

SDIn active bit of Axis 1 was wrongly returning SDIp active of Axis 2 when link to a SOUT with FSoE SRA parameters on single axis (SDIp active of Axis 2 is always 0 on a single axis).

Solution:

ESI file has been fixed to map SDIn active of Axis 1 to the right value on a single axis.

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## General

- DRV.DIFVAR not empty after DRV.RSTVAR

Issue:

DRV.DIFVAR provides a list of NV parameters that are different from their default values. DRV.RSTVAR sets all parameters to their defaults. Therefore after DRV.RSTVAR, DRV.DIFVAR should be empty. DRV.DIFVAR was incorrectly reporting parameter differences after DRV.RSTVAR.

Solution:

DRV.DIFVAR as been fixed. It is empty after DRV.RSTVAR.

- DRV.NVCHECK does not always change [D-08589]

Issue:

DRV.NVCHECK is a checksum of all the NV parameters on a drive. Changing some parameters, like AXIS1.PL.KP, would not change the value DRV.NVCHECK returned.

Solution:

DRV.NVCHECK now changes if any of the NV parameters are changed.

- SD.INFO should return empty values when SD Card not inserted [D-08818]

Issue:

SD.INFO returns error when SD Card not inserted

Solution:

SD.INFO returns empty values for Capacity, User and Free sizes.

- Some info commands use hex when DRV.READFORMAT is set to 16 [D-08827]

Issue:

If DRV.READFORMAT was set to 16 then the output of some informational commands like DRV.INFO, HW.INFO and MODBUS.INFO would incorrectly use the hex format for some fields.

Solution:

These info commands now ignore DRV.READFORMAT and always use decimal. DRV.READFORMAT still works when reading parameters.

- Triggering with AXIS#.TRAJ.VCMD did not work [D-08812]

Issue:

If you tried using AXIS#.TRAJ.VCMD as a trigger with REC.TRIGPARAM the recorder would not trigger at the correct time. This issue was seen when using any IEEE double parameter as a trigger. All other trigger parameters would trigger correctly.

Solution:

The recorder has been fixed to work with all IEEE double parameters.

- Added compare support

Details:

Compare channels provide a fast, accurate and flexible for controlling an output based on the comparison of a position, or other value, to a threshold. See user help for a full description of the compare feature.

- Warning 3103 added for duplicate MechaWare Torque Blocks [D-08780]

Details:

If a custom MechaWare model includes a Torque Output block for an axis that already has a Torque block, Warning 3103 will be thrown. It will not prevent the axis from operating, but indicates an unexpected behavior will occur. This warning will go away if one of the blocks is diabled by disabling the appropriate model.

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## Motion

- Bug 10836 - GANTRY.HOME.REQUIRED 0 has issues when re-homing [D-08793]

Issue:

When rehoming an axis in Gantry mode, then the Gantry state would remain active (3) even when homing failed.

Solution:

The Gantry state is set to pending homing (1) once homing is activated. Therefore, if homing fails then the state will remain pending homing (1).

- Gantry Command Source and Wake and Shake Incompatible [D-08794]

Issue:

A bug was identified that prevented an axis from being enabled while command source was set to gantry if Wake and Shake had been run - even when successful.

Solution:

Axes that have already completed wake and shake can now be successfully used as the master or slave in a gantry configuration. Note: wake and shake is still not supported while any axis is configured as gantry command source.

- Home mode 0 failed with both limit switches active [D-08852]

Issue:

Home mode 0 makes the current position the home position and no motion is needed. If both hardware limit switches are active home mode 0 would fail.

Solution:

Home mode 0 has been changed to succeed if both limit switches are active.

- HOME.PERRTHRESH changing to 45 Degrees

Issue:

The original default value for HOME.PERRTHRESH was 180 degrees. This is much higher than most applications require and can cause unexpected behavior when homing to a hard stop.

Solution:

The default has been lowered to 45 degrees for more compatibility across applications.

- New Keyword GANTRY.PL.ERRTTHERSH [S-22358]

Details:

A new keyword has been added that allows the user to define how long gantry position error must exceed the Gantry Position Error Threshold before the fault is thrown. By setting GANTRY.PL.ERRTTHRESH to a non zero value (in seconds) the error must be present for that period of time before the fault is generated.

- Homing using an index pulse now works the when using an SFA. [S-21825]

Details:

Homing modes that need an index pulse previously only worked when using feedback 3 via X23. These homing modes now also work if you are using an encoder with a index pulse connected to an SFA via X1 or X2.

- New Keyword AXIS#.GEAR.AUTOSTART [S-22260]

Details:

Sometimes a user does not want Electronic Gearing to start as soon as the amp is enabled, or if the command source transitions to Electronic Gearing.

If a user disables Autostart, then gearing synchronization will not begin until GEAR.MOVE is manually commanded.

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## Motor & Power Stage

- Sensorless selection using AXIS#.MOTOR.TYPE

Issue:

The most natural and consistent way to select sensorless operation is through the AXIS#.MOTOR.TYPE keyword, whose meaning includes the motor control algorithm.

Solution:

A new value has been added to the AXIS#.MOTOR.TYPE selections: Rotary Sensorless PM can be selected with the value 10.

- Monitor motor temperature during sensorless operation

Details:

When AXIS#.MOTOR.TYPE = 2 or 10, the drive can spin a motor without a feedback device. Since a feedback device carrying the motor temperature sensor is not available, a different method of setting up temperature measurements is provided. AXIS#.MOTOR.TEMPSOURCE sets the drive connector to which the temperature sensor is connected.

- New fault and warning for Sensorless Control and Operational Mode conflict

Details:

Sensorless PM field oriented control is available in Velocity mode only. If AXIS#.MOTOR.CONTROL is 10 (Rotary Sensorless PM) and AXIS#.OPMODE is not 2 (Velocity), and the axis is disabled, Warning 5103 is reported. Attempting to enable the axis when the warning is present results in Fault 5103.

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# Version 02-06-00-001 : March 3, 2021

## Fieldbus

- EtherCAT - Interpolation of position setpoint not synchronized with Sync0 signal [D-08826]

Issue:

The time when the drive interpolated position setpoints was not synchronized with the fieldbus cycle. Once the drive was running, it would always happen at the same time in the fieldbus cycle, but that time could change when rebooting the drive.

Solution:

The interpolation is now synchronized to the Sync0 signal, so that it will always happen at the same deterministic time.

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# Version 02-06-00-000 : February 25, 2021

## Fieldbus

- EtherCAT - Velocity jumps when using CSP mode at longer cycle times (8ms) [S-22317]

Issue:

When using cyclic synchronous position mode at some longer cycle times, the velocity may jump at higher velocities.

Solution:

An issue in the drive firmware was fixed that corrects for a rollover condition in the position being maintained between fieldbus updates. At the longer fieldbus cycles with higher velocities, the position rolled over and caused the velocity command to step.

- Added PDO loopback signal for EtherCAT and CAN

Details:

A set of new PDO signals were added to provide a mechanism to verify data is updating at the correct times. The 'Input Loopback' object at index 0x300b sub-index 3 and 'Output Loopback' object at index 0x300b sub-index 4 can be mapped into PDOs. The output loopback can be written to by the PLC and the input loopback can be checked to see how long the drive takes to respond to data. Using DC on EtherCAT, the input loopback should update on the next cycle if everything is synchronized correctly.

- EtherCAT - Implemented Input and Output Shift Time objects [S-22104]

Details:

Object 1C32h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and the next drive interrupt executing the position loop. The value is also available using the new keyword ECAT.PLLOFFSET.
Object 1C33h sub-index 3 can now be written to configure the delay between the EtherCAT Sync0 signal and where the input data is latched. The value is also available using the new keywords ECAT.INPUTSHIFT and ECAT.INPUTSHIFTU.
See documentation for detailed usage.

- EtherCAT - New keywords for reading timestamps of EtherCAT events [S-22104]

Details:

New keywords ECAT.SYNC0TIME, ECAT.POSLOOPTIME, ECAT.RXDONETIME, ECAT.TXDONETIME have been added to the firmware and can be used to read the timestamps of various EtherCAT related events.

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## General

- DRV.READFORMAT with bad argument crashes drive [D-08822]

Issue:

Passing any non-numeric argument to DRV.READFORMAT causes the drive to crash.

Solution:

Catch and report back bad non-numeric arguments.

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## Motion

- Activating Gearing Makes Axis Move in Wrong Direction [D-08814]

Issue:

When gearing is stopped and re-activated, it starts moving in the wrong direction first.

Solution:

When gearing is stopped, position command must follow position feedback, so that when activated, it moves in the right direction.

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# Version 02-05-05-000 : January 29, 2021

## Analog & Digital IO

- Help for Compare Parameters [S-22151]

Issue:

DRV.HELP for Compare parameters like CMP1.DIR was missing the min, max and default information.

Solution:

DRV.HELP now includes the min, max and default information.

