New Feature:

===============

• New PNU / CIP objects with 32-bit factor-group scaling: axis zero-point offset (PNU831), modulo limit values (PNU832 and PNU833), and software limit position values (PNU834 and PNU835).
• Support of EtherNet/IP CIP SYNC based on PTP and virtual axis in the PLC.

Fixed Bugs:

===============

• Homing Parameter used for Limit Stop (Px.8414/Px.8415) will override parameter Px.4626/Px.4627 used in movement monitoring.
• Open holding brake via EtherCAT CiA402 in error state not possible.
• In Profidrive AC3 the record sequencing type "time" cannot be stopped or interrupted using STW1.4 / STW1.5.
• Analog input filter not working for record type analog position. The analog input filter structure was reworked. Please refer to the user documentation for further information.
• When the encoder-emulation function is enabled, unexpected pulses may occur on the X10 interface during device startup.
• The direction lock at the software and hardware end positions does not prevent movement in force mode on the second drive command.
• The threshold for MELDW.3 (Px.11280114) is applied only after a device restart.
• Repeated execution of a command record of type "drive to hard stop" via PROFIdrive yields incorrect POS_ZSW2 values.
• For the CMMT-ST, the output function "Trace trigger" for the X1A connector cannot be selected in the Festo Automation Suite.
• In some cases, the load change counter (Px.1421) may not count correctly.
• After boot-up, the process data channel sporadically did not function correctly, resulting in the drive being uncontrollable via the fieldbus (PN / EC / EP).
• Enable Servo Drive via I/O or fieldbus (Px.10232 = 5) together with the CiA402 profile: the drive cannot be enabled until I/O CTRL-EN is active (24V).
• The diagnosis 07|03|00135 "Limit for velocity or current active" could not be configured as a warning.
• The device method "synchronisation (Gear In/Out)" consistently returns a failure. It has been removed from the documentation, indicating that it is no longer available.
• In some cases, a timeout error may occur in TwinCAT when switching from CiA402 operating 8 (CSP) to CiA402 operating 6 (Homing).
• Improvements for SES/SEM70 and SES/SEM90 Hiperface encoders.
• Improvements for EMMS-ST-28 motors with long motor cables: default P0.10053.0.0 set to 0.2 V.
• Following Error occurring in PROFIdrive TO positioning when using IRT DSC, large gear, and feed-forward constant.
• Reinsert CoE objects 217D.03 and 217D.04 to restore compatibility with legacy EC devices.
• Writing the PROFINET Name of Station (Px.11295001) via the plugin has no effect. The parameter is read-only via the plugin. The PROFINET Name of Station can only be changed using the PROFINET DCP service.
• When operating over EtherCAT (CiA402), after reaching the software end position with Stop-Cat.2 configuration the brake remains released.
• Due to a position discrepancy error on the S3 device, the valid referencing is lost despite a multiturn encoder.
• EtherCAT CiA402 Statusword 0x6041 — Bit 11 ("Internal limit active") has no function. The limit bit for all internal limits is set as described in the user documentation.
• EDS MinRev value does not match the actual device revision (1.4).
• At EtherCAT CiA402 Profile Position Mode the Set-point acknowledge (Bit 12 in Statusword 0x6041) don't set during stop.
• PDO-mapped values of the most severe error CoE objects (0x2145.0B and 0x2145.0C) do not reflect the actual values.
• Remove internal parameter Px.11280609 for PROFIdrive XIST_A — the actual modulo value Px.113104 is used instead.
• Invalid CiA402 status word in the "Quick stop active" state.
• Sudden axis movement occurs when stopping the PLC in synchronous mode (CSP) with the control word set to 0.
• Homing at S3 device not executable when SOS is activated.
• CiA402 TouchProbe does not function with the TwinCAT 3 MC_TouchProbe function block.
• COE object 0x2288 (main supply voltage) reinserted to restore compatibility with firmware versions earlier than V35.

