Kollmorgen Automation Suite

KAS Release Notes

Document Edition: X, April 2024

Valid for KAS Software Revision: 4.01-R2
Valid for AKD Firmware Version: 01-23-00-000
Valid for AKD2G Firmware Version: 02-12-00-001
Part Number: 959720

For safe and proper use, follow these instructions. Keep for future use.
KAS Release Notes |

Table of Contents
1 Introduction 4
2 What's New in KAS v4.01 5
2.1 Windows® 11 5
2.2 PCMM2G 5
2.2.1 Backup/Restore 5
2.2.2 Boot Sequence 5
2.2.3 Controller Errors and Alarms 5
2.2.4 Controller Performance 6
2.2.5 Controller Shared Directory 6
2.2.6 Filename Format 6
2.2.7 Flash Fallback and Recover Modes 6
2.2.8 Flash Partitions 6
2.2.9 GetCtrlPerf() 6
2.2.10 KAS-IDE Compilation Option 6
2.2.11 O-Scope Trace Time Channels 7
2.2.12 PROFINET Adapter 7
2.2.13 Real-time Clock 7
2.2.14 SSH Password 7
2.2.15 Temperature Monitor 7
2.3 AKD Firmware v1-23-00-000 8
2.4 AKD2G Firmware v2-12-00-001 8
2.5 KAS-IDE-WB (Workbench) 8
2.6 MC_Power(...) State Machine for 3rd Party Drives 8
2.7 New KAS-IDE Features 8
2.8 New PLC Functions 8
3 What's Fixed in KAS v4.01 9
4 Known Issues 10
5 Known Limitations 11
5.1 EtherCAT Limitations 11
5.2 FFLD Animation Limitation 11
5.3 FFLD Programs Limitation 12
5.4 PCMM2G Limitations 13
6 Installation 14
6.1 System Requirements 14
6.2 Firmware and Software Requirements 15
6.2.1 Computer Software 15
6.2.2 Firmware Requirements 15
6.2.2.1 Controller Firmware 15
6.2.2.2 Drive Firmware 16
6.2.2.3 Firmware Compatibility 16
6.2.2.3.1 F106 Error 16
6.2.2.3.2 FBUS.PARAM05 Bit 5 16
6.2.3 Mandatory Resident Firmware for AKD 16
6.2.4 Kollmorgen Visualization Builder (KVB) 17
6.2.4.1 Software Images 17
6.2.4.2 Installers 17

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 KAS Release Notes |

6.2.4.3 Hardware / Software 17

6.2.5 BBH Safety Software 18
6.3 KAS Controls 18
6.4 Allow Simulator to Use HTTP Communication 19
7 AKD Firmware Notes 20
8 Third Party EtherCAT Device Support 21
8.1 Requirements 21
8.2 Limitations 21
9 Copyrights, Licenses, and Trademarks 22
9.1 Copyrights 22
9.2 Trademarks 22
9.3 Disclaimer 22
10 Support and Services 23

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KAS Release Notes | 1 Introduction

1 Introduction
Welcome to Kollmorgen Automation Suite (KAS) v4.01!
This release contains new features and many improvements.
This document is to help existing users understand the differences between this v4.01 release and KAS v4.00.
If you are new to KAS, we recommend you start with other documents, such as the Installation Guide.
This document has these sections:

l "What's New in KAS v4.01" (➜ p. 5) - This is an overview of new features.

l "What's Fixed in KAS v4.01" (➜ p. 9) - This is a list of issues addressed in this release.
l "Known Issues" (➜ p. 10) - This contains issues we are aware of and may include methods for avoiding or
working around them.
l "Installation" (➜ p. 14) - This covers system requirements as well as provides firmware, software, and
hardware information.

We recommend you visit 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.
Beta versions of the help are posted here and are searchable.

This PDF contains links to the KAS help system and works best when read from within the KAS-IDE installation
directory.
The links to content do not work if the PDF is located somewhere other than (install
directory)\Kollmorgen\Kollmorgen Automation Suite 4.01-R2.x.y\Help.