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## Feedback

- Auto-Identification fails with digital only EnDat devices [D-08796]

Issue:

When using auto feeback identification, FB3.SELECT -1, with an AKM2G motor with a digital EnDat encoder incorrectly identifies the motor as an EnDat Analog. The feedback reports some faults and the position is not updated. This affected AKM2G motors fitted with EnDat feedbacks.

Solution:

The feedback now correctly identifies the feedback as an EnDat Digital, no faults are reported and the position us updated. Older AKM motors that support the analog signals are still correctly identified as EnDat Analog feedbacks. FB#.INFO now includes the EnDat ordering designation which indicates if the feedback supports analog signals.

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## Fieldbus

- Intermittent fault when initializing EEM37 HiperfaceDSL encoders [S-21843]

Issue:

When initializing an EEM37 HiperfaceDSL encoder, the encoder sometimes reports an error, which leads to a fault "F4009: Feedback Device-Unique Fault 0" in the drive.

Solution:

A procedure supplied by encoder manufacturer SICK, to be able to reliably initialize EEM37 encoders, has been implemented in the firmware.

- PROFINET - Siemens SINA_PARA_S block does not work [D-08762]

Issue:

For most types of PROFINET parameters, the single parameter block SINA_PARA_S did not work correctly.

Solution:

The drive firmware was fixed so that the SINA_PARA_S block can read/write individual parameters correctly.

- EtherCAT - Allow SDO writes to string objects with fewer characters than overall object length [S-22207]

Issue:

When writing a string type SDO the data written needed to be the full length of the object. Shorter strings needed to be padded with null characters, but not all EtherCAT master do so automatically.

Solution:

String type objects can now be written with a shorter string without having to pad the string with null characters.

- Improved responsiveness of DS402 profile position mode [D-08797]

Issue:

When starting a motion in DS402 profile position mode, it took the drive multiple milliseconds to actually start the configured motion task. Similarly, the target reached bit in the DS402 status word did not go high until multiple milliseconds after the motion task had finished.

Solution:

The drive now immediately starts the configured motion task as soon as it receives the command from the DS402 control word, and it sets the target reached bit in the status word in the next fieldbus cycle after finishing the motion task.

- PROFINET - Allow selecting telegrams larger than PLC configuration using keywords [S-22208]

Issue:

When a user tried setting AXIS#.PROFINET.TELEGRAMID or AXIS#.PROFINET.SUPPTELEGRAMID to select a telegram that was larger than the telegram configured by the PLC, the keyword returned an error and the telegram was not changed.

Solution:

A user can now select a telegram that is larger than the one configured by the PLC with AXIS#.PROFINET.TELEGRAMID or AXIS#.PROFINET.SUPPTELEGRAMID. A warning will be active as long as a user selected telegram is larger than the one configured by the PLC.

- PROFINET - Don't allow STW1 and ZSW1 to be mapped anywhere but index 0 of telegram 0 [D-08807]

Issue:

It was possible to map STW1 and ZSW1 to indices other than 0 in telegram 0 and to the supplemental telegrams, even though doing so leads to an invalid telegram configuration.

Solution:

Trying to map STW1 or ZSW1 anywhere but index 0 of telegram 0 will create an error.

- Stop active homing when switching DS402 mode of operation away from homing mode [S-21752]

Issue:

When switching the DS402 mode of operation from homing mode to any other mode, an active homing procedure would continue running.

Solution:

An active homing is now stopped when switching the DS402 mode of operation from homing mode to any other mode.

- Added AXIS#.PL.KFB to CAN and EtherCAT [S-22253]

Details:

AXIS#.PL.KFB can now be accessed via CAN and EtherCAT via object 500Ch sub-index 13. It is a signed 32 bit integer, scaled to AXIS#.PL.KFB 1000:1.

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## General

- Fault History Does Not Show Startup Faults [D-08804]

Issue:

Startup faults are not stored in the fault history. Examples are SMM failures and Crash-recovery.

Solution:

Faults are not pushed to Fault History storage till it was ready.

- Change axis and drive name information in display [S-21816]

Issue:

Axis names were only visible periodically in the rotating information in the middle of the display. The drive name was not shown on the display at all.

Solution:

The axis names have been moved to below the icons for command source and mode of operation. The drive name has been added to the rotating information in the middle of the display.

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## Motion

- Find end stop homing may ignore hardware limit switch [D-08790]

Issue:

If homing mode 8, 9 or 10 are started and a hardware limit switch is also active the axis will start moving and can not be stopped with AXIS#.STOP. If the limit switch becomes active while homing mode 8, 9 or 10 is active the axis will stop and homing fails.

Solution:

Homing modes 8, 9 and 10 will now immediately generate an error if a limit switch is active when homing is started.

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## Motor & Power Stage

- Power Saving Brake Voltage Incorrectly Set by AXIS#.MOTOR.BRAKEPOWERLOW [D-10810]

Issue:

The voltage applied to a brake when power saving is set by AXIS#.MOTOR.BRAKEPOWERLOW. The default voltage of 17V is correct but increasing this parameter would reduce the voltage applied to the brake.

Solution:

AXIS#.MOTOR.BRAKEPOWERLOW now correctly controls the voltage applied to the brake.

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# Version 02-05-04-000 : December 18, 2020

## Feedback

- Store Multiturn [S-21818]

Details:

Store Multiturn has been implemented on AKD2G. This feature is similar to Extended Multiturn on AKD1G. It allows a user to save and restore multiturn feedback information on any absolute feedback. Note the Store Multiturn feature has limitations and it is not meant to replace a multiturn absolute feedback.

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## Fieldbus

- Configurable behavior of target reached bit of DS402 status word in profile position mode [S-22080]

Details:

A new keyword AXIS#.CANOPEN.TARPOSMODE has been added to the firmware. When set to the default value of 0, a drive in profile position mode will set the target reached bit in the DS402 status word (bit 10) once bit 11 of AXIS#.MOTIONSTAT is set (trajectory finished and actual position in target position window). When AXIS#.CANOPEN.TARPOSMODE is set to 1, the target reached bit will be set once bit 15 of AXIS#.MOTIONSTAT is set (actual position in target position window). The new keyworkd is also accessible through CANopen object 5003h/5103h subindex 9.

- DS402 standard object 6076h 'Motor rated torque' [S-22184]

Details:

Object 6076h 'Motor rated torque' was added to the firmware. Its value is calculated from AXIS#.ICONT and AXIS#.MOTOR.KT.

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## General

- Using Multiple MechaWare Models causes crash [D-08752]

Issue:

A memory allocation error was discovered which caused a drive crash if 3+ models were used at once.

Solution:

Allocation has been fixed to allow use of all four model slots under all conditions.

- GANTRY.HOME.REQUIRED added [S-22045]

Details:

A new feature has been added for gantry control. Use the new keyword GANTRY.HOME.REQUIRED to specify whether each axis of the gantry needs to be homed before gantry mode is active.

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## Motion

- Motor stops motion on wrong limit switch [D-08741]

Issue:

While moving in the positive direction, if the negative limit switch is triggered, motion will stop, and vice versa.

Solution:

Behavior has been changed so that motion in the opposite direction of a triggered limit switch is allowed. This is particularly helpful if an axis over-travels a limit switch.

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## Motor & Power Stage

- AXIS#.SENSORLESS.ENPHASELEAD keyword

Issue:

When the motor electrical frequency gets close to the bandwidth of the sensorless algorithm, the phase lag in the estimated commutation angle increases. This can increase the required voltage and current to produce the same amount of torque.

Solution:

A phase lead compensator is added to the sensorless algorithm.

This phase lead compensator eliminates the phase lag in all velocities, no matter the bandwidth.

One can enable this feature by setting AXIS#.SENSORLESS.ENPHASELEAD to 1.

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# Version 02-05-03-000 : November 30, 2020

## Fieldbus

- [Bug 10755] F3000 fault when creating ESI-file via export-function in Workbench [D-08706]

Issue:

A fault 3000 occurred when using the ESI-export function of Workbench or the ECAT.PRINTESI command in Workbench-terminal with a dual-axis Safety drive (SIL3).

Solution:

The timeout is increased from 5 to 8 seconds.

- Modbus Function Code 6 (write single register) [S-21967]

Details:

Some Modbus controllers can use function code 6 (write single register) as well as function code 16 (write multiple registers) to read a single register. AKD2G now supports function code 6 in addition to function code 16.

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## General

- Drive Crash on Enable from CAN and EtherCAT [D-08726]

Issue:

If a fault was present on an axis and the user tried to enable the axis from the CAN or EtherCAT master, the drive would try to clear the fault and a crash would occur.

Solution:

If a fault is present and the fieldbus master tries to enable, the enable will fail and not complete. Drive faults must be cleared by the user.

- Drive crash when giving array keyword large index [D-08708]

Issue:

For example AXIS1.MT.ACC 100000000000 crashes the drive. Smaller index values return the correct error status.

Solution:

Values above 4294967295 now return the correct error status.

- Position Loop numerical precision has been increased to 64 bits [S-21964]

Issue:

The Position Loop was being done with double-precision math. This created a scenario if the position command or feedback exceeded 53 bits, resolution would be lost.

