Versions-History Lib L_MC1P_MotionControlBasic

Version V03.32.01.0000

• not existing

• L_MC1P: Retriggering of xMoveAbsExecute during the deceleration phase leads to incorrect positioning (fixed as of V03.32.01)
• L_MC1P_ReInitAllNodes: FB remains permanently in xBusy state (fixed as of V03.32.01)

• L_MC1P: Quick stop application (QSP-Appl): Start speed of the QSP ramp is already several cycles old
• L_MC1P: TM_FollowSetValues: SafelyLimitedSpeed (SLS) function does not work in TorqueFollower mode
• L_MC1P_Limiter: Unexpected behavior when requesting SDIpos via TM SpeedControl
• L_MC1P: i750, i950 and manual control: Test movement not executable if PLC application was stopped before (no change intended)
• L_MC1P: QSP application: When activated during standstill, no compensation of the contouring error takes place, contouring error monitoring responds if necessary.
• i950 and L_MC1P_CyclicParameterAccessRead: Smaller number of FB instances can be used in parallel
• L_MC1P, L_MC2P, L_MC4P: Standard visualizations of V03.20.00 can only be used with PLC-Designer from V03.20.00 on (no change intended)
• L_MC1P_MotionBasicControl: Homing: TP configurations (subindex 80) greater than 3 do not work with 9400HL (Cia402) (no changes intended)
• L_MC1P and i550: Access to NetwordIn1...In4 and NetwordOut1...Out2 not possible (no change planned)
• L_MC1P: Only i550 inverters from firmware V05.02 are approved for "Position control with i550". Older firmware versions can be selected, but their use has not been verified (no changes intended)
• L_MC1P: Enums are displayed as numbers in the WebVisu (no modification intended)
• L_MC1P - Positioning with active OscillationCompensation: Standstill message (AxisState = StandStill) is set based on set value before FB (no correction intended)
• L_MC1P_BasicActuatingSpeed: xAxisReady output = TRUE although no mains voltage is applied (corrected from: no alteration planned)
• L_MC1P - MC_Touchprobe: Using a digital input of EPM-S202 as TP (TouchProbeSource=3) only works with global variables (no correction intended)
• L_MC1P: Motor parameters changed online only become effective after reinitialisation (no correction planned)
• L_MC1P_ModuloCycle: Rounding effects are becoming noticeable when reaching high position values (no modification intended)
• L_MC1P - AxisRef: Reference variables changed in the controller are only effective after carrying out a new initialisation process (no changes intended)

Version V03.32.00.0000

• Use of FAST Motion with third-party drives

• L_MC1P_Limiter and 'Safely limited speed' (SLS): Profile generation also incorrectly takes place below the limitation with the SLS delay (fixed as of V03.32.00)
• Motion axis (0x500A:10) and sensorless motor control modes: Target position not consistently displayed as actual position (fixed as of V03.32.00)
• L_MC1P: Synchronous motor with brake: If the pollage setting is different, the inverter cannot be disabled via xEnableOperation=FALSE (fixed from V03.32.00)
• L_MC1P: MC_TouchProbe TouchProbeSource = 4 (touch probe from external encoder axis) does not work as expected (fixed from V03.32.00)
• L_MC1P: Modulo axis, MoveAbsolute and xContinuousUpdate is active: Movement is in unexpected direction (fixed as of V03.32.00)
• L_MC1P - MC_WriteParameter: Error message 'ValueOutOfRange' occurs when writing to parameter 0x500A.180 of the i950 motion axis (fixed from V03.32.00)

Version V03.31.00.0000

• not existing

• L_MC1P: Speed control: Unexpected response of following error monitoring when locking the controller (fixed from V03.31.00)
• L_MC1P: MC_MoveAbsolut: Sporadically occurring error message (20333) in the profile generator (fixed from V03.31.00)
• L_MC1P: After referencing via "SetPositionInAnyState" during a relative positioning, an incorrect target is approached (fixed as of V03.31.00)

