Versions-History i700 axis module E70ACM

Version V02.16.03.0000

• Easy-Starter, PLC-Designer: New query whether i²xt monitoring should be deactivated (from PLC-Designer V03.23.00, Easy-Starter V01.20.00)

• Brake logic in motion axis: If EtherCAT communication is faulty, brake is applied before standstill is reached (corrected from V02.16.03)
• Field controller: Calculated default values of the controller settings can lead to vibrations in powerful asynchronous motor types (corrected from V02.16.03)
• Cable-Check: If a wiring error of the motor phases is detected, bit 3 "CableCheck failed" in the status word (0x2C64:2) is erroneously not set (corrected from V02.16.03)
• Resolver with pole pair number 0x2C43 >=2: Status bit "Absolute encoder selected" (0x2833-Bit04) is set incorrectly (corrected from V02.16.03)
• Controller c300 and i700 resolver device: after switching off the power, the persistent axis data are sporadically lost (corrected from V02.16.03)

• i700, internal brake control: When closing during the opening time, the inverter is disabled too early (no change planned)
• PLI (at standstill): current amplitude set higher for individual motor types, e.g. for M850 motors (no change planned)
• Cable check function activated 0x2C64:1=[1]: Occurring interaction with motor phase failure monitoring leads to torque drop (no change planned)
• V/f operation and Hiperface encoder (0x2C40=2) parameterized: Drive controller cannot be enabled (no change intended)
• Cable check 'Wiring test' and 'PPI': Functions are executed several times in a row under certain conditions (no changes intended)
• Motor temperature detection: With normally-closed temperature contact (TKO) and special characteristic, -666°C is permanently displayed (no correction planned)
• Resolver compensation: 0x2832 'Identification: Status word' unexpectedly not effective (modification of behaviour not planned)

Version V02.15.02.0000

• Resolver compensation: New parameter 0x2C44:10 for simplified test condition for constant speed (from V02.15.02)
• Pole position identification (PPI at standstill): New parameter (0x2C63:2) Adjustment factor pulse width (from V02.15.02)

• PLI: With very small motors (very low mass moment of inertia) an overcurrent error message can occur (corrected from V02.15.02)
• PLC Designer: When going online, differences are detected in the parameter sets of the i700

Version V02.14.07.0000

• not existing

• PLI: Parameterization with enabled controller leads to error message 0xFF04 (motor moved too much) (corrected from V02.14.07)
• PLI mode "once at controller enable" (0x2C63=1): CiA status word not always updated (corrected from V02.14.07)

Version V02.13.07.0000

• not existing

• V/f operation (VFC) and boost setting incorrectly too high: At output frequency zero, the current limiting controller (Imax) does not work sufficiently (corrected from V02.13.07)

Version V02.12.02.0000

• not existing

• Holding brake: Delayed application in the case of STO and 0x605B=1 (deceleration along quick-stop ramp) (corrected from V02.12.02)
• Oscilloscope function: File OszSym.zip corrupts when reading via FoE (corrected from V02.12.02)
• Osilloscope function: status words 0x2831 and 0x2832 cannot be oscillographed correctly (corrected from V02.12.02)
• EasyStarter: When uploading i700 parameters, a message appears stating that parameters 0x10F3:6...32 are not visible (corrected from V02.12.02)
• Cable check and ASM without brake: when erroneously selecting 'with holding brake' in 0x2820:1, the motor shaft performs a compensating movement (corrected from V02.12.02)

Version V02.11.12.0000

• Holding brake: New display parameter for the stored holding torque (from V02.11.12)

• Internal i700 brake logic: STO during error response of a class 2 error, e.g.: EtherCAT error, leads to delayed brake control (corrected from V02.11.12)
• Third-party controller: EtherCAT EoE communication disturbs i700 status control (corrected from V02.11.12)
• Touch probe: Large TP position deviations with position resolution >= 22 bit and high speed (corrected from V02.11.12)
• EtherCAT distributed clocks (DC): Slave axis reports error after initialisation (corrected from V02.11.12)
• Internal i700 brake logic and 0x2820:9=0 (saved holding torque): Brake can no longer be released (corrected from V02.11.12)

