overviewsoftwarereleases ix(-r3) idt5(-r3) ic(-r3)

Overview software releasesiX(-R3)iDT5(-R3)iC(-R3)

Version:Part no.:

2019/30

Translation of the "Original Dokumentation"

ImprintName: PDK_Freigaben_iX-R3

Version: Version Change Initials2019/30 Release added:

V2.13 2019/24 (207408)V2.12 2018/03 (206765)V2.12s 2017/48 (206774)V2.12p 2017/10 (206771)V2.11 2017/05 (206765)V2.11s 2016/44 (206676)V2.11 2016/39 (206611)V2.10p 2016/26 (206575)

KoJ

Previous version: 2016/08

Product version: Product Firmware version (AMK part no.) Hardwareversion (AMKpart no.)

iX(-R3)iDT5(-R3)iC(-R3)

- -R3 control board

Purpose: Overview of released software versions of the entered products

Copyright notice: © AMK Arnold Müller GmbH & Co. KGAny transfer or reproduction of this document, as well as utilisation or communication of its contents,requires express consent. Offenders are liable for the payment of damages. All rights are reservedin the event of the grant of a patent or the registration of a utility model or design.

Reservation: We reserve the right to modify the content of the documentation as well as the delivery options forthe product.

Publisher: AMK Arnold Müller GmbH & Co. KGGaußstraße 37 - 39D-73230 Kirchheim/TeckGermanyPhone: +49 7021/50 05-0Fax: +49 7021/50 05-176E-mail: [email protected] liable shareholder: AMK Verwaltungsgesellschaft mbH, Kirchheim/TeckRegistration court: Stuttgart HRB 231283; HRA 230681Tax-Idnr.: DE 145912804

Service: Phone: +49 7021/50 05-190, Fax -193For fast and reliable troubleshooting, you can help us by informing our Customer Service about thefollowing:

l Type plate data for each unitl Software versionl Device configuration and applicationl Type of fault/problem and suspected causel Diagnostic messages (error messages)

E-mail: [email protected]

Internet address: www.amk-group.com

2 / 21 PDK_Freigaben_iX-R3 / Version 2019/30

mailto:[email protected]

mailto:[email protected]

http://www.amk-group.com/

Display conventionsDisplay Meaning0x 0x followed by a hexadecimal number, e.g. 0x500A'Name''Parameter''Diagnostic messages'

e.g.: Calling up the 'Delete PLC programme' function.ID1234 'Parameter text'1234 'Diagnostic message'

à Task procedure / operating sequence,e.g. 'Start'à 'All programs'à 'Accessories'à 'Editor'

PDK_Freigaben_iX-R3 / Version 2019/30 3 / 21

Content

V2.13 2019/24 5V2.12 2018/03 11V2.12s 2017/48 13V2.12p 2017/10 14V2.11 2017/05 15V2.11s 2016/44 16V2.11 2016/39 16V2.10p 2016/26 17V2.09s 2016/23 18V2.09s 2016/16 19V2.08 2015/46 20

4 / 21 PDK_Freigaben_iX-R3 / Version 2019/30

Software release: iX(-R3), iDT5(-R3), iC(-R3)This firmware may only be used on devices with a "-R3" control board!

Releaseversion

Note Releasedate

Partnumber

Overview of changes

V2.132019/24

2019/24 207408 Based on firmware iX V2.12 2018/03 (207093)

New:l Reconstruction of the modulo position in continuous operation and odd divider (for F-, T- and V- encoders).(This is the case, for example, when a 3/1 ratio motor gear is used and the modulo value is one rotation of the load)ID76 'Position scaling data' bit 7 = 1, ID32800 'AMK main operating mode' bit 13 = 1, ID103 'Modulo value' = > 0ID32773 'Service bits' bit 15, ID33309 'List absolut position'. Diagnosis message 'Encoder communication' Info 1: 101, 102,103, 104, 105, 106, 107, 108, 109

l Automatic holding torque. ID34225 'Mode feed forward control' bit 18l Extended position growth monitoring. ID33304 'Motion service switch' bit 1. Diagnosis message: 2333 'Position growth toolarge' extended.