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 KAS Release Notes | 2 What's New in KAS v4.01

2 What's New in KAS v4.01

These new features have been implemented for this release.

l "PCMM2G" (➜ p. 5) l "KAS-IDE-WB (Workbench)" (➜ p. 8)

l "AKD Firmware v1-23-00-000" (➜ p. l "MC_Power(...) State Machine for 3rd Party Drives" (➜
8) p. 8)
l "AKD2G Firmware v2-12-00-001" (➜ l "New KAS-IDE Features" (➜ p. 8)
p. 8) l "New PLC Functions" (➜ p. 8)

2.1 Windows® 11
l The installer, KAS-IDE, and Simulator are supported with Windows 11.
l There were no changes to support Windows 11.

2.2 PCMM2G
The PCMM2G controller is fully supported with this release.
If you are migrating from a AKD PDMM or PCMM, see Migrate from a PxMM to a PCMM2G Controller for details
about porting applications.
Here’s a summary of the new PCMM2G features and the main differences between the PCMM2G and
AKD PDMM / PCMM controllers:

l "Backup/Restore" (➜ p. 5) l "GetCtrlPerf()" (➜ p. 6)
l "Boot Sequence" (➜ p. 5) l "KAS-IDE Compilation Option" (➜ p. 6)
l "Controller Errors and Alarms" (➜ p. 5) l "O-Scope Trace Time Channels" (➜ p. 7)
l "Controller Performance" (➜ p. 6) l "PROFINET Adapter" (➜ p. 7)
l "Controller Shared Directory" (➜ p. 6) l "Real-time Clock" (➜ p. 7)
l "Filename Format" (➜ p. 6) l "SSH Password" (➜ p. 7)
l "Flash Fallback and Recover Modes" (➜ p. 6) l "Temperature Monitor" (➜ p. 7)
l "Flash Partitions" (➜ p. 6)

2.2.1 Backup/Restore
The backup/restore files are different between the AKD PDMM / PCMM and the PCMM2G.
They are NOT cross-compatible.
See PCMM2G Controller and EtherCAT Devices Backup.
The Import / Export tab (under the Backup & Restore section of the Web server) is supported in PCMM2G.

2.2.2 Boot Sequence

The boot sequence and 7-segment display LED pattern is different for the PCMM2G.
See Boot Sequence.

2.2.3 Controller Errors and Alarms

There are some differences between the PCMM2G and AKD PDMM / PCMM Error and Alarm codes.

l See Controller Errors and Alarms.

l Codes are logged both to the KAS-IDE's controller log and in the controller's flash.
See Controller Log Files - Error and Alarm History File (PCMM2G only).
l Error and Alarm log files are accessible from the Web server.

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KAS Release Notes | 2 What's New in KAS v4.01

2.2.4 Controller Performance

l Controller Performance measurement graphs are available for PCMM2G.
l EtherNet/IP and PROFINET performance guidelines are available.
See Controller Performance Guidelines.

2.2.5 Controller Shared Directory

The Shared Directory feature on the Kollmorgen Controllers (i.e., AKD PDMM, PCMM, and PCMM2G) allows
access to the files on a remote computer using the Server Message Block (SMB) protocol.

l The SMBv2 and SMBv3 are the newer versions that are more secure.
l PCMM2G controller supports both SMBv2 and SMBv3.

l AKD PDMM / PCMM support SMBv1.

2.2.6 Filename Format

The PCMM2G firmware filename format is different.
See PCMM2G - File Naming Conventions.

2.2.7 Flash Fallback and Recover Modes

l In case of a flash corruption, there are Fallback and Recovery modes.
See Boot from Inactive Partition Image - PCMM2G.
l In case of a flash failure, Recovery is possible using the Web server or USB flash drive.
See Recover Using the Web server.

2.2.8 Flash Partitions

There are four flash partitions: Boot, Active, Inactive, and Data.

l See Booting the PCMM2G Controller.

l The data partition contains the KAS application, user data, logs, crash reports, and any EtherCAT and
controller backup files.
l The data partition makes it possible to run the application from either partition A or B until a

corrupted partition can be repaired.