Solution:

The Position Loop has been changed to be done with integer math to ensure all resolution and precision is maintained. As a result PL.FILTERTIME has been replaced by PL.FILTER.FREQ and PL.FILTER.Q.

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## Motion

- Motion possible when both hardware limit switches are active [D-08723]

Issue:

When both hardware limit switches are active, commanding motion is possible in both directions.

Solution:

Motion is now blocked in both directions when both hardware limit switches are active.

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## Safety

- SRA parameters did not allow linking SOUTs to only FS2 functions in FS2 variants[Bg 10800], [D-08744]

Issue:

Depending on the safety variant or the number of axis, the function that can be linked to SOUTs differs. This should be taken into account and we should not let the user see all values.

Solution:

Enums have been duplicated to match the safety variant and the number of axis. For instance, single axis drive will only be able to link SOUTs to Axis 1 safety function.

- The safety function graph did not display the SS2 fault reaction correctly[Bg 10806], [D-08743]

Issue:

Safety function graph is not displaying the SS2 fault reaction correctly. SS2 fault reaction is hardcoded to be STO when it is actually configurable by the user (it could be STO or SS1 Instance 1).

Solution:

Safety function graph is now looking in the configuration to retrieve the SS2 fault reaction.

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# Version 02-05-01-000 : October 21, 2020

## Action Table

- Increase Command Buffer Elements to 8 [S-21691]

Issue:

The Action Table Task: Command Buffer only supports 4 sequential commands. This is limiting for some applications.

Solution:

The Command Buffer has been updated to support 8 sequential commands.

- New Action Table Source Recordable Parameter [S-21833]

Details:

An Action can now be triggered by any existing recordable parameter. To configure, use the new keyword ACTION#.SOURCETEXT and enter any recording parameter. ACTION#.CONDITIONVALUE will have its units and range update based on the recording parameter specified.

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## Feedback

- Fixed scaling for BISS-C FB3.LINEPITCH value [D-08670]

Issue:

FB3.LINEPITCH for BISS-C was being scaled to um instead of nm

Solution:

The scaling for FB3.LINEPITCH for BISS-C was changed to nm

- Multi-pitch data discarded for some linear encoders

Issue:

Some linear encoders report an incorrect initial position, with the data representing multi-pitch travel being truncated. The problem was reported for a 26-bit linear BiSS-C encoder, and appears to be present for encoders with less than 32 bits of resolution.

Solution:

The linear encoder initial position calculation has been fixed.

- FB#.CALTHRESH is replaced by FB#.CALTHRESHRES and FB#.CALTHRESHSINCOS

Issue:

FB#.CALTHRESH sets the velocity threshold at which the auto-calibration function will continuously update error correction for Sin/Cos and Resolver encoders in electrical Hz.

The default value is 3Hz*512(pole pairs) = 1536Hz (electrical).

This default value is appropriate for Sin/Cos feedback but it is too high for Resolver feedback, which usually has 1 pole pair.

Solution:

FB#.CALTHRESH is replaced by FB#.CALTHRESHRES and FB#.CALTHRESHSINCOS.

FB#.CALTHRESHRES sets the calibration threshold for Resolver feedback. (default = 3Hz)

FB#.CALTHRESHSINCOS sets the calibration threshold for Sin/Cos feedback. (default = 1536Hz)

- Max Supported Steps Per Revolution

Details:

The maximum supported steps per revolution for resolver/sin-cos/incremental/... feedbacks is increased from (2^24-1) to (2^32-1).

- Resolver and Sin-Cos Feedback Auto-Calibration

Details:

Resolver and Sin-Cos feedbacks auto-calibrate themselves above the velocity threshold set by FB#.CALTHRESH in electrical Hz.

This feature compensates for mismatches between sin/cos channel gains, sin/cos channel offsets, and phase deviation between sin/cos channels.

Without auto-calibration, any of these deviations or mismatches can create large velocity ripple artifacts.

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## Fieldbus

- PROFINET - 250uS operation fixed [S-21885]

Issue:

When trying to use 250uS cycle times with PROFINET, data would not be updated every cycle.

Solution:

An issue was fixed in the firmware that caused drive outputs to not update every cycle at 250uS cycle times.

- PROFINET - Added Dynamic Servo Control (DSC) [S-21807]

Details:

Support for Dynamic Servo Control (DSC) has been added along with telegram 5 support.

- PROFINET - Added safety objects [S-21633]

Details:

PROFINET PNUs added to support running safe drive with non-safe PLC

- PROFINET - Support of 'measurement on the fly' feature of sensor interface [S-21822]

Details:

The firmware now supports the 'measurement on the fly' feature of the PROFIdrive sensor interface with two probes, each with positive and negative direction.

- Statusword bit 10 (Target reached) in homing [S-21571]

Details:

When in DS402 mode of operation = Homing the bit 10 of the statusword is set, when the homing is done and the position is in the position window defined by AXIS#.SETTLE.P.

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## General

- AXIS#.CLRFAULTS could disable the axis [D-08437]

Issue:

If an axis is enabled with no faults but with a warning then AXIS#.CLRFAULTS would disable the axis. If the axis is enabled and there are not warnings or faults AXIS#.CLRFAULTS would not disable the axis.

Solution:

AXIS#.CLRFAULTS has been changed to only disable the axis if there is a fault present. The axis stays enabled irrespective of the presence of warnings.

- The output of MODBUS.MAP is sometimes incorrect [D-08661]

Issue:

When MODBUS.MAP was executed when a fault is present and a specific mapping is loaded the output sometimes has a few incorrect characters.

Solution:

The firmware has been changed to always give the correct output.

- Added AXIS#.CLRWARNINGS [D-08437]

Details:

Each axis has several warnings that stay set after motion is commanded. These can be cleared if new motion is commanded, AXIS#.CLRFAULTS is commanded or the axis is disabled and then re-enabled. These warnings include W6000 and W6014. AXIS#.CLRWARNINGS has been added to allow these warnings to be cleared.

- Display support for gantry command source [S-21584]

Details:

Display main screen now supports gantry command source

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## Motion

- Warning 6000 was not always generated [D-08700]

Issue:

When commanding service motion warning 6000 "Last motion command modified" should be generated if the motion exceed the range given by AXIS#.VL.LIMITP and AXIS#.VL.LIMITN. If AXIS#.SM.V1, AXIS#.VL.LIMITP or AXIS#.VL.LIMITN are changed after a continuous service motion, AXIS#.SM.MODE 0 or 2, has started this warning is was not generated and the commanded motion was not mofified to the AXIS#.VL.LIMIT. The warning was correectly generated when using AXIS#.SM.MOVE or reversing motion, AXIS#.SM.MODE 1.

An effect of not modifying the veloicty is that unexpeted position error faults can be generated.

Solution:

Warning 6000 is now generated when service motion is started or the parameters are modified while moving. The commanded continious motion is also now reduced to AXIS#.VL.LIMIT if AXIS.SM.V1 is greater.

- Electronic Gearing tracks Source Position when Limit Switch is active [D-08694]

Issue:

If an axis enters a limit switch while it is gearing the position the axis will ramp down to a stop. While the limit switch is active any further motion of the master is ignored. When the limit swtich is released the axis will attempt gearing synchronization again.

Solution:

Electronic gearing has been modified so that while inside a limit switch, the axis will do a controlled stop once the limit switch is triggered and servo at this position. Internally the master position is still tracked - when the limit switch is released, or the master position becomes less than the triggered limit switch position, motion will be allowed again.

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# Version 02-05-00-000 : September 29, 2020

## Feedback

- AKD2G configured invalid recovery time setting [D-08671]

Issue:

The AKD2G does not set the recovery time for Endat 2.2 feedbacks correctly to short. This is needed for AKM2G safety encoders.

Solution:

During initialisation the AKD2G sets the recovery time for Endat 2.2 feedbacks correctly to short.

- Drift in output angle error for incremental encoders

Issue:

Incremental encoders slowly lose counts over prolonged periods of time because of improper handling of the remainder in the division calculations.

Solution:

Remainder handling has been fixed. Therefore, output angles are always accurate and will not lose counts.

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## Fieldbus

- [Safety] Add CANopen objects to read SMM-hardware and firmware-version [S-21847]

Details:

Object 2040h was created. Subindex 1 is a string to show the hardware revision, Subindex 2 is an UNSIGNED16 showing the software version.

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## Functional Safety

- Software disable is set when using SS1 with SBC [D-08674]

Issue:

If an axis with a brake using SBC is moving and SS1 is triggered then the axis will correctly come to a stop. The software disable bit in AXIS#.DISSOURCES is also incorrectly set.

Solution:

The reaction to SS1 was changed so that the software disable bit in AXIS#.DISSOURCES is not set.

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## General

- Firmware & FPGA version mismatch faults

Details:

Fault 1000 is reported when the control FPGA major version does not match the version firmware expects.

Fault 1001 is reported when the power FPGA major version does not match the version firmware expects.

Fault 4x27 is reported when the SFA major version does not match the version firmware expects. For example, Fault 4127 is reported if the SFA is connected to FB1 and Fault 4227 if FB2.

