Fixed Bugs:

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

New Features:

• Following error monitoring master-slave coupling
• Jogging two-phase Default True

Fixed Bugs:

• Device service master-slave coupling
• 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 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
• 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. 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.
• 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.
• 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.
• 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:

• PROFIdrive Jogging with 2 phases (slow first then fast):
  The jogging with two movement phases can be set via parameter Px.100010 for PROFIdrive.
  If parameter Px.100010 is set to False, the device behaves as specified in PROFIdrive for Jog 1 and Jog 2.
  If the parameter is set to True, jogging 1 is first carried out at the slow speed and after the parameterised time,
  the device moves at the faster speed.
• 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.

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.
• PROFIdrive change between MDI**Positioning (Modulo) and setup mode:
  Change between MDI**Positioning (Modulo) and setup mode is possible one the fly.
  The MDI**Positioning keeps the modulo value and setup mode drives without modulo.
• PROFIdrive ZSW1.13 Drive Stopped / standstill is not set with Power Off:
  Bit ZSW1.13 is set or not set independently of the controller enable depending on the movement of the motor.
• PROFIdrive ZSW1.12 Record set active:
  Bit ZSW1.12 is updated depending on the status.
• PROFIdrive MELDW.2 always False:
  The MELDW.2 bit is correctly stated depending on the actual speed.
• 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
• Zero angle finding fails at high gear ratios:
  The zero angle detection has been optimised and the limit value for parameter Px.6693 for the monitoring window
  has been increased. If high gear ratios are used, the reduction of the dynamic values Px.669, Px.6691 and Px.6692
  can lead to a better result.
• Exception by parameterisation Incremental encoder:
  By entering a value 0 or very large values for parameter Px.10040 an exception was triggered **> service case.
  From version V019 it is possible to enter any value. Invalid values are indicated by the device with a diagnostic message.
  To what extent a value in parameter Px.10040 is invalid still depends on parameter Px.10043.
• 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
• 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:

• 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:

• PROFIdrive AC4 (e.g. Tel. 3 and 105) support for Interpolation, PLCopen and TOs (technology objects)
• Extended Process Data via Tel. 910
• Position trigger
• Touch probe (fast capture inputs)
• Input shaping
• Improved auto tuning
• Velocity override via PROFIdrive (AC3, Tel. 111)
• 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 (absolut multiturn encoder)
• Handling errors with SinaPos (FB284)
• Start of the CMMT after STO in conjunction with SinaPos (FB284) only after restart

• Product launch