Kollmorgen Automation Suite

Release Notes

Document Edition: G, June 2017

Valid for KAS Software Revision 2.12
Valid for AKD firmware version: 1.16
Part Number: 959720

Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.
 Release Notes |

Trademarks and Copyrights

Copyrights
Copyright © 2009-17 Kollmorgen™
Information in this document is subject to change without notice. The software package described in this
document is furnished under a license agreement. The software package may be used or copied only in
accordance with the terms of the license agreement.
This document is the intellectual property of Kollmorgen™ and contains proprietary and confidential
information. The reproduction, modification, translation or disclosure to third parties of this document (in
whole or in part) is strictly prohibited without the prior written permission of Kollmorgen™.

Trademarks
l KAS and AKD are registered trademarks of Kollmorgen™.
l Kollmorgen™ is part of the Fortive Company.
l EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
l EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH
l Ethernet/IP is a registered trademark of ODVA, Inc.
l Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
l HIPERFACE is a registered trademark of Max Stegmann GmbH
l PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
l SIMATIC is a registered trademark of SIEMENS AG
l Windows is a registered trademark of Microsoft Corporation
l PLCopen is an independent association providing efficiency in industrial automation.
l INtime® is a registered trademark of TenAsys® Corporation.
l Codemeter is a registered trademark of WIBU-Systems AG.
l SyCon® is a registered trademark of Hilscher GmbH.
l Kollmorgen Automation Suite is based on the work of:
l Qwt project (distributed under the terms of the GNU Lesser General Public License - see also
GPL terms)
l Zlib software library
l Curl software library
l Mongoose software (distributed under the MIT License - see terms)
l JsonCpp software (distributed under the MIT License – see terms)
l U-Boot, a universal boot loader is used by the PDMM (distributed under the terms of the GNU
General Public License). The U-Boot source files, copyright notice, and readme are available on
the distribution disk that is included with the PDMM.

All other product and brand names listed in this document may be trademarks or registered trademarks of their
respective owners.

Disclaimer
The information in this document (Version G published on 6/22/2017) is believed to be accurate and reliable at
the time of its release. Notwithstanding the foregoing, Kollmorgen™ assumes no responsibility for any
damage or loss resulting from the use of this help, and expressly disclaims any liability or damages for loss of
data, loss of use, and property damage of any kind, direct, incidental or consequential, in regard to or arising
out of the performance or form of the materials presented herein or in any software programs that accompany
this document.
All timing diagrams, whether produced by Kollmorgen™ or included by courtesy of the PLCopen organization,
are provided with accuracy on a best-effort basis with no warranty, explicit or implied, by Kollmorgen™. The
user releases Kollmorgen™ from any liability arising out of the use of these timing diagrams.

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 Release Notes | 1 Table of Contents

1 Table of Contents
1 Table of Contents 3
2 Introduction 4
3 Installation 5
3.1 System Requirements 5
3.2 Firmware & Software Requirements 6
3.2.1 Controller Software 6
3.2.2 Firmware Requirements 6
3.2.2.1 Mandatory Resident Firmware 7
3.2.3 Kollmorgen Visualization Builder 7
3.3 KAS Controls 8
3.4 Allow Simulator to Use HTTP Communication 9
4 What's New 10
4.1 AKD2G Support 10
4.2 EtherCAT Diagnostics 10
4.3 FFLD Editor Comments 11
4.4 AKI2G HMI Panel Support 11
4.5 Kollmorgen Visualization Builder 2.20 11
4.6 MC_MoveContVel 11
4.7 Pipe Network Editor Improvements 12
4.8 SSH Security 12
4.9 v1-16 AKD Firmware 12
5 What's Changed 13
5.1 Oscilloscope Trace Times 13
6 What's Fixed 14
7 Known Issues 16
7.1 KAS Runtime Fails to Start on the PAC over Remote Desktop 16
7.2 Miscellaneous Known Issues 17
8 Known Limitations 19
8.1 FFLD Animation Limitation 19
8.2 EtherCAT Limitations 19
9 Third Party EtherCAT Device Support 20
9.1 Requirements 20
9.2 Limitations 20

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 Release Notes | 2 Introduction

2 Introduction
Welcome to KAS v2.12! This release contains new features and many improvements. This document is
intended to help existing users understand the differences between this and KAS v2.11. If you are new to
KAS, we recommend that you start off with other documents, such as the Installation Guide.
This document has five sections:

l "Installation" (p. 5) — this section covers system requirements as well as provides firmware, software,
and hardware information.
l "What's New" (p. 10) — an overview of new features.
l "What's Changed" (p. 13) — this section discusses how this release may affect some of your older
projects. It let's you know what to do when upgrading, especially if there is anything you need to be
careful about.
l "What's Fixed" (p. 14) — a list of issues addressed in this release.
l "Known Issues" (p. 16) — this section contains issues we are aware of, and methods for avoiding or
working around them.

