New Feature:

• Modulo with tolerance window
  To ensure the same number of turns or movement is obtained in case of small position differences after turning on the device with multiturn position encoders or after a reference run, it is possible to configure a tolerance window using Px.102100. Within the tolerance window, movements against the commanded direction may occur. The behavior compatible with firmware V33 can be activated with parameter Px.102137.
• CiA402 Save extension Motor rated current (conformity)
  The value written via the object 0x6075 motor_rated_current is saved in the parameter Px.7118. If the value written is greater than the rated current stored in parameter Px.7117, the value written is limited to the value in parameter Px.7117. If parameter Px.7118 contains a lower value than parameter Px.7117, the lower value is retained, even if a motor with a higher rated current is subsequently configured with the current plug-in. If the message for the parameter Px.7118 Project=1e37Arms and Device=0.10Arms appears in the adjustment window with the current plug-in, the high value must be written to the device. The CMMT then limits to the correct nominal current as described above.
• Modulo for relative motion command
  The Modulo operating mode has been extended for the relative motion command. A more detailed description is provided in the documentation.
• Enhanced torque control
  An analog input can be used to connect and evaluate a torque/force sensor for the CMMT-AS device family. This allows for improved torque control on the output without the influence of friction. A more detailed description is provided in the documentation.
• Jog operation with configurable delay
  Enhanced parameterization option for jog operation. You can choose whether to use a symmetric (default, old behavior) or asymmetric brake ramp for jog operation. The following parameters can be set via the expert list for symmetric jog operation:
  - Selection of symmetric or asymmetric jogging (Px.102395)
  - Desired brake ramp 1 for slow movement of jog operation (Px.102397)
  - Desired brake ramp 1 for fast movement of jog operation (Px.102401)
  - Desired brake ramp 2 for slow movement of jog operation (Px.102407)
  - Desired brake ramp 2 for fast movement of jog operation (Px.102413)
• Enable Servo Drive, Activation via "I/O or fieldbus"
  The parameter (Px.10232) for the device has been extended with the option for enable servo drive via "I/O or Fieldbus".
• Master-Slave without down synchronization
  For Master-Slave operation, it is possible to specify "without down synchronization" for the Gear-Out method. When this option is used, the slave drive remains permanently synchronized with the master without considering the Gear-Out limits. As long as no new motion command is sent to the slave drive, it remains synchronized with the master.

Fixed Bugs:

• Factory reset does not reset fieldbus configuration to PROFINET.
  After activating the factory reset, the previous fieldbus configuration remains unchanged.
• EtherCAT timeout during file transfer (FoE)
  A timeout during file transfer (FoE) no longer occurs.
• Modbus TCP "Communication timeout" register is not stored non-volatile.
  The configuration is stored non-volatile in parameter Px.102393 (default 1s).
• Software limit error
  The detection of a violation of the software end position with error reaction is recognized upon first entry. Further error reactions are suppressed, for example, when a vertical axis sags and returns to the power-on position. Triggering an error reaction is only activated again when the set position is within a valid position range.
• Direction lock in controlled operation
  The direction lock is taken into account in controlled operation.
• Faulty behavior of the trajectory generator during sequence change in record table with touch probe.
  Optimized trajectory generator regarding touch probe.
• Drive cannot be enabled near the software end position.
  The behavior for enabling the drive near the software end position has been improved, allowing the drive to be enabled.
• Synchronization error when operating with an IRT switch.
  The synchronization error no longer occurs.
• Cia402: Fault reaction interrupted by control word.
  Changing the control word during "Fault" or "Fault Reaction" status has no impact.
• No Modbus connection possible after unplugging and reconnecting the cable.
  Modbus connection can be restored.
• Possible position jump in conjunction with multiturn encoders.
  Referencing is reset in case of an invalid extended multiturn position.
• Faulty diagnosis "Motor change detection" reported during encoder interruption.
  The faulty diagnosis is no longer reported.
• Invalid gear ratio during field weakening.
  Correct gear settings are used.
• Modbus timeout not adjustable via plugin.
  The Modbus timeout can be adjusted via the plugin.
• Fieldbus selection reset to PROFINET by updating the firmware to version 34.0.11.
  The fieldbus selection is no longer changed by the firmware update.
• ABI encoder signal too weak for long cable lengths.
  The default threshold has been changed.
• Unintended occurrence of 'Calculation of mass/friction value estimate not completed' warning.
  Unintended warning prevented.
• Internal motion monitoring P1.460 Bit 0 (TRX) not only dependent on monitoring window target position.
  Internal motion monitoring TRX is set via monitoring window target position and damping time.
• CMMT-ST-MP: Digital output, it is not possible to link it to CiA402 0x60FE / Bit 16 and 17.
  The setting options have been expanded.
• EMMB-AS: The referencing will be reset
  The referencing will be retained after a successful referencing even after a device restart.

Version changes:
Fixed Bugs:

• IP configuration is lost with EtherNet/IP
• Dynamic increase of the torque limit
• Loss of the referencing status

Firmware Package

Firmware Package

Firmware Package

Firmware Package

Firmware Package

Version changes:
CMMT-AS-MP Firmware only PROFINET