The major version occupies the upper 2 digits of the overall version. In the FPGA version string AABB_CC_DD, the major version is given by AA.

FPGA versions are reported in DRV.INFO and SFA#.INFO.

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## Motion

- AXIS#.PL.KITHRESH unidirectional [D-08660]

Issue:

AXIS#.PL.KITHRESH would not engage when crossing the velocity threshold in the negative direction.

Solution:

This has been fixed to work in the negative velocity direction.

^ Back to Top ^

## Safety

- Parameters through FSoE errors[D-08673], [Bg10709]

Issue:

Several issues have been found on the ESI file when configuring the SMM using FSoE parameters

Solution:

Brake 1 can now only be attached on axis 1. STO and SS1_1 can only be set to "Ready for Activation". SDB readback default value has been fixed. SLP and SCA naming errors have been fixed. SOS range of possible values have been fixed. SLA, SLP and SLS cannot be set to "Always Active" anymore.

- Repair the safety system when FB#.SELECT is set to the expected value with a safe feedback[S-21823], [Bg10680]

Issue:

If a safe feedback is configured in the safety parameters but if FB#.SELECT does not reflect the physical encoder then the safety system will fail to read the safety file and a reboot will be required

Solution:

The implemented solution is to automatically reset the safety system when FB#.SELECT is finally set to the right value in order to force a read of the safety file. Reboot is not required anymore.

- Safety graph must handle all types of I/O failures[D-08682], [Bg10714]

Issue:

I/O failure leading to STO without going through SS1_1 are not visible on the safety graph.

Solution:

change the safety graph to include a new node for I/O failure leading directly to STO.

- No warning when SBT pre-conditions are not met[S-21806], [Bg10124]

Issue:

When SBT is launched from the action table, the user gets not status in case it cannot start because the pre-conditions are not met.

Solution:

Warning 9012 has been added and it will be activated when SBT is launched from the action table and the pre-confitions are not met. The warning will then be cleared when the SBT pre-conditions will finally be met.

- Add a warning when rotary switches value differs from validated safe ID[S-21826]

Details:

Warning 9013 is added. It is active when the rotary switches value differs from the validated safe ID.

^ Back to Top ^

# Version 02-04-06-002 : September 15, 2020

## Motion

- Fixed Homing Mode 1 while Hardware Limit Switch is Active [D-08646 ]

Issue:

Starting homing mode 1 while a hardware limit switch was active in the direction of motion would cause the motor to not move thus prevent homing from completing.

Solution:

The homing state machine was changed to allow homing mode 1 to complete while a hardware limit switch is active in the direction of motion.

^ Back to Top ^

# Version 02-04-06-001 : September 1, 2020

## Motion

- Auto-homing on gantry axis does not work

Issue:

When AXIS1.HOME.AUTOMOVE = 1 on a gantry drive (where AXIS2.CMDSOURCE = 4), enabling Axis 1 should initiate homing moves on both axes. However, Axis 2 does not automatically home.

Solution:

Auto-homing behavior has been fixed, so that enabling Axis 1 causes both Axis 1 and Axis 2 run the homing moves they are configured to perform.

^ Back to Top ^

# Version 02-04-06-000 : August 24, 2020

## Analog & Digital IO

- New ACTION#.TASK 28 Clear Faults - software enable unchanged [D-08640]

Details:

When using the AKD2G drive with wired digital control inputs lines it is convenient to be able to clear faults and not have the software disable set automatically by the drive. Action task 12 is very similar, it will clear faults but it behaves like AXIS.CLRFAULTS and will set the software disable bit in AXIS.DISSOURCES if there was a fault.

This the axis will can immediately enable after the fault is cleared when using this new action task.

Note: The rising edge of the hardware input will clear faults if a fault is present.

^ Back to Top ^

## Feedback

- Recording SFA Feedback's keywords crashes drive [D-08602]

Issue:

When FB# is SFA and FB#.HALLSTATE is selected as a scope channel, the drive crashes. This also applies to FB#.SIGNALAMPLITUDE, FB#.SIGNALSIN and FB#.SIGNALCOS.

Solution:

The solution is still being worked on, but recording is disabled as a workaround to prevent the drive from crashing.

- New Commands FBx.MONITORx.SOURCE and FBx.MONITORx.DATA to view and record SFA feedback data [S-21747]

Details:

The commands FBx.HALLSTATE, FBx.SIGNALAMPLITUDE, FBx.SIGNALSIN and FBx.SIGNALCOS when used for SFA feedbacks, can only be used to view the data not record it. The new commands can be used to both view and record Hall State, Amplitude, the Sine and Cosine signals from the SFA feedbacks.

^ Back to Top ^

## Fieldbus

- EtherCAT-CAN - Quick Stop results in unclearable disable [D-08518]

Issue:

When issuing a quick stop, the controlled stop disable does not always clear.

Solution:

An issue was fixed in the firmware where the controlled stop disable was not cleared if a fault occurred during the quick stop command.

- PROFINET - Serial and OrderId are incorrect in I&M0 [S-21789]

Issue:

The serial number and order id that are detected in PROFINET do not match the drive's values.

Solution:

The internal parameters that are communicated over PROFINET were updated to be correct for the drive being communicated with.

- Expanded the default Modbus map [S-21443]

Issue:

The default Modbus map the drive has when you receive it from the factory or after executing MODBUS.RSTMAP or DRV.RSTVAR only had three parameters in it.

Solution:

The number of entries in the default map has been increased to include some more parameters for both axis 1 and axis 2.

- Added keywords for fieldbus motion commands [S-19935]

Details:

Keywords for fieldbus motion commands are now available for reading and saving:

- AXIS#.FBUS.P
- AXIS#.FBUS.V
- AXIS#.FBUS.ACC
- AXIS#.FBUS.DEC
- AXIS#.FBUS.PL.CMD
- AXIS#.FBUS.VL.CMD
- AXIS#.FBUS.IL.CMD

See help for more information about each command.
- PROFINET - Additional telegram signals [S-21594]

Details:

The ProfiDRIVE standard signals E_DIGITAL (21), A_DIGITAL (22), E_ANALOG (23) and A_ANALOG (24) are now supported.

Some manufacturer specific PNUs have been made available as signals for mapping in cyclic data:
5025 - AXIS#.MOTIONSTAT
5100 - AXIS#.FBUS.ACC
5101 - AXIS#.FBUS.DEC
5901 - AXIS#.PL.ER
6104 - AXIS#.HOME.DIST
6107 - AXIS#.HOME.MODE
6311 - AXIS#.MT.FEEDRATE
23101 - AIN2.VALUE
24151 - AOUT2 fieldbus value

- PROFINET - Display blinks on DCP blink command

Details:

In addition to the LEDs on the fieldbus Ethernet ports that blink on a PROFINET DCP blink command, the drive now also flashes a message on the display.

- PROFINET - Keywords for reading cyclic data [S-21774]

Details:

New keywords AXIS#.PROFINET.ACTUALVALUEDATA and AXIS#.PROFINET.SETPOINTDATA can be used to read the cyclic data exchanged between the drive and the controller in the configured telegram. Similarly, AXIS#.PROFINET.SUPPACTUALDATA and AXIS#.PROFINET.SUPPSETPOINTDATA read the cyclic data exchanged in the configured supplemental telegram.

- PROFINET - Real-time jog [S-21504]

Details:

Real-time jog feature added for standard telegram 9 using STW1 device-specific bits 12 and 13 for on and direction and MDI submode for velocity, acc, and dec.

- PROFINET - Report PROFINET name and IP settings [S-21753]

Details:

PROFINET device name and IP settings are now displayed in DRV.INFO and PROFINET.INFO

- PROFINET - Support supplemental data telegrams [S-21719]

Details:

PROFINET support added for Supplementary Data Telegrams 970, 971, 972, and 973.

- PROFINET- Support for torque mode [S-21750]

Details:

The firmware now supports torque mode via Profinet. This includes a new manufacturer specific setting 0x8000 for PNU 930, which activates the drive's torque mode, and cyclic access to AXIS#.FBUS.IL.CMD (signal 5104), AXIS#.IL.FB (signal 5803) and combined AXIS#.IL.LIMITP/N (signal 5829).

^ Back to Top ^

## General

- Biquad and Observers are not duplicated in user models correctly [D-08633]

Issue:

User models are not linking blocks correctly when a block tries to duplicate a factory block.

Solution:

Logic was enhanced to support more complex blocks like biquads and observers so they successfully duplicate.

- Controlled stop fault reactions should not set the software enable

Issue:

Some faults, like bus under-voltage, have a controlled stop fault reaction. When these faults are generated the axis will perform a controlled stop down to zero speed before disabling the axis. The axis would incorrectly set the software disable bit in AXIS#.DIOSSOURCES when the axis disables. This is inconsistent with the other faults which will not set the software disable bit when they disable. When using the AKD2G drive with wired digital controlled inputs it is inconvenient to have this behaviour as it requires the software disable bit to be cleared before the axis can be enabled again.

Solution:

The controlled stop fault reaction now does not set the software enable when the axis disables.