This document contains links to more complete descriptions in the online help. Wherever you find this icon
, you may click it and go to the help topic on KDN. We point to KDN with absolute links so you can use
this PDF from any directory.

We recommend that you visit the Kollmorgen Developer Network (“KDN”). KDN is an online resource which
includes a knowledge base, provides access to downloads, and has a user community where you can get
answers from peers and Kollmorgen employees, and make feature suggestions for KAS. Additionally, beta
versions of the help are posted and are searchable. Stop by http://kdn.kollmorgen.com, take a look around,
and don’t forget to register.

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 Release Notes | 3 Installation

3 Installation

3.1 System Requirements

Element Description
Operating System Microsoft® Windows® 7 SP1 (32 or 64-bit). For optimal performance, please be
sure your operating system is fully updated with the latest patches.
Processor type Intel® Pentium® M or equivalent processor at 1.5 GHz or greater.
Memory 1 GB RAM or greater (which is recommended for complex applications)
Storage 1 GB hard drive or compact flash space
Display WXGA+ (1440 x 900) or higher-resolution monitor with 24-bit color. See Note #1
below.
Connectivity 1 Ethernet port, at either 100Mbits/s or 1Gbits/s. See Note #2 below.
Web Browser A modern web browser is required to access the web server and online help. We
recommend Internet Explorer (IE9 or later, see Note #3) , Mozilla FireFox ,

or Google Chrome .

1. Better results are achieved with OpenGL and 3D cards.

2. A 100Mb network is required in order to allow the IDE to Runtime communication to work in all
conditions. The AKDWorkBench AutoTuner and Scope both require 100Mb of bandwidth to function
properly.
3. IE9 should be considered a minimum. Later versions of the browser are more compliant with web
standards and afford better performance and compatibility.

See the topic Connect Remotely for information about the ports used by KAS which may need to be opened
to support connecting from an external network.

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 Release Notes | 3 Installation

3.2 Firmware & Software Requirements

KAS is comprised of several software components integrated together to provide a complete motion system.
We recommend the following component software versions for best performance and compatibility.

3.2.1 Controller Software

Software Images Recommended Version
KAS IDE 2.12.0
PAC master image (Previous KVB 1.2 runtime pre-installed) 2012-04-30

3.2.2 Firmware Requirements

Controller Firmware to use with KAS version 2.12
Description Type Name
800 MHz PCMM KAS Runtime KAS Runtime Firmware for AKD-PCMM
(KAS-PCMM-M-MCEC)
800 MHz PDMM KAS Runtime KAS Runtime Firmware for AKD-PDMM
(KAS-PDMM-M-MCEC)
1.2 GHz PCMM KAS Runtime KAS Runtime Firmware for AKD-PCMM
(KAS-PCMM-M-M1EC)
1.2 GHz PDMM KAS Runtime KAS Runtime Firmware for AKD-PDMM
(KAS-PDMM-M-M1EC)
PAC Master Image (Previous KVB 1.2 v.2012-04-30
runtime pre-installed)

KAS is compatible with AKD-M (PDMM Drive), AKD-P (Motion Tasking Drive or Position Indexer), AKD-C,
and AKD-N drives. The recommended firmware version is dependent upon your drive's model and revision.
The operational image recommended with this release is 01-16-00-002.

Drive Firmware to use with version 2.12

Description Type Name
AKD Firmware for KAS Operational AKD-Firmware-for-KAS-V01-16-00-002
Resident R_00-00-56-000.i00
Firmware for drive built into 800 MHz AKD AKD PDMM Servo Drive Firmware AKD-M-MCEC-01-
PDMM PDMM 16-00-002.i00
1.2 GHz AKD AKD PDMM Servo Drive Firmware AKD-M-M1EC-01-
PDMM 16-00-002.i00
AKD Drive Firmware AKD-N AKD-N-xxEC-01-16-00-002.i00
AKD-P AKD-P-NBxC-01-16-00-002.i00

Please be aware that you may get a F106 error after upgrading your AKD firmware. This indicates that non-
volatile parameters are not compatible between the two firmware versions. Resetting the drive to the default
memory values using Parameter Load will fix this error.

