ReleaseNotes IndraDrive MPB20VRS EN

IndraDrive
MPB-20V30
Firmware for Drive Controllers
Firmware Release Notes 2021-10-21

IndraDrive MPB-20V30 Firmware for Drive Controllers
Title IndraDrive
MPB-20V30
Type of Documentation Firmware Release Notes
Document Typecode
Internal File Reference RS-6b4ebc8d3de19a4a0a347ea501a2f95f-18-en-US-5
Copyright © Bosch Rexroth AG 2021

All rights reserved, also regarding any disposal, exploitation, reproduction,
editing, distribution, as well as in the event of applications for industrial prop‐
erty rights.
Liability The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu‐
mentation and the availability of the product.
Editorial Department Development drive solutions, firmware [MiKe (hp)]
IndraDrive MPB-20V30 Firmware for Drive Controllers I
Table of Contents
Table of Contents
Page
1 General information....................................................................................................... 1
1.1 Releases................................................................................................................................................. 1
1.2 Firmware variant..................................................................................................................................... 2
1.3 System overview..................................................................................................................................... 4
1.3.1 Software.............................................................................................................................................. 4
1.3.2 Power sections, drive systems ........................................................................................................... 4
1.3.3 Control Sections and Optional Modules.............................................................................................. 6
1.3.4 Supported motors and measuring systems....................................................................................... 10
Supported motors........................................................................................................................... 10
Supported measuring systems....................................................................................................... 10
1.3.5 Firmware types.................................................................................................................................. 11
2 ACS and MSC motor encoder in RN MPB20V26........................................................ 13

2.1 ACS controller....................................................................................................................................... 13
2.2 MSC motor encoder (Tamagawa interface), functional description...................................................... 13
2.3 Notes on commissioning for MSC motor encoder (Tamagawa interface) ........................................... 15
3 Firmware replacement................................................................................................. 21
3.1 Brief description.................................................................................................................................... 21
3.1.1 Basic principles.................................................................................................................................. 21
3.1.2 Preparations and conditions for firmware replacement..................................................................... 22
3.2 Firmware release update...................................................................................................................... 22
3.2.1 General information........................................................................................................................... 22
3.2.2 Firmware release update with a computer........................................................................................ 23
3.3 Firmware version upgrade.................................................................................................................... 24
3.3.2 Saving parameter values................................................................................................................... 25
3.3.3 Version upgrade with "IndraWorks"................................................................................................... 25
3.4 Firmware release downgrade............................................................................................................... 26
3.4.2 Firmware release downgrade with a computer.................................................................................. 27
3.5 Firmware version downgrade............................................................................................................... 27
3.5.2 Saving parameter values................................................................................................................... 28
3.5.3 Firmware version downgrade with "IndraWorks"............................................................................... 28
3.6 Possible problems during firmware replacement.................................................................................. 29
4 Firmware release FWA-INDRV*-MPB-20V30-D5........................................................ 31

4.1 Resolved defects.................................................................................................................................. 31
4.1.1 000_General Firmware Platform........................................................................................................ 31
Motor motion during Drive on delay time........................................................................................ 31
4.1.2 200_PLC Basic System..................................................................................................................... 31
PLC error F6010 if retain data only defined in FB instances.......................................................... 31
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II IndraDrive MPB-20V30 Firmware for Drive Controllers
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4.1.3 425_Motor Control............................................................................................................................. 31
F8064 Interruption of motor phase is inadequately displayed in the case of error......................... 31
4.1.4 440_Commutation............................................................................................................................. 31
Incorrect commutation angle with linear motor............................................................................... 31
4.1.5 515_Operating modes single axis..................................................................................................... 31
Command value jump when velocity control mode is activated..................................................... 31
4.1.6 530_Error reactions........................................................................................................................... 32
Error reaction uses command value and not actual value.............................................................. 32
4.1.7 560_Probe function............................................................................................................................ 32
F2037 Excessive position command difference in the case of probe with drive quick stop........... 32
4.1.8 600_Device and Parameteradministration general............................................................................ 32
S-0-0192 does not contain enough elements when backed up via 16-bit interface....................... 32
4.1.9 620_Parameter Handling................................................................................................................... 32
Average value filter for display, error.............................................................................................. 32
4.1.10 622_Scaling....................................................................................................................................... 33
Scaling of velocity changes after restart......................................................................................... 33
4.1.11 688_Service functions....................................................................................................................... 33
Replacing the control panel: Display shows C0214 after "Load new Safety" was carried out....... 33
4.1.12 750_EtherCAT................................................................................................................................... 33
EtherCAT CoE: E4072 Mac address invalid with Beckhoff control................................................ 33
4.1.13 805_Power Supply general................................................................................................................ 33
HCSW54 F2816 when operated at energy buffer.......................................................................... 33
4.1.14 810_Power Supply Components and additional devices................................................................... 33
Softstart fault F2816 with HCS1.1W54........................................................................................... 33
4.2 Functional enhancements..................................................................................................................... 34
Missing display parameter for output of position command value generator................................. 34

Infinite loop of DriveInit task........................................................................................................... 35
5.1.2 410_Motor Handling.......................................................................................................................... 35
Wrong module code and thereby motor serial number in motor encoder memory........................ 35
5.1.3 412_Drive Mechanics........................................................................................................................ 35
Max value velocity miscalculated in Sytronix functional package and complex actor.................... 35
5.1.4 415_Measuring systems.................................................................................................................... 35
Axis does not switch to OM if a 2nd encoder has been parameterized as a position control
encoder........................................................................................................................................... 35
C220 at MCL with analog Hall sensor / lower signal monitoring threshold too high....................... 35
Error F2174 if encoder replaced, although S-0-0277, bit 13 set to 1.............................................. 36
Impossible to switch MS2N with Acuro-Link encoder to operating mode....................................... 36
5.1.5 425_Motor Control............................................................................................................................. 36
FXC: Stall bit when SM spindle motor stalling................................................................................ 36
Overcurrent when operating asynchronous motors........................................................................ 36
5.1.6 435_Axis control................................................................................................................................ 36
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IndraDrive MPB-20V30 Firmware for Drive Controllers III
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C600 takes a long time > 200ms.................................................................................................... 36
5.1.7 510_Operating modes....................................................................................................................... 37
Drive sporadically moves in wrong direction or by one modulo range too far................................ 37
Switching from position to velocity control uses command value instead of actual value.............. 37
5.1.8 525_Drive halt.................................................................................................................................... 37
IndraDrive: Sensorless control FXC - motor does not stop with Drive Halt.................................... 37
5.1.9 530_Error reactions........................................................................................................................... 37
Drive-controlled transition to SMES with ramp and filter without function...................................... 37
5.1.10 600_Device and Parameteradministration general............................................................................ 38
Classes missing in S-0-1601.......................................................................................................... 38
Invalid retain data (P-0-1359)......................................................................................................... 38
C6500 generates ibf files independent of AGP status of the firmware........................................... 38
5.1.13 710_Master communication basic..................................................................................................... 38
NC cannot control axis anymore after easy startup mode has been exited................................... 38
5.1.14 750_EtherCAT................................................................................................................................... 38
Incorrect length of cyclic data with 1:1 timing................................................................................. 38
Softstart fault with HCS W54.......................................................................................................... 39

C0270 warning was sporadically signaled when initializing an MS2N motor (AD37S) for
MPE20V18..................................................................................................................................... 41
E8260 warning occurs during homing in the case of positive stop drive procedure....................... 41
Incorrect detection of the warning “E2048 Battery undervoltage (encoder)”.................................. 41
The readout of stored parameters in the encoder fails / or encoder cannot be written.................. 41
C06 with absolute encoder does not work properly, P-0-0177 data is invalid................................ 41
Distance monitoring home switch/reference mark in case of linear TTL encoder with cyclic
reference marks.............................................................................................................................. 42
6.1.2 418_Establishing the position reference............................................................................................ 42
If F217x is reported, a reference is signaled after switching between OM-PM-OM....................... 42
Zero pulse output with motor encoder-related emulation incorrect in case of absolute encod‐
er systems...................................................................................................................................... 42
6.1.3 425_Motor Control............................................................................................................................. 42
Problems with temperature sensor evaluation of SNM 110-EK (ML3 motors)............................... 42
Incorrect maximum torque value for MS2N motors........................................................................ 42
6.1.4 560_Probe function............................................................................................................................ 43
Error F2028 is signaled due to a jump in P-0-0098 after acknowledgement quick stop with
probe detection............................................................................................................................... 43
6.1.5 580_Encoder emulation..................................................................................................................... 43
Warning E2035 indicates that the encoder emulation frequency is too high.................................. 43
Check sum changed due to parameter deduction.......................................................................... 43

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Default value loading "without device parameters" and "without SMO parameters" did not
work................................................................................................................................................ 44
6.1.7 640_Diagnostic System..................................................................................................................... 44
Oscilloscope: Manual trigger does not work as expected.............................................................. 44
6.1.8 660_Ethernet engineering................................................................................................................. 44
FW update via loader not possible with PROFIBUS and CoC....................................................... 44
Invalid parameters when switching from master communication to EtherCAT COE...................... 44
6.1.10 810_Power Supply Components and additional devices................................................................... 44
After phase progression, error F2087 is signaled........................................................................... 44
6.1.11 999_Other.......................................................................................................................................... 45
F9005 occurs when disconnecting the Ethernet connector while sending data with TCP-IP
from a PLC project.......................................................................................................................... 45
6.2.1 410_Motor Handling.......................................................................................................................... 45
MSC motors with Tamagawa encoder are supported.................................................................... 45
Incompatible behavior with 2nd encoder in versions MPx-18VRS and MPx-20VRS..................... 45

7.1.1 160_Safe Motion Encoder Evaluation............................................................................................... 47
SMO: Incorrect velocity feedback value with modulo scaling......................................................... 47
"C8215 SMO: Incorrect encoder/scaling configuration" in the case of serial commissioning
with ACUROlink encoder................................................................................................................ 47
"F8324 SMO: Error in activation" in the case of parking axis with ACUROlink encoder................ 47
F8359 SMO: Encoder evaluation error with ACURO(R)link encoder............................................. 47
7.1.2 200_PLC Basic System..................................................................................................................... 48
Master comm. motion task occasionally called in 1 ms clock during switching process of
master comm. state machine......................................................................................................... 48
PLC tasks are not suspended if suspension occurs at the wrong time.......................................... 48
7.1.3 410_Motor Handling.......................................................................................................................... 48
Brake test: Problems when determining the holding torque (P-0-0554)......................................... 48
Stall detection does not work in FXC operation.............................................................................. 48
Cyclic marker evaluation function does not work with multi-axis devices....................................... 48
Different behavior of safety technology state machine with resolver.............................................. 48
E2010 after complete machine start-up at an EtherCAT axis........................................................ 49
Endat2.2: Velocity-dependent position offset between S-0-0051 and S-0-0053............................ 49
F2105 after C02xx transition command error in the case of encoders with encoder data
memory........................................................................................................................................... 49
Unjustified E2084 "Reference mark not detected (cogging reference)" cannot be cleared............ 49
Position limit value monitoring does not take effect for homing WITHOUT mark and switch......... 50
Incorrect actual position during fast homing procedure.................................................................. 50
7.1.6 425_Motor Control............................................................................................................................. 50

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Drive switched off erroneously with F8079 in the case of firmware not requiring export licen‐
ses.................................................................................................................................................. 50
Incorrect bit display in P-0-0445..................................................................................................... 50
7.1.7 435_Axis control................................................................................................................................ 50
Axis does not comply with target position....................................................................................... 50
7.1.8 440_Commutation............................................................................................................................. 51
C0258 in the case of NC cycle time of 24 ms and linear fine interpolation (cycl. position con‐
trol)................................................................................................................................................. 51
IndraDrive device signaled inadmissible service channel error code............................................. 51
Maximum length =0 displayed when reading instance parameters (e.g., S-0-0601.1.130/
P-0-2572) via PROFINET/PROFIBUS........................................................................................... 51
Commands: Error when implementing elements 5 and 6 (minimum and maximum value)........... 51
7.1.10 650_Statemachine Subdevice........................................................................................................... 52
Subsequent PM switching is prevented with C0401 in the case of bus failure (F4009)................. 52
PLL type can be switched with Sercos III....................................................................................... 52
7.1.12 750_EtherCAT................................................................................................................................... 52
EtherCAT: Diagnostics missing if SM not activated but SYNC activated....................................... 52
7.2.1 425_Motor Control............................................................................................................................. 52
Noise reduction by smoothing the actual current value.................................................................. 52

8.1.1 530_Error reactions........................................................................................................................... 55
Sensorless deceleration is possible again...................................................................................... 55

9.1.1 240_PLC Parameter channel............................................................................................................ 57
RIL_SercosIII: Done output (Fb IL_SIIISvcWrite) is not set when deleting 1-byte list parame‐
ters.................................................................................................................................................. 57
Acceleration feedback value encoder 2 (S-0-0195) always has the value 0.................................. 57
C0209 after switching on MS2N motor with Acuro encoder........................................................... 57
F2105 when switching to OM with HIPERFACE encoder.............................................................. 57
Homing procedure not executable multiple times........................................................................... 57
Long switching times for resolver after parking axis and PM-OM.................................................. 58
9.1.3 425_Motor Control............................................................................................................................. 58
F2032 Validation error during commutation fine adjustment.......................................................... 58
9.1.4 435_Axis control................................................................................................................................ 58
Drive-controlled homing procedure, selecting position control....................................................... 58
9.1.5 480_Power supply............................................................................................................................. 58
HCS03 hangs up in "Bb" in spite of DC bus voltage (DC560V)..................................................... 58

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Drive-controlled positioning: Positioning status incorrectly determined when using the posi‐
tioning jerk (jerk limitation).............................................................................................................. 58
9.1.7 530_Error reactions........................................................................................................................... 59
Deactivated controlled deceleration in the case of encoder failure................................................ 59
No zero pulses output after E2035................................................................................................. 59
Oscilloscope function changes parameter attributes of uninvolved parameters............................ 59
F9005 and retain data deleted during oscilloscope measurement (8 channels)............................ 59
C0298 after occurrence of C0242 with simulated axis................................................................... 60
9.1.12 745_SERCOS III................................................................................................................................ 60
CCD group - last slave remains in AF in the case of bus failure.................................................... 60
Parameter S-0-0001 NC cycle time is not correctly generated with Sercos................................... 60
9.1.13 750_EtherCAT................................................................................................................................... 60
EtherCAT SOE: Data applied in spite of error message 0x7003.................................................... 60
EtherCat COE: Watchdog trigger of SM 3 activated at drive --> drive goes online to OP.............. 60

10.1.1 200_PLC Basic System..................................................................................................................... 63
A deadlock occurred in MX_SetDeviceMode after changing the OperationMode during pro‐
cessing........................................................................................................................................... 63
F6010 occurred during an MLD tech function update.................................................................... 63
10.1.2 315_HW Identification........................................................................................................................ 63
Incorrect serial number in S-1300.0.12 for MI................................................................................ 63
EnDat2.1 encoder (combined encoder) returns E2074/75 during active absolute encoder
monitoring....................................................................................................................................... 63
F2105 during “Referencing" or “Delete reference" with a HIPERFACE encoder........................... 64
F6028 occurred during drive-controlled referencing with distance-coded measuring systems...... 64
SSI issues with gray-coded encoders and enabled error bits........................................................ 64
10.1.4 425_Motor Control............................................................................................................................. 64
S-0-0100 is calculated incorrectly when the motor identification C3600 is in motion..................... 64
10.1.5 440_Commutation............................................................................................................................. 64
Sense of motion check results in permanent motor rotation.......................................................... 64
10.1.6 480_Power supply............................................................................................................................. 64
Command “Positive stop drive procedure” - torque jump when disabling drive enable.................. 64
10.1.7 510_Operating modes....................................................................................................................... 65
F6200 during torque change at load............................................................................................... 65
10.1.8 520_Operating modes synchronization............................................................................................. 65
Position synchronization operation mode is incorrect when using a linear motor.......................... 65
F2100 due to individual corrupt pages........................................................................................... 65

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Initializing IndraDrive oscilloscope function.................................................................................... 65
10.1.11 750_EtherCAT................................................................................................................................... 65
EtherCAT SOE : Missing error message F4009 in EtherCAT in FreeRun mode........................... 65

F2032 Validation error during commutation fine adjustment.......................................................... 67
11.1.2 200_PLC Basic System..................................................................................................................... 67
MLD: Error during project download via parameters...................................................................... 67
11.1.3 315_HW Identification........................................................................................................................ 67
Time stamp of hardware/firmware replacement detection contains wrong data............................ 67
11.1.4 410_Motor Handling.......................................................................................................................... 67
Acuro-Link: Impossible to load application-specific data from encoder.......................................... 67
QSK motor is not acknowledged with C0204................................................................................. 68
Commutation setting aborted with "timeout" error message.......................................................... 68
Faulty virtual mark evaluation for resolver encoder........................................................................ 68
Impossible to negate EnDat2.2 with <= 32-bit position format....................................................... 68
Absolute range is not correctly reduced for linear EnDat2.2 and BiSS C encoders....................... 68
E2074 for MS2N motors with HIPERFACE encoder...................................................................... 69
Error in the case of configured resolution with resolver.................................................................. 69
Error in the case of configured resolution with rotary BiSS C encoder........................................... 69
Parameters S-0-0440 to S-0-0443 (marker position) re-implemented........................................... 69
Reference gets lost after measuring wheel mode is activated....................................................... 69
Absolute encoder monitoring default is deactivated....................................................................... 69
C0209 (incorrect encoder configuration) after FW update (in the case of MN/Mi with MS2N-
Acuro)............................................................................................................................................. 69
Error in commutation with increased resolution of linear HIPERFACE and SSI sine..................... 70
Error in the case of configured resolution with ACURO-Link encoder............................................ 70
No comparison of phys. absolute range with configured resolution for linear analog encoder...... 70
F2021 "motor temperature sensor defective" for Acuro-Link encoder............................................ 70
C3300 and C3400 generate wrong offset....................................................................................... 71
EnDat2.2 encoders with more than 32-bit position provide wrong ENCB position......................... 71
Incorrect position when homing distance-coded encoder systems................................................ 71
Analog Hall sensors are not operable............................................................................................ 71
Forcing absolute encoder evaluation also possible for merely incremental encoders................... 71
Homing at positive stop, torque limitation with S-0530 remains active........................................... 72
C0300 Set absolute position procedure command sucessfully executed in spite of "Fxxxx
Encoder X: Encoder signals incorrect"........................................................................................... 72
F8078 during drive-controlled homing with dedicated point "positive stop".................................... 72
Loss of reference after encoder was replaced............................................................................... 72
11.1.7 425_Motor Control............................................................................................................................. 72
Checking the rotational direction moves axis to mechanical limit stop/position limitation.............. 72
Velocity-dependent PWM switching did not work with command value box.................................. 72

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11.1.8 435_Axis control................................................................................................................................ 73
Cogging torque compensation does not take effect in torque control mode.................................. 73
Hybrid actual position value also takes effect in operation modes w/o axis control word
S-0-0520, and for spindle positioning............................................................................................. 73
S-0-0211, S-0-0212: decimal places deviating from standard........................................................ 73
11.1.9 445_Limitations, monitoring............................................................................................................... 73
E2001 prevents other diagnostic messages from being displayed................................................ 73
11.1.10 480_Power supply............................................................................................................................. 74
Softstart fault F2816....................................................................................................................... 74
11.1.11 485_Compensation functions, corrections......................................................................................... 74
Cogging torque compensation value does not take effect or takes effect with a delay.................. 74
Faulty cogging torque compensation with incremental measuring systems................................... 74
11.1.12 510_Operating modes....................................................................................................................... 74
Sporadic error F2028 "Excessive deviation".................................................................................. 74
With anti-vibration filter, drive does not move to initial position, F2028.......................................... 74
F2008 instead of C4101 during parameter set switching of encoder parameters in AF................. 75
Delay time for parameter set switching (P-0-2218) too long.......................................................... 75
Value read back of parameters with structure index 130 does not comply with written value........ 75
Impossible to configure S-0-0390, bit 20, in the signal status word............................................... 75
S-0-0425, bit 0, cannot be controlled via digital input..................................................................... 75
11.1.17 660_Ethernet engineering................................................................................................................. 76
S/IP server sporadically cannot be accessed in the drive.............................................................. 76
C7600 parameter image error with string parameters.................................................................... 76
Restore possible if archive created on different device type.......................................................... 76
Backup and Restore: F9005 with modified ZIP file......................................................................... 76
Backup/Restore: Incomplete restore with IndraDrive Mi (C6605).................................................. 76
11.1.19 720_Profile adaption.......................................................................................................................... 76
Error bit set in status word 0x6041................................................................................................. 76
11.1.20 740_CAN........................................................................................................................................... 77
Incorrect cyclic handling of 1-byte values....................................................................................... 77
CANopen (CoC, CoE): impossible to configure parameter P-0-4077 as process data (com‐
mand value).................................................................................................................................... 77
11.1.21 745_SERCOS III................................................................................................................................ 77
Error F2067 occurs sporadically when switching from phase 4 to phase 0.................................... 77
11.1.22 750_EtherCAT................................................................................................................................... 77
CoE: Error F4009 is not signaled if bus connector is removed...................................................... 77
CoE: S-0-0014 and P-0-4073 not always consistent...................................................................... 77
ECAT SoE in Free Run: MDT error counter is incremented........................................................... 77
EtherCat COE S1 is overwritten..................................................................................................... 77
EtherCat COE: Wrong max. AT and MDT length........................................................................... 78
EtherCAT EoE: Invalid MAC address does not cause error........................................................... 78

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Switching from PM to OM takes a long time with a configured master communication encoder... 78
EtherCAT COE: Value of P4076 can be changed in Data Exchange............................................ 78
11.1.23 760_Powerlink................................................................................................................................... 78
DS402: Bit 9 not generated in status word 0x6041 (remote).......................................................... 78
EPL: SDO access to DS402 objects is rejected............................................................................. 78
11.2.1 410_Motor Handling.......................................................................................................................... 79
Copy protection for MSK motors.................................................................................................... 79
Evaluating PT1000 with EnDat2.2 encoder.................................................................................... 79
Supported temperature sensors for ML3 linear motor.................................................................... 79
Impossible to operate digital Hall sensors...................................................................................... 79
Quiting parking axis and exiting parameterization level too slow with HIPERFACE encoders...... 79

12.1.1 410_Motor Handling.......................................................................................................................... 81
Parameter P-0-3060.0.3 invalid...................................................................................................... 81
E2075 in the case of combined encoders for SSI with activated "combined encoder monitor‐
ing".................................................................................................................................................. 81
Invalid basic device parameters (P-0-0192, P-0-0193, ...)............................................................. 81

13.1.1 110_Safe Motion IO interface............................................................................................................ 83
SMO dynamization monitoring only works for one functional input................................................ 83
13.1.2 200_PLC Basic System..................................................................................................................... 83
Error reaction of SysSemEnter etc. with wrong handle.................................................................. 83
13.1.3 240_PLC Parameter channel............................................................................................................ 83
AxisData only works in PM if OM was reached before................................................................... 83
13.1.4 250_PLC Debug Interface................................................................................................................. 83
No detailed diagnostics if the same F6010 error occurs again....................................................... 83
13.1.5 410_Motor Handling.......................................................................................................................... 83
F2019 cannot be cleared in phase 4 after encoder error (data+ interrupt) with ACURO@link...... 83
MPE: Motor data identification, third-party motor, S106 = 0........................................................... 84
Thermal model inadmissibly reduces above 125 Hz...................................................................... 84
E2048 cannot be cleared after battery replaced............................................................................. 84
ENCB resolution incorrectly calculated for TTL encoder................................................................ 84
Error "F2075 Actual pos. value 2 outside absolute encoder window" is incorrectly generated...... 84
F2074 after MSM battery replaced and drive controller switched off/on........................................ 84
F2177 Encoder 1 modulo limitation error with EnDat2.2................................................................ 85
Gear ratio not taken into account in the case of parameter set switching 0 to 1............................ 85

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Incorrect diagnostic message C0270 when encoder fine correction fails....................................... 85
Incorrect diagnostic message generated with SSI encoders.......................................................... 85
Mark evaluation does not work with combined encoders for SSI................................................... 85
Parameter set switching of gearbox parameters............................................................................ 85
Position feedback value of encoder 2 (homed) is not applied to position feedback value of
encoder 1 (not homed)................................................................................................................... 85
Reference point offset with a distance-coded encoder................................................................... 86
Check of resolution for 2^n with rotary SSI sine does not match default resolution....................... 86
Loss of position without loss of reference in the case of encoder with sine signals and SSI
interface.......................................................................................................................................... 86
SSI encoder is changed to combined encoder for SSI during 1st OM switching........................... 86
Actual position value is not initialized to encoder raw value in the case of modulo scaling........... 86
Amplitude and offset adjustment does not work for resolvers with number of pole pairs
smaller than 3................................................................................................................................. 87
Calculated absolute encoder offset is inaccurate when homing procedure uses reference
marks.............................................................................................................................................. 87
Switching encoder 1 to encoder 2 does not work with two homed absolute encoder systems...... 87
13.1.8 425_Motor Control............................................................................................................................. 87
Motor shutdown temperature was not set or not checked.............................................................. 87
Commutation setting, saturation method does not work with subsequent optimization................. 87
V/Hz (U/f) control: Wrong command value after drive enable switched on.................................... 87
13.1.9 435_Axis control................................................................................................................................ 88
Target position is not applied to actual position when changing from MC_Jog to MC_Move‐
Additive........................................................................................................................................... 88
13.1.10 480_Power supply............................................................................................................................. 88
IndraDrive Mi - wrong drive state AB if DC bus voltage missing - no error message in AF........... 88
13.1.11 485_Compensation functions, corrections......................................................................................... 88
Correction of torque constant does not work correctly................................................................... 88
13.1.12 530_Error reactions........................................................................................................................... 89
Return motion error reaction not available in functional package Sytronix..................................... 89
13.1.13 570_Measuring Encoder.................................................................................................................... 89
E2074 after update from 20V09/20V10 to 20V14 with MSK motor................................................ 89
Encoder 2 mounted on actuator side is not correctly supported for all allowed scaling settings.... 89
Problems with incremental encoder emulation with zero pulse offset (P-0-0901.x.4) and
P-0-0052......................................................................................................................................... 89
F2053 when switching from P2 to P4............................................................................................. 89
Impossible to complete homing procedure after motor encoder emulation.................................... 90
Backup/Restore: String parameters with an odd number of characters were not restored cor‐
rectly with Restore.......................................................................................................................... 90
P-0-0013 contains parameters whose values were not changed by the customer........................ 90
P-0-0013 does not show all affected parameters if EtherCAT master communication is active.... 90
Sytronix: Impossible to include actuator infeed compensation in AT telegram.............................. 91
Transition command error C0212 due to invalid parameters......................................................... 91
Incorrect parameter set switching for motor/encoder..................................................................... 91

