Versions-History 9400 Servo PLC servo inverters

Version V09.50.08.0000

• Hardware and firmware dependencies 9400

• Positive edge of TouchProbe inputs TP6, TP7, TP8 cannot be evaluated with control cards Rev5 (solved)

• Incorrect position after mains switching with resolver as position encoder
• Loading motors route data from the ENP does not load all parameters
• Digital output terminals are not supplied externally with 24V (terminal X2)

Version V09.02.04.0000

• not existing

• not existing

Version V09.02.02.0000

• not existing

• Test mode motor control (C00398): negative frequencies and start angles are not implemented (fixed as of V15.02.00)
• CAN 'Operational state' is not reached when node guardig is activated (corrected from V15.02.02)
• System error after PLCD project download (corrected from V09.02.02)
• BusOff can not be left with Reset node in 125 kBaud CAN networks (corrected from V15.02.02
• 94xx CAN onboard: Sproadically missing TxPDO with Rev3 control card (corrected from V15.02.02)

Version V09.01.01.0000

• not existing

• Transmission error during application download via CAN 1 MBit/s (fixed from V15.01.01)
• Error when loading the safe parameter set (corrected from V15.01.01)
• Incomplete application download causes keypad error 'Fatal error' (corrected from V15.01.01)

Version V09.00.09.0000

• Support ETS with PT1000 entry

• System error in the 9400 servo drive after starting oscilloscope recording
• FDB_dnPosOffset_p influences the modulo position after every boot-up
• LS_Brake - stopping torque is also used for feedforward control in the case of Fail QSP
• Unexpectedly high speed in C50:1 and C51:1 after replacing device
• Parameter read/write requests are no longer executed after timeout
• Actual speed value drifts away despite standstill with TTL and SYNC

Version V08.13.00.0000

• not existing

• CAN communication at 125 kbit/s is not possible

Version V08.11.00.0000

• not existing

• not existing

Version V08.08.00.0000

• More tolerant undervoltage monitoring by additional filtering
• Optimising the encoder voltage control
• Support of Pt1000 temperature sensors

• Bit17 POS_dnState.bRev without function
• Loaded inverter characteristic (C2=70) is not compatible with E94B
• LS_SyncInput system block indicates incorrect sync cycle time
• Output frequency limitation status is not set as expected
• DI_dnState bit10 'Zero crossing' without function
• Speed controller error > 100% during brake test: Error 0x007b0012

Version V08.06.00.0000

• not existing

• V/f control with slip compensation: Unexpectedly long overrun after stopping

Version V07.01.06.0000

• Accessing SM302 diagnostics data from the application

• CAN on board life guarding error cannot be reset
• Incorrect status display of CAN node guarding slave (C388)
• Drive overtravels target position and limit positions when SLS is activated

Version V06.01.00.0000

• not existing

• Sporadic false tripping of SM301 monitoring function: SSM: Speed comparison error

Version V06.00.18.0000

• New FBs for reading + writing string parameters in the Servo PLC
• Optimised stall slip limitation for small ASM
• Optimised motor parameter identification for synchronous motors
• Adjustable voltage reserve for field weakening operation - ASM

• Vmax monitoring (C2703) not active during profile change
• SLSx deceleration is not observed if 'override' is activated
• LS_Limiter: Limited speed only takes effect with a delay
• Excess speed during manual jog with a change of direction
• Incorrect pole position with PPI 360 ° and simultaneously active MOL

Version V05.00.10.0000

• Deactivation of the motor phase failure monitoring by C599=100%
• Starting value C122 for motor overload according to UL specification during operation
• Hiperface® absolute value encoders SEK37, SEL37, SEK52, SEL52 evaluable
• Maximum angle of rotation of the LS_Brake standstill monitoring

• Incorrect values in oscilloscope recordings of global variables
• Watchdog cycle is greater than task cycle' error after device update
• Cam online change only possible for the first 48 products
• The deceleration time of LS_Stop is not maintained in the case of linear ramps
• Following error due to speed setpoint limitation in the case of great smoothening

Version V04.00.15.0000

• Lower DC-bus voltage range has been extended for E94B

• Faulty mains recovery detection (status signal 'Mains OK')
• C180 exception during write access to external code

Version V04.00.14.0000

• not existing

• not existing

Version V04.00.00.0000

• Extended program code memory (from V4.0 onwards)
• Brake test times can be set (from HL-V10.0 + PLC-V4.0)

• BusOff of CANopen module stops communication via CANonboard (eliminated from V4.0)
• Logbook: ¨Parameter set saved¨ information (eliminated from HL-V10.0 + PLC-V4.0)
• Profile change without adherence to the max. jerk (eliminated from HL-V10.0 + PLC-V4.0)
• Watchdog time in tasks with highest priority ineffective (eliminated from HL-V10.0 + PLC-V4.0)
• CAM auto increment function (eliminated from HL-V10.0 + PLC-V4.0)
• Incorrect activation of the monitoring function ¨Actual speed value > C00596¨ (eliminated from HL-V10.0 + PLC-V4.0)
• Parameter set lost after saving followed immediately by mains switching (eliminated as of HL-V10.0 + PLC-V4.0)

Version V03.00.00.0000

• Persistent variables (from V3.0)

• Timeout if a COB ID has been created in the invalid range (eliminated from HL-V9.0 + PLC-V3.0)