Record of document revisions

Revision	Remarks
6/2010	Combined User Guide and Parameter and Command Reference Guide (released in WorkBench only).
9/2010	Combined User Guide, CANopen, and EtherCAT manuals. Updated for Release 1.3.
11/2010, Rev A	Usability improvements, minor topic edits.
12/2010, Rev B	Document part number update.
05/2011, Rev C	Updated for release 1.4. Added Modbus, modulo, new homing modes, registration moves, W&S improved, new parameters, PLS enhanced, velocity unit changes, motion tasking revisions, switch bounce conditioning (DINx.FILTER), linear motor parameters.
10/2011, Rev D	Updated for release 1.5. Added Configuring with Linear Motors section. New parameters for EIP, DRV, MODBUS, VM, DIO, IP, FB3, IL, FB2, AIN. Improved description of rotary switch use, modbus scaling, homing.
03/2012, Rev E	Updated for release 1.6. Added chapter on Using AKD in a Vertical Axis. Updated parameters for FB1, FB2, FB3, CANOPEN. Updated Modbus Manual.
05/2012, Rev F	Updated for BASIC IO option card. Rotary switch functions updated. Option IO parameters in SD, AIN2, AOUT2, DIN, and DOUT parameter categories added.
08/2012, Rev G	Updated with new Wake and Shake chapters and parameters, new Z pulse digital output mode, and Motion Profile Table screens.
12/2012, Rev H	Updated with new parameters for induction motor support. Also added new parameters in FBUS, REGEN, and DRV. Added two new digital output modes, 20 and 21.
05/2013, Rev J	Updated with new FB1 and IL parameters. New motor temperature screen and motor derating.
09/2013, Rev K	Initial Position Check feature added. Feedback type "none" added. Capture Feedback Source added. Parameters added: GUI.DISPLAYS, TEMP.POWER1 to TEMP.POWER3, DRV.DOWNLOADALLOWED Motion profile table topics re-written (Motion Profile Table). Variant support information added to all parameters.
12/2013, Rev L	AKD-C Display Codes added. Digital Input Mode 26: Suspend Motion added. Program Memory Space added. The -C Central Power Supply (pg 1) and The -N Family of Digital Drives (pg 1) added. DRV.MOTIONDISSOURCES, FB1.LASTIDENTIFIED, and VL.VFTHRESH added. MOTOR.IDMAX, MOTOR.LDLL, MOTOR.LISAT, MOTOR.PHSADVK1, MOTOR.PHSADVK2, MOTOR.SUPPORTEDPARAMS, MOTOR.TEMPC added (see MOTOR Parameters ). CPS Parameters, NSD Parameters, and STRING Parameters, STRINGS Parameters added. FAULT564.ACTION, FAULT565.ACTION added.
05/2014, Rev M	MOTORPHASE and MOTORPOLES parameters added to FB1 Parameters , FB2 Parameters , and FB3 Parameters. FB3.DIR added. MT.FEEDRATE added. Using Custom Units with Feedback 2 section added. Modes 15, 16, and 17 added to Encoder Emulation. Homing modes 14 and 15 added (HOME.MODE).
12/2014, Rev N	Limitation for ECCN 3A225 Limitations for Induction Motors. Homing Mode 16: Find home input with dual edges added. Compare Engines and CMP Parameters added. Parameters DRV.CUSTOMIDENTIFIER, DRV.FAULTDISPLAYMODE, , EIP.RSPMAP, and FAULT570.ACTION added.
