AKD Firmware Release Notes


These release notes for the AKD drive firmware (the software that executes inside the AKD drive) describe the changes between the previous firmware releases and this release.

Kollmorgen provides different firmware files for each model type. Use the file that matches the model number of your drive. For example, with a Base Analog drive with a model number like AKD-Bxxxxx-NAAN-0000, use the firmware file AKD-B-NAAN-V01-05-00-000.i00.

WorkBench is compatible with all previous AKD firmware versions. WorkBench forward compatibility, however, cannot be ensured. When a behavior in the firmware changes, an older WorkBench version may not function correctly with the new firmware. Kollmorgen recommends that you update WorkBench when you install new firmware.



Note: AKD-P/-B/-T/-M NAxx variants are supported up to firmware version 1.14.00.002.


Release Summaries
Version: 1-18-00-004, October 31, 2018
+   General Issues

Version: 1-18-00-003, October 23, 2018
+   Field Bus Specific Issues

Version: 1-18-00-002, October 19, 2018
+   Field Bus Specific Issues

Version: 1-18-00-001, October 15, 2018
+   General Issues

Version: 01-18-00-000, October 12, 2018
+   IO Issues
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-17-06-000, July 30, 2018
+   General Issues
+   Field Bus Specific Issues
+   Feedback Issues
+   Homing Issues
+   IO Issues
+   Brake Issues

Version: 01-17-05-000, April 23, 2018
+   Tuning Issues
+   General Issues
+   IO Issues
+   Field Bus Specific Issues
+   Feedback Issues

Version: 01-17-04-000, March 16, 2018
+   Field Bus Specific Issues
+   Homing Issues
+   Feedback Issues

Version: 01-17-03-000, February 28, 2018
+   General Issues
+   Field Bus Specific Issues

Version: 01-17-02-001, January 23, 2018
+   Motion Tasking Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-17-01-000, December 15, 2017
+   Field Bus Specific Issues
+   Brake Issues
+   General Issues
+   IO Issues

Version: 01-17-00-000, October 13, 2017
+   Field Bus Specific Issues
+   General Issues

Version: 01-16-08-000, September 25, 2017
+   Field Bus Specific Issues

Version: 01-16-07-000, August 31, 2017
+   General Issues
+   Field Bus Specific Issues

Version: 01-16-06-000, August 21, 2017
+   Field Bus Specific Issues

Version: 01-16-05-000, August 09, 2017
+   General Issues
+   Tuning Issues
+   Feedback Issues
+   Field Bus Specific Issues

Version: 01-16-04-000, June 09, 2017
+   General Issues
+   Feedback Issues

Version: 01-16-03-000, May 15, 2017
+   General Issues
+   Feedback Issues

Version: 01-16-02-000, May 05, 2017
+   General Issues
+   Motion Tasking Issues
+   Field Bus Specific Issues
+   IO Issues
+   Feedback Issues

Version: 01-16-01-000, March 24, 2017
+   General Issues
+   Feedback Issues

Version: 01-16-00-001, March 20, 2017
+   Homing Issues
+   Field Bus Specific Issues

Version: 01-16-00-000, February 21, 2017
+   Field Bus Specific Issues

Version: 01-15-06-000, February 09, 2017
+   General Issues

Version: 01-15-05-000, February 01, 2017
+   Field Bus Specific Issues
+   General Issues
+   Feedback Issues

Version: 01-15-04-000, December 06, 2016
+   General Issues
+   Field Bus Specific Issues
+   Service Motion Issues

Version: 01-15-03-000, November 24, 2016
+   Field Bus Specific Issues
+   BASIC Issues
+   General Issues

Version: 01-15-02-000, October 17, 2016
+   Feedback Issues
+   General Issues

Version: 01-15-01-000, October 06, 2016
+   General Issues
+   Tuning Issues
+   Field Bus Specific Issues
+   IO Issues
+   Feedback Issues
+   Service Motion Issues
+   BASIC Issues

Version: 01-15-00-000, July 29, 2016
+   Field Bus Specific Issues
+   Motion Tasking Issues

Version: 01-14-06-001, June 17, 2016
+   Field Bus Specific Issues
+   Feedback Issues
+   General Issues

Version: 01-14-05-000, May 06, 2016
+   Field Bus Specific Issues
+   General Issues
+   Feedback Issues

Version: 01-14-04-000, April 21, 2016
+   Field Bus Specific Issues
+   General Issues

Version: 01-14-03-000, April 11, 2016
+   Field Bus Specific Issues
+   General Issues
+   BASIC Issues
+   Motion Tasking Issues

Version: 01-14-02-000, February 24, 2016
+   Homing Issues
+   Brake Issues
+   General Issues

Version: 01-14-01-000, February 04, 2016

Version: 01-14-00-003, February 03, 2016
+   IO Issues
+   Field Bus Specific Issues
+   General Issues
+   BASIC Issues

Version: 01-14-00-002, December 08, 2015
+   General Issues
+   Field Bus Specific Issues

Version: 01-14-00-001, November 30, 2015
+   Feedback Issues
+   Field Bus Specific Issues
+   Brake Issues
+   General Issues

Version: 01-14-00-000, November 17, 2015
+   Field Bus Specific Issues
+   General Issues

Version: 01-13-12-000, November 11, 2015
+   General Issues
+   Brake Issues
+   Field Bus Specific Issues
+   Feedback Issues

Version: 01-13-11-000, September 29, 2015
+   General Issues
+   Field Bus Specific Issues

Version: 01-13-10-001, August 07, 2015
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-13-09-001, June 19, 2015
+   Feedback Issues

Version: 01-13-09-000, June 18, 2015
+   General Issues
+   Field Bus Specific Issues
+   Feedback Issues

Version: 01-13-08-000, May 07, 2015
+   Motion Tasking Issues
+   General Issues
+   Field Bus Specific Issues
+   Feedback Issues

Version: 01-13-07-000, May 06, 2015
+   Field Bus Specific Issues

Version: 01-13-06-000, April 23, 2015
+   Field Bus Specific Issues
+   Homing Issues
+   General Issues

Version: 01-13-05-000, March 25, 2015
+   Field Bus Specific Issues
+   Brake Issues
+   General Issues

Version: 01-13-04-000, February 24, 2015
+   Field Bus Specific Issues
+   General Issues

Version: 01-13-03-000, February 05, 2015
+   General Issues
+   Field Bus Specific Issues

Version: 01-13-02-000, January 07, 2015
+   General Issues
+   BASIC Issues
+   Field Bus Specific Issues

Version: 01-13-00-001, November 24, 2014
+   Field Bus Specific Issues
+   BASIC Issues
+   General Issues

Version: 01-13-01-000, November 24, 2014
+   General Issues
+   Field Bus Specific Issues

Version: 01-12-05-000, October 13, 2014
+   General Issues
+   Field Bus Specific Issues

Version: 01-12-03-000, September 05, 2014
+   Field Bus Specific Issues
+   General Issues

Version: 01-12-04-000, September 05, 2014
+   General Issues

Version: 01-12-02-000, August 25, 2014
+   General Issues

Version: 01-12-01-000, August 01, 2014
+   Field Bus Specific Issues
+   General Issues

Version: 01-12-00-000, June 24, 2014
+   Field Bus Specific Issues
+   IO Issues
+   General Issues

Version: 01-11-04-000, March 26, 2014
+   Feedback Issues
+   Field Bus Specific Issues
+   General Issues

Version: 01-11-03-000, February 28, 2014
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-11-02-000, February 14, 2014
+   General Issues
+   Motion Tasking Issues
+   Field Bus Specific Issues

Version: 01-11-01-000, February 07, 2014
+   Homing Issues
+   Field Bus Specific Issues
+   General Issues
+   BASIC Issues

Version: 01-11-00-006, February 03, 2014
+   General Issues
+   Field Bus Specific Issues

Version: 01-11-00-002, December 16, 2013
+   General Issues
+   Feedback Issues

Version: 01-10-07-000, November 22, 2013
+   Feedback Issues
+   General Issues

Version: 01-10-05-000, November 05, 2013
+   General Issues
+   Field Bus Specific Issues

Version: 01-10-04-000, October 23, 2013
+   BASIC Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-10-03-000, October 14, 2013
+   General Issues
+   Feedback Issues
+   Field Bus Specific Issues

Version: 01-10-02-000, October 07, 2013
+   General Issues
+   Field Bus Specific Issues

Version: 01-10-01-000, September 27, 2013
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-10-00-001, September 04, 2013
+   Field Bus Specific Issues

Version: 01-10-00-000, August 26, 2013
+   General Issues
+   Field Bus Specific Issues

Version: 01-09-08-000, August 12, 2013
+   Field Bus Specific Issues
+   General Issues

Version: 01-09-07-000, July 19, 2013
+   General Issues
+   Homing Issues

Version: 01-09-06-000, June 28, 2013
+   Field Bus Specific Issues
+   General Issues
+   BASIC Issues

Version: 01-09-05-001, June 07, 2013
+   Field Bus Specific Issues
+   General Issues

Version: 01-09-03-000, May 23, 2013
+   Field Bus Specific Issues

Version: 01-09-02-000, May 15, 2013
+   General Issues
+   Field Bus Specific Issues
+   BASIC Issues

Version: 01-09-01-000, April 20, 2013
+   Field Bus Specific Issues
+   BASIC Issues
+   Feedback Issues

Version: 01-09-00-000, April 12, 2013
+   General Issues
+   Field Bus Specific Issues

Version: 01-08-08-000, March 22, 2013
+   BASIC Issues
+   Field Bus Specific Issues
+   General Issues

Version: 01-08-07-000, March 15, 2013
+   BASIC Issues
+   Field Bus Specific Issues
+   General Issues

Version: 01-08-06-000, February 28, 2013
+   BASIC Issues
+   General Issues

Version: 01-08-05-000, February 15, 2013
+   BASIC Issues

Version: 01-08-04-000, February 13, 2013
+   General Issues
+   Field Bus Specific Issues

Version: 01-08-03-001, January 25, 2013
+   General Issues
+   BASIC Issues
+   Field Bus Specific Issues

Version: 01-08-02-000, December 27, 2012
+   BASIC Issues
+   General Issues

Version: 01-08-01-000, December 19, 2012
+   General Issues
+   BASIC Issues
+   Field Bus Specific Issues

Version: 01-07-04-000, November 15, 2012
+   General Issues
+   Field Bus Specific Issues

Version: 01-07-03-000, October 17, 2012
+   General Issues
+   Field Bus Specific Issues
+   BASIC Issues

Version: 01-07-02-000, September 21, 2012
+   General Issues
+   Feedback Issues
+   Field Bus Specific Issues

Version: 01-07-01-000, September 08, 2012
+   General Issues

Version: 01-07-00-002, September 07, 2012
+   General Issues
+   Field Bus Specific Issues

Version: 01-07-00-001, August 17, 2012
+   General Issues
+   BASIC Issues

Version: 01-07-00-000, July 27, 2012
+   General Issues
+   BASIC Issues

Version: 01-06-07-000, June 22, 2012
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues
+   BASIC Issues

Version: 01-06-06-000, June 08, 2012
+   BASIC Issues
+   Feedback Issues
+   General Issues

Version: 01-06-05-000, May 25, 2012
+   General Issues
+   BASIC Issues
+   Feedback Issues

Version: 01-06-04-000, May 11, 2012
+   IO Issues
+   General Issues
+   Feedback Issues

Version: 01-06-03-000, April 27, 2012
+   Field Bus Specific Issues
+   General Issues

Version: 01-06-02-000, April 13, 2012
+   Field Bus Specific Issues
+   IO Issues
+   General Issues

Version: 01-06-01-000, March 30, 2012
+   Field Bus Specific Issues
+   General Issues

Version: 01-06-00-002, March 29, 2012
+   General Issues

Version: 01-06-00-001, March 26, 2012
+   General Issues
+   Field Bus Specific Issues

Version: 01-05-13-000, March 02, 2012
+   General Issues
+   Field Bus Specific Issues

Version: 01-05-12-000, February 17, 2012
+   Field Bus Specific Issues
+   Motion Tasking Issues
+   General Issues
+   IO Issues
+   Feedback Issues

Version: 01-05-10-000, January 27, 2012
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-05-08-000, January 20, 2012
+   General Issues

Version: 01-05-07-000, January 06, 2012
+   General Issues
+   IO Issues

Version: 01-05-06-000, December 23, 2011
+   Field Bus Specific Issues
+   General Issues

Version: 01-05-05-000, December 09, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-05-04-000, November 25, 2011
+   General Issues
+   Feedback Issues
+   Field Bus Specific Issues
+   IO Issues

Version: 01-05-03-003, November 07, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-05-02-000, October 28, 2011
+   General Issues

Version: 01-05-01-000, October 14, 2011
+   General Issues
+   Feedback Issues
+   Field Bus Specific Issues

Version: 01-04-19-000, September 30, 2011
+   General Issues
+   Field Bus Specific Issues
+   Homing Issues

Version: 01-04-18-000, September 16, 2011
+   General Issues

Version: 01-04-17-000, September 12, 2011
+   General Issues
+   IO Issues
+   Field Bus Specific Issues

Version: 01-04-15-002, August 29, 2011
+   Feedback Issues
+   General Issues
+   Field Bus Specific Issues

Version: 01-04-14-000, August 23, 2011
+   Field Bus Specific Issues
+   General Issues

Version: 01-04-13-000, August 15, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-04-12-000, August 01, 2011
+   Field Bus Specific Issues
+   General Issues

Version: 01-04-11-000, July 18, 2011
+   Field Bus Specific Issues
+   General Issues

Version: 01-04-10-000, July 01, 2011
+   General Issues

Version: 01-04-09-000, June 21, 2011
+   General Issues
+   Service Motion Issues

Version: 01-04-08-000, June 08, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-04-07-000, May 23, 2011
+   General Issues

Version: 01-04-05-000, May 11, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-04-03-000, May 09, 2011
+   General Issues
+   IO Issues
+   Motion Tasking Issues
+   Field Bus Specific Issues

Version: 01-04-02-000, April 21, 2011
+   General Issues
+   Homing Issues
+   Field Bus Specific Issues

Version: 01-04-01-000, April 11, 2011
+   IO Issues
+   General Issues

Version: 01-03-20-001, April 04, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-19-000, March 28, 2011
+   Field Bus Specific Issues
+   Motion Tasking Issues
+   General Issues

Version: 01-04-00-000, March 18, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-18-000, March 16, 2011
+   General Issues

Version: 01-03-16-000, February 16, 2011
+   General Issues
+   Motion Tasking Issues

Version: 01-03-14-000, February 01, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-13-000, January 26, 2011
+   General Issues
+   Capture Issues

Version: 01-03-12-000, January 18, 2011
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-10-000, January 04, 2011
+   General Issues

Version: 01-03-09-000, December 28, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-08-000, December 07, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-07-000, November 23, 2010
+   IO Issues
+   General Issues

Version: 01-03-06-000, November 09, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-05-000, October 26, 2010
+   General Issues

Version: 01-03-04-000, October 19, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-02-000, October 11, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-01-000, September 17, 2010
+   General Issues
+   Field Bus Specific Issues

Version: 01-03-00-004, August 02, 2010
+   General Issues


   Version: 1-18-00-004   Release Date: October 31, 2018

General Issues
  Fixed Bugs

  • Update DRV.FAULTHIST format. (D-07993)
  • Issue:
    On reading the DRV.FAULTHIST, the format a new line was not properly printed in the output of the command.

    Solution:
    DRV.FAULTHIST output is now properly formatted.


       Version: 1-18-00-003   Release Date: October 23, 2018

    Field Bus Specific Issues
      Fixed Bugs

  • Motion into limit switch not prohibited in Fieldbus Position mode (D-07985)
  • Issue:  (Identified in Version 01-17-06-000)
    When a limit switch is triggered the drive stops any motion in direction of the switch by doing a controlled stop. After the motor was stopped, a drive in Fieldbus Position mode would once again accept setpoints, even if they were commanding motion in direction of the limit switch.

    Solution:
    The drive now properly blocks motion in direction of an active limit switch in the described situation.


       Version: 1-18-00-002   Release Date: October 19, 2018

    Field Bus Specific Issues
      Fixed Bugs

  • SynqNet: Brake not reacting on brake command from fieldbus. (10019,D-07978)
  • Issue:
    When the drive enable command, that is sent to the drive via SynqNet, was cleared, the brake would remain in the state it was in before, not following the brake command any longer. This could cause vertical loads to drop, if the brake was not closed before the drive was disabled.

    Solution:
    The firmware now also evaluates the brake command from the fieldbus, when no enable command is sent.


       Version: 1-18-00-001   Release Date: October 15, 2018

    General Issues
      Fixed Bugs

  • Warning n570 is not cleared correctly (S-19572)
  • Issue:
    When changing the FAULT570.ACTION from 4 to 0, while the warning n570 is active, the warning n570 stays until the FAULT570.ACTION is changed again.

    Solution:
    Fixed the reset behavior for the fault F570 and warning n570.


       Version: 01-18-00-000   Release Date: October 12, 2018

    IO Issues
      Fixed Bugs

  • Value of IL.LIMITP and IL.LIMITN changing when using Digital Input mode 21 (Current Limitation) (9900,D-07705)
  • Issue:
    When adding or removing an additional current limit using a digital input set to mode 21, the value of IL.LIMITP and IL.LIMITN would sometimes change.

