Fixed Bugs:

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

Fixed Bugs:

• Diagnostic category "No process data received at sync time"
• Automatic brake test
• 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 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.

Fixed Bugs:

• 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.
• 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.

New Features:

• Target position==actual position when drive is not enabled
• Dynamic increase of the torque limitation of the axis

Fixed Bugs:

• Zero angle finding fails at high gear ratios
• Exception by parameterisation Incremental encoder
• Controlled mode exceeding the maximum speed
• Diagnostic message for maximum speed parameterizable
• Wrong stop ramp when cancelling controller enable

New Features:

• Homing without Power ON

Fixed Bugs:

• Temperature switch off power stage and air temperature
• 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:

• Modulo mode

New Features:

• Position trigger
• Touch probe (fast capture inputs)
• Input shaping
• Improved auto tuning
• Support of FOE
• Velocity override via manufacturer specific object
• Export of frequencyresponse diagrams
• Dynamic adjustment of torque limitations

Fixed Bugs:

• Touch probe and position trigger misalignment

• Product launch