12/2015, Rev P	Digital output mode 24 added. PL.PDELAY and VL.FFDELAY added. MOTOR.FIELDWEAKENING added. SM.ACC and SM.DEC added. Extended Multiturn and FB1.EXTENDEDMULTITURN added. Halls Only mode 12 of FB1.SELECT added. PN.POSSCALE added. EIP.OBJECTLIST added. EIP.ACC and EIP.DEC added. AIN.OVFTHRESH, AIN.OVWTHRESH, AIN.UVFTHRESH, and AIN.UVWTHRESH added. PN.TIMEOUTFTHRESH added. STRINGS.PHASELOSSOFTHRESH added. DS402 Parameters added. Note regarding firmware download times added to Downloading Firmware. Updated fieldbus index and address numbers for all fieldbus types and parameters.
09/2016, Rev Q	Added Cogging Compensation feature. Added homing modes 17 and 18. Added User Traces feature to scope. Added COGCOMP Parameters. Added parameters DRV.EMUESTEPCMD, DRV.EMUESTEPCMDPIN, DRV.EMUESTEPCMDPOUT, FBUS.SYNCLOCKWND, FBUS.SYNCACQUIREWND, IL.KPSOURCE, GEAR.SYNCWND, IL.VLIMIT, HOME.TPOSWND, HOME.MOVEREQUIRED, HOME.IPEAKACTIVE, STRINGS.IPMODERESET, STRINGS.FORCEDOWNLOAD, PL.KITHRESH, VL.KIMODE.
03/2017, Rev R	Added F706 and FAULT706.ACTION. Added Initial Position Check feature. Added DS402.CONTROLWORD and DS402.STATUSWORD. Added Setting up Ethernet over EtherCAT (EoE). Updated documentation for MOTOR.INFO, PL.ERRFACTOR, PL.ERRTIME, DRV.POWERBOARDID, FB1.ENCRESSOURCE, FBUS.INTERPOLATEMODE, and FBUS.BLOCKING.
11/2017, Rev S	New topic on WorkBench Projects for 1.17. . New keywords FB1.ENCSIGN, PL.GEARIN, PL.GEAROUT, STRINGS.STOSTATEMASK, STRINGx.DRIVESIPADDRESS, STRINGx.DRIVESMACADDRESS, STRINGx.DRIVESMODEL, STRINGx.DRIVESSTOSTATE, VL.THRESHCUTOFF, and WS.FORCEOFF.
11/2018, Rev T	Updates to REC.RETRIEVEFRMT, DRV.HANDWHEELSRC , AIN.MODE , VL.BUSFF , DRV.FAULT1 to DRV.FAULT10 , PL.GEARIN, DIN1.MODE TO DIN7.MODE, HOME.IPEAK, HOME.IPEAKACTIVE, Cogging Compensation, andModulo Position . Added STRINGx.DRIVESSTOSTATE, STRINGx.DRIVESISFAULTED, FBUS.VLCMDFILTERTIME, PL.MOTIONLIMITEN
11/2019, Rev U	Updated Cogging Compensation , Controlled Stop , COGCOMP.RANGEHIGH , COGCOMP.RANGELOW , COGCOMP.TEACH , DRV.DIR , DRV.HANDWHEEL , FAULT314.ACTION , FAULT583.ACTION , FB1.OFFSET , FB1.SELECT , FB2.POFFSET , FB3.P , HOME.IPEAK and MOTOR.VOLTMAX . Added FAULT107.ACTION , FAULT108.ACTION , FAULT583.ACTION , FB1.DIR , FB1.ENDATDIAG , FB1.ENDATDIAGEN , FB1.ENDATDIAGSELECTED , FB1.ENDATDIAGSUPPORTED , FB1.SIGNALAMPLITUDE , FB2.OFFSET , FB3.OFFSET , FB3.ENDATDIAG , FB3.ENDATDIAGEN , FB3.ENDATDIAGSUPPORTED , FB3.ENDATDIAGSELECTED , IL.MI2TFTHRESH , IP.EOEADDRESS , IP.EOEGATEWAY , IP.EOEMACADDRESS , IP.EOESUBNET , PL.FBOFFSET , PN.DEVICENAME , REGEN.TEST , REGEN.TESTTO , REGEN.TESTVTHRESH , STRING1.DRIVESEOEIPADDRESS to STRING2.DRIVESEOEIPADDRESS and VBUS.PHASESTATE .
10/2020, Rev V	Edited MOTOR.NAME, FBUS.PARAM1 to FBUS.PARAM10 Edited objects 2001h , 2012h Added MOTOR.SERIALNUM, FB1. SFDCRCERRORCOUNT, MT.TPOSMINTIME, VL.FBDISPLAY, VL.FBDISPLAYCUTOFF, MOTOR.RSOURCE, ECAT.INPUTHANDLING, FB3.FAULTS, JOG.V, JOG.ACC, JOG.DEC, JOG.MOVEN, JOG.MOVEP, FAULT567.ACTION, STRINGS.ACTIVEPOWER, COGCOMP.TEACHMODE, FB2.PDIR Added objects 34D1h , 547Ah , 547Bh Added documentation for X9 Digital I/Os and Pulse Width Modulation Output.
8/2022, Rev W	Add AKD-F and -ND drive compatibility

