Fixed Bugs:

• Sporadic following error position
• Step on the encoder emulation during the reference movement

New Features:

• Following error monitoring master-slave coupling

Fixed Bugs:

• Device service master-slave coupling
• Diagnostic category "No process data received at sync time"
• Automatic brake test
• Direction lock negative and positive at the same time

New Features:

• Via CDSB upload Parameter set with and without IP configuration

Fixed Bugs:

• Process level violation
• 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. With EMMB motors, activating automatic saving leads to an error message, as it is not possible to access the encoder for saving when the controller is enabled.
  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:

• Record chaining parameters
  A record chaining is available that checks for a range of values of a parameter.
• EMMB motor multiturn error is not taken into account
  If the permissible time is exceeded when changing the battery for the EMMB multiturn motor, an error message is triggered and the drive is set to not referenced. The drive remains permanently set to not referenced until a successful reference run with subsequent saving is carried out.
• 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.
• CMMT-FW <V020 and ESI file <Rev.07 in connection with OMRON FW <=1.40
  New entry in the ESI file for the watchdog timeout register.

Fixed Bugs:

• Support of EMMB multiturn motors
  The bugfix version supports the saving of the zero offset on the encoder in connection with the plug-in from version 2.1.1.11.
  From plug-in version 2.1.1.11 onwards, the parameter Px.14 (Use user-specific motor data) is set to False.
  This means that when the zero offset is saved, the offset is stored on the encoder.
  ATTENTION!
  If this procedure is carried out with a FW version lower than V019.0.4, the encoder memory becomes unusable.
  If this happens, the EMMB motor can only be restored with parameter Px.14 set to True and FW version V019.0.4 or higher.
• The CMMT must be updated to FW version V019.0.4 or higher. If the unit cannot be reached by the plug-in or FFT,
  the encoder line must be disconnected from X2 and the CMMT must be restarted.
• Target position==actual position when drive is not enabled
  If the drive is not enabled, the actual position of the drive is displayed in the target position.
• Dynamic increase of the torque limitation of the axis
  Parameter Px.1199 is used to set the limitation of the torque of the axis and is taken into account in the maximum permissible limitation of the permissible torque
  of the drive system. The limitation refers to the torque on the output side at the transition from the shaft end of the motor/gearbox to the shaft journal of the axle.
  Torque components caused by the acceleration of inertia and speed-dependent friction of the rotor or gearbox reduce the effective torque for the axis.
  The device carries out a dynamic increase of parameter Px.1199 depending on the motion phases acceleration, constant speed and deceleration automatically and
  raises the limit value in parameter Px.1199 constantly with the value from parameter Px.124323. In this way the torque share of the motor/gearbox is taken into account and
  the effective torque for the axis is not reduced.
• Optimisation Master/Slave operation
  The master/slave mode has been revised and the following points have been corrected:
  • Negative StartSyncPos values possible again
  • Strong noise in connection with cyclic RTE communication
  • Current jumps during transition from gear in to synchronous
  • Gear in to a continuously changing master position
  • Position jumps at the master output (encoder emulation)
  • Documentation
• Diagnostic message for maximum speed parameterizable
  The reaction of the diagnostic message 07|02|00128 for exceeding the parameterised maximum speed Px.4660 can be parameterised from Ignore to Stop Category 0.
• Wrong stop ramp when cancelling controller enable
  If the controller enable was withdrawn during the switch-on delay of the holding brake, it was stopped with stop category 0.
  This caused the load to drop off the position in vertical applications. Now the system is stopped with stop category 2 and the off-delay of the holding brake is taken into account.

New Features:

• Homing without Power ON

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
• Correction of CiA402 PDO mapping

New Features:

• Master-Slave mode for multiple axes
• Modulo mode
• Device change FW and parameters via CDSB

Fixed Bugs:

• EnDat 2.2 multiturn communication error

New Features:

• Position trigger
• Touch probe (fast capture inputs)
• Input shaping
• Improved auto tuning
• Support of FOE
• Velocity override via manufacturer specific object (via EtherCAT)
• Firmware and parameter transfer via CDSB
• Export of frequency response diagrams
• Dynamic adjustment of torque limitations

Fixed Bugs:

• EnDat 2.2 initial communication error
• Touch probe and position trigger misalignment
• Save zero offset to encoder from PLC
• Sporadic Hiperface communication error

Fixed Bugs:

• Ready relais
• BGW3 gate driver control

• Gearbox is ignored when calculating the controller parameters
• Sporadic hiperface communication error

• Fix several minor bugs
• Delay times between status changes eliminated
• System internal temperature measurements refined

• Product launch