    Solution:
    The value of IL.LIMITP and IL.LIMITN is now unaffected by digital input mode 21.


    Feedback Issues
      Fixed Bugs

  • Values of FB1.SELECT not correctly restricted on AKD-N without X5 connector. (S-19535)
  • Issue:
    AKD-N variants DB, DG and DT don't have an X5 connector. Thus, only two wire feedback devices HiperfaceDSL and SFD3 can be connected to those drives. The available settings for FB1.SELECT did not reflect that.

    Solution:
    AKD-N variants DB, DG and DT now have a correctly restricted range of values for FB1.SELECT.


      New Features

  • Auto identification of purely digital EnDat 2.2 encoders (S-19599)
  • New Feature Details:
    The drive can now automatically identify EnDat 2.2 encoders without analog signals when FB1.SELECT is set to -1.


    General Issues
      Fixed Bugs

  • Modulo does not work correctly in analog position mode (4870,D-07732)
  • Issue:
    When the drive has been moved with an analog input source in velocity mode and the user switches to position mode with modulo enabled, the drive is able to rotate more than one modulo range.

    Solution:
    Fixed modulo calculation when analog input is selected as DRV.CMDSOURCE in position mode.

  • Open inrush relay when AC input is lost on devices with input phase loss detection. (S-19572)
  • Issue:
    When all AC input phases were lost, the drive would wait for the bus voltage to drop significantly before opening the inrush relay. When power was supplied to the AC input again, before the inrush relay was opened, excessively high currents could occur.

    Solution:
    The drive will now open the inrush relay as soon as it detects losing all AC input phases. If this happens while the drive is enabled (or a connected AKD-N was enabled on AKD-C), fault 587 will be triggered.


      New Features

  • New keyword FAULT587.ACTION (S-19572)
  • New Feature Details:
    A new keyword "FAULT587.ACTION" has been added to the firmware. Setting its value to 1 (default is 0), no fault 587 is issued when the inrush relay is opened on losing all AC input phases on an enabled drive (or an AKD-C that has an enabled AKD-N connected).


    Field Bus Specific Issues
      Fixed Bugs

  • Support of DS402 statusword bit 11 (Internal Limit Active) missing (10006,S-19561)
  • Issue:
    Bit 11 (Internal Limit Active) of the DS402 statusword was never set.

    Solution:
    By setting bit 14 of FBUS.PARAM05 (not set by default) support for bit 11 of the DS402 statusword can be activated. In that case, bit 11 of the statusword will be set whenever there's a warning active, that prevents the drive from moving the motor.


       Version: 01-17-06-000   Release Date: July 30, 2018

    General Issues
      New Features

  • Allow triggering a recording on VBUS.VALUE (S-19151)
  • Solution:
    It is now possible to set the value of REC.TRIGPARAM to "VBUS.VALUE".

  • Add MOTOR.RSOURCE keyword to select a source for the motor thermal resistance value (S-19116)
  • Solution:
    A new keyword MOTOR.RSOURCE has been added to the firmware. Setting it to 0 (default is 1) forces reading the motor thermal resistance from the thermal control pins of the feedback connector instead of reading it digitally from the feedback device, which would be the default behavior for HiperfaceDSL and SFD3 feedbacks. It will be configured by the drive when using MOTOR.AUTOSET.


      Fixed Bugs

  • Fan speed stays high indefinitely after being forced by highly loaded internal regen resistor. (D-07667)
  • Issue:
    To keep the internal regen resistor from overheating, the drive's fan is running at full speed when the resistor is heavily loaded. The fan speed was not properly going low when the load on the resistor dropped again.

    Solution:
    The fan speed is now correctly adjusted when the load on the internal regen resistor drops.

  • VBUS.HALFVOLTAGE could be changed while the drive was enabled. (D-07667)
  • Issue:
    The value of VBUS.HALFVOLTAGE could be changed while the drive was enabled (or a connected drive was enabled on AKD-C) which should not be possible.

    Solution:
    The value of VBUS.HALFVOLTAGE can now only be changed when the drive is disabled (or all connected drives are disabled on AKD-C).

  • Display not showing "Sd" when loading from or saving to an SD card was triggered by the B1 button (9661,D-07671)
  • Issue:
    When the B1 button was used to load from or save to an SD card, the drive's display did not show "Sd". Instead, it froze on whatever was displayed before the load or save operation was started until the operation was finished.

    Solution:
    The drive's display now properly shows "Sd" on an SD load or save operation triggered by the B1 button.

  • Velocity can exceed IL.VLIMIT when IL.OFFSET is non-zero. (9879,D-07678)
  • Issue:
    With IL.OFFSET set to a non-zero value, the velocity can exceed the limit set by IL.VLIMIT.

    Solution:
    The velocity is now limited by IL.VLIMIT even when IL.OFFSET is non-zero.

  • The IL.CMDACC value has peaks when the drive is in service - velocity mode (5614,D-07690)
  • Issue:
    When the drive is in service - velocity mode, and the IL.KACCFF value is unequal to zero, the feedforward loop can generate peaks. These peaks can be seen in the IL.CMDACC value, and they can cause very large amp peaks for the drive.

    Solution:
    The firmware is now interpolating the acceleration for the feedforward loop, so the output of this loop is now smoother and will not generate high peaks when the drive is in service - velocity mode.

  • The setting DRV.EMUECHECKSPEED 1 can cause an F486 at boot up (6027,D-07702)
  • Issue:
    When DRV.EMUECHECKSPEED = 1 and DRV.EMUEMODE = 2 is stored in the drive, the drive reports an F486 fault after booting of the device is completed. It was also possible to cause this failure when DRV.EMUEMODE was changed from 0 to 2 during run time.

    Solution:
    The firmware is now checking correctly the velocity of the drive, when the EMUE.MODE is changed during run time and when the booting of the device is completed.


    Field Bus Specific Issues
      Fixed Bugs

  • Profinet: ZSW1 bits 4 and 5 not behaving as specified (9793,D-07630)
  • Issue:
    ZSW1 bit 4 ("Coast stop not activated") and bit 5 ("Quick stop not activated") are specified to be following STW1 bit 1 ("No coast stop") and bit 2 ("No quick stop"). Instead, they were going low for only one fieldbus cycle after receiving a coast stop or quick stop command.

    Solution:
    ZSW1 bit 4 and 5 now always follow STW1 bit 1 and 2.

  • Writing PDO 6072h (Max torque) can unexpectedly change the value of DRV.NVCHECK. (D-07679)
  • Issue:
    For some values, reading object 6072h and writing the same value via PDO would change the value of DRV.NVCHECK although no change in non-volatile parameters is visible to the user.

    Solution:
    Writing the same value as read to object 6072h via PDO will no longer change the value of DRV.NVCHECK.


    Feedback Issues
      New Features

  • FAG Biss-C Encoder support (S-19251)
  • Solution:
    With setting FB1.TYPE to 34, the FAG encoder with BISS-C interface is now also supported. Correctly setting FB1.BISSBITS and FB1.ENCRES are necessary to run the encoder.


      Fixed Bugs

  • VL.FBFILTER never dropping to zero. (D-07670)
  • Issue:
    Once the value of VL.FBFILTER went above a certain level (approx. 0.172 [deg/s]) it never went below that level again.

    Solution:
    The value of VL.FBFILTER will now eventually drop down to zero if the motor is stopped.

  • Issues restoring absolute position from linear Hiperface encoder (D-07672)
  • Issue:
    Using a linear Hiperface encoder, the drive will automatically determine the correct value of FB1.ENCRES, depending on the setting of MOTOR.PITCH and the resolution of the connected encoder. If that value did not end up being a power of two, restoring the absolute position when initializing the feedback did not work correctly.

    Solution:
    Restoring the absolute position when initializing a linear Hiperface encoder now also works with values of FB1.ENCRES that are not a power of two.


    Homing Issues
      Fixed Bugs

  • In Home Mode 8, 9 and 10 current is staying at HOME.IPEAK after home is found. (9683,D-07685)
  • Issue:
    In Home Mode 8, 9 and 10 the current limit is set to the HOME.IPEAK value. After reaching the home position, the current limitation should be reverted. But instead it stays limited by HOME.IPEAK value until the homing procedure is completely finished.

    Solution:
    The change of the current limit is now properly reverted after the home position is found.


    IO Issues
      Fixed Bugs

  • Suspend motion does not work properly with multiple inputs set to mode 26. (9450,D-07686)
  • Issue:
    When multiple inputs (e.g. DIN 1 and DIN 2) are configured for Mode 26, the following two error cases can happen: In the first case, when DIN 1 is toggling suspend motion mode, the motor is decelerated with DRV.DEC instead of CS.DEC. In the second case, when DIN 2 is toggling suspend motion mode, the drive is stuck in suspend motion, until DIN 1 is also toggled.

    Solution:
    When multiple inputs are set to mode 26 and multiple inputs are holding the drive in suspend motion, the drive only exits suspend motion mode when all inputs are reverting the suspend motion status. The drive is no longer staying in suspend motion state when e.g. DIN 2 is toggling suspend motion.


    Brake Issues
      Fixed Bugs

  • Possible drop of a vertical load when releasing the brake (9862,D-07663)
  • Issue:
    After a command to release the brake, the drive will temporarily disable the position loop until the time set by MOTOR.TBRAKERLS has expired. If the brake is physically released faster than that, the drive might not be able to hold the axis in position.

    Solution:
    The firmware will now keep the position loop enabled during the brake release process, keeping a constant position command equal to the position feedback when starting the release.


       Version: 01-17-05-000   Release Date: April 23, 2018

    Tuning Issues
      Feature Changes

  • Extend range of PL.GEARIN to 8192 (9742,S-18921)
  • Solution:
    The maximum value allowed for PL.GEARIN has been changed from 1024 to 8192.


    General Issues
      Fixed Bugs

  • Fix MOTOR.TEMPC calculation for PT1000+PTC thermistor (D-07555)
  • Issue:
    The motor temperature calculation for the PT1000+PTC thermistor combination is incorrect.

    Solution:
    The motor temperature calculation for the PT1000+PTC thermistor combination has been corrected.

  • Drive unable to accept telnet connections after unfinished connection attempt (S-18991)
  • Issue:
    After an incomplete telnet connection attempt was made, the drive could be stuck in a state, where it would no longer accept any incoming telnet connection requests.

    Solution:
    The drive now correctly recovers from an incomplete telnet connection attempt.

  • DRV.NVCHECK changing unexpectedly on AKD-C (D-07597)
  • Issue:
    In certain situations (e.g. changing the state of the STO input), the value of DRV.NVCHECK was changing, even though no non-volatile parameter was changed.

    Solution:
    The AKD-C firmware now only changes the value of DRV.NVCHECK when a non-volatile parameter is changed.


      New Features

  • New keyword PL.MOTIONLIMITEN: Limit acceleration, deceleration and velocity in position mode. (9757,S-18976)
  • Solution:
    A new keyword PL.MOTIONLIMITEN has been added to the firmware. Setting its value to one will enable the limitation of the velocity command to VL.LIMITN/LIMITP as well as the limitation of acceleration and deceleration to DRV.ACC and DRV.DEC even when DRV.OPMODE is set to two (Position Mode).


    IO Issues
      Fixed Bugs

  • DIN.Mode 8 Zero Latch doesn't save parameters to NV-memory (9698,D-07561)
  • Issue:
    DINx.MODE 8 saves the actual position to DRV.EMUEZOFFSET, but doesn't save parameters to NV-memory afterwards.

    Solution:
    The NV-memory save works now. If the signal is high at bootup this is not seen as a positive edge.


    Field Bus Specific Issues
      New Features

  • Fieldbus velocity command filter added (FBUS.VLCMDFILTERTIME). (S-18929)
  • Solution:
    If the drive is used in velocity mode and a fieldbus master is controlling the velocity command, the typical fieldbus cycle time is much slower than the cycle of the velocity loop of the drive. Without smoothing the fieldbus velocity command, the final calculated velocity trajectory can include steps on acceleration and deceleration phase, which introduce current peaks in the current regulator. To prevent this step creation, a simple velocity command filter is introduced. The filter can be activated by setting FBUS.VLCMDFILTERTIME. Ideally it is set to the fieldbus cycle time. Setting the filter to 0, disable the filter, which is the default behaviour.


    Feedback Issues
      Fixed Bugs

  • SFD Gen 3 startup problem on certain systems.. (9792,S-18976)
  • Issue:
    On certain AKD drive + motor + feedback SFD3 combinations, the customer reported intermittent initialization error. In this error condition, the drive the reports the faults F401 (Failed to set feedback type).

    Solution:
    The error condition is now properly handled by the drive and the initialization issues has been resolved.


      New Features

  • Support reading extended type label from Hiperface encoders of type 0xFF. (S-19021)
  • Solution:
    When detecting a Hiperface encoder of type 0xFF, the firmware will now read out the encoder's extended type label and use the information read to correctly set the value of FB1.ENCRES.


       Version: 01-17-04-000   Release Date: March 16, 2018

    Field Bus Specific Issues
      New Features

  • Profinet: Support of faster cycle time (Minimum is now 8 ms instead of 16 ms). (S-18761)
  • Solution:
    FW has been changed to support also the minimum cycle time of 8 ms instead of 16 ms.


      Fixed Bugs

  • AKD-C/N: Intermittent EtherCAT connection reset (S-18888)
  • Issue:
    Occasionally, the AKD-C reset its EtherCAT connection which lead to temporary loss of EtherCAT communication to the AKD-C and all connected AKD-Ns.

    Solution:
    The AKD-C should no longer randomly reset its EtherCAT connection.


    Homing Issues
      Fixed Bugs

  • Homing mode 17 not working correctly with FB1.ORIGIN set to non-zero value (9685,D-07547)
  • Issue:
    With FB1.ORIGIN set to a non-zero value, homing mode 17 would calculate an incorrect value for FB1.OFFSET. The position reported by PL.FB would correctly be set to HOME.P after homing, but changed after rebooting the drive.

    Solution:
    The firmware now correctly calculates a value for FB1.OFFSET during homing with mode 17 when FB1.ORIGIN is set to a non-zero value.


    Feedback Issues
      Fixed Bugs

  • Extended Multiturn stops saving position after fault 423 (9685,D-07547)
  • Issue:
    When the firmware fails to load the extended multiturn position on booting, a fault 423 is created. Clearing the fault was not getting the extended multiturn feature in an operational state again. Instead, the feature had to be disabled and reenabled for the drive to save positions again. This was not visible to the user, since the fault was no longer displayed after a DRV.CLRFAULTS had been issued.

    Solution:
    Clearing Fault 423 will now reinitialize the extended multiturn feature.


       Version: 01-17-03-000   Release Date: February 28, 2018

    General Issues
      Fixed Bugs

  • Conversion of user units incorrect with large values of UNIT.PIN and UNIT.POUT (5441,D-07516)
  • Issue:
    With UNIT.PIN or UNIT.POUT set to a value larger than or equal to 2^31, the conversion of user units to drive internal units was incorrect.

    Solution:
    The unit conversion has been corrected for the case that UNIT.PIN or UNIT.POUT are set to a value larger than or equal to 2^31.

  • VL.VFTHRESH not updated after changing MOTOR.FIELDWEAKENING (9430)
  • Issue:
    When enabling MOTOR.FIELDWEAKENING the drive has to recalculate the value of VL.VFTHRESH, now also considering the motor back EMF overspeed threshold. When disabling MOTOR.FIELDWEAKENING the motor back EMF overspeed threshold should no longer influence VL.VFTHRESH. This was not the case.

    Solution:
    Changing MOTOR.FIELDWEAKENING now correctly updates VL.VFTHRESH.


      Feature Changes

  • Changes to regen control and calculation. (9435,S-18836)
  • Issue:
    The external regen resistor cannot be fully used to absorb the returned energy of the drive. A rough calculation of the regen power within the drive, limits the maximal allowed energy directed to the regen resistor.

    Solution:
    The regen power calculation has been changed to estimate the real regen power more accurate. In addition, for the AKD-HV48 the allowed external regen resistor power has been extended from 8 to 12 kW.


    Field Bus Specific Issues
      Fixed Bugs

  • Ethernet/IP: Set 'In Motion' bit during movement in torque mode. (6052)
  • Issue:
    When the drive was set to DRV.OPMODE 0, bit 0 in Ethernet/IP Status Word 1 was never set.

    Solution:
    With DRV.OPMODE set to 0, the drive will set bit 0 in Ethernet/IP Status Word 1 as long as it has not detected zero velocity. Detection of zero velocity can be influenced using the parameters CS.TO and CS.VTHRESH.

  • Ethernet/IP: Error when adding 32-bit versions of 64-bit parameters to EIP.CMDMAP or EIP.RSPMAP (5141,D-07536)
  • Issue:
    When trying to add a 32-bit instance of a 64-bit parameter (e.g. instance 147: FB1.OFFSET (32 bit version)) to the dynamically mappable part of the Ethernet/IP command or response assembly via EIP.CMDMAP or EIP.RSPMAP, an error was returned, stating that the address to be mapped is invalid.

    Solution:
    The 32-bit instances of 64-bit parameters can now be added to the dynamically mappable part of the Ethernet/IP command or response assembly.