New Feature:

===============

• Supports the following hardware variants with functional safety functions (STO, SBC, SS1, SS2, SMS, SLS and SOS) via I/O and safety fieldbus (PROFIsafe)
• Servo drive CMMT-AS-C2-3A-MP-S3 (8151391)
• Servo drive CMMT-AS-C4-3A-MP-S3 (8151392)
• Servo drive CMMT-AS-C2-11A-P3-MP-S3 (8151393)
• Servo drive CMMT-AS-C3-11A-P3-MP-S3 (8151394)
• Servo drive CMMT-AS-C5-11A-P3-MP-S3 (8151395)
• Servo drive CMMT-AS-C7-11A-P3-MP-S3 (8151396)
• Servo drive CMMT-AS-C12-11A-P3-MP-S3 (8151397)
• Servo drive CMMT-AS-C18-11A-P3-MP-S3 (8166886)
• Servo drive CMMT-AS-C25-11A-P3-MP-S3 (8166887)

Fixed Bugs:

===============

-

New Feature:

===============

-

Fixed Bugs:

===============

• Master/Slave coupling (Synchronisation option position absolute) not possible if slave position is greater than master position

New Feature:

===============

-

Fixed Bugs:

===============

• EMMB-AS: Replacement of the battery leads to an error.

• Improved BiSS‑C communication stability and robustness.

• Improved parameterization and traceability for A/B encoders.
  - Parameter Px.1190 and Px.111200 are now traceable.
  - Added the option to disable the voltage monitoring of the encoder by setting 0.0 to parameter Px.10053.

New Feature:

===============

• Added EtherCAT legacy mode for station alias addressing
  The station alias should only be used for PLCs that do not support explicit device ID addressing. Please refer to the user documentation for further information

Fixed Bugs:

===============

• After changing the parameter "Controller Enable Selection" (Px.10232) from "I/O and fieldbus" to "Plug-in" and reinitializing the device, it is still possible to enable the drive via PLC

• In operation with Profidrive AC4 and DSC, there may be a delayed "Done" signal in the technology object positioning axis of the PLC at certain bus cycle times
  The timing and controller behavior for DSC operation have been optimized

• The "Position Trigger" function was not executed after a restart in certain configurations (without an error message)
  An incorrect device initialization leads to the modulo limits being set to zero (Px.112702, Px.112703)

• The position trigger is not activated at very low speeds
  The threshold can be configured accordingly using parameter Px.101017

• Configuration of the IP address (X19) via the web server affects the wrong interface (X18)

• Delayed movement of the slave axis in Master-Slave coupling
  After setting the Gear-In command in Gear-In mode "Synchronous Position, Relative 1," certain situations may lead to a delayed movement of the slave axis as well as a delayed feedback of the status "Slave synchronization completed" (Parameter Px.85607)

New Feature:

===============

-

Fixed Bugs:

===============

• In operation with Profidrive AC4 and DSC, there may be a delayed "Done" signal in the technology object positioning axis of the PLC at certain bus cycle times. Positioning with Tel105 in AC4 with DSC generates a high following error The timing and controller behavior for DSC operation have been optimized. 

New Features:
================

• Extended encoder emulation resolution [X10]
  With Px.102730, the extended encoder emulation output can be activated. Px.102728 specifies the number of pulses, which can be set in the range of 1 to 262144.
• EMMB motors with built-in multiturn encoders can be used as singleturn encoders without an external battery if the parameter Px.103805 is not set to active.
• Extended capabilities for naming firmware and parameter files for FoE. See "EtherCAT > Mailbox Communication > File Access over EtherCAT (FoE)".
• The hash code of the active parameter set can be read with parameter Px.102764.
• The behavior of dynamic torque boosting can now be defined and set via parameter Px.102223 See "Control > Limitations > Torque limitation" for more details.
• For position and speed commands, jerk can additionally be limited in the Application Limit Manager. The limits can be set using parameters Px.102777 (lower limit) and Px.102778 (upper limit).
• Error reaction for mains supply overvoltage diagnosis (Dx 02 | 03 | 00039) selectable (Warning or Stop Cat. 1).