Version V03.30.00.0000

• Signing of Lenze libraries

• L_MC1P_BasicActuatingSpeed and virtual mode for inverter i550: EXCEPTION [AccessViolation] occurs when starting the PLC program (fixed from V03.30.00)
• L_MC1P: MC_MoveRelative - Error message 20373 Arithmetic error in the profile calculation (fixed as of V03.30.00)
• Unknown event in the controller logbook
• L_MC1P_ProfileGenerator_xAbort = FALSE/TRUE behaves differently than documented (fixed as of V03.30.00)
• L_MC1P_AxisBasicControlV2: It is not possible to continue a canceled positioning if the axis is not referenced (fixed as of V03.30.00)
• Position reconstruction: Error message "PosReconstrNoMemoryAvailable" because retain memory space is incorrectly allocated for FreeEncoder (fixed as of V03.30.00)
• i950 ES: Activation of the SBC (SafeBrakeControl) function is incorrectly displayed as SS2 in Motion and Logbook (fixed as of V03.30.00)
• L_CT1P_ProcessController: If both limiting values are set to positive values, the function of the process controller is restricted (fixed from V03.30.00)

Version V03.29.00.0000

• not existing

• L_MC1P: MC_Touchprobe: TP detection for i750 servo inverter inaccurate (fixed from use of the new i750 device description V01.01.00.03)
• L_CT1P_Autotuning: If an error message occurs, the inverter is blocked immediately as an error reaction instead of stopping beforehand with Application-QSP. (corrected from V03.29.00)
• i950 TA Cia402 Advanced: actual speed value from position encoder (0x503F:11=[1]): e.g. in case of beam interruption at the laser measurement system uncontrolled drive behaviour may occur (corrected from V01.08.00)
• L_MC1P - MC_Touchprobe: When using i950 Cia402Advanced TP3 or TP4, an incorrect TP position is detected (corrected from V03.29.00)
• PLC-Designer: If the first logic device in the device tree, e.g. 8400, 9400, is deactivated, the devices in the device tree are displayed in red (fixed as of L_LCB V03.29.00)

Version V03.27.00.0000

• not existing

• L_CT1P_Autotuning: Procedure is aborted with error message 'Adjustment according to selected strategy was not possible'. (corrected from V03.27.00)
• L_MC1P: Status 'Controller enabled' is already reset (0x500A:5-Bit2 = False) while QSP is still active in the transition phase of an error response (fixed as of V03.27.00)
• L_MC1P: AxisRef status 'xInPosition' is reset by the function 'xHalt' (corrected from V03.27.00)

Version V03.26.01.0000

• not existing

• L_CT1P_Autotuning and position controller: Incorrectly detected stability limit leads to premature termination (corrected from V03.26.01)
• L_MC1P and FB 'L_IE1P_SetErrorSingle': If the error reaction is set to immediate locking of the controller (Cinh), the brake is incorrectly not applied (corrected from V03.26.01)
• L_TT1P, L_MC1P, L_MC2P: The internal visualisations cannot be used (corrected from V3.26.1)
• L_MC1P_SetControlMode: When changing from csv to csp during movement, the following error monitoring responds (corrected from V03.26.01)

Version V03.26.00.0000

• L_MC1P_BrakeGrindIn: Parameterisable movement range for grinding in the brake (from V03.26.00)
• L_MC4P, L_MC1P: Access to motion axes and axis groups in the PLC program only when using VAR_IN_OUT, otherwise compiler warning (from V03.26.00)