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13.1.16 622_Scaling....................................................................................................................................... 91
Faulty torque scaling with pound force unit.................................................................................... 91
F9100 is displayed after error F900x.............................................................................................. 91
13.1.18 665_Webserver................................................................................................................................. 92
Establishing the position data reference is missing for controller replacement of Mi..................... 92
C0206 Error when accessing machine archive is not generated................................................... 92
CCD cycle time is incorrectly generated (S-0-0001 is not generated correctly)............................. 92
13.1.21 730_PROFINET................................................................................................................................. 92
ProfiNet: Communication via Ethernet impossible if IP settings are incorrect................................ 92
13.1.22 750_EtherCAT................................................................................................................................... 92
CoE: Process data configuration is not saved................................................................................ 92
CoE: Sercos II provides wrong length for mailbox.......................................................................... 92
Command errors (C0113) with EtherCAT in Free Run Mode......................................................... 93
E2001 warning in conjunction with EtherCat COE......................................................................... 93
EtherCAT COE: F4009 : although exiting the cyclic communication.............................................. 93
P1901.0.2 (CiA402: status word) not set correctly in simulation mode with CiA402 profile........... 93
The 0x1C00 01..04 objects are of the wrong data type.................................................................. 93
Zero data are transmitted to FSoE stack........................................................................................ 93
13.1.23 760_Powerlink................................................................................................................................... 93
Alias parameter cannot be written via SDO in the case of EPL..................................................... 93
EPL: "All" parameter backup via IP does not work......................................................................... 94
C0202 after switching from PM to OM with HMS inverter.............................................................. 94
13.2.1 525_Drive halt.................................................................................................................................... 94
Encoder switching in hybrid position control................................................................................... 94

Brake check: No check in the direction of load due to weight with brake released........................ 95
14.1.2 150_Safe Motion Parameterization................................................................................................... 95
Verification of SMO parameters via ADS does not work................................................................ 95
SafeMotion: Detailed diagnostics in S-0-0390.0.136...................................................................... 95
14.1.3 200_PLC Basic System..................................................................................................................... 95
Communication aborted in the case of PLC exception................................................................... 95
Long adjusted diagnostic messages and errors of PLC are not displayed in S-0-0095................. 95
PLC project prevents repeated program download........................................................................ 95
Watchdog when accessing list/string parameters.......................................................................... 96
14.1.4 220_PLC Motion components........................................................................................................... 96
MC_MoveAbsolute: Simultaneous CommandAborted and Done................................................... 96
Virtual master axis generator: Function blocks do not output any error message if master ax‐
is generation not activated.............................................................................................................. 96

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14.1.5 250_PLC Debug Interface................................................................................................................. 97
Parameter P-0-1365 does not contain code offset......................................................................... 97
14.1.6 410_Motor Handling.......................................................................................................................... 97
No command error C3609 if wrong number of pole pairs or encoder resolution............................ 97
Hxx05 F8060 when executing C3600 motor data identification..................................................... 97
Error in position initialization of digital encoders............................................................................. 97
F2174 with MSM motors without buffer battery and 360 degrees modulo..................................... 97
Functional package Synchronization: Encoder 1 loses reference or encoder 2 cannot be de‐
tected in the case of modulo scaling.............................................................................................. 97
Measuring encoder: Incorrect position initialization if "P-0-0765, Modulo factor" = 0..................... 98
Modulo value can be set to value higher than maximum travel range........................................... 98
Position feedback value (S-0-0051/S-0053/P-0-0052) incorrectly initialized if forced absolute
encoder evaluation configured....................................................................................................... 98
Restricted travel range with rotary distance-coded measuring systems........................................ 98
C0209 with linear SSI encoder....................................................................................................... 98
Diagnostics missing for faulty EnDat2.2 encoder........................................................................... 98
Distance-coded encoders: Display of offset in S-0-0600.x.10 is applied to S-0-0173.................... 99
F8079 in the case of overflow S-0-0600.x.2 with EnDat 2.2 (>32bit)............................................. 99
F9003 when switching from PM to OM and an error occurring simultaneously............................. 99
Impossible to negate the incremental track for distance-coded encoders...................................... 99
Incorrect velocity extrapolation in case encoder telegram fails.................................................... 100
Master communication encoder displays twice the velocity of encoder at master axis................ 100
MPC-20V08: C0606 and E2001 in the case of drive-controlled homing with 1Vpp encoder....... 100
Offline parameterization not possible with IndraWorks................................................................ 100
P-0-0019, Initial position value has no effect................................................................................ 100
Switching error C0272 if linear axis set to load scaling................................................................ 100
"F2036 Excessive position feedback difference" generated if "C0300 Set absolute position
procedure command" executed.................................................................................................... 101
Automatically calculated resolution of analog, rotary encoders is not rounded down correctly.... 101
No position adjustment between encoder 1 and encoder 2 if both encoders can be evalu‐
ated in absolute form.................................................................................................................... 101
Variable maximum value implemented for P-0-0095/96/97 absolute encoder monitoring win‐
dow............................................................................................................................................... 101
14.1.8 418_Establishing the position reference.......................................................................................... 101
Faulty parameter set switching function of encoder parameters.................................................. 101
INCH scaling does not work with linear opt. encoder................................................................... 101
No reference marks with SSI encoder.......................................................................................... 102
14.1.9 425_Motor Control........................................................................................................................... 102
Better utilization of synchronous motors with reluctance effect in field weakening...................... 102
Change in direction of motion not applied during motor data identification (C3600).................... 102
P-0-0017, Power output stage control word cannot be configured in signal control word............ 102
PT1000 temperature sensor inaccurately evaluated.................................................................... 102
S-0-0100 incorrectly calculated with MPE20V12 during motor identification at MLP070C.......... 102
Wrong identification values are determined if drive is much bigger than synchronous motor...... 102
S 534 set to zero after motor identification................................................................................... 103
14.1.10 480_Power supply........................................................................................................................... 103

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S-0-0337, Status P >= PL is not mapped to S-0-0013, Class 3 diagnostics................................ 103
14.1.11 485_Compensation functions, corrections....................................................................................... 103
Coordinate offset was not deleted................................................................................................ 103
14.1.12 510_Operating modes..................................................................................................................... 103
Anti-vibration filter does not work in "drive-controlled position control"........................................ 103
Faulty positioning block mode...................................................................................................... 103
14.1.13 580_Encoder emulation................................................................................................................... 103
P-0-0788 cannot be emulated (incremental encoder emulation).................................................. 103
14.1.14 620_Parameter Handling................................................................................................................. 104
P-0-2937.0.3, Input of force feedback value cannot be written via master communication......... 104
FW download via http cannot be locked with customer password............................................... 104
14.1.15 665_Webserver............................................................................................................................... 104
IDST, unable to activate SafeMotion in „Controller replacement“ dialog after device was re‐
placed........................................................................................................................................... 104
14.1.16 715_General Communication Services........................................................................................... 104
Too many Telnet sessions cause F9100...................................................................................... 104
14.1.17 720_Profile adaption........................................................................................................................ 104
"Operating mode neutral" profile sets wrong default operation modes........................................ 104
CoE: No check for maximum value 255 when writing byte values............................................... 104
CoE: Only DS402 displayed as configurable profile..................................................................... 104
14.1.18 725_Profibus.................................................................................................................................... 105
Master communication: S-0-0000 cannot be used in process data configuration........................ 105
14.1.19 730_PROFINET............................................................................................................................... 105
PROFINET: F2025 or AF after switching from PM to OM............................................................ 105
14.1.20 745_SERCOS III.............................................................................................................................. 105
Sercos: Value 0 can be set for S1003.......................................................................................... 105
14.1.21 750_EtherCAT................................................................................................................................. 105
CoE: Incorrect length via subindex 81.......................................................................................... 105
CoE: No AT data during switching process from SafeOp to Operational..................................... 105
F9100 when downloading a FW via FoE...................................................................................... 106
P-0-3335.0.3 (possible source ID for signal control of outputs) is filled with wrong IDNs in
the case of ADS communication.................................................................................................. 106
EtherCAT SoE: Toggle bit (bit 0) in drive status word (S-0-0135) does not work........................ 106
14.1.22 760_Powerlink................................................................................................................................. 106
EPL: MDT data are not applied by the drive, AT data are not transmitted................................... 106
14.1.23 999_Other........................................................................................................................................ 106
Axis hangs up in transition command C0200 if scaling changed from mm to inch....................... 106
14.2 Functional enhancements................................................................................................................... 106
14.2.1 415_Measuring systems.................................................................................................................. 106
Functionality of BiSS C encoders extended................................................................................. 106
15 Firmware release FWA-INDRV*-MPB-20V13-D5...................................................... 109

15.1 Resolved defects................................................................................................................................ 109
Incorrect position initialization with SSI encoder after encoder error............................................ 109
F8079 with MS2N motor and Acuro single-turn encoder.............................................................. 109

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Faulty measuring wheel function.................................................................................................. 109
Homing procedure with distance-coded marks not possible for two analog encoders................. 109
15.1.2 425_Motor Control........................................................................................................................... 109
Magnetization with asynchronous motor takes very long............................................................. 109
Cogging torque compensation not possible with single-turn encoders........................................ 110
Impossible to determine the cogging torque table with linear motor............................................ 110
15.1.4 550_Drive internal command generator.......................................................................................... 110
Acceleration insufficiently limited for linear motor......................................................................... 110
15.1.5 585_Digital inputs/outputs............................................................................................................... 110
SMO parameters assigned to X31/X35 as output do not switch the output................................. 110
Due to F2100: Invalid parameters when switching from PM to OM............................................. 110
Serial commissioning impossible with customer password assigned........................................... 111

16.1.1 100_Safe Motion Basic system....................................................................................................... 113
Sporadisch F8354 mit Querschlusserkennung............................................................................. 113
16.1.2 200_PLC Basic System................................................................................................................... 113
F6010 if using the last 104 bytes of the MLD retain data............................................................. 113
Error when using the entire MLD retain data................................................................................ 113
F9005 crash if PLC project re-downloaded.................................................................................. 113
16.1.3 240_PLC Parameter channel.......................................................................................................... 113
PLC task watchdog or hangs up after re-download of a PLC project........................................... 113
16.1.4 255_PLC Programming interface.................................................................................................... 114
No logger message if boot project does not fit into memory........................................................ 114
16.1.5 302_HW-Support Control Units....................................................................................................... 114
F8836 can be cleared although error is still present..................................................................... 114
16.1.6 315_HW Identification...................................................................................................................... 114
S-0-1300.0.152 not read completely............................................................................................ 114
16.1.7 410_Motor Handling........................................................................................................................ 114
MSK type plate version 3 not supported....................................................................................... 114
MSM motor: Faulty thermal motor monitoring.............................................................................. 114
P-0-0018, Number of pole pairs................................................................................................... 114
P-0-0548.0.2 has an effect on duration of brake check................................................................ 115
S-0-0100 set to zero after command C3200................................................................................ 115
Sensorless synchronous motor cannot be operated after execution of motor data identifica‐
tion command............................................................................................................................... 115
With asynch. motor + encoder, S-0-0100 is set to 0 after end of command C3600..................... 115
"RL" (F2008) not generated if motor with brake replaced by motor without brake....................... 115
HMS05: PT1000 motor temperature sensor cannot be operated................................................. 115
Motor replacement MSK-> MS2N................................................................................................. 115
F8034 when executing C3600 together with HMS05 devices...................................................... 116
Linear motor with encoder data memory...................................................................................... 116
Switching times PM -> OM too long............................................................................................. 116

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16.1.8 412_Drive Mechanics...................................................................................................................... 116
Brake check does not start........................................................................................................... 116
Battery-backed EnDat2.2 with wrong position signals reference................................................. 116
C202 or C209 not generated if initialization error detected.......................................................... 117
Loss of position in the case of negated ENCB initial position and digital encoders..................... 117
Position jump with linear analog encoders (travel range cannot be displayed internally)............ 117
Amplitude and offset correction not active.................................................................................... 117
Distance-coded encoders were not supported............................................................................. 117
ENCB error bit is set too late in the case of encoder error........................................................... 118
Encoder negated: Absolute monitoring for SSI sine encoder does not work anymore................ 118
Encoder voltage not switched off in the case of 24V error........................................................... 118
EnDat2.2: F2105 with set absolute position procedure command............................................... 118
Hengstler encoder (S4W AD37S) with 20-bit single-turn is not supported................................... 118
Increase of resolution: Absolute range not reduced for rotary combined encoders..................... 118
Negation of encoder does not become active, for linear encoders: Sine, TTL, Hiperface, En‐
Dat 2.1.......................................................................................................................................... 119
No detailed diagnostics displayed with F8022 (ACURO®link encoder)....................................... 119
Position initialization of combined encoder: Correction angle is not limited................................. 119
Position offset of up to one division period in the case of initialization under motion (HIPER‐
FACE)........................................................................................................................................... 119
Puttin S-0-0054 in cyclic telegram S-0-0188................................................................................ 119
Reduction of encoder resolution does not work........................................................................... 119
SSI-encoder emulation - SSI-encoder evaluation as measuring encoder.................................... 120
Switching off fine adjustment for combined encoders for SSI...................................................... 120
Third-party resolver sporadically returns F8022 if Cs heats up.................................................... 120
Sporadic E2075 with optional encoder......................................................................................... 120
SSI sine encoder linear: Encoder resolution S-0-0601.x.2 incorrectly calculated........................ 120
Error when shifting coordinate system after switching PM-OM.................................................... 121
Command "S-0-0447, C0300 Set absolute position procedure command" sets wrong position.. 121
S-0-0197/0199 only take effect for one encoder.......................................................................... 121
Spindle encoder function cannot be activated.............................................................................. 121
Homing at positive stop faulty if torque/force scaling negated..................................................... 121
Loss of reference F2174 if PWM mode changed......................................................................... 122
16.1.11 425_Motor Control........................................................................................................................... 122
C3607 generated after C3600...................................................................................................... 122
C3609 is generated if C3600 started under motion for asynchronous motor with encoder.......... 122
E2056/C3607 during motor identification with sensorless MSK and P-0-0510 = 0...................... 122
F8395 in the case of load-dependent PWM reduction................................................................. 122
MSM motor battery monitoring inconsistent with MPx-18VRS..................................................... 122
PT1000 - faulty short circuit monitoring........................................................................................ 123
Sytronix and sensorless motor control do not work...................................................................... 123
16.1.12 435_Axis control.............................................................................................................................. 123
Automatic control loop setting: C1806 with linear motor because safety distance too small....... 123
Infeed factor unit P-0-0562 wrong ([mm/rev] instead of [rev/mm])............................................... 123

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16.1.13 440_Commutation........................................................................................................................... 123
P-0-0509 faulty if commutation angle determined using measuring method................................ 123
16.1.14 480_Power supply........................................................................................................................... 123
Current rms value: Control word P-0-0610 cannot be cycl. configured........................................ 123
Parameter S-0-1702.0.15 does not retain.................................................................................... 124
Parameter conversion error (C0203) occurs after machine switched on for the first time............ 124
Incorrect min/max values of coordinate system parameters........................................................ 124
16.1.16 510_Operating modes..................................................................................................................... 124
Position-controlled op. mode with encoder1 not possible with FXC as motor ctrl and com‐
plex actuator with encoder1.......................................................................................................... 124
Warning E2063 no longer output after changing operation mode and changing back................. 124
16.1.17 515_Operating modes single axis................................................................................................... 124
Extended position command value (P-0-0100) did not take effect in cyclic position control
mode............................................................................................................................................. 124
Inkompatibles Verhalten bzgl. konfigurierter erlaubter Verbindungsausfälle bei zyklischer La‐
geregelung.................................................................................................................................... 125
16.1.18 520_Operating modes synchronization........................................................................................... 125
Parameters in a cyclic connection have to handle the value 0 as parameter value..................... 125
Factor is not recalculated in OM during phase synchronization................................................... 125
16.1.19 530_Error reactions......................................................................................................................... 125
Controlled deceleration after encoder error did not work............................................................. 125
Incorrect command value generator switching between different target parameters................... 126
16.1.21 570_Measuring Encoder.................................................................................................................. 126
MSM motor with the wrong position signals reference................................................................. 126
Combined encoder for SSI by AMO displays warning E2074...................................................... 126
Motor-related encoder emulation was not supported................................................................... 126
Inversion using S-0-0277 not taken into account for encoder-1-related emulation...................... 126
Hxx05: Timeout when read accessing P-0-2602.0.1 (power section logbook event)................... 127
Initial value of "P-0-0562, Actuator infeed/gear ratio compensation" was wrong......................... 127
Parameter limit values S550,S551,S553 wrong/unsuitable with [N] as torque scaling................ 127
16.1.24 640_Diagnostic System................................................................................................................... 127
F9005 during boot-up if string in P-0-0492 is too long.................................................................. 127
16.1.25 655_Local Control panel.................................................................................................................. 127
MPx20V10: Backup/restore control panel function....................................................................... 127
16.1.26 665_Webserver............................................................................................................................... 128
Problems when saving parameters using parameter snapshot.................................................... 128
16.1.27 710_Master communication basic................................................................................................... 128
Cyclically configured parameters get lost when default values are loaded.................................. 128
16.1.28 725_Profibus.................................................................................................................................... 128
Exception F9003 with PROFIBUS................................................................................................ 128
PROFIBUS: Acknowledging malfunction after communication interrupted.................................. 128
16.1.29 730_PROFINET............................................................................................................................... 128
F4012 can be acknowledged although error still present............................................................. 128

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PROFINET IO: Acknowledging malfunction after communication interrupted............................. 128
PROFINET: F4012 is signaled and cannot be acknowledged anymore...................................... 128
16.1.30 735_EtherNet IP.............................................................................................................................. 129
EtherNet/IP: Acknowledging malfunction after communication interrupted.................................. 129
16.1.31 745_Sercos III.................................................................................................................................. 129
At the beginning of CP4, C-CON= 0x0, but CON.State = 2 instead of 1...................................... 129
Hotplug did not work after device had been switched back on..................................................... 129
16.1.32 750_EtherCAT................................................................................................................................. 129
CoE: Runtime optimization........................................................................................................... 129
Error when writing data to list parameter P-0-4042 using EtherCAT with CoE............................ 129
EtherCat COE: PDOs (rx) are not mapped.................................................................................. 129
EtherCAT: F9100 when saving all parameters via ADS............................................................... 130
Impossible to set system time with EtherCAT.............................................................................. 130
S-0-0000 gets max. value of P-0-4071 or P-0-4082..................................................................... 130
EtherCAT COE: Drive remains in PreOp state............................................................................. 130
Ethernet over EtherCAT (EoE) processing was optimized........................................................... 130
16.1.33 790_CCD - Communication............................................................................................................. 131
S-0-0134 and S-0-0135 not used with analog profile type........................................................... 131
16.1.34 805_Power Supply general.............................................................................................................. 131
F8354 in STO deselection with dynamization error...................................................................... 131
16.1.35 999_Other........................................................................................................................................ 131
S-0-0141 too short for kit motors.................................................................................................. 131
F9100 instead of F8070 in the case of 24V dip............................................................................ 131
16.2.1 120_Safe Motion Functions............................................................................................................. 131
Taking the jerk into account in SMD............................................................................................. 131
16.2.2 435_Axis control.............................................................................................................................. 132
P-0-0110 extended by error classes bits 1 & 2............................................................................. 132
16.2.3 480_Power supply........................................................................................................................... 132
Braking resistor supposed to be switched off............................................................................... 132
16.2.4 665_Webserver............................................................................................................................... 132
Web server: Enabling the file system for SD card access............................................................ 132

17.1.1 150_Safe Motion Parameterization................................................................................................. 135
Change in checksums in case of serial commissioning with different FW version....................... 135
Invalid standard parameters after SMO auto commissioning....................................................... 135
SMO - configuration loss after parameters were loaded.............................................................. 135
Alert and warning bits incorrectly evaluated with S4W................................................................. 135
Encoder positions drifting if encoder evaluation deactivated under motion.................................. 136
Incorrect position initialization of measuring encoder if P-0-0765 = 0.......................................... 136
Incorrect position initialization with modulo scaling...................................................................... 136
F8359 with Acuro-Link encoders when setting absolute position................................................. 136
Increase in ENCB resolution incorrectly implemented for EnDat2.2 and ACURO-Link............... 136

XVIII IndraDrive MPB-20V30 Firmware for Drive Controllers
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No F2174 or F2175 if loss of reference P-0-0753 Position actual value in actual value cycle..... 136
Overflow of encoder position handled incorrectly with digital encoders....................................... 137
Position actual value in actual value cycle is incorrectly initialized with motion........................... 137
Values for S-0602.1.1 and S-0602.1.3 got lost............................................................................. 137
17.1.5 660_Ethernet engineering............................................................................................................... 138
No IP communication due to incorrect detection of duplicate IP.................................................. 138
17.1.6 665_Webserver............................................................................................................................... 138
Incorrect web server list access................................................................................................... 138
17.2 Hardware............................................................................................................................................ 138
17.2.1 Resolved defects............................................................................................................................. 138
100_Safe Motion Basic system.................................................................................................... 138

18.1.1 ......................................................................................................................................................... 139
POWERLINK: Sporadic F4009 with bus cycles >= 1ms.............................................................. 139
18.1.2 000_General Firmware Platform...................................................................................................... 139
Long switching times for PM to OM switching.............................................................................. 139
F8304 if control unit reestablishes connection after F4001/F4002............................................... 139
18.1.4 110_Safe Motion IO interface.......................................................................................................... 139
Rejected Forward Open request.................................................................................................. 139
18.1.5 140_Safe Communication............................................................................................................... 139
F8304: No detailed diagnostics displayed in Diagnostic Trace.................................................... 139
18.1.6 200_PLC Basic System................................................................................................................... 140
F9005 when accessing SMO parameters with MLD.................................................................... 140
PositionLoop event needs more calculating time after PLC reset (warm,cold)............................ 140
Possible F9003 in the case of overloaded PLC task in synchronism with CCD/master com‐
munication.................................................................................................................................... 140
Retain variables do not work after project loaded using parameters............................................ 140
F9005 when loading a PLC project.............................................................................................. 140
18.1.8 302_HW-Support Control Units....................................................................................................... 141
UL certification failed due to "Component Breakdown Test"........................................................ 141
18.1.9 410_Motor Handling........................................................................................................................ 141
Default values of the parameters were not available.................................................................... 141
Direction of rotation incorrectly checked in sensorless operation................................................. 141
Loading application-specific data from encoder did not work....................................................... 141
Motor holding brake remains applied in spite of drive enable...................................................... 142
P-0-0548.0.2, Maximum test duration holding system released, has an influence on the
brake check duration.................................................................................................................... 142
Y-D switching of synchronous motors.......................................................................................... 142
EnDat2.2 encoder with multi-turn range using external battery box............................................. 142

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Incorrect "P-0-0334, Absolute encoder range of measuring encoder"......................................... 142
MSM motor encoder: Incorrect position if battery entirely empty................................................. 143
C0401 and longer switching time in simulation mode.................................................................. 143
Drive remains in PM to OM transition command.......................................................................... 143
E2074 with a high-resolution Endat2.1 encoder........................................................................... 143
Encoder negated: Absolute position incorrectly initialized with EnDat 2.1, Hiperface and SSI
sine............................................................................................................................................... 143
Encoder negated: Reference mark detection does not work correctly with sine encoders and
TTL encoders............................................................................................................................... 144
F2105 with command for commutation offset determination........................................................ 144
F2105 with rotary Hiperface encoder (encoder data memory < 600 bytes) and MPB-20V06...... 144
Incorrect encoder status (S-0-0600.x.1) if error detected, only encoders with SSI interfaces
and encoders of MSM motors...................................................................................................... 144
KTY motor temperature inaccurately transmitted via S4W........................................................... 144
Position feedback value drifts when changing between PM-OM under motion............................ 144
Reference is always set again after "C1500 Cancel reference point procedure" command........ 145
Sercos encoder cannot be used as a motor control encoder....................................................... 145
Speed-dependent position offset between encoder 1 and 2 (F2036)........................................... 145
Transition command error C0209 with Endat2.1 encoders.......................................................... 145
TTL encoder evaluation: S-0-0600.x.1 Encoder status, bit 5 position status always 0................ 145
Velocity feedback value of encoder 2 incorrectly generated........................................................ 145
Absolute encoder monitoring default is deactivated..................................................................... 145
F2174 after set absolute position procedure and OM->PM->OM switching................................. 146
Incorrect automatic calculation of Encoder Basic resolution with linear sine encoders and
TTL encoders............................................................................................................................... 146
Incorrect entries in S-0-0423 during physical initialization of multiple encoder types................... 146
Sercos encoder: Position value transmission not checked in transition command...................... 146
Incorrect position after exception.................................................................................................. 146
Incorrect position initialization of position feedback value (modulo) with motion.......................... 147
Sporadic F9100 with MSM motor................................................................................................. 147
Endat 2.1: Incorrect position initialization without fine correction................................................. 147
Incorrect position initialization measuring encoder with motion.................................................... 147
Homing procedure with incremental motor encoder and asynchronous motor............................ 147
Increasing the Basic resolution for encoders does not work correctly.......................................... 147
18.1.12 425_Motor Control........................................................................................................................... 148
Drive keeps turning infinitely after E8040 in spite of AH in the control word................................ 148
Commutation using encoder 2 not active..................................................................................... 148
Inductance values Ld and Lq incorrectly determined................................................................... 148
Velocity search mode did not work............................................................................................... 148
18.1.13 435_Axis control.............................................................................................................................. 148
Impossible to activate redundant motor encoder.......................................................................... 148
Filters without effect in velocity control loop after P-0-1120 = 0................................................... 148
18.1.14 440_Commutation........................................................................................................................... 149
Optimized commutation offset in relation to the zero mark does not work................................... 149
18.1.15 515_Operating modes single axis................................................................................................... 149
Axis incorrectly moves to target position in drive-controlled positioning mode!............................ 149

