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

ECODRIVE Drive Controller DKC02.1

Version Notes FWA-ECODRV-SSE-03VRS-MS

DOK-ECODRV-SSE-03VRS**-FVN1-EN-P

• Mappe 57-03V-EN / Register 10

• 209-0073-4325-00

• Basis: 03V01

This document is a supplement to the Functional Description DOKECODRV-SSE-03VRS**-FKB1-DE-P.

It describes the changes from firmware version 02VRS to firmware

version 03VRS.

Documentation identification of

previous releases

Release

date

Comment

DOK-ECODRV-SSE-03VRS**-FVN1-EN-P 12.96 02VRS - 03VRS

 INDRAMAT GmbH, 1996

This document or parts thereof may not be copied, used or disclosed to

third parties without the written consent of INDRAMAT GmbH. Nonobservance results in liability for damages. All rights reserved, in

particular where patents are granted or utility models are registered. (DIN

34-1)

This document and the availability of the products may be subject to

changes without prior notice

INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Phone 09352/40-0 • Tx 689421 • Fax 09352/40-4885

Dept. END (GB/OS)

Tips for Firmware Replacement

The following instructions should always be followed when replacing the

firmware:

0. Switch on the drive controller if this has not yet been done.

1. Save the current parameters.

2. Switch off the drive controller.

3. Remove all connections from the drive controller.

4. Remove the unit from the switchgear cabinet (2 screws).

5. Loosen the fixing screws of the lid (4 screws and, if necessary, the

grounding screw at the front) and remove the lid.

6. Remove the SERCOS interface module.

7. Use an extractor tool and pull out the EPROM (top, 40 pins, with

label).

8. Insert the EPROM with the new firmware at the same point. Note:

F Observe correct orientation; the notch on the EPROM must be

aligned with the notch in the socket.

F Don’t bend any legs. All pins must be in the socket.

9. Install the SERCOS interface module. Install the lid and secure it.

10. Re-install the unit in the switchgear cabinet.

11. Switch on the 24-V control voltage. The display shows "PL" if the

number of parameters that is to be buffered has changed. Pressing

the S1 button now sets all buffered parameters to their default

values. The display shows "C8 loading default values" during that

time.

12. The master may now switch over to operating mode.

13. During the transition check from phase 3 to phase 4, the display

shows "UL" if the "C8 loading default values" command has been

started or the motor type changed. Now, either the S1 button must

be pressed or the clear error command be started to load the

controller default setting values from the motor feedback to the drive

controlle

Version Notes FWA-ECODRV-SSE-03VRS-MS

2.1 Release Information

The FWA-ECODRV-SSE-03V01 firmware version is the first official issue

of Version 03. It has been released on January 20, 1997.

The following drive controllers can be used with the released software:

• DKC02.1-040-7

Note: DriveTop has not yet been released for FWA-ECODRV-SSE03V01.

EPROM Label

2 7 3 1 7 7

IC2

ECODRV-SSE-03V01-MS

DKC2.1 4893

2.3 Eliminated Errors

V01-F01: External encoder interface / homing

Error:

If external encoder has been selected in the homing parameter (S-0-

0147) or in the mode parameters (S-0-0032, S-0-0033, S-000-34, S-0-

0035) without activating its evaluation (P-0-0075), this parameter setting

error was not detected before the control loop monitoring function.

Correct function:

The transition command from phase 3 to phase 4 checks whether or not

evaluating the external encoder is necessary. If it is, the command error

C210 External Feedback Required (-> S-0-0022) will be issued.

From now on, parameter S-0-0147 may also be written to in phase 4.

V01-F02: Limit values for torque / force

Error:

Invalid torque data could result in a negative maximum value of the

torque/force data.

Correct function:

With invalid torque/force data, the minimum value is set to -32768 and the

maximum value to +32767.

V01-F03: Limit value of S-0-0091 (bipolar speed limit)

Error:

The maximum motor speed is used as the maximum value of S-0-0091,

Bipolar Velocity Limit Value. Rounding errors in conversion could lead

to a situation in which the maximum speed of the motor could not be set.

Correct function:

The maximum motor speed +10 rpm is used for the maximum value of

the parameter S-0-0091, Bipolar Velocity Limit Value.

V01-F04: Class 1 diagnostics error

Error:

The error messages F870, + 24 Volt Error, F873, Power supply driver

stage fault, and F218, Heatsink overtemperature shutdown were of

the "manufacturer-related" type (bit 15 in class 1 diagnostics).

Correct function:

The error messages F870, + 24 Volt Error and F873, Power supply

driver stage fault are of the control voltage type (bit 4 in class 1

diagnostics).

The error message F218, Heatsink overtemperature shutdown is of

the amplifier overtemperature type (bit 4 in class 1 diagnostics).

V01-F05: Modulo with translatory scaling

Error:

The conversion of the feed constant (S-0-0123) was incorrect. The

selected modulo range was not maintained.

Correct function:

Correct conversion of the feed constant.

V01-F06: ZKL2 bits

Error:

The following ZKL2 bits were not set:

• Motor overtemperature warning (bit 2)

• Amplifier overtemperature warning (bit 1)

• 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%.