Transcript
January 19th, 2009
CD1pm & CD1dn positioner firmware release
Firmware release CD1pm change 29.18 529.18 valid for VH > 6 (*) First fieldtest version 29.28 529.28 nd -scaling of the 2 sensor feedback valid for VH > 6 (*) (Num/Den). -electronic gearing sequence -limit swithes activation in the homing procedure without following error 29.38 529.38 -fixed problem of the position display of nd valid for VH > 6 (*) the 2 sensor feedback without rollover -personalization PCD1-5 & PCD1-9
CD1dn change 729.18 First fieldtest version 729.28 nd -scaling of the 2 sensor feedback (Num/Den). -electronic gearing sequence -limit swithes activation in the homing procedure without following error 729.38 -fixed problem of the position display of nd the 2 sensor feedback without rollover -reading of the serial number via DeviceNet 29.48 529.48 729.48 -starting homing with the limit switch -starting homing with the limit switch valid for VH > 6 (*) activated activated -max speed modification up to 25000 -max speed modification up to 25000 rpm via the fieldbus (PNU 721) rpm via the fieldbus (Parameter Object -analog input filter modification via the 22) fieldbus (PNU 879) -analog input filter modification via the -fixed problem of the position loop fieldbus (Parameter Object 180) rollover with low position resolution -fixed problem of the position loop -fixed problem of the motor noise with a rollover with low position resolution pulses train on the encoder input -fixed problem of the motor noise with a -fixed problem on the internal pulses train on the encoder input communication with the fieldbus board -fixed problem on the internal -VT100 terminal communication communication with the fieldbus board -speed measurement filter activated for -Hiperface & Endat absolute encoders compatibility when loading old CD1pm feedback parameter files with VDSetup -personalization PCD1-500 -Hiperface & Endat absolute encoders feedback 29.58 529.58 729.58 -fixed problem of the AOK output during -fixed problem of the AOK output valid for VH > 6 (*) the positioner power up during the positioner power up -procedure for setting the user position -procedure for setting the user position counter (PZ ascii instruction) counter (PZ ascii instruction) 29.68 529.68 729.68 -fixed problem of the disturbance on the -fixed problem of the disturbance on valid for VH > 6 (*) encoder output at low speed with the the encoder output at low speed with encoder feedback configuration the encoder feedback configuration -fixed problem of the acceleration -fixed problem of the acceleration feedforward term calculation (motor feedforward term calculation (motor noise at standstill) noise at standstill) -fixed problem of the contant slope -fixed problem of the contant slope profile limit selection, when the profile profile limit selection, when the profile limit start speed is not 0 limit start speed is not 0. -fixed problem of the PNU 773 for -fixed problem of the Parameter Object displaying the "2nd sensor feedback 74 for displaying the "2nd sensor error" feedback error" -minimum encoder resolution value -fixed problem of the Start & Stop
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reduced to 128 ppr -FV ascii intruction for getting the daugther board firmware version -Stop with current limit on ENABLE input desactivation or a fault reaction.
-Reverse gearing command in the Gearing sequence
inputs configuration (hardware / DeviceNet) in the parameter file -minimum encoder resolution value reduced to 128 ppr -FV ascii intruction for getting the daugther board firmware version -Stop with current limit on ENABLE input desactivation or a fault reaction.