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Velocity synchronization mode: Operation mode incorrectly activated, if Vact < S-0-0124......... 149
18.1.17 530_Error reactions......................................................................................................................... 150
"P-0-0175 configurable reaction for specific devices – error cases"............................................. 150
F9005 sporadically generated when target parameter switched in command value generator... 150
18.1.19 575_Virtual master axis................................................................................................................... 150
Virtual master axis generator: Incorrect motion profile if NC cycle time unequal "S-0-0001"....... 150
Incremental encoder emulation: Error F2053 in the case of modulo processing of "S-0-0051"... 150
Encoder emulation: F2053 during homing procedure.................................................................. 151
F9005 if motor encoder emulation selected in MPx-20VRS......................................................... 151
Diagnostics not helpful with Engineering using ADS interface..................................................... 151
Incorrect parameter set switching................................................................................................. 151
18.1.22 655_Local Control panel.................................................................................................................. 151
Control panel: "Backup"-"Restore" menu item............................................................................. 151
18.1.23 675_FTP Server.............................................................................................................................. 152
Connection aborted or F9005 with FTP........................................................................................ 152
Handling problems with FTP........................................................................................................ 152
18.1.24 688_Service functions..................................................................................................................... 152
Backup/restore does not work if Profibus set as master communication..................................... 152
Diagnostic messages C6601 and C6704 cannot be cleared........................................................ 152
F9202 after reboot command....................................................................................................... 152
Restore: MLD reload was triggered although MLD had not been stopped/restored.................... 153
Backup&Restore: FWA update is possible in spite of MLD running............................................. 153
Backup&Restore: Update.zip use case was not executed correctly............................................ 153
FW update invitation still displayed after update.......................................................................... 153
New device detected with Backup/Restore function..................................................................... 153
18.1.25 710_Master communication basic................................................................................................... 154
S-0-0007 becomes invalid when basic parameters are loaded.................................................... 154
CiA402: Objects cannot be configured in oscilloscope................................................................. 154
18.1.27 745_Sercos III.................................................................................................................................. 154
E2004 during Sercos phase switch.............................................................................................. 154
Sercos: Drive sometimes loses telegrams after switching to CP3............................................... 154
"S-0-1000" contains the "SCP-SafetyCon" class.......................................................................... 154
18.1.28 750_EtherCAT................................................................................................................................. 154
EtherCAT COE: Drive address..................................................................................................... 154
18.1.29 760_Powerlink................................................................................................................................. 155
POWERLINK: Communication interrupted with "backup of all parameters"................................ 155
18.1.30 810_Power Supply Components and additional devices................................................................. 155
"F2821 Error in control of braking resistor" sporadically signaled................................................ 155


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Sporadic F8034............................................................................................................................ 157
19.1.2 220_PLC Motion components......................................................................................................... 157
Error of FB "MC_ReadStatus" in conjunction with MC_TorqueControl........................................ 157
MC_CamIn: Deadlock in error state............................................................................................. 157
MC_ReadStatus: Done and Error outputs simultaneously set..................................................... 157
ErrorID and ErrorIdent error outputs are reset at falling Execute edge........................................ 158
MB_PhasingSlave: VmAxisInt has to be used in secondary master mode to offset the slave
axis position.................................................................................................................................. 158
Recursive master axis combination is not checked...................................................................... 158
Wrong error message with VmAxisInt as slave axis..................................................................... 159
19.1.3 230_PLC IO_Channel...................................................................................................................... 159
Faulty digital inputs and outputs after Online Change.................................................................. 159
PLC: AxisData does not work for SMO parameters as actual values.......................................... 159
19.1.5 270_PLC HMI support..................................................................................................................... 160
IL_UdpKeys and IL_MKeys missing in MPx-20VRS..................................................................... 160
19.1.6 410_Motor Handling........................................................................................................................ 160
Motor replaced without C0263...................................................................................................... 160
OEM memory was not recognized after motor replacement........................................................ 160
Absolute position lost with combined encoder for SSI.................................................................. 160
F9003 in the case of line interruption with EnDat 2.2................................................................... 160
Cyclic monitoring between absolute and incremental tracks missing for combined encoders
(for E2074).................................................................................................................................... 160
Encoder status bits are incorrectly generated.............................................................................. 161
Position feedback value 2 jumps if feed constant 2 activated...................................................... 161
Position initialization of combined encoder: max. initialization speed not taken into account...... 161
Position offset in the case of initialization under motion (SSI sine).............................................. 161
Position offset under motion (EnDat 2.1)...................................................................................... 161
Reference in spite of F2105 when setting absolute position........................................................ 161
S-0-0600.x.1 Encoder status; bit 5 position status was not generated......................................... 161
S4W signals wrong encoder status in the case of error F8022.................................................... 162
TTL encoder wire break monitoring does not work...................................................................... 162
Wrong IDN for reading maximum possible phys. initialization speed........................................... 162
Incorrect measuring encoder position initialization after setting absolute position with
P-0-0087 unequal 0...................................................................................................................... 162
Linear encoder with absolute scaling........................................................................................... 162
Measuring encoder: Error in homing procedure: Incorrect reference position depending on
velocity.......................................................................................................................................... 162
Drive has to be switched off after command error C0606 to allow homing procedure to be
carried out again........................................................................................................................... 163
19.1.9 425_Motor Control........................................................................................................................... 163
FXC asynchronous motor, taking the premagnetization factor into account................................ 163
FXC: Switching on drive enable after F8xxxx error...................................................................... 163
FXC: Switching open-loop-controlled closed-loop-controlled range............................................. 163

XXII IndraDrive MPB-20V30 Firmware for Drive Controllers
Table of Contents
Page
PT1000 motor temperature sensor does not work with V1 control sections................................ 164
FXC: Incorrect torque feedback value is displayed...................................................................... 164
Max. frequency slope incorrectly calculated................................................................................. 164
Switching frequency of the power output stage can now be changed in PM............................... 164
Thermal motor model overload E2051......................................................................................... 164
19.1.10 435_Axis control.............................................................................................................................. 164
Velocity feedback value (S-0-0040) incorrectly calculated if mix factor used............................... 164
Wrong cogging reference with absolute encoder and encoder gearbox unequal 1:1.................. 165
19.1.11 440_Commutation........................................................................................................................... 165
Error message "C5603 Timeout: Axis in motion" with command C5600...................................... 165
Error message F8012 with commutation setting command......................................................... 165
19.1.12 445_Limitations, monitoring............................................................................................................. 165
Considering the directives for products requiring export licenses (closed-loop).......................... 165
19.1.13 480_Power supply........................................................................................................................... 165
W54 device remains in bb in spite of mains voltage having been connected.............................. 165
"P-0-0753, Position actual value in actual value cycle" incorrectly generated, if active param‐
eter set number is not 0................................................................................................................ 166
Exception if synchronous bit generation activated for MotionProfile and synchronization
mode not active............................................................................................................................ 166
MotionProfile - erratic behavior if value of P-0-0701 changed in operating mode........................ 166
F2053 and missing zero pulses if external signal P-0-0901.0.7 turning backward....................... 166
P-0-0901.x.2, bit 7, not cyclically configurable in signal control word........................................... 167
P-0-0901.x.2, bit 7, not cyclically configurable in signal status word............................................ 167
F9005 when reading via ADS....................................................................................................... 167
Dependencies between P-0-4084 and P-0-4089.0.1 when loading a parameter......................... 167
19.1.17 640_Diagnostic System................................................................................................................... 167
Reading P-0-2602.0.130 provided error message....................................................................... 167
List parameters contained in oscilloscope signal selection.......................................................... 167
Recordiung of diagnostic messages cannot be controlled using diagnostic trace control............ 168
DS402 prevents switching from "Ready to Switch on" to "Switched on" without power on.......... 168
Switching the master communication protocol does not cause switching of master communi‐
cation profile................................................................................................................................. 168
FSP Drive 0x102 profile not possible with PROFINET, EtherNet/IP and PROFIBUS.................. 168
19.1.19 745_Sercos III.................................................................................................................................. 169
F4002 after first run-up to CP4..................................................................................................... 169
19.1.20 750_EtherCAT................................................................................................................................. 169
„Enable PDO Configuration“ bit missing in EEPROM for CoE..................................................... 169
Problems with parameter download, e.g. using IW...................................................................... 169
19.1.21 Measuring systems (mechanical axis system)................................................................................ 169
Incorrect zero point shifting with EnDat 2.1.................................................................................. 169
19.1.22 Motor control.................................................................................................................................... 169
F8078 in FXC control.................................................................................................................... 169
19.1.23 Parameters, basics.......................................................................................................................... 169

IndraDrive MPB-20V30 Firmware for Drive Controllers XXIII
Table of Contents
Page
P-0-4089.0.1 - misleading min/max values.................................................................................. 169
19.2.1 140_Safe Communication............................................................................................................... 170
F3450 cannot be cleared during serial commissioning................................................................ 170
19.2.2 220_PLC Motion components......................................................................................................... 170
MLD axis pattern adjusted for MLD-S.......................................................................................... 170
19.2.3 999_Other........................................................................................................................................ 170
HCS03.1-W0350 supported......................................................................................................... 170

20.1.1 _Other.............................................................................................................................................. 171
Error C0209 generated when progressing from PM to OM, if encoder line interrupted with
Safety4Wire® encoder................................................................................................................. 171
Parameter values are lost after 2nd reset (via S-0-1350)............................................................. 171
Immediately switched on after OM->PM->OM with the IO profiles 0xFF82,0xFF92.................... 171
20.1.2 200_PLC Basic System................................................................................................................... 171
IL_SIIIMasterState function block does not work with MLD.......................................................... 171
20.1.3 Analog input/output.......................................................................................................................... 171
P-0-0214 and P-0-0216 cannot be configured in MDT and AT.................................................... 171
20.1.4 Axis control...................................................................................................................................... 172
Increased lag error for devices with optional safety technology module "L4"............................... 172
Incorrect maximum values of S-0-0113/P-0-0113 with linear motors........................................... 172
20.1.5 Brake............................................................................................................................................... 172
"C3900 Holding brake resurfacing" command not completed after specified time....................... 172
20.1.6 Diagnostic system........................................................................................................................... 172
Diagnostic system signals F6001 due to incorrect diagnostics.................................................... 172
20.1.7 Drive PLC........................................................................................................................................ 172
F9005 during PLC download while project info is displayed........................................................ 172
Problems with MLD project when parameter file is loaded........................................................... 173
S/IP: PlcVarAccess, F9005 if MLD not configured as functional package................................... 173
20.1.8 Encoder........................................................................................................................................... 173
Invalid encoder operating data parameters for MS2N motor with HIPERFACE encoder............. 173
20.1.9 Encoder emulation........................................................................................................................... 173
Encoder emulation does not work with new encoder structures.................................................. 173
20.1.10 Establishing the position data reference.......................................................................................... 173
Position feedback value drifts with modulo scaling...................................................................... 173
Encoder replacement recognition with MSM motor...................................................................... 173
Linear HIPERFACE encoders (TTK70) are not supported........................................................... 174
Loss of reference with linear encoders without OEM memory..................................................... 174
Resolution not automatically determined for combined encoder for SSI...................................... 174
20.1.11 Master communication.................................................................................................................... 174
EtherCAT CoE: Wrong flashing pattern of diagnostic LED in the case of configuration error...... 174
EPL: Free_Run: Content of object 1006 does not comply with bus cycle time............................ 174
Starting commands "S-0-0127/S-0-0128" in forbidden Sercos phase using real-time bits.......... 174
20.1.12 Measuring systems (mechanical axis system)................................................................................ 174

XXIV/197 IndraDrive MPB-20V30 Firmware for Drive Controllers
Table of Contents
Page
Combined encoder for SSI by AMO, incorrect position initialization............................................ 174
Position feedback value drifts when changing between PM-OM under motion............................ 175
Position initialization with EnDat2.1 is not initialized over entire absolute encoder range............ 175
Axis error correction for external encoder activated with motor encoder by mistake
(P-0-0413 = 0x1)........................................................................................................................... 175
F9005 with sensorless control and linear scaling......................................................................... 175
No C0211 if 3 encoders configured.............................................................................................. 175
Rotary combined encoder for SSI only works with SSI resolution................................................ 175
Measuring encoder always initializes using the retain data.......................................................... 176
S-0-0602.x.136 is not reset when default values are loaded........................................................ 176
20.1.13 Motor control.................................................................................................................................... 176
Diagnostic motor data MSM: Motor replacement is not displayed............................................... 176
MPM: Incorrect default value for "P-0-0045" with OPEN-LOOP.................................................. 176
20.1.14 Om_cam mode................................................................................................................................ 177
Cam table in MotionProfile incorrectly processed........................................................................ 177
20.1.15 Om_drive-controlled positioning...................................................................................................... 177
Double velocity when switching to position control with a clock ratio of 1:1................................. 177
20.1.16 Om_phase synchronisation............................................................................................................. 177
Master axis synchronization range incorrectly implemented with single-step synchronization.... 177
"MotionProfile” mode: F2028 when switching sets....................................................................... 177
20.1.17 Parameters, basics.......................................................................................................................... 177
Drive is constantly rebooted in the case of C6600 with safety technology................................... 177
Combination check for 0x60C2 might possibly prevent changeover............................................ 178
Incorrect velocity scaling in mm/s................................................................................................. 178
Feed constant (S-0-0123) has no unit.......................................................................................... 178
20.2 Unresolved defects............................................................................................................................. 178
20.2.1 Safety Technology........................................................................................................................... 178
Modulo correction missing for absolute position feedback values................................................ 178
Index.......................................................................................................................... 179

IndraDrive MPB-20V30 Firmware for Drive Controllers 1/197
General information
1 General information
1.1 Releases
Firmware designation Release date Change of version
FWA-INDRV*-MPB-20V30-D5 2021-10-21 V28 → V30

FWA-INDRV*-MPB-20V24-D5 2019-06-07 V23→ V24
Tab. 1-1: Record of revisions of firmware FWA-INDRV*-MPB-20VRS
From MPx-20V10: in case of a firmware release downgrade from

MPx-20V10 to MPx-20V08, the encoder loses the reference (ex‐
tension of retain data).
MPx-20V08 and above: In the case of firmware release update

from MPx-20V12 observe the following aspects:
If the inverted rotational direction (S-0-0601.x.1; Bit 3) is used for
linear encoders, the axis must be homed again after update.
Not supported Encoder types:

● Encoders with analog Hall sensor (5V supply, BRC-compatible signals)
→ Defdb00185611
● Encoders with sine signals and digital Hall sensors → Defdb00185610
Additional encoder restrictions:
● ACURO®link interface: Only allowed up to an encoder cable length of
50 m max. → Defdb00184150
● EnDat2.2 (rotative) with more than 32 Bits for position format cannot be
released. → Defdb00193328

2/197 IndraDrive MPB-20V30 Firmware for Drive Controllers
General information
● HIPERFACE (linear) can not be released in the derivat MPE →

Defdb00193432
General restrictions:
● Parameter set switching function → Defdb00184933
● The communication CANopen over CAN is not supported →
Defdb00186004
● Offline simulation in IndraWorks is not completely supported.
● PROFIsafe is available, but not certified
● The command "motor data identification" cannot be released:
– In the derivat MPE. The command is not working reliable. →
Defdb00193402
– With linear motors → Defdb00193189
● In the derivat MPE open-loop axis control (U/F-control) can not be re‐
leased. → Defdb00193238
1.2 Firmware variant

These firmware Release Notes relate to the following firmware variant:
Rexroth IndraDrive
FWA-INDRV*-MPB-20VRS-D5
(Single-axis firmware with
Basic performance and functionality)
Tab. 1-2: Firmware variant
For the explanation of the type code, see chapter "Firmware

Types".

General information
Material No. Firmware Comment
R911347126 FWA-INDRV*-MPB-20VRS-D5-0-ALL-ML
R911347127 FWA-INDRV*-MPB-20VRS-D5-0-ALL-NN
R911347128 FWA-INDRV*-MPB-20VRS-D5-0-MSP-ML
R911347129 FWA-INDRV*-MPB-20VRS-D5-0-MSP-NN
R911347131 FWA-INDRV*-MPB-20VRS-D5-0-NNN-ML
R911347132 FWA-INDRV*-MPB-20VRS-D5-0-NNN-NN
R911347133 FWA-INDRV*-MPB-20VRS-D5-0-SNC-ML
R911347134 FWA-INDRV*-MPB-20VRS-D5-0-SNC-NN
R911347135 FWA-INDRV*-MPB-20VRS-D5-1-ALL-MA
Due to the revision
R911347136 FWA-INDRV*-MPB-20VRS-D5-1-ALL-ML
of the EU Dual‑Use Regulation
R911347137 FWA-INDRV*-MPB-20VRS-D5-1-ALL-NN [Regulation (EC) No 428/2009],
R911347138 FWA-INDRV*-MPB-20VRS-D5-1-MSP-ML the output frequency of the drive controllers is restricted to
less than 600 Hz in open-loop operation.
R911347139 FWA-INDRV*-MPB-20VRS-D5-1-MSP-NN
The firmware
R911347140 FWA-INDRV*-MPB-20VRS-D5-1-NNN-ML
does not require export licenses.
R911347141 FWA-INDRV*-MPB-20VRS-D5-1-NNN-NN
R911347142 FWA-INDRV*-MPB-20VRS-D5-1-SNC-ML
R911347143 FWA-INDRV*-MPB-20VRS-D5-1-SNC-NN
R911347144 FWA-INDRV*-MPB-20VRS-D5-1-SRV-ML
R911347145 FWA-INDRV*-MPB-20VRS-D5-1-SRV-NN
R911347149 FWA-INDRV*-MPB-20VRS-D5-0-SYX-ML
R911347151 FWA-INDRV*-MPB-20VRS-D5-1-SYX-ML
R911347154 FWA-INDRV*-MPB-20VRS-D5-0-SYX-TF
R911347155 FWA-INDRV*-MPB-20VRS-D5-1-SYX-TF
R911369367 FWA-INDRV*-MPB-20VRS-D5-E-ALL-MA
R911369368 FWA-INDRV*-MPB-20VRS-D5-E-ALL-ML
R911369369 FWA-INDRV*-MPB-20VRS-D5-E-ALL-NN
The control mode "E" is a firmware with "closed-loop" pack‐
R911369370 FWA-INDRV*-MPB-20VRS-D5-E-MSP-ML
age.
R911369371 FWA-INDRV*-MPB-20VRS-D5-E-MSP-NN
In open-loop operation, this firmware can operate drive con‐
R911369372 FWA-INDRV*-MPB-20VRS-D5-E-NNN-ML trollers with output frequencies ≥600 Hz.
R911369373 FWA-INDRV*-MPB-20VRS-D5-E-NNN-NN CAUTION: This firmware requires export licenses!
R911369374 FWA-INDRV*-MPB-20VRS-D5-E-SNC-NN The firmware can only be supplied upon a formal order, ei‐
R911369375 FWA-INDRV*-MPB-20VRS-D5-E-SNC-ML ther pre-installed in the drive controller or on the correspond‐
ing data carriers (µSD, control panel…).
R911369376 FWA-INDRV*-MPB-20VRS-D5-E-SRV-ML
For legal reasons, it is impossible to download the firmware.
R911369377 FWA-INDRV*-MPB-20VRS-D5-E-SRV-NN
R911369378 FWA-INDRV*-MPB-20VRS-D5-E-SYX-ML
R911369379 FWA-INDRV*-MPB-20VRS-D5-E-SYX-TF
Tab. 1-3: Type codes of the supported firmware variants

General information
1.3 System overview

1.3.1 Software
It is recommended to use the following software for Engineering and servic‐
ing:
Software Application Properties
SWA-IWORKS-DS* (1) Drive commissioning tool ● No offline simulation

● No project administration
● View for single devices
● No MLD programming
SWA-IWORKS-D** (1) Drive Engineering ● Incl. offline simulation

● Incl. project administration
● No MLD programming
SWA-IWORKS-MLD Drive Engineering ● Incl. offline simulation
● Incl. project administration
● Incl. MLD programming
IDST/IMST Web tool for service and diagnos‐ ● No drive Engineering
tics ● Diagnostics
● Firmware replacement
● Device replacement
● No installation or setup
– IDST: Integrated in drive firmware
– IMST: Stored on microSD card of control panel
(1) IndraWorks 14VRS and above

Tab. 1-4: Software for Engineering and servicing
1.3.2 Power sections, drive systems

Power sections, inverters All HMS01, HMS02 and HMD01 power sections from the table below with the
production date FD: 07W01 and above are supported (07W01 refers to pro‐
duction year 2007, week 01).

General information
Power sections
Inverter - single-axis
HMS01.1N-W0020-A-07-NNNN
Inverter - double-axi
HMD01.1N-W0012-A-07-NNNN
Tab. 1-5: Power sections, inverters

Power sections, converters All HCS02, HCS03 and HCS04.2 power sections from the table below with
the production date FD: 07W01 and above are supported (07W01 refers to
production year 2007, week 01).
Power sections
Converter
HCS02.1E-W0012-A-03-NNNN
HCS02.1E-W0054-A-03-NNNN1)
HCS02.1E-W0070-A-03-NNNN1)
HCS04.2E-W0290-N-0x-xNxN
1) from CW30/2007
Tab. 1-6: Power sections, converters

General information
The message "F8118 Invalid power section/firmware

combination" is output for devices of an older production date.
Power sections, universal inver‐ All HMU05 controllers of the following table are supported.
ters
Universal inverters
HMU05.1N-F0140-0210-N-A5-11-___-NNNN
HMU05.1N-F0140-0350-N-A4-D7-___-NNNN
HMU05.1N-F0170-0250-N-A5-11-___-NNNN
HMU05.1N-F0170-0430-N-A4-D7-___-NNNN
HMU05.1N-F0220-0300-N-A5-11-___-NNNN
HMU05.1N-F0220-0510-N-A4-D7-___-NNNN
HMU05.1N-F0270-0370-N-A5-11-___-NNNN
HMU05.1N-F0270-0660-N-A4-D7-___-NNNN
HMU05.1N-F0340-0820-N-A4-D7-P__-NNNN
HMU05.1N-F0400-0600-N-A5-11-___-NNNN
HMU05.1N-F0430-1040-N-A4-D7-P__-NNNN
HMU05.1N-F0540-0750-N-A5-11-___-NNNN
HMU05.1N-F0540-1300-N-A4-D7-P__-NNNN
HMU05.1N-F0680-0980-N-A5-11-___-NNNN
HMU05.1N-F0680-1690-N-A4-D7-P__-NNNN
Tab. 1-7: Power sections, universal inverters

Drive systems
For HCS01, HCQ, HCT, KMS and KSM, there are no restrictions with regard
to the production period.
Drive systems
HCS01.1E-W00xx-A-0x-x-xx-EC-xx-xx-NN-FW
KMS02.1B-A0xx-P-D7-ET-xxx-xx-xx-FW
KSM02.1B-0xxC-xxN-xx-Hxx-ET-xx-D7-xx-FW
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
HCQ02.1E-W-00xx-A-03-B-L8-1S-xx-xx-NN-xx
HCT02.1E-W00xx-A-03-B-xx-xx-xx-xx-NN-xx
Tab. 1-8: Drive systems
1.3.3 Control Sections and Optional Modules

In their basic configuration, all control sections already contain modules for
encoder evaluation (EC) and master communication (ET, S3, CC). The table
below shows the control sections supported by the MPx-20VRS firmware, as
well as possible optional modules.
Our sales representative will help you with the current status of
available control section card types.