• L_MC1P - Encoder via EPM-S602 at a S131 terminal: Occurring error message 20662 (corrected from V03.26.00)
• L_MC1P: Touch probe (TP) via encoder sporadically determines a wrong TP position (corrected from V03.26.00)
• L_MC1P: Quick stop (Drive-QSP) is not executed as expected if QSP is activated during brake closing (corrected from V03.26.00)
• L_CT1P: Auto-tuning function continues to run endlessly when the position controller is limited (corrected from V03.26.00)
• L_CT1P: AutoTuning function is cancelled by controller enable shortly after start-up for asynchronous motors (corrected from V03.26.00)
• L_MC1P: Touch probe (TP) and external position encoder: encoder zero pulse cannot be evaluated as touch probe (TP) (corrected from V03.26.00)
• L_IE1P_SetErrorSingle and i950: Error reset not possible and logbook entries are not made (corrected from V03.26.00)
• L_MC4P_WriteParameter, L_MC1P MC_WriteParameter: Value range check incorrect for parameters of axis groups (corrected from V03.26.00)
• L_MC1P: Reset error function affects the current movement (corrected from V03.26.00)
• L_MC1P Limiter: Setpoint jumps and offset between master and slave with activated SLS follower reaction (corrected from V03.26.00)
• L_MC1P_BrakeTest: Brake test is carried out incorrectly with too low torque when limits are engaged (corrected from V03.26.00)
• i950 TA Cia402-Advanced: When switching to subindex :085 = 'permanently set' a wrong actual position is displayed, due to a wrongly not reset internal offset (corrected from V03.26.00)
• L_MC1P_ChangeMachineData: Machine data does not take effect under certain conditions (corrected from V03.26.00)
• L_MC1P: MC_ReadParameter sporadically returns wrong read result despite status xValid=True, with parallel execution in different tasks (corrected from V03.26.00)
• L_MC1P: The control deviation at the input of the position controller is unexpectedly limited to +/- half a motor revolution (corrected from V03.26.00)

Version V03.25.00.0000

• not existing

• L_MC1P: Falsely occurring error message 0x50CF (error external encoder), although position control via motor encoder is active (corrected from V03.25.00)
• L_MC1P: Inverter i550 cannot be released with external position control (corrected from V03.25.00)
• L_MC1P_BrakeTest: When releasing the brake for load identification, there is no torque pre-control for jerk-free load transfer (corrected from V03.25.00)
• L_MC1P - MC_TouchProbe and use of EPM-S207 or EPM-S208 (FAST-DI): First falling edge is not recognised (corrected from V03.25.00)
• L_MC1P Brake logic: Brake is applied prematurely, already in CiA state 'Fault reaction' (corrected from V03.25.00)
• L_MC1P: LM_FreeEncoder: Occurring jump in lrActPostion at zero crossing of diEncoderPosition (corrected from V03.25.00)
• L_MC1P_SetBasicParameter: Input 'scHomeParameter.eStopModeDirection' is not accepted correctly (corrected from V03.25.00)
• L_MC1P_ManualJog: Jogging speed cannot be changed during movement via lrOverride (corrected from V03.25.00)
• L_MC1P_FollowSetValues, SyncAndCorrection: The catch-up following the SLS function does not occur as expected (corrected from V03.25.00)

Version V03.24.01.0000

• L_MC1P: Encoder read-in via counter module EPM-S602 or EPM-S604 can be used for external position control in motion axis (from V03.24.01)

• L_MC1P - Move FBs without jerk limitation: Distance covered is extended under certain conditions (corrected from V03.24.01)
• L_MC1P_ManualJog and TM: 'Jogging' is continued incorrectly under certain conditions (corrected from V03.24.01)
• L_MC1P: Switching between operating modes: Tracking error is not correctly taken into account, this can have an effect when closing the brake, among other things (corrected from V03.24.01)

Version V03.24.00.0000

• L_MC1P: Service functions extended by the possibility of restricting the directions of movement (from V03.24.00)

