Fixed Bugs:

• Sporadic following error position
• HW limit switches in open-loop operation

New Features:

• Jogging two-phase Default True

Fixed Bugs:

• Diagnostic category "No process data received at sync time"
• Automatic brake test
• Homing status is deleted when base value speed changes Px.11280701
• Feedback POS_ZSW1.0...6 becomes 0 after movement has ended
• Feedback POS_ZSW1.10 is not set correctly after homing
• Direction lock negative and positive at the same time

New Features:

• Via webserver upload Parameter set with and without IP configuration

Fixed Bugs:

• Modulo mode "only negative path with turns".
• Dynamic values modulo mode "... with turns"
• HW limit switches are correctly taken into account
• Traveling to fixed stop State ZSW1.15
• Traveling to fixed stop Status POS_ZSW2.12
• Drop of vertical axis when fieldbus connection is interrupted
• Opening the holding brake via STW1.12

New Features:

• Modulo with turns
  The modulo function is extended for shortest travel, positive travel only, negative travel only with turns. Example: Only positive travel with turns and modulo limits configured to 0-360° and the drive is at 60°. If a movement order is executed to 440°, the drive moves to 440° and displays 80° as the actual position via the fieldbus and as the modulo position. The function is available via the drive profile PROFIdrive under the parameter Px.11280612 and with CiA402 Px.88818.
• Comparator for record execution based on the modulo position
  A comparator based on the modulo position is available for the record table for record execution.
• Automatic saving of the zero-point offset
  The parameter Px.100548 can be used to activate the automatic saving of the zero-point offset after a successful reference run. The homing method does not report a job completed until saving is complete. Saving can take several seconds
  The default value for parameter Px.100548 is set to disabled in FW version V020. In winter release V021, the default value of the parameter will be set to active.
• RPM-dependent I2t monitoring
  With RPM-dependent I2t monitoring, a motor can be configured in such a way that RPM-dependent thermal losses of the motor are taken into account. This can be useful in the following cases, for example:
  • for motors with a fan, where the thermal losses at low speeds are smaller than at higher speeds
  • for motors where the standstill current is higher than the rated current
• Save parameter set including IP address
  Via the plug-in and webserver, it is possible to save a parameter set of the device configuration with and without an IP address.
• Default value Diagnostic category for RPM monitoring
  The default value for monitoring the maximum RPM is changed from Stop Category 0 to Stop Category 1.
• Continuous value transfer with POS_STW1.12
  In MDI mode (not in record mode), with absolute positioning and in telegram 111, when the MDI target position and MDI target speed change, they are immediately transferred and lead to a changed movement.
• Activation of HW limit switches via Config-EPos
  If the HW limit switches are activated via Config-Epos, the configuration status is maintained when the control authority is switched over. If the drive is controlled by the plug-in after the changeover of control authority, the last HW limit switch configuration that was transferred via PROFIdrive is maintained.
• Allow adjustment of the IP address in the device
  If the option “allow changing the IP address” in the device is selected in the TiA portal, this is supported by the device. The IP address for the NRT channel X19 can be configured via the plug-in for the device.

Fixed Bugs:

• Change from set-up mode to modulo
  It is possible to switch between set-up mode and modulo.
• Record chaining parameters
  A record chaining is available that checks for a range of values of a parameter.
• Referencing to zero pulse with TO
  There are no position jumps when referencing with zero pulse if the Festo_AC4Homing block was previously executed.
• Position jumps when Festo_AC4Homing is cancelled
  There are no position jumps when homing is aborted via the Festo_AC4Homing function block.
• Target Reached becomes True during intermediate stop
  The device does not report Target Reached on a request for an intermediate stop in MDI mode.
• Touch probe cannot be set via PNU
  The mode for touch probe can be set via PNU 12041, e.g. positive edge
• Jerk too small with user unit degree
  The jerk is too small by a factor of 10 as the default value for the stop delay Px.12111 when the user unit degrees is selected.

New Features:

• FEATURE: PROFIdrive Jogging with 2 phases (slow first then fast)
• Target position==actual position when drive is not enabled
• Dynamic increase of the torque limitation of the axis

Fixed Bugs:

• PROFIdrive ZSW1.13 Drive Stopped / standstill is not set with Power Off
• PROFIdrive ZSW1.12 Record set active
• PROFIdrive MELDW.2 always False
• Optimisation Master/Slave operation
• Diagnostic message for maximum speed parameterizable
• Wrong stop ramp when cancelling controller enable

New Features:

• Homing without Power ON
• Commissioning mode via FB SinaPos
• Festo device scan via PROFINET interface X19
• Extended homing functions in PROFIdrive AC4

Fixed Bugs:

• Master / Slave jump in target position
• Touch-probe position calculation error
• Dropping of Z-axis when enabling the drive
• Wrong calculation of the modulo function

New Features:

• Modulo mode

• Product launch