- Difference description concerning TA CiA 402 V1.0 from V1.3

Function extensions:
- Support of an additional interpolation method
- Torque limitation
- DS 402 homing methods
- Cyclic synchronous position mode
- General change in the control of all cyclic synchronous position modes
- Linear interpolation of feedforward control values
- Homing stop mode
- Starting performance under operation with Eckelmann ETC control

Compatibility with previous versions:
Upwards compatible in terms of function.
Higher software versions support all functions included in previous software versions.
Due to the increasing number of functions integrated into more recent software versions, errors may occur when transferring parameter sets from higher software versions to lower ones.

The TA versions 1.3.0 cannot be loaded to firmware version 1.05 of the 9400 basic device!

Information taken from Service Message No. 08/2009.