  • Ethernet/IP: Issues writing negative values to 32-bit instances of 64-bit parameters (4835,D-07536)
  • Issue:
    Negative values written to 32bit instances of 64bit parameters (e.g. instance 147: FB1.OFFSET (32 bit version)) were not properly extended to 64 bit, leading to large positive values being set instead. This was happening when writing via explicit messaging, Command Type 0x1F and dynamically mapped instance.

    Solution:
    Writing a negative value to 32-bit instances of 64-bit parameters now sets the correct value.


      New Features

  • CANopen-objects for DRV.WARNING1-3 and DRV.FAULT1-10 were missing on AKD-C. (9601,S-18760)
  • Solution:
    Add support of DRV.WARNING1-3 and DRV.FAULT1-10 on AKD-C (objects 2000h and 2001h).

  • Ethernet/IP: Added missing 32-bit instances of 64-bit parameters (D-07536)
  • Solution:
    Several 64-bit parameters did not have 32-bit instances, causing issues for Ethernet/IP masters unable to handle 64-bit instances. Those missing instances have been added. To be consistent with 32-bit instances always being on the index after their 64-bit counterpart, additional 64-bit instances have also been created. The new instances are located on indices 1071 to 1116.


      Feature Changes

  • DS402: Change meaning of bit 29 of manufacturer status 1002h for AKD-N to AKD-C Power Ready (9650,S-18833)
  • Issue:
    On the AKD-N bit 29 of the manufacturer status was always on 1 with the meaning HW-enable is true.

    Solution:
    Now the bit 29 of the manufacturer status (object 1002) on the AKD-N has the meaning AKD-C Power Ready.


       Version: 01-17-02-001   Release Date: January 23, 2018

    Motion Tasking Issues
      Fixed Bugs

  • Trajectory incorrect when starting a motion task with profile table while a motion task is already active. (9477,D-07482)
  • Issue:
    When starting a motion task, that is configured to use a profile table (not one to one profile), while a motion task is already executing, the firmware sometimes calculates an incorrect trajectory.

    Solution:
    The firmware now properly calculates the trajectory in the situation described.


    General Issues
      Fixed Bugs

  • Recording VL.BUSFF changes its value (9622,D-07501)
  • Issue:
    Assigning VL.BUSFF to a recorder channel and arming or starting the recorder lead to the drive continuously overwriting the value of VL.BUSFF with 0.

    Solution:
    VL.BUSFF can now be recorded without affecting its value.

  • Changing some parameters does not update DRV.NVCHECK values (9623,D-07500)
  • Issue:
    The parameters PL.KI, PL.KP, VL.KI, VL.KO and VL.KP do not have their values included in the checksum DRV.NVCHECK.

    Solution:
    DRV.NVCHECK no also includes the parameters mentioned above.

  • Recording and triggering on unavailable parameters (9475,D-07503)
  • Issue:
    Some parameters, that are not available on certain drives (e.g. IL VL and PL parameters on AKD-C), can nonetheless be set as recorder channel or trigger source. Those parameters also show up in REC.TRIGPRMLIST and REC.RECPRMLIST.

    Solution:
    Only actually available parameters can be set as recorder channel or trigger source. REC.TRIGPRMLIST and REC.RECPRMLIST have been adjusted accordingly.

  • Velocity feedback was shown as 0 via Profinet, when velocity feedback is negative. (9629,D-07502)
  • Issue:
    Velocity feedback was shown as 0 via Profinet, when velocity feedback is negative.

    Solution:
    Every possible actual velocity value is shown correctly via Profinet.


    Field Bus Specific Issues
      Fixed Bugs

  • Drive with brake leaving DS402 state 'Operation enabled' when suspending motion (D-07497)
  • Issue:
    When using a digital input set to mode 26 to suspend motion on a drive connected to a motor with a brake, the drive briefly tries to engage the brake. This results in the DS402 state machine switching its state from 'Operation enabled' to 'Switched on'.

    Solution:
    The drive now stays in the 'Operation enabled' state while motion is suspended.


      New Features

  • Multiple parameter PNU access is now available for "Profidrive" function-blocks (S-18359)
  • Solution:
    Multi parameter access is being used by the Siemens technology blocks and is now available in read and write direction.


      Feature Changes

  • [EtherCAT]: Brake command via 0x60FE does not work (S-18701)
  • Solution:
    The object 0x3450 sub 0 (MOTOR.BRAKERLS) is now also mappable to a PDO.


       Version: 01-17-01-000   Release Date: December 15, 2017

    Field Bus Specific Issues
      Feature Changes

  • CANopen-support of PL.GEARIN and PL.GEAROUT as SDO needed (S-18498)
  • Solution:
    PL.GEARIN and PL.GEAROUT can now be accessed via objects 542Ch sub 0 and 542Dh sub 0 via SDO.

  • [Profinet]: Implement multiple parameter PNU write read for "Profidrive" block (S-18359)
  • Solution:
    The technology function block from Siemens TiA uses a standard frame index for addressing ProfiDrive-drives. The AKD supports now also the index 0xB02E as well as the index 47. Some improvements were added to the handling of multi-parameter access.


    Brake Issues
      Fixed Bugs

  • Drive disabling before brake is applied during suspend motion (9559,D-07450)
  • Issue:
    With the drive suspending motion via digital input mode 26, disabling the drive would disable the power stage before the motor brake was applied, even if DRV.DISMODE was configured to wait for the brake to be applied.

    Solution:
    The firmware has been changed to also correctly sequence applying the brake and disabling the power stage during suspend motion.


    General Issues
      Fixed Bugs

  • Wake and Shake required, when using absolute encoder connected on feedback 3 (D-07462)
  • Issue:
    When the current loop is closed using an absolute encoder connected on feedback 3, the drive will automatically arm a wake and shake procedure, even though it is not necessary for operation.

    Solution:
    The firmware now considers which feedback is used to close the current loop, when determining if a wake and shake procedure is needed.

  • Issues setting IL.OFFSET on AKD-x024 and AKD-x048 (9594,D-07468)
  • Issue:
    When the overall current limit of the drive (the minimum of motor and current loop limits) exceeded 32.767[A], the parameter IL.OFFSET could no longer be written.

    Solution:
    IL.OFFSET can now be written even with a current limit above 32.767[A].


      New Features

  • Read individual AKD-N's STO type on AKD-C (S-17496)
  • Solution:
    New keywords STRING1/STRING2.DRIVESSTOTYPE have been added to the AKD-C firmware. Those display the individual STO type (local or remote) of all drives on the string.

  • Read individual AKD-N's fault status on AKD-C (S-17857)
  • Solution:
    New keywords STRING1/STRING2.DRIVESISFAULTED have been added to the AKD-C firmware. Those display the individual fault state of all drives on the string.


    IO Issues
      New Features

  • New analog input mode to control MT.FEEDRATE (9590,S-18667)
  • Solution:
    A new analog input mode has been added to the firmware. With AIN.MODE set to 4 the analog input will control the value inside MT.FEEDRATE, scaling from 0% feedrate at 0 Volts to 100% feedrate at 10 Volts.


       Version: 01-17-00-000   Release Date: October 13, 2017

    Field Bus Specific Issues
      New Features

  • EtherCAT: Allow cycle times up to 10 ms. (S-18485)
  • Solution:
    For some application, it is need to run slower fieldbus cycle times. For these types of application, the cycle time can now be change up to 10 ms for AKD's with EtherCAT interface.

  • CANopen-support of MOTOR.TEMPC as SDO and PDO needed (S-18486)
  • Solution:
    The measured motor temperature MOTOR.TEMPC can now be accessed via object 3458h sub 0 by means of SDO and PDO.


    General Issues
      New Features

  • New motor temperature sensor support: PT1000, PTC & PT1000, PTC & PTC (S-18323)
  • Solution:
    The support of motor temperature sensors have been extended. In parameter MOTOR.RTYPE now also the following new types are configurable:
    • 6: PTC + PT 1000
    • 7: PTC + PTC
    • 8: PT 1000



       Version: 01-16-08-000   Release Date: September 25, 2017

    Field Bus Specific Issues
      Feature Changes

  • DS402: Halt bit of controlword (bit 8) does not stop motion in profile velocity mode (9451,D-07405)
  • Issue:
    The halt bit 8 of the DS402-controlword had no effect in profile velocity mode.

    Solution:
    The halt bit 8 works now in profile velocity mode and cyclic synchronous velocity mode.


      New Features

  • EtherCAT: Maximum data size of all RxPdo's increased from 21 to 32 bytes. (S-18358)
  • Solution:
    The four available RxPdo's (each with a maximum size of 8 byte) can now be completely used for PDO signal mapping. The limitation for all RxPdo's to map a maximum number of 21 bytes has now been changed to 32 bytes. This is now similiar to the TxPdo's maximum number of data that can be mapped. It is supported with revision number greater or equal to 0x180000. The keyword ECAT.LEGACYREV needs to be set to 0, if the EtherCAT EEprom information needs to match.

  • EtherCAT: IL.VLIMIT accessible as PDO. (S-18397)
  • Solution:
    The parameter IL.VLIMIT, which limits the speed in torque mode is now also accessible via RxPDO (object 207Fh00h).


       Version: 01-16-07-000   Release Date: August 31, 2017

    General Issues
      Fixed Bugs

  • Position error is growing in Analog Torque and Analog Velocity modes (9449,D-07398)
  • Issue:
    When moving a motor in Analog Torque or Analog Position mode the position error PL.ERR was erroneously updated and was continuously growing. Switching to Analog Position mode without disabling first would then lead to a fault indicating that the following error was to large.

    Solution:
    The position error is now kept at 0 in Analog Torque and Analog position modes. This behavior is consistent with other Torque and Velocity modes.

  • Velocity and Acceleration spikes when entering Suspend Motion (Digital Input Mode 26) (D-07382)
  • Issue:
    When entering the suspend motion mode with a moving motor, spikes could be observed in velocity and acceleration commands. These spikes directly resulted in current command spikes, especially with an acceleration feed-forward configured.

    Solution:
    The firmware has been adjusted to smoothly ramp down from the current velocity in suspend motion mode.


    Field Bus Specific Issues
      Fixed Bugs

  • EtherCAT EoE: Issue with connecting through different subnet. (D-07383)
  • Issue:
    When Worbench is used on a host, which IP address is configured in a different subnet than the drives subnet, workbench is not able to connect via EoE.

    Solution:
    The firmware has been changed so that a connection to a different subnet via EoE is possible.


      New Features

  • EtherCAT DS402 Support of CST, CSV modes (S-18341)
  • New Feature Details:
    A customer's control system demands DS402-support of Cyclic Synchronous Velocity/Torque modes

    Solution:
    CSV and CST mode are supported now. A new object 207fh can be used to limit velocity in torque modes (CST and PT).


       Version: 01-16-06-000   Release Date: August 21, 2017

    Field Bus Specific Issues
      Feature Changes

  • DS402: All modes of operation (object 6060h) should be available via SDO and PDO-access. (6006,D-07167)
  • Issue:
    Some manufacturer-specific values for object 6060h were settable only via SDO (e.g. analogue torque).

    Solution:
    All modes of operation are now available via SDO and PDO-access.


       Version: 01-16-05-000   Release Date: August 09, 2017

    General Issues
      Fixed Bugs

  • VL.KI not enabling when VL.KIMODE = 1 and drive enters suspend motion (9323,D-07273)
  • Issue:
    A logic error was discovered between the Position Integrator and Velocity Integrator when VL.KIMODE = 1, as well as an issue around the zero-velocity crossing while in-motion.

    Solution:
    Logic has been corrected so both integrators hand off control and zero out correctly.

  • REGEN.WATTEXT did not allow values above 6000W (9394,D-07367)
  • Issue:
    The AKD-P04807 allows external regen resistors with a power rating of more than 6000W but REGEN.WATTEXT had a maximum value of 6000W.

    Solution:
    The maximum value for REGEN.WATTEXT has been increased to 8000W on AKD-P04807.


      Feature Changes

  • Add support for FB2 commands for Fieldbus and Telnet (4991,S-18169)
  • Issue:
    All three possible feedback sources should be available with their specific DS402-scaling factors.

    Solution:
    All three feedback sources are suppported via the objects 60E4h, 60E6, 60E8, 60E9h, 60EBh, 60EDh and 60EEh. The scaling is also available via TELNET with DS402-commands, which are storable in NV-RAM.


    Tuning Issues
      New Features

  • Added gearing factor for position loop output (PL.GEARIN and PL.GEAROUT). (S-17846)
  • New Feature Details:
    If the position loop is closed via an external encoder (PL.FBSOURCE), the velocity loop is closed via the motor feedback (VL.FBSOURCE) and a significant physical gear ratio between external encoder and motor shaft is applied, a high performance tuning of the axis is not possible due to parameter limitations.

    Solution:
    The position loop outpout has now a gear factor described by PL.GEARIN and PL.GEAROUT, which allows the user to scale the velocity command values. This gear factor should match the gear ration between external position loop encoder and the velocity feedback encoder. This allows the user to improve the tuning performance for this type of application.


    Feedback Issues
      Fixed Bugs

  • Wrong scaling on position from EnDat linear encoder with more than 32 bit resolution used on Feedback 3 (9376,D-07364)
  • Issue:
    When using a linear EnDat encoder on Feedback 3, that has more than 32 bits of resolution, the position values would not be scaled correctly.

    Solution:
    Linear EnDat encoders with more than 32 bits of resolution are now properly initialized when connected on Feedback 3. The drive properly scales the position values received from the encoder.


    Field Bus Specific Issues
      Fixed Bugs

  • F480 or F481 (velocity too high) fault, when commanding velocity via EtherCAT. (9420,D-07381)
  • Issue:
    Customer commanded velocity via Pdo via EtherCAT and got Velocity too high fault (F480/481) with small velocity setpoints.

    Solution:
    The race condition which led to inconsistent setpoint data is fixed.


      New Features

  • Additional fixed PDOs needed for masters which don't support more than one flexible PDO in each direction (9382,S-18224)
  • New Feature Details:
    New fixed PDO needed for EtherCAT-master, which cannot handle more than one flexible PDO.

    Solution:
    There are now additional two fixed PDOs 0x1725 and 0x1B26 for EtherCAT-users.

  • Profinet: New telegram added 354 added. (S-18429)
  • Solution:
    A new telegram 354 was added that includes in the setpoint values the Profinet signal STW1, NSOLL_A (VL.CMD), DRV_ACC and DRV_DEC. The actual values are ZSW1 (status word), NIST_A (VL.FB). This allows the user to configure the acceleration and deceleration values for velocity mode very easily.

  • Profinet: New keywords added PN.ACCSCALING and PN.VELSCALING (S-18429)
  • Solution:
    New kewords have been added that allow the user to scale the profinet signals for velocity and acceleration. The keywords are called PN.ACCSCALING and PN.VELSCALING.


       Version: 01-16-04-000   Release Date: June 09, 2017

    General Issues
      Fixed Bugs

  • Motor phase loss not detected on medium voltage devices. (D-07218)
  • Issue:
    The motor phase loss detection only detects the condition on high voltage devices.

    Solution:
    FW has been corrected to detect the motor phase loss on medium and high voltage devices.

  • Limit Switches not working correctly with MOTOR.TYPE 2. (9318,D-07263)
  • Issue:
    Using an open loop induction motor (MOTOR.TYPE 2) the drive did not properly determine if the motor was moving further into or out of a limit switch. This would lead to erroneously allowing or disallowing movement.

    Solution:
    FW has been corrected to properly determine the movement direction with MOTOR.TYPE 2.


    Feedback Issues
      Fixed Bugs

  • Wake and Shake using wrong position feedback (9313,D-07172)
  • Issue:
    When using a secondary feedback device to close the position loop, a Wake and Shake procedure would use this feedback's position to determine the motor phase instead of using the motor feedback. This caused an incorrect motor phase to be determined, especially with a gear factor between the motor and the secondary feedback.

    Solution:
    The firmware now always uses a position taken from the feedback selected by IL.FBSOURCE during a Wake and Shake procedure.


      New Features

  • New keyword FB1.ENCSIGN added. (S-18137)
  • Solution:
    FB1.ENCSIGN is used to set the sign interpretation of the raw encoder signals. A correct setting of this keyword value for absolute encoders is needed. If an absolute encoder reports an “unsigned” position value, which is different to the default interpretation of “signed” position values (FB1.ENCSIGN 1), a position jump might be detected at “half” of the encoder measuring range. Setting the keyword to FB1.ENCSIGN 0, fixes this problem.


       Version: 01-16-03-000   Release Date: May 15, 2017

    General Issues
      Fixed Bugs

  • PL.KI active momentarily when PL.KITHRESH = 0 and IL.CMDACC != 0 (6030,D-07168)
  • Issue:
    When PL.KITHRESH was set to zero, the position loop integrator should only be active when MT.VCMD = 0. A bug has been found that while MT.VCMD may be zero the acceleration is still present causing the integrator to activate early.

    Solution:
    When PL.KITHRESH is set to zero, an additional check is made to ensure both MT.VCMD and acceleration command is zero. All other cases work as previously implemented.


    Feedback Issues
      Fixed Bugs

  • Sin/Cos encoder position within one period inconsistent after power cycle. (6062)
  • Issue:
    If a sin/cos encoder is used, the position after boot up can be shifted one half of the sin/cos period. This can be an issue if the application uses a low resolution sin/cos encoder.