l Edit diagnosis message 2320 'EF inactive' Info 2: 5l ID34088 'Event trace' with date and time. Prerequisite is an NTP (Network Time Protocol) server. Parameter ID32917 'Timezone' and ID34173 'NTP server address'.

l Encoder initialization U- and V- encoders improved (standstill monitoring). Diagnosis message 2310 'Encoder communication'Info 1: 307

l Optimization of the service commands for setting the encoder position. Diagnosis message 1552 'Encoder adjustment abort'Info 4

l Cogging feedforward control (record filter)Reduction of a pole pair dependent torque ripple (cogging). The result is a smooth speed.ID34227 'Motion control bits'; Object 0x231D 'Bit bar'ID34285 'Motion data list'; Object 0x22F6 'Motion data list'


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l Alternative load model parameterizationThe inertia and friction torques of the AMK motors will be stored in the encoder database in the future. Thereby, only the inertiaand friction moments of the load are needed to parameterize the function 'Load model'.(The previous load model is still available)Extension of existing parameters and objects:ID34225 'Mode feed forward control'; Object 0x22B6 'Mode load model' bit 13 - bit 15New parameters and objects:ID33330 'Friction torque motor'; Object 0x2353 'Friction torque motor'ID33331 'Friction torque load'; Object 0x2354 'Friction torque load'ID33332 'Friction torque linear motor'; Object 0x2355 'Friction torque linear motor'ID33333 'Friction torque linear load'; Object 0x2356 'Friction torque linear load'ID33334 'Inertia motor'; Object 0x2357 'Inertia motor'ID33335 'Inertia load'; Object 0x2358 'Inertia load'

l Monitoring commutation angleThe function can detect a falsified commutation angle by disturbances.New parameters and objects:ID33337 'Encoder service switch'; Object 0x235A 'Encoder service switch'ID33338 'Encoder status 1'; Object 0x235B 'Encoder status 1'ID33339 'Encoder status 2'; Object 0x235C 'Encoder status 2'New diagnosis messages:2311 'Encoder signal' Info 1: 401 - 405

l PT1000 added as standard sensor typeID34166 'Temperature sensor motor' type 7 PT1000 (expanded)Diagnoses 1451 'Configuration temperature sensor' Info 1 = 2: Hardware not suitable for PT1000 (expanded)

l 4 kHz PWM frequencyThe PWM frequency can be parameterized via 'PWM frequency' optionally at 4kHz or 8kHz.


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l Image of the entire encoder memory (Hiperface or EnDat encoder, no Hiperface DSL)Variant 1: The encoder memory is read once during system startupID33337 'Encoder service switch' bit 1 = 1Variant 2: The encoder memory is read out with a positive edge on the control bitID33337 'Encoder service switch' bit 1 = 0, (positive edge)Status display for both variants: ID33339 'Encoder status 2' bit 1 (bit 1 = 0: Function deactivated / not up to date, bit 1 = 1: dataread out and saved in ID34091 'User list 3' )

l Extension of the function to avoid slip-stick effectsSince then: 'variable torque limits' active with position setpoint change < 5 increments / cycleNew: 'variable torque limits' active with position setpoint change < ID33336 'Threshold variable torque limit' (e.g. Object 0x2359'Threshold variable torque limit')

l Model-based current controller for synchronous machinesThe controller coefficients are determined by the line parameters (Ld, Lq, RS, ke) and four degrees of freedom (time constantselection). The concept of state control and state linearization allows the electrical system to react more dynamically.The control algorithm also includes an anti-wind-up. This limits the controller output and the integral components to theavailable manipulated variable.ID32773 'Service bits' bit 27 (bit 27 = 0: PI controller for current control active, bit 27 = 1: Model-based current controller active)Influence on the parameterization of the controller have the electrical engine properties / line parameters:ID34045 'Inductance path D'; Object 2273/1 'Inductance path D'ID34046 'Inductance path Q'; Object 2273/2 'Inductance path Q'ID34233 'Phase resistance'; Object 22BC 'Phase resistance'ID34234 'Voltage constant Ke'; Object 22BD 'Voltage constant Ke'The dynamic behavior can be optimized over 4 time constants:ID34246 'ZR-current T1-d'; Object 0x2341 'ZR-current T1-d'ID34247 'ZR-current T2-d'; Object 0x2342 'ZR-current T2-d'ID34248 'ZR-current T1-q'; Object 0x2343 'ZR-current T1-q'ID34249 'ZR-current T2-q'; Object 0x2344 'ZR-current T2-q'Extended diagnosis message:1445 'Current controller' Info 1 = 100

l Voltage feedforward without Resistance RsIn order to avoid negative interactions when switching between different controller models, the string Resistance Rs in thevoltage feedforward control for synchronous machines is no longer taken into account!