29.78
529.78 -fixed problem of "°C Drive " warning valid for VH > 6 (*) (to be not memorized in the drive) -fixed problem of the boot strap control (max PWM saturation time =1ms) -fixed problem of the "Enable" input activation when "Command connector emulation" is selected -fixed problem of the SYS error, when the EEPROM checksum is wrong, with the Hiperface encoder configuration -fixed problem of the POS output oscillations, with "InPos window" not selected, when the motor acceleration is low -fixed problem of the Homing in the switch at very low speed (less than 10rpm) -fixed problem of the 240ms delay between undervolt error reset and motor power on (problem with vertical axis) -fixed problem on the Endat encoder selection when the communication is already started -minimum encoder resolution value reduced to 16 ppr for SinCos encoder (Stegmann SEK-52 encoder type) -offset compensation procedure on the SinCos encoder inputs -2 nd sensor feedback with multiturn or linear absolute encoder -RS422 line driver control for the serial link communication -Improved resolution in the absolute position calculation at power up (better than the incremental resolution)
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-Reverse gearing command in the Gearing sequence 729.78 -fixed problem of "°C Drive " warning (to be not memorized in the drive) -fixed problem of the boot strap control (max PWM saturation time =1ms) -fixed problem of the "Enable" input activation when "Command connector emulation" is selected -fixed problem of the SYS error, when the EEPROM checksum is wrong, with the Hiperface encoder configuration -fixed problem of the POS output oscillations, with "InPos window" not selected, when the motor acceleration is low -fixed problem of the Homing in the switch at very low speed (less than 10rpm) -fixed problem of the 240ms delay between undervolt error reset and motor power on (problem with vertical axis) -fixed problem on the Endat encoder selection when the communication is already started -minimum encoder resolution value reduced to 16 ppr for SinCos encoder (Stegmann SEK-52 encoder type) -offset compensation procedure on the SinCos encoder inputs -2 nd sensor feedback with multiturn or linear absolute encoder -RS422 line driver control for the serial link communication -Improved resolution in the absolute position calculation at power up (better than the incremental resolution)
29.88
529.88 -fixed problem with the PNU 748 (no valid for VH > 6 (*) modification of the parameter value) -fixed problem of the bit 11 activation in the status word (Home position found) when "Absolute mode" is selected with absolute encoder -fixed problem of the PWE value when a procedure is not executed (returns value -1 and not value 0 like when the procedure is running) -cogging torque procedure can be started by the PNU 875 in the Profibus mode (switching to Local mode is not necessary) -240ms delay between undervolt error reset and motor power on, restored for compatibility -cogging compensation is activated immediately when the drive is enabled with absolute encoder -error compensation procedure (offset and amplitude) with the SinCos type of encoders -absolute encoder position can be set at the center of the absolute position range (with absolute encoder) -"Absolute mode" is disabled after the execution of an homing sequence or a manual homing (with absolute encoder) -"Save homing" command allows to activate the "Absolute mode" (with absolute encoder) -"Absolute mode" activation and user position offset are automatically saved in the EEPROM by the "Save homing" command or the "Absolute position setting" command -modifications of the personalization PCD1-24
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729.88 -fixed problem with the Instance ID 236 (parameter value not modified) -fixed problem of the bit 11 activation in the status word (Home position found) when "Absolute mode" is selected with absolute encoder - 240ms delay between undervolt error reset and motor power on, restored for compatibility -cogging compensation is activated immediately when the drive is enabled with absolute encoder -error compensation procedure (offset and amplitude) with the SinCos type of encoders -absolute encoder position can be set at the center of the absolute position range (with absolute encoder) -"Absolute mode" is disabled after the execution of an homing sequence or a manual homing (with absolute encoder) -"Save homing" command allows to activate the "Absolute mode" (with absolute encoder) -"Absolute mode" activation and user position offset are automatically saved in the EEPROM by the "Save homing" command or the "Absolute position setting" command -modifications of the personalization PCD1-24
