TA CiA402-Advanced: 0x60F4 cannot be oscillographed when controlling to external position encoder

Corrected from:
Servo Inverter i950 FW: from V01.0x.xx.xxxx (in planning)
 
Response of the new version: 
 
What happens?
The oscilloscope displays a fixed value of 0 for the recorded tracking error (0x60F4).

When does the behaviour occur?
  • i950 TA CiA402-Advanced undi950 TA CiA402-Advanced und
  • Position control on the 2nd position encoder activated (0x500D:90 = 1) and 
  • the axis is operated by the superimposed controller in csp mode (0x6060=8). 
Which products are affected?
Servo-Inverter i950 FW
 
Short-term measures / Evaluation / recommendations:
The tracking error (0x60FE) still contains the correct value.
The tracking error is included in the PDO mapping and is thus correctly transmitted to the control.

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URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/202000013/1/
Meta data
Taxonomy: i950 servo inverter i95A , FAST_TA_i900 , TA_Cia402_Advanced
AKB-ID: 202000013
Last update: 2026/05/20
Category: Version Informations

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