General information
Control section types → CSE02.1 CSB02.1 CDB02.1 CSH02.1

CSB02.5 CSH02.5
ECONOMY BASIC BASIC ADVANCED

"Single-axis" "Single-axis" "Multi-axis" "Single-axis"
Firmware variant → MPE-20VRS MPB-20VRS MPM-20VRS MPC-20VRS
Optional modules for master communication
■
PB PROFIBUS-DP - ■ ■
3)
■
CN CANopen - ■ ■
3)
■
ET MultiEthernet - - -
3)
Optional modules for encoder evaluation

■
EC Multi-encoder interface - ■ ■
2)
■
EM Encoder emulation - ■ ■
2)
Optional modules for safety technology

■
L3 STO (Safe Torque Off) ■ ■ ■
2)
■
S4 Safe Motion - ■ ■
2)
■
SB Safe Motion Bus - ■ ■
2)
■
2)
Optional modules for I/O extension

■
DA I/O extension digital/analog - ■ ■
2)
Optional modules for communication

ET MultiEthernet - - - ■
■
EP Engineering Port ■ - -
1)
1)Only available with CSB02.1A

2)Only available with CSB02.1B
3)Only available with CSH02.xB-CC
Tab. 1-9: Supported control section configurations

General information
In their basic configuration, all HCS01 controllers already contain modules for
encoder evaluation (EC) and master communication (ET, S3, CC). The table
below shows the optional modules supported by the MPx-20VRS firmware.
Device HCS01.1
ECONOMY BASIC ADVANCED

"Single-axis" "Single-axis" "Single-axis"
Firmware variant → MPE-20VRS MPB-20VRS MPC-20VRS
ET MultiEthernet - - ■
PB PROFIBUS-DP - ■ ■
CN CANopen - ■ ■
EC Multi-encoder interface - ■ ■
EM Encoder emulation - ■ ■
L3 STO (Safe Torque Off) ■ ■ ■
STO (Safe Torque Off) and SBC
L4 ■ ■ ■
(Safe Brake Control)
SB Safe Motion Bus - ■ ■
DA I/O extension digital/analog - ■ ■
Optional modules for communication
ET MultiEthernet - ■ ■
EP Engineering Port ■ ■ -
In their basic configuration, all distributed drive controllers KMS0x and

KSM02 servo drives already contain the ET master communication module.
The table below shows the optional modules supported by the MPx-20VRS
firmware.
Device KSM02.1 KMS02.1 KMS03.1
BASIC BASIC BASIC

"Single-axis" "Single-axis" "Single-axis"
Firmware variant → MPB-20VRS MPB-20VRS MPB-20VRS
ET MultiEthernet - - -

General information
Device KSM02.1 KMS02.1 KMS03.1

ENH Encoder HIPERFACE® - ■ -
Encoder HIPERFACE ® and digital
END - - ■
encoder
L3 Safe Torque Off (STO) ■ ■ ■
S3 Safe Motion (without SBC) ■ ■ -
SD Safe Motion ■ ■ ■
Optional module MultiEthernet
TO MultiEthernet output coupling ■ ■ ■
External master communication
ES ■ ■ ■
MultiEthernet
The table below shows the optional modules for compact multi-axis convert‐
ers HCT and HCQ supported with MPx20VRS.
Device HCT02.1 HCQ02.1
BASIC BASIC
"Multi-axis" "Multi-axis"
Firmware variant → MPM-20VRS MPM-20VRS
ET Multiprotocol EtherNet ■ -
PB PROFIBUS ■ -
L8 Embedded PC, LX 800 ■ ■
Number of encoder evaluations in basic device 4 5
D1 Digital I/O extension (DEA40.1) ■ ■

All controllers and control sections have a different number of interfaces for
optional modules, which are listed in the table below.
Controller or control section Number of optional module slots
KMS02.1, KSM02.1, KMS03.1 1

HCS01, HCQ02.1, HCT02.1, CSB02.1A,
2
CSE02.1
CSB02.xB, CSH02.x 3
CDB02.1 4
Tab. 1-13: Number of optional card slots

General information
1.3.4 Supported motors and measuring systems

Supported motors
The following table contains an overview of the Rexroth motors supported by
this firmware:
Rexroth housing motors Rexroth kit motors

Synchronous Asynchronous Synchronous Asynchronous
MLF (IndraDyn L)
MSK (IndraDyn S) MAD (IndraDyn A)
MBS (IndraDyn H)
MSM MAF (IndraDyn A) 1MB
MCL
MS2N MAL
MBT (IndraDyn T)
Tab. 1-14: Appropriate Rexroth motors for IndraDrive

In addition to the Rexroth motors, it is basically possible to operate three-
phase third-party motors (synchronous and asynchronous motors) at
IndraDrive controllers. However, it is necessary to check whether the specific
motor type can be controlled (see chapter "Third-party motors" in "Rexroth
IndraDrive, Drive System, R911309636, DOK-INDRV*-SYSTEM*****-PR0x-
…..").
The operation of SBC motors of the manufacturer Parker is direct‐

ly supported by motor-type-specific parameters made available in
the encoder data memory!
Supported measuring systems

Supported encoder systems Encoder systems with a supply voltage of 5 and 12 V:
● MSM motor encoder (with HCS01 only)
● MSK motor encoder
● Sin-cos encoder 1 Vpp; HIPERFACE®
● Sin-cos encoder 1 Vpp; EnDat2.1
● Sin-cos encoder 1 Vpp; with reference track
● 5V-TTL square-wave encoder; with reference track
● Sin-cos encoder 1 Vpp and SSI encoder (combined encoder for SSI)
● SSI encoder
● Resolver, available with MPx20V06 and above
● EnDat 2.2
● ACURO-Link
Other encoder systems With the following combinations, the evaluation of an analog enoder and ad‐
ditional Hall sensors is not yet supported in this firmware release of MPx20
and below:
● MCL motor with L1 option (analog Hall sensors)
● MCL motor with L0 option (digital Hall sensors)

General information
1.3.5 Firmware types

Structure of the firmware type des‐ The type designation of the IndraDrive firmware consists of the following type
ignation code elements:
Base package of
variant ... Alternative Additive ex‐
(depending on Lan‐ Open-loop / expansion pansion
IndraDrive firmware control section) Version Release guage Closed-loop packages packages
FWA-INDRV* -MPB- 20 VRS- D5- x- xxx- xx
Tab. 1-15: Basic structure of the firmware type designation
Function-specific abbreviations in Base package (application and performance):

type designation of IndraDrive
firmware
● MPB → Single-axis firmware with Basic performance and functionality
Firmware characteristic:
● 0 → Open-loop; restricted to output frequencies <600 Hz
● 1 → Closed-loop; restricted to output frequencies <600 Hz in open-loop
operation
● E → Closed-loop; in open-loop operation, output frequencies ≥600 Hz
are possible ⇒ export licenses required!
Alternative expansion packages:
● NNN → No alternative expansion package
● SRV → Functional package "Servo function"
● SNC → Functional package "Synchronization"
● MSP → Functional package "Main spindle"
● ALL → All alternative expansion packages
Additive expansion packages:
● NN → No additive expansion package
● ML → IndraMotion MLD for free programming; incl. use of technology
functions
● MA → IndraMotion MLD Advanced
● TF → Technology functions
The sales representative in charge will help you with the current
status of available firmware types.


ACS and MSC motor encoder in RN MPB20V26
2 ACS and MSC motor encoder in RN MPB20V26

2.1 ACS controller
The ACS controller is a variant of the HCS controller with limited functionality.
The ACS and the MSC motor are provided on the Asian market. The housing
of ACS is black.
Specific features of ACS:
● Plug & Play of MSC motors (Tamagawa motor encoder)
● Can only be operated with MPB firmware (Basic)
● The "performance level" of motor control is "Basic"
● Additive functional packages (MLD) cannot be used. The functional
packages that can be selected are limited to:
– "Closed-loop" (CL) and "open-loop" (OL) base package
– Alternative functional package "Synchronization"
● Safe Motion (SMO) is not possible
2.2 MSC motor encoder (Tamagawa interface), functional de‐

scription
Encoders with a Tamagawa interface transmit the position in a digital serial
manner via an RS485 interface. Rexroth motors of the MSC series are
equipped with this encoder. Thus, the encoder is exclusively used as a motor
encoder. It has an encoder data memory that provides the encoder and
motor data.
Protocol specification ● Telegram length: Variable (max. 110 bits)
● Coding: Binary
● Error bits: 8 bits
● Checksum: 8 bits (CRC)
● Position bits: 24 bits with single-turn, 48 bits with multi-turn
● Transmission: Byte-oriented, 5 MBaud (permanently)
Features of MSC encoders Encoders with Tamagawa interface are equipped with an encoder data
memory containing the manufacturer-side encoder and motor data
("electronic type plate") including:
● Absolute encoder resolution (digital) S‑0‑0602.x.4: Single-turn resolution
23 bits
● Absolute encoder range S‑0‑0601.x.6: Multi-turn resolution 16 bits
● Maximum initialization velocity S‑0‑0602.x.8: 100 min-1
● Serial number of the encoder S‑0‑0611.x.136: unit-specific
Other features:
● Multi-turn characteristic by external battery box (otherwise single-turn
characteristic only)
● Virtual reference marks at every single-turn overflow
● Encoder rotational direction is inverted to the MSC motor rotational
direction. For this reason, the position data are inverted for evaluation.
● The encoder memory can only be read, not written.
Supported encoder types Only the encoder options of Rexroth MSC motors (rotary) are supported:

● MSC encoder option "A": Tamagawa encoder with 23-bit single-turn

resolution
● MSC encoder option "B": Tamagawa encoder with 23-bit single-turn
resolution and a maximum multi-turn range of 16 bits
Firmware-side actual position val‐ ● Position display of Basic encoder evaluation with Tamagawa encoders:
ue generation 32 position bits
● Default position display of rotary encoders: maximum single-turn
resolution, reduced multi-turn section, there is a remaining number of
multi-turn revolutions: 2^(position bits single-turn bits).
If the required maximum travel range of the axis exceeds the

absolute encoder range, absolute encoder evaluation is not
possible. If the encoder resolution (Basic encoder evaluation) is
manually divided by half, the absolute encoder range is doubled
by doubling the number of multi-turn revolutions that can be
evaluated.
This process can be repeated multiple times. However, as soon
as "absolute encoder evaluation possible" is displayed (switching
to Bb!) the encoder resolution should not be further manually
divided by half!
Monitoring and diagnostics To implement the multi-turn property of the encoder, an external battery has
to be connected to the encoder. When the drive has been switched off, the
battery voltage maintains the multi-turn information in the encoder memory or
continues counting in case of passive motion of the motor while switched off.
When the drive has been switched on, the encoder is supplied via the
encoder interface. In this case, the battery is passive and can be replaced
without loss of position data reference.
Battery voltage diagnostics:
● Proper supply: Ubattery greater than or equal to DC3.1V
● Warning of imminent undervoltage: DC2.75V < Ubattery< DC3.1V
● Undervoltage error: Ubattery < DC2.75V
The encoder internally detects error states via 8 error bits and generates an
8-bit checksum (CRC) for monitoring the transmitted encoder position. If
warnings or error states occur, the respective bits of "S‑0‑0600.x.1, Encoder
status" are set:
● The battery voltage is cyclically monitored during operation. If the
correct supply voltage is fallen below, the warning bit is set.
● If the encoder-specific maximum speed was exceeded, or in the case of
more than two subsequent telegram failures, the error bit is set. In the
case of tolerated telegram failures, the last valid velocity is extrapolated.
The position data reference of the encoder (reference) is deleted, if the actual
position value is incorrect in relation to the axis after switching on the drive:
● If a battery had been configured for use with the encoder and it was
discharged on activation of the drive or removed with the drive switched
off (battery not in place).
● If replacement of the encoder was recognized due to a changed serial
number.

The battery should only be replaced while the drive is switched

on! The stored multi-turn revolutions are then always maintained
and potential encoder revolutions are registered although the
battery is disconnected!
Application There is a time offset between the recording of actual position values and
their availability for drive control due to the serial transmission of the position
data. Due to the high transmission rate for the cyclic position and status data,
the time offset between the recording of actual position values and their
availability for motor control is sufficiently small in the case of serial
transmission by the Tamagawa format.
Using a Tamagawa encoder as load-side position control encoder (encoder
2) is not possible!
Parameterization Motor encoders of MSC motors (Tamagawa encoders) are equipped with an
encoder data memory for the encoder-specific data and motor data. They are
automatically loaded to the respective parameters of the drive if:
● the characteristic number for this encoder was entered in "S‑0‑0602.x.1,
Phys. encoder type",
● the encoder was automatically recognized by the ACS controller by
scanning the encoder interfaces after "load basic parameters" and the
encoder data memory is read thereupon.
If the motor encoder of the MSC motor is connected to a

controller other than ACS, the characteristic number of the
Tamagawa encoder has to be manually configured in
"S‑0‑0602.x.1, Phys. encoder type"! The characteristic number is
"111".
For MSC motors with the "multi-turn encoder" option, the use of a battery is
automatically configured by executing C0700 Load defaults procedure
command (motor-specific controller values) so that the multi-turn evaluation
is activated. This also activates the supply voltage monitoring of the battery to
be connected.
If single-turn evaluation of the multi-turn encoder suffices, the use of the
battery can be manually deactivated. The parameterization/configuration is
supported by dialogs in IndraWorks. See also "Notes on commissioning" for
chapter 2.3 "Notes on commissioning for MSC motor encoder (Tamagawa
interface) " on page 15.
2.3 Notes on commissioning for MSC motor encoder (Tamaga‐

wa interface)
Encoder configuration The ACS controller automatically recognizes the Tamagawa interface of an
MSC motor encoder. If the encoder is connected to HCS, the encoder has to
be configured manually:
In the beginning of initial commissioning, "load basic parameters"

should always have been carried out!

Fig. 2-1: IndraWorks encoder basic dialog of Tamagawa encoder, configura‐

tion for use of an external battery (multi-turn absolute encoder char‐
acteristic).
When the encoder interface used has been assigned and the encoder with
Tamagawa interface detected and selected, the data of the motor and the
encoder are automatically loaded from the encoder data memory to the
controller when switching from PM to operating mode (OM).
If an external battery is used with the MSC encoder option "B", the
Tamagawa encoder has multi-turn absolute encoder characteristics. With the
drive switched off, the position is saved due to the external battery, that is the
position is always registered that was taken by the motor by passive motion
while switched off. The multi-turn characteristic can be used without a
battery, but the position data reference is lost when switching off/back on. In
the encoder expert view dialog, the available battery has to be configured:
Fig. 2-2: Configuring the use of battery with MSC motor encoder option "B"
(multi-turn)
With battery use configured, the encoder1/motor encoder basic dialog shows
in "OM" whether the battery has been connected and if its capacity is
sufficient:

Fig. 2-3: Display of connected/operational external battery for using the multi-
turn absolute encoder characteristic with MSC motor encoder option
"B" (multi-turn)
It is possible to connect the battery via additional components.

See "MSC motors" documentation.
In the case of motor encoders of MSC motors, "inverted

evaluation of position data" has been permanently configured to
ensure compliance of the rotational directions of motor and
encoder!
Increasing the usable multi-turn The motor encoder of MSC motors (Tamagawa interface) has 23 bits/motor
range revolution for all encoder options. The position feedback value covers 32 bits
and contains the number of single- and multi-turn bits that can be displayed.
By default, the highest single-turn resolution is active. It may be reduced,
however, to display more multi-turn revolutions:
Multi-turn revs to be
MSC encoder Max. multi-turn Resolution used displayed
option revolutions (increments/rev)
(with 232 pos. bits)
MSC....-A... (single-
None 223 (default) None
turn option)
223 (default) 29= 512 (default)

MSC....-B... (multi-
216 216 = 65535
turn option) 216 (configurable)
(configurable)
Tab. 2-1: Encoder options of MSC motors, resolution and multi-turn revolu‐
tions when using a battery (ENCB, default)
In the case of MSC motors, the multi-turn range in the default state with 29
(512) encoder revolutions is relatively small due to the high single-turn
position resolution of 23 bits/revolution. If the encoder can be evaluated in
absolute form, this is shown in "OM" in the IndraWorks basic dialog of the
encoder by a green lamp (see above). If the lamp is dark, absolute evaluation
is not possible:

Fig. 2-4: IndraWorks basic dialog of encoder 1/motor encoder showing that
absolute encoder evaluation is not possible in the displayed case
If the absolute encoder range is not sufficient (Extended encoder evaluation
ENCE), this may have been caused by the absolute position range (Basic
encoder evaluation ENCB) of the encoder. This can be reproduced in the
IndraWorks expert dialog of encoder 1/motor encoder:
Fig. 2-5: IndraWorks encoder dialog, Expert view, for automatic calculation of
the output resolution (intended max. travel range is greater than ab‐
solute encoder range)
If the absolute encoder range is not sufficient for the intended max. travel
range of the axis, the following measures can be applied:
● Deactivating the automatic calculation of output resolution.
● Stepwise halving the position resolution (Basic encoder evaluation
ENCB) with the aim of doubling the absolute position range (Basic
encoder evaluation ENCB) and the absolute encoder range (Extended
encoder evaluation ENCE), until the absolute encoder range is greater
than the maximum travel range of the axis.

Fig. 2-6: IndraWorks encoder dialog, Expert view, manually halving the posi‐
tion resolution (absolute encoder range now is greater than max.
travel range, absolute encoder evaluation is possible!)


Firmware replacement
3 Firmware replacement
3.1 Brief description
3.1.1 Basic principles
Explanation of terms The following cases are distinguished for firmware replacement:
● Release update
An old firmware release contained in the device (e.g. MPB20V04) is re‐
placed by a new firmware release (e.g. MPB20V06).
● Version upgrade
The old firmware version contained in the device is replaced by a new
firmware version (example: MPB18V10 is replaced by MPB20V06).
● Release downgrade
A new firmware release contained in the device (e.g. MPB20V06) is re‐
placed by an old firmware release (e.g. MPB20V04).
● Version downgrade
The new firmware version contained in the device is replaced by an old
firmware version (example: MPB20V06 is replaced by MPB18V10).
The following chapters regarding the release update, release

downgrade, version upgrade und versions downgrade exclusively
apply to devices of the IndraDrive Cs type, as well as control sec‐
tions (CSB02, CSH02, CDB02, CSE02) and IndraDrive Mi
(KSM02, KMS02, KMS03). This information does not apply to
IndraDrive HCQ / HCT, but is described in the separate documen‐
tation "Rexroth IndraMotion MTX micro12VRS System Descrip‐
tion" (DOK-MTXMIC-SYS*DES*V12-PR01-EN-P, mat. no.
R911334369).
Procedure Firmware for IndraDrive can be replaced using the following hardware and
software:
● Computer with Firefox or Internet Explorer web browser or
● Computer with "IndraWorks" software or
● Computer with TFTP client
● IndraDrive Service Tool (IDST)
The "IndraDrive Service Tool (IDST)" allows accessing the drive

system, e.g. for remote diagnostics. Besides, authorized users
can handle different service cases with IDST, such as replacing
drive components, loading parameters or updating/upgrading the
drive firmware.
Further information on "IndraDrive Service Tool (IDST)" is descri‐
bed in the separate documentation „Rexroth IndraDrive Service
Tool IDST“ (DOK-IM*MLD-IDST*******-RE**-EN-P; mat. No.
R911380223).
The "IndraWorks" commissioning software can be ordered from

Rexroth.
The scope of supply of "IndraWorks" contains a documentation
which describes the operation of the program.

To be noticed After every firmware replacement (release update/downgrade and version

upgrade/downgrade), check the following parameters for validity:
● P‑0‑2003, Selection of functional packages
● P‑0‑4089.0.1, Master communication: Protocol
It might possibly be necessary to set them valid during the first run-up after
the firmware replacement.
IndraDrive HCQ / IndraDrive HCT The firmware replacement for "IndraDrive HCQ" / "IndraDrive HCT" is descri‐
bed in the documentation "Rexroth IndraMotion, MTX micro 12VRS, System
Description" (DOK-MTXMIC-SYS*DES*V12-PR01-EN-P, material number
R911334369).
3.1.2 Preparations and conditions for firmware replacement

Preparing the firmware replace‐ Make the following preparations for firmware replacement:
ment
1. Drive controller must be on (24 V supply).
2. Drive controller should not be in operating mode (communication
phase 4) (cf. P‑0‑0115).
3. It is recommended to save the backup parameters before replacing the
firmware (see Functional Description "Loading, storing and saving
parameters").
General notes on how to proceed Observe the following points when carrying out the firmware replacement:
● For firmware replacement via IndraWorks or IndraDrive Service Tool
(IDST), Ethernet communication with the drive has to be possible.
● Do not switch off the 24 V control voltage while replacing the firmware.
● The firmware replacement always has to be carried out completely.
Communication types Depending on the activated bus system (cf. P‑0‑4089.0.1), the Engineering
communication works in different ways. The settings and conditions have to
be made and complied with according to the bus system used. For further in‐
formation see "chapter TCP/IP communication".
Via the programming module, the active IP settings can be viewed or adjus‐
ted, if necessary (see Functional Description "Standard control panel").
After the IP settings have been changed, the device has to be re‐
started to activate the settings. If several devices have been con‐
nected via the master communication bus, make sure that an un‐
equivocal IP address is assigned to each node.
IP configuration in the Easy Menu See functional description "Standard control panel"
IP settings on the computer See Microsoft help, keyword "LAN connection"
3.2 Firmware release update

3.2.1 General information
Before the firmware release update, it is recommended to save the backup
parameters of the drive!
If the firmware is replaced for a device with active Safe Motion,

this procedure has to be recorded in the machine logbook, togeth‐
er with the axis identifier (P‑0‑3235.0.1, SMO: Active axis
identifier), configuration type data (P‑0‑3234.0.1, SMO:
Configuration checksum) and parameterization type data
(P‑0‑3234.0.4, SMO: Parameterization checksum).

3.2.2 Firmware release update with a computer

If the safety technology options Sx (S3, S4, S5, SB, SD) are
used, the system checks whether firmware and parameter set are
compatible. This prevents the safety technology from being oper‐
ated with an incompatible parameter set. Incompatible changes
typically do not occur in the case of a release update. In the case
of an incompatibility, it is possible to either
● continue with the existing parameterization by reloading the
originally available firmware, or
● continue with the new firmware by way of initial commission‐
ing (incl. loading of basic parameters for SMO contained
therein)
1. Connect the drive to the computer (recommended: Cat5e Ethernet ca‐

ble)
2. Load firmware
There are three possibilities of performing a firmware release update us‐
ing a computer:
● Using IndraWorks
● With a TFTP client
● Via the supplied IDST web interface.
This option only applies to firmware updates of MPx18V10 and
above. IDST is not available for older versions.
1. Firmware download with IndraWorks
1.1 Call "IndraWorks".
1.2 Load project for the corresponding axis or create new proj‐
ect. To do this, address axis via Ethernet.
1.3 Switch project "online".
1.4 Select/highlight controller and call "Firmware management"
in context menu.
A new window opens and firmware currently available in
drive is displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the di‐
alog and start firmware download via "Download" button.
Firmware download runs automatically and all required
firmware components are loaded to drive.
1.6 After firmware download has been completed, close "Firm‐
ware management" window.
2. Firmware download with a TFTP client
2.1 The firmware update service is made available via a TFTP
server. The command for transmitting the firmware is the
"put" command. The TFTP client has to transmit the file in
the binary format.

It is possible to carry out a firmware release update without

IndraWorks with any TFTP client supporting this command (e.g.,
Windows command line program "tftp.exe").
Example (with "Microsoft Windows consoles TFTP client"):
To carry out a firmware release update, only a "put" request is
transmitted. Do not use an optional alternative name for the file
on the target. The IP address of IndraDrive has to be specified as
the target (the standard is 192.168.0.1): tftp -i
192.168.0.1 put FWA-INDRV_-MPB-17V12-D5.ibf
The parameter "-i" means that the file is to be transmitted in bina‐
ry form.
See also functional description: "Firmware download via

TFTP server"
3. Firmware download with IDST
3.1 Enter IP address of IndraDrive in web browser
3.2 Log in as service user at web interface
3.3 In navigation tree on the left side select "Firmware update"
dialog in "Service" folder
3.4 Select new firmware by clicking "Search" button, firmware
update is started by clicking download button
3. Restart drive
At the end of the update, IndraWorks and IDST automatically provide
the option to restart IndraDrive using the reboot command S‑0‑1350. As
an alternative, IndraDrive can be restarted by resetting the control volt‐
age
4. Put machine into ready-for-operation status again according to machine
manufacturer's instructions.
5. Check functions of the drive.
6. For axes with active Safe Motion: Record the firmware replacement in
the machine logbook, together with the axis identifier (P‑0‑3235.0.1),
configuration type data (P‑0‑3234.0.1) and parameterization type data
(P‑0‑3234.0.4).
3.3 Firmware version upgrade

When firmware in a drive controller is replaced by firmware of a more recent
version, this is called firmware version upgrade (e.g.,
FWA‑INDRV*‑MPB‑18V10‑D5 replaced by FWA‑INDRV*‑MPB-20V06‑D5).
Before the firmware version upgrade is carried out, all parameters

have to be saved (e.g., with "IndraWorks"). After the firmware has
been replaced, the command "C07_1 Load defaults procedure
command (factory settings)" is automatically executed. To bring
the drive controller to the ready-for-operation state again, the pa‐
rameter values have to be restored by loading the parameter file
saved before.

3.3.2 Saving parameter values

Before the firmware upgrade, all application-specific parameter values have
to be saved on a data carrier. The parameter backup can be carried out via:
● "IndraWorks" commissioning software
→ Saving parameter values on external data carrier
- or -
- or -
● Control master
→ Saving parameter values on master-side data carrier
3.3.3 Version upgrade with "IndraWorks"

Requirements The following requirements should have been fulfilled in order that carrying
out the firmware version upgrade with "IndraWorks" makes sense:
● Existing Ethernet connection between PC and drive controller
● The current parameterization of the axis was saved.
When upgrading from MPB16VRS to MPB17VRS, for example,

the error F8100 is sometimes generated during the drive control‐
ler's first run-up. This error can be cleared via the display and will
not occur again during the next booting process.
Firmware upgrade with Carrying out the firmware version upgrade with "IndraWorks" requires the fol‐
"IndraWorks" lowing steps:
1. Load firmware
1.2 Load project for the corresponding axis or create new project. To
do this, address axis via Ethernet.
1.4 Select/highlight controller and call "Firmware management" in
context menu.
A new window opens and firmware currently available in drive is
displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the dialog
and start firmware download via "Download" button.
Firmware download runs automatically and all required firmware
components are loaded to drive.
1.6 After firmware download has been completed, close "Firmware
management" window.
1.7 Reboot drive controller
2. Put drive into ready-for-operation state
⇒ Switch project "online".
After project has been switched "online", a message sometimes signals
that "IndraWorks" could not establish communication to drive via
Ethernet interface, since drive-internal settings for Ethernet communica‐
tion were reset.

⇒ In this case, reconfigure communication via "Search for devices" but‐

ton!
⇒ As firmware in drive no longer complies with version stored in project,
a corresponding message is displayed. Select desired option in dialog to
make drive available in project again and allow reestablishing communi‐
cation to device.
⇒ Manually set functional package and master communication protocol
via corresponding parameters.
⇒ Activate command "C0750 Load defaults procedure command (facto‐
ry settings)". All buffered parameters are thereby set to their default val‐
ues.
For axes with active Safe Motion, the parameterization of the old
firmware version can be applied. For this purpose, the scaling of
the command "C0750 Load defaults procedure command (factory
settings)" has to be set to without "Safe Motion (SMO)" in
"P‑0‑4090, Configuration for loading default values". The Safe
Motion then remains active even in the case of a version upgrade,
and it is not necessary to recommission Safe Motion or repeat the
acceptance test.
With active Safety bus communication, the device data sheets
have to be updated in the safety control.
3. Load parameter values

⇒ Load parameter file which was saved!
⇒ Switch off drive and restart it so that the parameterization becomes
active.
4. Put machine into ready-for-operation state
⇒ Put machine into ready-for-operation state again according to ma‐
chine manufacturer's instructions!
⇒ Check functions of drive!
3.4 Firmware release downgrade

Before the firmware release downgrade, it is recommended to save the back‐
up parameters of the drive!
If the firmware is replaced for a device with active Safe Motion,

the saving of the parameters has to be recorded in the machine
logbook, together with the axis identifier (P‑0‑3235.0.1), configu‐
ration type data (P‑0‑3234.0.1) and parameterization type data
(P‑0‑3234.0.4).