2.2.9 GetCtrlPerf()
GetCtrlPerf() function block values are different for the PCMM2G.

l The MeanCpuIdlePct, StdDevCpuIdlePct, MinCpuIdlePct, and MaxCpuIdlePct values in the

GetCtrlPerf() function block are measured based on the controller CPU idle period.
l The CPU idle period is measured across two CPU cores running the MotionEngine and PLC

program.
l See GetCtrlPerf for controller differences.

2.2.10 KAS-IDE Compilation Option

IDE Compilation option for Optimized Code Generation is NOT supported by the PCMM2G.

l This option is not selectable for PCMM2G or Simulation controller projects.

l See Set the Compilation Options.

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 KAS Release Notes | 2 What's New in KAS v4.01

2.2.11 O-Scope Trace Time Channels

The 4th channel is different between AKD PDMM / PCMM and PCMM2G:

l AKD PDMM / PCMM (RealTimeMargin).

l PCMM2G (PLCMarginTime).
l See Oscilloscope Control Panel.

See Practical Application: Using Trace Time To Measure CPU Load for using trace times to measure the CPU
load in Normal, Heavily, and Over Loaded scenarios.
See these examples:

l Example: AKD PDMM and PCMM Heavily Loaded CPU

l Example: AKD PDMM and PCMM Over Loaded CPU
l Example: PCMM2G Heavily Loaded CPU
l Example: PCMM2G Over Loaded CPU

2.2.12 PROFINET Adapter

l The PROFINET adapter identification for the controllers are:
l AKD PDMM and PCMM: tsec0.

l PCMM2G: eth1.

l See Configure a PROFINET IO Controller.

l When the application is compiled, based on the controller type, the PROFINET adapter identification is
changed to match the required name.

2.2.13 Real-time Clock

The PCMM2G has a Real-Time Clock, including an optional battery to retain the date/time when the PCMM2G is
powered off.

l The date/time, time zone, and Network Time Protocol (NTP) is configurable from the Webserver Settings
> Date/Time tab.
l If NTP is disabled and the battery is bad or missing:

l The date/time is lost at power-off.

l At startup the date/time will be incorrect.

l In this condition, an A05 alarm occurs, warning that the date/time is incorrect.

l See Controller Errors and Alarms.

2.2.14 SSH Password

PCMM2G has a default unique password for SSH login:

l See SSH Login to a Controller.

l The password can be changed using SSH.
l See Change Controller's Password using SSH.

2.2.15 Temperature Monitor

The PCMM2G behaves differently than AKD PDMM / PCMM in cases where the temperature reaches the error
limit

l An E01 stops the project execution and the OS reduces the CPU clock rate by up to 50% at 85 °C.
l See Controller Errors and Alarms.

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KAS Release Notes | 2 What's New in KAS v4.01

2.3 AKD Firmware v1-23-00-000

l The KAS-IDE and Runtime have been tested with Production Release v1-23-00-000.
l The ESI files have been updated in the installation package.

2.4 AKD2G Firmware v2-12-00-001

l The KAS-IDE and Runtime have been tested with Production Release v2-12-00-001.
l The ESI files have been updated in the installation package.

2.5 KAS-IDE-WB (Workbench)

l The KAS-IDE's embedded WorkBench has been updated to v2.14.0.9469.
l See WorkBench Release Notes.

2.6 MC_Power(...) State Machine for 3rd Party Drives

l The internal state machine has been modified to add the switched-on state for compliance with the DS-
402 specification.
l Third party drives (non-Kollmorgen) may require the "switched on" state before the "operation enabled"
state.
l The MC_Power(...), MLAxisPower(...), and PipeNetwork(MLPN_POWER_ON) use the modified state
machine.
l The execution and drive response time for the operation enabled state might be slightly different
compared to previous versions.
l See CANopen Status Machine.

2.7 New KAS-IDE Features

l The WSTRING data type is available as a selection to create variables in the KAS-IDE but is not
supported yet.
l Do not use the WSTRING data type yet!

l It will be available to support UNICODE characters in a future software release.

l Modbus supports 64-bit variables (4x words).

l Optimized constant expressions with multiplication and division.
l The ST editor animation displays values for complex expressions (arrays and structures).

