Firmware Release Notes: Class 5 SmartMotor Standard/CANopen

Transcription

1 Firmware Notes: Class 5 SmartMotor Standard/CANopen DISCLAIMER: Information in this document is provided in connection with Moog Animatics products. No license, express or implied, by estoppels or otherwise, to any intellectual property rights is granted by this document. Copyright All rights reserved. Moog Animatics Firmware Update Revision History Improved VL= (velocity limit) to allow wider range: 0 to Note that units are still in RPM. Edited velocity limit fault to measure internal encoder even if ENC1 is chosen. This means that detection of overspeed may be detected more quickly. This resolves the issue where ENC1 mode was referencing the external encoder for speed fault. VL= command, velocity limit fault 1/3/ ECS(value) command added. SRC(0) null encoder so SRC updates immediately in all cases. Combitronic support created for: Traverse Mode, Follow Mode, SRC Command 4/16/ MFLTP:axis=, MFHTP:axis=, MFCTP(arg,arg):axis, MFL(arg,arg):axis, MFH(arg,arg):axis, MFSDC(arg,2):axis, ECS(arg):axis, SRC(arg):axis This version serves to releases the improved traverse and take-up features. More Robust handling of Data collisions enabling faster data throughput without causing CANbus timeout errors Traverse and Take-Up Features This affects CAN data collision on any motor to motor communications Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 1 of 9

2 3/13/ When MFA was set to zero, this could occasionally cause a watchdog fault in gearing, This has been corrected. Gear Mode used with MFSDC control could cause drift during dwell. This has been corrected. 2/24/ The -CDS option and operations have been introduced for CAN error LED shared with trajectory LED. Gearing Modes Gearing, MFA and MFSDC(0,1) are effected. Visual Indications at user level 1/13/ Corrected case where some floating point numbers were not always reported correctly to SMI's screen. 11/14/ Contouring Mode Exit with no change in motion could cause a watchdog fault. This has been corrected. Corrected issue where Modulo counter would report -1 when running in negative direction 10/5/ During program download, the motor shaft could freewheel, It now dynamically brakes. 8/26/ Corrected Status dwell and slew status bits for gearing. They would occasionally remain active. Affects Report commands of floats as seen at terminal screen Contouring Mode Modulo Position Counter Motor Shaft response to Faults Gearing Modes MFSDC control could occasionally cause a jump in shaft position during a change in direction. This has been corrected. Gearing Modes Improved interpolation-mode splines to preserve shape. Improved repeatability in shape of spline curves to be same regardless of direction of motion 6/30/ OCHN parity options did not work as specified. Now you can set both odd and even parities. Contouring Mode Camming RS232/485 Communications Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 2 of 9

3 Added support for setting Torque slope via CANopen. CANopen protocol 6/20/ CANopen support to disable software over-travel limits was added. CANopen protocol When the Target Velocity is updated over CANopen, the velocity mode target is also updated. When the Target Torque is updated over CANopen, the torque mode target is also updated. Removed the CANOpen PLC features for 0x60c5, 0x60c6, 0x607f. Removed the optional objects "0x60c5" max acceleration', 0x60c6 'max deceleration," 0x607f" max profile velocity'. The meaning of these features/objects were confusing and redundant. CANopen protocol CANopen protocol CANopen protocol 6/2/ Established bus-voltage fault action in all new D series motors. Motors will now dynamically break if a bus-fault occurs while moving. This prevents motors from burning out due to over current. 5/23/ Blocked user from controlling output 6 when used as RS485 read/write control pin. When changing from gearing/camming mode to Position or Velocity mode, the trajectory calculations take in account real time velocity when a G command is used. Com Channel Zero and I/O 6 Change in Modes from Gearing to non-gearing Corrected an issue where an X commanded directly after a G could cause jump in the motor shaft. A commanded zero distance move from non-zero velocity could cause unexpected shaft movement. This has been corrected. Relative Stops from any mode This effects all motion commands. New firmware allows for wider range of poll counts, regardless of encoder resolution This affects all motion commands. Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 3 of 9

4 5/5/ Corrected the operation of Interpolation Mode to account for position a error when entering this mode. 5/2/ Corrected an issue where entering MCMUL command could cause position drift in cam mode. The MFSDC command was corrected to allow for proper auto reverse functionality. The PC command reflects the actual position after Fault (not Commanded position). The MT or OFF commands also occur Added Combitronic support for RPC(), OSH(), O() for dual trajectory modes Added support for OSH() in dual trajectory modes Corrected Trajectory bit to properly follow conditions of MFSDC profile moves. 4/18/ In rare conditions, the ELSEIF statement code may execute even if the ESLEIF condition was not true. This has been corrected. Corrected an issue where motors may be left in "SLEEP" mode after program uploads. The relative position word bit is added for the MP Mode. Corrected associated status bits to operate correctly in MT mode. Issuing X xommand will correctly show the decal status bits. Contouring Mode Cam Mode Gearing Profiles Dual Trajectory Counters, PC() Combitronic Command Support Dual Trajectory Counter (PA) Gearing and Cam modes Program Flow control (ELSEIF) Program Uploads Status Word Indications Status Word Indications Corrected a problem where issuing MINV(x) with no change to x would cause a fault. Corrected current limit protection issues when running in negative direction CANopen Fault indications RMS Current Protection Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 4 of 9