If the safety technology options Sx (S3, S4, S5, SB, SD) are
used, the system checks whether firmware and parameter set are
compatible. This prevents the safety technology from being oper‐
ated with an incompatible parameter set ("C0213 SMO: Incorrect
parameterization" or "C8214 SMO: Incorrect configuration"). In‐
compatible parameter sets are involved when using Safe Motion
functions no longer available in the currently loaded firmware (old
firmware release).
In the case of an incompatibility, there are two options:
● Either continue with the existing parameterization by reload‐
ing the originally available firmware,
● or perform the complete initial commissioning with the new
firmware, including the loading of the basic parameters for
SMO.
Observe the following aspects when performing a firmware re‐

lease downgrade from a firmware release MPx20V12 or higher
and using the safety technology options Sx (S3, S4, S5, SB, SD):
After the release downgrade, the initial commissioning of Safe
Motion always has to be carried out (including the loading of the
default values of the SMO parameters). This is necessary be‐
cause the size of the Safe Motion image was increased for
MPx20V12, and it cannot be read by older firmware releases. It is
therefore recommended to save the backup parameters of the
drive before carrying out the firmware release downgrade.
If Safe Motion had been commissioned with a firmware release
smaller than MPx20V12 and the parameter setting was not
changed during its use with a firmware release MPx20V12 or
higher, the Safe Motion image was not changed and it is not nec‐
essary to carry out the initial commissioning after the downgrade.
3.4.2 Firmware release downgrade with a computer

To carry out the firmware release downgrade, please refer to the description
of the firmware release update. (chapter 3.2.2 "Firmware release update with
a computer" on page 23)
3.5 Firmware version downgrade

When firmware in a drive controller is replaced by firmware of an older ver‐
sion, this is called firmware version downgrade (e.g.,
FWA‑INDRV*‑MPB‑20V06‑D5 replaced by FWA‑INDRV*‑MPB‑18V10‑D5).
Before the firmware version downgrade is carried out, all parame‐

ters have to be saved (e.g., with "IndraWorks"). After the firmware
has been replaced, the command "C07_1 Load defaults proce‐
dure command (factory settings)" is automatically executed. To
bring the drive controller to the ready-for-operation state again,
the parameter values have to be restored by loading the parame‐
ter file saved before.

3.5.2 Saving parameter values

Before the firmware version downgrade, all application-specific parameter
values have to be saved on a data carrier. The parameter backup can be car‐
ried out via:
● "IndraWorks" commissioning software
- or -
- or -
● Control master
→ Saving parameter values on master-side data carrier
3.5.3 Firmware version downgrade with "IndraWorks"

Requirements The following requirements should have been fulfilled in order that carrying
out the firmware version downgrade with "IndraWorks" makes sense:
● Existing Ethernet connection between PC and drive controller
● The current parameterization of the axis was saved.
Firmware version downgrade with Carrying out the firmware version downgrade with "IndraWorks" requires the
"IndraWorks" following steps:
1. Load firmware
1.2 Load project for the corresponding axis or create new project. To
do this, address axis via Ethernet.
1.4 Select/highlight controller and call "Firmware management" in
context menu.
A new window opens and firmware currently available in drive is
displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the dialog
and start firmware download via "Download" button.
Firmware download runs automatically and all required firmware
components are loaded to drive.
1.6 After firmware download has been completed, close "Firmware
management" window.
1.7 Reboot drive controller

For axes with active Safe Motion, the axis after the booting proc‐
ess detects an incompatible SMO parameter image and gener‐
ates the error "F8324 SMO: Error in activation". The incompatible
SMO parameter image can be deleted with the command "C0720
SMO: Load defaults procedure command" or within the scope of
the "C0750 Load defaults procedure command (factory settings)".
Afterwards, the Safe Motion has to be recommissioned.
Unless the command "C0720 SMO: Load defaults procedure
command" or "C0750 Load defaults procedure command (factory
settings)" has been started, the SMO parameter image is still
completely available. If the axis is downgraded to the original firm‐
ware version, the axis can be operated without recommissioning
the Safe Motion.
2. Put drive into ready-for-operation state

⇒ Switch project "online".
After project has been switched "online", a message sometimes signals
that "IndraWorks" could not establish communication to drive via
Ethernet interface, as drive-internal settings for Ethernet communication
were reset.
⇒ In this case, reconfigure communication via "Search for devices" but‐
ton!
⇒ As firmware in drive no longer complies with version stored in project,
a corresponding message is displayed. Select desired option in dialog to
make drive available in project again and allow reestablishing communi‐
cation to device.
⇒ Manually set functional package and master communication protocol
via corresponding parameters.
⇒ Activate command "C0750 Load defaults procedure command (facto‐
ry settings)". All buffered parameters are thereby set to their default val‐
ues.
3. Load parameter values
⇒ Load parameter file which was saved.
⇒ Switch off drive and restart it so that the parameterization becomes
active.
4. Put machine into ready-for-operation state
⇒ Put machine into ready-for-operation state again according to ma‐
chine manufacturer's instructions.
⇒ Check functions of drive.
3.6 Possible problems during firmware replacement

General information After an incomplete firmware update, the drive controller possibly is no longer
operable.
Firmware replacement is carried out incompletely, if one of the following sit‐
uations occurs during the sequence of firmware replacement:
● 24 V supply of control section is switched off
● Connection to drive is interrupted (e.g., defective interface cable)
● Update software / computer crashes

If there is no valid firmware available in the control section, the loader is star‐
ted. The text "LOADER active! IP address:" followed by the active IP address
are displayed. With the loader, it is possible to replace the firmware of the
control section.
The loader attempts to reset the last IP. If this is not possible, a default IP
configuration is used. (IP address: 192.168.0.1, network mask
255.255.255.0)
If the last IP cannot be determined at devices without display, the hardware
address switch is also included for generation of the default IP configuration.
(IP address: 192.168.0.<hardware switch>, network mask 255.255.255.0)
The IP configuration used in the loader is displayed at the device or can be
determined from S/IP communication via the "Browse" UDP service.
Upon successful firmware replacement in the control section, a

restart has to be carried out.
Firmware replacement in control The following steps are required for loading the firmware to the control sec‐
section in the case of error tion in the case of error:
1. Call "IndraWorks".
2. In menu, call firmware management under Tools Drive ▶ Firmware
management.
A new window opens in which firmware file last used is displayed on
PC.
3. Select the "Download via Ethernet" tab.

4. Set IP address "192.168.0.1".
5. Highlight desired firmware (*.ibf file) and start firmware download via
Download button.
6. Firmware download runs automatically and all required firmware compo‐
nents are loaded to drive.
7. After firmware download has been completed, close "Firmware manage‐
ment" window.
8. Restart drive.

Firmware release FWA-INDRV*-MPB-20V30-D5
4 Firmware release FWA-INDRV*-MPB-20V30-D5

4.1 Resolved defects
4.1.1 000_General Firmware Platform
Motor motion during Drive on delay time
CQ-ID: Defdb00209431
Severity: K3 - malfunction (no workaround)
Description: When the drive had been parameterized (A4007, RF_Check), a cyclically
specified velocity command value (P-0-0690) became active and resulted in
motion.
4.1.2 200_PLC Basic System

PLC error F6010 if retain data only defined in FB instances
Severity: K4 - malfunction
Description: If retain variables in a PLC project had only been defined within FB instances
and not in global variable lists, F6010 occurred after the restart. The project
did not start.
In this case, P-0-1365 showed "*MLD-ERROR* Retain data mismatch - Re‐
boot or Reset cold necessary".
The diagnostic memory contained the diagnostics "0x00370013 LDC_: Re‐
tain memory error" before F6010. P-0-1359 in this case was valid.
4.1.3 425_Motor Control

F8064 Interruption of motor phase is inadequately displayed in the case of error
Description: The error F8064 Interruption of motor phase was not signaled if an error had
been present.
Fixing: If the motor phase has been interrupted or if the motor has not been connec‐
ted to the controller, the message F8064 Interruption of motor phase is output
in V/Hz (U/f). The monitoring function can be deactivated in the parameter
P-0-0045.
4.1.4 440_Commutation
Incorrect commutation angle with linear motor
Description: Negative values in P-0-0523 caused an incorrect commutation angle.
4.1.5 515_Operating modes single axis

Command value jump when velocity control mode is activated

Description: When velocity control had been activated below the standstill window
(S-0-0124), the command value adjustment input value and the controller
command value (P-0-0048) were set to 0.
This caused a jump in the command value, the acceleration limitation
(S-0-0138) in the command value adjustment became ineffective.
Fixing: Below standstill (S-0-0124), only the input value of command value adjust‐
ment (P-0-0563) is set to 0.
The controller command value (P-0-0048) is set to the active actual position
value.
Thus, the ramp of acceleration limitation (S-0-0138) can still take effect.
This prevents an excessive command value from taking effect in P-0-0048.
4.1.6 530_Error reactions

Error reaction uses command value and not actual value
Severity: K2 - serious malfunction
Description: When the error reaction with ramp and filter had been activated, the V-com‐
mand value (P-0-0048) was set to the actual V-value for one cycle, then the
old value became active again. This caused a jump in velocity.
Prerequisite: The torque is limited (S-0-0092), the axis builds up a following
distance and F2028 is generated.
The limitation of the acceleration (S-0-0138) is active.
Fixing: Presetting all V-command values. P-0-0048 uses V-actual.
4.1.7 560_Probe function

F2037 Excessive position command difference in the case of probe with drive quick stop
Description: During quick stop with probe detection, the position command value of con‐
troller (P-0-0434) was not adjusted to the actual position value. If the actual
position value had drifted away too far from the position command value,
F2037 occurred in the case of "quick stop switch-off".
The control (cycl. position control) used the actual position value for its com‐
mand value and, where applicable, generated a command value jump.
Fixing: In the case of quick stop with probe detection, the monitoring function F2037
is switched off.
4.1.8 600_Device and Parameteradministration general

S-0-0192 does not contain enough elements when backed up via 16-bit interface
Description: When S-0-0192 had been read via EtherCAT SoE (16-bit interface), the pa‐
rameter list did not contain enough parameters.
4.1.9 620_Parameter Handling

Average value filter for display, error

Description: The average value for display had been deactivated for certain parameters
(e.g.: S-0-0040, S-0-0535) after phase switch or reboot.
4.1.10 622_Scaling
Scaling of velocity changes after restart
Description: When the scaling had been switched, the exponent was internally written.
The data of the parameter was not saved. After a restart, the exponent had
the old value and the scaling was wrong.
Fixing: The exponent data is only overwrittten with preferred scaling when the scal‐
ing type is written.
4.1.11 688_Service functions

Replacing the control panel: Display shows C0214 after "Load new Safety" was carried out
Description: After the control panel had been replaced, the display showed "Load new
Safety?". When this had been confirmed (Enter key), the command error
C0214 occurred. This erratic behavior occurred if "target run-up OM" had
been configured.
4.1.12 750_EtherCAT
EtherCAT CoE: E4072 Mac address invalid with Beckhoff control
Description: If multiple E4072 warnings had occurred in rapid succession in the drive, this
could cause the diagnostic memory to be flooded.
4.1.13 805_Power Supply general

HCSW54 F2816 when operated at energy buffer
Description: With the "Converter at energy buffer" setting the error F2816 occurred
in the case of mains failure
when the DC bus voltage had fallen below the value of P-0-0114 and
the mains voltage returned afterwards.
The soft start carried out once the mains voltage has returned was aborted
with the error F2816.
4.1.14 810_Power Supply Components and additional devices

Softstart fault F2816 with HCS1.1W54

Description: In conjunction with very high additional capacitances, the charging error
F2816 occurred with HCS1.1-W54.
4.2 Functional enhancements

Missing display parameter for output of position command value generator
Severity: K6 - functional enhancement
Description: It had been impossible to output the unfiltered position command value of the
position modes (before anti-vibration filter, average value filter).
The position command value of controller (P-0-0434) was too much delayed
by the filters.
Enhancement: An unfiltered position command value (P-0-0645) is output.
It is only valid for active operation mode:
Drive-controlled positioning
Drive-internal interpolation
Positioning block mode
Cyclic position control


Infinite loop of DriveInit task
Description: An error may occur if automatic progression to OM has been parameterized
in P-0-4088 and the parameter S-0-0422 is simultaneously written at switch-
on, e.g. from MLD. With Ethernet IP, communication is not established, and
with other types of master communication the FW update is not possible, for
example.
Workaround: Do not set automatic run-up if MLD performs the switching procedures itself.
5.1.2 410_Motor Handling

Wrong module code and thereby motor serial number in motor encoder memory
Description: The encoder memory of an MS2N motor of the "A" and "B" encoder type (Hi‐
perface) contains two type plates for the motor data. The parameter
P-0-3000, Module code of motor is the ID for the version 4 type plate. It had
been possible to overwrite the ID of these motors (e.g., by loading a parame‐
ter file). This did not have any effect on operation at MPx-20VRS.
Fixing: The parameter P-0-3000 is no longer written to the encoder memory.
5.1.3 412_Drive Mechanics

Max value velocity miscalculated in Sytronix functional package and complex actor.
Description: For a Sytronix axis, the min/max values of the velocity parameters were cal‐
culated from the maximum velocity of the motor (S-0-0113). However, the
motor is assigned to the pump, not to the axis.
For this reason, the calculated maximum velocity is wrong.
5.1.4 415_Measuring systems

Axis does not switch to OM if a 2nd encoder has been parameterized as a position control
encoder
Description: If the overflow limit of the position used for commutation was exactly 2 to the
power of 32, it had been impossible to switch the axis to the operating mode.
The drive hung up in the transition.
C220 at MCL with analog Hall sensor / lower signal monitoring threshold too high

Description: In the case of MCL motors with magnetic data in the lower allowed magnetic
force range, the error C0220 was sometimes generated during phase pro‐
gression, depending on the position.
Fixing: The lower monitoring threshold was reduced from 0.7Vpp to 0.5Vpp.
Error F2174 if encoder replaced, although S-0-0277, bit 13 set to 1
Description: It had been impossible to switch off the encoder replacement monitoring
function. Thus, the error F217x Loss of encoder x reference was generated in
the case of encoder replacement, even if the monitoring function had been
switched off.
Impossible to switch MS2N with Acuro-Link encoder to operating mode
Description: In the functional package SYTRONIX, it was impossible to switch an MS2N
motor with Acuro-Link encoder to the operating mode if a complex actuator
had been configured.
The parameter P-0-0513, Temperature sensor characteristic was signaled to
be faulty.

FXC: Stall bit when SM spindle motor stalling
Description: The internal e.m.f. had not always been estimated correctly in the motor mod‐
el. Thus, the stalling criterion was not met.
Overcurrent when operating asynchronous motors
Description: In the case of asynchronous motors, the preset command current had some‐
times been too high. The command current had sometimes been higher than
the motor peak current and thus caused the message E8028 Overcurrent in
power section.
5.1.6 435_Axis control

C600 takes a long time > 200ms
Description: Due to the Safe homing procedure (C4000), a delay time of 200 ms was im‐
plemented for the homing procedure command (S-0-0148).
The delay time had also taken effect for axes without safety technology and
delayed the command by up to 200 ms. Thus, the cyclic position control
mode had become active too late and it was impossible to apply the control
command value S-0-0047 (F2037).
Fixing: The delay time only takes effect for axes with active safety technology and
active Safe homing procedure command. Otherwise, the system is switched

back to cyclic position control without any delay time after the reference has
been detected.
5.1.7 510_Operating modes

Drive sporadically moves in wrong direction or by one modulo range too far
Description: Drive-controlled positioning mode, positioning block mode:
A sporadic malfunction occurred in the case of a modulo axis with immediate
acceptance, running axis and actual position used for position control.
Due to a modulo correction, the axis moved in the wrong direction or by one
modulo range too far in the correct direction.
Switching from position to velocity control uses command value instead of actual value
Description: The acceleration limitation in the V-controller had been activated for an axis.
S-0-0138 was set to a value slightly higher than the command acceleration.
The axis had been blocked by positive stop, the V-command value
(P-0-0048) thus was at the maximum value.
After switching the operation mode to position control, velocity control, Drive
Halt, the V-command value was not set to 0, but reduced via the maximum
acceleration. This caused a travel motion!
Fixing: In the new operation mode, the V-controller uses the actual velocity.
5.1.8 525_Drive halt

IndraDrive: Sensorless control FXC - motor does not stop with Drive Halt
Description: In the case of an application of sensorless control FXC, the motor did not
stop with Drive Halt, although the corresponding command had been set via
the PLC. The error only occurred sporadically.

Drive-controlled transition to SMES with ramp and filter without function
Description: In case of a Sytronix axis, SMES triggered the emergency stop with ramp
and filter error reaction. However, the ramp (S-0-0429) did not become ac‐
tive.
The velocity of the emergency stop mode incorrectly used in the event of the
velocity of the motor encoder instead of the velocity of the axis.
Fixing: In case of a Sytronix axis, the velocity of the axis (encoder 1 or encoder 2) is
applied in the event of an error reaction. The velocity of V-controller refers to
the motor encoder (pump).
Caution: The active encoder is selected via the control word of the axis con‐
troller (S-0-0520, bit 0).

5.1.10 600_Device and Parameteradministration general

Classes missing in S-0-1601
Severity: K5 - non critical problem
Description: New classes had been defined in FSP Drive. They were not displayed in
S-0-1601.
Fixing: The new classes "Drive Basic Class" and "Drive Basic Class with identifica‐
tion" are displayed in S-0-1601. With active closed-loop functional package
additionally the class "Positioning interpolation with absolute position com‐
mand values".

Invalid retain data (P-0-1359)
Description: Sporadically, invalid retain data occurred (e.g.: P-0-1359). After switching the
system on, the error messages F2100, F2160 or F2161 were sporadically re‐
ported in this context.

C6500 generates ibf files independent of AGP status of the firmware
Description: In the backup it was impossible to recognize whether a FW had an export re‐
striction.
Fixing: "_FD" is added in the FW name of FW with unrestricted export.
5.1.13 710_Master communication basic

NC cannot control axis anymore after easy startup mode has been exited
Description: If the easy startup mode had been activated and deactivated via a digital in‐
put, the axis sometimes could not be controlled anymore by the NC via the
master control word.
The problem occurred when the activation and deactivation had taken place
in very quick succession, i.e. within a few milliseconds.
5.1.14 750_EtherCAT
Incorrect length of cyclic data with 1:1 timing
Description: With the configuration bus clock = position controller clock (e.g., for Ether‐
CAT CoE), the cyclic length was not correctly limited to half the maximum
length. Thus, only one byte less could be configured.


Softstart fault with HCS W54
Description: For HCS1- W54 the mains voltage measurement is strongly filtered so that
when the mains is switched on with the DC bus partly charged, the DC bus
voltage reaches the final value faster than the mains voltage measurement
the real peak value.
This activated the monitoring function that is to detect the DC bus voltage fall‐
ing during the charging process.
Fixing: The filtering of the mains voltage measurement is taken into account for the
monitoring functions.



C0270 warning was sporadically signaled when initializing an MS2N motor (AD37S) for
MPE20V18
Description: The drive could sporadically not be switched to OM with MS2N motors (with
Acuro encoder). Switching error C0270 was signaled.
E8260 warning occurs during homing in the case of positive stop drive procedure
Description: When homing to positive stop, a positive stop has been detected. As a result,
the torque/force limitation (S-0-0530) has been disabled and the controller
monitoring functions have been reactivated. Controller monitoring was active
when approaching the reference point.
If the limit value S-0-0092 was used to limit the torque/force, the warning
E8260 was reported when the reference point had been approached and was
only canceled by deleting the command.
Fixing: After the positive stop has been detected, only the limit is canceled by
S-0-0530. Controller monitoring remained disabled until the homing com‐
mand is completed.
Incorrect detection of the warning “E2048 Battery undervoltage (encoder)”
Description: When using motors of type MSM (Panasonic encoder), battery undervoltage
has been incorrectly identified when initializing the position.
The readout of stored parameters in the encoder fails / or encoder cannot be written
Description: In case of third-party motors, the motor type plate could not be evaluated.
Workaround: Set bit 10 for "Motor encoder data memory available" in parameter P-0-4014
Type of construction of motor.
C06 with absolute encoder does not work properly, P-0-0177 data is invalid
Description: If an active absolute encoder was homed, the message “Command termina‐
ted (change bit)” was signaled before the absolute encoder offset (P-0-0177)
was stored. If the command has not been immediately terminated after the
change bit was set, the absolute encoder offset could not be saved. The off‐
set remained invalid!

Fixing: When homing an active absolute encoder, “Command termiated” (command

change bit output) was only signaled if the absolute encoder offset
(P-0-0177) was stored.
Distance monitoring home switch/reference mark in case of linear TTL encoder with cyclic
reference marks
Description: "P-0-0153, Optimum distance home switch-reference mark" is used to moni‐
tor the maximum travel path (C0606) of a linear encoder with cyclic marks.
This value indicates half the marker distance. The maximum travel path
amounts to more than half the marker distance if the switch is used accord‐
ingly. This results in C0606. The reference could not be determined.
Fixing: The maximum travel path is set to 2 * S-0-0153 + 10 %.
6.1.2 418_Establishing the position reference

If F217x is reported, a reference is signaled after switching between OM-PM-OM
Description: A reference loss is signaled in F217x when first switching from PM to OM, if
the reference of an encoder that has been evaluated as absolute was deleted
due to a reversal of the sense of motion (S-0-0601.x.1). However, if PM is
switched again to OM, a reference was signaled again although the position
was incorrect.
Zero pulse output with motor encoder-related emulation incorrect in case of absolute encoder
systems
Description: It is not only differentiated between relative and absolute encoder systems
but the handling of the relative encoder systems was also applied to absolute
encoder systems.
In case of relative encoder systems, the zero pulse output is only started after
the first reference mark has been passed. Consequently, the first reference
mark is discarded.
In absolute encoder systems, the virtual reference marks are already output
from the first identified mark.

Problems with temperature sensor evaluation of SNM 110-EK (ML3 motors)
Description: The characteristic curve of the temperature sensor is inaccurate in low room
temperature range.
Fixing: By changing the resistance values of the stored characteristic curve for low
temperatures and setting the error threshold to approx. -40°C for this sensor,
an incorrect triggering of sensor monitoring is avoided.
Incorrect maximum torque value for MS2N motors

Description: For MS2N motors, "Torque/force constant correction" has been switched on
by default. The calculation of the maximum torque value percentage did not
take into account the reduction of the torque constant due to saturation and
temperature influences. Thus, an unreachable high value was displayed.
Fixing: The calculation of the maximum torque value percentage is based on the
maximum torque and the continuous torque at standstill (nominal torque).
6.1.4 560_Probe function

Error F2028 is signaled due to a jump in P-0-0098 after acknowledgement quick stop with
probe detection
Description: A modulo axis is stopped in the operation mode cyclic position control using
quick stop with probe detection.
E8 with reaction ->(V-command value reset)
The position controller is opened but the generator function remains active.
The position command value may still be traversed but the actual position
value does not change.
If more than one module range has been traversed, the overflow information
was lost in the display of the position command value.
Although the position command value and the actual position value were
identical in the display, error F2028 occurred as the position controller values
did not match.
Fixing: When the quick stop with probe detection is disabled, the position command
value system is applied to the actual position value.
6.1.5 580_Encoder emulation

Warning E2035 indicates that the encoder emulation frequency is too high
Description: For encoders with an ENCB resolution of 32 bits or more, the ENCB position
is limited to 32 bits (overflow threshold of 0 in S-0-0601.x.10). This overflow
threshold has not been calculated correctly in the case of incremental encod‐
er emulation with reference to encoder 1, so that an unprocessed overflow
occurred at ENCB position 2^31. This led to warning E2035 (or F2053 if not
reconfigured as a warning).

Check sum changed due to parameter deduction
Description: If S-0-0327 contained an instance parameter (IDN*.130), the checksum dis‐
played in parameter S-0-0326 changed after a parameter deduction has
been realized.
Fixing: The defect has been resolved, the checksum remains constant as long as the
selected parameters remain constant.

Default value loading "without device parameters" and "without SMO parameters" did not
work
Description: When loading the default values, the options "without SMO parameters" and
"without device parameters" could not be activated simultaneously.
6.1.7 640_Diagnostic System

Oscilloscope: Manual trigger does not work as expected
Description: In the case of a multi-device measurement, it could sporadically occur that
the trigger signal of the triggering axis on the coupled axis had not been re‐
set, if the measurement was aborted. Upon a restart, the coupled axis trig‐
gered incorrectly.
6.1.8 660_Ethernet engineering

FW update via loader not possible with PROFIBUS and CoC
Description: If the firmware update has been aborted and the loader has been activated, a
firmware update is no longer possible if PROFIBUS master communication is
active. The cause for the update problem has been the missing IP communi‐
cation due to incorrectly saved IP configuration.

Invalid parameters when switching from master communication to EtherCAT COE
Description: When switching the master communication (e.g. from Sercos) to EtherCat
COE, parameters are invalid after reboot. This resulted in the command error
"C0201 parameter set incomplete =>S-423" when switching to OM.

After phase progression, error F2087 is signaled
Description:
The boot times can vary significantly in the axis group. In the case of open-
loop axes the devices boot very fast. With the automatic switching of the axis
to OM the error detection is “triggered" very fast. Consequently, the axis re‐
ported F2087 when devices that boot very slow were part of the axis group.
Fixing: The signal "Module bus ok" is output as soon as possible so that the different
boot times are no longer relevant.

6.1.11 999_Other
F9005 occurs when disconnecting the Ethernet connector while sending data with TCP-IP
from a PLC project.
Description: If TCP IP data is sent via a PLC project and the connector is disconnected,
error F9005 could sporadically occur.
Using the asynchronous FB IL_TCPSendAsync or SysSocket with according‐
ly "non blocking" socket settings is a boundary condition.
Workaround: Use one of the three different options: synchronous FB IL_TCPSend func‐
tions, synchronous SysSocket functions or asynchronous SysSocket func‐
tions and subsequently close and reopen socket in case an error occurs.

