Kollmorgen S1800 Drive
Release Notes
S1800_release_20070321.txt
Release Notes for S1800 Multiaxis system 2007-03-29
---------==================================-----------
Eight axis servo system.
Version numbers are typically stored as a 16bit integer, therefor also the
hexadecimal representation is shown.
Drive firmware
==============================================================================
131.55 (0x8337)
Additions:
- The parameter "system_delay" is now hard coded to be 70us as required by the
S1800 system.
- The set point value previously with unit "current" is now changed to have unit
"torque". This is a general change for all motor types.
This will have an impact when motor is driven in the field weakening mode,
where current is no longer equal to torque.
==============================================================================
131.54 (0x8336)
Additions:
- Support for asynchronoues motors in closed loop.
- Support for reluctance assisted PM motors.
Corrections:
- The following drive system parameters has changed meaning,
g_meas_diff, is now a delay in micro seconds.
g_res_offs, represent slip frequency for asynch. motor.
g_kd_d, represent slip gain for asynch. motor.
g_fir1_b0, cross coupling factor between Ud and Uq.
g_fir1_b1, not used.
g_iq_err, estimated open loop speed.
g_id_err, slip freq. reminder.
==============================================================================
131.53 (0x8335)
Additions:
- Support for closed loop AC motors.
- Support for 4,8 and 16kHz PWM switching frequency.
Corrections:
- Reports DC-bus missing and temperatur alarm correctly.
In next release:
- Support for reluctance assisted PM motors.
S1800 firmware
==============================================================================
v1.18 (0x0112) 2007-03-29 Beta version
Expected MEI: 03.04.04
03.04.00
Expected FPGA: 8.0.13 (0x800D) Required FPGA version.
Expected DriveFW: 131.55 (0x8337) To correct startup problems.
Features:
Additions and Changes:
- The startup problem has been investigated and resolved. It has been found
to be a parameter problem within the drive system. This parameter is hard
to change, it is actually when a change is made the problem starts, and
the parameter had to be changed on every startup. This has been resolved
by an updated drive system firmware where this parameter does not need
to be changed.
- When frames are received with error bit set indicationg that the previous
frame had errors, we now ignore these packets.
- BISS Sensor, startup sequence hase been modified.
- Feedbacks are now cleared when ordered even when no errors are reported
on the device.
- Feedbacks, Encoder is type #5 and the Comcoder is type #1. A Comcoder is
an encoder with build in hall effect sensor for initial position info.
- ControlSystem, A new parameter "system_init_old_state" has been added to
help diagnos errors during startup.
- When synchronisation to the SynqNet FPGA is lost then the motor brakes are
engaged and motor is disabled.
- SynqNet signaling,
The "drive_ready" bit is set when we are in synch. with the SynqNet FPGA
drive_strobe signal and we are in synch. with the drive system and the
startup state machine has finished sucessfully.
The "ready_for_remote" bit is set when there are no other errors.
(Note. This may be change somewhat in future releases to be able to
report startup problems over SynqNet).
Known issues:
- none
==============================================================================
v1.17 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.16 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.15 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.14 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.13 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.12 (0x0112) 2007-03-29 Internal version
==============================================================================
v1.11 (0x010B) 2006-12-15 Beta version
Expected MEI: 03.04.00 For secondary resolver and velocity
mode to work.
Expected FPGA: 8.0.13 (0x800D) Required FPGA version.
Expected DriveFW: 131.54 (0x8336) For running async. and reluctance motors.
131.51 (0x8333) Only PM motors, resolver or encoder
Features:
Additions and Changes:
- Now separates encoders with embedded hall effect sensors from sensors without
hall effect sensors. The type is ComCoder (type 5) and Encoder (type 1).
- Changed feedback and torque reversal.
The feedback can individualy be reversed by setting bit15 in parameter
"feedback_type" (#6). The direction of rotational can be changed by
setting bit14 in "reg_mode" (#20).
A new bit13 in parameter "reg_mode" can be used to individualy reverse sign
of torque. This can be used to correct a motor that rotate opposite to the
Danaher specification.