• L_MC1P_BrakeGrindIn: Error message 20741 'BrakeGrindInStartPosOutsidePosLim' when starting the function Loop in Brake (corrected from V03.24.00)
• L_MC1P_BrakeGrindIn: Despite controller inhibit the motion axis remains in standstill status ( 0x500A.004=[3] ) (fixed from V03.24.00)
• i950 TAs: After QSP in the master an offset in position and speed occurs (corrected from V03.24.00)
• L_MC1P_ManualJog: BasicMotion Jogging: Changed delay not effective (corrected from V03.24.00)
• L_CT1P: Autotuning function: Exception occurring when parameterising the gain Vp=0 (corrected from V03.24.00)
• L_MC1P: i950 with laser distance measurement system as 'external encoder': Unexpected movement after FastStop due to beam interruption
• L_MC1P_SetControllMode: Switching of position control in connection with setpoint manipulating functions leads to position jump in the driving profile
• L_MC1P: i550 and position control via PLC (external encoder): Homing only works when an external encoder axis is used. (corrected from V03.24.00)
• L_MC1P_BrakeTest: Test run is aborted with error message (corrected from V03.24.00)
• L_MC1P: i950 load encoder (slot B): encoder zero pulse not usable as touch probe source
• L_MC1P - Virtual axis: ErrorStop ramp lengthens due to excessive initial speed caused by oversized change of the setpoint position.

Version V03.23.00.0000

• L_MC1P and Jogging: Behavior when xJogPos and xJogNeg are set simultaneously (from V03.23.00)
• i950 Encoder Axis: Extensions for absolute encoder: 0x500B:86: Reference offset and 0x500B:85: Status 'Reference known' permanently set (from V03.23.00)

• L_MC1P: When activating the dead time compensation, the position value changes (fixed as of V03.23.00)
• L_MC1P: i550 with TA TablePos: Error message "MissingMappingParameterPosTorqueLimit" occurs, which is not documented (fixed as of V03.23.00)
• L_MC1P: After failure of the EtherCAT communication, error no. 20770 'PolePositionNotavailable' may occur erroneously (corrected from V03.23.00)
• L_MC1P Brake logic in controller with i950 TA CiA402-Advanced: Holding brake does not open when a start torque is specified (corrected from V03.23.00)
• L_MC1P_BrakeTest: Angular drift detection as switch-off condition of the test function without effect (correczted from V03.23.00)
• AxisRef i950: When switching the control mode, the parameters 0x500A:136 and :137 are not taken into account (set tolerance window for setpoint=actual value) (corrected from V03.23.00)
• L_MC1P: Drive accelerates with QSP deceleration against the expected direction at start after controller enable (corrected from V03.23.00)
• L_MC1P_SetPosCtrlAdaptValue: Behavior with xEnable=False incorrectly described in associated documentation (documentation adapted)
• L_MC1P: Longer braking distance when reversing, since acceleration is used for deceleration for the profile (changed from V03.23.00)
• L_MC1P_SetPosCtrlAdaptValue and i950 TA Cia402-Advanced: VP of the position controller cannot be changed correctly (fixed from V03.23.00)
• L_MC1P - MC_TouchProbe and Continous-Mode: Status TP detected is not set at same TP position (corrected from V03.23.00)

Version V03.22.00.0000

• L_MC1P_PosReconstruction: Position reconstruction witrh absolute value encoder via EtherCAT bus or the backplane bus (external encoder) (from V03.22.00)

• L_MC1P: Brake logic and limiter function in control: Brake does not engage in i950 with SafeStop1 (SS1) (corrected from V03.22.00)
• L_MC1P: External load encoder: Reference is erroneously reset depending on motor encoder (corrected from V03.22.00)
• L_MC1P_AxisBasicControl: Property lrSetJerkDec does not work for xHalt (fixed as of V03.22.00)
• L_MC1P: Brake logic and SSI encoder with low resolution: noise occurs when closing the brake (corrected from V03.22.00)
• L_MC1P_SetSpeedCtrlLoadValue: loading I-component speed controller does not work with i950 (corrected from V03.22.00)
• L_MC1P_BrakeGrindIn: Non-executable phases in the sequence can lead to permanent movement (corrected from V03.22.00)
• L_MC1P: i550 and brake function in motion axis (sub 110): brake control does not work (corrected from V03.22.00)
• L_MC1P_AxisBasicControl_V2: Manual jog (xJog) is not executed (fixed as of V3.22.0)

Version V03.21.00.0000

• L_MC1P_SetTorqueLimit: Torque limits can now also be specified for i550 inverters (from V03.21.00)