29.98
529.98 -fixed problem of the VT100 terminal valid for VH > 6 (*) communication (for the releases 529.78 and 529.88) -fixed problem of the homing sequence starting via the serial link when the limit switches are activated -fixed problem of the absolute encoder “position reset” procedure without AOK relays opens -fixed problem of the “brake on delay” with the “stop with current limit” function selected during the software disable operation - when using ERN1085 encoder or absolute encoder feedback, the "resolver" signal in the digital oscilloscope is giving the absolute position within one motor revolution - SinCos tracks feedback capability 29.A8 529.A8 -fixed problem of the position overflow valid for VH > 6 (*) in the "homing" sequence or the "absolute positioning" sequence when the user position is greather than 2^31 or lower than -2^31 29.B8 529.B8 - when using ERN1085 encoder or valid for VH > 6 (*) absolute encoder feedback, the "resolver" signal in the digital oscilloscope is giving the absolute position within one motor revolution and using the "Zero pulse shift" offset value - modification of the “Resolver” fault detection with min ratio 0.25 and max ratio 0.65 - modification of the “RDC” fault threshold according to the maximum speed value (from 4000 rpm to 50000 rpm) - analog input selection for the set point in the speed or torque control mode (PNU 913) -save sequences modifications in the VT100 mode of operation
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729.98 -fixed problem of the homing sequence starting via the serial link when the limit switches are activated -fixed problem of the absolute encoder “position reset” procedure without AOK relays opens -fixed problem of the “brake on delay” with the “stop with current limit” function selected during the software disable operation - when using ERN1085 encoder or absolute encoder feedback, the "resolver" signal in the digital oscilloscope is giving the absolute position within one motor revolution - SinCos tracks feedback capability
729.A8 -fixed problem of the position overflow in the "homing" sequence or the "absolute positioning" sequence when the user position is greather than 2^31 or lower than -2^31 729.B8 - when using ERN1085 encoder or absolute encoder feedback, the "resolver" signal in the digital oscilloscope is giving the absolute position within one motor revolution and using the "Zero pulse shift" offset value - modification of the “Resolver” fault detection with min ratio 0.25 and max ratio 0.65 - modification of the “RDC” fault threshold according to the maximum speed value (from 4000 rpm to 50000 rpm) - analog input selection for the set point in the speed or torque control mode (Instance ID 214)
29.C8
529.C8 - fixed problem of the OFF3 operation valid for VH > 6 (*) when the speed mode or the torque mode is selected - modification of the PNU indexes for the absolute encoder parameters (the PNU area from index 900 to index 1000 is reserved for Profibus DP protocol) - modification of the “Resolver” fault detection with min ratio 0.25 and Sin or Cos input saturation - modification of the “RDC” fault threshold according to the maximum speed value (from 16000 rpm to 50000 rpm) - personalization PCD1-500 modified - personalization PCD1-29 modified - personalization PCD1-34 29.D8 529.D8 - modification of the OFF1 and OFF3 valid for VH > 6 (*) operation when the torque mode of operation is selected - overspeed detection safety in torque mode of operation with speed following error threshold - personalization PCD1-502 29.E8
529.E8 - PNU indexes greather than 900 are valid for VH > 6 (*) restored for compatibility with firmware version lower than 529.C8 - personalization PCD1-502 modified - personalization PCD1-24 modified 29.F8 529.F8 - fixed problem of the sequence output valid for VH > 6 (*) (torque, speed, gearing) in case of an emergency stop with the bit 4 of CW - Increased current filter bandwidth for the I2t calculation - personalization PCD1-500 modified - personalization PCD1-18 - personalization PCD1-8
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729.C8 - fixed problem of the OFF3 operation when the speed mode or the torque mode is selected - fixed configuration of the hardware I/Os for sequence Start/Stop conditions - modification of the instance ID indexes greather than 201 for the absolute encoder parameters - modification of the “Resolver” fault detection with min ratio 0.25 and Sin or Cos input saturation - modification of the “RDC” fault threshold according to the maximum speed value (from 16000 rpm to 50000 rpm) 729.D8 - modification of the OFF1 and OFF3 operation when the torque mode of operation is selected - overspeed detection safety in torque mode of operation with speed following error threshold - modification of the "sequence checksum writing" (Instance ID 82) 729.E8 - instance ID indexes greather than 201 are restored for compatibility with firmware version lower than 729.C8 729.F8 - Increased current filter bandwidth for the I2t calculation