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l EF error statistics in fault statistic 1All EF errors (2320 'EF inactive', 2361 'EF Logic') are stored in the fault statistic 1 of the ID34062 'Fault statistics' (Object0x227B/1 'Fault statistics').

l Plug&Play motor replacementThis function recognizes by the changed serial number of the motor (ID34162 / 0x2292), that a new motor is connected to thecontroller card. Subsequently, all data from the motor encoder database including programmed user data is transferred.ID33337 'Encoder service switch', Object 0x235A 'Encoder service switch' bit 16 = 1: Plug&Play motor replacement activeID33338 'Encoder status 1', Object 0x235B 'Encoder status 1' bit0 = 1: AMK motor encoder database initialized

l Absolute encoder status information 'Absolute position set'The status information 'Absolute position set' is set via a service command ID32843 'Service command' (Object 0x2232'Service command') and remanent stored in ID33338 'Encoder status 1' 0x235B 'Encoder status 1' bit 1 = 1.New service commands:0x10 'Set middle position'0x12 'Set new position'0xEDA2 'Save zero position in the encoder'0xEDA3 'Enable for encoder adjustment synchronous machine'


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l Other new parameters: (reserved for AMK internal use)ID33310 'Thermal resistance winding-stator Rws'ID33311 'Thermal resistance stator-rotor Rsr'ID33312 'Thermal resistance stator-ambient Rsamb'ID33313 'Thermal resistance rotor-ambient Rramb'ID33314 'Thermal capacity winding Cw'ID33315 'Thermal capacity stator Cs'ID33316 'Thermal capacity rotor Cr'ID33317 'Electrical winding resistance 20°C Rel20'ID33318 'Ambient temperature Tamb'ID33319 'Magnetic flux density proportional factor Kp'ID33320 'Hysteresis proportional factor Kh'ID33321 'Eddy current proportional factor Kc'ID33322 'Thermal model reserve 1'ID33323 'Thermal model reserve 2'ID33324 'Thermal model reserve 3'ID33325 'Thermal model reserve 4'ID33326 'Thermal model reserve 5'ID33327 'Thermal model reserve 6'ID33328 'Thermal model reserve 7'ID33329 'Thermal model reserve 8'


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Corrections:l VARAN: Start the LWIP stack only after the port initialization of the VARAN Managerl VARAN: DHCP reorganization after Ethernet link up / down detectionl VARAN: Mailbox accesses corrected at cycle times ≤ 500 μsl VARAN: A firmware update via TFTP is only possible in bootstrap mode (default)l VARAN: After parameter download of the network IDs, they will now be readable on the next Power Off / On via the SPI Flashl EtherCAT: Address range for parameter specification and switch = 0, again 16 bits widel Delete error if encoder error is pending again, then missing SBM (system ready message) messagel Faulty commutation angle with simultaneous temperature and encoder errorl Diagnostic number 'Sensor temperature configuration'l Delete encoder errors optimized for E-encodersl Error with Hiperface encoder in a third-party motorl LIW negation via ID55 at Q type encoderl Evaluation of the SAK bit in the SERCOS operating modesl Switch-on problem Sick-encoder SFS60l Error with SWK with negative final value

Notes:l AIPEX PRO V3.03 or AIPEX Startup V1.13.4 (EtherCAT CoE) requiredl ≥ adb2087.xmll EtherCAT XML Device Description FilesAMK_ECsoe_114_206633.xmlAMK_ECcoe_104_207393.xmlAMK_ECcoe_iXP_Dict_104_207393.xml

l According to AMK logistics / export controls and BAFA, this software meets the requirements for non-dual-use (NDU)l S and T encoders were not tested in the release tests. With current hardware versions, operation of these encoders is notpermitted.