• L_MC1P, FB 'L_SEMP_SetError': An application error message is erroneously characterized as DriveError (ErrorID=20511) (corrected as of V03.21.00)
• L_MC1P_PolePositionIdentification: Drive does not move, depending on call sequence (fixed from V03.21.00)
• Error message 'InternalError (0B040001)' in robotics applications and C axis movement with invalid input values for the profile generator (corrected from V03.21.00)
• L_MC1P_BrakeGrindIn: Grinding in the brake does not work if the brake test has previously determined wear (corrected from V03.21.00)
• L_MC1P_BrakeTest: When executed again after error reset, slipping does not lead to finish (corrected from V03.21.00)
• L_MC1P_PolePositionIdentification: Output 'xPPInvalid' is not reset correctly (corrected from V03.21.00)
• L_MC1P_PolePositionIdentification: After error reset PLI restarts without xExecutePPI edge (corrected from V03.21.00)
• L_MC1P_BrakeTest: When using a load sensor, slipping of the brake is not always detected (corrected from V03.21.00)
• L_MC1P: Holding brake and position control via PLC: Error message 20531 'Brake_TimeOutPrecontrol' occurs (corrected fron V03.21.00)
• L_MC1P: ContinousUpdate with MC_MoveVelocity at cyclic setpoint change not given (corrected from V03.21.00)
• L_MC1P: MC_MoveAbs, MC_MoveRel: Rarely occurring unsteady setpoint characteristic (corrected from V03.21.00)
• L_MC1P: Extension of braking distance when reversing due to unfavorable profile generation (corrected from V03.21.00)
• L_MC1P: Linear SSI encoder: Actual position after power switching wrong, if encoder supply drops first when switching off (corrected from V03.21.00)
• L_MC1P: BufferMode does not work as documented (corrected from V03.21.00)
• L_MC1P: i550 with HTL encoder at DI3/DI4: At the end of the homing run a large tracking error occurs (corrected from V03.21.00)

Version V03.20.00.0000

• L_MC1P_PolePositionIdentification - identifying the pole position of synchronous motors (from V03.20.00)
• L_MC1P_ManualJogOpenLoop - Function block for manual jogging sensorless (from V03.20.00)

• L_MC1P: MC_SetPosition does not function correctly in the modulo measurement system (fixed from V03.20.00)
• L_UMTP: After update to V03.19.00 error message occurs due to wrong placeholder setting (corrected from V03.20.00)
• L_MC1P MC_SetPosition: Positioning and RestartPositioning:=TRUE leads to incorrect positioning (corrected from V03.20.00)
• L_MC1P: Function for suppressing setpoint/actual equation at controller disable (SubIndex 136/137) works incorrectly (corrected from V03.20.00)
• L_MC1P_Limiter: Error message SS2 is not reset (corrected from V03.20.00)
• L_MC1P: ContinousUpdate: Adoption of changed profile parameters for MC_MoveVelocity only every 10ms (fixed from V03.20.00)
• L_SEMP_SetError: With 'Fault_FAST_Stop' triggered QspApp is not displayed in the status word (corrected from V03.20.00)
• L_MC1P: Parameters of the Encoder_Axis in the i950 can be changed with enabled controllers (corrected from V03.20.00)

Version V03.19.00.0000

• L_MC1P: AxisRef extended by identifier for device axis A, axis B for multi-axis devices (from V03.19.00)

• L_MC1P: MoveRelative Exception (division by 0) (corrected from V03.19.00)
• Immediate STO with SS1 and additional fault QSP (corrected from V03.19.00)

Version V03.18.00.0000

• not existing

• L_MC1P_ReadActualTorque: i550 is not supported by function module (fixed from V03.18.00)
• L_MC1P - MC_MoveContinuousAbsolute: 'ArithmeticError_MoveContAb', when final speed cannot be reached with profile parameters (corrected from V03.18.00)
• L_MC1P: Quickstop application behaves differently to QSP in the drive controller (fixed as of V03.18.00)
• L_MC1P - MC_TouchProbe: Inaccurate TP position with I/O input on backplane bus as TP (corrected from V03.18.00)
• L_MC1P - MC_SetPosition: Exectuting SetPosition in an absolute positioning process changes the target position (corrected from V03.18.00)
• L_MC1P: Constant following error with PosControl PLC (external position control) (corrected from V03.18.00)
• L_MC1P_SetControlMode: After changing from CSV to CSP, a following error integrated over several modulo cycles is compensated (corrected from V03.18.00)