FBUS.PARAM05 bit 5 should be set to 0, which is the default value. This will prevent an error E33 and
EtherCAT not starting.
If it is not set to the default, the rotary switch of the drive is used to set the EtherCAT Station Alias. This can
conflict with the address that KAS is writing.

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 Release Notes | 3 Installation

3.2.2.1 Mandatory Resident Firmware

The recommended resident firmware is v56 (R_00-00-56-000). The recommended resident firmware for AKD-
C and AKD-N is v56 (R_00-00-56-000). To reliably support the EtherCAT Firmware Download, the resident
firmware must be at least version 35. Please contact Kollmorgen for any AKD Drive with resident firmware
lower than v35.

3.2.3 Kollmorgen Visualization Builder

Software Images Recommended Version Download
Kollmorgen Visualization Builder (KVB) master image 2.20

The new installation package contains both the IDE and runtime for TxC panels. The KVB ZIP file contains
two different installers:

Install Type File Notes

New setup.exe This is the complete package which will install all prerequisite
installation components.
Runtime RuntimeSetup.exe This package contains runtime software for TxC panels.
Supported by KVB 2.20
Hardware / Software Versions
Operating Systems Windows® 7, Windows 8, Windows 10
Controllers PCMM, PDMM
HMI All Kollmorgen AKI panels

The KAS IDE creates projects using KVB 2.0. When you open a version 2.0 project by double-clicking on it,
KVB will upgrade the project to version 2.20.

KVB 1.2 projects are not compatible with KVB 2.x. An attempt to open a v1.2 project with v2.x will result in
an alert message. If accessing v1.2 projects is important, we recommend keeping both versions installed
on your system. New panels will automatically use KVB 2.0.

If you have a KVB 1.2 project that needs to be updated in KVB 2.x, please contact Kollmorgen.

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 Release Notes | 3 Installation

3.3 KAS Controls

KAS Runtime is compatible with, and has been verified with the following hardware models:

Description Model Number Main Characteristics

PCMM AKC-PCM-MC-80-00N-00-E00 800 MHz Standard Mutli-axis Controller
PCMM AKC-PCM-M1-120-00N-00- 1.2 GHz High Performance Multi-Axis Controller
E00
PDMM AKD-M0xxxx-MCEC-0000 800 MHz Standard Drive Resident Controller
PDMM AKD-M0xxxx-M1EC-0000 1.2 GHz High Performance Drive Resident Controller
Panel PAC AKC-PNC-C1-224-10N-00-000 Mono-core 1.2 GHz CPU, 2GB RAM, 10" display
Panel PAC AKC-PNC-C1-224-15N-00-000 Mono-core 1.2 GHz CPU, 2GB RAM, 15" display
Panel PAC AKC-PNC-D1-224-15N-00-000 Dual-core 1.86 GHz CPU, 2GB RAM, 15" display
Panel PAC AKC-PNC-D1-224-17N-00-000 Dual-core 1.86 GHz CPU, 2GB RAM, 17" display
Performance Box AKC-PLC-C1-224-00N-00-000 Mono-core 1.2 GHz CPU, 2GB RAM
Controller
Performance Box AKC-PLC-D2-224-00N-00-000 Dual-core 1.86 GHz CPU, 2GB RAM
Controller
Performance Box AKC-RMC-D2-224-00N-00-000 Dual-core 1.86 GHz CPU, 2GB RAM
Controller

KAS IDE and Simulator should not be installed on a PAC, PDMM, or PCMM.

In order to prevent CF card corruption when shutting down the PAC, we recommend using the Enhanced
Write Filter (EWF). This filter redirects all the write operations in memory in order to avoid making physical
write operations in the compact flash.
The filter should be activated on the PAC when it is fully set up, programmed, and will not change. In case
of a significant change, such as a new KAS version or downloading a new application, the recommendation
is to turn off the EWF, make the change, and then reactivate it. Please see the user help to learn how to use
the EWF.