Bug fixes:
================

• Vertical axes could accelerate in the wrong direction due to an unfavorably configured offset (Px.969).
  A setpoint monitoring prevents movement in the wrong direction.
• In homing methods 23/27 with a very short configured search limit, an error is reported too early regarding the search limit. In this case, the axis must already be on the reference switch at the start of the homing method.
  In this case, the search limit is deactivated, preventing any error message.
• The text for the diagnosis Dx 13 | 01 | 00214 (error acknowledgment) was not displayed in the message directory.
• No physical zero pulse was evaluated for SIN/COS encoders.
  With Px.102795, it can now be set whether the zero pulse should still be generated internally or if the physical pulse from the encoder should be used.
• Changes to the selected holding brake (Px.29) could lead to unexpected behavior of the brakes.
  Changes to this parameter must now be activated through a reinit.
• Very short STO pulses lead to undefined states in the CiA402 state machine.
  Safety events SS0/SS1/SS2 are processed correctly in the CiA402 state machine.
• The timestamp in the EtherCAT diagnosis log or in parameter Px.43550 is not updated in free run.
  The timestamp is now updated every 200 ms in free run.
• CIA402 referencing variant 37 - current position only possible in Operation Enabled.
  Only referencing variant 37 is always initiated as soon as requested - standard CIA402.
• CIA402 torques are only specified on the drive side, which is not CIA402 compliant.
  Switchable via parameter P0.1128062.0.0 to motor side; the default setting remains non-compliant with CIA402.
• Firmware update is too time-consuming.
  Firmware size has been reduced through compression to enable faster updates.
• The compensation time (Px.113036) for the digital input for position detection can only take positive values.
  The parameter can now also accept negative values, allowing positions to be approximated that are temporally before the input signal.
• In the position detection function in modulo mode, the offset parameters Px.113024 and Px.113025 had no effect.
• Parameter Px.1209 was mapped in the wrong address range.
  Object mapping was changed from 2288:01 to 217F:0B.
• The selection of the module mode via parameter Px.113100 was not stored persistently.
• Using CiA402 unit increments can lead to noise in the following error when connecting to the FAS.
• Multiple Modbus-TCP connections led to unexpected device errors.
• A speed override of 0 causes an error message.
  With a speed override of 0, the axis stops without an error message and remains in the current motion command.
• In EtherNet/IP, the input-only connection is not possible with EPD process data.
• Error in drive release in CIA402 operating mode CSV with active CIA unit increments.
  Incorrect internal position setpoints for non-trivial decimal numbers for the active feedforward constant in the unit m/s/s² have been corrected.
• In the controller release "I/O or Fieldbus," the drive could not be switched on via the CTRL-EN input without fieldbus release.
  See "Motion Control > Modes of Operations > Switch-on/off behaviour and controller enable > Function".
• In "leader/follower" mode, the follower axis briefly moves against the direction of the leader axis during synchronization.
  The follower axis moves directly in the same direction as the leader axis.
• A valid motor swap now triggers an additional reinitialization request.
• For third-party motors with EnDat 2.2 multiturn encoders and a resolution of >65535 (e.g., EBI 1335), a position jump may occur at system startup.
• During the brake test, the lift monitoring was not activated in all phases, which could lead to undesired axis movement.
  The lift limit monitoring is active during all phases of the brake test.
• For BiSS rotary encoders, saving the zero point shift could sporadically lead to a defective motor.
• In leader/follower operation, unexpected position changes may occur in the follower axis, if it is operational before the leader's initialization phase.
• Unexpected software limit error received without movement.

New Feature:

• Firmware package files have been renamed, and the versioning format has been changed:
  CMMT-MP-V34.0.13.18_Release.pck -> drive-hp-g1_35.9.1.pck
• Position-dependent torque control:
  It is now possible to specify a torque as a feedforward value for the control based on the position. More information can be found in the documentation.
• Modbus timeout can be set via FAS using parameter Px.102393.
• Support for multiple parameter sets:
  The device supports up to 4 different parameter sets, each stored in a slot. The web server can be used to set which parameter set should be active on the next restart. This allows for quick switching between different configurations.
• Extended parameterization options for Hiperface encoders:
  - Enable manual parameterization using Px.64140
  - Enter the number of Sin/Cos cycles per revolution from product information in Px.6412
  - Enter the number of singleturn resolutions per revolution in Px.6413
  - Enter the multiturn resolution per revolution in Px.6414
  - Select whether multiturn encoder is used in Px.6415
  - Select whether linear encoder is used in Px.100000

Fixed Bugs:

• Direction reversal in master-slave operation is not detected.
  Changes to the direction reversal Px.1170 affect the configuration of X10.
• Gear In/Out as a slave via X10 interface can cause a software crash (status led is flickering red).
• Modbus connection is not properly closed by disconnecting and reconnecting the cable.
  Reconnection is now performed correctly.
• Drive can be released by fieldbus when control authority is set to "I/O".
  It is not possible to release the drive via fieldbus when control authority is set to "I/O".
• Digital output linkage "Bit 16 CiA402 0x60FE" and "Bit 17 CiA402 0x60FE" is not selectable for CMMT-ST.
• CiA object 0x60FE (digital outputs) is not updated.
  Parameter P1.1128054 (mapped to CiA402 object 0x60FE) is not updated when changing outputs through the motion profile or fieldbus.
• Holding brake cannot be opened via FAS while STO is active.
• Current position in module operation in the module window area remains 0.
• Referencing with EMMB-AS can be lost on device restart.
• Unexpected error message "Process data connection lost" in combination with EtherNet/IP and Modbus.
  This was reported although no control is requested via control word 1 (STW1) bit 10.
• An input offset can be used for the analog input before the deadzone using parameter Px.102673.
• Improved evaluation of stroke limits for referencing methods with automatic direction reversal.
  For all referencing methods where the search direction is reversed, for example, when reaching a stop, it is now possible to adjust the stroke limit monitoring independently of the direction.
• Warning "Incorrect IP address settings" after changing the telegram selection with EtherNet/IP.
  The IP address remains unchanged.
• With CMMT-ST-MP in combination with a motor with a holding brake, the brake is not opened by a configured digital input.
  The holding brake is opened by setting the configured input.
• PROFIdrive telegram 103 and telegram 4 cannot be used with IRT / AC4.
  Both telegrams can also be used with IRT / AC4.
• For manually configured Hiperface encoders, when the parameter Px.6412 does not correspond to a power of 2, the target position is calculated incorrectly.
  The configuration of arbitrary values in the parameter Px.6412 is supported.

New Feature:

===============

-

Fixed Bugs:

===============

• The downgrade from a newer firmware version caused the error "Device initialization failed." As a result, the device could not be used properly.

New Feature:

• Modulo with tolerance window
  To ensure the same number of turns or movement is obtained in case of small position differences after turning on the device with multiturn position encoders or after a reference run, it is possible to configure a tolerance window using Px.102100. Within the tolerance window, movements against the commanded direction may occur. The behavior compatible with firmware V33 can be activated with parameter Px.102137.
• CiA402 Save extension Motor rated current (conformity)
  The value written via the object 0x6075 motor_rated_current is saved in the parameter Px.7118. If the value written is greater than the rated current stored in parameter Px.7117, the value written is limited to the value in parameter Px.7117. If parameter Px.7118 contains a lower value than parameter Px.7117, the lower value is retained, even if a motor with a higher rated current is subsequently configured with the current plug-in. If the message for the parameter Px.7118 Project=1e37Arms and Device=0.10Arms appears in the adjustment window with the current plug-in, the high value must be written to the device. The CMMT then limits to the correct nominal current as described above.
• Modulo for relative motion command
  The Modulo operating mode has been extended for the relative motion command. A more detailed description is provided in the documentation.
• Enhanced torque control
  An analog input can be used to connect and evaluate a torque/force sensor for the CMMT-AS device family. This allows for improved torque control on the output without the influence of friction. A more detailed description is provided in the documentation.
• Jog operation with configurable delay
  Enhanced parameterization option for jog operation. You can choose whether to use a symmetric (default, old behavior) or asymmetric brake ramp for jog operation. The following parameters can be set via the expert list for symmetric jog operation:
  - Selection of symmetric or asymmetric jogging (Px.102395)
  - Desired brake ramp 1 for slow movement of jog operation (Px.102397)
  - Desired brake ramp 1 for fast movement of jog operation (Px.102401)
  - Desired brake ramp 2 for slow movement of jog operation (Px.102407)
  - Desired brake ramp 2 for fast movement of jog operation (Px.102413)
• Enable Servo Drive, Activation via "I/O or fieldbus"
  The parameter (Px.10232) for the device has been extended with the option for enable servo drive via "I/O or Fieldbus".
• Master-Slave without down synchronization
  For Master-Slave operation, it is possible to specify "without down synchronization" for the Gear-Out method. When this option is used, the slave drive remains permanently synchronized with the master without considering the Gear-Out limits. As long as no new motion command is sent to the slave drive, it remains synchronized with the master.