Version V03.17.00.0000

• L_MC1P: FAST Motion supports i550 frequency inverter (from V03.17.00)
• L_MC1P_BrakeGrindIn: Direction of movement for grinding the brake can be selected (from V03.17.00)

• L_MC1P: Acceleration override 'lrOverrideAcc' - for input values <= zero (outside the permissible value range), Override =1 was incorrectly set (corrected from V03.17.00)
• L_MC1P_BrakeTest: Twice the torque is erroneously applied to the brake (corrected from V03.17.00)
• L_MC1P: With 'PosControl PLC' and LM_FreeEncoder, the axis does not stop with RegulatorON=False (corrected from V03.17.00)
• L_MC1P: TTL encoder as external position encoder: xIsHomed state is not reset after mains switching although position reconstruction is not possible (corrected from V03.17.00)
• L_MC1P - LM_ExtEncoder: Speed drop through position step change at the display range limit of the SSI encoder (corrected from V03.17.00)
• L_MC1P: When using ABC.xMoveRelExecute for positioning to the TP position, the axis overtravels the target by the distance of one cycle (corrected from V03.17.00)
• L_MC1P - MC_TouchProbe: TP window for single measurement does not work correctly (corrected from V03.17.00)
• L_MC1P: Homing with i700 and external encoder (EPM-S602) and 'PosControl PLC' is not possible (corrected from V03.17.00)
• L_MC1P: With Modulo axis and MoveAbsolute the tolerance window is not considered correctly (corrected from V03.17.00)
• L_MC1P: Operation without feedback: Actual position display always indicates 0 instead of actual position = setpoint position (corrected from V03.17.00)
• L_MC1P: Manual control via engineering tool: Following error monitoring may respond unexpectedly (corrected from V03.17.00)
• L_MC1P - MC_Touchprobe: Sometimes, single measurement with TouchProbeEdge=6 does not work (corrected from V03.17.00)
• L_MC1P: Motor rotation indication: Following error monitoring function responds (corrected from V03.17.00)

Version V03.15.02.0000

• not existing

• L_MC1P: When logging in, project differences are erroneously displayed (corrected from V3.15.2)

Version V03.15.01.0000

• not existing

• L_MC1P: When using the 9400HL (CiA402), the AxisRef parameter 039 does not contain the rated motor torque (corrected from V3.15.1)

Version V03.15.00.0000

• not existing

• L_MC1P - MC_Stop: When selecting 'Deceleration' = 0, the value under subindex 41 is not used and an error message is generated (corrected from V3.15.0)
• L_MC1P: Absolute positioning can be executed without having referenced the axis (corrected from V3.15.0)

Version V03.14.01.0000

• not existing

• L_MC1P: Modulo operation beyond the 32-bit display area limit: Rarely occurring actual-position offset (corrected from V3.14.1)
• L_CT1P_OnlineIdentStiffMechanics: 'IrThresholdValue' parameter does not work as expected (corrected from V3.14.1)
• L_CT1P_OnlineIdentStiffMechanics: The IrConvergence output has no function (corrected from V3.14.1)
• L_MC1P: Virtual axis in the modulo measuring system: When positioning to the zero point, the exact target is not always reached (corrected from V3.14.1)

Version V03.14.00.0000

• L_MC1P_BasicActuatingSpeed: p300 supports axis operation in the speed-controlled Velocity mode (vl) (from V3.14.0)

• L_MC1P - Positioning with velocity override: Exception may occur (corrected from V3.14.0)

Version V03.13.01.0000

• not existing

• L_MC1P: Boot process and page changes of visualisation take long (corrected from V3.13.1)