Releaseversion

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Overview of changes

V2.122018/03


New:l Parameterizable commutation offset ID34243 'Offset commutation' for third-party motors or fine-tuning of the commutationangle

l New status bit code 33925 'Status brake closed / open'Variant 1: Evaluation of the brake status signal, read in via binary input and code 33906Variant 2: Evaluation of the control signal, calculated with ID206 'Drive on delay time' and ID207 'Drive off delay time'

l Non-Dual-Use (NDU) deviceOutput frequency max. 599 Hz at V/f-operation mode.Speed setpoints are internally limited to 30000 rpm.New diagnoses message: 2367 'Error Non Dual Use'

l Plausibility monitoring of speed limits (ID38 'Positive velocity limit' >= ID39 'Negative velocity limit'), sign-like values arepossible.New diagnosis message: 1457 'ID38 less then ID39'

l Plausibility monitoring moment limits (ID82 'Positive torque limit' >= ID83 'Negative torque limit'), sign-like values are possible.New diagnosis message: 1313 'ID82 less then ID83'

l Function to avoid slip-stick effects. ID33304 'Motion service switch', ID33305 'Variable positive torque limit', ID33306 'Variablenegative torque limit', ID33307 'Time constant variable torque limits'

l Extended diagnosis for HWmonitoring (tripzone)New diagnosis message: 1040 'Tripzone'

l Image of the motor encoder database in ID34262 'Motor encoder database image'l EtherCAT: Device name changed from ihDrive to ihServo-R2xl EtherCAT CoE: Saving the CAN Index 60FE/2 'Bit mask' at SERCOS ID33308 'Output mask'


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l Other new parameters: (reserved for AMK internal use)ID32917 'Time zone'ID33196 'Display friction torque'ID33197 'Display friction torque linear'ID33198 'Display holding torque'ID33199 'Display of moment of inertia'ID33309 'List absolut position'ID34173 'NTP server address'ID34190 'Bit list parameter finding' (changed)

l Other new objects:0x2346 'Motor encoder database image'0x22E5 'Display load model'0x234D 'Motion service switch'0x234E 'Variable torque limits'0x234F 'Time constant variable torque limits'

Corrections:l Target position modulo homing with single-turn encoder (old: modulo zero, new: encoder zero)l Calculation of the saturation behavior with the 'Dynamic Breaking' functionl Display ID33098 'Increase position value' during the module jumpl Non-erasable CRC error in connection with E-encoder (ECI1118) after switching on

Notes:l AIPEXPro V3.03 or AIPEX Startup V1.13.4 (EtherCAT CoE) requiredl ≥ adb2061.xmll According to AMK logistics / export controls and BAFA, this software meets the requirements for non-dual-use (NDU)


Releaseversion

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Overview of changes

V2.12s2017/48


New:l Parameterizable commutation offset ID34243 'Offset commutation' for third-party motors or fine-tuning of the commutationangle

l New status bit code 33925 'Status brake closed / open'Variant 1: Evaluation of the brake status signal, read in via binary input and code 33906Variant 2: Evaluation of the control signal, calculated with ID206 'Drive on delay time' and ID207 'Drive off delay time'

l Non-Dual-Use (NDU) deviceOutput frequency max. 599 Hz at V/f-operation mode.Speed setpoints are internally limited to 30000 rpm.New diagnoses message: 2367 'Error Non Dual Use'

l Plausibility monitoring of speed limits (ID38 'Positive velocity limit' >= ID39 'Negative velocity limit'), sign-like values arepossible.New diagnosis message: 1457 'ID38 less then ID39'

l Plausibility monitoring moment limits (ID82 'Positive torque limit' >= ID83 'Negative torque limit'), sign-like values are possible.New diagnosis message: 1313 'ID82 less then ID83'

l Function to avoid slip-stick effects. ID33304 'Motion service switch', ID33305 'Variable positive torque limit', ID33306 'Variablenegative torque limit', ID33307 'Time constant variable torque limits'

l Extended diagnosis for HWmonitoring (tripzone)New diagnosis message: 1040 'Tripzone'

l Image of the motor encoder database in ID34262 'Motor encoder database image'l EtherCAT CoE: Saving the CAN Index 60FE/2 'Bit mask' at SERCOS ID33308 'Output mask'