    Solution:
    There was a logic error in the signal analysis of the FPGA, which is fixed in the new updated FPGA firmware.


       Version: 01-16-02-000   Release Date: May 05, 2017

    General Issues
      Fixed Bugs

  • With detecting a corrupted firmware image, the drive may open the brake in download FW mode. (5999)
  • Issue:
    If the user unplugs the cable while executing a FW download or downloads a corrupted FW image, the drive stays in download FW mode. If the user power cycles the drive, the drive still stays in download FW mode and waits for a new image, but may also open the brake (if connected). This behaviour can be seen on AKD-P drives.

    Solution:
    The backup FW, which is executed in this corner use case and which is programmed in production has been corrected to not open the brake if the image is corrupted.

  • Faults added to AKD-N fault history when powering down (5046,S-17945)
  • Issue:
    After power cycling an AKD-N drive, the fault history contained new entries that were not present before powering down.

    Solution:
    The firmware has been modified to detect a power down sequence and to no longer log certain faults in that case.


      New Features

  • Read AKD-N's MAC and IP address on AKD-C (S-17503)
  • Solution:
    New keywords STRING1/STRING2.DRIVESIPADDRESS and STRING1/STRING2.DRIVESMACADDRESS have been added to the AKD-C firmware. Those display the IP/MAC address for the connected AKD-Ns, either as a list for all AKD-Ns, or for a single AKD-N when used with an index. Both, the AKD-C and the AKD-Ns have to be updated to the latest firmware to get correct address information from those keywords.

  • Support of motor phase loss detection. (5914,S-17872)
  • Solution:
    The motor phase loss detection have been added to the firmware. The fault F314 can be triggered if a motor line is not properly connected. To identify a motor phase loss, the drive needs to be enabled and the move needs to be commanded. The keyword FAULT314.ACTION allows the user to configure a fault, warning or ignore the motor phase loss condition.

  • Support the Digital Input "Command Buffer" mode with AKD BASIC (6007)
  • New Feature Details:
    The Command Buffer feature is not available on the BASIC drive.

    Solution:
    Command Buffer now supported. Same functionality as on the non-BASIC AKD drives.


    Motion Tasking Issues
      Fixed Bugs

  • Maximum of motion task velocity was not set correctly by VL.LIMITP/N (4663,D-07155)
  • Issue:
    The maximum velocity for motion tasks was set internally to 12000 rpm whereas the maximum allowed value for VL.LIMITP/N was 15000 rpm. When setting VL.LIMIT to a higher value than 12000 the old value for motion tasks was still valid afterwards without giving any error message beside the warning 153 when the motion tasks were started.

    Solution:
    The same maximum value of 15000 rpm is used now for velocity loop and trajectory generator.


    Field Bus Specific Issues
      Fixed Bugs

  • DS402: Latch status and latch control not synchronized properly (5967,D-07147)
  • Issue:
    It could happen that the latch statusword showed a new trigger, but the latch position was updated one cycle later.

    Solution:
    Latch statusword and latched position are synchronized now as the trigger signal is evaluated only once at startup of the fieldbus process data task.


      New Features

  • CANopen-support for parameters WS.FORCEOFF and FAULT314.ACTION (S-18052)
  • Solution:
    The object numbers are 0x541F for WS.FORCEOFF and 0x5420 for FAULT314.ACTION


    IO Issues
      New Features

  • Make DIN1 to DIN7 available as trigger source (S-17874)
  • Solution:
    The user might want to trigger on a certain digital input. This is very useful for diagnostic purposes. Therefore, the trigger source in the recorder can also be set to digital input 1 to 7 (DIN1.STATE to DIN7.STATE).


    Feedback Issues
      Fixed Bugs

  • Hiperface Feedback stuck in fault state on initialization (6071,D-07193)
  • Issue:
    When initializing a Hiperface feedback device, the drive could get stuck in a state, where it showed a feedback fault that could only be cleared by power cycling the drive.

    Solution:
    The drive's initialization sequence has been adapted to prevent getting stuck in a fault state.


      New Features

  • Make it possible to switch off automatic Wake & Shake on special sin/cos-encoders (5386,S-17785)
  • Solution:
    On sin/cos-encoders, which are absolute in one turn, once the motor phase is known no more Wake & Shake operations are needed. The new parameter WS.FORCEOFF (with value 1) makes it possible to switch off the automatic start of the Wake & Shake procedure.


       Version: 01-16-01-000   Release Date: March 24, 2017

    General Issues
      New Features

  • Read individual AKD-N's STO status on AKD-C (S-17667)
  • Solution:
    New keywords STRING1/STRING2.DRIVESSTOSTATE have been added to the AKD-C firmware. Those display the individual STO state of all drives on the string.

  • Read AKD-N's model information on AKD-C (S-17499)
  • Solution:
    New keywords STRING1/STRING2.DRIVESMODEL have been added to the AKD-C firmware. Those display the model information for the connected AKD-Ns, either as a list for all AKD-Ns, or for a single AKD-N when used with an index.

  • Filter for velocity over speed fault F302 added (VL.THRESHCUTOFF). (S-17771)
  • New Feature Details:
    The overspeed fault signal is based on the actual raw velocity of the position encoder. This leads to a very fast reaction time. However, with using a low resolution position encoder, the overspeed level needs to be set very high by the user to run the application in normal operation mode. The root cause is the high quantization noise of the low resolution encoder signals.

    Solution:
    The overspeed velocity that is used for calculating the overspeed fault F302 can now be filtered by the user. The keyword is called VL.THRESHCUTOFF. If the keyword is set to 0, no filtering is executed for the overspeed signal. If the VL.THRESHCUTOFF is set to greater than zero, a low pass filter is applied with the configured cut-off frequency. Now the overspeed signal is smoother and the overspeed level can be reduced.


    Feedback Issues
      Fixed Bugs

  • FB1.USERDWORD was not restricted to feedbacks with memory (5980,D-07137)
  • Issue:
    The user words should only be available for feedbacks with memory, e.g. EnDAT. Something was shown also for SFD.

    Solution:
    User words of the feedback 1 are only available for feedbacks with memory.

  • Extended Multiturn stops saving position after a fault (5990,D-07139)
  • Issue:
    After the drive had a fault, the extended multiturn feature stopped saving the position to non-volatile memory, even if the feedback position changed and saving would be required.

    Solution:
    The extended multiturn feature has been modified to be able to recover from a fault situation.


       Version: 01-16-00-001   Release Date: March 20, 2017

    Homing Issues
      Fixed Bugs

  • Homing BiSS feedback via Profinet or digital input crashes drive (D-07121)
  • Issue:
    When using a BiSS feedback device, starting a homing procedure either via Profinet or with digital input mode 4, crashes the drive.

    Solution:
    The firmware has been modified to allow starting a homing procedure via Profinet or digital input when a BiSS feedback is used.


    Field Bus Specific Issues
      Fixed Bugs

  • PROFINET: GSDML file change to prevent possible crash. (5965)
  • Issue:
    With certain PROFINET masters and current GSDML file, the I/O connection between AKD and master will fail immediately when the master tries to setup the connection parameters. The root cause for this behavior is a wrong addressing of two API's instead of one.

    Solution:
    The GSDML file has been updated. The user can install latest GSDML file and the connection can be properly established.


      New Features

  • New keyword ECAT.LEGACYREV (S-17769)
  • Solution:
    A new keyword ECAT.LEGACYREV has been added to the firmware. When set to the default value of one, the drive will always report the revision number two inside its EtherCAT eprom. When set to zero the drive will show a regularly increasing revision number instead. New features that might cause compatibility issues will not be added to the EtherCAT device description of devices with revision number two.


       Version: 01-16-00-000   Release Date: February 21, 2017

    Field Bus Specific Issues
      Fixed Bugs

  • Profile Position Mode sometimes using a wrong velocity (5922,D-07004)
  • Issue:
    When setting the motion task velocity via object 6081h (Profile velocity) and starting a move by setting bit 4 of the control word in Profile Position Mode multiple times, the actual velocity could be lower than the commanded velocity by a factor of four.

    Solution:
    The firmware has been changed to use the correct velocity in Profile Position Mode.


      New Features

  • EtherCAT: Fault for missing cyclic setpoints from master (S-17023)
  • Solution:
    A new fault 706 has been added to the firmware. It is triggered if the drive does not receive process data for a whole watchdog process data timeout period (EtherCAT Register 0x440). The fault can be disabled or turned into a warning using the new keyword FAULT706.ACTION. On triggering the fault or warning the drive will also change its state from "OP" to "SAFE-OP" and return an AL status error code “Syncmanager watchdog”.


       Version: 01-15-06-000   Release Date: February 09, 2017

    General Issues
      New Features

  • EtherCAT: Ethernet over EtherCAT (EoE) support (S-17544)
  • Solution:
    The AKD drives family now also supports the communication protocol Ethernet over EtherCAT (EoE). EoE is a another communication channel, which can be used by the fieldbus master to tunnel standard Ethernet packages. This allows the user to connect Workbench via an existing EtherCAT connection without the need to connect to each service port of each AKD separately. In summary, the AKD drives family allows the user to use the mailbox protocols:
    • FoE (File over EtherCAT): Used to update FW and to send parameter files.
    • CoE (CANopen over EtherCAT): Used to handle SDO communication and give access to object dictionary.
    • EoE (Ethernet over EtherCAT): Use to connect with workbench.
    Please note that also EtherCAT master needs to support these protocols to take advantage of these features.

    Furthermore, the mailbox communication is improved by providing a 3rd FMMU, which allows the EtherCAT master to handle mailbox changes event based versus the need to poll the mailbox state. This is recommended especially if EoE is used.

  • EtherCAT: Initial position check support. (5907,S-17614)
  • Solution:
    The initial position check feature is now also supported on EtherCAT NB drives with latest hardware revision. For all drives, which support the feature, the keywords FB1.INITPSAVED, FB1.INITPWINDOW and FB1.INITSTATUS are visible in workbench.
    By writing the FB1.INITPWINDOW to a non-zero value, the supervision of the power down position is enabled. FB1.INITPSTATUS returns if FB1.P position changed outside the defined window (FB1.INITPWINDOW) while power down time. With setting FB1.INITPWINDOW to zero, the supervision is disabled. The objects for the parameters are:

    FB1.INITPSAVE 0x5375 sub 0
    FB1.INITPWINDOW 0x5377 sub 0
    FB1.INITPSTATUS 0x5379 sub 0



       Version: 01-15-05-000   Release Date: February 01, 2017

    Field Bus Specific Issues
      New Features

  • EtherCAT: Support of SDO objects for SM manager output (1C32h) and SM manager input (1C33h). (S-17453)
  • Solution:
    The following EtherCAT communication parameter are supported via SDO access:
    • Sync mode (1C32hsub01h)
    • Cycle time (1C32hsub02h)
    • Output shift time (1C32hsub03h)
    • Min cycle time (1C32hsub05h)
    • Output delay time (1C32hsub09h)
    • Input shift time (1C33hsub03h)
    • Input Calc + Copy time (1C33hsub06h)
    These parameters describe the actual communication configuration of the drive. For more details, please read the manual.


      Fixed Bugs

  • Timeout on FoE download (5909,D-07079)
  • Issue:
    When downloading a file to an AKD via FoE the drive sometimes did not properly respond to the EtherCAT master's requests, leading to a failed download.

    Solution:
    The firmware has been changed to correctly respond to FoE requests where it previously did not.


    General Issues
      Fixed Bugs

  • Parameter download failing without motor connected (5909,D-07079)
  • Issue:
    Without a motor connected the parameter download could fail for certain parameters that depended on motor and/or feedback being connected.

    Solution:
    The firmware has been modified to allow downloading those parameters even without a motor connected.


    Feedback Issues
      Fixed Bugs

  • FB1.EXTENDEDMULTITURN command not available on AKD-N drives (5912,D-07084)
  • Issue:
    Enabling the extended multiturn feature via the FB1.EXTENDEDMULTITURN command was not possible on AKD-N drives.

    Solution:
    FB1.EXTENDEDMULTITURN can now also be used on AKD-N to control the extended multiturn feature.


       Version: 01-15-04-000   Release Date: December 06, 2016

    General Issues
      Fixed Bugs

  • Profinet Statusword Bit 10 ("In Position Bit") does not always work properly (-> Profinet Statusword bit 10 equal to DRV.MOTIONSTAT bit 11) (5843,D-07040)
  • Issue:
    If a new motion task is started, the DRV.MOTIONSTAT Bit 11 (Target position reached) is normally cleared until the actual position is within the target position reached window (MT.TPOSWND). In very rare cases, this was not the case and the bit remained in the same state as it was when the motion task had been started. Due to the fact that this bit is mirrored in Profinet ZSW1 Bit 10, this issue can also be seen in Profinet applications and might lead to wrong behaviour.

    Solution:
    The root cause for this problem was identified and the DRV.MOTIONSTAT Bit 11 is now always cleared when a new motion task is started and the actual position is not immediately in the target position reached window (MT.TPOSWND).


    Field Bus Specific Issues
      Fixed Bugs

  • DS402: The bit Operation Enabled (Bit 2) in the statusword should be set only when the drive is able to handle setpoints. (5822,S-17382)
  • Issue:
    DS402: The bit Operation Enabled (Bit 2) in the statusword should be set only when the drive is able to handle setpoints. In an application with IP-mode the switch from Ready To Switch On to Enable interpolation was taken in one step. The AKD stated the Operation Enabled bit, when the power stage was enabled, but was not able to handle setpoints.

    Solution:
    Bit 2 of the statusword is now set to 1, when the drive is able to handle setpoints.

  • EtherCAT plugfest follow up: Drive is reacting on outputs from master in SAFEOP -> Wrong behaviour (outputs need to be ignored) (D-07030)
  • Issue:
    The setpoints arriving via EtherCAT-PDOs should not be evaluated in the communication state SAFEOP.

    Solution:
    The setpoints arriving via EtherCAT-PDOs are not evaluated in the communication state SAFEOP. Actual values via Tx-PDOs are available.


    Service Motion Issues
      Fixed Bugs

  • Stopping a Service Motion in Opmode 2 (Position) did not use the configured deceleration. (D-07046)
  • Issue:
    When a service motion was stopped with the drive being operated in position mode, the command velocity would be set to zero immediately, instead of decelerating with the rate specified in SM.DEC or DRV.DEC.

    Solution:
    The firmware has been changed to properly decelerate on stopping a service motion.


       Version: 01-15-03-000   Release Date: November 24, 2016

    Field Bus Specific Issues
      Fixed Bugs

  • DS402: With certain preconditions, the drive stays enabled although control word commands a disable of the power stage. (S-17181)
  • Issue:
    The drive enables the power stage again instead of disabling it if the control word commands the state transition from "operation enabled" to "switched on" via the "disable operation" command. The preconditions for this issue are:
    1. Motor has a brake
    2. DRV.DISMODE is set to 2 (controlled stop)
    3. FBUS.PARAM05 Bit 8 set
    4. FBUS.PARAM05 Bit 3 set


    Solution:
    The new FW version fixes the problem and the power stage stays disabled after the drive reaches the "switched on" state with FBUS.PARAM05 Bit 8 set.

    Temporary Workaround:
    The user may not use the "disable operation" command instead just disable the power stage via the "shutdown command" (directly state transition from "operation enabled" to "ready to switch on") or the user can also clear either Bit 3 or Bit 8 of FBUSPARAM05.

  • The DS402-scaling for the CMPx.WIDTH objects does not work correctly (5768,D-07005)
  • Issue:
    The SDO-access to the objects 0x34AB and 0x34BB for the CMPx.WIDTH parameters did not show the right position scaling.

    Solution:
    The underlying scaling functionality did only work for Telnet. Now it works also for the SDO-access and DS402 specific position scaling (FBUS.PARAM05 bit 4 = 1).

  • Wrong response from drive when writing to objects 2031h or 2032h via CoE (5816,D-07029)
  • Issue:
    When writing to object 2031h (DRV.NAME) or 2032h (DRV.CUSTOMIDENTIFIER) via CoE and with a length greater than 4 characters the drive sometimes responds with an incorrect frame type.

    Solution:
    The new firmware correctly answers write requests to 2031h and 2032h.


      New Features

  • DS402 keywords for control- and statusword added (DS402.CONTROLWORD, DS402.STATUSWORD). (S-17358)
  • Solution:
    The DS402 state machine control- and statusword can now be directly read via two keywords (DS402.CONTROLWORD or DS402.STATUSWORD) as well as used for software scope as channel or trigger signal.


    BASIC Issues
      Fixed Bugs

  • Service motion (bit 9) in DRV.MOTIONSTAT not set correctly. (5801,D-07015)
  • Issue:
    After starting the service motion, the DRV.MOTIONSTAT bit does not properly set the service motion bit. This was introduced in version 1.15.00.000.

    Solution:
    The new FW sets the service motion bit 9 properly.


    General Issues
      Fixed Bugs

  • AKD-C: Intermittent power stage fault (F531) if "precharge process" is executed. (5840,S-17352)
  • Issue:
    With certain hardware configuration, the AKD-C might trigger a power stage fault if the string(s) voltage is charging. Root cause is a detected short circuit during this "precharge process" of the string(s).

    Solution:
    The "precharge process" of the string(s) has been modified to be more robust to different hardware setups.