5 4/1/ A new features: to MFSLEW,MFA,MFD,MFSDC can be buffered in during gearing profile and automatically update at dwell point(even if dwell is set to zero) Gearing Profiles 3/9/ Issuing an X command to decelerate in cam-mode now will decelerate on path of the CAM table Corrected issue where RCKS would improperly report a Checksum Updated Combitronic to allow RB() and RW() to report status bits above Status Word 6. Corrected rare conditions where floating point math calculations could take longer than CAN timeout setting to solve. Camming RCKS now report the correct checksum. Combitronic Protocol Combitronic CAN bus faults Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 5 of 9

6 2/10/ The functions BRKRLS and MTB are introduced. New functions: BRKRLS/MTB Corrected an issue where Output 6 could pulse on power-up. I/O Control 11/24/ Improved changes to commanded torque T when using TS (Torque Slope) MFSDC now also triggers restart of cam Corrected a problem where MFMUL=0 would cause a watchdog fault Added EE data stamp (default factory settings) - for max coil temp and current limit ramp Added support for passing variables into EITR(var) and DITR(var)commands. Torque Mode Camming/Gearing Gearing EE Stamping Interrupt Control Allow ITR() command to be issued within associated ITR-running subroutine Corrected VL (Velocity Limit) scaling to work regardless of the PID sample rate changes Interrupt Control Velocity Fault Control 11/6/ Added Unidirectional Mode support for DEL fault Derivative Error Fault Control 11/4/ Improved calculations reported when using the UIA/RUIA Reporting of of Current EE settings changed to improve the current protection values for Current Limit Settings SM34165DT motors 10/28/ Emulation for Class 4 Profibus Protocol 10/28/ Improved D/DT fault limit Derivative Error Limits Added support to allow floating array values to work with VLD and VST EE Read/Writes commands. 10/21/ EE settings changed to improve the current protection values for SM34165D motors Current Protection Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 6 of 9

7 CANOpen can disconnect communication to motors while downloading. This issue has been fixed. Program Upload/Download 10/19/ X command support (deceleration) allowed for exiting following mode Status Word 7 updated to support full array of Dual trajectory Mode motion bits. Added Status bits for commanded Velocity Direction and Torque Direction RLEN return limited to buffer size. Added new feature where KP, KI, KD, KL, KA, KV, KG, KS can be set over Combitronic. Gearing Modes Status Word Indicators Status Word Indicators Serial Communications Combitronic Protocol 10/19/ , Fixed PTS/PRTS/PTSS/PRTSS commands timeout handling. Corrected PTS/PTSS commands to not enable the GS command until full command process time has been completed. Fixed command error popping up after the PTS/PRTS commands OSH= and OSH()= command functionality added Corrected an issue where while the unit is in gearing mode, issuing the X or MFX command could occasionally cause Watchdog fault. Dual Trajectory Counters Gearing Profiles Added support for PRTSS and PTSS supplemental axis commands Added serial port support for PTS command. PT corrected to correctly be updated when the O or OSH commands are issued. Relative Moves Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 7 of 9

8 Added support to be able to report MCMUL and MCDIV via RMCMUL and RMCDIV Camming 10/13/ Alpha test for PTS sync commands Intro Alpha test Sync commands 10/11/ Added SRC(-1) to be able to invert master encoder count Gearing 10/1/ Added MCMUL MCDIV for cam table amplitude scaling, First Customer Document release Camming 9/29/ Internal changes to PID scaling (no change to customer) PID Scaling 9/28/ Prevent Torque saturation when AMPS set below max limit Torque/PWM control 9/27/ EL defaults to 1000 now (use to be 10000) Fault Control Report commands RMODE via CANOpen tracts RMODE via serial now. CANopen Protocol CAN connected LED's reflect all can errors now. Added support to clear internal status bit over Combitronic CANopen Fault indications Class 4 emulation for Profibus travel limits now contain same layout of status bits as hardware status limits O= applies to commanded moves and accounting for following erro thus setting position where the motor should be and not necessarily the encoder s current position. KGON KGOFF eliminated, KG=0 defeats by default 8/26/ General review of Report commands, made correction where necessary. Profibus Protocol Profibus Protocol Profibus Protocol Profibus Protocol Position Counters Tuning, KG Serial Reports Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 8 of 9

9 Board level internal design improvements Added Spline Interpolation to Contouring Added Interpolation and Cam Mode status bits to SW8 Insured ECHO_OFF works under all conditions Default for EL=1000 now Board Level Internal Only Contouring Mode (CANOpen IP) Contouring Mode (CANOpen IP) Camming, Status Bits Serial Communications Fault Limits (EL) 8/13/ Initial CAM mode implemented. Camming Buffer level controllable in Contouring Mode Contouring Mode 8/6/ Added Variable Segment Master counts capabilities to Alpha Cam Mode Camming improved temperature reading resolution Intro to EEPROM dab for Bus voltage settings (data only, no fault code yet) AMPS command effective in all mode except Torque Mode Thermal Limits EE Stamping Torque Mode 7/27/ First rev or demonstration release, only Camming Intro Carried over 16 Bit equiv. PWM to Sine mode Torque Control, all Modes 7/29/ Updated Current protection values specific to SM34205D (Dyno tested) Current Protection 7/15/ PWM control updated to give 16 bit resolvable interpolation of Torque. Torque Control, all Modes 7/7/ Command Parser allows array variables in ABS command Command Parser Firmware Notes: Firmware Notes_All_Class_5_Standard_n_CANOpen.docx Rev 2 Page 9 of 9