| Download
Application & Firmware |
In order to maintain compatibility, firmware may be downloaded
only after uploading an existing application (which may be the
amplifier database or User Program).
After the firmware has been downloaded the application needs
to be downloaded to the drive. During this procedure, any conversion
of data is performed and the User Program (if it exists) is
compiled before downloaded. |
| Firmware
Modifications |
 |
The entire SimplIQ family
is supported by this firmware release. |
|
New Output Compare function
for accurate position marking using digital output |
|
New UI[] & UF[] general-purpose
user commands, saved in non-volatile memory. |
|
Resolver feedback up
to 16 bit resolution. |
|
Analog Encoder feedback
(Sine\Cosine) with 4096x multiplication. |
|
Maximum velocity increased
to 80,000,000 cnt/sec for Analog Encoder feedback. |
|
Maximum counts in revolution
or counts per pole pair (CA[18]) increased to 530,000,000. |
|
“Engage brake”
time (BP[1]) is ignored when a fault occurs to allow for a faster
User Program response. |
|
All digital inputs except
digital input 1 are ignored after reset. Digital input 1 is
set to “Motor Disable”. |
|
Position limits (VH[3]
/ VL[3]) may be modified “on-the-fly”*. |
|
Encoder Emulation for
Resolver and Analog encoder. |
|
The Save function enables
parameters to be saved “on-the-fly” from a User Program. |
|
An ABORT function was
added to the digital input. |
|
“Motor on”
indication added to digital output. |
|
Auxiliary Reference (RM)
may be modified “on-the-fly”*. |
|
When using an auxiliary
reference (RM=1), the “Enable” digital input enables
the motor in all unit modes (UM=1..5). |
|
PWM (full range or half
range + direction) signals as a reference for velocity or current. |
|
Tachometer feedback. |
|
Potentiometer feedback. |
|
PWM Fast Medium Slow
(FMS) - frequency reduction and multiplication (according to
drive ability). |
|
Detection for “no
feedback” (MF=1) on Resolver and Analog Encoder feedbacks. |
|
Status Register (SR)
includes indication for homing in progress. This function is
reflected in object 0x1002 of the CANopen DS301. |
|
In User Program, program
variables were increased from 25 to 100. |
|
In User Program, number
of functions was increased from 25 to 50. |
| * |
The term “on-the-fly”
applies when the motor is enabled (MO=1). |
| CANopen
Modifications |
|
DSP402 Interpolated Position
supports a single buffer using SYNC signals. |
|
DSP402 Interpolation
period can now be 0.1mSec resolution (was 1mSec) |
|
DSP402 Profiled Torque
mode is available. |
|
New DSP402 object 0x60C3
for interpolation upon multiplied SYNC signals. |
|
DS301 TxType 0 causes
the transmission of a synchronous PDO after a specific
event occurred. |
|
New DS301 ability to
map objects with sun index to RPDO & TPDO. |
|
Objects 0x2F00 &
0x2F01 for User general-purpose integer and float numbers,
can be saved in a non-volatile memory. |
|
DSP402 Actual Position
object (0x6063) is taken on SYNC time resolution (few
µSec) and not on the real time resolution (~100
µSec). |
|
DSP402 Quick Stop functionality
was modified, after Quick Stop the motor is disabled. |
|
DSP305 V1.1.1 for Layer
Setting Service (LSS) and protocol was added. |
|
CAN emergency indication
was modified to include: Feedback lost, Heartbeat, Over
voltage and Shorts. |
|
Object 0x1002 for status
indication is now mapable. |
| Bugs
Fixes |
| Bellow are bugs
that were corrected during this period: |
|
User Program AUTO
routine might have caused the amplifier to reset. |
|
Current limits
(CL[1] & PL[1]) could not be modified on-the-fly. |
|
In UM=3 mode, the
peak current remained. Stall current was never reached. |
|
Auxiliary feedback
setting (YA[4]) did not initiate the input correctly after
power up. |
|
The fix() function
returned –1 in some cases where it should have returned
0. |
|
Current Offset
procedure drifted after several thousand motor enables. |
|
AUTO_BG and AUTO_EN
did not respond correctly to the digital input switches. |
|
Current exceeded
limitation was corrected to allow “longer” overshoot
time. |
|
Main and Auxiliary
Encoder filter were modified to “no filter”
when TS value was set. |
|
In case of asymmetric
modulo (XM[1] != -XM[2]) the report of the position command
(DV[6] & DV[7]) were wrong. |
|
The “for”
function in the user program failed to work correctly
if a float number was used before the “for”
iteration and at the last command of the “for”
iteration. |
|
There were rare
occasions in which the fast input (or index) would not
be sensed. |
|
In analog current
mode (UM=1 and RM=1) the offset of the reference command
was reduced twice. |
|
There were occasions
where the Begin on Time (BT) was not sensed correctly. |
|
In CAN the homing
procedure of DSP402 started with out toggling bit 4 in
the control word. |
|
In PVT mode, when
working with asymmetric modulo (XM[1] != -XM[2]), the
profile would not start. This affected the DSP402 Interpolated
Position mode as
well. |
|
In CAN, there were
very rare occasions in which SDO could be blocked during
the PDO mapping sequence. |
|
In DSP402 Digital
Input object (0x60FD), the FLS & RLS indication were
switched. |
|
The DSP402 “quick
stop” did not turn the motor off after the stop was
completed. |
|
In DSP402, during
mode switch (for example Homing mode to Profile Position),
the motor could be shut on occasion. |
|
In DS301, transmit
type 0 caused the transmission on single SYNC and not
after a predefined asynchronous event. |
| Composer
Modifications |
|
New Wizard with window
for Resolver feedback and filter. |
|
New Wizard window for
Analog Encoder feedback. |
|
New Wizard window for
the analog feedbacks (Potentiometer & Tachometer) |
|
Support for all SimplIQ
drives (I/Os and identification). |
|
Can work with MC>50
amps. |
|
Improved current tuning
algorithm prevents high current overshoots and calculates
the current response over much wider ranges. |