- Triggering STO would incorrectly trigger a SW disable in some instances.

Issue:

Triggering STO would incorrectly trigger a SW disable in some instances. Beause of this, with AXIS#.STO.REPORTFAULT set, the axis would not generate a fault when it should and when not set the axis would not allow the STO to re-enable as it should. The axis was always physically disabled by the removal of the STO signal. The issue was with not allowing re-enable or reporting the correct fault.

Solution:

The fault is now always generated.

- Default AXIS#.UNIT.PROTARY changed to 4 (16-bit counts)

Issue:

The default value for AXIS#.UNIT.PROTARY has been 0 (32-bit feedback counts). This value does not match the AKD default, and is an area of confusion when setting up Modbus mapping.

Solution:

The default value for AXIS#.UNIT.PROTARY has been changed to 4 (16-bit feedback counts) to match AKD.

^ Back to Top ^

## Safety

- Safe ID validation screen rework [S-21488]

Issue:

Before pressing the button to validate the displayed safe Id, the user must wait 2 seconds and then he has 8 seconds to validate

Solution:

Add progress bars and messages to guide the user and help him pressing the button at the right time

^ Back to Top ^

# Version 02-04-05-001 : August 6, 2020

## Fieldbus

- Default MODBUS.MAP not correctly reported by DRV.HELP [D-08595]

Issue:

DRV.HELP MODBUS.MAP 40001 would not return the correct default value. This would also make DRV.DIFVAR incorrectly report the first six MODBUS.MAP parameters.

Solution:

DRV.HELP MODBUS.MAP with an idex not correctly returns the correct default.

- Drive crashed when logging Modbus errors from action commands [D-08595]

Issue:

If you have an action command mapped to a Modbus register, for example MODBUS.MAP 40100 AXIS1.MT.MOVE. and triggered it via Modbus and it generated an error, for example the drive is disabled, then the drive would crash.

Solution:

The firmware has changed to not crash and log the error.

^ Back to Top ^

## General

- Fan runs full speed on single axis drives [D-08631]

Issue:

Single axis drives run the fan at full speed constantly

Solution:

An issue in the drive firmware was fixed to properly control the fans based on temperature

- PL.KFB causes position errors on enable, disable and homing [D-08619]

Issue:

A bug has been identified when PL.KFB is not unity (1.0), position errors occur each time the amp disables, as well as when performing homing.

Solution:

Calculations have been re-worked so that PL.KFB is correctly applied in these conditions

- Second order lowpass filters (like PL.FILTERTIME) can be set above nyquist [D-08628]

Issue:

If a second order lowpass has its filter value set at or above the nyquist frequency, it can cause an asymptotic calculation.

Solution:

Second order lowpass filters have been limited to 98% of their nyquist frequency.

^ Back to Top ^

# Version 02-04-05-000 : July 28, 2020

## Action Table

- Enable Axis Task does not enable both axes in gantry mode [D-08614]

Issue:

When Enable Axis Task is executed when Axis 2 is configured as Command Source = Gantry, Axis 2 is not enabled.

Solution:

The Action Task has been re-worked to enabled both axes when Axis 2 is configured as Gantry Command Source.

- ACTION.RUNNING and source ActionRowRunning now indicate the duration of task execution. [S-21698]

Details:

ACTION.RUNNING, which contains the bits corresponding to Action Rows, now sets a bit high for the duration of the task execution. This is a change from its prior behavior of only going high when the task starts executing.

The behavior of the Action Source, ActionRowRunning, has correspondingly changed. It will have a high value when the task execution for specified Action Row is in progress.

^ Back to Top ^

## Feedback

- Fixed feedback faults on SFA when setting EtherCat master to Run mode [D-08617]

Issue:

Unclearable faults would display when setting the EtherCat master to Run mode while using an SFA.

Solution:

A bug in the firmware was fixed to handle EtherCat Run mode while using the SFA.

- Fixed scaling for FB#.RES when using a SFA with linear feedback for Incremental and Sine encoders [D-08607]

Issue:

FB#.RES was off by a factor of 1000 when using the SFA with Incremental and Sine Encoders on a linear motor

Solution:

The scaling for Incremental and Sine encoders on a linear motor was changed to give the correct FB#.RES value

^ Back to Top ^

## Fieldbus

- CAN - NMT Reset did not reset PDO mapping [D-08507]

Issue:

Issuing an NMT reset via CAN did not reset PDO mapping back to default.

Solution:

An bug in the firmware was fixed to handle NMT reset commands correctly.

- Added AXIS#.PROFINET.STATE [S-21597]

Details:

This keyword returns the current value of the PROFIdrive state machine along with a text string.

- Added fieldbus analog torque and velocity modes [S-21675]

Details:

Fieldbus now supports analog velocity and torque modes. The mode of operation object (6060h) can be set to -1 for analog torque and -2 for analog velocity.

- CANopen generate EDS file [S-19222]

Details:

CANBUS.PRINTEDS keyword added to generate and print CANopen electronic data sheet (EDS) file.

- EtherCat SDO added for AXIS#.IL.BW [D-08625]

Details:

A CANOpen object has been added for AXIS#.IL.BW at index 0x500A subindex 22.

- Modbus

Details:

Modbus is now supported.

See the documentation for a description of the Modbus features supported.
- PROFINET - Added standard telegram 0 [S-21654]/[S-21701]

Details:

Standard telegram 0 can now be used to map custom signals.
AXIS#.PROFINET.SIGNALLIST (p923) will retrieve the list of available signals.
AXIS#.PROFINET.TELEGRAMID (p922) can be used to select the telegram id and is saved to NV.
AXIS#.PROFINET.SETPOINTMAP (p915) and AXIS#.PROFINET.ACTUALVALUEMAP (p916) allow setting up the mappings for the telegram and are saved to NV.
Note: the mappings are only writable when telegram 0 is selected

- PROFINET - Added PNUs to support rebooting, parameter reset, NV save, and NV load [S-20921]

Details:

PROFIdrive parameters were added to support rebooting the drive, NV reset, NV save, and NV load. P972 - Writing a 1 to this PNU will reboot the drive. Note that the current connection will be lost after writing this value. On start-up it will read 0. P976 - Writing a 1 to this PNU will perform DRV.NVSAVE. It will remain 1 until the save is complete, at which time it will change to 0. P977 - Writing a 1 to this PNU will perform DRV.RSTVAR, resetting writable parameters back to defaults. A 2 will perform DRV.NVLOAD. The value written will remain until the operation is complete, at which time it will change back to 0.

^ Back to Top ^

## General

- FLASH.DIR and DRV.FILES - Report all power board & SFA files [S-19770]

Issue:

FLASH.DIR and DRV.FILES doesn't contain all Power Board files or SFA files.

Solution:

FLASH.DIR and DRV.FILES updated to include all Power Board and SFA files when SFA is connected.

- Added DRV.TEMPFTHRESH and DRV.TEMPWTHRESH

Details:

Added two new keywords that will display the thresholds for the control board temperature fault and warning

^ Back to Top ^

## Motor & Power Stage

- Motor foldback changes

Issue:

1- AXIS#.IL.MI2T keyword used to report motor I2T value in %.

2- AXIS#.IL.FOLDFTHRESH was set to minimum of peak currents of motor and drive by default.

3- AXIS#.IL.FOLDWTHRESH was set to zero by default.

Solution:

1- Now, AXIS#.IL.MI2T keyword reports motor RMS current value scaled such that motor continuous current will result in 100%.

2- Now, AXIS#.IL.FOLDFTHRESH is set to zero, by default. Note that this is a NV parameter.

3- AXIS#.IL.FOLDWTHRESH was set to minimum of peak currents of motor and drive by default. Note that this a NV parameter.

- Add AXIS#.MOTOR.RSOURCE [S-21392]

Details:

AXIS#.MOTOR.RSOURCE indicates whether the motor thermal sensor, if present, is connected through a discrete wire (value 0) or a digital feedback (value 1).

^ Back to Top ^

## SD Card

- Added option to display drive names to restore from [S-21672 and S-21709]

Details:

When the option to "Restore Firmware" or "Restore Params" is selected, the drive displays all the drive names stored in the SD Card of the same drive type as the current drive. When one of these drive names are selected, the associated firmware or NV parameters is loaded.

^ Back to Top ^

# Version 02-04-04-002 : July 15, 2020

## Motor & Power Stage

- AXIS#.IL.FOLDFTHRESHU & AXIS#.IL.FOLDWTHRESH default values [S-21697]

Issue:

Preferred default behavior is to report a warning when the thermal capacity algorithm begins to limit current, and to allow the algorithm to operate fully to continuous current without faulting. The default has been to fault as soon as the algorithm begins to limit current.

Solution:

The default value of AXIS#.IL.FOLDFTHRESHU has changed to zero, and the default value of AXIS#.IL.FOLDWTHRESH has changed to axis peak current. If these values have previously been set and saved as NV parameters, the saved values will continue to be used.

- AXIS#.IL.MI2T units change [S-21697]

Issue:

For consistency with AKD1G and to meet customer expectations, AXIS#.IL.MI2T should be reported as percentage of thermal capacity in units of current. It has been reported in units of squared current (power).