2.8 New PLC Functions

l Added:
l MUX64 function to select one of 64x inputs.

l See Selectors.

l The KAS-IDE toolbar button to enable/disable:

l The execution order display in the FFLD Editor.

l See Free Form Ladder Diagram (FFLD) Editor.

l A fieldbus configuration in the Fieldbus Editor.

l See Fieldbus Editor.

l Changed: Modbus now supports 64-bit variables (4x words).

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 KAS Release Notes | 3 What's Fixed in KAS v4.01

3 What's Fixed in KAS v4.01

These issues have been fixed for this release.

Defect Description
BZ-11268 E21 with PCMM dual-core and AKD2G drive.
BZ-11263 Coordinated Motion bad velocity profile with cycle rate 2kHz or 4kHz.
BZ-11254 EtherCAT Backup/Restore does not work with Modular topology and middle nodes
disconnected.
BZ-11248 Controller Log Error: YMutex.cpp: Operation not permitted.
BZ-11245 Pipe Network adder block may cause integrator and derivator blocks to produce incorrect
outputs.
BZ-11244 Unable to Get data from function block GetCtrlInfo-CTRLINFO_PROJECT_BUILD_NO.
BZ-11230 MCFB_StepLimitSwitch compiler error.
BZ-11229 Compile warning after making change to Axis Setup value.
BZ-11220 Compiler warning when adding PLCopen Axis.
BZ-11240 EtherCAT network with AKT2G-AT-410 does not reach op-mode.
BZ-11222 EtherCAT op-mode delayed with AKD2G firmware v02-10-04 (or later).
BZ-11233 PLC error 76 (calling FB twice in same VM cycle) is returned incorrectly with a PCMM dual-
core.
BZ-11231 Kollmorgen EtherCAT device DC configuration set to default at scan / discovery.
BZ-11234 IDE fails to load ESI files from ESI library if FIPS security policy is enabled.
BZ-11188 Changing rollover parameter, followed by MC_SetPos causes incorrect final position for
MC_MoveAbsolute.

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KAS Release Notes | 4 Known Issues

4 Known Issues
These are the known issues for this release.

Defect Description
BZ-11257 ST Editor no longer auto-fills function block data type.
BZ-11252 Deleting variables with KVB option causes [[MODBUS-S]:(...) Unknown Symbol compile
errors.
BZ-11247 KAS-IDE crash reports are sometimes sent with zero file size crash dump and no user
information.
BZ-11241 O-Scope PLCProgExecTime trace displays incorrect value with multi-core controllers if PLC
execution time is close to EtherCAT cycle time.
BZ-11169 Multiple MC_MoveLin/Circ calls with velocity blending and short path distance may exceed
specified deceleration rate.
BZ-11143 KAS-IDE has long delay when mapping variables to Safety PDOs.
BZ-11139 KAS-IDE PLCopen digitizing axis w/ multi-turn has incorrect user units.
BZ-10458 PLC Variable Creation Wizard don't show the mapping.
BZ-10451 Cannot start application with direct Ethernet connection.
BZ-10419 Drag-n-drop variable from UDFB instance to watch window does not display the value.
BZ-10275 PxMM controller bus time not synchronized with DC master time.
BZ-9928 ESI file list not updated when good and bad ESI files added at the same time.
BZ-9835 Non-ASCII characters in projects not handled properly in the KAS-IDE.
BZ-9834 Import/export from/to non-ASCII file names does not work correctly.
BZ-9496 AKD-N firmware download fails if 4x drives are selected.
BZ-9359 PDO objects not defined in the object dictionary (or 24-bit size) do not work properly with
MLSmpXxxxx(...) functions.
BZ-8659 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.
BZ-8645 Adding ESI file after scanning results in no selected PDOs.
BZ-8644 PLCopen S-Curve move may not reach target with small jerk.
BZ-8643 EtherCAT scan fails after a AKD drive firmware download failure with a wrong EtherCAT
topology.
BZ-8636 Recovered projects don’t recover imported libraries (.KAL files).
BZ-8608 KAS-IDE views do not scale if Windows text scaling is > 100%.
BZ-8605 MLInitTrig does not configure the AKD Capture engine correctly for a negative edge trigger.
BZ-8588 EtherCAT network restore fails to recover from drive firmware download failure.
BZ-8508 PDOs need padding to meet byte boundary requirement.