Fixed Bugs:

• Factory reset does not reset fieldbus configuration to PROFINET.
  After activating the factory reset, the previous fieldbus configuration remains unchanged.
• EtherCAT timeout during file transfer (FoE)
  A timeout during file transfer (FoE) no longer occurs.
• Modbus TCP "Communication timeout" register is not stored non-volatile.
  The configuration is stored non-volatile in parameter Px.102393 (default 1s).
• Software limit error
  The detection of a violation of the software end position with error reaction is recognized upon first entry. Further error reactions are suppressed, for example, when a vertical axis sags and returns to the power-on position. Triggering an error reaction is only activated again when the set position is within a valid position range.
• Direction lock in controlled operation
  The direction lock is taken into account in controlled operation.
• Faulty behavior of the trajectory generator during sequence change in record table with touch probe.
  Optimized trajectory generator regarding touch probe.
• Drive cannot be enabled near the software end position.
  The behavior for enabling the drive near the software end position has been improved, allowing the drive to be enabled.
• Synchronization error when operating with an IRT switch.
  The synchronization error no longer occurs.
• Cia402: Fault reaction interrupted by control word.
  Changing the control word during "Fault" or "Fault Reaction" status has no impact.
• No Modbus connection possible after unplugging and reconnecting the cable.
  Modbus connection can be restored.
• Possible position jump in conjunction with multiturn encoders.
  Referencing is reset in case of an invalid extended multiturn position.
• Faulty diagnosis "Motor change detection" reported during encoder interruption.
  The faulty diagnosis is no longer reported.
• Invalid gear ratio during field weakening.
  Correct gear settings are used.
• Modbus timeout not adjustable via plugin.
  The Modbus timeout can be adjusted via the plugin.
• Fieldbus selection reset to PROFINET by updating the firmware to version 34.0.11.
  The fieldbus selection is no longer changed by the firmware update.
• ABI encoder signal too weak for long cable lengths.
  The default threshold has been changed.
• Unintended occurrence of 'Calculation of mass/friction value estimate not completed' warning.
  Unintended warning prevented.
• Internal motion monitoring P1.460 Bit 0 (TRX) not only dependent on monitoring window target position.
  Internal motion monitoring TRX is set via monitoring window target position and damping time.
• CMMT-ST-MP: Digital output, it is not possible to link it to CiA402 0x60FE / Bit 16 and 17.
  The setting options have been expanded.
• EMMB-AS: The referencing will be reset
  The referencing will be retained after a successful referencing even after a device restart.

• IP configuration is lost with EtherNet/IP
  During a restart of the unit with the EtherNet/IP fieldbus configuration, the IP address is retained.
• Dynamic increase of the torque limit
  Parameter Px.102223 can be used to select to which torque limit values the dynamic boost is applied. No boost, only to the axle limit or to all.
• Loss of the referencing status
  The referencing status is still maintained after a download of parameters during connection establishment and data synchronisation by the plug-in.

New Feature:

• PROFIdrive telegram 750
  The telegram 750 is available for the drive profile PROFIdrive. The telegram contains torque offset, minimum and maximum torque. Furthermore, an adaptation of the controller parameters of the velocity controller can be carried out. Via the parameter Px.102002.0.0 it can be selected on which factor the adaptation has an effect inactive, only amplification factor or amplification factor and integration constant.
• Extension record table: Torque specification in percent
  A new record is available for the record table which specifies the setpoint for the torque control as a percentage of the rated current of the motor.
• Extended gear ratio
  For rotative user units U, degree, rad and incr. it is possible to extend the limitation of 14 bits for numerator and denominator of the gear ratio to 32 bits via parameter Px.101905.0.0.
• U-f mode for stepper motors
  If the drive system is always controlled in current-controlled mode, it is possible to switch to voltage-controlled mode when the velocity falls below a limit. In voltage-controlled operation, a lower-vibration behavior is achieved, e.g. at standstill.
• CiA402 Factor Group Increments
  Via parameter Px.7867.0.0, the factor group can be activated to increments per revolution. Activation only changes the interface to the control and not the user unit set in the unit. The number of increments per revolution can be selected with parameter Px7865.0.0.
• Process data communication via explicit messaging
  Process data communication via explicit messaging (Get / Set Attribute single) via the assembly object (0x04) is possible.
• MDI target position in DINT
  The current target position for the direct MDI setpoint specification can be read out via parameter Px102038.0.0 with data type DINT.
• Display analogue value not scaled
  The analogue value can be read out in volts via parameter P0.1100.0.0.