Solution:

AXIS#.IL.MI2T is now percentage of thermal capacity in units of current.

^ Back to Top ^

# Version 02-04-04-001 : July 7, 2020

## Action Table

- Gantry added to Set Command-Source and Op-Mode Action Task

Issue:

Some applications need to set Axis 2 command source to Gantry using the Action Table.

Solution:

Gantry command source has been added to the list of options for Action Task 27 (Set Axis Command-Source and Op-Mode).

- USER.INT# parameters are non-volatile

Issue:

Some applications use the USER.INT# parameters to save and check state information across a drive reset.

Solution:

USER.INT# parameters are now non-volatile. They are managed as part of the drive's configuration using DRV.NVSAVE and DRV.NVLOAD.

Edge-triggered Action Table actions can no longer rely on the Action Source 23 (User Variable) having value 0 at power-up. The corresponding USER.INT# value needs to be reset before setting it to the Condition Value that triggers the action.

^ Back to Top ^

# Version 02-04-04-000 : June 30, 2020

## Action Table

- Add Current feedback action source [S-21596]

Details:

Current Feedback added as Action Table source

- Added "Action Row Running" as action table source [S-21592]

Details:

The "Action Row Running" source can be used to determine whether a specific Action Row is getting executed (i.e. whether the Action Condition is being satisfied).

^ Back to Top ^

## Feedback

- Endat Digital support on FB5

Details:

Support for Endat Digital on FB5 (X22 connector) has been added.

^ Back to Top ^

## Fieldbus

- PROFINET - Added new keyword for current sign of life error count [S-21636]

Details:

A new recordable keyword, AXIS#.PROFINET.SOLFAILCNT has been added that returns the current sign of life error count.

^ Back to Top ^

## Motion

- Home Mode 19 could cause de-synchronized homing [D-08547]

Issue:

An issue was identified when using Home Mode 19 (Gantry Homing) where Axis one would start homing but axis 2 would not.

Solution:

A logic issue was identified and fixed to prevent this from happening.

^ Back to Top ^

## Service

- Flooding the Service Port can crash drive. [D-08599]

Issue:

If Ethernet packets are sent at a high rate, the drive crashs because of a watchdog

Solution:

The Ethernet stack is throttled when it can't process it fast enough, and a warning, 3001, is presented to the LCD Display, during this condition.

^ Back to Top ^

# Version 02-04-03-000 : June 24, 2020

## Action Table

- ACTION#.TASKTEXT can clear text now [S-21413]

Issue:

If the user wishes to remove text from the ACTION#.TASKTEXT parameter there was no option to clear this.

Solution:

If the user issues ACTION#.TASKTEXT clear, it will clear the stored text within the command.

^ Back to Top ^

## Feedback

- FB#.RES returns the correct linear resolution for Incremental and Sine Encoders

Issue:

FB#.RES returned the resolution value for a rotary motor type when FB#.MECHTYPE was set to linear.

Solution:

FB#.RES now uses FB#.LINEPITCH to calculate resolution for Incremental and Sine encoders when FB#.MECHTYPE is set to linear.

^ Back to Top ^

## General

- Display user logo [S-21500]

Details:

Display shows user logo during boot/startup. Logo can also be viewed from main display menu by navigating to and selecting Contact Info. User logo can be stored on SD card or in flash. SD card takes priority over flash.

- Luenberger Observer added to Control Loop [S-21528]

Details:

A Velocity Observer has been implemented. It can be configured by setting the gain AXIS#.OBS.KO, bandwidth AXIS#.OBS.BW and turning it on by using AXIS#.OBS.ENABLED.

- New command DISPLAY.AXISORDER

Details:

The command DISPLAY.AXISORDER allows the user to change the order of Axes shown on the display.

^ Back to Top ^

## Motor & Power Stage

- AXIS#.IL.MI2T Calculation Method

Issue:

AXIS#.IL.MI2T calculation method is changed.

Solution:

Hereafter, AXIS#.IL.MI2T will show the I^2t value of the motor in percentage. The I^2t value is scaled such that if the user applies I_continuous for a long time, this keyword will return 100%.

^ Back to Top ^

# Version 02-04-02-001 : June 11, 2020

## Action Table

- Maximum command buffer delay extended

Issue:

The 5000 msec maximum command buffer delay (maximum value of DRV.CMDDELAY) is not sufficient for some applications.

Solution:

The maximum value of DRV.CMDDELAY has been extended to 25000 msec.

^ Back to Top ^

## Fieldbus

- PROFINET - Fixed issues with 250uS cycle and IRT delays

Issue:

When using IRT input packets are delayed by a cycle and 250uS cycle times cause sign of life errors.

Solution:

Issues have been fixed in the PROFINET stack that allows cycle times down to 250uS and fixed input delays found in previous version.

- Zip file download to netX

Issue:

On Profinet drives, netX firmware images need to be downloaded in a compressed zip format to fit in the available flash memory.

Solution:

Support for netX compressed images has been added to drive firmware.

^ Back to Top ^

# Version 02-04-02-000 : June 7, 2020

## Feedback

- FB#.SIGNALSIN & FB#.SIGNALCOS are swapped

Issue:

The data reported by FB#.SIGNALSIN actually matches FB#.SIGNALCOS, and vice versa.

Solution:

FB#.SIGNALSIN now report sine data, and FB#.SIGNALCOS reports cosine data.

- BiSS-C support on FB5

Details:

Support for BiSS-C on FB5 (X22 connector) has been added.

^ Back to Top ^

## Fieldbus

- Added PROFINET support

Details:

Beta PROFINET support has been added: Features:

- Telegrams 1, 2, 3, 7, and 9 are supported
- IRT/RT to 1ms is supported currently
- Multi-axis is supported
- Multi-parameter access is supported
- ProfiDrive fault buffer supported

Known Issues:

- IRT drive input packets (PLC outputs) are delayed by one cycle

Features not implemented yet:

- Not all keywords are supported as PNUs
- Dynamic telegram (Telegram 0)
- Dynamic servo control (DSC - Telegram 5)
- Homing support
- Probe support
- Safety (Cfg through WorkBench, not ProfiSAFE)
- WorkBench PROFINET view

- EtherCAT/CAN SDO added for AXIS#.MOTOR.NAME

Details:

A CANopen object has been added for AXIS#.MOTOR.NAME at index 0x500B, subindex 33.

^ Back to Top ^

## General

- Display factory logo during startup [S-21203]

Details:

Display shows Kollmorgen logo during boot/startup. Logo can also be viewed from main display menu by navigating to and selecting Contact Info.

- Display now supports backup and restore using an SD Card [S-21203]

Details:

LCD Display has a new top-level menu item for an SD Card which has a sub-menu supporting backup/restore of firmware and parameters

- New commands SD.BACKUP and SD.LOADFW

Details:

SD.BACKUP backs up the drive to the SD Card.

SD.LOADFW restores the stored user image from the SD Card and loads it to flash.

^ Back to Top ^

# Version 02-04-01-001 : May 19, 2020

## Action Table

- Command Buffer Crashes with one command [D-08554]

Issue:

When ACTIONx.TASKTEXT contained one command, it crashes the drive when action row was activated and executed.

Solution:

The drive firmware was updated to prevent the crash and execute the command correctly.

^ Back to Top ^

# Version 02-04-01-000 : May 15, 2020

## General

- All recordable keywords have been made triggerable

Issue:

Not every keyword that was recordable could be used as a trigger

Solution:

Every recordable keyword has been given the ability to be used as a trigger on the scope

- New keywords SD.SAVEPARAM and SD.LOADPARAM [S-21283]

Details:

Two new keywords, SD.SAVEPARAM and SD.LOADPARAM have been added. SD.SAVEPARAM saves NV Parameters to the SD Card, and SD.LOADPARAM restores the NV parameters from the SD Card.

- New keywords SD.BACKUP, SD.SSTATUS and SD.INFO [S-21442] & [S-21283]

Details:

Three new keywords, SD.BACKUP, SD.STATUS and SD.INFO have been added. SD.BACKUP backs up the firmware and parameters to the SD card. SD.STATUS displays the status of the SD Card, whether it is inserted, write-protected or ready. SD.INFO prints out the disk usage on the SD Card.

- User variables for Modbus & action table [S-21218]

Details:

New user scratchpad variables USER.INT# and ACTION#.SOURCE “User Variable". User variables can be mapped to Modbus to support triggering Actions over Modbus.

^ Back to Top ^

## Motion

- Fix Add Gearing Position task [S-21396]

Issue:

If Add Gearing Position was triggered at the same time as "Activate Gearing" the position offset would not work correctly

Solution:

A logic bug was fixed that now ensures the position offset is added correctly.

- Added AXIS#.ZEROACC

Issue:

Noisy feedbacks made it difficult to configure zero speed detection for a controlled stop.

Solution:

The AXIS#.ZEROACC keyword was added to allow the user to configure their own acceleration threshold for the zero speed check.