l The KAS-IDE PDO Editor does not automatically pad PDOs on non-byte boundaries.
l The problem can be avoided by manually adding dummy objects to pad the

PDO size to line-up on byte boundaries.

l See this article on KDN: How do I Insert PDO Padding in the KAS PDO Editor? for
more information.
BZ-8212 Modified cam file is not downloaded when forcing an Online Change.
BZ-8138 WebBrowser component not working for TxB panels.
BZ-7985 KAS-IDE disconnects from the controller after several days.
BZ-7728 KAS-IDE animation with non-matching project versions.
BZ-6240 KAS-IDE always reports the project has been modified.

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 KAS Release Notes | 5 Known Limitations

5 Known Limitations
l KAS-IDE drive status bar cannot detect if AKD2G is active or inactive in pre-op mode.
l RGM is not supported.
l The undo action is not possible for all operations.
l Find/Search/Replace function:
l Search and Replace function is not supported in Pipe Network.

l 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.
l With a breakpoint set on transition, you can debug cycle by cycle.

l SFC programs are limited to 64k byte size due to the bytecode engine.
l If the SFC program exceeds 64k bytes, the compiler generates 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:
l Each PLC variable can be mapped to an EtherCAT IO and exclusively to either:

l External driver.

l Modbus for an HMI.

l PDMM Onboard IO.

l Example: A PLC variable cannot be mapped to Modbus and Onboard PDMM IO at the same time.

5.1 EtherCAT Limitations

l Cabling: Plugging the EtherCAT cable to the OUT port is not detected and is not reported as an error.
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.
l This ensures proper operation with KAS.

l The file is located here:

C:\Users\<user.name>\AppData\Local\Kollmorgen\KAS\Astrolabe\ESI\.

5.2 FFLD Animation Limitation

l The FFLD animation for UDFBs has a limitation, where the ladder rung is not fully animated.
l Example: In a program and sub-program, the rung is fully animated, where in the UDFB it is not

fully animated.

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KAS Release Notes | 5 Known Limitations

5.3 FFLD Programs Limitation

The FFLD has a limitation where a compile error is reported when the application has a function input when a
negative REAL/LREAL constant expression is used.
Example: The Assignment function with an input value of -360.0 causes a Bad variable on box output
compile error.

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 KAS Release Notes | 5 Known Limitations

5.4 PCMM2G Limitations

The PCMM2G with EtherCAT configured for a 4kHz (250usec) Cycle Time may experience cycle jitter or a
missed receive frame (A38) in +24hrs of operation with:

l 8 (or more) Axes.

l Large memory usage from PLC variables.
l Heavy PLC load.

Detect Excessive Cycle Jitter

l Use the IDE Oscilloscope to monitor the TraceTimes CycleJitter channel.

l Check the controller logs for an EtherCAT Warning message with Cycle jitter:[xx]us....

Reduce Cycle Jitter

l Reduce the PLC memory size by:

l Delete unused programs, functions, and UDFBs.

l Delete unused variables.

l See the Find and Replace tab - Find Unused Variables (#3).

l Size arrays appropriately to meet to their actual maximum usage.

l Reduce the PLC load by:

l Schedule PLC programs using the cycle period and phase to reduce the peak and average CPU

load.
l See Define the PLC Cycle.

A future software release will include improvements for the 4kHz EtherCAT cycle jitter performance.