Fixed Bugs:

• Modulo with turns
  For modulo with turns, a fixed position window is implemented to suppress sporadic turning by one turn too many.
• Touch Probe via CiA402 Control word 0x60B8
  The activation of the touch probe function via the control word 0x60B8 is implemented according to specification.
• Touch Probe via CiA402 sporadic missing position
  The sporadic failure of the detected position during the cyclic touch probe function no longer occurs.
• Path generator error and drive continues to move
  In the event of an error in the path generator, the drive is stopped.
• Error when saving the zero offset does not set the drive to referenced.
  If an error is detected when saving the zero offset after a successful reference run, the drive remains referenced.
• Motor change detection
  If a new motor is put into operation after a successful reference run and saving of the zero offset after a restart of the unit, no motor exchange is recognized.
• Set Master Position Gear In/Out
  If the Set Master Position Gear In/Out function is executed and the encoder is not ready, the call returns "Data No write access".
• Behaviour POS_ZSW1 in case of error
  The state for Jog.akitv, Homing.active, MDI.active and Setup.active is returned correctly in the event of an error.
• CiA402 Status word bit 10 (Target reached)
  Bit 10 (Target reached) in the status word is set to TRUE in the event of an error during a reference run when the velocity has reached the standstill state.
• CiA402 Control word Bit 4 (New Setpoint) simultaneously to internal target reached signal
  A new setpoint will be executed with simultaneously internal target reached signal
• CMMT-ST-MP PROFINET IRT (AC4)
  Sign-Of-Life Error fixed in ZSW2
• Automatic Brake test
  Calculation of the monitoring time optimized. Torque pre-control is now taken into account. Removed hold time between directions.

New Features:

• Following error acceleration
  In the operating modes positioning and velocity, a tracking error related to the acceleration is monitored. The monitoring window is set via parameter Px.101735 and the settling time via Px.101731. The error response is set as stop category 0 by default. The function is intended to switch off the unit early in the event of an uncontrolled movement, e.g. incorrect wiring of the motor phases.
• Extension of the encoder types on X3
  For the CMMT-AS-MP device, the same encoder types for EnDat 2.1/2.2 and Hiperface are available at X3 as at X2
• Encoder on X3
  The encoder at X3 connected to the CMMT-AS-MP device is available as an independent encoder input (controller) for the control system.
• Digital inputs 60FDh
  The digital inputs not defined in CiA402 are additionally offered in the Manufacturer specific area of object 60FDh.
• Device service
  The following new device services are available: Reset referencing status, start event table, stop event table, device identification via LED, execute firmware update, activate factory parameters, start data recording and stop data recording.
• Automatic activation of position trigger after device restart
  The position trigger function can be automatically activated via parameter Px.101547 when the device is restarted.
• Automatic activation Modulo after device restart
  The modulo function can be activated automatically via parameter Px.101551 when the device is restarted
• Automatic brake test reference torque
  Parameter Px.101382 can be used to specify what the torque required for the brake test refers to, on the motor side or on the output side. Furthermore, the offset for the torque Px.969 from the feedforward control is correctly taken into account.
• PROFIdrive telegram 9 EtherNet/IP and Modbus TCP
  The PROFIdrive telegram 9 is available for the fieldbus protocols EtherNet/IP and Modbus TCP.

Fixed Bugs:

• EMMB-AS motor loses referencing status
  The referencing status remains after a restart of the device.
• EMMB-AS motor loses multiturn position
  The multiturn position remains after a restart of the device.
• Web server scaling current position
  The display in the web server for the current position at the user unit degrees in adjusted.
• Set virtual master position for master/slave operation
  Setting the virtual master position Px.85661 in master/salve operation works as documented.
• Transfer and return parameters when calling device services
  The byte order is correctly taken into account for the transfer and return parameters.
• Jump on the encoder emulation during homing
  If the drive is moved when switched off or during a reference run, no jumps occur on the encoder emulation.
• Automatic brake test Torque offset
  The offset for the torque Px.969 from the feed forward control is correctly taken into account.
• POS_ZSW1.11
  The state for POS_ZSW1.11 is set correctly during the reference run.
• Diagnostic message input frequency A/B signals too high
  The cause of the diagnostic message is correctly monitored.
• Connection termination EtherNet/IP and Modbus TCP
  A diagnostic message is sent in the event of a connection failure.
• Mileage and load change counters
  The mileage and load change counter works with all user units.

Fixed Bugs:

• EMMB-Motor: After restart, the controller comes up with error 00093 "Motor change detected, zero point offset invalid". The referencing status always is lost - also with Multiturn motor.

Fixed Bugs:

• Parameter package (parameter set) is automatically adopted after a file transfer following a device restart.

New Features:

• EtherNet IP, EtherCat and Modusbus TCP are available
• Revised autotuning evaluation
• Velocity difference monitoring between encoder 1 and encoder 2

Fixed Bugs:

• Automatic brake test
• Gearbox and torque offset is taken into account

Version changes:
CMMT-AS-MP Firmware only PROFINET