2A.08
52A.08 - fixed problem of the “RDC” fault when valid for VH > 6 (*) the maximum speed is higher than 7500 rpm (from release 29.B8) - fixed problem of the low frequency noise in the digital oscilloscope with IQ and Imes signals - fixed problerm of the motor enabling with a vertical axis if "Brake off delay" is lower than 300ms (PROFIBUS mode) - fixed problerm of the Home OK output (status word bit 11) with a specific homing sequence (no Switch, no Zero, no Home, no Reset) - fixed problerm of the OFF2 stopping mode with large "Brake on delay" value and motor in movement - fixed problerm of the OFF3 stopping mode with "Brake on delay" greather than 1 second (Jog mode, speed mode, torque mode) - fixed problerm of the large "Brake off delay" value and starting movement via the serial link - absolute positionning sequence with software modulo and high initial speed for spindle applications - C and D channels calibration for the ERN1085 SinCos type of encoders - extended Hiperface protocol for the new range of Stegmann absolute encoders - increased speed loop stability with SinCos tracks sensors feedback and low ratio resolvers (0.3 to 04) - PNU 828 and 829 for the PZD mapping 2A.28 52A.28 - reduced drive enable delay with the valid for VH > 6 (*) STO option (from 300ms to 40ms) - fixed problem of the communication error with the RL80 specific Hiperface encoder - personalization PCD1-39
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72A.08 - fixed problem of the “RDC” fault when the maximum speed is higher than 7500 rpm (from release 29.B8) - fixed problem of the low frequency noise in the digital oscilloscope with IQ and Imes signals - fixed problerm of the motor enabling with a vertical axis if "Brake off delay" is lower than 300ms - fixed problerm of the Home OK output (status word bit 11) with a specific homing sequence (no Switch, no Zero, no Home, no Reset) - fixed problerm of the OFF2 stopping mode with large "Brake on delay" value and motor in movement - fixed problerm of the OFF3 stopping mode with "Brake on delay" greather than 1 second (Jog mode, speed mode, torque mode) - fixed problerm of the large "Brake off delay" value and starting movement via the serial link - absolute positionning sequence with software modulo and high initial speed for spindle applications - C and D channels calibration for the ERN1085 SinCos type of encoders - extended Hiperface protocol for the new range of Stegmann absolute encoders - increased speed loop stability with SinCos tracks sensors feedback and low ratio resolvers (0.3 to 04) 72A.28 - reduced drive enable delay with the STO option (from 300ms to 40ms) - fixed problem of the communication error with the RL80 specific Hiperface encoder
2A.78
52A.78 - fixed problem of the "Counting" fault valid for VH > 6 (*) with non binary encoder resolution (from release 2A.08) - fixed problem of the manual command in P or PI speed mode with PROFIBUS connected and desactivated (from release 2A.08) - fixed problerm of the OFF1 and OFF3 stopping mode with "Brake on delay" greather than 1 second in PI2 speed mode - fixed problem of the absolute positionning sequence with software modulo and high initial speed for spindle applications (glitch on SpeedRef signal at the sequence chainning) - implementation of the PNU 845 (Motor position) and the PNU 846 (Second sensor position) - implementation of the "Derivative speed gain" and the "Scaling gain" in the speed regulator -personalization PCD1-18 modified 2A.98 52A.98 -fixed problem of the "com. channel" valid for VH > 6 (*) fault with CSL-52 Hiperface encoder -fixed problem of a sequence starting by CW6 edge without the operational conditions CW4 and CW5 (motor must not start) -fixed problem of the starting of a new positioning sequence with a deceleration first and no reverse, when the modulation function is activated (wrong deceleration value) -fixed problem of a triangular profile with a small displacement when the modulation function is activated (discontinuity on speed ref at the starting of the deceleration phase) -low speed positionning profiles (lower than 1 rpm) by using the profile speed limitation / modulation function (PNU 714) -speed modulation on the fly for a speed sequence when bits 8 and 9 of PNU 742 are set. Accel/decel ramp on the modulation by the PNU 723