  • Numerical overrun in capacitor protection algorithm (D-07039)
  • Issue:
    Depending on the current ripple and the hardware setup, the capacitor bus overload fault might not be triggered although it should.

    Solution:
    The algorithm has been corrected so that the capacitor bus overload is now triggered as specified.


       Version: 01-15-02-000   Release Date: October 17, 2016

    Feedback Issues
      Fixed Bugs

  • Improved handling of errors received from Hiperface feedback device (5756,D-06989)
  • Issue:
    Certain errors reported by Hiperface feedback devices were not properly handled by the drive, allowing operation while those errors were present.

    Solution:
    The firmware has been modified to detect errors from Hiperface feedback devices that previously remained undetected.


    General Issues
      Fixed Bugs

  • Improved handling of pre-charging the internal power bus (S-17181)
  • Issue:
    The fault F537 happened on the start of an AKD-C/AKD-N system.

    Solution:
    The charging mechanism of the power bus capacitors was changed to be a more "soft-start", so that no erroneous current short-circuit is detected.


       Version: 01-15-01-000   Release Date: October 06, 2016

    General Issues
      Fixed Bugs

  • Fault history not storing new faults in case a corrupted entry is present. (5680,D-06938)
  • Issue:
    When a corrupted entry was stored in the fault history, sometimes no further faults were stored.

    Solution:
    The fault history now stores new faults even if an old entry is corrupted.

  • Recorder does not support not defined channel configuration in the middle. (5514)
  • Issue:
    The FW returns a wrong header, if the user setups a recorder setting with a "not configured" channel in the middle of the six available channels.

    Solution:
    The header information has been corrected to match the recorder data also with this configuration.


      Feature Changes

  • AKD-N: Drive foldback needs to start from peak current (S-17136)
  • Solution:
    After booting the AKD-N, the drive foldback algorithm now starts from peak current and is directly in recovery mode. This is needed for the case the user commands peak current directly after reboot. Then the commanded current will be reduced and the drive hardware will be protected.


    Tuning Issues
      New Features

  • Added new Cogging Compensation feature to the firmware (5516,E-02180)
  • Solution:
    A cogging compensation feature has been added to the firmware. The AKD can now be set up to add an automatically determined or user defined feedforward current, counteracting cogging effects of the motor thus reducing velocity ripple and increasing synchronism. A new group of keywords COGCOMP.x has been added to set up and control the feature.


    Field Bus Specific Issues
      Fixed Bugs

  • Modbus dynamic mapping of 64 to 32 bit registers not properly displayed after power cycle. (5658,D-06926)
  • Issue:
    When restoring a dynamic Modbus mapping containing 64 to 32 bit registers from non-volatile memory, the mapping was not properly displayed when using MODBUS.ADDR to read the mapped register.

    Solution:
    A fix has been applied to saving Modbus dynamic mapping data. You will have to save your parameters again with the new firmware for this fix to work.

  • CANopen over EtherCAT: Dummy-Rx-PDO mapping with gap's should work (S-15286)
  • Issue:
    In a free Rx-PDO-mapping in CANopen over EtherCAT it should be possible to leave gaps, especially one-byte gaps, if e.g. the mode of operation is used in the PDO.

    Solution:
    Now one, two or 4 byte gaps are possible in a Rx-PDO-mappings. These are configured by using index 0 in the pdo mapping, which is not alloed in CANopen over CAN.

  • EtherNet/IP: AKD is not detected in Fanuc-robot system scan (5650,D-06932)
  • Issue:
    AKD with EtherNet/IP fieldbus was not detected, when a Fanuc robot scanned all EtherNet/IP nodes.

    Solution:
    The FANUC system is testing the ListServices in a case-sensitive way and such is more strict than other systems. The Standard defines that the name Communications delivered as response must have a capital letter C at the beginning. This is now the case.

  • EtherCAT Conformance: Fix Mailbox Error Service Not Supported (D-06940)
  • Issue:
    When a CoE mailbox message with a not defined service reached the AKD, the error respnse was wrong. Instead of 4 (mailbox service not supported) the error response was 8 (invalid size).

    Solution:
    The error response is now 4 (mailbox service not supported) on invalid mailbox services.

  • Profinet: PNU access to VL.LIMITN was returning zero instead of valid negative values. (5714)
  • Issue:
    Accessing PNUs, which had a data width of DWORD and a signed attribute, could return a invalid PNU value of 0.

    Solution:
    The firmware has been updated to report a negative value properly for PNU VL.LIMITN.


    IO Issues
      Fixed Bugs

  • DOUT.STATES and DOUTx.STATE keywords not working with DOUTx.MODE 23 (Compare Output) (5110,D-06880)
  • Issue:
    With a digital output configured to display a Compare Engine's output, the value inside DOUT.STATES and DOUTx.STATE was not reflecting the actual state of the physical digital output.

    Solution:
    A firmware change has been made to read back and display the state of the physical digital output when DOUTx.MODE is set to 23.


      Feature Changes

  • Timing of digital input mode 22 (Switch Cmd Source/OpMode) made more consistent. (5643,D-06919)
  • Solution:
    A firmware change was made to counteract the large variance in the time to switch the opmode and/or command source via digital input mode 22.


    Feedback Issues
      Fixed Bugs

  • VL.FB not calculated correctly with VL.FBSOURCE set to one or two (5651,D-06923)
  • Issue:
    With VL.FBSOURCE set to one or two, VL.FB was not showing the correct velocity thus preventing proper operation with that setting.

    Solution:
    The firmware has been adjusted to address this issue.

  • FPGA: Reduced accuracy of sinus/cosinus feedback signals (5713)
  • Issue:
    A reduced accuracy of position information provided by a resolver feedback have been detected.

    Solution:
    The FPGA has been changed to resolve the issue.


    Service Motion Issues
      Fixed Bugs

  • Service motion not decelerating properly on stopping when changing velocity limits during move. (5696,D-06946)
  • Issue:
    When decreasing the drives velocity limit while a service motion is active and then stopping the service motion, the trajectory velocity ramps down from the value it was moving at prior to changing the limit. The motor only starts decelerating once the trajectory velocity crosses the limited velocity, thus delaying the deceleration.

    Solution:
    The firmware has been changed to always decelerate a service motion from the limited velocity.


    BASIC Issues
      Fixed Bugs

  • Extended multiturn not working on BASIC drives (5706,D-06951)
  • Issue:
    When booting a BASIC drive with FB1.EXTENDEDMULTITURN enabled, it displays a fault and does not restore the extended position.

    Solution:
    A firmware fix has been made to properly save and restore extended multiturn information on BASIC drives.


       Version: 01-15-00-000   Release Date: July 29, 2016

    Field Bus Specific Issues
      New Features

  • AKD-N: Support of drive types "DG" and "DT". (S-16606)
  • Solution:
    The new AKD-N drive types "DG" (single cable with tertiary fieldbus) and "DT" (single cable with local-STO) can now be upgraded with the general AKD-N-FW file AKD-N-xxEC-..... .i00

  • Two new keywords: FBUS.SYNCACQUIREWND and FBUS.SYNCLOCKWND (S-16845)
  • Solution:
    The synchronization between fieldbus master and AKD slave is realized by a PLL algorithm, which normally works for most applications. However, with a master and fieldbus with a higher jitter (e.g. CANopen), there is a need to increase the tolerances. Therefore, two new keywords have been added, which allow the user to setup an acquire window (FBUS.SYNCACQUIREWND) and lock window (FBUS.SYNCLOCKWND).


      Fixed Bugs

  • Profinet: Correction for PNU access to PL.FILTERTIME and IL.KP (D-06891)
  • Issue:
    The access to PL.FILTERIME via PNU 3020 does not work. The full value range of IL.KP via PNU 2227 with a resolution of 0.001 [V/A] does not fit into the PNU data size (1 Word). The user cannot write a value higher than 65.535 [V/A] via PNU 2227.

    Solution:
    PL.FILTERTIME can now be accessed properly via PNU 3020. The resolution for IL.KP in PNU 2227 has been changed to 1 [V/A], which allows the user to write/read the full data range of IL.KP. Furthermore, the rounding for accessing PNU's, which parameters have the float attribute, has been corrected.

  • DS402: Status word does not change after shutdown command (5602,D-06892)
  • Issue:
    The DS402 did not change to the correct state after the shutdown command was sent to the drive. This issue only occurs if Bit 8 of FBUS.PARM05 is set, the motor that is used has a brake and the DRV.DISMODE is set to 2.

    Solution:
    The firmware of the drive have been updated so that the status word is now properly following the control word.

  • EthernetIP: Issues with Command Keywords and Non Keyword EIP Objects Related to the EIP.OBJECTLIST Command (D-06901)
  • Issue:
    When issuing the command EIP.OBJECTLIST the command keywords (such as DRV.EN, EIP Object number 128) should not be visible since they are neither read nor write keywords. In addition the non-keyword EIP objects EIPOperationMode through EIPControlWord2 (object indexes 8192 through 8197) have invalid parameter information, which prevents them from being added to the EIP Command and Response maps (using EIP.CMDMAP and EIP.RSPMAP). And the EIP.OBjECTLIST command does not return the current values for these objects.

    Solution:
    The command keywords have been removed from the list generated by the EIP.OBJECTLIST command. And the non-keyword EIP objects (objects 8192 through 8197) now have, and display the correct parameter information, allowing them to be added to the appropriate EIP command and response maps. In addition the EIP.OBJECTLIST command returns the current values for these EIP objects.

  • DS402: PDO-access to object 361A sub 0 (VBUS.VALUE) did not work (S-16995)
  • Issue:
    PDO-access to object 361A sub 0 (VBUS.VALUE) did not work

    Solution:
    VBUS.VALUE can now be read via PDO-access to object 361A sub 0. The SDO-access delivers in VOLT-units, PDO-access in Millivolt-units.

  • CANopen over EtherCAT: PDO-access to the entries behind the dummy object 0x2 did not work correctly. (5580,D-06883)
  • Issue:
    In a free PDO-mapping in CANopen over EtherCAT the mapping entries behind the dummy object (index 2) could not be used / values were shifted. No problem occurred in CANopen over CAN.

    Solution:
    The mapping of the object index 2 is now handled correclty.


    Motion Tasking Issues
      Fixed Bugs

  • MT.ACC and MT.DEC default to zero without motion task configured, which is outside the parameter's ranges (5606,D-06876)
  • Issue:
    When having no motion task configured, or after loading an empty motion task, MT.ACC and MT.DEC were set to zero. This led to problems when trying to write values that were previously read, since zero is not a valid value for MT.ACC and MT.DEC.

    Solution:
    The ranges of MT.ACC and MT.DEC have been changed to allow zero to be written. When issuing an MT.SET command with either of them set to zero, an error message and a warning will be displayed, indicating that those are not valid values.


       Version: 01-14-06-001   Release Date: June 17, 2016

    Field Bus Specific Issues
      Fixed Bugs

  • Writing multiple Modbus registers shows erroneous behavior (5532,D-06865)
  • Issue:
    When writing multiple Modbus registers, parameter values might change, even though an invalid value was written to them.

    Solution:
    The firmware has been changed to properly handle writing to multiple Modbus registers.

  • DS402 Touchprobe SDO-access returns always 0 (5495,D-06863)
  • Issue:
    Only PDO-access to the DS402 touch probe registers was supported.

    Solution:
    The touch probe objects 0x60B8 to 0x60BD are now supported also for the SDO-access.


      New Features

  • Profinet: New file header for AKD-NBPN FW images (S-16089)
  • Solution:
    The size of the Profinet FW image has been increased so that it cannot be handled by the production programmed default file system on NA/NB hardware. However, the NB hardware is able to handle bigger FW images. Therefore, when download the new image on NB hardware, a new file system will be automatically installed one time via Workbench (WB version >= 1.14). The former NA hardware cannot support the new file header.


    Feedback Issues
      Fixed Bugs

  • Errors in Hiperface feedback initialization (5383,D-06868)
  • Issue:
    The initialization process for Hiperface encoders could set an incorrect initial position, especially when the motor is moved during initialization.

    Solution:
    The firmware has been changed to make sure the correct position is set during initialization of Hiperface encoders.


      New Features

  • Endat 2.2: Battery backup encoder support. (S-16871)
  • Solution:
    The FW now supports the multiturn rotary battery backup encoders with Endat 2.2 interface. If the encoder loses battery power and operating power at the same time, the fault 451 "Feedback battery" will be triggered after startup. The axis needs to be readjusted because the multiturn position values of the absolute encoder might have been corrupted. The fault can also be ignored by setting FAULT451.ACTION to 1 (Please note that a corruption of the absolute position value due to battery and system power loss cannot be detected by this setting).


    General Issues
      Fixed Bugs

  • User value of IL.KP overwritten by motor autoset (D-06870)
  • Issue:
    With MOTOR.AUTOSET set to one, a value that was entered by the user for IL.KP was overwritten during the autoset procedure.

    Solution:
    A new keyword IL.KPSOURCE has been added to the firmware. When set to one the drive will never try to set IL.KP during the autoset procedure. With the default value of zero the behavior remains unchanged.


      New Features

  • New keyword: GEAR.SYNCWND (4155,D-06871)
  • Solution:
    A new keyword GEAR.SYNCWND has been added to the firmware. Setting it to a value larger than zero on an Electronic Gearing slave, the slave will be considered synchronized as long as its speed is within the specified window around the velocity commanded by the master.


       Version: 01-14-05-000   Release Date: May 06, 2016

    Field Bus Specific Issues
      Fixed Bugs

  • Fieldbus position mode: Commanding position changes within one bus cycle and an absolute value change of more than one revolution creates position jump into wrong direction. (5448,D-06855)
  • Issue:
    If the fieldbus master commands a position change within one bus cycle, which creates a position error higher than one revolution, the drive moves into the wrong direction.

    Solution:
    A numerical overflow situation is created, if the master commands such a high position error within one bus cycle. This problem was introduced with adding the command PL.PDELAY. The firmware has been changed so that if the position delay is disabled, which is the default setting, a higher position error can be commanded without create motion into wrong direction.


    General Issues
      Feature Changes

  • Current feedback signals are bandlimited. (5086,S-16625)
  • Issue:
    Current signals like IL.FB are very noisy and from diagnostic point of view for the user very difficult to use. Therefore, a proper filtering of these signals are needed.

    Solution:
    The firmware has changed so that the current signals are now band limited and can be used much easier for diagnostic purposes.


    Feedback Issues
      Fixed Bugs

  • No fault triggered if communication with halls only feedback is lost. (5273)
  • Issue:
    If the feedback type "Halls only" is selected and the feedback cable is disconnected while position values are exchanged, the drive has not detected a communication fault.

    Solution:
    The new FW/FPGA triggers the fault "404: Illegal Hall state" if the feedback cable is disconnected.


       Version: 01-14-04-000   Release Date: April 21, 2016

    Field Bus Specific Issues
      Fixed Bugs

  • Modbus: Wrong register address displayed in Modbus error list (5394,D-06653)
  • Issue:
    The register address that was displayed in the Modbus error list was sometimes not containing the register address of the Modbus access that caused the error.

    Solution:
    The Modbus error list should now always display the correct register address.


    General Issues
      Fixed Bugs

  • Jog Digital Input bit toggle after a drive Startup, forces axis to perform jog move. (5431,D-06653)
  • Issue:
    If the Jog start digital input bit is toggled after the drive has been rebooted or power cycled, the jog motion will start when the drive is enabled, even though the jog start bit is in the "no jog motion" state.

    Solution:
    The firmware has been modified so that the jog motion will not occur when the jog start digital input bit is toggled after a reboot or power cycle.


      New Features

  • New keyword IL.VLIMIT to limit the velocity in torque mode. (S-16655)
  • Solution:
    A new keyword IL.VLIMIT has been added to the firmware. Setting it to a non-zero value will limit the velocity - in torque mode only - to the range of -IL.VLIMIT to IL.VLIMIT.


       Version: 01-14-03-000   Release Date: April 11, 2016

    Field Bus Specific Issues
      New Features

  • EtherCAT/CANopen: Stepper command (DRV.EMUESTEPCMD) via PDO 3499hsub00h supported. (S-12412)
  • Solution:
    The emulated encoder output values the stepper command can now be controlled via PDO 3499hsub00h. The PDO setpoint value need to be updated in relation to the configured fieldbus cycle rate.

  • EtherCAT/CANopen: Support Profile Torque Mode with all mandatory objects (2383,S-16420)
  • Solution:
    A new object 0x6087 sub 0 for Torque slope is now implemented. As this is the last missing mandatory object for the Profile Torque mode it's now stated in object 6502 sub 0.

  • Add new homing modes 17 and 18 to DS402-object 6098h (S-16604)
  • Solution:
    New values for homing modes:

    Value 6098h HOME.MODE HOME.DIR
    -5 17 no change
    -6 18 1
    -7 18 0


  • CANopen-support for motion task parameters MT.TNUM and MT.TNEXT (5415,S-16605)
  • Solution:
    New objects for MT.TNEXT (0x35BD sub 0) and MT.TNUM (0x35B8 sub 0) are implemented


      Fixed Bugs

  • Profinet: Command source is not stored properly after power cycle. (5416,D-06824)
  • Issue:
    If the command source is was stored to the drive and not "set" by the profinet master after connection establishment, the command sources was always set back to CService.