- AXIS#.VL.ACCFILTERED added

Details:

Added a new read only keyword which will show the filtered acceleration value

- Home Mode 19 Gantry Homing [S-21359]

Details:

Home Mode 19 has been added. When axis 2 is configured for Home Mode 19, all of the settings and signals will be used from Axis 1 (configured inputs, index and mechanical zero signals). This mode is intended to help with commissioning of Gantry systems.

- Jog Motion [S-21371]

Details:

New keywords have been created AXIS#.JOG.V, JOG.ACC and JOG.DEC which define the jog motion. To start a jog motion, execute the command AXIS#.JOG.MOVEP for positive jog and AXIS#.JOG.MOVEN for negative jog.

^ Back to Top ^

## Motor & Power Stage

- Current-Offset-Nulling Fault

Issue:

Current offset nulling algorithm does not report a fault when sample to sample discrepancy goes above 2% of drive's peak current.

Solution:

Current offset nulling algorithm detects a fault when sample to sample discrepancy goes above 2% of drive's peak current. Clearing this fault resets the algorithm, allowing the algorithm to measures the offset again.

^ Back to Top ^

## Safety

- Safety, FS2: Some CoE entries are duplicated and some are missingBG10580

Issue:

In the ESI file, in the part describing the safety parameters, the entries 0x3154 (SS1_2) are duplicated and the entries 0x3155 (SS1_3) are missing

Solution:

Firmware and ESI file are fixed

- Safety keyword renameNone

Issue:

Safety keyword consistency

Solution:

Some safety keywords have been renames to be more consistent with standard and Workbench description

^ Back to Top ^

# Version 02-03-04-002 : April 7, 2020

## Fieldbus

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

Issue:

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

Solution:

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

^ Back to Top ^

## General

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

Details:

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

^ Back to Top ^

## Telnet

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

Issue:

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

Solution:

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

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

^ Back to Top ^

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

## Fieldbus

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

Details:

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

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

^ Back to Top ^

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

## Fieldbus

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

Issue:

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

Solution:

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

^ Back to Top ^

## General

- Added new bit for 'axis current limit active' [S-21230]

Details:

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

- New keyword IP.PROTOCOL [S-21161]

Details:

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

^ Back to Top ^

## Motion

- AXIS#.HOME.OFFSETUSER added [S-20835]

Details:

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

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

^ Back to Top ^

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

## Feedback

- Position and velocity loop feedback gains not applied correctly

Issue:

AXIS#.PL.KFB and AXIS#.VL.KFB are intended to scale AXIS#.PL.FB and AXIS#.VL.FB respectively. The gains take effect in the control loops but do not scale the feedback keywords.

Solution:

AXIS#.PL.KFB and AXIS#.VL.KFB now scale the AXIS#.PL.FB and AXIS#.VL.FB keywords, as well as scaling the internal control loop signals. Among other uses, this allows setting the direction of a position and velocity loop feedback in a dual loop application, by assigning AXIS#.PL.KFB and AXIS#.VL.KFB positive or negative values as appropriate.

^ Back to Top ^

## Fieldbus

- Action table row cannot be activated via EtherCAT

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

- EtherCAT SDO added for AXIS#.HOME.SWITCHSOURCE

Details:

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

^ Back to Top ^

## Functional Safety

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

Issue:

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

Solution:

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

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

Details:

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

- New keyword SAFE.IDANDCRC [S-20854]

Details:

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

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

Details:

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

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

^ Back to Top ^

## Motor & Power Stage

- Motor and Drive Foldback I2T Percentage Reporting

Details:

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

AXIS#.IL.DI2T [%]

AXIS#.IL.MI2T [%]

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

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

^ Back to Top ^

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

## Action Table

- Command Buffer Text Parsing

Issue:

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

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

Solution:

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

^ Back to Top ^

## General

- Brake faults and warnings

Issue:

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

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

Solution:

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

Create new faults for drives with SMM hardware:

- Fault 5011 (Brake 1 under current)

- Fault 5012 (Brake 2 under current)

- Fault 5013 (Brake 1 over current)

- Fault 5014 (Brake 2 over current)

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

Gearing now successfully enters gearing mode on the first attempt.

^ Back to Top ^

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

## Feedback

- Add Hiperface Analog support [S-20513]

Details:

Firmware now supports HIPERFACE Analog on X23 and SFA.

^ Back to Top ^

## Fieldbus

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Details:

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

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

Details:

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

^ Back to Top ^

## General

- Show STO signals on LCD display [S-20876]

Details:

LCD display now shows state of STO signals.

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Details:

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

^ Back to Top ^

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

## Action Table

- Command Buffer [S-20775]

Details:

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

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

^ Back to Top ^

## Feedback

- Connecting workbench while motion in progress, creates velocity spike or drive fault [D-08420]

Issue:

When the drive was in a service motion and the workbench is connected to the drive. It can happen that it creates a velocity spike or a drive fault. This happens only on drive with a Hiperface DSL encoder.

Solution:

The behavior is fixed on the drive. When a Hiperface DSL encoder is connected and the workbench connects to the drive, the motion behaves normal.

^ Back to Top ^

## General

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

Issue:

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

Solution:

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

- DRV.CMDDELAY

Details:

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

^ Back to Top ^

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

## Action Table

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

Details:

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

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

Details:

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

^ Back to Top ^

## Feedback

- Support BiSS-B Analog [S-19316]

Details:

Firmware now supports BiSS-B Analog rotary on X23 and SFA.

^ Back to Top ^

## Fieldbus

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

Issue:

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

Solution:

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

- Set DS402 statusword bit 12 in profile velocity mode when velocity is 0

Issue:

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

Solution:

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

^ Back to Top ^

## General

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

Issue:

Drive doesn't boot up because of incompatible EDS parameters

Solution:

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

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

Issue:

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

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

Solution:

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

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

Issue:

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

Solution:

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

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

The drive will now disable.

- Velocity spike after re-enable. [D-08408]

Issue:

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

Solution:

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

- Added new bit to AXIS#.MOTIONDISSOURCES for Wake and Shake

Details:

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

^ Back to Top ^

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

## General

- Edit IP settings using display [S-20494]

Details:

New screen added to configure and apply IP settings.

^ Back to Top ^

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

## Action Table

- Release brake via digital input [S-20694]

Details:

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

^ Back to Top ^

## Fieldbus

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

Details:

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

^ Back to Top ^

## General

- Power Stage Starts Unexpectedly [D-08390]

Issue:

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

Solution:

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

- Gantry Command Source Added

Details:

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

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

Details:

New screens added to display digital out and bidirectional states.

^ Back to Top ^

## Motion

- AXIS#.PL.PDELAY and AXIS#.VL.FFDELAY are removed.

Issue:

These keywords are no longer active.

Solution:

^ Back to Top ^

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

## Fieldbus

- Updated default multi-axis PDO mapping [D-08377]

Issue:

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

Solution:

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

- EtherCat PDO Padding [S-20722]

Details:

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

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

^ Back to Top ^

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

## Action Table

- New Source and Task

Details:

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

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

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

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

^ Back to Top ^

## Fieldbus

- Action table available over fieldbus [S-20643]

Details:

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

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

Details:

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

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

Details:

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

^ Back to Top ^

## General

- Show digital input states on display [S-20681]

Details:

New screen added to display digital input states.

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

^ Back to Top ^

## Motor & Power Stage

- New Keyword - VBUS.DCNOMINAL

Details:

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

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

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

^ Back to Top ^

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

## FieldBus

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

Details:

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

- Support ASCII parameter file over FoE [S-19293]

Details:

The firmware now supports parameter file over FoE

^ Back to Top ^

## Fieldbus

- Acceleration scaling is not scaling in velocity units per second

Issue:

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

Solution:

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

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

Details:

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

^ Back to Top ^

## General

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

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

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

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

Issue:

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

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

Solution:

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

^ Back to Top ^

## Motor & Power Stage

- New keyword - VBUS.DCOPERATION

Details:

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

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

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

Caution:

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

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

^ Back to Top ^

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

## Action Table

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

Issue:

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

Solution:

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

^ Back to Top ^

## Analog & Digital IO

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

Issue:

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

Solution:

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

^ Back to Top ^

## Fieldbus

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

Issue:

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

Solution:

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

^ Back to Top ^

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

## Functional Safety

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

Issue:

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

Solution:

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

^ Back to Top ^

## General

- Perform homing from display [S-20512]

Details:

New screens added so user can home axis using display

^ Back to Top ^

## Motor & Power Stage

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

Issue:

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

Solution:

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

^ Back to Top ^

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

## Fieldbus

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

Issue:

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

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

Solution:

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

index subindex. The indexes are now read-only.

- Added AXIS#.CMDSOURCE object

Details:

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

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

Details:

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

^ Back to Top ^

## General

- Temperature keyword name change [S-20507]

Issue:

Some temperature-reporting keyword names were confusing.

