Issue:

The keyword help for AXIS1.PROFINET.TELEGRAMID included Telegram 800 in the allowed settable range even though it's not settable. Only Axis 2 supports Telegram 800.

Solution:

Updated keyword help for AXIS1.PROFINET.TELEGRAMID to remove Telegram 800 from the settable range.

Issue:

Values written to profile acceleration (6083h) or profile deceleration (6084h) via SDO were interpreted as signed values, even though the objects and the related keywords AXIS#.FBUS.ACC/DEC are unsigned. Depending on the scaling, values larger than 2^31-1 could be valid, but attempting to write them resulted in an abort.

Solution:

Values written to Profile Acceleration or Profile Deceleration via SDO are now correctly interpreted as unsigned.

Issue:

On certain drive firmware updates, IP settings would be lost and need to be reconfigured.

Solution:

IP settings are now no longer lost between drive firmware updates.

Issue:

Objects that accessed 64-bit keywords, that were not using position, velocity or acceleration scaling, were 64 bits wide when mapped in an assembly, while they were truncated to 32 bits when accessed through explicit messaging. Those objects were also documented and displayed in EIP.OBJECTLIST as being 32-bit.

Solution:

The affected objects have been changed to be 32-bit when mapped in an assembly, matching explicit messaging, EIP.OBJECTLIST and documentation.

Issue:

The drive's PROFIdrive position feedback interface state machine did not properly react to feedback faults. Depending on the current state, it also sometimes allowed transitioning into the "Parking" state, even though the axis was enabled. Furthermore, the reported error codes could be incorrect, especially in situations where multiple errors were active.

Solution:

The firmware was changed so that feedback faults cause the position feedback interface state machine to go into the "Error" state, transitioning into "Parking" is prohibited regardless of the current state and the error codes follow the priority defined in the PROFIdrive specification.

Issue:

The ASCII SDO objects (2028h) were not listed in SDO info, causing a discrepancy between online information and ESI file.

Solution:

Firmware was changed to list the ASCII SDO objects in SDO info.

Issue:

Profidrive ZSW1 bit 10 is specified to be set, when the actual velocity is above the configured comparison velocity, ignoring sign. Firmware incorrectly considered the sign of the actual / comparison velocity when determining whether to set bit 10.

Solution:

Firmware now sets ZSW1 bit 10 when |actual velocity| > |comparison velocity|. The comparison velocity was kept as a signed value for backwards compatibility.

Issue:

Profidrive ZSW1 bit 8 is specified to be set, when the velocity error is within a configured range. Instead, firmware was setting the bit when the actual velocity was within the configured range of the fieldbus velocity setpoint.

Solution:

Firmware was changed, so that bit 8 of ZSW1 follows the Profidrive specification.

Issue:

Under certain circumstances, Profinet and EtherNet/IP drives would crash while communicating with a fieldbus master.

Solution:

Profinet and EtherNet/IP drives no longer crash while communicating with a fieldbus master.

Issue:

Profinet drives would get a rare crash when supplementary telegram signals were configured on the drive.

Solution:

Profinet drives no longer crash with supplementary telegram signals are configured on the drive.

Issue:

On single axis drives, the CIP Sync assembly dynamic mapping areas did not work properly.

Solution:

The dynamic mapping areas of the CIP Sync assemblies now operate as expected on single axis drives.

Issue:

The CipSync Home Attained status bit (bit 12) was only set if the user explicitly chose the 'Homing Mode' via the control word.

Solution:

The CipSync Home Attained status bit now reflects the same information as the Home Done bit (bit 2) of AXIS#.MOTIONSTAT, unless homing was just triggered (the bit goes low long enough for the controller to see the rising edge back to high).

Issue:

When a previously homed axis lost its homing, for example after re-initializing a non-absolute feedback, the 'Home Position Set' bit in the PROFIdrive statusword was not cleared.

Solution:

The 'Home Position Set' bit in the PROFIdrive statusword is now cleared when the axis loses homing.

Issue:

For the Torque Move command type (0x05) with the standard assembly, negative torque values were returning an error.

Solution:

Negative torque values can be passed in the data segment of the assembly without receiving an error.

Issue:

For the Position Move (0x06) and Jog (0x07) command types (specifically in velocity mode), both AXIS#.FBUS.V and AXIS#.FBUS.VL.CMD were updated with the target velocity value.

Solution:

Now, for these command types, only AXIS#.FBUS.V is updated with the velocity value. This now matches our documentation.

Issue:

Several standard EtherNet/IP AOIs did not execute as documented when AXIS#.CMDSOURCE did not equal to Fieldbus.

Solution:

The affected standard EtherNet/IP AOIs no longer require AXIS#.CMDSOURCE to equal Fieldbus for proper execution.

Issue:

When AXIS#.PL.FILTER.Q was deprecated, the keyword was removed causing older parameter files with this keyword to fail when downloaded via FoE.

Solution:

A dummy AXIS#.PL.FILTER.Q keyword was added and older parameter files no longer fail when downloaded via FoE.

Issue:

Setting the Home Start bit in the CipSync control word while in the Quick Stop Active state (or any state other than Operation Enabled) set the home position to the current position, even if the axis was enabled.

Solution:

This issue was resolved and the functionality of setting the home position to the current position (if homing was requested and the state machine was not in Operation Enabled state) has been removed. If this functionality is still desired, an explicit message bound to the AXIS#.HOME.SET command or the homing mode 0 (Current Position) can be used instead.

Issue:

Using a value of 0.0.0.0 for EIP.IPGATEWAY meant that the configuration would not be loaded properly on reboot.

Solution:

The configuration would be loaded properly after reboot regardless of values.

Issue:

EtherNet/IP assembly status keywords had stale data persist even after the connection was closed.

Solution:

EtherNet/IP assembly status keywords are now cleared to 0 when a connection is closed.

Issue:

Dummy CoE objects 500Ch sub10h and 500Ch sub10h were incorrectly implemented as read-only instead of read-write, which broke backward compatibility.

Solution:

Dummy objects 500Ch sub10h and 510Ch sub10h now implemented as read-write objects, fixing backward compatibility.

Issue:

Unless an axis was configured for the Fieldbus command source, dynamic mapped keywords that triggered homing would not home.

Solution:

All dynamic mapped keywords functioned properly in Service command source, but would no longer function if the axis was in Fieldbus command source.

Issue:

If AXIS#.EIP.QUICKSTOPACTION was set to 5 or 6 and a quick stop was activated, changing AXIS#.EIP.QUICKSTOPACTION afterward could cause the controlled stop disable source to never cease.

Solution:

Changing AXIS#.EIP.QUICKSTOPACTION no longer allowed for the erroneous condition.

Issue:

If PTP, the time synchronization protocol that enables CIP Sync, was disabled then the drive did not automatically enable it.

Solution:

The drive automatically enabled the PTP time synchronization.