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 Release Notes | 3 Installation

3.4 Allow Simulator to Use HTTP Communication

The Simulator needs to open HTTP ports to allow communication. The first time Simulator is run, Windows
will prompt you to block or unblock the KAS application. You should allow access to all of these requests to
ensure correct behavior.

The Simulator uses port 80 for the web server. This communication channel is mandatory for Simulator to
work properly. So please close any application, such as VOIP, that may use port 80 before starting Simulator.

For more information see Start KAS Simulator in the online help.

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 Release Notes | 4 What's New

4 What's New

4.1 AKD2G Support

This release of KAS supports the forthcoming AKD2G drives.

4.2 EtherCAT Diagnostics

This release provides users with ways to diagnose/fix EtherCAT communication problems and maintain
EtherCAT network operation.
Web-server EtherCAT Diagnostics tab: The web-server diagnostics EtherCAT tab provides information
about communication problems. It can identify the location(s) of either failed or degraded communication.

Examples:

A degraded connection is highlighted A failed connection is identified

Configurable Working Counter Error Limit: A user-configurable limit

has been added. If the working counter error limit is exceeded, the
EtherCAT network communication will be shutdown with an E30 error.
The default value is the same as the previous release for backwards
compatibility. For more details, see the KAS documentation sections:

l KAS IDE Reference > Configuring EtherCAT > EtherCAT

Master Settings
l Troubleshooting > EtherCAT Diagnostics & Errors > EtherCAT
Error Messages

EtherCAT Working Counter Error Alarm (A31): If an EtherCAT

Working Counter Error occurs it means that one (or more) EtherCAT
devices did not respond properly to the controller. The A31 alarm
provides notification when a Working Counter Error occurs. An A31 indicates an EtherCAT cable problem, the
EtherCAT device is busy, or device failure.
See EtherCAT Error Messages for more information.
Functions: A set of functions have been added that can be used in a project to help diagnose EtherCAT
communications issues.

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 Release Notes | 4 What's New

l ECATWCStatus(…): The EtherCAT working counter error count can be read using the function
ECATWCStatus(…). This function provides a quick way to monitor if there any network communic
ation errors between the EtherCAT master and devices.
l ECATMasterStatus(…): The EtherCAT master state and lost frame counter can be read using the
function block ECATMasterStatus(…). This function block is useful to determine the EtherCAT
network state and quantify the EtherCAT communication failures in the return path to the controller.
l ECATDeviceStatus(…): The EtherCAT slave device state and link status for each port can be read
using the function block ECATDeviceStatus(…). This function block is useful to locate the device(s)
with communication errors, when the ECATWCStatus(…) function indicates there are EtherCAT
communication errors from the network device(s).
l ECATCommErrors(…): EtherCAT communication problem details can be read using the function
block ECATCommErrors(…). This function block is useful to identify the EtherCAT degraded
connections and to quantify the EtherCAT communication errors between device connections.

4.3 FFLD Editor Comments

The IDE supports comments within an individual cell. Comments can be entered by selecting a cell and using
the right-click context menu item (Insert Comment) or by using the keyboard shortcut (Shift+C). If the text is
long it can display beyond the bounds of the cell (to the right, and below) until another item is found.

4.4 AKI2G HMI Panel Support

This release provides support for the new AKI2G-CDA (5" and 7") and -CDB (7" and 12") HMI panels.

4.5 Kollmorgen Visualization Builder 2.20

With this release KAS offers a new version of the Kollmorgen Visualization Builder (KVB).

4.6 MC_MoveContVel
The function block MC_MoveContVel has been added to support a continuous velocity move. This function
block is easy to use, it features:

l No direction input, it uses the sign of the velocity input to specify the direction
l Continuous Update input – input values (velocity, acceleration, etc.) are applied to the executing
move, when Continuous Update is TRUE.
l Allows a speed input equal to zero.

This function block is recommended instead of the MC_MoveVelocity(…) function block, due to the additional
features and easier to use programming inputs. For more details, see MC_MoveContVel in the
documentation.

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 Release Notes | 4 What's New

4.7 Pipe Network Editor Improvements

The Pipe Network Editor has received the following enhancements.

l Multiple blocks can be selected by Ctrl-clicking on blocks and connectors

l An area of blocks and connectors can be selected by right mouse click and dragging a selection box
l Select all blocks and connectors with Ctrl-A
l Move multiple blocks and connectors as a group with the mouse
l Delete key will delete the selected items
l Cut, Copy, and Paste shortcuts and context menus
l Alt+Enter with open the properties window

For more information see the KAS documentation section Pipe Network Editor Controls.