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Overview of changes

l Other new parameters: (reserved for AMK internal use)ID32917 'Time zone'ID33196 'Display friction torque'ID33197 'Display friction torque linear'ID33198 'Display holding torque'ID33199 'Display of moment of inertia'ID33309 'List absolut position'ID34173 'NTP server address'ID34190 'Bit list parameter finding' (changed)

l Other new objects:0x2346 'Motor encoder database image'0x22E5 'Display load model'0x234D 'Motion service switch'0x234E 'Variable torque limits'0x234F 'Time constant variable torque limits'

Corrections:l Target position modulo homing with single-turn encoder (old: modulo zero, new: encoder zero)l Calculation of the saturation behavior with the 'Dynamic Breaking' functionl Display ID33098 'Increase position value' during the module jumpl Non-erasable CRC error in connection with E-encoder (ECI1118) after switching on

Notes:l AIPEXPro V3.03 or AIPEX Startup V1.13.4 (EtherCAT CoE) requiredl ≥adb2061.xmll Only tested for EtherCAT CoEl According to AMK logistics / export controls and BAFA, this software meets the requirements for non-dual-use (NDU)

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V2.12p2017/10

Blocked 2017/10 206771 Based on firmware iX V2.11 2017/05 (206765)


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V2.112017/05


New:l STO certification. Basic function STO / 24B (hardware). This function is also active without built-in safety option AE-SF1.l Reduced reaction time during controlling the motor holding brakeSituation: The activation of the power output stage is disabled with active controller enable (QRF = 1). Possible causes EFinactive or STO (safety option AE-SF1) active.The reduced response time (delay time <3 ms) minimizes e.g. the sagging of a hanging axis.Extended diagnosis message: 2320 'EF inactive' Info 1: 1, Info 2 : 5 (warning)

l The function V/f-operation mode (ID32953 = 0x20) supports an external position encoder in the nibble 3 (ID32953 = 0x_020 todisplay the actual position value.

l Manual CoE mode for the motor holding brake. 0x233C 'Brake mode', 0x60FE/1 'Physical outputs', 0x60FE/2 'Bit mask'.l Controller extensions (internal use)l ID34119 'Torque constant Kt adaption'. The displayed value applies only to synchronous motors.l EtherCAT: The controller card supports the EtherCAT CoE (CoE, CAN over EtherCAT) protocol with the CAN profiles CiADS301 and CiA402 with the described extensions and restrictions.See document: Interface description EtherCAT (CoE) (AMK part no. 206016)

Corrections:l For multi-turn encoders, the actual position could be slightly different from the correct value after switching on when the motordirection is negated (ID32773 bit 16) or the position polarity is inverted (ID55)

l Write parameters while increasing the operating hours counterl Overcurrent monitoring at the output terminalsl Calculation of the actual position value after a encoder error with single-turn encoderl Evaluation for user-defined temperature sensors ID34166 'Temperature sensor motor' type 9l Corrections to the properties of CoE dictionary entriesl Read and write to ID34161 'Production date motor'and ID34162 'Serial number motor'

Notes:l AIPEX PRO ≥ V3.03 or. AIPEX Startup V1.12ß (EtherCAT CoE) requiredl ≥ adb2032.xml


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V2.11s2016/44


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V2.112016/39



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V2.10p2016/26

Prototyp -InhouseFreigabe




l Manual CoE mode for the motor holding brake. 0x233C 'Brake mode', 0x60FE/1 'Physical outputs', 0x60FE/2 'Bit mask'.l Controller extensions (internal use)l ID34119 'Torque constant Kt adaption'. The displayed value applies only to synchronous motors.l EtherCAT: The controller card supports the EtherCAT CoE (CoE, CAN over EtherCAT) protocol with the CAN profiles CiADS301 and CiA402 with the described extensions and restrictions.See document: Interface description EtherCAT (CoE) (AMK part no. 206016)


l Write parameters while increasing the operating hours counterl Overcurrent monitoring at the output terminalsl Calculation of the actual position value after a encoder error with single-turn encoder

Hinweise:l AIPEX PRO ≥ V3.03 or. AIPEX Startup V1.12ß (EtherCAT CoE) requiredl ≥ adb2012.xmll This software is a prototype and has not gone through the complete release tests!


