Which products are affected?
9400 HighLine SW V4.0
Eliminated function restriction
When switching over from a speed-controlled basic function (e. g. LS_Speedfollower) to a position-controlled basic function (e. g. standstill, manual jog) and if C00276 (selection of the signal source for the torque setpoint) = 2 (2 x differentiated position signal), an abrupt torque change has been generated so far causing the drive to jerk once.
Reason: The position used for the differentiation has not been updated during speed control.
From version V4.0, the described behaviour does not occur anymore. However, an additional torque is generated internally by differentiating the current position if the LS_Speedfollower basic function and C00276 = 2 are active. For this reason, applications using the C276 = 2 setting under firmware V3.0 behave differently than they do when they are run under firmware V4.0.
Please note: The C0276 = 2 setting does not make sense if the LS_SpeedFollower basic function is used!