MSC motors with Tamagawa encoder are supported
Description: MSC motors with Tamagawa encoder are supported (ENID 0x17)
Enhancement: The Tamagawa encoder with a transmission rate of 5MBaud and a resolution
of 23bit/rev is supported both with and without battery. The autom. detection
of the encoder is not supported. The encoder can be activated via encoder
type "111".

Incompatible behavior with 2nd encoder in versions MPx-18VRS and MPx-20VRS
Description: The position feedback values S-0-0051 & S-0-0053 are always synchronized
during the initialization. This behavior was incompatible with the initialization
function in MPx-18VRS.
Enhancement: For absolute encoder systems that are not homed, it is now possible to acti‐
vate the initialization mode compatible with MPx18VRS via bit 15 of the
P-0-0185 function encoder 2 so that in this constellation, the actual position
values are not synchronized.



7.1.1 160_Safe Motion Encoder Evaluation
SMO: Incorrect velocity feedback value with modulo scaling
Description: In the case of axes with active SafeMotion and modulo scaling of SMO, the
velocity feedback value (P-0-3258) jumped at a certain velocity (depending
on the parameterized modulo value). Above this velocity, SMO then worked
with a velocity feedback value that was too small. Parameterized velocity
thresholds (e.g., "Safe maximum speed") then no longer took effect. When
the axis had fallen below this point in velocity again, the velocity feedback
value acquisition worked correctly. With a modulo value of 360 degrees, for
example, this point in velocity is 30000 rpm.
Fixing: The scaling-dependent maximum velocity is cyclically monitored. If the veloci‐
ty feedback value exceeds the calculated threshold, the error message
"F7059 Scaling-dependent maximum velocity exceeded" is generated.
The monitoring function is always active in the operating mode and cannot be
deactivated.
"C8215 SMO: Incorrect encoder/scaling configuration" in the case of serial commissioning
with ACUROlink encoder
Description: Serial commissioning of axes with ACUROlink encoder is aborted with the
transition command error "C8215 SMO: Incorrect encoder/scaling configura‐
tion" and the axis remains in SCM.
Fixing: The defect has been resolved.
"F8324 SMO: Error in activation" in the case of parking axis with ACUROlink encoder
Description: If the drive had been switched from SCM to SPM without the ACUROlink en‐
coder having been plugged, this caused the error F8324/C0215.
Fixing: The error is no longer generated.
F8359 SMO: Encoder evaluation error with ACURO(R)link encoder
Description: In the case of telegram failures, the error F8359 occurred sometimes (notably
with single-cable connection).
Fixing: The tolerance against telegram failures was increased. This increases the re‐
action to encoder failures by one millisecond.
The error detection time with ACURO(R)link encoders now is two millisec‐
onds.


Master comm. motion task occasionally called in 1 ms clock during switching process of mas‐
ter comm. state machine
Description: While the master communication state machine had been switched to the
"Operational" state, a task in synchronism with master communication was
occasionally called or restarted in the 1 ms clock. During this time, other low-
priority tasks were suppressed. This sometimes caused the watchdog moni‐
toring of the low-priority task to trigger.
PLC tasks are not suspended if suspension occurs at the wrong time
Description: If a PLC task had been started at the end of the PLC time slice, but the PLC
code had not been called before the time slice ended, the task was not sus‐
pended and kept running in the communication time slice.

Brake test: Problems when determining the holding torque (P-0-0554)
Description: To determine the actual holding torque, a command torque greater than the
brake can hold is put to the applied brake. As soon as the brake had no been
able to hold anymore, the command torque was determined and entered in
"P-0-0554, Current torque value of the motor holding brake".
Fixing: The command torque is no longer used, but the maximum of the actual tor‐
que that the brake had been able to hold or that could be recorded when the
error distance had been traveled.
Stall detection does not work in FXC operation
Description: The stalling state of the motor was not displayed in the parameter P-0-0046,
bit 13.

Cyclic marker evaluation function does not work with multi-axis devices
Description: The cyclic marker evaluation function did not work with multi-axis devices.
No markers were detected.
Different behavior of safety technology state machine with resolver
Description: With SafeMotion available, the resolver adjustment was not carried out during
boot-up and when the "parking axis" function had been exited. This caused

the following behavior: With a resolver encoder and in the case of error, ac‐
tual values were displayed like in the case of success in P-0-3257 (SMO: Po‐
sition feedback value) and P-0-3258 (SMO: Velocity feedback value) after the
booting process or after the "parking axis" command had been exited. An en‐
coder error was displayed in P-0-3256, bit 13 (SMO: Encoder evaluation sta‐
tus) (detailed diagnostics: Amplitude monitoring and phase monitoring error).
Fixing: With SafeMotion available, the resolver adjustment is also called during boot-
up or when the "parking axis" function had been exited.
E2010 after complete machine start-up at an EtherCAT axis
Description: If the target operating mode "Automatic run-up to OM" had been activated
with EtherCAT, the warning "E2010 Position control with encoder 2 not possi‐
ble" was sometimes signaled during drive run-up.
Endat2.2: Velocity-dependent position offset between S-0-0051 and S-0-0053
Description: If an Endat2.2 encoder had been evaluated as encoder 2 or measuring en‐
coder, the cyclic encoder position detection occurred by one velocity control‐
ler clock too early. Thus, the encoder 2 or measuring encoder displayed the
wrong position (error = distance per velocity controller clock). If the encoder 2
or measuring encoder had been generated at the same encoder interface as
encoder 1, the error did not occur.
F2105 after C02xx transition command error in the case of encoders with encoder data mem‐
ory
Description: In the case of encoders with encoder data memory, it was sometimes impos‐
sible to read or write the OEM data correctly when the drive had been switch‐
ed from OM to PM, or after a transition command error had occurred. The
error F2105 was generated.
Unjustified E2084 "Reference mark not detected (cogging reference)" cannot be cleared
Description: In the case of an axis without cogging torque compensation (no "servo func‐
tion" or "synchronization" functional package), the function for determining
the cogging reference (relative encoder) had been activated by mistake.
Thus, the warning E2084 was output.
Fixing: The function for determining the cogging reference is only activated with the
"servo function" and "synchronization" functional packages.
Note:
If cogging torque compensation is not used, it is possible to switch to the limi‐
ted position range (P-0-1131, bit 1) in order to switch off the function for de‐
termining the cogging reference.


Position limit value monitoring does not take effect for homing WITHOUT mark and switch
Description: If the homing procedure had been carried out with mark evaluation deactiva‐
ted and home switch deactivated in the case of a measuring system evalu‐
ated in incremental form, position limit value monitoring was switched off af‐
terwards. No messages were generated when the limit values had been ex‐
ceeded.
Incorrect actual position during fast homing procedure
Description: In MPx20V22, the home switch was evaluated in the NC clock.
The evaluation of the switch sometimes jittered by one NC clock.
With a high homing velocity (60 m/min), this caused a position offset that was
too big.
Workaround: Set NC clock equal to position clock, if possible.

Drive switched off erroneously with F8079 in the case of firmware not requiring export licen‐
ses
Description: The drive was sometimes switched off with the error F8079 at a stator fre‐
quency of 590 Hz instead of at 599 Hz.
Incorrect bit display in P-0-0445
Description: Bits in P-0-0445 were incorrectly displayed in regeneration.

Axis does not comply with target position
Description: "Drive-controlled positioning" mode:
In the case of block change, deceleration and jerk and thus the filter order of
the average value filter were changed. However, it had not been possible to
apply the change to the filter, because the braking distance of the axis was
too big (braking distance > residual path).
The active filter order (P-0-0042) remained the same, but nevertheless the fil‐
ter was re-initialized by mistake. The filter had been re-initialized in every fur‐
ther cycle until it was possible to apply the new filter order.
Due to this behavior, the axis sometimes did not comply with target position
and in individual cases moved beyond the software limit switch.
Workaround: 1. Change setting to fixed filter order with P-0-0641 > 0

2. Keep the same filter order in the case of block change in motion.
C0258 in the case of NC cycle time of 24 ms and linear fine interpolation (cycl. position con‐
trol)
Description: With an MPB20 firmware, an attempt was made to set the NC cycle time to
24 ms. With a cycle time of 500 µs, however, only a maximum NC cycle time
of 16 ms was allowed.
The position modes with internal interpolation use the cubic fine interpolator.
Thus, the NC cycle time is always restricted to selected division factors.
Division factors:
1..8 in steps of 1
10..16 in steps of 2
20..32 in steps of 4
Fixing: The division factor 48 was implemented (MPB, MPC, MPM only).

IndraDrive device signaled inadmissible service channel error code
Description: If a parameter that has to be read by SafeMotion (e.g., P-0-3253.0.1) had
been requested via Sercos at a device without optional safety module, the
"Open IDN" step was acknowledged without error. Only when reading the da‐
ta did the drive react with the error message "IDN not there (0x1001)".
The error number 0x1001 is not allowed for "Read data".
Fixing: For the affected parameters, the "Open IDN" step is already acknowledged
with the correct error message "IDN not there (0x1001)".
Maximum length =0 displayed when reading instance parameters (e.g., S-0-0601.1.130/
P-0-2572) via PROFINET/PROFIBUS
Description: When instance parameters had been read, their maximum length returned
was always 0. A control that checks, before writing the parameter, whether
the maximum length is not exceeded then runs into an error or does not write
the parameter.
Commands: Error when implementing elements 5 and 6 (minimum and maximum value)
Description: When the maximum value of a command parameter had been read, "0" or "3"
was returned. When the minimum value of a command parameter had been
read, "0" or the Sercos error message 0x5001 (min. value does not exist)
was returned.

Fixing: When the minimum or the maximum value of a command parameter is read,
the Sercos error message 0x5001 (min. value does not exist) or 0x6001 (max
value does not exist) is generated.
7.1.10 650_Statemachine Subdevice

Subsequent PM switching is prevented with C0401 in the case of bus failure (F4009)
Description: In the case of bus failure (F4009), the subsequent PM switching was preven‐
ted with C0401. This affected the coupled mode, i.e. the communication state
machine coupled to the sub-device state machine.

PLL type can be switched with Sercos III
Description: With Sercos III, the drive sets soft-synchronous PLL control and displays this
in P-0-4089.0.5. It had not been possible to switch to hard-synchronous PLL
control.
Fixing: The type of PLL control can now be switched to hard-synchronous PLL con‐
trol with Sercos III.
The type of PLL cannot be changed with all non-Sercos master communica‐
tions.
7.1.12 750_EtherCAT
EtherCAT: Diagnostics missing if SM not activated but SYNC activated
Description: In case the "Sync Out Unit" (Sync signals from the distributed clocks) had
been inconsistently configured in the EtherCAT Slave Controller, no warning
was generated in the drive.
Fixing: Warning E4075, in the case of inconsistent configuration.

Noise reduction by smoothing the actual current value
Description: Depending on the motor and surroundings design, controller and PWM fre‐
quencies that were set with the corresponding current control loop gains,
more or less heavy noises developed by compensating disturbances in the
actual current value.
Enhancement: A noise reduction filter is now available for the actual current values. The filter
becomes active by setting P-0-3945, bit 2. The filter time can be set in
"P-0-0082, Actual current value filter time". Note: Activating the filter has an
effect on the current control loop. It might be necessary to adjust the current

controller parameters S-0-0106 and, if required, S-0-0107. A filter time of 0

already has an effect, both on the noise and on the entire control loop. Rec‐
ommendation: Set the smallest possible filter time. Typical values are approx‐
imately the current controller cycle time.



Sensorless deceleration is possible again
Description: In MPx-20V22, sensorless deceleration had been removed. This change was
incompatible.
Fixing: Sensorless deceleration can be configured again. The basic conditions for
when sensorless deceleration can be used are described in the user docu‐
mentation.



9.1.1 240_PLC Parameter channel
RIL_SercosIII: Done output (Fb IL_SIIISvcWrite) is not set when deleting 1-byte list parame‐
ters
Description: If the IL_SIIISvcWrite function block is to be used to delete a 1-byte list (list
parameter is to contain 0 elements after having been written), the list had
been deleted but the Done output of the function block was not set.
Exception: The error did not occur with text parameters (ASCII format).
Workaround: Workaround for axis parameters: Use the MB_WriteListParameter function
block

Acceleration feedback value encoder 2 (S-0-0195) always has the value 0
Description: The acceleration feedback value encoder 2 parameter (S-0-0195) did not dis‐
play the current value.
C0209 after switching on MS2N motor with Acuro encoder
Description: If an MS2N motor had been operated with a "type C" Acuro encoder, the
error C0209 was sometimes generated during run-up. It was only possible to
resolve the error by activating the "parking axis" or by rebooting.
F2105 when switching to OM with HIPERFACE encoder
Description: When a HIPERFACE encoder had been switched from PM to OM, the error
F2105 occurred sporadically if "parking axis" had been active before.
Homing procedure not executable multiple times
Description: In the search for the reference mark (cogging torque compensation, commu‐
tation, incr. emulation), the feedback was not monitored for errors. The func‐
tion was not aborted if an error without a mark had been signaled. The mark‐
er search in the encoder remained active. Therefore, the subsequent homing
procedure sometimes did not work, neither in the case of restart.
Fixing: In the case of the functions starting the marker search, the status is always
monitored for errors.
In the case of error, the marker search is terminated and a warning is output

Cogging torque comp.: E2084

Commutation: E2184
Incr. emulation: E2284
Long switching times for resolver after parking axis and PM-OM
Description: The resolver switching time was too long after leaving the "parking axis" com‐
mand, since a adjustment function had been executed that is executed any‐
way during PM-OM phase switch.
The PM-OM phase switch also took too long with a resolver, since the calcu‐
lated delay time after the initialization was too long.

F2032 Validation error during commutation fine adjustment
Description: If the commutation offset fine adjustment function is used without using refer‐
ence marks for homing, the error "F2032 Validation error during commutation
fine adjustment" occurred sometimes.

Drive-controlled homing procedure, selecting position control
Description: It had been impossible to activate hybrid position control for the drive-control‐
led homing function. Hybrid position control had been limited to the operation
modes with control word of axis controller (S-0-0520).
The parameter S-0-0520 had no effect during the homing procedure.
Fixing: For the drive-controlled homing procedure, the control word of axis controller
(S-0-0520, bit 1) is evaluated and, if necessary, hybrid position control is acti‐
vated if the encoder 2 has been selected in the homing parameter (S-0-0147)
and in the control word of axis controller (S-0-0520, bit 0). This allows hybrid
position control to be switched on.
9.1.5 480_Power supply

HCS03 hangs up in "Bb" in spite of DC bus voltage (DC560V)
Description: The HCS03.1-NNBV device sometimes hung up in Bb during the first soft
start if it had been supplied without mains contactor and from the DC bus.
Operation was only possible with a small delay during the first soft start or a
2nd soft start.

Drive-controlled positioning: Positioning status incorrectly determined when using the posi‐
tioning jerk (jerk limitation)


Description: The positioning command acknowledge (S-0-0419) was output too early for
the sequential block with halt, if the command value had been delayed via fil‐
ter, e.g. average value filter, anti-vibration filter. The following block was star‐
ted too early and the profile was smoothed.
Workaround: Target position attained (S-0-0342) instead of S-0-0419 controls the block ad‐
vance.

Deactivated controlled deceleration in the case of encoder failure
Description: In case the encoder had failed it was possible to switch to the "controlled de‐
celeration" error reaction. The encoder failure detection was not stable
enough to safely initiate the braking procedure.
Fixing: The option of controlled deceleration has been deactivated, i.e. the input of
"P-0-0119, Best possible deceleration; bit 12" was disabled. D.C. braking
may be used as an alternative.

No zero pulses output after E2035
Description: After the frequency had been exceeded during incremental encoder emula‐
tion, no zero pulses were output after the warning E2035. This only worked
again after OM-PM and PM-OM phase switch.

Oscilloscope function changes parameter attributes of uninvolved parameters
Description: If P-0-0485 or P-0-0481 (patch signal display value) had been active as a
measuring or trigger signal in the oscilloscope, the display format of other pa‐
rameters was sometimes manipulated in the case of reboot. Uninvolved pa‐
rameters became invalid.
Fixing: P-0-0485 and P-0-0481 (patch signal display value) may be used as measur‐
ing or trigger signals without any negative effects.

F9005 and retain data deleted during oscilloscope measurement (8 channels)
Description: If the number of oscilloscope channels had been increased from 4 (or less) to
5 (or more), the internal value for the size of memory in P-0-0032 was not
downwards adjusted. Thereby, other memory ranges were sometimes over‐
written when measured values had been recorded. This either triggered
F9005 or the measured value lists were incorrectly read (actual length > max
length). Only the visible external value of P-0-0032 had been adjusted.
Therefore, it was impossible to detect the error externally.


C0298 after occurrence of C0242 with simulated axis
Description: With axis simulation active, the parking axis command is internally set during
PM-OM switching. If switching to OM had been aborted by an error, the park‐
ing axis command was not completed. In the next attempt to switch to OM,
the parking axis command still active prevents switching (C0298).
Workaround: In the case of error C0298, set and clear the parking axis command.
9.1.12 745_SERCOS III

CCD group - last slave remains in AF in the case of bus failure
Description: If the phase 0 had been announced by the master in Sercos phase 4 but not
executed, the drive internally did not automatically execute C04 to leave the
operating status AF.
This behavior was sometimes caused by the following conditions occurring
simultaneously:
- in the case of Sercos slaves at a CCD master
- in the case of line topology
- if there were only Economy axes (MPE firmware) before the relevant axis
and the control voltage (24V) failed at these axes
Parameter S-0-0001 NC cycle time is not correctly generated with Sercos
Description: With Sercos master communication, the internal value of the parameter
S-0-0001 is generated from the cycle time of the main consumer connection.
However, this internally generated value had not been displayed in the data
or when reading. This had been the reason why, due to the automatic con‐
version in P2->P3, the wrong data was temporarily contained in the active
variable before the value was generated internally again. Therefore, functions
accessing the active value of S-0-0001 in this space of time calculated with
the wrong value.
9.1.13 750_EtherCAT
EtherCAT SOE: Data applied in spite of error message 0x7003
Description: If data of the wrong length had been acyclically written with EtherCAT SoE to
a drive parameter, the drive provided an error message but nevertheless ap‐
plied the transmitted value.
EtherCat COE: Watchdog trigger of SM 3 activated at drive --> drive goes online to OP

Description: By default, the drive has a 3-buffer mode for transmitting the process data.
With the watchdog trigger of Syncmanager 3 activated, the drive neverthe‐
less went online (Operational).
Fixing: The transition to Operational is prevented in the above-mentioned case.



A deadlock occurred in MX_SetDeviceMode after changing the OperationMode during pro‐
cessing
Description: If the operation mode (OperationMode = TRUE) was selected in the MX_Set‐
DeviceMode and if during switching (before the operation mode was
reached), the specification to parameterization mode (OperationMode =
FALSE) was changed, a deadlock occurred: Instead of the parameterization
mode, the operation mode was reached and neither the Done output nor the
Error output were set.
Fixing: The MX_SetDeviceMode now detects if the specified mode (OperationMode
input) has changed during a switching operation. If this is the case, switching
to the specified mode according to the “OperationMode” input is started after
the current switching operation has been completed. After the second switch‐
ing operation has been completed, the Done output is set.
F6010 occurred during an MLD tech function update
Description: If a technology function has been updated via the IndraWorks project dialog
in an MPx-20V18, F6010 occurred and the retain data have been initialized.
In P1365, the detailed error message "MLD-ERROR Retain data mismatch -
Reboot or Reset cold necessary" was displayed. The pending error F6010
could not be reset using a PLC reset cold.
Workaround: Load the parameter file to the drive using “Load parameter" (including or ex‐
cluding P-0-1359) and reboot.
10.1.2 315_HW Identification

Incorrect serial number in S-1300.0.12 for MI
Description: For the MI (motors with integrated, compact inverters), the serial number
S-1300.0.12 is incorrect in OM.

EnDat2.1 encoder (combined encoder) returns E2074/75 during active absolute encoder
monitoring
Description: In case of different EnDat linear encoders, the warning E2074/75 occurred
during an active absolute encoder monitoring (S-0-0602.x.136). The warning
was reported even though no error occurred.

F2105 during “Referencing" or “Delete reference" with a HIPERFACE encoder

Description: In the HIPERFACE encoder, the error F2105 sporadically occurred during
“Referencing" or “Delete reference” in AF if the parked axis has been enabled
and was switched to OM.
F6028 occurred during drive-controlled referencing with distance-coded measuring systems
Description: After referencing has been completed, the error F6028 occurred. Reason:
one-time incorrect overflow of the display in S-0-0051.
SSI issues with gray-coded encoders and enabled error bits
Description: If an SSI combined encoder (SSI encoder) with gray-coded data format and
enabled errors and warning bits (bits contained in the protocol) was used,
these error/warning bits were also expected in gray-coded format. However,
the known encoders transmit the bits in binary-coded format. This resulted in
unjustified error and warning messages (E2074 or C0209 etc.)

S-0-0100 is calculated incorrectly when the motor identification C3600 is in motion
Description: The velocity proportional gain (S-0-0100) was determined incorrectly during
motor identification in motion. The determined mass inertia was too high.
Sense of motion check results in permanent motor rotation
Description: The motor rotates permanently when executing the command C3600 “Com‐
mand motor data identification" with motion sense check (P-0-0601). The
command was not completed.

Command “Positive stop drive procedure” - torque jump when disabling drive enable
Description: The velocity controller specifies the limit torque in the "Positive stop drive pro‐
cedure" command which is limited by P-0-0109, S-0092, S-0-0082, S-0-0083
or S-0-0530. When disabling drive enable while the command was still active,
the torque or the force was limited only by P-0-0109 so that the positive stop
was compressed considerably.
Fixing: In the "Positive stop drive procedure" command, the torque, used to drive to
the positive stop is always limited by P-0-0109, S-0092, S-0-0082, S-0-0083
or S-0-0530.


F6200 during torque change at load
Description: Due to mechanical motions of the axis in SOS, the error F6200 was trig‐
gered. In position control, the velocity command value (P-0-0048) was great‐
er than the standstill window (P-0-0124) due to the motion. The standstill win‐
dow could not be enlarged to any size as it is still used for more functions.
Fixing: Monitoring can be disabled using a configuration bit (P-0-3219; bit 4).
Workaround: Enlarge the standstill window as much as possible.
10.1.8 520_Operating modes synchronization

Position synchronization operation mode is incorrect when using a linear motor
Description: When using the operation mode “Position synchronization" at an axis with a
linear motor, the axis did not follow the master axis position specifications
correctly in case the following operation modes were used.
- Angle synchronization
- Cam with enabled gear reduction path
- Motion profile with enabled gear reduction path

F2100 due to individual corrupt pages
Description: Individual corrupt SPI pages were randomly removed from processing and
could sporadically result in an F2100.

Initializing IndraDrive oscilloscope function
Description: Changes and patch signals did not affect the oscilloscope configuration if a
path display value P-0-0485 or P-0-0491 was configured as signal. The old
path configuration was retained in the oscilloscope.
Fixing: The path configuration is applied to the oscilloscope function in case of any
changes. If the oscilloscope is active and if a path display value P-0-0485 or
P-0-0491 is configured as signal, the path signal change is locked.
10.1.11 750_EtherCAT
EtherCAT SOE : Missing error message F4009 in EtherCAT in FreeRun mode
Description: The sync manager 3 (AT data) configuration was not verified during the tran‐
sition from PreOp->SafeOp. If the watchdog trigger flag was set at the wrong

sync manager, the configuration was not verified and no error F4009 was re‐
ported in FreeRun mode.


F2032 Validation error during commutation fine adjustment
Description: If the "optimum commutation offset with regard to reference point" function
(P-0-0522, bit 10 or bit 11 = 1) had been used, the error F2032 Validation
error during commutation fine adjustment occurred if the rotational direction
of the encoder used for commutation had not been negated (S-277, bit 3 =
0). The error did not occur if the rotational direction had been negated.
Fixing: The defect has been resolved. If the commutation setting is carried out with
incremental encoders and the commutation offset optimized for the reference
of the axis is activated afterwards, the error is no longer generated, inde‐
pendent of the rotational direction.
Note: If the error F2032 occurred in the installation, the commutation setting
function has to be recommissioned after the update to the error-free firm‐
ware.

MLD: Error during project download via parameters
Description: If a PLC project with a task in synchronism with master communication or
CCD had been deleted and afterwards loaded again by automatically creat‐
ing the boot project, this sometimes resulted in a CRC error.
"MLD Error:Boot Project could not be loaded - check device version (P1365)"
The CRC error is displayed in the PLC logger.
Workaround: Explicitly load the boot project via the menu.

Time stamp of hardware/firmware replacement detection contains wrong data.
Description: Example: If a new FW had been loaded or another motor connected, this was
entered in the hardware/firmware replacement detection, but always with the
same (P-0-3915.0.1) time stamp "2014-01-01T00:00:00.0000000Z".

Acuro-Link: Impossible to load application-specific data from encoder
Description: With an Acuro-Link encoder, it was possible to create but not to load the ap‐
plication-specific data. The parameter "P-0-3075, Application-specific data,
type plate" was invalid.

Fixing: The parameter "P-0-3075 Application-specific data, type plate" is read and
displayed if application-specific data have been stored in the encoder.
With the load application-specific data command, these parameters are loa‐
ded.
QSK motor is not acknowledged with C0204
Description: MSK, QSK and MS2N motors are equipped with specific HIPERFACE encod‐
ers with an identifier for Bosch Rexroth. The check and thus the enabling for
the motor data memory had not been limited to encoders with a Bosch
Rexroth identifier.
Fixing: For QSK motors, the motor data memory is only read if HIPERFACE encod‐
ers with the specific Bosch Rexroth identifier are used.
Commutation setting aborted with "timeout" error message
Description: The commutation setting for the Economy device was aborted with the error
message C1220 "Automatic commutation: Timeout" or F8015 "Automatic
commutation: Timeout".
Workaround: Switch off returning in parameter "P-0-0522, Control word for commutation
setting".