Solution:

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

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

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

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

AXIS1.OTFTHRESH >> AXIS1.TEMPFTHRESH

AXIS1.OTWTHRESH >> AXIS1.TEMPWTHRESH

AXIS2.OTFTHRESH >> AXIS2.TEMPFTHRESH

AXIS2.OTWTHRESH >> AXIS2.TEMPWTHRESH

- Perform NVSAVE using display [S-20475]

Details:

New screens added so user can save NV paramters using display

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

Details:

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

^ Back to Top ^

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

## Action Table

- Compare Digital Inputs source [S-20426]

Details:

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

^ Back to Top ^

## Fieldbus

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

Details:

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

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

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

* Set while W&S is active

- Unassigned feedback faults available via fieldbus [S-20158]

Details:

New objects were created to monitor faults on all feedbacks:

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

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

^ Back to Top ^

## Functional Safety

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

Details:

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

^ Back to Top ^

## General

- AXIS#.ENDEFAULT causes drive to crash

Issue:

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

Solution:

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

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

Details:

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

- SFA SFD support [S-20265]

Details:

Added support for following feedback type:

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

^ Back to Top ^

## Motion

- AXIS#.ACC and AXIS#.DEC removed

Issue:

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

Solution:

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

^ Back to Top ^

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

## Action Table

- Fix action task analog output scaling [D-08269]

Issue:

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

Solution:

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

^ Back to Top ^

## Display

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

Issue:

Faults not updated until returning to previous screen

Solution:

Fault screen now updates when faults change

^ Back to Top ^

## Feedback

- AKD2G boots up with SFA communication fault [D-08276]/Bug 10310

Issue:

Drive boots with SFA communication fault when SFA feedback is selected

Solution:

Fixed issue with motor temperature read causing communication fault

- Incremental encoder on SFA [S-20303]

Details:

Added SFA support for following feedback types:

- SFA - Incremental Encoder with Halls (110)
- SFA - Incremental Encoder without Halls (111)

^ Back to Top ^

## Motor & Power Stage

- New warning when VBUS.ACNOMINAL is inconsistent with AC mains voltage

Details:

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

^ Back to Top ^

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

## Functional Safety

- Single Axis FSoE not working [D-08284]

Issue:

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

Solution:

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

^ Back to Top ^

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

## Feedback

- Incorrect line pitch scaling for linear feedbacks

Issue:

The line pitch scaling (FB#.LINEPITCH) for linear Incremental Encoder, Sine Encoder, and BiSS-C Digital (feedback types 10,11,20,21,34) is incorrect.

Solution:

The line pitch scaling for the affected feedback types has been fixed.

^ Back to Top ^

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

## Action Table

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

^ Back to Top ^

## Analog & Digital IO

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

Issue:

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

Solution:

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

- Analog Output offset [D-08212]

Issue:

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

Solution:

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

^ Back to Top ^

## Feedback

- X22 termination not working correctly [D-08238]

Issue:

On X22 the termination was not set correctly and the user was unable to set termination when an incremental feedback was selected.

Solution:

The termination on X22 is no set correctly. And the user is able to set the termination with DIO#.TERM keyword when an incremental feedback is selected.

- Linear BiSS-C feedback

Details:

Linear BiSS-C feedback support has been added. To use a linear BiSS-C feedback, FB#.MECHTYPE must be set to 1 (Linear), and FB#.BITS and FB#.LINEPITCH must be configured, where # identifies the feedback connector. FB#.SELECT 34 (BiSS-C Digital) selects the BiSS-C feedback type.

- Smart Feedback Adapter

Details:

Support for Smart Feedback Adapter (SFA) has been added. SFA allows feedback devices that normally connect to X23 (FB3) to connect through X1 (FB1) and X2 (FB2) instead. The following feedback devices are supported: Resolver, BiSS-C Digital, EnDat 2.1 Analog, EnDat 2.2 Digital, Sine Encoder with and without Halls.

^ Back to Top ^

## Fieldbus

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

Details:

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

^ Back to Top ^

## Functional Safety

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

Issue:

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

Solution:

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

- Safety Basic functions

Details:

Supported safety functions: STO, SS1, SBC, SDB

Supported safe fieldbus: FSoE and FSoE parametrization

Safe Module version: 0.38 or higher

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

^ Back to Top ^

## General

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

Issue:

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

Solution:

F2007 and F2014 are now reported only on enabled axis.

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

Issue:

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

Solution:

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

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

Details:

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

^ Back to Top ^

## Motion

- Acceleration FF not being zeroed [D-08252]

Issue:

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

Solution:

Acceleration signal is zeroed upon amp enable to suppress discontinuities.

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

Issue:

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

Solution:

The integrators have been re-instated for controlled stop.

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

- AXIS#.MT.RUNNING keyword [S-20238]

Details:

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

- VL.AINACC and VL.AINDEC added [S-20232]

Details:

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

^ Back to Top ^

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

## Analog & Digital IO

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

^ Back to Top ^

## Feedback

- FB#.INFO crashes the drive if Feedback Type is UnIdentified. [D-08184]

Issue:

If FB#.IDENTIFIED returns 0 (UnIdentified) then FB#.INFO for that feedback would crash the drive.

Solution:

The firmware has been changed to display an appropriate message instead of crashing.

- Feedback identified when no feedback connected [D-08233]

Issue:

When a feedback is not connected properly to the device, a fault was thrown after initialization and the feedback is shown as identified.

Solution:

When a fault occurs during initialization, the feedback is shown as unidentified.

- Fixed Endat 2.2 initialization and temperature reading on FB3 [D-08206]

Issue:

Some Endat 2.2 encoders did not work correctly on FB3. They reported CRC faults or temperature reading faults.

Solution:

Added correct reading of temperature sensor on Endat 2.2 with safety encoders. Also added new initialization routine for Endat 2.2 encoders.

^ Back to Top ^

## Fieldbus

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

- Unable to clear PLL fault from fieldbus

Issue:

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

Solution:

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

- EtherCAT emergency service [S-20087]

Details:

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

- PLL synchronization added to CANbus [S-17092]

Details:

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

^ Back to Top ^

## General

- Action Task Enable After Reboot Fails [D-08216]

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Details:

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

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

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

Loop logic has been updated and fixed

^ Back to Top ^

## Motor & Power Stage

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

Issue:

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

Solution:

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

- Motor Foldback fault is thrown if rebooting and connecting immediately

Issue:

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

Solution:

This issue is resolved.

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

Issue:

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

Solution:

This issue is resolved.

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

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

- Drive Foldback Recovery Time

Issue:

Drive Foldback Recovery time was previously set to 5 seconds.

Solution:

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

^ Back to Top ^

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

## Motor & Power Stage

- Bus overvoltage fault not reported when axis disabled

Issue:

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

Solution:

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

^ Back to Top ^

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

## Action Table

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

Details:

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

^ Back to Top ^

## Feedback

- Added FB#.INFO [S-20092]

Details:

The new command FB#.INFO prints details like the encoder model number or encoder serial number if this information is available.

^ Back to Top ^

## Fieldbus

- CoE Tab Offline [D-08093]

Issue:

The CoE tab in TwinCat 3 would indicate offline.

Solution:

Fixed firmware issue when receiving abort messages.

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

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

Issue:

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

Solution:

The ESI file has been updated with the correct attributes.

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

Details:

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

^ Back to Top ^

## General

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

- Autotuner failing friction test [D-08152]

Issue:

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

Solution:

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

- Clearing Faults takes too long [D-08114]

Issue:

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

Solution:

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

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

Issue:

No fault thrown when PTC resistor input is missing.

Solution:

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

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

Issue:

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

Solution:

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

- Motor phase loss detection feature is added

Details:

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

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

- Over Temperature and Under Temperature Faults and Warning

Issue:

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

Solution:

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

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

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

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

- Sine and cosine encoder error signal [S-20051]

Details:

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

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

Issue:

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

Solution:

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

^ Back to Top ^

## Motor & Power Stage

- AXIS#.IL.DIFOLD return-value change

Issue:

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

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

Solution:

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

^ Back to Top ^

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

## Fieldbus

- AXIS#.MOTOR.BRAKECONTROL applied to released condition causes software disable

Issue:

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

Solution:

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

- Added AXIS#.CANOPEN.STATUSWORD and AXIS#.CANOPEN.CONTROLWORD

Details:

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

- Added CanOpen object 1008h "Manufacturer Device Name"

Details:

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

- Added CANBUS.DIAG and ECAT.DIAG

Details:

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

^ Back to Top ^

## Gearing

- Gearing still permitted when using the same GEAR.FBSOURCE as IL/VL/PL.FBSOURCE

Issue:

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

Solution:

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

^ Back to Top ^

## General

- Motor Voltage Units Issue

Details:

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

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

- AXIS#.IL.DEADBAND read/write privilege

Details:

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

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

^ Back to Top ^

## Motion

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

Issue:

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

Solution:

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

- Motion task target velocity reached keeps changing during a motion task

Issue:

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

Solution:

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

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

^ Back to Top ^

## Wake and Shake

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

Issue:

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

Solution:

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

^ Back to Top ^

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

## General

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

Issue:

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

Solution:

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

^ Back to Top ^

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

## General

- AKD2G Version 02-00-00-000 Release

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

Highlights:

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

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