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KAS Release Notes | 6 Installation

6 Installation
Use this information for KAS installation:

l "System Requirements" (➜ p. 14)

l "Firmware and Software Requirements" (➜ p. 15)
l "Computer Software" (➜ p. 15)
l "Firmware Requirements" (➜ p. 15)
l "Mandatory Resident Firmware for AKD" (➜ p. 16)
l "Kollmorgen Visualization Builder (KVB)" (➜ p. 17)
l "BBH Safety Software" (➜ p. 18)
l "KAS Controls" (➜ p. 18)
l "Allow Simulator to Use HTTP Communication" (➜ p. 19)

6.1 System Requirements

These are the minimum system requirements for the KAS-IDE.

Element Description
Connectivity l 1 Ethernet port, at either 100MB or 1GB.
l See Note #2.
Display l WXGA+ (1440 x 900) or higher-resolution monitor with 24-bit, 16.7M
colors.
l See Note #1.
Memory 1GB RAM (for 32-bit) or 2GB RAM (for 64-bit) or greater (recommended for
complex applications).
Operating System l Microsoft® Windows® 10 (32-bit or 64-bit).
l Microsoft® Windows® 11 (64-bit).
l For optimal performance, verify the operating system is fully updated
with the latest patches.
Processor Type Intel® Pentium® M or equivalent processor at 1.5GHz or greater.
Storage 16GB (for 32-bit) or 20GB (for 64-bit) of free space on hard disk.
Web Browser l A modern web browser is required to access the web server and
online help.
l We recommend Microsoft Edge.

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

2. A 100MB network is required in order to allow the KAS-IDE to Runtime communication to work in all
conditions.
The AKD WorkBench AutoTuner and Scope both require 100MB of bandwidth to function properly.

See Connect Remotely about the ports used by the KAS-IDE.

The ports may need to be opened to support connecting from an external network.

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 KAS Release Notes | 6 Installation

6.2 Firmware and Software Requirements

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

6.2.1 Computer Software

Software Images Recommended Version
KAS-IDE 4.01-R2.0

6.2.2 Firmware Requirements

l "Controller Firmware" (➜ p. 15)
l "Drive Firmware" (➜ p. 16)
l "Firmware Compatibility" (➜ p. 16)
l "F106 Error" (➜ p. 16)

l "FBUS.PARAM05 Bit 5" (➜ p. 16)

6.2.2.1 Controller Firmware

This is the controller firmware to use with this KAS release.

Description Type Name

PCMM2G 1.5GHz Quad-Core KAS Runtime KAS Runtime for PCMM2G
(KAS-PCMM2G-Cx-08)
PCMM 800MHz KAS Runtime KAS Runtime Firmware for AKC-PCMM
(KAS-PCMM-M-MCEC)
AKD PDMM 800MHz KAS Runtime KAS Runtime Firmware for AKD-PDMM
(KAS-PDMM-M-MCEC, KAS-PDMM-M-KCEC)
PCMM 1.2GHz KAS Runtime KAS Runtime Firmware for AKC-PCMM
(KAS-PCMM-M-M1EC)
PCMM 1.2GHz Dual-Core KAS Runtime KAS Runtime Firmware for AKC-PCMM
(KAS-PCMM-M-M2EC)
AKD PDMM 1.2GHz KAS Runtime KAS Runtime Firmware for AKD-PDMM
(KAS-PDMM-M-M1EC, KAS-PDMM-M-K1EC)

l Supported drives include:

l AKD-M (AKD PDMM Drive)

l AKD2G, AKD-P (Motion Tasking Drive or Position Indexer)

l AKD-C/-N

l MKD-C

l The recommended firmware version is dependent on the drive's model and revision.
l Controller firmware is available at KDN.

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KAS Release Notes | 6 Installation

6.2.2.2 Drive Firmware

AKD and AKD2G firmware is available at KDN.

This is the drive firmware to use with this KAS release.

