REXRTOHECODRIVE Drive Controller DKC02.1 DOK-ECODRV-SSE-03VRS**-FVN1-EN-P Version Notes: SSE 03VRS

• Target position outside position limits (bit 13)

Correct function:

The ZKL2 bits are set correctly.

V01-F07: Motor type (P-0-4036)

Error:

The last character of the motor type text (parameter P-0-4036) could be

incorrect.

Correct function:

The correct text is shown.

2.4 New Functions

V01-C01: P-0-4050, (RS485 turnaround delay)

New:

Sometimes a customer who utilized RS485 did not set the P-0-4050

parameter.

For most RS485 applications, a turnaround delay of 1 ms proves

sufficient. The minimum value and the default value of P-0-4050 are set

to 1 ms.

Before:

The minimum value and the default value of P-0-4050 were 0 ms.

V01-C02: S-0-269 storage mode

New:

S-0-269 integrated storage mode.

The storage mode parameter is 0 after the drive controller has been

switched on. All parameters that are contained in the list of operating data

that is to be stored are buffered after they have been written to.

If S-0-0269 (Parameter buffer mode) = 1, no parameter will be buffered

after it has been written to.

Before:

All parameters that are contained in the list of operating data that is to be

stored are buffered after they have been written to

V01-C03: Parameter conversion

New:

Various product-related parameters, that have been specified in SERCOS

in the meantime, are converted to SERCOS ident numbers.

P-0-0001 -> S-0-0390 Diagnostic Message Number

P-0-0005 -> S-0-0265 Language Selection

P-0-0013 -> S-0-0393 Command value mode for modulo format

P-0-0020 -> S-0-0298 Reference cam shift by ...

P-0-0050 -> S-0-0348 Acceleration Feedforward prop. Gain

P-0-0120 -> S-0-0391 Monitoring Window ext. Feedback

P-0-1003 -> S-0-0392 Velocity Feedback Filter time constant

P-0-4025 -> S-0-0267 Password

Before:

P-0-0001 Diagnostic Message Number

P-0-0005 Language Selection

P-0-0013 Command value mode for modulo format

P-0-0020 Reference cam shift by ...

P-0-0050 Acceleration Feedforward prop. Gain

P-0-0120 Monitoring Window ext. Feedback

P-0-1003 Velocity Feedback Filter time constant

P-0-4025 Password

V01-C04: Position limit value monitoring

New:

The diagnosis distinguishes whether the positive (S-0-0049) or the

negative (S-0-0050) position limit value is exceeded.

Warnings:

E829 Positive Position Limit Value exceeded

E830 Negative Position Limit Value exceeded

Error messages:

F629 Positive Travel Limit Value is exceeded

F630 Negative Travel Limit Value is exceeded

Before:

If the positive (S-0-0049) or the negative (S-0-0050) position limit value is

exceeded, a warning E830 Negative Position Limit Value exceeded or

an error F630 Negative Travel Limit Value is exceeded is issued.

V01-C05: Limit switch monitoring

New:

The diagnosis distinguishes whether the positive or the negative position

limit switch is actuated.

Warnings:

E843 Positive Limit Switch activated

E844 Negative Limit Switch activated

Error messages:

F643 Positive Travel Limit Switch Detected

F644 Negative Travel Limit Switch Detected

Before:

If the positive or the negative travel limit switch is actuated, a warning

E844 Negative Limit Switch activated or an error F644 Negative

Travel Limit Switch Detected is issued.

V01-C06: Absolute encoder monitoring

New:

Absolute encoder monitoring can be de-activated by entering 0 in the

parameter P-0-0097, Monitoring Window abs. Encoder.

Before:

The monitoring function could not be de-activated.

V01-C07: Length MDT, AT

New:

The maximum MDT length is limited to 16 bytes.

The maximum AT length is limited to 16 bytes.

Before:

The length of 24 bytes in the AT and 32 bytes in the MDT could not

always be covered by the available computing time.

V01-C08: Same scaling for feed constant (S-0-0123) and position data

New:

Unit and number of fractional part digits of the parameter S-0-0123, Feed

constant depend on the scaling of the position data.

Before:

The parameter S-0-0123, Feed constant had 5 fractional part digits and

the unit mm/rev.

V01-C09: Resolution external encoder

New:

For rotary and for linear encoders, the resolution of the external encoder

is selected via the parameter S-0-0117, Resolution of rotational

feedback. Unit and fractional part digits are switched over.

S-0-118 (Resolution of linear feedback) is obsolete.

Before:

S-0-117 was used for rotary encoders, and S-0-118 was used for linear

encoders.

V01-C10: Continuous current limitation

New:

The maximum continuous current is limited to 2.2 * motor standstill

current (S-0-0111).

Thus, the maximum overload factor (P-0-0006) is 220%.

Before:

Provided that the motor peak current (S-0-0109) was not smaller, the

maximum selectable continuous current was identical to amplifier nominal

current 2 (P-0-0518).

The maximum overload factor (P-0-0006) was 500%.