Faulty virtual mark evaluation for resolver encoder
Description: If the automatic determination of the resolution had been deactivated and the
resolution (S-0-0601.x.2) adjusted for the resolver encoder, the reference
marks were sometimes output incorrectly.
Fixing: No reference marks are generated for resolutions that produce a non-binary
format for the reference mark output.
The following has to apply: S-0-0601.x.2 = S-0-0602.x.3 * 2^n
Impossible to negate EnDat2.2 with <= 32-bit position format
Description: If the rotational direction had been negated for an Endat2.2 encoder (merely
digital) with a position format <=32 bit, the position was not generated in ne‐
gated form. A position jump occurred during PM-OM switching.
Absolute range is not correctly reduced for linear EnDat2.2 and BiSS C encoders
Description: Linear BiSS C and EnDat2.2: If the resolution had been increased in
S-0-0601.x.2 (compared to the default resolution that had been set), the de‐
termined absolute range (S-0-0601.x.6) was partly wrong. This sometimes
caused jumps in the actual position value.

E2074 for MS2N motors with HIPERFACE encoder

Description: If an MS2N motor had been operated with a HIPERFACE encoder at veloci‐
ties greater than 6000 rpm, the warning E2074 was generated although there
was no encoder problem.
Error in the case of configured resolution with resolver
Description: If the ENCB resolution (S-0-0601.x.2) of a resolver encoder had been
changed by the user (no default resolution), the position was no longer cor‐
rectly initialized so that the commutation did not work correctly anymore.
Error in the case of configured resolution with rotary BiSS C encoder
Description: If a resolution had been configured for a rotary BiSS C encoder with a physi‐
cal resolution of 32 bit at most, a protocol width of 30 bit was always as‐
sumed. The multi-turn bits for the absolute range were calculated as 30 mi‐
nus number of single-turn bits from the parameterized resolution. The result‐
ing absolute range was: 2^(30 - ST). Thereby, the absolute range was artifi‐
cially extended for all constellations in which the parameterized resolution
and the physical absolute range would be less than 30 bit.
Fixing: The physical absolute range is maintained in the case of a configured resolu‐
tion, except if the configured resolution and the physical absolute range have
a protocol width of more than 30 bit. In this case, the absolute range is re‐
stricted so that the protocol width is 30 bit.
Parameters S-0-0440 to S-0-0443 (marker position) re-implemented
Description: The cyclic marker evaluation function was not supported by MPx-20VRS.
Reference gets lost after measuring wheel mode is activated
Description: The settting measuring wheel encoder with reference maintained and feed
constant 2 had not been accepted in encoder 2 control word (P-0-0185).
Thus, it was impossible to set this functionality.
Absolute encoder monitoring default is deactivated
Description: After "loading the default parameters" the continuous absolute position moni‐
toring had been deactivated for combined encoders. The function had to be
activated by systematic parameterization (S-0-0602.x.136).
C0209 (incorrect encoder configuration) after FW update (in the case of MN/Mi with MS2N-
Acuro)

Description: During the FW update and subsequent reboot, the Acuro encoder had not
been initialized correctly so that the communication with the encoder did not
work. The switching error C0209 occurred.
Error in commutation with increased resolution of linear HIPERFACE and SSI sine
Description: With an increased resolution (resolution smaller than default value), the reso‐
lution had been incorrectly determined internally so that the quantization did
not comply with the resolution that had been set. Moreover, the absolute en‐
coder range had been incorrectly determined so that the user could not rec‐
ognize whether or not the encoder was still operated within the allowed posi‐
tion range. This sometimes caused wrong positions and faulty commutation.
Error in the case of configured resolution with ACURO-Link encoder
Description: If the automatic calculation of S-0-0601.x.2 (Resolution of position) had been
activated by setting bit 0 to 0 in S-0-0601.x.1 (Encoder data out configuration)
and S-0-0601.x.2 (Resolution of position) had previously been configured
with a value greater than S-0-0602.x.4 (Phys. encoder resolution (digital)),
the automatic calculation of S-0-0601.x.2 (Resolution of position) failed. The
command C0200 "Exit parameterization level" was aborted with C0209 "In‐
correct encoder configuration".
No comparison of phys. absolute range with configured resolution for linear analog encoder
Description: If bit 0 is set in S-0-0601.x.1 and the resolution is parameterized in
S-0-0601.x.2 for an analog linear encoder (sine or TTL), the absolute range
displayed in S-0-0602.x.9 (corresponds to maximum scale length that can be
evaluated) possibly cannot be supported. However, this had not been
checked previously so that the absolute range displayed in S-0-0602.x.9 was
possibly greater than the one that can be evaluated with the resolution input.
Fixing: If the configuration bit has been set in S-0-0601.x.1, the absolute range in
S-0-0602.x.9 is checked against the resolution in S-0-0601.x.2. If the value in
S-0-0602.x.9 exceeds the maximum possible absolute range for the entered
resolution, a command error is entered in the transition command and
S-0-0602.x.9 is entered in the list of invalid parameters.
F2021 "motor temperature sensor defective" for Acuro-Link encoder
Description: If the encoder had signaled a nonrecurring transmission error or a warning,
the motor temperature was set to -45°C. Thus, the error F2021 "motor tem‐
perature sensor defective" was always generated.
Fixing: In case the communication is interrupted or a checksum error occurs in trans‐
mission, the measured value is frozen and the encoder errror F8022 is sig‐
naled.


C3300 and C3400 generate wrong offset
Description: The position offset value was sometimes incorrectly calculated, during the ex‐
ecution of the commands C3300 "Set coordinate system procedure com‐
mand" and C3400 "Shift coordinate system procedure command". This
caused incorrect position feedback values (S-0-0051 and S-0-0053) and the
position range sometimes was offset so that negative position feedback val‐
ues were generated in the case of modulo scaling.
EnDat2.2 encoders with more than 32-bit position provide wrong ENCB position
Description: If an EnDat2.2 encoder had been operated with a position format greater
than 32 bit with a non-negated rotational direction, position jumps occurred
with the default resolution if the position of the encoder had left the value
range of 32 bit.
Incorrect position when homing distance-coded encoder systems
Description: During the homing procedure of axes with distance-coded encoders, incor‐
rect reference positions occurred sometimes depending on the position, and
according to the mark configuration and encoder resolution. This was not de‐
tected by the drive. Reference was signaled but the axis position was wrong.
Fixing: Due to the bug fixing, the previous S-0-0177/78 absolute offset may be wrong
so that it is necessary to re-calibrate the axis.
Analog Hall sensors are not operable
Description: The encoder type "15", analog Hall sensor with a 120 degrees phase, was
not supported by the firmware.
Fixing: The encoder type "15" can now be used as encoder 2 for commutation initial‐
ization.
Forcing absolute encoder evaluation also possible for merely incremental encoders
Description: Using the force absolute evaluation function (S-0-0277 or S-0-0115) it had
been possible to evaluate a merely incremental encoder system as an abso‐
lute system without an error message being generated. During PM-OM
switching, the position was incorrectly initialized and reference was signaled.
Fixing: The message C0302 "Absolute evaluation of measuring system impossible"
is now generated with the "set absolute position" command. In addition, bit 6
is deleted in the position feedback type parameter (S-0-0277 or S-0-0115)
during PM-OM switching.

Homing at positive stop, torque limitation with S-0530 remains active

Description: In the case of homing at positive stop, an additional torque/force limit value
becomes active (S-0-0530) and controller monitoring is switched off. The limi‐
tation had been switched off with the end of the command and controller
monitoring became active again. With a vertical axis, this was a problem if
the limit value had been smaller than the force due to weight. The axis was
unable to boot up.
Fixing: In the case of homing at positive stop, the limitation of S-0-0530 is already
removed when the axis moves away from the limit stop and controller moni‐
toring is activated again.
C0300 Set absolute position procedure command sucessfully executed in spite of "Fxxxx En‐
coder X: Encoder signals incorrect"
Description: It had been possible to sucessfully execute the C0300 Set absolute position
procedure command in spite of the encoder error "Fxxxx Encoder X: Encoder
signals incorrect" being present. After repeated position initialization, the po‐
sition thereupon was sometimes incorrect (affects encoder 1, encoder 2 and
measuring encoder).
F8078 during drive-controlled homing with dedicated point "positive stop"
Description: For homing at positive stop, velocity control loop monitoring (F8078) had not
been switched off. Thus, this error could still occur at the positive stop.
Fixing: Velocity control loop monitoring (F8078) and velocity monitoring for the maxi‐
mum value (E2059) are switched off for homing at positive stop. Thus, the
behavior corresponds to the "positive stop drive procedure" command
(S-0-0149).
Loss of reference after encoder was replaced
Description: If the encoder is replaced, the reference is deleted due to the changed serial
number and F2174 is output. Multiple absolute encoders are exchanged at a
tool changer. The reference is supposed to be reestablished by loading the
serial number S611.x.136 and the absolute encoder buffer P-0-0177 of the
corresponding encoder. However, this had been impossible and the error
F2174 was signaled.

Checking the rotational direction moves axis to mechanical limit stop/position limitation
Description: The execution of the rotational direction check was not completed.
Velocity-dependent PWM switching did not work with command value box


Description: If velocity-dependent PWM frequency switching had been selected
(P-0-0045, bit 11 = 1) in the case of exceeded switching velocity, the drive
was not switched to the higher frequency. The error only occurred if the com‐
mand value box was used. In all other operation modes switching works as
desired.

Cogging torque compensation does not take effect in torque control mode
Description: The cogging torque compensation did not take effect in the torque control
mode.
Hybrid actual position value also takes effect in operation modes w/o axis control word
S-0-0520, and for spindle positioning
Description: Hybrid position control was maintained when the drive had been switched
from an operation mode with axis control word (S-0-0520) to an operation
mode without axis control word. However, hybrid position control should not
be active anymore. When switching to the drive commands homing, spindle
positioning had taken place, hybrid position control also remained active.
Fixing: Hybrid position control is switched off when the drive is switched to an opera‐
tion mode without axis control word or to the homing, spindle positioning
commands. This, too, applies to the measuring wheel mode.
S-0-0211, S-0-0212: decimal places deviating from standard
Description: The velocity controller parameter adaption (S-0-0211, S-0-0212) was imple‐
mented with 2 decimal places. This does not comply with the Sercos stand‐
ard.
Fixing: The number of decimal places of the parameters S-0-0211 and S-0-0212
complies with the Sercos standard that features one decimal place.
For upgrading MPx-20V14 or MPx-20V16 to a more recent version, a correc‐
tion function was implemented. It corrects the data values of the parameters.
For downgrading to MPx-20V14 or MPx-20V16, no correction function was
implemented. This means the data values of S-0-0211 and S-0-0212 are
wrong or invalid.
11.1.9 445_Limitations, monitoring

E2001 prevents other diagnostic messages from being displayed
Description: In V/Hz (U/f) operation, the error message E8040 had been output and reset
as a diagnostic message at frequent intervals. Thus, many entries were
made in the diagnostic system of the drive within a very short time. This
caused the message E2001.

In V/Hz (U/f) operation, the diagnostic message E8040 is only generated if

the stall protection controller is active and the drive is operated at the torque
limit.

Softstart fault F2816
Description: The softstart fault F2816 occurred sometimes if the mains input voltage had
been distorted.
Fixing: The tolerance of the mains peak measurement with regard to the expected
DC bus voltage was increased for the softstart. Thus, the softstart fault is not
generated, even if the mains input voltages are distorted.
11.1.11 485_Compensation functions, corrections

Cogging torque compensation value does not take effect or takes effect with a delay
Description: The cogging torque compensation value did not take effect during the transi‐
tion from AF to Ab, and it took effect with a delay during the transition from
Ab to AF. With a vertical axis, for example, this sometimes caused the axis to
drop during the transition from AF to Ab.
Faulty cogging torque compensation with incremental measuring systems
Description: It had been impossible to use the cogging torque compensation in conjunc‐
tion with relative measuring systems and when the entire travel range had
been used. If the axis had been switched to the operating mode again, the
position reference of the cogging torque table was lost so that the compensa‐
tion values were added incorrectly.

Sporadic error F2028 "Excessive deviation"
Description: When the average value filter had been switched off (P-0-0041 = 0), the error
F2028 occurred sporadically due to an undefined position command value
(P-0-0434). This had been caused by an undefined filter order (P-0-0042 =
0). The filter order should be 1 if the filter is inactive. This means that 0
should never occur.
Workaround: The error can be avoided by switching off the filter with P-0-0041 = NC cycle
time. The filter order (P-0-0042) then also is 1.

With anti-vibration filter, drive does not move to initial position, F2028

Description: When switching to the cyclic position control mode in a drive-controlled man‐
ner, the anti-vibration filter was not synchronized. Therefore, the error F2028
occurred with the active anti-vibration filter (P-0-0644 > 0), if the position
command value (S-0-0047) deviated from the position feedback value
(S-0-0051) by more than the monitoring window (S-0-0159).

F2008 instead of C4101 during parameter set switching of encoder parameters in AF
Description: If the parameter set switching with activated motor/encoder switching
(P-0-2218 bit 4 == 1) had been started in AF, switching was carried out and
F2008 generated although switching is not allowed in AF!
Delay time for parameter set switching (P-0-2218) too long
Description: During parameter set switching, the drive waited longer than configured in the
parameter P-0-2218.
Value read back of parameters with structure index 130 does not comply with written value
Description: In the case of a parameter with structure index 130 (example: S-0-1300.x.
130, Type plate, compact), the written value did not comply with the value
that was read back. This caused problems with controls that had read back
and checked the written value.

Impossible to configure S-0-0390, bit 20, in the signal status word
Description: It had been impossible to configure the parameter "S-0-0390, Diagnostic
message number" in the signal status word.
Fixing: It is now possible to configure the parameter "S-0-0390, Diagnostic message
number" bit-by-bit in the signal status word.

S-0-0425, bit 0, cannot be controlled via digital input
Description: The parameter "S-0-0425, Sub-device state machine control" is not stored by
the drive and had to be written again every time the control voltage had been
switched off/on. It was impossible to control this coupling by setting a digital
input.
Fixing: The parameter "S-0-0425" can be set via a digital input.


S/IP server sporadically cannot be accessed in the drive
Description: It had been sporadically impossible to access the S/IP server in the drive.

C7600 parameter image error with string parameters
Description: In the case of string parameters, the command C7600 "Create parameter im‐
age" wrote a space in front of the first string. Therefore, these parameters
were signaled to be invalid and were not applied when such a parameter file
had been loaded.
Restore possible if archive created on different device type
Description: No check was run for restore to find out whether the backup had been cre‐
ated by the same device type. Therefore, unsupported operation modes were
entered during restore, for example.
Backup and Restore: F9005 with modified ZIP file
Description: Editing the backup.zip, that had been generated with the command C6500,
sometimes caused the file specifications '/' instead of '\' to be used as path
separators in the ZIP file. The modified paths were not recognized during re‐
store C6600 and caused the error F9005.
Fixing: In the firmware, both '/' and '\' are supported as path separators in the ZIP
file.
Backup/Restore: Incomplete restore with IndraDrive Mi (C6605)
Description: If the address assignment in IndraDrive Mi was made using the address se‐
lector switch, the parameters S-0-1040 and P-0-4089.0.3 are write-protected.
During restore this caused the error C6605.
11.1.19 720_Profile adaption

Error bit set in status word 0x6041
Description: With DS402, the error bit was set in the status word 0x6041 although no error
had been present in the drive. The drive did not display any error in the pa‐
rameter P-0-0115 or S-0-0390. This happened if errors had been cleared in
the drive in other ways (e.g., via S-0-0099 or using IndraWorks) than via the
DS402 control word 0x6040.

Fixing: If errors are cleared in the drive (via DS402 control word or directly via drive
parameter), the error bit in the status word 0x6041 is cleared, too.
11.1.20 740_CAN
Incorrect cyclic handling of 1-byte values
Description: In the case of parameters with 1 byte, that had been configured as AT proc‐
ess data (slave->master), the wrong feedback values were transmitted to the
master.
CANopen (CoC, CoE): impossible to configure parameter P-0-4077 as process data (com‐
mand value)
Description: With the device data sheets for CoC and CoE made available, it had been
impossible to configure the parameter P-0-4077 as process data (command
value).
Fixing: A current device data sheet has to be used.

Error F2067 occurs sporadically when switching from phase 4 to phase 0
Description: With the bus clock equaling the position clock, the error F2067 occurred spor‐
adically when the drive had been switched from phase 4 to phase 0.
CoE: Error F4009 is not signaled if bus connector is removed
Description: In the case of bus failure, the error F4009 was not signaled with EtherCAT
CoE. If the drive had been in drive enable, only the error F4002 was signaled.
CoE: S-0-0014 and P-0-4073 not always consistent
Description: The EtherCAT communication state was not correctly mapped to S-0-0014.
ECAT SoE in Free Run: MDT error counter is incremented
Description: In the case of EtherCAT, the error counter in S-0-0029 was incremented in
the Free Run Mode.
EtherCat COE S1 is overwritten

Description: When the drive had been switched from PM to OM, the master communica‐
tion cycle time (object: 0x1006) was automatically applied to the parameter
S-0-0001. If the command values are written by MLD, for example, the com‐
mand value updating time of MLD has to be entered in S-0-0001. This was
impossible.
Fixing: Depending on P-0-4088, bit 4, the value S-0-0001 can be manually written by
the customer or the master communication cycle time is set as the value of
S-0-0001.
EtherCat COE: Wrong max. AT and MDT length
Description: Wrong minimum and maximum values had been stored in the parameters
P-0-4071 and P-0-4082.
Fixing: Minimum, maximum and default values are not stored anymore for the pa‐
rameters P-0-4071 and P-0-4082.
EtherCAT EoE: Invalid MAC address does not cause error
Description: In the case of EtherCAT EoE, the EtherCAT master assigns a (virtual) MAC
address to the drive. If the MAC address is invalid, the Engineering connec‐
tion to the drive cannot be established. Previously, the customer had not
been informed about the invalid MAC address.
Fixing: If the MAC address is invalid (e.g., if it is in the multicast range), the error
message F4072 (EtherCAT: EoE error) is output.
Switching from PM to OM takes a long time with a configured master communication encoder
Description: With a configured master communication encoder, switching from PM to OM
took a long time.
EtherCAT COE: Value of P4076 can be changed in Data Exchange
Description: With EtherCAT CoE, it was possible to change the parameter P-0-4076 if the
bus had been in the cyclic synchronization mode.
11.1.23 760_Powerlink
DS402: Bit 9 not generated in status word 0x6041 (remote)
Description: The bit 9 (remote) had not been generated in the status word DS402
(0x6041). Some controls evaluate this bit and therefore were not able to set
the enable signal.
EPL: SDO access to DS402 objects is rejected

Description: Accessing the DS402 objects via über SDO access had been impossible with
Ethernet POWERLINK.

Copy protection for MSK motors
Description: MSK, QSK and MS2N motors are equipped with specific HIPERFACE encod‐
ers with an identifier for Bosch Rexroth. The check and thus the enabling for
the motor data memory had not been limited to encoders with a Bosch
Rexroth identifier.
Enhancement: MSK, QSK and MS2N motors can still be operated with motor data from the
encoder if they are equipped with an encoder with a Bosch Rexroth identifier.
If it is equipped with a standard HIPERFACE encoder, the motor can only be
operated as a third-party motor (the motor data are not read from the encod‐
er).
Evaluating PT1000 with EnDat2.2 encoder
Description: The sensor type is input in the parameter P-0-0512. The value 18 has to be
entered to evaluate PT1000 via digital encoder interface.
Previously, this had only been possible for the Acuro-Link encoder.
Enhancement: PT1000 can also be evaluated with an EnDat2.2 encoder.
Supported temperature sensors for ML3 linear motor
Enhancement: The Bosch Rexroth product portfolio is expanded by a new ML3 linear motor
series. For easily commissioning the motor at IndraDrive, the characteristic of
the temperature sensor used was stored. Thus, the sensor selection is set
correctly when the motor data are loaded from DriveBase.
The sensor type has to be entered in parameter P-0-0512.
Value 9: sensor with switching performance, switch-off temperature at 110°C
Value 10: sensor with analog KTY83/122 characteristic

Impossible to operate digital Hall sensors
Description: It had been impossible to operate linear motors with digital and incremental
measuring systems.
Quiting parking axis and exiting parameterization level too slow with HIPERFACE encoders

Description: Quiting the parking axis and exiting the parameterization level took too long
with HIPERFACE encoders.
Enhancement: Quiting the parking axis and exiting the parameterization level was acceler‐
ated for HIPERFACE encoders (SKM and SKS only).


Parameter P-0-3060.0.3 invalid
Description: With MS2N motors, the parameter P-0-3060.0.3, Speed-dependent motor
shutdown temperature reduction had become invalid if the parameter was ac‐
tively written (e.g., by loading a parameter file).
Workaround: Write zero to the value P-0-3060.0.3, Speed-dependent motor shutdown tem‐
perature reduction.
The correct value will be read from the encoder memory.

E2075 in the case of combined encoders for SSI with activated "combined encoder monitor‐
ing"
Description: If a linear SSI sine encoder had been operated with active cyclic absolute po‐
sition monitoring, the warning E2074/75 was immediately generated in the
case of motion.

Invalid basic device parameters (P-0-0192, P-0-0193, ...)
Description: If a sector erasing procedure is aborted on the parallel onboard flash, this can
cause invalid basic device parameters to be generated.
The following errors occurred sometimes:
- C0212 Invalid control section data (->S-0-0423)
- F8091 Power section defective
- F8122 Control section defective



13.1.1 110_Safe Motion IO interface
SMO dynamization monitoring only works for one functional input
Description: When functional input signals (P-0-3329) had been used, it was only possible
to use dynamization monitoring for one of the four input signals (P-0-3329; bit
12...15).
Fixing: The test pulses of all dynamized bits of P-0-3329 are de-dynamized, i.e. re‐
placed by level = 1. Thus, dynamization monitoring can be used with all in‐
puts.

Error reaction of SysSemEnter etc. with wrong handle
Description: In the case of functions like SysSemEnter or SysSemLeave etc., different er‐
rors occurred sometimes if the functions had been called with the wrong han‐
dle. Particularly with T-versions the error F9005 occurred sometimes.
T-version: called with 0-pointer
V-version: called with, for example, an odd pointer
...

AxisData only works in PM if OM was reached before
Description: The axis error status in parameter P-0-0115, device status word, was only
generated if the axis had been switched to OM before. Directly after control
voltage had been switched on, the error bit was not activated.
13.1.4 250_PLC Debug Interface

No detailed diagnostics if the same F6010 error occurs again
Description: If an F6010 error had occurred, the appropriate detailed message was dis‐
played in the diagnostic trace. If the same error had occurred again, this de‐
tailed message was not output anymore. Only if another F6010 had occurred
was its new detailed message generated.

F2019 cannot be cleared in phase 4 after encoder error (data+ interrupt) with ACURO@link


Description: F2019 was signaled besides F8022 in the case of encoder interrupt. This
error message could not be cleared after the cause of the error (encoder in‐
terrupt) had been removed and after the drive had been switched to OM.
Fixing: In the case of encoder interrupt, the temperature cannot be read via the en‐
coder line anymore. The drive then works with a thermal model. That is to
say F2019 is not signaled anymore in the case of encoder interrupt.
MPE: Motor data identification, third-party motor, S106 = 0
Description: With the command "C3600 automatic motor data identification", the induc‐
tance determined at a PWM frequency of 8 kHz was much too low.
Thus, the determined current controller gain was also much too low.
Thermal model inadmissibly reduces above 125 Hz
Description: The thermal model, intended to protect the motor against overload, reduced
the output current to the value for standstill in the case of output frequencies
greater than 125 Hz.

E2048 cannot be cleared after battery replaced
Description: If low battery voltage had been detected for an EnDat2.2 encoder, the warn‐
ing E2048 (or the error F2048) was generated. If the battery had been re‐
placed, the warning persisted in PM and OM although the battery was fully
functional.
ENCB resolution incorrectly calculated for TTL encoder
Description: The resolution in S-0-0601.x.2 was not calculated as required as a physical
resolution, multiplied with the number of quadrants per division period.
Error "F2075 Actual pos. value 2 outside absolute encoder window" is incorrectly generated
Description: Around the 0 degrees/0mm position, the error "F2075" occurred sometimes
during the position initialization of "S-0-0053, Position feedback value of en‐
coder 2".
F2074 after MSM battery replaced and drive controller switched off/on
Description: If an F2048 battery error was detected after the device had been switched
on, the battery then replaced with the device switched on and reference was

established without OM-PM-OM phase switch, a position offset of the axis oc‐
curred with the next PM-OM switching without the reference being cleared.
F2177 Encoder 1 modulo limitation error with EnDat2.2
Description: EnDat2.2 encoders were not supported with a 31-bit resolution. If such an en‐
coder had been used, this caused the error message F2177 when switching
to OM took place.
Gear ratio not taken into account in the case of parameter set switching 0 to 1
Description: If load gear switching had only been carried out with encoder 1, the gear was
not taken into account in the case of load gear switching via the parameter
set switching. The gear active for PM-OM switching was always activated.
Incorrect diagnostic message C0270 when encoder fine correction fails
Description: Diagnostic text did not go with current error background anymore.
Incorrect diagnostic message generated with SSI encoders
Description: In certain cases, error of the SSI encoder was signaled with incorrect diag‐
nostic message at the drive controller.
Mark evaluation does not work with combined encoders for SSI
Description: Homing via (virtual) reference marks impossible with combined encoders for
SSI.
Parameter set switching of gearbox parameters
Description: The load gears of the different parameter sets were not taken into account for
switching. Thus, gear switching in OM was not possible!
Position feedback value of encoder 2 (homed) is not applied to position feedback value of en‐
coder 1 (not homed)
Description: If two encoder systems had been used in an axis and both systems had not
been homed before the homing procedure, the position feedback value of the
encoder system to be homed was set to the reference distance, but the posi‐
tion feedback value of the other encoder system remained at the previous
value. (was not set to the same value)

Reference point offset with a distance-coded encoder

Description: With a negative position polarity in S-0-0055 (bit 0-3), the zero point offset
had been calculated with the wrong sign during the homing procedure with a
distance-coded encoder. Accordingly, the reference position was incorrectly
offset (in positive direction instead of negative direction or vice versa).
Check of resolution for 2^n with rotary SSI sine does not match default resolution
Description: In the case of rotary SSI sine encoders, the resolution is limited to the value
incremental resolution (S-0-0602.x.3) times 2^15. If the limit value calculated
in this way is exceeded, the resolution is set to this value. Due to the check of
the resolution for 2^n, it was then impossible to operate the encoder with the
default resolution.
Fixing: For the purpose of compatibility, the limitation and the setting of the resolu‐
tion to this value, that possibly cannot be displayed in 2^n, are maintained.
The query of the resolution for 2^n was removed for rotary SSI sine encod‐
ers.
Loss of position without loss of reference in the case of encoder with sine signals and SSI
interface
Description: If the rotational direction of the analog track had been reversed, the firmware
did not detect this.
Fixing: The reference of the encoder is removed both when the analog track is re‐
versed and when the rotational direction of the encoder is reversed. If the cy‐
clic absolute encoder monitoring is active (parameter S-0-0602.x.136), it sig‐
nals an error if the analog track and the digital track move in the opposite di‐
rection.
SSI encoder is changed to combined encoder for SSI during 1st OM switching
Description: If a combined encoder for SSI had been parameterized after loading the de‐
fault parameters and afterwards there had been an attempt to switch to OM,
the error C0209 was generated and the encoder was changed to a combined
encoder for SSI!