    Solution:
    The fw has been changed so that it does not overwrite the stored command source.

  • Modbus: Some Modbus commands not behaving properly (5394,D-06830)
  • Issue:
    Some Modbus commands showed erroneous behavior, for example not doing range checks when writing or not setting the correct default values.

    Solution:
    The firmware has been changed so that the Modbus commands behave properly.

  • Modbus: F3Bar Occurs when DRV.WARNINGX command is accessed via Modbus objects (5426,D-06829)
  • Issue:
    When DRV.WARNINGx commands are accessed via the Modbus objects (1582, 1583 and 1584) the objects always return 0 even when warnings are present. And an F3Bar occurs when any telnet command is excecuted after these modbus commands are executed.

    Solution:
    The firmware has been changed so that the DRV.WARNINGx modbus objects return the warning numbers properly, and an F3Bar will not occur after these modbus commands are executed.

  • EtherCAT status word bit10 not working in homing mode (4978,D-06826)
  • Issue:
    The DS402 status word has a definition for bit 10 as Target Reached information. This was coupled to bit 11 in DRV.MOTIONSTAT, which does not work in the homing procedure.

    Solution:
    The DS402 status word bit 10 works now also in homing mode. A bit 21 has been added to DRV.MOTIONSTAT to show this also in the homing procedure. A parameter HOME.TPOSWND (object 0x5406) has been added for the window definition for this bit with default value 0, which switches the new behaviour off.


    General Issues
      New Features

  • Stepper command DRV.EMUESTEPCMD scalable via DRV.EMUESTEPCMDPIN and DRV.EMUESTEPCMDPOUT. (S-16627)
  • Solution:
    Two new parameters (DRV.EMUESTEPCMDPIN and DRV.EMUESTEPCMDPOUT) have been introduced, which can be used to scale the DRV.EMUESTEPCMD. For EtherCAT/CANopen the PDO 3499h00h (DRV.EMUESTEPCMD) is written cyclically, which is now scalable via SDO 5404h00h (DRV.EMUESTEPCMDPIN) and SDO 5405h00h (DRV.EMUESTEPCMDPOUT).


      Fixed Bugs

  • Acceleration and deceleration ramps of electronic gearing were not smooth for certain settings (4155,D-06743)
  • Issue:
    When trying to sync to a master velocity or when stopping the electronic gearing the acceleration or deceleration ramps sometimes showed shaking.

    Solution:
    Several improvements have been made to the trajectory generation for electronic gearing to smooth out acceleration and deceleration.


    BASIC Issues
      Fixed Bugs

  • Position command was sometimes set so feedback position at end of absolute move on BASIC drive (5422,D-06822)
  • Issue:
    When disabling the drive during a service motion and then commanding an absolute move on a BASIC drive, the command position was set to the position feedback value at the end of the move. This could lead to the command position not being equal to the target position of the absolute move.

    Solution:
    The firmware has been changed to make sure BASIC drives move to the correct position when doing an absolute move.

  • Drive crashed (F3bar) when too many commands with long response times were called over a short time from a BASIC program (5382,D-06811)
  • Issue:
    When quickly calling many commands with long response times from a BASIC program, for example from an interrupt, the drive crashed (F3bar) and had to be power cycled to return to normal operation.

    Solution:
    The virtual machine of the AKD BASIC has been modified to properly handle many commands with long response times.


    Motion Tasking Issues
      Fixed Bugs

  • After a motion task the command position did sometimes not equal the motion task's target position. (5440,D-06839)
  • Issue:
    When executing a motion task with a deceleration high enough to decelerate from the maximum velocity in less than 250 µs, the command position at the end of the motion task would not be the target position of the motion task.

    Solution:
    The firmware has been changed to properly stop with a high deceleration.


       Version: 01-14-02-000   Release Date: February 24, 2016

    Homing Issues
      New Features

  • New homing mode: Absolute homing with user offset (5239,S-16425)
  • New Feature Details:
    A new homing mode has been added. In this mode the drive will first execute an absolute homing and then calculate and store a value for FB1.OFFSET, so that the current position becomes the position specified by the user through HOME.P. The value of FB1.OFFSET is automatically saved in non-volatile memory, so that the drive does not have to be re-homed after power cycle when using an absolute feedback device.

  • New keyword: HOME.MOVEREQUIRED (5239,S-16537)
  • New Feature Details:
    A new read-only keyword HOME.MOVEREQUIRED has been added to the firmware, which is used to store, if a homing procedure with mode 17 has been executed once, so that no additional homing is required after a power cycle when using an absolute feedback.

  • New keyword HOME.IPEAKACTIVE (5316,S-16447)
  • New Feature Details:
    A new keyword HOME.IPEAKACTIVE has been added to the firmware. When setting it to one, the drive will use HOME.IPEAK to limit the current during homing instead of the limits from the current loop.

  • New homing mode 18: Find home input then find next feedback zero. (S-16448)
  • New Feature Details:
    A new homing mode 18 is added, which looks in the first step for the homing reference and then moves to the next feedback zero position. This homing mode is useful for feedback devices with more than two poles, and it is desired that the next homing position is at the next pole pair position.


    Brake Issues
      Fixed Bugs

  • There was a low probability that the power stage was disabled again, if brake was under fieldbus control and drive was enabling the power stage. (5331,D-06742)
  • Issue:
    There was a low probability that the power stage was disabled again, if brake was under fieldbus control and drive was enabling the power stage. This was seen with an EtherCAT-master.

    Solution:
    The race-condition was mainly solved in the brake state machine. Additional also in the DS402 power stage state machine.


    General Issues
      Fixed Bugs

  • When Using an AKD drive with an option card to expand the number of Inputs/Outputs, the Programmable Limit Switches (PLS's) were not working properly (5282,D-06767)
  • Issue:
    When Using an AKD drive with an option card to expand the number of Inputs/Outputs (I/O),the Programmable Limit Switches (PLS's) would not toggle the Output bits at the correct location.

    Solution:
    The firmware has been modified so that when using an AKD drive with expanded IO, the PLS's will toggle the Output bits at the correct location.

  • Value of CMPx.MODEN not properly loaded at power-up. (5321,D-06731)
  • Issue:
    After booting the drive, the compare engines' modulo was always disabled, even if it was saved as enabled.

    Solution:
    The firmware has been modified to properly load the saved value of CMPx.MODEN.


       Version: 01-14-01-000   Release Date: February 04, 2016

       Version: 01-14-00-003   Release Date: February 03, 2016

    IO Issues
      Fixed Bugs

  • Digital Output Mode 21 did not work properly (5330)
  • Issue:
    Digital Output Mode 21 was expected to set output low for 500 ms whenever a fault is encountered. This worked almost all of the time, but in some rare cases the output did not go low until the second fault was encountered. In addition, the documentation incorrectly stated that the output should stay low until the fault is cleared instead of just for 500 ms.

    Solution:
    The firmware has been modified to get rid of a race condition involving firmware bits that indicated that Mode 21 could set the output to low.


    Field Bus Specific Issues
      Fixed Bugs

  • In fieldbus mode, IL.CMDACC is not always calculated properly. (D-06735)
  • Issue:
    Depending on the used cycle time and the setting of FBUS.SYNCDIST, IL.CMDACC was not always calculated properly.

    Solution:
    The FW is modified so that calculation of IL.CMDACC is independent on the setting of FBUS.SYNCDIST and the point in time when the new set points are received. If the acceleration feed forward was activated (IL.KACCFF 1), closed loop behaviour may have changed because the feedforward value is now activated.

  • EtherCAT: There was no fault created on communication state change from OP to another state, when the power stage was enabled (DS402 state Operation Enabled). (5332,D-06736)
  • Issue:
    In an EtherCAT-application the trajectory generator crashed and switched the communication state to SAFEOP. The drive stayed in the DS402 state Operation Enabled and the power stage stayed enabled. The expectation was to get a fault and disable the power stage.

    Solution:
    A F125 fault is now created in this situation, if FBUS.PARAM04 is 1.


      New Features

  • Parameters are automatically saved to the drive after a parameter file is loaded over FoE if FBUS.PARAM05 Bit 13 is set. (S-16435)
  • Solution:
    After successfully loading a parameter file over FoE, the parameters are automatically saved to the drive's non-volatile memory if FBUS.PARM05 Bit 13 was set in the loaded parameter file.


    General Issues
      Fixed Bugs

  • IL.MI2T does not display correctly in Workbench scope (5333)
  • Issue:
    IL.MI2T was formatted wrong when displayed in the firmware for scope signal.

    Solution:
    The firmware has been modified to format IL.MI2T correctly for scope display.

  • Auto-IP address collisions fixed (5287)
  • Issue:
    Using multiple drives in auto-ip mode there is the possibility that a drive is unable to obtain an IP address if the two have similar MAC addresses.

    Solution:
    The Auto IP collision detection and resolution algorithm is now working properly on the AKD-C/N system.


      New Features

  • New keyword to reboot the AKD-N in firmware download mode to recover from corrupt operational firmware on the AKD-N. (S-16246)
  • New Feature Details:
    A new keyword STRINGS.FORCEDOWNLOAD has been added to the firmware. Setting it to 1 will power cycle all AKD-N's and boot them up in "firmware download" mode. This will allow the user to recover the drive when the operational firmware has been corrupted. Setting it to 0 will power cycle all AKD-N's and boot them to operational mode, for normal operation.

  • New keyword PL.KITHRESH (S-16301)
  • New Feature Details:
    A new keyword PL.KITHRESH has been added which defines a velocity that disables the position loop integrator.

    When MT.VCMD exceeds the value of PL.KITHRESH, the position loop integrator turns off. By default this threshold is set to the maximum drive velocity so the position loop integrator is always on.

  • AKD-C/N: Static IP address configuration now also supported on AKD-C/N (S-16352)
  • New Feature Details:
    The AKD-C/N system is now also supporting the static IP address setting for the service channel. In addition to DHCP and Auto IP, with setting the IP.MODE to 1, the static ip address is used by the device defined by the commands IP.ADDRESS, IP.SUBENET and IP.GATEWAY.

  • New keyword STRINGS.IPMODERESET for AKD-C added, which resets the IP mode of all AKD-N‘s to default values. (S-16352)
  • New Feature Details:
    If the AKD-N’s connected to the AKD-C are set to an invalid static IP address, the command STRINGS.IPMODERESET on the AKD-C can be used to reset the IP mode of all AKD-Ns. After execution of this command, the AKD-N retrieve a new IP address either through DHCP or Auto IP.

  • New keyword VL.KIMODE (S-16301)
  • New Feature Details:
    A new keyword VL.KIMODE has been added which sets whether the velocity loop integrator is automatically disabled based on the state of the position loop integrator.

    When VL.KIMODE = 0, the velocity loop integrator is always enabled. When VL.KIMODE = 1, whenever the position loop integrator is on, the velocity integrator will be immediately disabled. When the position loop integrator turns off the velocity loop integrator will be re-enabled. Use with PL.KITHRESH to dynamically switch integrators during a move.


      Feature Changes

  • Change motor I2T algorithm when using IL.MIMODE 1 to better protect the motor (D-06749)
  • Issue:
    The motor I2T algorithm when using IL.MIMODE 1 was using motor current as an indication of motor thermal load; it is better to model motor thermal load as proportional to current squared.

    Solution:
    Change motor I2T algorithm (IL.MIMODE 1) to use motor phase current squared to calculate thermal load.


      Known Issues

  • Fix PL.ERRMODE 1 operation (S-16299)
  • Issue:
    PL.ERRMODE 1 has been fixed so that it uses the desired profile velocity rather than the velocity loop input command. A scaling factor PL.ERRFACTOR and fault time PL.ERRTIME have been added to the fault detection logic.


    BASIC Issues
      Feature Changes

  • Lowering AKD Basic velocity limits to 15000 RPM (S-16301)
  • Issue:
    AKD Basic velocity limits were previously 480,000 RPM. This causes some conflicts with some features.

    Solution:
    The limit has been lowered to 15,000 to match the standard AKD product and ensure compatibility with all features.


       Version: 01-14-00-002   Release Date: December 08, 2015

    General Issues
      New Features

  • New keyword to turn off phase loss warnings on AKD-C (S-16234)
  • New Feature Details:
    A new keyword STRINGS.PHASELOSSDETECTION has been added to the firmware. Setting it to 0 disables the warnings for the phase loss on AKD-C while the faults are not influenced.


      Fixed Bugs

  • After the drive disabled, fault 703 (emergency timeout) is sporadically generated if DRV.DISMODE is set to 0. (5326,D-06734)
  • Issue:
    Disabling the drive with DRV.DISMODE 0 means the power stage is disabled directly. The disabling process in this case can be very fast and might uncover a firmware issue, which starts emergency timer, but does not stop it after the drive is finally disabled. In very rare cases, the 703 emergency timeout fault is generated.

    Solution:
    The firmware will now always clear the emergency timer in the disabled state.


    Field Bus Specific Issues
      Feature Changes

  • New Topology for AKD-C\AKD-N (S-15923)
  • Issue:
    The timing calculation of TwinCAT is not working correctly on the former AKD-C EtherCAT-implementation.

    Solution:
    The AKD-C has now a two core implementation for the two AKD-N strings. This solves the timing calculation issue for EtherCAT-masters. ESI-file updated.


       Version: 01-14-00-001   Release Date: November 30, 2015

    Feedback Issues
      Fixed Bugs

  • BISS-C device doesn't reinitialize properly after fault and fault clearing. (5237,S-16189)
  • Issue:
    Feedback fault clearing doesn't work for BISSC device with encoder resolution 2^32

    Solution:
    Firmware has been modified so that the BISS-C device initialization routine will set the feedback encoder resolution values properly both at startup and re-initialization.


    Field Bus Specific Issues
      Fixed Bugs

  • EtherCAT/CANopen: In profile position mode and quickstop mode 5 or 6, a running motion task is not properly aborted if quickstop is active. (S-16291)
  • Issue:
    If the quickstop option code 5 or 6 (Slow down and stay enabled) are selected, a motion task might still continue after the drive was ramped down to zero velocity.

    Solution:
    Any pending motion task is now aborted if the quick stop mode is triggered.


    Brake Issues
      Fixed Bugs

  • Brake Open Circuit fault displayed unnecessarily (4826)
  • Issue:
    For some motors the trigger for a "Brake Open Circuit" fault was to sensitive on AKD-N, leading to faults being displayed unnecessarily.

    Solution:
    The firmware has been modified to add an additional delay to the brake release delay, preventing unnecessary faults.


    General Issues
      Fixed Bugs

  • AKD-C/N: Power board temperature measurement not working properly at low temperatures. (4680)
  • Issue:
    An environment temperature lower than 0 degree Celsius could lead to an invalid measured AKD-N/C power board temperature, which could cause a temperature fault.

    Solution:
    The temperature measurement has been corrected for the power board of AKD-C/N.


      New Features

  • New mode for analog input to generate a configurable fault (S-15825)
  • New Feature Details:
    A new mode has been added to the Analog Input that will enable the AKD to generate a warning and fault if the input value exceeds user configured thresholds. New keywords AIN.OVFTHRESH, AIN.OVWTHRESH, AIN.UVFTHRESH, and AIN.UVWTHRESH were added to control the warning and fault thresholds.


       Version: 01-14-00-000   Release Date: November 17, 2015

    Field Bus Specific Issues
      Fixed Bugs

  • EtherCat drive not enabling with FBUS.PARAM05 bit 8 set (5298,D-06708)
  • Issue:
    Having bit 8 of the FBUS.PARAM05 set on an AKD using EtherCat, the drive could not be switched to the "operation enabled" state, when a wake and shake was armed.

    Solution:
    The firmware was changed to allow enabling the drive when wake and shake is armed and bit 8 of FBUS.PARAM05 is set. When requesting a change to "operation enabled" the drive will enable, perform wake and shake and then change it's state to "operation enabled".

  • Download of a parameter file through FoE not working properly (5302,D-06714)
  • Issue:
    Under rare circumstances, a parameter file could not be loaded properly through FoE.

    Solution:
    The firmware has been updated to properly handle parameter files received through FoE.


    General Issues
      Fixed Bugs

  • PL.ERRMODE 1 does not work (D-06718)
  • Issue:
    PL.ERRMODE 1 had a calculation error which causes it to operate like PL.ERRMODE 0.

    Solution:
    The algorithm has been corrected to behave as the documentation states.

  • Error restoring parameter file, cannot Load AIN.VSCALE and AOUT.VSCALE (5302,D-06709)
  • Issue:
    The parameter file cannot be loaded when certain minimum values of AIN.VSCALE and AOUT.VSCALE are stored in the parameter file. For example with UNIT.VROTARY set to 3-Custom/s, UNIT.PIN set to 192, UNIT.POUT set to 10, the minimum value for AIN.VSCALE and AOUT.VSCALE is set to 0.019. However if the command "AIN.VSCALE 0.019" is issued an error will occur.

    Solution:
    The firmware has been fixed so that all values within the min/max range for AIN.VSCALE and AOUT.VSCALE can be reloaded to the drive with a terminal command or a command from the parameter file


       Version: 01-13-12-000   Release Date: November 11, 2015

    General Issues
      New Features

  • Extended multiturn function added. (4389,D-06598)
  • New Feature Details:
    For applications moving the axis endless in one direction (round axis), it useful to recover the absolute position after power cycling also if the measuring range of a multiturn encoder is exceeded. Especially if you have modulo range configured, which does not match the encoder resolution, this could lead to a position jump after power cycle of the drive.