- Added parameter for BISS sensors that gives information on how many bits are
used to represent number of sensor turns.
Known issues:
- none
==============================================================================
v1.10 (0x010A) 2006-10-13 Beta version
Expected MEI: 03.04.00 For secondary resolver and velocity
mode to work.
03.03.05.b1.01
Expected FPGA: 8.0.13 (0x800D) Required FPGA version.
Expected DriveFW: 131.53 (0x8335) For running async. and reluctance motors.
131.51 (0x8333)
Features:
Clarifications:
- The "run away" problem was corrected in v1.9, no change.
- The DM file does support setting up secondary sensors, no changes.
Additions and Changes:
- Corrected error reporting. The drive now uses the error_x_mask parameters,
when SynqNet direct commands are used. A user can mask out unwanted
errors/warnings with these parameters.
The correction affectes what the sqDriveMsg.exe command line tool reports as
errors and warnings. (Actually, what is returned as a response to direct
commands. The generation of the SynqNet fault/warning bits has been using the
error masks since version 1.7).
- During initialization the drive will now reset any error/warning that occured
during initialization.
- The position reported to SynqNet is now using the feedback sensors resolution
without any scaling. Feedback scaling parameters are still needed they are
used for motor commutation and when SynqNet velocity regulation mode is used.
For example:
A 1024 line encoder will add 1024 * 4 increments to the position for each
mechanical turn.
A resolver will add 65536 increments per turn.
A 22bit BISS sensor will add 22bit.
- The drive will now automatically turn PWM off when an error is discovered.
- Added warning bit4 (PriAccelerationLimit) and bit12 (SecAccelerationLimit)
in error_5.
- Added parameter support for reluctance motors, torque reference splitter
Id/Iq. These parameters are only used when using DriveFW version 131.53 and
later.
Known issues:
- When run with an older drive system firmware that 131.53 (0x8335) the DC-bus
missing warning may not be reported correctly when this is the only warning
and error in the system.
------------------------------------------------------------------------------
v1.9 (0x0109) 2006-08-04 Beta version
Expected MEI: 03.04.Beta1 For secondary resolver and velocity
mode to work.
03.03.00.B1.14
03.03.00.B1.12
03.03.00.B1.10
Expected FPGA: 8.0.13 (0x800D) Attention: NEW FPGA required.
Expected DriveFW: 131.53 (0x8335) For running async. and reluctance motors.
131.51 (0x8333)
Features:
- The velocity regulator is now of PID type.
- Motor temperature sensor threshold is now parameterized.
Additions and Changes:
- The scaling for Synqnet velocity mode has been improved with two new
direct commands, read number of pulses per turn and read 'application'
maximum velocity in RPM. Also the set_fictious_sample_rate has been
done according to specification 3.14.
Direct commands
===============
set_fictious_sample_rate
------------------------
Nr: 0x70
I have choosen to support read as well as write, that way it is easier
to verify correctness. This command will force the S1800 drive to
calculate a new value for the parameter 'speed_scale' (#96).
The drive does not prevent this parameter to be changed when the motor
is enabled, in that case the motor speed will change immediatly.
Description according to specification 3.14.
Number representation: 16.16bit
get_count_per_turn
------------------
Nr: 0x71
Read only. In the S1800 drive this can not be changed.
Return the number of counts per mechanical motor turn.
Number representation: 32bit
get_maximum_rpm
---------------
Nr: 0x72
Read only.
The returned value is calculated from the number given by the
set_fictious_sample_rate and get_count_per_turn direct commands. Shall
be interpreted as the maximum 'application' speed in RPM for the value
previosly set by the set_fictious_sample_rate direct command.
Number representation: 24.8bit
- A missing DC-bus will now prevent the drive to be enabled and the brakes
to be released.
Note. As soon as the DC-bus voltage is present the motor will be enabled.
- Motor temperature threshold can now be set. Parameter motor_temp_limit (#97).
