- Difference description concerning the 9300 Servo PLC from V6.5 to V7.0

Function extensions
- Filtering the MCTRL_nNAct_a actual speed value
- Monitoring of the rotor position adjustment
- Motor phase monitoring
- Extension of the sine/cosine encoder monitoring
- Extension of the AIF_IO_Management system block

Eliminated function restrictions
- Absolute position of Hiperface encoders
- Drive indicates controller enable if the Rdy signal changes to FALSE
- Application RAM is not deleted
- Exceptional response 'Warning' does not activate a warning
- If errors of the message or warning type occur several times, the error remains active even if the causes of the malfunction have been removed
- C0856 by factor 10000 too large
- CAN telegrams are no longer received
- Torque limit in case of quick stop (QSP)
- Errors of the Fail-QSP type - the error message is repeatedly stored in the fault memory
- Error message: 'No program'
- Error messages of the Fail-QSP type are stored in the fault memory with a wrong offset
- L_CanGetRelocCobId function does not return the set value
- L_FWM function module
- No controller inhibit in case of a control reset
- Keypad indicates a wrong value for analog outputs
- LU message generates task overrun
- PEr error after TRIP reset
- Retain variables are not saved in a mode protecting against mains failure
-SYSTEM_bPLCResetAndRun without function
- Task overrun when PLC_PRG is deleted from the DDS project
- Behaviour during quick stop (QSP) with faulty feedback
- Default setting value for C1122 is too low

Compatibility with previous versions
Upwards compatible in terms of function.
Higher software versions support all functions included in the previous software versions.

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