    Solution:
    With setting FB1.EXTENDEDMULTITURN set to 1, the drive can recover the exact multiturn position also after exceeding the measurement range of the encoder. However, this feature is restricted to encoders with 12 bit multiturn position bits and it’s not allowed to move the axis without having the drive powered on for more than 1/4 of the measuring range of the encoder.

  • Make CAN/EtherCAT Additional Feed Constant Keywords Accessible via Telnet (Workbench) (S-16197)
  • Solution:
    The two CAN/EtherCAT Additional Feed Constant parameters "3rd additional feed constant - feed" (object 0x60E9 sub3) and "3rd additional feed constant - driving shaft revolutions" (object 0x60EE sub3) are now accessible via telnet (Workbench). They can be accessed with the keywords DS402.3ADDPOSFCFEED, and DS402.3ADDPOSFCSHAFTREV respectively.


      Fixed Bugs

  • Reversing Service Motion Ramp Changes if SM.VX is Changed After The Service Motion Has Started (5178,D-06651)
  • Issue:
    The Reversing Service Motion ramps (acceleration/deceleration) will change from SM.ACC/DEC to DRV.ACC/DEC if the Service Motion Velocity (SM.VX) is changed after the Service Motion has been started

    Solution:
    The firmware was has been updated so that all Reversing Service Motions use the Service Motion Ramps (SM.ACC/DEC)


    Brake Issues
      New Features

  • Allow higher brake current on AKD-N's >= 6 Ampere continuous drive current (S-16144)
  • New Feature Details:
    When using large motors with brakes, that need 1.5 Amps, the AKD-N's with 6 and 12 Ampere continuos current, should support the higher brake current.

    Solution:
    The high brake current of 1.5 Ampere are now supported on AKD-N 6A and AKD-N 12A. Other AKD's support a maximum brake current of 1 Ampere.


    Field Bus Specific Issues
      New Features

  • CANopen/EtherCAT: Quickstop function including quick stop options in object 605Ah supported (5276,D-06694)
  • Solution:
    As user it might be necessary to ramp down the drive in different ways like ramp down and disable or ramp down and stay enabled. Therefore, object quick stop option code (605Ah) is now supported with the following values:

    1: Slow down on slow down ramp and transit into Switch On Disabled.
    2: Slow down on quick stop ramp and transit into Switch On Disabled (default).
    5: Slow down on slow down ramp and stay in Quick Stop Active.
    6: Slow down on quick stop ramp and stay in Quick Stop Active.

    For AKD, the quick stop ramp is similar to CS.DEC. The slow down ramp is similar to DRV.DEC. The quick stop ramp and slow down ramp has been finished if the drive velocity VL.FB is within the velocity window defined by CS.VTHRESH and CS.TO.


      Fixed Bugs

  • Timing problem on EtherCAT position feedback (5244,D-06668)
  • Issue:
    Using the AKD with EtherCAT sample time of 500uS the following error computed as FE = EthercatCommandedPosition - EthercatFeedbackPosition changes if the EtherCAT master is restarted while the following error computed by the drive (PL.ERR) doesn’t change

    Solution:
    The firmware has been modified so that when the EtherCAT sample time of 500 uS is used, the Fieldbus following error will be consistent between EtherCAT master restarts.


    Feedback Issues
      Fixed Bugs

  • Operation in position mode with halls-only feedback was possible even though it should not be allowed (5271,D-06697)
  • Issue:
    Being in position mode and changing the feedback to halls-only, an error was displayed but the feedback was changed anyways.

    Solution:
    The firmware has been updated to display a fault if position mode is activated and Halls-Only feedback is selected. The fault can only be cleared once the feedback and/or the operation mode was changed.

  • FB1.ENCRES not properly set to read-only when usin a HiperfaceDSL feedback (5299,D-06712)
  • Issue:
    Using a HiperfaceDSL feedback, saving the drive parameters to file would save FB1.ENCRES, even though the parameter should be read only and thus not be saved to the parameter file. This would lead to an error when reloading parameters from the file.

    Solution:
    The firmware has been changed to set FB1.ENCRES to read-only when using a HiperfaceDSL feedback.


       Version: 01-13-11-000   Release Date: September 29, 2015

    General Issues
      Fixed Bugs

  • AKD-C: Phase loss warning never shown. (5127)
  • Issue:
    On AKD-C, when a phase was lost and the string current was below a threshold of 8 Arms a warning should have been displayed, which was not the case.

    Solution:
    The warning is now properly displayed.

  • AKD-C: Phase loss warning was only shown sporadically in the EtherCAT/CANopen manufacturer status word. (4710)
  • Issue:
    Switching off high-voltage power set the warning bit in the manufacturer status word of EtherCAT but immediately cleared it even if the warning was still present.

    Solution:
    The warning bit in the EtherCAT manufacturer status word now correctly reflects the warning state of the drive.

  • DRV.DIR is not working for induction motor (5259,D-06676)
  • Issue:
    The induction motor closed loop control type applies wrong signed Id and slip frequency when DRV.DIR = 1; For induction open loop, it doesn't change the sign of velocity command as it should.

    Solution:
    When DRV.DIR = 1, apply the corrected sign of slip frequency and flux current for induction motor closed loop; and correct sign for velocity command for induction motor closed loop.


      New Features

  • AKD-C: Added a new keyword STRINGS.PHASELOSSFTHRESH. (S-15311)
  • New Feature Details:
    A new keyword STRINGS.PHASELOSSFTHRESH was added to the AKD-C firmware. When a phase loss is detected, a fault is only triggered if the string current is above the specified threshold. Otherwise a warning is displayed.


    Field Bus Specific Issues
      Fixed Bugs

  • EtherCAT: Cannot move off a Limit Switch (5105)
  • Issue:  (Identified in Version 01-12-02-000)
    When using a fieldbus with sample rate less than 4kHz, if a position limit switch is triggered, the controller intermitently may not be able to move the axis away from the limit.

    Solution:
    The trajectory generator now maintains the fieldbus command, this fixes the bug and also allows position error limit faults to occur if the fieldbus master continues far past the hardware position limit switch.

  • EtherCAT: Sporadically fault 630 "FPGA cyclic read fault" when using EtherCAT and no distributed clock. (5197)
  • Issue:  (Identified in Version 01-13-00-004)
    If EtherCAT is used with no distributed clock selected, the AKD could sporadically trigger the 630 fault.

    Solution:
    The internal synchronization was not working properly if no distributed clock was used. This has been fixed.

  • CANopen DS402 Status word doesn´t change if controlled stop is applied externally (5176,D-06650)
  • Issue:
    The DS402 Status word should change when a controlled stop is applied externally. When using Interpolated Position (IP) Mode, bit 12 (IP Mode Active) is set to 1 as long as the drive is following the set-points. When the controlled stop is externally generated, this bit should be set to 0, but it was staying set to 1.

    Solution:
    The firmware has been changed so that the DS402 Status Word's bit 12 (IP Mode Active) is set to 0 when a controlled stop is generated externally.


       Version: 01-13-10-001   Release Date: August 07, 2015

    Feedback Issues
      Fixed Bugs

  • Hiperface DSL multiturn position incorrect after disconnect and reconnect Hiperface DSL feedback device. (5071,D-06607)
  • Issue:
    If the Hiperface DSL feedback device is unplugged from the AKD, then reconnected, the feedback faults might need to be cleared more than one time and the multiturn position of the feedback might be incorrect.

    Solution:
    The firmware has been modified so that the feedback is fully re-initialized after the feedback cable is lost. The multiturn position is now properly latched after reconnect the feedback device to the AKD.


    General Issues
      Fixed Bugs

  • IL.KPLOOKUPVALUES are overwritten with default values. (5109,D-06609)
  • Issue:  (Identified in Version 01-12-00-000)
    Data stored for IL.KPLOOKUPVALUES in NV memory is overwritten with default values after a power cycle, and under other conditions that update the lookup table.

    Solution:
    Overwriting stored table values is prevented. Expected conditions such as DRV.RSTVAR are still allowed.

  • Acceleration limits were ignored in certain situations in analog position command. (5083,D-06597)
  • Issue:  (Identified in Version 01-12-00-000)
    Setting an offset in analog position command mode while the drive was enabled sometimes caused acceleration that exceeded the specified acceleration limit.

    Solution:
    The firmware has been changed, so that the acceleration is poperly limited.

  • AIN.CUTOFF not restored properly when upgarding to 01.13.08.000 firmware (5120)
  • Issue:  (Identified in Version 01-13-08-000)
    When upgrading to 01.13.08.000 firmware, the value of AIN.CUTOFF is restored to an invalid frequency.

    Solution:
    The scaling for this parameter was changed, and improperly restored for old firmwares. A patch has been implemented to handle the conversion.

  • FB1.HALLSTATE related command has the wrong sequence. (D-06536)
  • Issue:  (Identified in Version 01-12-00-000)
    FB1.HALLSTATE documentation is wrong about W being the highest bit; FB1.HALLSTATEU and FB1.HALLSTATEW wrongly returns hardware W and U inputs.

    Solution:
    Code changed for FB1.HALLSTATEU AND HALLSTATEW to return values for the correct channal. Documentation updated and corrected for FB1.HALLSTATE.


    Field Bus Specific Issues
      Fixed Bugs

  • Profinet: Real time jogging causes the drive to stop the movement. (5102)
  • Issue:
    If the application toggles the real time jogging within every bus cycle, the jogging might be just stop and the drive does not react on any real time jogging command anymore.

    Solution:
    The new FW does fixes the problem. However, also triggering the "non real" time jog command will unstuck the real time jog command.

  • Profinet: Reading of PNU 2592 for IL.MI2T was limited to 65 % (5100,D-06591)
  • Issue:  (Identified in Version 01-11-04-915)
    Profinet: Reading of PNU 2592 for IL.MI2T was limited to 65 %

    Solution:
    IL.MI2T is now completely handled as 32-bit value. The limitation issue is fixed.


       Version: 01-13-09-001   Release Date: June 19, 2015

    Feedback Issues
      Fixed Bugs

  • Hiperface DSL multiturn position is not correct after switch feedback type from resolver to hiperface DSL. (5071,D-06607)
  • Issue:
    The Hiperface DSL (HFDSL) multi-turn position is not correct if resolver feedback type is selected (FB1.SELECT = 40) before selecting HFDSL feedback (FB1.SELECT = 46).

    Solution:
    The firmware has been modified so that the HDSL multi-turn positon is correct after first selecting resolver feedback, then HFDSL feedback.


       Version: 01-13-09-000   Release Date: June 18, 2015

    General Issues
      Fixed Bugs

  • Saved Current Limits are overwritten with default values after the drive is restarted. (5107,D-06604)
  • Issue:  (Identified in Version 01-13-03-000)
    If the current limits, IL.LIMITP and IL.LIMITN are saved to the drive (using DRV.NVSAVE, or the workbench "Save to Device" command), they are then overwritten with the default values, when the drive is restarted with a DRV.REBOOT command, or a Power Cycle.

    Solution:
    The firmware has been changed so that the current limit values IL.LIMITP and IL.LIMITN that have been saved to the drive, are the active values after the drive is restarted. They are no longer overwritten with the default values when the drive is restarted.

  • Over speed fault 302 with "Halls only" feedback. (D-06612)
  • Issue:
    The halls only feedback has a very "low" resolution, which can create a lot of quantization noise in the velocity signal. Therefore, the user has to set a "very high unnatural" over speed threshold to get the application running without encounter the over speed fault. This has an negative impact on the machine design.

    Solution:
    For "Halls only" the velocity signal is now filtered for the over speed calculation. The over speed threshold can now be set to an appropriate level.


    Field Bus Specific Issues
      New Features

  • Added a new command type Velocity Setpoint and keywords EIP.ACC and EIP.DEC to EthernetIP. (S-15711)
  • New Feature Details:
    Added a new command type Velocity Setpoint (0x8) which allows the user adjust velocity every cyclic cycle. Additionally, the user can set the acceleration and deceleration used by the next position or velocity command from Workbench (see keywords EIP.ACC and EIP.DEC).

  • Added 32-bit access to 64-bit wide keywords for EthernetIP. (S-15756)
  • New Feature Details:
    Added 32-bit access to 64-bit wide keywords for EthernetIP.


    Feedback Issues
      Fixed Bugs

  • Inductive EnDat on AKM52H-ANCNLB00 does not work in Endat 2.1 mode (5085)
  • Issue:  (Identified in Version 01-13-03-004)
    Selecting EnDat 2.1 mode, FB1.SELECT 30, with an AKM with and inductive feedback (AKMxxx-xxxxLBxx) generated a fault. In previous versions no fault was reported.

    Solution:
    The firmware has been changed so that no fault is reported when using inductive EnDat devices and FB1.SELECT is 30.


       Version: 01-13-08-000   Release Date: May 07, 2015

    Motion Tasking Issues
      Fixed Bugs

  • DRV.STOP does not work consistently under certain motion task configurations. (5075,D-06565)
  • Issue:
    Under certain motion task configurations, when switching between the current task and the following task, DRV.STOP may be ignored so that the drive does not stop but continues the motion task.

    Solution:
    The motion task logic has been fixed so that drive stops correctly when DRV.STOP is received.


    General Issues
      Fixed Bugs

  • Wake and Shake Mode 2 does not execute commutation validation. (5082)
  • Issue:
    If WS.MODE 2 is set in conjunction with WS.CHECKMODE 1 (Active Commutation Check), the check will not occur after Wake and Shake completes.

    Solution:
    Active commutation check support has been added to Wake and Shake mode 2.

  • Warning n309 (Motor I2t load. reduce load) not shown in DRV.WARNINGx. (5101)
  • Issue:
    The warning 309 did not show up in the DRV.WARNINGx commands, but is reported in DRV.WARNINGS.

    Solution:
    The new FW shows also the 309 code in the DRV.WARNINGx commands and not only in DRV.WARNINGS. DRV.WARNINGx can also be accessed via the fieldbus channel.


      New Features

  • Added Halls Only Feedback support (S-15659)
  • New Feature Details:
    Standard AKD and NSD drives now support Hall Only feedback, just set FB1.SELECT = 12 and connect a hall device to connector to the primary feedback to operate.

  • Added Software Reboot command, DRV.REBOOT (S-15677)
  • New Feature Details:
    The software reboot command, DRV.REBOOT command has been added. Note that the reboot command will reload the parameters that have been saved to the drive. To issue the command type "DRV.REBOOT 0xaabbccdd".


    Field Bus Specific Issues
      Fixed Bugs

  • Firmware crash on bootup in configuration with many Profinet-drives (5060,D-06555)
  • Issue:
    Some customers reported firmware crashes of drives in the bootup-phase of the Profinet-network.

    Solution:
    Thread-handling in the drive's Profinet-implementation is fixed.

  • Unpowered drive shows faults 308 (Voltage exceeds motors rating) and 503 (Bus capacitor overloaded). (5084,D-06576)
  • Issue:
    If the drive is unpowered, the drives shows faults 308 and 503. The user can just switch on the main power and both of these faults can be cleared.

    Solution:
    There is no functional problem. The FW was triggering these two faults if the vbus.value changed into the negative direction. This is now fixed.


      New Features

  • New keyword PN.POSSCALE for Profinet devices added. (S-15672)
  • New Feature Details:
    The new keyword PN.POSSCALE can be used to scale all PNUs, which have an index greater 2000, which are position scaled parameters and which have the attribute float (e.g. PL.FB and HOME.P). In some applications, the default scaling value of 1000 for these kinds of PNUs created a too coarse resolution for position parameters. Therefore, the user can now change the scaling and can configure the right resolution either by PNU access to PN.POSSCALE or directly in workbench. In addition, the new parameter is storable.

    The scaling parameter PN.POSSCALE is used as follows:

    PNU value = Parameter value (like PL.FB or HOME.P) / PN.POSSCALE

  • Add EIP.OBJECTLIST keyword. (S-15729)
  • New Feature Details:
    The EIP.OBJECTLIST keyword provides information about objects that are available for dynamic mapping. With no arguments, the keyword output contains the full array of objects. With one numerical index argument, the output provides information about the object at the index. This keyword supports the Workbench dynamic mapping GUI.


    Feedback Issues
      Fixed Bugs

  • Intermittent Hiperface DSL feedback faults on AKD-N. (S-15731)
  • Issue:
    In some applications, the AKD-N with Hiperface DSL feedback (single cable) created intermittent DSL feedback faults (F467) like "Incremental Position invalid" in FB1.FAULTS.

    Solution:
    There was a problem identified in the communication path between Feedback and Drive, which created this issue. An update to newest FPGA and FW fixes the problem.


       Version: 01-13-07-000   Release Date: May 06, 2015

    Field Bus Specific Issues
      Fixed Bugs

  • AKD-Synqnet (SQ) brake does not engage for faults 502, 503, and others. (5064,D-06553)
  • Issue:
    When using an AKD-SyqNet drive, the motor brake would not engage when faults would occur; faults such as under voltage (fault 502) and bus capacitor overload (fault 503).

    Solution:
    The AKD-SynqNet firmware has been modified so that the motor brake will be engaged/applied when faults occur.