Version V03.13.00.0000

• L_MC1P: New status signal (xAxisAvailable) for AxisRef data is updated and valid (from V3.13.0)

• L_MC1P_AxisBasicControl: Continous Update does not work for MoveVel if xMoveVelExecute=FALSE (corrected from V3.13.0)
• L_MC1P - MC_MoveSuperimposed: Following error is unexpectedly high (corrected from V3.13.0)
• L_MC1P - MC_MoveAbsolute: For target positions > 360°, the selected direction of rotation is not observed as expected (corrected from V3.13.0)
• L_MC1P - MC_MoveVelocity: '0' setpoint speed leads to 'Arithmetic error' error message (corrected from V3.13.0)
• L_MC1P: Homing can only be aborted via the 'MC_Stop' function (corrected from V3.13.0)

Version V03.12.00.0000

• not existing

• L_MC1P - L_MC1P_MeasureDistance: Distance measured with modulo measuring system is not correct (corrected from V3.12.0)
• L_MC1P: EtherCAT outputs are not set to their default values when the PLC stops (corrected from V3.12.0)
• L_MC1P_AxisBasicControl: Jogging speed from visualisation only becomes effective with an edge (corrected from V3.12.0)
• L_MC1P - L_MC1P_MeasureDistance: FB does not work correctly when performing the modulo transition (corrected from V3.12.0)
• L_MC1P: Optional EtherCAT nodes: L_MC1P_ReinitAllNodes does not work (corrected from V3.12.0)
• L_MC1P: Homing state is not reset when only switching off the drive controllers - unexpected motion possible (corrected from V3.12.0)
• L_MC1P - AxisBasicControl: Jerk override (lrOverrideJerk) is not considered during deceleration ramp (corrected from V3.12.0)
• L_MC1P: External encoder at the backplane bus: filtered actual position values are not correct (corrected from V3.12.0)
• L_MC1P: V/f characteristic control: 'Automatic' brake mode does not work (corrected from V3.12.0)
• L_MC1P: Function for reconstructing the actual position does not work reliably if the 'LRW' option of the EtherCAT master is activated (corrected from V3.12.0)
• L_MC1P: Integrated speed signal of an encoder axis does not simulate the axis position (corrected from V3.12.0)
• L_MC1P: 'Manual jog' and override change lead to unexpected axis movement (corrected from V3.12.0)
• L_MC1P: IPC logbook in the controller: Response of following error monitoring function leads to multiple entries (corrected from V3.12.0)
• L_MC1P: External position encoder and homing using touch probe leads to incorrect home position (corrected from V3.12.0)
• L_MC1P - MC_WriteParameter: 'Persist all data' does not work when changing parameters (corrected from V3.12.0)

Version V03.10.00.0000

• not existing

• L_MC1P: 'Quick stop option code' parameter (0x605A) is overwritten during initialisation (corrected from V3.10.0)
• L_MC1P_ReinitAllNodes - FB freezes when using EtherCAT_Master.xRestart (corrected from V3.10.0)
• L_MC1P: MC_TouchProbe: Large deviation of TP position detected by means of EPM207 / EPM602 (corrected from V3.10.0)
• L_MC1P: Target reached state is not set when 'Window target reached'=0 and 'Time target reached' is not effective (corrected from V3.10.0)
• FAST Motion - 9400 AxisRef: Motor moment of inertia is not read during initialisation (corrected from V3.10.0)
• L_MC1P_AxisBasicControl: xHalt behaves like xStop and cannot be interrupted (corrected from V3.10.0)
• L_MC1P: Homing modes with reversing process are not executed correctly (corrected from V3.10.0)

Version V03.09.01.0000

• not existing

• L_MC1P: Controller enable during EtherCAT initialisation leads to 'General_Communication_Error' error message (corrected from V3.9.1)
• L_MC1P: Homing towards limit stop - unexpected response of following error monitoring (corrected from V3.9.1)

Version VXX.XX.XX.XXXX

• Referencing function (homing): If two encoders are present, referencing is always carried out for both feedbacks (from V03.27.00)

• not existing