- Difference description concerning Servo Drive 9400 HighLine from V4.0 to V5.0

Function extensions
- Torque feedforward control is possible for SLVC
- Progress bar for the current positioning using the LS_Positioner
- Manual jog including step limitation
- Manual jog including breakpoint
- Implementation of a masked error number in C00162
- Flying restart circuit was deactivated as default value in C0990
- New Drive in target status variable (POS_bDriveInTarget) using the LS_Positioner
- On demand mode (mode 2) for keypad implemented
- Override for manual jog
- Override for homing
- Homing function was activated in the sensorless operating modes
- Separate S-ramp times for acceleration/deceleration for the L_PosPositionerTable
- Avoiding multiple entries into the logbook
- Supporting encoders including SSI interfaces
- Shortening the time for a parameter set changeover
- Test the interconnection in the device
- Deceleration override using the LS_Positioner

Eliminated function restrictions
- Control factor of field weakening for synchronous machines not detectable
- Automatic disconnection of a previously cancelled connection in Ethernet communication
- The L_DcSpeed_sToNorm_n function block yields wrong values on the output in connection with axis data from CAM data
- Display code C00138 for brake resistor efficiency displays wrong values
- The Controller is ready for operation (DI_bReady) status message is set too early
- Wrong positive speed limit C50/1 when setting signal source for speed setpoint to differentiated PosSet signal (C00275 = 1)
- Mains phase failure detection does not work
- Device starts automatically when returning from STO
- Internal limitation of the adaptation of the position/angle controller to 10 %
- No error message if inverter characteristic determination failed for motors of smaller sizes
- Communication error when adjusting the pole position using the EQI1329 EnDat encoder
- LS_CamInterface properly works at a task runtime of 1 ms only
- Motor phase failure detection is not triggered at standstill
- Online change status in C2906 partly wrong
- Setpoint step-change on L_LdVirtualMasterP with high resolution in C00100
- Task overflow in the application task when the oscilloscope is used
- Toggling on the digital frequency output at zero speed
- Overtravelling the limit switches in homing modes 12/13 and setpoint limitation by the LS_Limiter
- The C00142 restart inhibit was ignored in case of SDO access with controller inhibit
- Undefined product numbers are not signalled to LS_CamInterface.CAM_bError
- Loss of controller synchronisation after a project download

Compatibility with previous versions
The functions are upward compatible.
Higher software versions support all functions included in previous software versions.
Due to the increasing number of functions integrated into more recent software versions, restrictions may occur when transferring parameter sets from higher software versions to lower ones.
The following applies in general:
All parameter values are accepted that can be assigned. If the parameter set includes a parameter that the Firmware does not, this value will be refused. If the Firmware includes a parameter that the parameter set does not, this parameter will undergo factory adjustment. If a new Firmware was replaced by an old Firmware, the device will enter an error into the 'Parameter set restored' logbook. The error response is parameterised in code C635, the default value is 'Error'. The error can be quit but keeps on popping up every time the device is switched-on until the user has performed the 'Save start parameters' function.
If an old Firmware version is replaced by a new one, the device merely enters a piece of information into the logbook so the device can be operated without the need to reset the error. In this case the default response is 'Information'.

Behobene Funktionseinschränkungen (Lenze-intern):
- Unexpected frequency step change on digital frequency output

Further information is provided in Service Message No. 18/2009.