Description Type Name
Firmware for drive AKD PDMM 800MHz AKD PDMM Servo Drive Firmware
built into AKD PDMM
l AKD-M-KCEC-01-23-00-000.i00
l AKD-M-MCEC-01-23-00-000.i00
AKD PDMM 1.2GHz AKD PDMM Servo Drive Firmware
AKD-M-K1EC-01-23-00-000.i00
l

AKD-M-M1EC-01-23-00-000.i00
l

AKD Drive Firmware AKD-N AKD-N-xxEC-V01-23-00-000.i00

AKD-P AKD-P-NBxC-01-23-00-000.i00
Resident R_00-00-71-000.i00
AKD2G Drive Firmware Non-Safety (FS1) AKD2G-S-(E)-A-02-12-00-001.i00
Safety Certified (FS2 and FS3) AKD2G-S-A-02-05-03-002.i00

6.2.2.3 Firmware Compatibility

6.2.2.3.1 F106 Error
An F106 error may appear after upgrading the AKD firmware.

l This indicates that non-volatile parameters are not compatible between the two firmware versions.
l Resetting the drive to the default memory values using Parameter Load will fix this error.

6.2.2.3.2 FBUS.PARAM05 Bit 5

FBUS.PARAM05 bit 5 should be set to 0 (zero); this is the default value.

l This prevents an error E33 and EtherCAT not starting.

l If it is not set to the 0 (zero), the rotary switch of the drive is used to set the EtherCAT Station Alias.
l This can conflict with the address that KAS is writing.

6.2.3 Mandatory Resident Firmware for AKD

l The recommended resident firmware for all AKD family drives is v71.
l To reliably support the EtherCAT firmware download, resident firmware must be at least v35.
l Contact Kollmorgen for any AKD Drive with resident firmware lower than v35.

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 KAS Release Notes | 6 Installation

6.2.4 Kollmorgen Visualization Builder (KVB)

6.2.4.1 Software Images

Software Images Recommended Version Download
KVB 2.40 [2.43.17.0]

6.2.4.2 Installers
The 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.

6.2.4.3 Hardware / Software

Hardware / Software Versions
Operating Systems Windows® 10, Windows 11
Controllers AKD PDMM, PCMM, and PCMM2G
HMI All Kollmorgen AKI panels

The KAS-IDE creates projects using KVB 2.0.

When you open a v2.0 project by double-clicking on it, KVB upgrades the project to v2.40 [2.43.17.0].

KVB 1.2 projects are not compatible with KVB 2.x.

An attempt to open a v1.2 project with v2.x results in an alert message.
If accessing v1.2 projects is important, we recommend keeping both versions installed on your system.
New panels automatically use KVB 2.0.

Contact Kollmorgen if you have a KVB 1.2 project that needs to be updated in KVB 2.x.

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KAS Release Notes | 6 Installation

6.2.5 BBH Safety Software

These BBH Safety software and firmware minimum versions are required to operate with these products and
KAS-IDE software:

l AKD PDMM
l AKD2G
l AKT2G-IO-SDI-04-000
l AKT2G-IO-SDO-04-000
l PCMM
l PCMM2G

Contact BBH for the latest software and firmware release information and details.

Description Type Minimum Version

SCU-1-EC FSoE Master firmware Firmware 03.00.00.62
SafePLC2 safety programming software Software 1.7.1.8219

6.3 KAS Controls

KAS Runtime is verified compatible with these hardware models:

Controller Description Model Number Main Characteristics

PCMM2G 1.5GHz Quad-core PCMM2G-C2-08-000-00-000 2nd Generation
High Performance Multi-
Axis Controller
PCMM 1.2GHz Dual-core AKC-PCM-M2-120-00N-00-000 High Performance Multi-Axis
Controller
PCMM 1.2GHz Single-core AKC-PCM-M1-120-00N-00-000 High Performance Multi-Axis
Controller
PCMM 800MHz Single-core AKC-PCM-MC-080-00N-00- Standard Multi-Axis Controller
000
AKD PDMM 1.2GHz AKD-M0xxxx-M1EC-0000 High Performance Drive Resident
AKD-M0xxxx-K1EC-0000 Controller

AKD PDMM 800MHz AKD-M0xxxx-MCEC-0000 Standard Drive Resident

AKD-M0xxxx-KCEC-0000 Controller

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 KAS Release Notes | 6 Installation

6.4 Allow Simulator to Use HTTP Communication

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

The Simulator uses Port 80 for the web server.