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72A.78 - fixed problem of the "Counting" fault with non binary encoder resolution (from release 2A.08) - fixed problerm of the OFF1 and OFF3 stopping mode with "Brake on delay" greather than 1 second in PI2 speed mode - fixed problem of the absolute positionning sequence with software modulo and high initial speed for spindle applications (glitch on SpeedRef signal at the sequence chainning) - implementation of the "Derivative speed gain" and the "Scaling gain" in the speed regulator
72A.98 -fixed problem of the "com. channel" fault with CSL-52 Hiperface encoder -fixed problem of the starting of a new positioning sequence with a deceleration first and no reverse, when the modulation function is activated (wrong deceleration value) -fixed problem of a triangular profile with a small displacement when the modulation function is activated (discontinuity on speed ref at the starting of the deceleration phase) -low speed positionning profiles (lower than 1 rpm) by using the profile speed limitation / modulation function -speed modulation on the fly for a speed sequence
2A.A8
52A.A8 -restitution of a sequence starting by valid for VH > 6 (*) CW6 edge without the operational conditions CW4 and CW5 for spare parts compatibility with former applications before release 52A.98 -fixed problem of the analog input selection in speed or torque mode when the sensor feedback programation procedure is executed (PNU 894 or the loading of a *.PAR parameter file) -phasing procedure at power up (with incremental encoder only configuration) can be executed even if the motor is on the mechanical limit -personalization PCD1-504 2B.08 52B.08 -fixed problem of the auto-phasing with valid for VH > 6 (*) the encoder + HES configuration when the HES commutation positions are not aligned with the max motor flux position -fixed problem of the external current limitation operation when the I2t protection is released -fixed problem of the VT100 communication (from release 29.F8) -reduced phasing distance with the encoder + HES configuration (60 electrical ° versus 360 electrical °) -torque or speed mode selection can be saved in the drive EEPROM if bit 9 is set to 1 in the drive configuration parameter (HW ascii command) -operation of the bit 3 of the control word in torque or speed mode can be disabled (for spare parts compatibility with former applications before release 529.D8) if bit 8 is set to 1 in the drive configuration parameter (HW ascii command) -continuous detection of the HES fault (not only at the drive power up) with the encoder + HES configuration
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72A.A8 -fixed problem of the analog input selection in speed or torque mode when the sensor feedback programation procedure is executed -phasing procedure at power up (with incremental encoder only configuration) can be executed even if the motor is on the mechanical limit
72B.08 -fixed problem of the auto-phasing with the encoder + HES configuration when the HES commutation positions are not aligned with the max motor flux position -fixed problem of the external current limitation operation when the I2t protection is released -reduced phasing distance with the encoder + HES configuration (60 electrical ° versus 360 electrical °) -continuous detection of the HES fault (not only at the drive power up) with the encoder + HES configuration
2B.18
52B.18 -fixed problem of the negative values valid for VH > 6 (*) for the speed limitation or the current limitation via the PZD -IQ current monitor calculation at the drive power up (before the sinus mode commutation) with the encoder + HES configuration -Speed input command in PZD2(MSW) and PZD3(LSW) for higher resolution in speed control mode 2B.28 52B.28 -fixed problem of the “Com. Channel” valid for VH > 6 (*) fault with the EQN1325 ENDAT type encoder (modified timing) -modification of the current loop integrator calculation (anti-windup) -modification of the IQ current monitor calculation (without filtering) at the drive power up in the encoder + HES configuration 2B.38 52B.38 -personalization PCD1-45 valid for VH > 6 (*)
72B.18 -IQ current monitor calculation at the drive power up (before the sinus mode commutation) with the encoder + HES configuration
72B.28 -fixed problem of the “Com. Channel” fault with the EQN1325 ENDAT type encoder (modified timing) -modification of the current loop integrator calculation (anti-windup) -modification of the IQ current monitor calculation (without filtering) at the drive power up in the encoder + HES configuration 72B.38
* Before starting any software release operation, check first the amplifier hardware version by using the ascii code VH, in oder to avoid hardware / software incompatibilities. INFRANOR SAS D. JOUVE
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