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V2.09s2016/23

SpecialsoftwareA35





l Write parameters while increasing the operating hours counterl Overcurrent monitoring at the output terminalsl Calculation of the actual position value after a encoder error with single-turn encoder

Notes:l AIPEX PRO ≥ V3.03 requiredl ≥ adb2012.xmll Position synchronization for P- and Q- encoders not testedl This special firmware is explicitly tested with the BMW application


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V2.09s2016/16

Specialsoftware A34

2016/16 206405 Based on firmware version V2.08 2015/46 (206017)

New:l Support of the EtherCAT protocol (CoE, CAN over EtherCAT, See documentInterface descriptionEtherCAT (CoE) ( AMK partno. 206016).

l Extended monitoring of the final output stage due to the safety optionIn the 62.5 microseconds cycle, the firmware checks the state of acknowledgment signals of the final output stage. Indicates theacknowledgment that the output stage has been locked, an optional motor holding brake is immediately closed and prevents,for example sags a hanging axis. In this case, a warning message is generated. The warning indicates to the user that theoutput stage has been banned while the PWM was active. Thus, "only" the warning is generated, different error messages canbe displayed, giving the indication whereby the output stage has been locked. The output stage can be disabled from thesafety option or control signals of the firmware. Both operate independently, so that e.g. the safety option can lock the outputstage, although the output stage is enabled by the inverter control signals which are set at the device and in the firmware.


l Extension for the diagnosis message 2320: info 1 = 1, info 2 = 5, warning messageCorrections:

l For multi-turn encoders, the actual position could be slightly different from the correct value after switching on when the motordirection is negated (ID32773 bit 16) or the position polarity is inverted (ID55)

Notes:l AIPEX PRO ≥V3.03 or AIPEX PRO Startup V1.12 2016/16 (206431)l ≥ adb2012.xmll For this software only the CoE relevant parts have been testet! For operation with SoE, the previous firmware version have tobe used

l Position synchronous profiles with P or Q encoder are not tested


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V2.082015/46

2015/46 206017 Based on firmware version iX V1.07 2015/17 (205688)

New:l The status of the port 3 binary inputs can be configured to binary outputs and displayed in e.g. ID144 'Status word'Code 33930 Port 3 bit 0Code 33931 Port 3 bit 1Code 33932 Port 3 bit 2

l The function 'Initial program loading' after firmware-update starts automatically:After a firmware update followed by the first power on, the unit automatically starts the function 'Initial program loading', when areorganization of the database is needed. The data in the current set are preserved.

l Extension of the function 'software commutation' ID32773 bit 17 (breakaway for adhered axes)l Service command for switching the supply voltage (on / off) of the encoder (production test)ID32843 'Service command' code 0x50 (Supply voltage 5V on)ID32843 'Service command' code 0x51 (Supply voltage 5V off)

l Extension: ID34027 'BUS failure character'Code 11: At the binary output port 3, the bit mask is output according to ID34202 'Bit mask port 3' in case of bus failure. Thecontroller enable is not withdrawn.

l Scaling of data for positioning, speed, torque and decelerationl Operation mode 'interpolation' according SERCOS regarding ID32-ID35, ID284-ID286 and ID32800 ff bit 24-27

l ID108 'Feedrate override'l ID193 'Positioning jerk'l ID258 'Target position'l ID259 'Positioning velocity'l ID260 'Positioning acceleration'l ID359 'Positioning deceleration'l ID430 'Active target position'l ID437 'Positioning status'

l EtherCAT protocol EoE (Ethernet over EtherCAT)l VARAN protocol EoV (Ethernet over VARANl Diagnosis messages (new and extended)

l 2599, 1029, 2311, 2350, 2346, 1071


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Corrections:l Jump at homing cycle with ID2 ≥ 4 msl Function modulol List reading or writing in ID32842 'Encoder list customer'l Display of the actual position value at service command ID32843 = 0x12 'Set the current encoder position to a new value' forsingle turn encoders

l Monitoring for inadmissible values during temporarily change of the torque limitsNotes:

l Device Description File AMK_ECsoe_113_205777.xmll Parameter data base required: ≥ adb1544.xmll AIPEX PRO ≥ V3.03 with SP1l The function synchronous run with P- and Q-type encoder is not tested


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