4.8 SSH Security

PCMM and PDMM controllers can now be accessed via Secure Shell (SSH) for maintenance or
troubleshooting. SSH has replaced Telnet for security reasons. Please note that you should change the
controller's default root password for security reasons. See Using SSH.

4.9 v1-16 AKD Firmware

l The AKD Firmware v1-16 (and higher) supports a new drive parameter, ECAT.LEGACYREV, to
enable a backwards compatibility RevisionNo (0x2). By default, AKD-Series drives will ship with the
latest production release firmware, with ECAT.LEGACYREV = 1, for backwards compatibility.
l The AKD Firmware version 1-16 (and higher) supports a 3rd FMMU if the ECAT.LEGACYREV = 0.
The advantage of using a 3rd FMMU is 30% performance improvement with the KAS IDE embedded
Workbench communication.
l EtherCAT RevisionNo: EtherCAT provides an optional field to identify a vendor specific RevisionNo
for a device and a field to specify the logic to CheckRevisionNo for device compatibility. The KAS IDE
and Runtime supports multiple RevisionNos for the same Vendor/ProductID. In previous KAS
versions, the EtherCAT initialization would generate a device mismatch error, if the device's
RevisionNo and the project's RevisionNo did not match. If the device's ESI file does not specify the
CheckRevisionNo logic, then by default the KAS Runtime will allow any RevisionNo at EtherCAT
initialization. Also, the IDE will allow you to map physical devices to project devices with different
RevisionNos and keep the project device configurations.
l Limitation: The CheckRevisionNo options "equal or greater than" (EQ_OR_G, LW_EQ_HW_EQ_OR_
G, and HW_EQ_LW_EQ_OR_G) are not supported. They will be evaluated as "equal" (EQ).

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 Release Notes | 5 What's Changed

5 What's Changed
This section discusses changes in products that you should be aware of.

5.1 Oscilloscope Trace Times

The measurements for the PLCProgExecTime and RealTimeMargin traces have been improved.

l The PLCProgExecTime is minimally affected; compared to an identical PCMM/PDMM program from

a previous version v2.12 may report a 0µs to 1µs decrease in PLC execution time.
l The RealTimeMargin now includes other processes needed by the PDMM/PCMM (e.g., the web
server, and 7-segment display). Consequently, for an identical PDMM program, the RealTimeMargin
may show a decrease corresponding to 3% to 4% of the cycle time.

For more details, see the KAS documentation section Using Trace Time To Measure CPU Load.

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 Release Notes | 6 What's Fixed

6 What's Fixed
Following are the issues corrected by this release.

Items Fixed By KAS v2.12

Defect Description
BZ-9358 Coordinated Motion Abort with Simulator
BZ-9335 MLProfileBuild fails when cam point lies on the output boundary
DT-3443 Kollmorgen drive position feedback for object 0x6064
DT-3436 Drag-and-drop to create a UDFB instance without a default name. To work-around, enter the
object name or select an instance form the variable selector pop-up box.
DT-3433 MLSmpConECAT does not work with AKD at address 1001.
Prior to 2.12 RC 18, PDO data types for flexible PDO objects were not recorded correctly. This
caused the MLSmpConECAT to fail or on some occasions to connect the PDO object with an
incorrect bit width. When updating an application to v2.12 RC18 or later, where
MLSmpConECAT is needed for a flexible PDO, then delete and re-Add the flexible PDO entry
in the "PDO Editor" tab. This will cause the data type to be recorded correctly. For example:

DT-3432 Disconnect of the controller from the IDE when doing multiple connects and disconnects
DT-3429 Ctrl+Space shortcut does not work in the ST editor
DT-3426 Insert Profinet Master Port with Fieldbus Editor Fails. The previous KAS v2.11 can be patched
by replacing the K5BusPNIODev.dll in the installed directory: C:\Program Files
(x86)\Kollmorgen\Kollmorgen Automation Suite\Astrolabe\Bin\IOD. Or using the Patch
Release version: 2.11.1.69816.
DT-3425 KAS editor not showing all the objects
DT-3424 HTTP Get is not working
DT-3423 KAS Crashes When App is Closed While Workbench Scope is Recording
DT-3421 Cam-in starts at mid-point
DT-3420 Status of MC_Power function block cannot be used to start a move
DT-3415 MC_BUFFER_MODE_BLENDING_NEXT may cause excessive acceleration
DT-3399 Multi dimensional array variable export to HMI causes compiler error
DT-3307 Data Exchange Direction parameter in KVB tag setup is being erased
DT-3276 Negative UserUnits prevents MC_GearInPos working
DT-3198 MLAxisAbs with new velocity causes overshoot. Multiple calls to MLAxisAbs with same target
position and different velocities, made before the move completes, will cause the position to
overshoot the target position.
DT-3040 Function block inputs variables are not updated
DT-1709 Common shortcuts do not work in Pipe Network editor.

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 Release Notes | 6 What's Fixed

Items Fixed By KVB v2.20

Defect Description
DT-3434 KVB View all objects not working
DT-3422 KVB Serious error
DT-3392 Cannot add new tags to KVB project without Rebuild
DT-3307 Data Exchange Direction parameter in KVB tag setup is being erased (requires KAS v2.12
RC15 or higher).
DT-3281 KVB unhandled exception error

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 Release Notes | 7 Known Issues

7 Known Issues

7.1 KAS Runtime Fails to Start on the PAC over Remote Desktop
Symptom: When accessing the PAC via Remote Desktop, KASRuntime fails to start. Instead, this pop-up is
displayed:

Workaround: Set the Remote Desktop “Remote audio playback” setting to “Play on remote computer”:

1. In Remote Desktop, before connecting to the PAC, click on the Show Options arrow.
2. Click on the Local Resources tab and click Settings….

3. Set Remote audio playback to Play on remote computer.

4. Click OK and connect as usual.

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 Release Notes | 7 Known Issues

7.2 Miscellaneous Known Issues

DT-3442 PDO objects not defined in the object dictionary (or 24bit size) will not work properly with
MLSmpXxxxx(...) functions
DT-3439 IDE hangs if AKD variable added to watch window before opening AKD-GUI. To work-
around, open the AKD-GUI (Configuration tab) first.
DT-3437 Tree view on Leftside of integrated Workbench doesn’t appear sometimes. If the IDE to
controller Ethernet connection has a degraded connection with low bandwidth (< 10Mbit),
the integrated Workbench views may take several seconds to minutes to become visible.
DT-3431 PLCopen move blending with jerk. If the blending move is commanded with an
unreachable velocity, the move may abruptly decelerate to the final position within one
sample, exceeding the specified deceleration rate.
DT-3427 E21 when IDE running O-Scope is disconnected
DT-3419 Adding ESI File After Scanning Results in No Selected PDOs
DT-3418 PLCopen S-Curve move may not reach target with small Jerk
DT-3417 EtherCAT scan fails after a AKD drive firmware download failure with a wrong EtherCAT
topology
DT-3413 KAS IDE cannot open projects with Korean characters in path
DT-3410 Recovered projects don’t recover imported libraries (.kal files)
DT-3408 When a crash report fails due to error (ex: timeout, connection failure, …) report is lost.
User cannot resend
DT-3383 IDE displays LREAL with same precision as REAL.
DT-3382 MLInitTrig does not configure the AKD Capture engine correctly for a negative edge trigger.
DT-3367 ECAT network restore fails to recover from drive FW download failure.
DT-3328 PipeNetwork Trigger block inaccuracies due to 6 sample latency
DT-3290 PDOs need padding to meet byte boundary requirement. The IDE PDO Editor does not
automatically pad PDOs on non-byte boundaries. The problem can be avoided by manually
adding dummy objects to pad the PDO size to line-up on byte boundaries. For more details,
see the article on KDN: kdn.kollmorgen.com/content/how-do-i-insert-pdo-padding-kas-
pdo-editor
DT-3287 KL3314 Operation. Temperature values are not calibrated properly to the thermocouple. To
work-around the problem, use ECATWriteData to setup the control word (16xE0) and send
value (16x2006) to Register R32 and a second ECATWriteData to write zero (0) to the
control word to set up the continual output of the temperature.
DT-3265 Modbus renumber address does not work with String variables. In the Fieldbus Editor
Modbus configurator, if you right click input registers and choose the renumber address
option, it will make the addresses overlap.
DT-3261 EOT Drive limits and KAS profile generator. The AKD-series drives will ignore the KAS
command position when the EOT limits are activated.
DT-3041 Missed cycles while doing file operations
DT-3029 KVB checkbox is present for variable of type PLC lib;xxx structures and on click it brings
the Edit Variable Window
DT-3013 Modified cam file is not downloaded when forcing an Online Change.
DT-2940 WebBrowser component not working for TxB panels
DT-2935 K-Bus slices analog inputs Offset parameter does not work
DT-2798 IDE disconnects from the controller after several days
DT-2615 “Find unused variables” used while program is running opens error pop-ups
DT-2590 Breakpoint with For(…) loop, increases VM load significantly
DT-2560 IDE animation with non-matching project versions