Version V02.10.12.0000

• Motor temperature detection: PT1000 temperature sensor can be set under 0x2D49:1 (from V2.10.12)
• Flying restart function: New automatic flying restart mode for operation with FAST Motion (from V2.10.12)
• Motor utilisation monitoring (I²xt): New default setting: 0x2D50:1=1 (Fault) (from V2.10.12)
• Position controller: Speed-dependent Vp adaption via grid point curve has been implemented (from V2.10.12)
• Resolver identification: Handling and duration of the identification process have been improved (from V2.10.12)
• Position interpolation (0x60C0): New default setting: 'square interpolation' (from V2.10.12)

• Open-circuit monitoring (0x4380, 0x7303): Selecting quick stop as fault response is ineffective because a higher-level motor temperature error is detected (corrected from V02.10.12)
• Earth-fault monitoring: The earth-fault monitoring function may sporadically respond when switching on the hardware constellation (corrected from V2.10.12)
• i700 reference manual: Missing description of error codes 0xFF21, 0xFF22, 0xFF23, 0xFF24, 0x6080 (corrected from V2.10.12)
• Holding brake: Controller can no longer be inhibited if brake is opened via 'Release holding brake: Open brake' (0x2820/11=1) (corrected from V2.10.12)
• Speed controller: D component is generated from unfiltered actual speed value (corrected from V2.1012)
• Hiperface absolute value encoder: Home position gets lost after short-time interruption of 24-V supply
• Pole position identification (PPI) works incorrect after limitation to maximum frequency of 599 Hz was active (corrected from V02.10.12)
• Resolver device: Controller can no longer be enabled after changing encoder parameters, fault No 20510 (corrected from V2.10.12)
• i700 resolver version and FAST Motion: Reference state of Motion axis is reset if encoder parameters differ from default (corrected from V2.10.12)
• EtherCAT: Changed second station address is not accepted after restarting the i700 via device command 0x2022=1100 (corrected from V2.10.12)
• V/f operation and voltage boost: Motor may turn back during reversing (corrected from V2.10.12)
• V/f operation and Imax controller (0x2B08:x) not parameterised: The output frequency slowly continues to rise after quick stop (corrected from PLC Designer V03.14)
• DC synchronisation: 0x1C32/0x1C33 subindices 6 and 9 for the time offset permanently display zero (corrected from V2.10.12)

Version V01.09.05.0000

• not existing

• Drive behaviour: After mains switching, the dynamic response of the drive may change (corrected from V1.9.5)

Version V01.09.03.0000

• Monitoring the system deviation of speed and position controller (0x2D51) (from V1.9.3)
• Holding brake logic with torque feedforward control inside drive controller i700 (from V1.9.3)
• Motor control: Output frequency has been limited to max. 599 Hz (from V1.9.3)

• Earth-fault/short-circuit monitoring function: May respond in the case of long motor cables and 4-kHz switching frequency (corrected from V1.9.3)
• Torque: Jerk limitation setpoint (0x2945): Function does not work as expected (corrected from V1.9.3)
• VFC operation: When activating STO in a motion process, non-zero setpoint and actual speed values are output (corrected from V1.9.3)
• Actual position: Time offset shows effect during processing in the PLC program (corrected from V1.9.3)
• V/f characteristic operation with slip compensation: Unexpectedly long overrun after stopping (corrected from V1.9.3)
• 'Set actual position' function (0x2830=5) is not executed correctly if position resolution is not 16 bits (default) (corrected from V1.9.3)
• Commissioning function: Magnetising current calculated after identification is not correct (corrected from V1.9.3)
• Encoder types with a number of increments which cannot be displayed as a power of two: unsteady actual speed value (corrected from V1.9.3)
• Hiperface SinCos absolute value encoder: Actual position step-change after encoder error reset (corrected from V1.9.3)
• EtherCAT cycle time setting > 10ms: i700 remains in the 'PreOp' EtherCAT status and does not change to 'Trouble' (corrected from V1.9.3)
• EoE communication cannot be re-established after interruption of EtherCAT connection (corrected from V1.9.3)
• Hiperface SinCos absolute value encoder: Reading out Hiperface data leads to unexpected error 0xFF17 (corrected from V1.9.3)
• Hiperface SinCos absolute value encoder: Immediate controller enable after change of feedback system leads to faulty Hiperface communication (corrected from V1.9.3)
• Hiperface SinCos absolute value encoder: After controller enable, the Hiperface monitoring may respond (error 0x7381) (corrected from V1.9.3)
• Commissioning functions: 'Identification: Status word' (0x2832/0x3032) - sporadically the 'Enabled' status bit is erroneously set (corrected from V1.9.3)
• EtherCAT cycle time of 10ms: Sporadic error message, ErrorID 65281 'Soft PLC error current processing' (corrected from V1.9.3)
• Oscilloscope function: Objects 0x6041 and 0x2C41:6 are not recorded correctly (fixed as of V1.9.3)
• Commissioning function for third-party motors: Axis command (0x2822=3) is not reliable (corrected from V1.9.3)