       Version: 01-13-06-000   Release Date: April 23, 2015

    Field Bus Specific Issues
      Fixed Bugs

  • CANopen: If a master commands the DS402 state change from Switched On to Operational Enabled, then changes the command to Shut Down, the power stage may stay enabled. (5031,D-06529)
  • Issue:
    When the master sends a command word of 15, the drive begins enabling the power stage in order to transition to the Operational Enabled state. This transition is not completed until the motor brake has fully released. If the master changes the command word during the time the drive is waiting for the brake to open, the power stage may stay enabled. In this case, the DS402 state might be Switched On Enabled, yet the drive is servoing.

    Solution:
    The power stage will now be disabled if the master changes the command word while a transition to Operational Enabled is in progress.

  • EtherCAT: PDO-Config setting needed by EtherCAT masters like DeltaTau or Omron (5049,S-15607)
  • Issue:
    Some EtherCAT-masters need a special flag in the ESI-file and the EEProm emulation to state that a free-mapping of PDOs is available

    Solution:
    The Flag PDOconfig is now supported in the ESI-file and EEProm emulation of the AKD-P

  • Ethernet IP: Reconnect issue on AKD when unplugging cable while running cyclically. (5034,D-06520)
  • Issue:
    A PLC cannot reconnect to an AKD when you unplug the X11 Ethernet cable for 30 seconds on an AKD that is running Ethernet IP cyclically.

    Solution:
    The PLC can now reconnect and setup a cyclic connection.


      New Features

  • CANopen: Add support for object 0x60FC sub 0 (Position demand internal value) (5048,S-15629)
  • New Feature Details:
    A NC-manufacturer wanted to see the internal position command value via CANopen

    Solution:
    The DS402-object 0x60FC sub 0 is supported now. The scaling is consistent to the internal position value 0x6063 sub 0. This is a read-only object.


    Homing Issues
      Fixed Bugs

  • Velocity command value glitch happens on leaving hardware limit switch in homing mode 1 /2 (4941,D-06528)
  • Issue:
    In using homing mode 1 or 2 a glitch of 250 microseconds in the velocity command (VL.CMD) occurred always when the hardware limit switch was left. Only, if VL.KVFF unequal 0.

    Solution:
    The glitch does not occurr any longer in the homing procedure.


    General Issues
      Fixed Bugs

  • Modbus dynamic mapping had bounds checking fixed (5002)
  • Issue:
    Error checking on the address index and Service table index does not alert user when an invalid configuation is submitted to the drive. In these instances the table is not configured, but the user is unaware.

    Solution:
    Error checking improved when setting up Modbus dynamic mapping, user is informed when values written to the table are not accepted by the drive.


      New Features

  • New acceleration SM.ACC and deceleration SM.DEC ramp parameter for service motion added. (5019,S-15307)
  • New Feature Details:
    In some applications it might be useful to configure an different acceleration/deceleration ramp in service motion than the drive limits configured via DRV.DEC and DRV.ACC. This can be useful e.g. for jogging purposes.

    Solution:
    Therefore, two new parameters SM.ACC and SM.DEC have been added, which will be active in service motion mode. If these parameters are configured unequal to zero and below the drive acceleration/deceleration limits DRV.ACC and DRV.DEC, the service motion running is using SM.ACC/SM.DEC. If they are set to zero, the drive is using the ramps configured in DRV.ACC/DRV.DEC.


       Version: 01-13-05-000   Release Date: March 25, 2015

    Field Bus Specific Issues
      Fixed Bugs

  • Profinet: Intermittent 702 fault if Workbench and Profinet master via cyclic and acylic communication is connected to AKD. (4925,D-06495)
  • Issue:
    The AKD could trigger the 702 fault, if all three communication channels (Workbench, Profinet Cyclic and Acyclic) have been used at the same time.

    Solution:
    The intermittent 702 fault have been fixed also if all three communication channels are used.

  • Changing the position polarity with IDN 55 could lead to wrong sign. (4954,D-06486)
  • Issue:
    The inverse position polarity via IDN 55 could lead to wrong sign of either position feedback or following error if these values are read in the cyclic map and also via service channel (SVC).

    Solution:
    The wrongly calculated inversion of position IDN(s), which are called via cyclic and service channel is fixed.

  • Using Ethernet IP dynamic parameter types float, position, acceleration, or velocity had incorrect data lengths. (4967,D-06461)
  • Issue:
    Ethernet IP dynamic parameter types float, position, acceleration, or velocity were set to four byte data lengths.

    Solution:
    Changed Ethernet IP dynamic parameters lengths to match the values defined in the Ethernet IP documenation, specifically Appendix B: Parameter Listing.

  • EtherCAT/CANopen: Touchprobe data inconsistency. (5000,D-06509)
  • Issue:
    Using the touchprobe functionality defined drive profile function (DS402) via PDO, might show the effect that the touchprobe status register is updated and says a position is latched, also the latched position register is not yet updated in the same fieldbus cycle. The workaround might be to check the latched position register always on fieldbus cycle later.

    Solution:
    The problem is fixed so that the status and position register are properly updated in one fieldbus cycle. Also the order of the PDO mapping is not important.

  • Sercos III: Status word is not updated proplery if the drive is disabled due to STO or HW enable. (5044,D-06508)
  • Issue:
    If the drive is enabled via the Sercos controller and the hardware enable input is low, the power stage will be disabled, but the status word via Sercos still does not change the current state.

    Solution:
    The status word and the state machine via Sercos is now updating properly also if an external disable has occurred.


    Brake Issues
      Fixed Bugs

  • Changing brake behavior on vertical axis when drive is disabled. (4970,D-06493)
  • Issue:
    On a vertical axis the user could create a safety critical situation, if he opens the brake manually and try to close it again with setting MOTOR.BRAKERLS from 1 to 0. In this case the brake might not apply directly because the actual velocity is not in the Zero Velocity Window, which is defined by CS.TO and CS.VTRHESH. The setting of parameter MOTOR.BRAKEIMM does not change the behavior.

    Solution:
    The behavior has changed if user sets MOTOR.BRAKEIMM to 1 and the drive is disabled. With the new firmware, the brake will always close if the parameter MOTOR.BRAKERLS changes from 1 to 0 regardless of the actual velocity VL.FB.


    General Issues
      Fixed Bugs

  • Update signal resolution for IL.VCMD and IL.DVCMD. (5025,R-02409)
  • Issue:
    Customer identified a performance issue in the AKD current loop when working with 10% of normal operating bus with relatively speaking low inductance motors.

    Solution:
    A FPGA change is implemented to improve the resolution of Vd/Vq register; the counts to real world unit scaling for IL.VCMD and IL.DVCMD are changed in in correspond to that.

  • Motor Inductance Saturation (MOTOR.LISAT) max limit is too low (4884,D-06500)
  • Issue:
    The absolute maximum value of MOTOR.LISAT for big motors is much too small with actual 900 Ampere

    Solution:
    The maximum value for MOTOR.LISAT is now 10000 Ampere


       Version: 01-13-04-000   Release Date: February 24, 2015

    Field Bus Specific Issues
      New Features

  • New signals (following error, drive motion status and drive software limits) added for Profinet (S-15378)
  • New Feature Details:
    Some of the internal data of the drive can only accessed via PNU access. For those who even might be needed in a cyclic manner, it makes sense to make them map able in I/O data.

    Solution:
    Three new signals are now available to be mapped into the I/O data of a profinet telegram. The signal XIST_ERROR (following error) has the signal number 104 and is connected to PL.ERR. The signal DRV_MOTION_STAT has the signal number 105 and is identical to the definition of DRV.MOTIONSTAT. The signal DRV_INPUTS (signal number 106) refers to the software limits (Bit 0 and 1), the hardware limits (Bit 2 and 3).

  • Sercos III: Absolute homing support while drive is in Halt state (S-15271)
  • New Feature Details:
    For some application with absolute feedback encoder, it is needed to run the absolute homing while of the drive while it is enabled and in halt state.

    Solution:
    The profile function absolute homing with drive enabled is now supported over Sercos III.


      Fixed Bugs

  • CANopen: The touch probe function using CoE object 60B8h does not work properly. (4990,D-06487)
  • Issue:
    For the user it was not possible to configure the digital input and primary index via the touch probe control. The capture engines have been armed, but not configured properly.

    Solution:
    The touchprobe control does as expected and configures the capture engine properly.


    General Issues
      Fixed Bugs

  • Motor starts jogging by itself if jog input is toggled during bootup (4975,D-06469)
  • Issue:
    If the jog input (DINx.MODE = 6) is toggled during bootup, then the motor can start jogging even though the jog input is off after bootup is complete.

    Solution:
    The firmware has been modified so that the motor can not start jogging if the jog input is toggled during bootup, and the jog input is off after the bootup is complete.


       Version: 01-13-03-000   Release Date: February 05, 2015

    General Issues
      Fixed Bugs

  • Open-loop Volts/Hz speed control generates warning 582 although ECCN 3A225 speed limitation not reached. (4969,D-06465)
  • Issue:
    If the user changes to motor type 2 (V/f open loop) and limits the speed by using VL.LIMITN or VL.LIMITP, the warning 582 is generated if these limits are reached although the ECCN 3A225 limitation might not restrict the maximum allowed speed.

    Solution:
    The warning is now only generated if the limits are set beyond the allowed ECCN 3A225 limitation or velocity command exceeds the 600 Hz commuation.


    Field Bus Specific Issues
      New Features

  • EtherCAT: PDO not updated on AKD-C (4909,S-15208)
  • New Feature Details:
    FBUS.SAMPLEPERIOD was not updated to the EtherCAT-masters cycle time. It had to be set via Telnet. If it was not fitting the EtherCAT cycle time, the PDO content didn't change.

    Solution:
    There has been no direct access to FBUS.SAMPLEPERIOD on the AKD-C. This is now available via ESC-registers 0x9A0/0x9A2 and object 0x1C32 sub 2.

  • DS402: Support for current limit in each direction needed (4937,S-15315)
  • New Feature Details:
    User wants to have the possibility (also in real-time) to limit the current set-point separately in both direction.

    Solution:
    Two DS402 objects 60E0h sub 0 (positive) and 60E1h sub 0 (negative) for current limits are available now.


      Fixed Bugs

  • CAN: The PDO-mapping of the third entry of Tx-PDO3 failed always (4908,D-06389)
  • Issue:
    CAN: The PDO-mapping of the third entry of Tx-PDO3 failed always

    Solution:
    PDO-mapping works now for all 8 possible entries of each Rx- and Tx-PDO.

  • Profinet: PLS.UNITS cannot be written via PNU 2337 to a value greater than 127 (4963,D-06462)
  • Issue:
    Writing the PNU 2337 with a values greater than 127 was not working.

    Solution:
    The root cause was a wrong signed conversion for parameters from type "unsigned" and a length smaller than 4 byte. This issue is now fixed.

  • PDO access to object 6072h lead to invalid IL.LIMITs (4895,D-06422)
  • Issue:
    PDO access to object 6072h lead to invalid IL.LIMITs, higher value than DRV.IPEAK

    Solution:
    The object 6072 limits now IL.LIMITP/N correctly.


       Version: 01-13-02-000   Release Date: January 07, 2015

    General Issues
      New Features

  • New Digital Output Mode 24 - STO status (4882)
  • New Feature Details:
    Digital Output Mode 24 can now be used to trigger a digital out state depending on the status of the STO(s) (Keyword STO.STATE). When an STO input goes to 0V (Safe Torque Off), the digital output will go high, While all the STO(s) have 24V applied, the digital output will stay low. The digital output will be the inverse of the keyword STO.STATE.


    BASIC Issues
      Fixed Bugs

  • AIN.OFFSET and AIN2.OFFSET reference same parameter value. (4587)
  • Issue:
    When I set AIN.OFFSET, AIN2.OFFSET is also set the same value. Opposite is true .. when I set AIN2.OFFSET, AIN.OFFSET also changes to the same value.

    Solution:
    Firmware fix implemented to bind the AINx.OFFSET parameter to the associated AIN channel.


    Field Bus Specific Issues
      Fixed Bugs

  • Overflow possible in 16 bit set-point 0x6071, reverting direction of current (4953,D-06456)
  • Issue:
    The current-setpoint may get an overflow with the profile set-point 0x6071 (scaled as rated current, 1000 per mille = continuous drive current) with high values (> 3 * rated current)

    Solution:
    Overflow issue is solved. Set-point is now clamped, no reverting happening.

  • Interpolator error in DS402-mode Interpolated Position via CAN (5108)
  • Issue:
    Interpolator error in DS402-mode Interpolated Position via CAN. FBUS.SYNCDIST-setting helped, but storage of this parameter was not possible starting with firmware 1.8.3.0.

    Solution:
    The value of FBUS.SYNCDIST is correctly restored again.


       Version: 01-13-00-001   Release Date: November 24, 2014

    Field Bus Specific Issues
      Fixed Bugs

  • AKD + Profinet: Cyclic communication lost while acyclic running (PNU access) and workbench connected. (4900)
  • Issue:
    A 702 fault can occur when the cyclic communication between the Profinet master and AKD is running, the PNU’s are accessed and also workbench is connected.

    Solution:
    Cyclic and acyclic profinet communication has now an higher priority than the Workbench connection, which was for the profinet connection loss.

  • Profinet: Torque mode is not fully supported. (4872,S-15112)
  • Issue:
    A user does not have a way to set IL.CMDU over Profinet.

    Solution:
    A user can now map IL.CMDU (PNU 102) using flexible mapping (telegram 0 or 400).

  • Product code on EtherCAT drives should be sychronized between EEProm and object 0x1018 sub 2 (S-12179)
  • Issue:
    The product code for devices given in the EtherCAT-ESI-file, the devices EEProm-content and the CANopen-object 0x1018 sub 2 shall be the same.

    Solution:
    The three sources of product code are synchronized on EtherCAT-devices(AKD-P, AKD-N and AKD-C).


      Feature Changes

  • EtherNet/IP devices are not visible to Allen Bradley PLCs in manual IP address configuration (4896)
  • Issue:
    Allen Bradley PLCs default to an address in the subnet 192.168.1.0. AKD drives default to an address in the subnet 192.168.0.0. AKDs have a default net mask of 255.255.255.0, which prevents them from responding to traffic coming from the 192.168.1.0 range. For this reason, the PLCs cannot communicate with the AKDs until the netmask or IP address is set manually.

    Solution:
    The default value of IP.SUBNET has been modified on EtherNet/IP models of AKD to 255.255.254.0. This allows Allen Bradley PLCs to discover the drives when both are in their default address ranges.

  • CANopen: Add manufacturer specific modes to object 0x6060: Analog modes and electronic gearing (S-15171)
  • Issue:
    CANopen-support is needed for some manufacturer specific modes, that are not in DS 402

    Solution:
    Three new values are implemented:

    -1 for analog current mode
    -2 for analog velocity mode
    -3 for electronic gearing mode

  • Profinet: Create Telegram 353 which is the same as Telegram 352 plus HOME.MODE. (S-15187)
  • Issue:
    Some Profinet PLC's do not support PNU's, so parameters can only be changed by real time telegrams. HOME.MODE needs to be added to a telegram so that the user can modify it.

    Solution:
    Telegram 353 has been created, which is the same as Telegram 352 but with HOME.MODE added. This will allow the user to set HOME.MODE with a telegram.


      New Features

  • CANopen: Fault history and runtime should be available via some CANopen-objects (4902,S-15145)
  • New Feature Details:
    Some customers want to have a solution for reading the fault history via CANopen

    Solution:
    New objects are implemented:

    Object 0x2011 sub 0 for DRV.RUNTIME, given in seconds as a 32 bit value
    Object 0x2012 sub 0 to 20 for the fault numbers last 20 fault events, latest entry at sub-index 1
    Object 0x2013 sub 0 to 20 for the fault time stamps last 20 fault events, latest entry at sub-index 1


    BASIC Issues
      Fixed Bugs

  • Motion.Abort prematurely terminates velocity rampdown. (4866,D-06339)
  • Issue:
    Move.Abort premature terminates velocity rampdown resulting in an "elbow" in the rampdown profile.

    Solution:
    Move.Abort trajectory generation has been modified to produce a rampdown profile similar to that of a Controlled Stop.


    General Issues
      Fixed Bugs

  • When the drive starts a firmware download it sometimes incorrectly displays F3bar (4424)
  • Issue:
    Sometimes when downloading firmware to an AKD drive sometimes displays and F and 3 bars on the display. The download actually proceeds and completes correctly.

    Solution:
    The firmware in the drive has been changed to show the correct digits on the display.

  • Bug 4899 - Homing Mode 14 is not working correctly in negative direction (4899,D-06374)
  • Issue:
    For homing mode 14 in the negative direction, the motor will start decelerating when the home input turns on, and then reverse direction and move back to the position where the input turned on. The motor should not reverse direction. Also warning 161 "Homing Procedure Failed" is generated when faults occur and homing is not active. This warning should only be generated if a fault occurs when homing is active.

    Solution:
    The firmware has been modified so that when homing with mode 14 in the negative direction, the motor will decelerate when the home input turns on and stop. It will not reverse direction to move back to where the input turned on. Also warning 161 "Homing Procedure Failed" will only be generated when a fault occurs while homing is active. This has been fixed for all homing modes.

  • Sporadically fault 630 "FPGA cyclic read fault." after power up. (D-06390)