A value of 18184 represent a 1.2kOhm temp sensor.
Rx + 0.047 Ohm 15
motor_temp_limit = ------------------ * 2 - 1
1.047k Ohm + Rx
where Rx is resistance in kOhm of temperature sensor at trip point.
- The hardware supervision flip-flop is now reset when the Synqnet 'Clear
fault' command is given.
- Added feedback and torque reversal.
The feedback can individualy be reversed by setting bit15 in parameter
"feedback_type" (#6). The direction of rotational can be changed by
setting bit14 in "reg_mode" (#20).
- The "Run away" resolver issue has been corrected. The FPGA was not fully
cleared when the 'Clear Fault" direct command was given.
- The S1800 velocity PI regulator has been extended to an PID regulator
where the D-part is set in parameter speedreg_gain_deriv (#98).
Known issues:
- BISS sensors, single turn with resolution larger that 16 bits does not work.
- Setting up a secondary resolver is possible over SynqNet, currently
the dm file does not indicate this. However, it is possible to set this
up using foxmon. A later version will address the dm file issue.
------------------------------------------------------------------------------
v1.8 (0x0108) 2006-07-13 Beta version
Expected MEI: 03.04.Beta1 For secondary resolver and velocity
mode to work.
03.03.00.B1.14
03.03.00.B1.12
03.03.00.B1.10
Expected FPGA: 8.0.11 (0x800B)
Expected DriveFW: 131.51 (0x8333)
Features:
- SynqNet motion control system
- Supports Synqnet primary and secondary feedback.
- SynqNet Torque and velocity mode support
- PM Motors
- Resolver feedback
- Encoder feedback
- Biss feedback
Additions and Changes:
- Synqnet velocity mode is now working.
- Corrected the 'Clear fault' issue by waiting an additional synqnet state
before setting the 'Done' bit.
Known issues:
- Missing DC-bus does not prevent the drive to be enabled.
- Motor temperature, fixed threshold.
- The SynqNet 'fictitous_sample_rate' parameter does not follow the
specification.
- The hardware supervision flip-flop is not reset when the Synqnet 'Clear
fault' command is given.
------------------------------------------------------------------------------
v1.7 (0x0107) 2006-07-04 Beta version
Expected MEI: 03.04.Beta1 For secondary resolver to work.
03.03.00.B1.14
03.03.00.B1.12
03.03.00.B1.10
Expected FPGA: 8.0.11 (0x800B)
Expected DriveFW: 131.51 (0x8333)
Features:
- SynqNet
- Supports Synqnet primary and secondary feedback.
- PM Motors
- Resolver feedback
- Encoder feedback
- Biss feedback
Additions and Changes:
- Added error handling including error bits for feedbacks.
- A lot more parameters added.
Known issues:
- Missing DC-bus does not prevent the drive to be enabled.
- The SynqNet 'Clear faults' command may need to be given multiple times.
- Synqnet velocity mode does not work.
- The hardware supervision flip-flop is not reset when the Synqnet 'Clear
fault' command is given.
------------------------------------------------------------------------------
v1.6 (0x0106) 2006-05-10 Alpha version
Expected MEI: 03.03.00.B1.14
03.03.00.B1.12
03.03.00.B1.10
Expected FPGA: 8.0.11 (0x800B)
Expected DriveFW: 131.51 (0x8333)
Features:
- PM motors can be servoed, using encoder or resolver feedback.
Additions and Changes:
Known issues:
- Missing DC-bus does not prevent the drive to be enabled.
- The SynqNet 'Clear faults' command may need to be given multiple times.
- Not much error handling. Failing feedback devices will not generate alarm
or error and will not shut the system down.
- A broken safety line will prevent brakes from being released but not
prevent power to be enabled to the motor and it is not reported as an
error.
- Brakes are not PWM controlled
- If startup error occure then system will fail to communicate over SynqNet,
reder the system useless.
- Motor temperature, fixed threshold.
- The hardware supervision flip-flop is not reset when the Synqnet 'Clear
fault' command is given.
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