Download AKD Firmware Release Notes

Version: 01-06-00-001, March 26,
2012
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Issue:
The reaction to a overspeed fault was to initiate a controlled stop. If the overspeed is due to a loss of commutation or an unstable
servo tuning the controlled stop will not be able to slow the axis down. If the DRV.DISTO is set to a long time the axis will not stop
until this timeout has been reached.
+ General Issues
+ Field Bus Specific Issues
Version: 01-05-13-000, March 02,
2012
Solution:
The firmware has been changed to perform a dynamic brake in response to an overspeed fault.
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+ General Issues
Solution:
Parmeter type changes are now handled, such that upgrading from older versions will result in proper parameter values, and no
fault will be reported.
Version: 01-05-12-000, February 17,
2012
+ Field Bus Specific Issues
Known Issues
+ General Issues
+ IO Issues
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Version: 01-05-10-000, January 27,
2012
+ General Issues
+ Field Bus Specific Issues
Field Bus Specific Issues
Fixed Bugs
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Solution:
Object 3470 sub 3 works as expected by SDO or PDO access.
+ General Issues
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+ IO Issues
Solution:
The drive now maintains the last valid velocity command from the master until the controlled stop has started.
Version: 01-05-06-000,
December 23, 2011
+ General Issues
Version: 01-05-05-000,
December 09, 2011
+ General Issues
Version: 01-07-00-001 Release Date: August 17, 2012
General Issues
Fixed Bugs
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+ Field Bus Specific Issues
Solution:
The fault is now inhibited until the sensors are fully initialized.
+ General Issues
Restore DRV.OPMODE and DRV.CMDSOURCE to initial condition when W&S fails because of a disable of the
power stage (S-09829)
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+ Field Bus Specific Issues
Issue:
User disabled accidentally the Wake & Shake process by disabling the power stage. Afterwards the DRV.OPMODE and
DRV.CMDSOURCE stayed in the mode used in the Wake & Shake process.
+ IO Issues
Solution:
The previous values are restored now. Additionally the Wake & Shake is re-armed.
Version: 01-05-03-003,
November 07, 2011
+ General Issues
+ Field Bus Specific Issues
Wake and Shake changes opmode and command source if arm, then disarm is issued before the drive is
enabled. (4031)
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Issue:
If Wake and Shake is armed, then disarmed without running Wake and Shake, the opmode/command source values are restored to
unintialized states. This results in setting the drive to Torque Mode and Service Mode.
Version: 01-05-02-000, October 28,
2011
Solution:
Issuing a Wake and Shake disarm command no longer restores previous opmode and command source.
+ General Issues
Version: 01-05-01-000, October 14,
2011
F301 "Motor overheated" appears after power cycle (3966)
Issue:
After a power cycle, there is a chance that Fault 301 - Motor Overheated is generated eroneously
Version: 01-05-04-000,
November 25, 2011
+ Feedback Issues
EtherCAT fieldbus disable causes glitch before controlled stop (4060)
Issue:
Disabling the drive via control word when running interpolated or cyclic position mode, can introduce a short velocity jump till a
control stop is executed. This occurs when the master freezes the position set point value and in the same moment disables the
drive.
+ General Issues
+ Field Bus Specific Issues
DS402: Object 3470h sub 3 (AOUT.VALUEU) doesn't work as PDO, but as an SDO (3939)
Issue:
The object mapping works, but the value written to the PDO doesn't get into effect. The SDO-access works as expected.
Version: 01-05-08-000, January 20,
2012
Version: 01-05-07-000, January 06,
2012
Position Loop not executing when inside a software limit switch (3773)
Issue: (Identified in Version 01-06-01-000)
This bug was fixed in version 01-06-01-000 but caused a larger bug: 4092. This bug has been intentionally re-introduced until a full
fix for both 3773 and 4092 can be implemented. Behavior is unchanged from previous AKD production releases (same behavior as
1.6, 1.5, etc).
+ Feedback Issues
+ Feedback Issues
F106 fault and parameters lost when upgrading from earlier firmware versions (4041)
Issue:
When upgrading from certain earlier versions, changes in parameter types can result in an F106 Nonvolatile Memory data error, and
parameter settings stored in the drive are lost.
+ Field Bus Specific Issues
+ Motion Tasking Issues
The reaction to an overspeed fault should have been to dynamic brake. (4059)
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AOUT.PSCALE has wrong minimum value reported by DRV.HELP (4009)
Issue:
The minimum value setting for AOUT.PSCALE is larger than the maximum value
+ General Issues
+ Feedback Issues
Solution:
A signed issue caused the minus sign to be misinterpreted. This has been fixed.
+ Field Bus Specific Issues
Version: 01-04-19-000,
September 30, 2011
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Issue:
A very infrequent "glitch" was found where the drive will apply the dynamic brake and then briefly re-enable for several milliseconds
before again applying the dynamic brake and disabling successfully. This condition can only be seen when the drive is disabling and
it is configured to use the dynamic brake (DRV.DISMODE=1 or 3).
+ General Issues
+ Field Bus Specific Issues
+ Homing Issues
Version: 01-04-18-000,
September 16, 2011
Glitch in enable when dynamic brake signal changes (4014)
Solution:
A bug has been identified and fixed so this re-enabling glitch cannot occur.
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Reading FB1.USERBYTE, USERWORD, or USERDWORD may cause a drive crash (3969)