Version V01.07.07.0000

• not existing

• Firmware V01.07.06 don't use: Sporadically devices cannot be operated with! (corrected from V1.7.7)

Version V01.07.06.0000

• not existing

• Overvoltage (OU): In the case of a short-time overvoltage, the inverter is inhibited without state change (corrected from V1.7.6)
• Touch probe: Detected touch probe position sporadically deviates significantly (corrected from V1.7.6)

Version V01.07.05.0000

• Undervoltage threshold (LU) can be set to lower values. Parameter 0x2540:1 Mains: Rated voltage has been extended (from V1.7.5)
• Hiperface SinCos absolute value encoder: Functionality of monitoring modes has been extended and improved (from V1.7.5)
• Speed control loop: Interpolator for torque setpoint can be optionally activated (from V1.7.5)
• Undervoltage (LU): Fault reset now already possible before connecting the power supply (from V1.7.5)

• Hiperface absolute value encoder: Sporadically, the error 'Fatal internal communication error' (0xFF01) occurs (corrected from V1.7.5)
• Process data: Time offset of actual position and actual speed is 250µs higher than optimal (corrected from V1.7.5)
• Holding brake: In the case of overvoltage (OU), brake is not applied (corrected from V1.7.5)
• Quick stop ramp is only limited via maximum current 0x6073, maximum torque 0x6072 is not effective (corrected from V1.7.5)
• Hiperface: Abrupt actual position change when controller is enabled immediately after changing the feedback system (corrected from V1.7.5)
• Holding brake: Delayed control after response of 24V-supply monitoring (corrected from V1.7.5)
• Operating mode 0x6060: Increased rise in the following error characteristic when changing between CiA operating modes (corrected from V1.7.5)
• Touch probe: Reciprocal influence when using both TP inputs of the i700 at the same time (corrected from V1.7.5)
• Speed resolution 0x6090:x cannot be used in Lenze setting (corrected from V1.7.5)

Version V01.06.03.0000

• Linear Hiperface SinCos absolute value encoders (linear scale) are supported (from V1.6.3)
• Multipole resolvers with a number of pole pairs >= 2 are supported (from V1.6.3)
• Switching frequency 0x2939: Extended selections for 8 kHz fixed or 16 kHz fixed (from V1.6.3)

• Encoder variant and touch probe: Depending on the speed, the detected TP position is too small (corrected from V1.6.3)
• In the 'Fault reaction active' state, it is sporadially not switched to DC-injection braking if an encoder error occurs (corrected from V1.6.3)
• Faulty DC-injection braking in case of ASM servo control. Configuration of DC-injection braking has now been improved (corrected from V1.6.3)
• DC-injection braking as response to a fault can erroneously be replaced by quick stop (corrected from V1.6.3)
• 'Response to error' 0x605E: New Lenze setting to avoid unintended movements in the case of a feedback error (corrected from V1.6.3)
• Direction of rotation control (0x2825=4): Setpoint current is sporadically not reached (corrected from V1.6.3)
• Motor parameter identification via dialog fails in the case of ASM with holding brake (corrected from V1.6.3)
• Hiperface SinCos absolute value encoder TTK70/TTK50 and synchronous linear motor: Incorrect angular pole position calculation (corrected from V01.6.3)
• EtherCAT cycle time >= 2ms leads to excessive following error due to delayed PDO transmission (corrected from V01.6.3)
• Response in the case of error (0x605E) to QSP with DC-injection braking: Overcurrent monitoring may respond (corrected from V01.6.3)

Version V01.05.06.0000

• Response to error (0x605E): Additional selection 'Quick stop (or DC-injection braking or short-circuit braking) (from V01.05.06)
• EtherNet over EtherCAT (EoE): Accessing i700 parameters via Easy Starter using a third-party controller (from V1.5.6)
• Holding brake: Operating mode (0x2820:1) - additional selection 'No brake connected' (from V1.5.6)
• Quick stop (QSP) is also executed when using the commissioning functions (from V1.5.6)
• Pole position identification (PPI): Start PLI automatically after controller enable (from V1.5.6)