6/2010

Combined User Guide and Parameter and Command Reference Guide (released in WorkBench only).

9/2010

Combined User Guide, CANopen, and EtherCAT manuals. Updated for Release 1.3.

11/2010, Rev A

Usability improvements, minor topic edits.

12/2010, Rev B

Document part number update.

05/2011, Rev C

Updated for release 1.4. Added Modbus, modulo, new homing modes, registration moves, W&S improved, new parameters, PLS enhanced, velocity unit changes, motion tasking revisions, switch bounce conditioning (DINx.FILTER), linear motor parameters.

10/2011, Rev D

Updated for release 1.5. Added Configuring with Linear Motors section. New parameters for EIP, DRV, MODBUS, VM, DIO, IP, FB3, IL, FB2, AIN. Improved description of rotary switch use, modbus scaling, homing.

03/2012, Rev E

Updated for release 1.6. Added chapter on Using AKD in a Vertical Axis. Updated parameters for FB1, FB2, FB3, CANOPEN. Updated Modbus Manual.

05/2012, Rev F

Updated for BASIC IO option card. Rotary switch functions updated. Option IO parameters in SD, AIN2, AOUT2, DIN, and DOUT parameter categories added.

08/2012, Rev G

Updated with new Wake and Shake chapters and parameters, new Z pulse digital output mode, and Motion Profile Table screens.

12/2012, Rev H

Updated with new parameters for induction motor support. Also added new parameters in FBUS, REGEN, and DRV. Added two new digital output modes, 20 and 21.

05/2013, Rev J

Updated with new FB1 and IL parameters. New motor temperature screen and motor derating.

09/2013, Rev K

Initial Position Check feature added. Feedback type "none" added. Capture Feedback Source added. Parameters added: GUI.DISPLAYS, TEMP.POWER1 to TEMP.POWER3, DRV.DOWNLOADALLOWED Motion profile table topics re-written (Motion Profile Table). Variant support information added to all parameters.

12/2013, Rev L

AKD-C Display Codes added. Digital Input Mode 26: Suspend Motion added. Program Memory Space added. The -C Central Power Supply (pg 1) and The -N Family of Digital Drives (pg 1) added.

DRV.MOTIONDISSOURCES, FB1.LASTIDENTIFIED, and VL.VFTHRESH added. MOTOR.IDMAX, MOTOR.LDLL, MOTOR.LISAT, MOTOR.PHSADVK1, MOTOR.PHSADVK2, MOTOR.SUPPORTEDPARAMS, MOTOR.TEMPC added (see MOTOR Parameters ). CPS Parameters, NSD Parameters, and STRING Parameters, STRINGS Parameters added. FAULT564.ACTION, FAULT565.ACTION added.

05/2014, Rev M

MOTORPHASE and MOTORPOLES parameters added to FB1 Parameters , FB2 Parameters , and FB3 Parameters. FB3.DIR added. MT.FEEDRATE added. Using Custom Units with Feedback 2 section added. Modes 15, 16, and 17 added to Encoder Emulation. Homing modes 14 and 15 added (HOME.MODE).

12/2014, Rev N

Limitation for ECCN 3A225 Limitations for Induction Motors. Homing Mode 16: Find home input with dual edges added. Compare Engines and CMP Parameters added. Parameters DRV.CUSTOMIDENTIFIER, DRV.FAULTDISPLAYMODE, , EIP.RSPMAP, and FAULT570.ACTION added.

12/2015, Rev P