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Artículo
Versions-History i700 axis module E70ACM
Versions-History i700 axis module E70ACM
Version V02.16.03.0000
Function extensions:
Easy-Starter, PLC-Designer: New query whether i²xt monitoring should be deactivated (from PLC-Designer V03.23.00, Easy-Starter V01.20.00)
Solved function restrictions:
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)
Function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
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
Function extensions:
Holding brake: New display parameter for the stored holding torque (from V02.11.12)
Solved function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
Drive behaviour: After mains switching, the dynamic response of the drive may change (corrected from V1.9.5)
Version V01.09.03.0000
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
Firmware V01.07.06 don't use: Sporadically devices cannot be operated with! (corrected from V1.7.7)
Version V01.07.06.0000
Function extensions:
not existing
Solved function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
Motor utilisation (I²xt): Monitoring with additional error threshold for internal disconnection in the case of overload (from V1.4.0)
Solved function restrictions:
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
Function extensions:
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)
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
not existing
Version V01.02.03.0000
Function extensions:
not existing
Solved function restrictions:
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
Function extensions:
not existing
Solved function restrictions:
Position loss during start-up of the Ethercat bus (eliminated from V1.1.2)
Version HW 1F
Function extensions:
not existing
Solved function restrictions:
not existing
Function restrictions:
not existing
Version HW 1D
Function extensions:
Motor and brake connection: Front imprint with plug-in terminal assignment at the bottom of the i700 (from HW 1D)
Solved function restrictions:
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)
Function restrictions:
not existing
Version HW 1A
Function extensions:
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)
Solved function restrictions:
not existing
Function restrictions:
not existing
URL for linking this AKB article:
https://www.lenze.com/en-de/go/akb/202300301/1/
Meta data
Taxonomy: i700 axis module E70ACM
AKB-ID: 202300301
Last update: 2023/09/25
Category: Versions Histories
Lenze reserves the right to change information on this page at any time. Any liability for the accuracy of the information is excluded.
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