• Rotation test mode: Current/frequency (0x2825=2): Starting angle 0x2528:3 is not accepted correctly (corrected from V1.5.6)
• Operating modes without position control (csv, cst, vl): Following error is generated although value is not relevant (corrected from V1.5.6)
• Pole position identification (PPI) with Hiperface absolute value encoder: identified pole position is very imprecise (corrected from V1.5.6)
• Hiperface SinCos absolute value encoder: Faulty 'encoder identification' for encoder type 'TTK70' (corrected from V1.5.6)
• EtherCAT: Sporadically no state change possible after operational, mains switching required for error reset (fixed as of V01.05.06)
• Touch probe: Depending on the speed, the detected TP position value is too small (corrected from V1.5.6)
• Pole position identification (PPI at standstill): Holding brake is released unexpectedly (corrected from V1.5.6)
• Holding brake control: Brake is released for a short time when the PLC is restarted (corrected from V1.5.6)
• Pole position identification (PPI at standstill): Cancellation with error message 0xFF13 (corrected from V1.5.6)
• Resolver error identification and parameter import: Stable motor operation is no longer possible (eliminated from V1.5.6)
• Pole position identification (PPI at standstill): Incorrect status display when PPI is aborted (eliminated from V1.5.6)
• Hiperface sin/cos absolute value encoder with 'L_SMC_Multiturn' FB: Error message after power-on (eliminated from V1.5.6)
• Motor temperature display: Display range of -666...+666 °C not specified correctly in documentation (eliminated from V1.5.6)
• Motor temperature monitoring: Switching threshold hysteresis for warning and trouble only 0.5 instead of 5 Kelvin (eliminated from V1.5.6)
• Motor temperature monitoring: Thermal contact (normally closed contact) (TKO) cannot be used (corrected from V1.5.6)

Version V01.04.00.0000

• Motor utilisation (I²xt): Monitoring with additional error threshold for internal disconnection in the case of overload (from V1.4.0)

• Current controller: Less dynamic setting than before (corrected from V1.4.0)
• Motor utilisation (I²xt): Monitoring function not described correctly in documentation (eliminated from V1.4.0)

Version V01.03.08.0000

• Hiperface sin/cos absolute value encoder and sin/cos encoder - newly implemented (from V1.3.8)
• Position interpolation: 'Square interpolation' algorithm selectable as additional setting under 0x60C0 (from V1.3.8)
• Number of encoder increments (0x2C42:1): Extended value range (from V1.3.8)
• PDO mapping: Now, all objects required for the available CiA operating modes are contained by default (from V1.3.8)
• Axis mode direction of rotation check: Lenze status word 2 (0x2833) bit 2 (from V1.3.8)

• V/f characteristic control and slip compensation: With 0.0 rpm setpoint, the motor shaft may rotate (eliminated from V1.3.8)
• Parameter settings for 0x2826, 0x2BA0, 0x60C0, 0x6048, 0x6049, 0x10F1:2 are not permanently saved in the project (eliminated from V1.3.8)
• Following error tolerance greater than 180° without effect (eliminated from V1.3.8)

Version V01.02.04.0000

• not existing

• not existing

Version V01.02.03.0000

• not existing

• Overvoltage error for operation in generator mode (eliminated from V1.2.3)
• CiA402 status word: Wrong device status after deactivation of safe torque off (STO) (eliminated from V1.2.3)
• Reading of parameter set: Message Unknown device parameter found occurs (eliminated from V1.2.3 (i700))
• Motor emits a high-pitched sound when the manual control for the direction of rotation of the motor is used (eliminated from V1.2.3)
• Fatal internal error after firmware update (eliminated from V1.2.3)

Version V01.01.02.0000

• not existing

• Position loss during start-up of the Ethercat bus (eliminated from V1.1.2)

Version HW 1F

• not existing

• not existing

• not existing

Version HW 1D

• Motor and brake connection: Front imprint with plug-in terminal assignment at the bottom of the i700 (from HW 1D)

• Hiperface SinCos absolute value encoder with low number of periods per revolution (< 10): warning 0x7381 may occur (improved from HW 1D, no correction planned in SW)
• Hardware axis module encoder variant: Detected zero pulse position may be inaccurate (from HW 1D)

• not existing

Version HW 1A

• Extended mains voltage range: Operation on 3x230-V mains possible (all hardware versions)
• DC-bus connection: Continuous current for DC-busbar system has been increased to 120A (all HW versions)
• Power-off - discharge time of DC bus reduced (from HW 1A and V1.3.8)

• not existing

• not existing