Simulator automatically assigns an available free port to the webserver to listen to the incoming HTTP requests if
another service is using Port 80.
See Start the KAS Simulator for more information.

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KAS Release Notes | 7 AKD Firmware Notes

7 AKD Firmware Notes

l The AKD Firmware v1-16 (and later) supports a new drive parameter, ECAT.LEGACYREV, to enable a
backwards compatibility RevisionNo (0x2).
By default, AKD-Series drives ships with the latest production release firmware, with ECAT.LEGACYREV
= 1, for backwards compatibility.
l The AKD Firmware v1-16 (and later) 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.
l The KAS-IDE and Runtime supports multiple RevisionNos for the same Vendor/ProductID.

l 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.
l If the device's ESI file does not specify the CheckRevisionNo logic then, by default, the KAS

Runtime allows any RevisionNo at EtherCAT initialization.

l The IDE allows 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 are evaluated as equal (EQ).

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 KAS Release Notes | 8 Third Party EtherCAT Device Support

8 Third Party EtherCAT Device Support

This section summarizes the known capabilities and limitations with KAS support for third-party EtherCAT
devices.
See:

l Add and Configure Third Party Devices in the online help for directions on integration.
l Set Up FSoE Master and an AKD2G with SafeMotion Monitor if integrating a different third-party FSoE
master into a KAS system.

8.1 Requirements
l All third-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.

8.2 Limitations
l The KAS-IDE does not support third-party drives.
l Contact your local Kollmorgen representative for details.

l MDP fieldbus gateway devices that require MDP gateway profiles, implemented to the ETG 5001.3
specification, may not be discovered.
l This includes gateway protocols: CAN, CANopen, DeviceNet, Interbus, and IO Link.

l PDO upload is not supported.

l Manual slot configuration is not supported with MDP devices.
l 3rd-party drivers for network gateway devices are not included.

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KAS Release Notes | 9 Copyrights, Licenses, and Trademarks

9 Copyrights, Licenses, and Trademarks

9.1 Copyrights
Copyright © 2009-2024 Regal Rexnord Corporation, All Rights Reserved.
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.

9.2 Trademarks
Regal Rexnord and Kollmorgen are trademarks of Regal Rexnord Corporation or one of its affiliated companies.
l KAS and AKD are registered trademarks of Kollmorgen.
l Kollmorgen is part of the Altra Industrial Motion Company.
l Codemeter is a registered trademark of WIBU-Systems AG.
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 Communication Stack: copyright (c) 2009, Rockwell Automation.
l Ethernet/IP is a registered trademark of ODVA, Inc.
l Ghostscript is a registered trademark of Artifex Software, Inc. and is distributed under the AGPL license.
l HIPERFACE is a registered trademark of Max Stegmann GmbH.
l PLCopen is an independent association providing efficiency in industrial automation.
l PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI).
l SIMATIC is a registered trademark of SIEMENS AG.
l SyCon® is a registered trademark of Hilscher GmbH.
l Windows® is a registered trademark of Microsoft Corporation.

Kollmorgen Automation Suite is based on the work of:

l 7-zip (distributed under the terms of the LGPL and the BSD 3-clause licenses - see terms)
l curl software library
l JsonCpp software (distributed under the MIT License – see terms)
l Mongoose software (distributed under the MIT License - see terms)
l Qt cross-platform SDK (distributed under the terms of the LGPL3; Qt source is available on KDN)
l Qwt project (distributed under the terms of the Qwt License)
l The C++ Mathematical Expression Library (distributed under the MIT License)
l U-Boot, a universal boot loader is used by the AKD PDMM and PCMM (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 AKD PDMM and PCMM.
l Zlib software library

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

9.3 Disclaimer
The information in this document (Version X published on 4/29/2024) 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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10 Support and Services

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.

Join the Kollmorgen Support (Developer) Network for product support.

Ask the community questions, search the knowledge base for answers, get downloads, and suggest
improvements.

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Web: www.kollmorgen.com Web: www.kollmorgen.com
Mail: [email protected] Mail: [email protected]
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Web: www.kollmorgen.com Mail: [email protected]
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