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 Release Notes | 7 Known Issues

DT-2523 On windows 7 Home Premium Edition on HP computers, there is a known issue when
using the simulation. This issue documented on MSDN.
https://blogs.msdn.microsoft.com/b/brandonwerner/archive/2010/03/14/the-nasty-visual-
studio-platform-mcd-error-in-visual-studio-2010-rc.aspx
DT-1537 User units are not applied to the “spinning wheels”
DT-1134 IDE always reports the project has been modified

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 Release Notes | 8 Known Limitations

8 Known Limitations
l The undo action is not possible for all operations.
l Find/Search/Replace function: Search & Replace function is not supported in Pipe Network. Search
and replace for HMI are supported only with local CTRL+F
l In SFC programs, breakpoints can only be set on transitions (i.e. in First Level diagram), and not in
steps or conditions. With a breakpoint set on transition, you can debug cycle by cycle.
l SFC programs are limited to 64kByte size due to the bytecode engine. If the SFC program exceeds
64kBytes, the compiler will generate a warning message: Warning: limit is 64KB!
l Plugging the EtherCAT cable to the OUT port is not detected and is not reported as an error
l PLC Variable mapping: each PLC variable can be mapped to an EtherCAT IO and exclusively to:
l Modbus for an HMI
l Or to an PDMM Onboard IO
l Or to an external driver like Profibus
For example, a PLC variable cannot be mapped to Modbus and Onboard PDMM IO at the same time.

8.1 FFLD Animation Limitation

The animation of FFLDs defined as UDFBs has a limitation where connected rails are not being animated.
This is not the case when FFLDs are defined as programs or subprograms.

8.2 EtherCAT Limitations

l Cabling: Plugging the EtherCAT cable from an OUT port to an OUT port is not detected and not
reported as an error.
l Cabling: The following pertains to cases where an Ethernet hub is present between the PAC and the
first EtherCAT device. If the cable between the hub and the EtherCAT device is disconnected, the
controller will not stop the motion and the axis will not be shown as being in fault. The axis will only
display the fault state after the cable is reconnected. To recover from this situation the PAC must be
power cycled.
l External EtherCAT Configuration: If an external EtherCAT XML file needs to be used, the file
AKD-for-KAS.xml should be used as the ESI file for AKD. This ensures proper operation with
KAS. It can be found at
C:\Users\<user.name>\AppData\Local\Kollmorgen\KAS\Astrolabe\ESI\.

Kollmorgen™ | kdn.kollmorgen.com | June 2017 19

 Release Notes | 9 Third Party EtherCAT Device Support

9 Third Party EtherCAT Device Support

This section summarizes the known capabilities and limitations with KASsupport for 3rd party EtherCAT
devices:

9.1 Requirements
l All 3rd party devices must have an ESI file containing the device information, features, and settings.
l MDP devices must support automatic module discovery at EtherCAT network scan.

9.2 Limitations
l KAS may not discover MDP fieldbus gateway devices that require MDP gateway profiles,
implemented to the ETG 5001.3 specification. This includes gateway protocols: CAN, CANopen,
DeviceNet, Profibus, Interbus, and IO Link.
l 3rd party drives are not supported by the motion engine. Mapping axes to 3rd party drive is not
supported.
l PDO upload is not supported.
l Manual slot configuration is not supported with MDP devices.

20 Kollmorgen™ | kdn.kollmorgen.com | June 2017

About KOLLMORGEN
Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class
knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom
products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-
of-use, giving machine builders an irrefutable marketplace advantage.

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