Fixed Bugs:

• Transfer and return parameters when calling up device services
• 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
• 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
• Drop of vertical axis when fieldbus connection is interrupted

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, it is possible to save a parameter set of the device configuration for the CDSB 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.

Fixed Bugs:

• Watchdog Error Communication Module
  The watchdog error is eliminated by optimising the communication module.
• Set IP Address NRT Channel
  The plug-in sets the IP address for the NRT channel [X19] correctly.
• Record chaining parameters
  A record chaining is available that checks for a range of values of a parameter.
• 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.
• Target Reached becomes True at intermediate stop
  Unit does not report Target Reached on a request for an intermediate stop in positioning mode.

New Features:

• EtherNet/IP NRT channel
• Target position==actual position when drive is not enabled
• Dynamic increase of the torque limitation of the axis

Fixed Bugs:

• EtherNet/IP devices lose the MAC address on the RTE interface
• Optimisation Master/Slave operation
• Diagnostic message for maximum speed parameterizable
• Wrong stop ramp when cancelling controller enable

New Features:

• Homing without Power ON
• EtherNet/IP address setting via webserver

Fixed Bugs:

• Temperature switch off power stage and air temperature
• Wrong calculation of Touch-Probe Position
• Wrong calculation of modulo mode
• Drop in position when enabling
• Explicit messaging – error when writing a CIP-object

New Features:

• Modulo mode
• EtherNet/IP Parameterchannel
• Modbus Integration

• Product launch