Actual position value is not initialized to encoder raw value in the case of modulo scaling
Description: The actual position value was always pre-initialized with 0 in the case of mod‐
ulo scaling and invalid absolute encoder buffer or absolute encoder offset
and, if applicable, in the case of missing reference.

Fixing: The actual position value is initialized with the last valid absolute encoder da‐
ta so that a possibly useful actual position value is generated even if refer‐
ence is lost
Amplitude and offset adjustment does not work for resolvers with number of pole pairs small‐
er than 3
Description: The signal correction was not carried out with a single-pole or two-pole re‐
solver. This sometimes caused a velocity error in the low percent range.
Fixing: The offset and amplitude correction is carried out according to the number of
poles of the resolver up to approx. 400 rpm.
Calculated absolute encoder offset is inaccurate when homing procedure uses reference
marks
Description: If the absolute position reference of an encoder evaluation that can be evalu‐
ated in absolute form had been established via the command "C0600 Drive-
controlled homing procedure command" (prerequisite S-0-0447 bit7 = 1), a
minor error sometimes occurred in the calculation of the absolute encoder
offset depending on the scaling, mechanics and homing velocity. As a result,
the actual position value sometimes showed a minor position error at the next
position initialization.
Switching encoder 1 to encoder 2 does not work with two homed absolute encoder systems
Description: If an axis had been operated with two abs. encoder systems that both had
been homed using the set absolute position command, it was not possible to
switch from encoder 1 to encoder 2.

Motor shutdown temperature was not set or not checked
Description: The motor shutdown temperature was not set or not checked for some MSK
motors.
Commutation setting, saturation method does not work with subsequent optimization
Description: If the saturation method (P-0-0522, bit 0 = 0 and bit 1 = 1) had been selected
for the automatic commutation setting of an incremental encoder, and the
subsequent optimization had been set to the reference (P-0-0522, bit 10 = 1
or bit 11 = 1), the offset was incorrectly determined.
V/Hz (U/f) control: Wrong command value after drive enable switched on

Description: If an acceleration limit value had been input via the parameter S-0-0138, Bi‐
polar acceleration limit value, the velocity command value was incorrect
when drive enable had been switched on after best possible deceleration
with velocity command value reset.
Workaround: Set bipolar acceleration limitation (S-0-0138) to zero. If the acceleration limi‐
tation afterwards is set via the max. frequency slope (P-0-0569), the error
does not occur.

Target position is not applied to actual position when changing from MC_Jog to MC_MoveAd‐
ditive
Description: Drive-controlled positioning mode was active.
When changing from “Jogging” to “Automatic” the position command value is
not used internally for the effective target position (S-0-0430). Therefore, an
old target position had taken effect in the case of relative positioning and the
target position thus was wrong.

IndraDrive Mi - wrong drive state AB if DC bus voltage missing - no error message in AF
Description: In the case of an inverter, the "bb-control section ready for operation" and
"Ab control section and power section ready for operation" states only depen‐
ded on the signal state of the module bus.
If "power OK" had been signaled at the module bus, the drive displayed the
"Ab control section and power section ready for operation" state, independent
of the DC bus voltage. This behavior was misleading in case the DC bus wir‐
ing had been faulty and particularly with IndraDrive Mi where the DC bus can
be disconnected from the supply unit via a fuse.
Fixing: In the inverter, the DC bus voltage is factored into the "Ab control section and
power section ready for operation" message in addition to the module bus
signal.
"Ab control section and power section ready for operation" is only displayed if
the module bus signals "power OK" and the DC bus voltage is > 30V.

Correction of torque constant does not work correctly
Description: The thermal dependency of the der torque constant has to be determined us‐
ing the average speed and the temperature with the time constant of the mo‐
tor.
1. The time constant of the motor taken into account for calculating was too
small.
2. The average speed was incorrectly determined.
Nevertheless, the effect on the torque constant error were minor (in the low
percent range).


Return motion error reaction not available in functional package Sytronix
Description: The return motion error reaction had not been enabled with the Sytronix
package.
13.1.13 570_Measuring Encoder

E2074 after update from 20V09/20V10 to 20V14 with MSK motor
Description: With MSK motors and absolute encoder monitoring activated, the warning
E2074 was sometimes generated without any reason.
Encoder 2 mounted on actuator side is not correctly supported for all allowed scaling settings
Description: For the following allowed scaling settings, "S-0-0053, Position feedback value
of encoder 2" was not initialized and generated correctly in the case of actua‐
tor-side mounting.
Rotary encoder 2 + rotary scaling + actuator reference
Rotary encoder 2 + rotary scaling + load reference
Rotary encoder 2 + linear scaling + load reference.

Problems with incremental encoder emulation with zero pulse offset (P-0-0901.x.4) and
P-0-0052
Description: If emulation first had reference to encoder 1 while inversion had taken place
via bit 3 in S-0-0277, and then the change to signal emulation had taken
place, the inversion separately activated for emulation with reference to en‐
coder 1 remained active, although the inversion was already taken into ac‐
count in S-0-0051 (or other signals).
The reference of the measuring encoder was not evaluated correctly. There‐
fore, the output of the zero pulse remained disabled for the emulation of
P-0-0052.
Fixing: The separate inversion for emulation with reference to encoder 1 is reset so
that it is no longer active in the case of signal-related emulation. The refer‐
ence bit in P-0-0331 is evaluated for the reference of the measuring encoder.
F2053 when switching from P2 to P4
Description: The increments and zero pulses were lost with the error message „F2053
Incr. encoder emulator: pulse frequency too high”. Only by switching to the
operating mode was it possible to bring the emulation back to correct incre‐
ments and zero pulse outputs.

Fixing: The jump in the command value signal is output to the emulation as long as
the maximum output frequency is not exceeded. If this is the case, the error
„F2053 Incr. encoder emulator: pulse frequency too high" or the warning
„E2035 Incr. encoder emulator: pulse frequency too high" is output and the
emulator is stopped for 3 NC cycles.
After 3 NC cycles the output hardware is reinitialized and the output is started
again automatically.
The increments to be output due to the command value jump and the incre‐
ments to be output during the 3 NC cycles are suppressed. The reinitializa‐
tion ensures that the zero pulse is output at the same position in reference to
the command value signal.
Impossible to complete homing procedure after motor encoder emulation
Description: For detecting the reference mark, the emulation with reference to encoder 1
uses the same functionality as the homing procedure command. If the phase
had been switched without mark detection carried out, the function for the
emulation remained active after a change to signal-related emulation and the
homing procedure could not be completed.
Fixing: The mark detection for emulation with reference to encoder 1 is deactiveated
for OM-PM phase switch.

Backup/Restore: String parameters with an odd number of characters were not restored cor‐
rectly with Restore
Description: String parameters that had an odd number of characters were not restored
correctly with Restore. The last character was cut off with Restore.
Example:
Parameter P-0-4089.0.2 contained the "Schnell" string when the data backup
was carried out. After Restore the parameter contained the "Schnel" string.
The last 'l' character was missing.
P-0-0013 contains parameters whose values were not changed by the customer
Description: In the case of EtherCAT as master communication with CoE and DS402 pro‐
file, the default values for S-0-0032, S-0-0033 etc. were wrong. Thus, these
parameters were always included in P-0-0013.
P-0-0013 does not show all affected parameters if EtherCAT master communication is active
Description: 1. With active EtherCAT master communication, instance parameters (*.130)
were immediately listed in "P-0-0013, List of all IDNs not corresponding to
default value" once they had been read via the service channel (e.g.,
P-0-0548.0.130).

2. If the value of a single parameter mapped to an instance parameter had

differed from the default value, this was not displayed in P-0-0013.
Fixing: If a 16-bit capable master communication is active (e.g., EtherCAT):
1. Reading an instance parameter no longer causes it to be entered in
P-0-0013.
2. If the value of a parameter mapped via an instance parameter differs from
its default value, its instance parameter is entered in P-0-0013.
Sytronix: Impossible to include actuator infeed compensation in AT telegram

Description: It had been impossible to include the parameter "P-0-0562, Sytronix: actuator
infeed compensation" in the AT telegram.
Transition command error C0212 due to invalid parameters
Description: Due to invalid parameters P-0-0192, P-0-0193, P-0-0198 or P-0-0479, the
transition command error C0212 occured.
Incorrect parameter set switching for motor/encoder
Description: All conversion factors for the sets are determined with encoder switching.
The gearbox sets are taken into account, i.e. sets were accessed even if this
group had not been preselected.
Thus, the factors were only calculated correctly if the gearbox sets had been
completely configured.
Fixing: Solution: The group of the gearbox parameters is automatically selected if the
group of motor control and encoder parameters has been selected. This
leads the customer to enter the gearbox parameters, too. If they equal the set
zero, they have to be copied.
13.1.16 622_Scaling
Faulty torque scaling with pound force unit
Description: A rotary actuator with linear pound force (lbf) scaling caused incorrect force
values.

F9100 is displayed after error F900x
Description: If one of the errors F9003, F9005... had occured, the display changed to
F9100 after about 4 minutes. The cause of the error then could not be recog‐
nized on the display. In these cases, P-0-0320 stored the error information.
Workaround: Evaluate the parameter P-0-0320 after the drive had been restarted

13.1.18 665_Webserver
Establishing the position data reference is missing for controller replacement of Mi
Description: For controller replacement in the IndraMotion Service Tool, establishing the
position data reference was not available for Mi devices.

C0206 Error when accessing machine archive is not generated
Description: In the strict mode of Backup and Restore an existing machine archive has to
be up-to-date. Otherwise, switching to OM is not allowed. If the µSD card had
been missing, phase progression took place nevertheless. Thus, it was possi‐
ble to avoid the mechanism by removing the µSD card.
Fixing: The error C0206 is signaled if the strict mode is active and no µSD card has
been plugged.

CCD cycle time is incorrectly generated (S-0-0001 is not generated correctly)
Description: With certain field buses (PROFINET, EtherNet/IP and POWERLINK), the
CCD cycle time, internal interpolator and master communication motion
task, ... were generated with reference to the default value (i.e. 2 ms) and not
with reference to the value in S-0-0001.
13.1.21 730_PROFINET
ProfiNet: Communication via Ethernet impossible if IP settings are incorrect
Description: The parameters P-0-4089.0.13, P-0-4089.0.14 and P-0-4089.0.15 were not
checked for validity in the drive. This sometimes made communication via
Ethernet (Engineering over IP) impossible.
CoE: Process data configuration is not saved
Description: With CANopen over EtherCAT (CoE) the process data configuration was not
saved in the drive. However, this is required because there are CoE masters
that do not write the configuration during run-up.
CoE: Sercos II provides wrong length for mailbox

Description: The mailbox length specified in the EEPROM was not correct. The error only
affected the MPC firmware.
Command errors (C0113) with EtherCAT in Free Run Mode
Description: With EtherCAT, command errors (e.g. C0113, ...) occurred sporadically in the
Free Run Mode.
E2001 warning in conjunction with EtherCat COE
Description: In the case of EtherCAT, a diagnostic logbook overflow (E2001) occurred
sometimes when the cyclic telegrams had failed, because failures were sig‐
naled both for MDT and AT in the diagnostic logbook.
Fixing: In the case of EtherCAT, only MDT failures are written to the diagnostic log‐
book.
EtherCAT COE: F4009 : although exiting the cyclic communication
Description: The error F4009 was signaled during phase switch from Operational to Safe‐
Operational or to PreOperational. This happened if the EtherCAT SyncMan‐
ager watchdog had been set to a low value (example: watchdog of 1 ms with
bus cycle time of 1 ms).
Fixing: The SyncManager watchdog is not monitored during phase switch.
P1901.0.2 (CiA402: status word) not set correctly in simulation mode with CiA402 profile
Description: P1901.0.2 (CiA402: status word) bit4 (power supply available) was not set in
the simulation mode.
The 0x1C00 01..04 objects are of the wrong data type
Description: The 0x1C00 01..04 objects were of the wrong data type. They were of the
UINT32 data type instead of UINT8.
Zero data are transmitted to FSoE stack
Description: During the EtherCAT bus run-up, FSoE telegrams consisting entirely of zeros
were sometimes received in the drive. This caused the error F3452 on the
SMO side. Therefore, FSoE telegrams set to zero are intercepted on the host
side and not evaluated in the FSoE stack.
Alias parameter cannot be written via SDO in the case of EPL


Description: Acyclic access to alias parameters was not possible with Ethernet POWER‐
LINK. The error message "SDO Transfer Abort: Data type does not match,
length of service parameter does not match. (0x6070010)" was output.
EPL: "All" parameter backup via IP does not work
Description: In the case of a backup of all drive parameters via Ethernet POWERLINK,
the error message "Service channel not open" was output for some Ethernet
POWERLINK parameters.

C0202 after switching from PM to OM with HMS inverter
Description: With HMS, switching problems (PM-->OM) occurred sometimes directly after
delivery. The limit value error C0202 was signaled. P-0-0860 was signaled as
invalid in S-0-0423.
Workaround: Execute loading of basic parameters

13.2.1 525_Drive halt
Encoder switching in hybrid position control
Description: In hybrid position control the position feedback value can be switched be‐
tween motor encoder and external encoder. For jerk-free switching, the com‐
mand value first has to be initialized with the position feedback value and the
velocity feedback value of the target measuring system.
If the external position encoder has a very coarse resolution or does not have
optimum contact with the material, big velocity measuring errors occur. They
had been used for initializing the command value which caused unnecessary
axis motion.
Enhancement: It is possible to select in parameter P-0-0556, bit 15, that the velocity of the
motor encoder is also used for initializing the command value when switching
to the external measuring system takes place.


Brake check: No check in the direction of load due to weight with brake released
Description: With brake released, the check was always carried out in both directions and
thus also against the load due to weight. The starting torque determined in
the process and the load due to weight defined the test direction for test step
2, against the applied brake.
Fixing: With the "check in the direction of load due to weight" configuration, the drive,
also for test step 1, only moves in the direction of the load due to weight.
14.1.2 150_Safe Motion Parameterization

Verification of SMO parameters via ADS does not work
Description: The verification of SMO parameters via ADS did not work reliably for parame‐
ters with Sercos format "IDN" (example: P-0-3336.0.1).
SafeMotion: Detailed diagnostics in S-0-0390.0.136
Description: In the case of SafeMotion command errors, the corresponding detailed diag‐
nostics was not displayed in S-0-0390.0.136.

Communication aborted in the case of PLC exception
Description: If MLD had an exception (F6010) due to watchdog or division by zero etc.,
the communication with IW etc. was sometimes aborted.
Besides, commands were sometimes delayed.
Long adjusted diagnostic messages and errors of PLC are not displayed in S-0-0095
Description: Functions such as MX_fSetDriveWarningText(), MX_fSetDriveErrorText(): If
the transmitted warning or error texts had been longer than 25 characters,
they were not displayed.
Fixing: Transmitted warning or error texts are correctly displayed up to 59 charac‐
ters. Longer texts are cut off and thus limited to 59 characters.
PLC project prevents repeated program download

Description: If a corrupt boot project had been loaded to the drive, it was impossible to
load another project and to carry out reset original.
With Codesys the message "Index was outside the bounds of the array" was
generated, and when attempting with P-0-1350 there was no reaction.
Watchdog when accessing list/string parameters
Description: In an MLD application, a string parameter (S-0-0030) was read in the first cy‐
cle (initialization clock). If this MLD application had been loaded to the drive
in IndraWorks as a compiled PAR file and PM -> OM switching had been car‐
ried out afterwards (without starting the PLC before), the error F6010 "*EX‐
CEPTION* OmittedCycle watchdog application 'Application' task 'Cyclic_S'"
occurred sometimes.
If this PLC runtime error had occurred once, it was necessary to switch the
drive off and back on, since the error was generated over and over again.
14.1.4 220_PLC Motion components

MC_MoveAbsolute: Simultaneous CommandAborted and Done
Description: In some cases, the "CommandAborted" and "Done" outputs were simultane‐
ously set to TRUE.
Program: MoveAbsolute is started and then interrupted by MoveVelocity. If
MoveVelocity immediately signals Done, because command velocity = actual
velocity, the Done output is set for MoveAbsolute in addition to
CommandAborted.
Virtual master axis generator: Function blocks do not output any error message if master axis
generation not activated
Description: If PLCopen function blocks had been used with the virtual master axis gener‐
ator, the function blocks did not signal any error message, if P-0-0758 (virtual
master axis, actual position value) had not been configured in P-0-0916
(master axis format converter signal selection).
Fixing: If PLCopen function blocks are used with the virtual master axis generator
and P-0-0758 (virtual master axis, actual position value) has not been config‐
ured in P-0-0916 (master axis format converter signal selection), the following
error is generated at the function block outputs:
Error = TRUE
ErrorIdent.Additional1 = 3
ErrorIdent.Additional2 = 20
ErrorIdent.Table = MLD_TABLE
If P-0-0758 is removed from P-0-0916 while a PLCopen function block is pro‐
cessed with the virtual master axis generator, the CommandAborted function
block output is set.

14.1.5 250_PLC Debug Interface

Parameter P-0-1365 does not contain code offset
Description: In the case of a PLC exception, the parameter P-0-1365 did not contain any
code offset. Therefore, it had been more difficult to find the affected code po‐
sition in a technology function (without programming system), because this
information could only be accessed with the PLC shell.
(Support functionality only!)
Workaround: Use PLC shell
(Support functionality only!)

No command error C3609 if wrong number of pole pairs or encoder resolution
Description: If the number of pole pairs or number of lines had been obviously wrong, the
encoder validation of synchronous motors did not generate the command
error C3607.
Hxx05 F8060 when executing C3600 motor data identification
Description: When the command C3600 Motor data identification had been executed, the
error F8060 Overcurrent in power section occurred sometimes.

Error in position initialization of digital encoders
Description: If a faulty telegram had been generated during position initialization (PM-
>OM), this was not monitored by the firmware. An incorrect position could oc‐
cur without an error being generated.
F2174 with MSM motors without buffer battery and 360 degrees modulo
Description: If an MSM motor had been operated without a buffer battery and the encoder
had been evaluated in absolute form, the loss of reference F2174 occurred
after switching off.
Functional package Synchronization: Encoder 1 loses reference or encoder 2 cannot be de‐
tected in the case of modulo scaling.
Description: With the active functional package Synchronization and modulo scaling in ad‐
dition, the loss of reference was sometimes not detected after the encoder

error F8022, ... or after retain data had been loaded using the parameter
backup.
Measuring encoder: Incorrect position initialization if "P-0-0765, Modulo factor" = 0
Description: If "P-0-0765, Modulo factor" had been 0 and the measuring encoder had
been moved in the deactivated state (!=OM), the measuring encoder after‐
wards was sometimes incorrectly initialized.
Modulo value can be set to value higher than maximum travel range
Description: It had been possible to set "S-0-0103, Modulo value" to a value higher than
the "S-0-0278, Maximum travel range". This sometimes caused undefined
behavior.
Position feedback value (S-0-0051/S-0053/P-0-0052) incorrectly initialized if forced absolute
encoder evaluation configured
Description: If forced absolute encoder evaluation had been configured in the position
feedback type parameter (S-0-0277/S-0-0115/P-0-0328), the position was
sometimes incorrectly initialized. The error usually occurred if the position
feedback value had displayed a value greater than the value of the absolute
encoder range before the encoder evaluation was deactivated.
Restricted travel range with rotary distance-coded measuring systems
Description: If a maximum travel range of S-0-0278 > 180 degrees (in relation to the en‐
coder) had been input with rotary distance-coded measuring systems and ab‐
solute scaling, a command error was generated during the homing proce‐
dure. It had been impossible to switch off this message.
Fixing: The monitoring function can be switched off using the bit 12 in the respective
position feedback type parameter. It then is the user’s own responsibility to
make sure that the homing procedure always works correctly in their applica‐
tion!
C0209 with linear SSI encoder
Description: If a linear encoder had been parameterized in such a way that the resolution
value in S-0-0602.x.4 had been higher than the number of position bits
(2^bit), switching to OM was not permitted.
Diagnostics missing for faulty EnDat2.2 encoder
Description: Faulty EnDat2.2 encoders (incorrect order code in encoder type plate) were
not diagnosed correctly by the drive.

Fixing: The error is displayed in the drive. The customer can/has to contact the en‐
coder manufacturer.
Distance-coded encoders: Display of offset in S-0-0600.x.10 is applied to S-0-0173
Description: After a distance-coded encoder had been successfully homed, S-0-0173 was
not set to the position of the first reference mark that was passed in the dis‐
play format, but to the calculated distance to the zero point of the encoder.
The value corresponded to the offset stored in S-0-0600.x.10, converted to
the display format.
F8079 in the case of overflow S-0-0600.x.2 with EnDat 2.2 (>32bit)
Description: If there had been an overflow of the ENCB position, a velocity jump occurred
with an EnDat2.2 encoder and a number of position bits > 32. This some‐
times caused the error F8079.
F9003 when switching from PM to OM and an error occurring simultaneously
Description: If an encoder error or safety technology error had occurred simultaneously
when switching from PM to OM or setting the absolute position, the error
F9003 occurred sometimes.
Affected:
-BISS
-HIPE
-PANA
-SSI
-ENEM
Impossible to negate the incremental track for distance-coded encoders
Description: With the options for inverting the encoder system available up to now it had
been impossible to correct the constellation "incremental track inverted com‐
pared to the direction of counting of distance coding". Thus, it had been im‐
possible to carry out the homing procedure without error.
Moreover, S-0-0277/0115 bit 5 had been incorrectly implemented, so that the
sign of the calculated zero point distance could be inverted instead of the di‐
rection of counting of the distance-coded system.
Fixing: The constellation (physics of the encoder) "incremental track inverted com‐
pared to the direction of counting of distance coding" can now be configured/
represented via S-0-0602.x.2 bit 3.
Bit 5 in S-0-0277/0115 is no longer used, the distance-coded system is en‐
tirely inverted via S-0-0277/0115 bit 3.
Workaround: Connect the encoder correctly, i.e. incremental track and distance coding
have to match.

Incorrect velocity extrapolation in case encoder telegram fails

Description: In the case of telegram failure, the position was not correctly extrapolated for
digital encoders. Thus, the position was generated incorrectly due to the tele‐
gram failure.
Fixing: In the case of telegram failure, the extrapolated position contains the current
velocity.
Master communication encoder displays twice the velocity of encoder at master axis
Description: If an encoder signal had been transmitted to the drive via the master commu‐
nication, the velocity feedback value was incorrectly determined. The feed‐
back velocity displayed twice the value of the actual velocity.
MPC-20V08: C0606 and E2001 in the case of drive-controlled homing with 1Vpp encoder
Description: If the reference mark evaluation of an encoder had been activated for differ‐
ent functions in parallel (e.g., measuring encoder and encoder 1), sometimes
only the first function detected the mark. No mark was signaled to the second
function and the function accordingly generated an error
Offline parameterization not possible with IndraWorks
Description: Among other things, the encoder configuration did not work in the offline
mode.
P-0-0019, Initial position value has no effect
Description: If only one control encoder had been configured and it had been a relative
measuring system or the absolute evaluation had been deactivated in the po‐
sition feedback type parameter (bit 7), the position feedback value was initial‐
ized with 0 instead of P-0-0019, Initial position value. This was also the case
if two control encoders had been configured and both measuring systems
could only be evaluated in relative form.
Switching error C0272 if linear axis set to load scaling
Description: It had been impossible to operate a linear motor with load-side position data
reference.
Fixing: A linear motor with load-side scaling can be evaluated as encoder 1, if the
gearbox parameters (S-0-0121, S-0-0122, P-0-0121 und P-0-0122) have the
value 1.

"F2036 Excessive position feedback difference" generated if "C0300 Set absolute position
procedure command" executed
Description: If 2 control encoders (encoder 1 + encoder 2) had been active and a value
unequal 0 had been parameterized in "S-0-0391, Monitoring window", the
error F2036 occurred sometimes when the command C0300 Set absolute po‐
sition procedure had been executed. The command C03 acknowledged the
execution as successful, but the reference bit was not set.
Automatically calculated resolution of analog, rotary encoders is not rounded down correctly
Description: With rotary sine encoders and TTL encoders, the encoder output resolution in
S-0-0601.x.2 was calculated as intended with 2^n on the basis of the physical
resolution. Due to a faulty rounding function, however, the next higher power
of 2 was used in some cases, according to the physical resolution. The next
lower power of 2 should be used though, since the resolution is otherwise in‐
creased artificially.
Fixing: The next lower power of 2 below the physical resolution is always used for
calculating the encoder output resolution.
No position adjustment between encoder 1 and encoder 2 if both encoders can be evaluated
in absolute form
Description: If 2 control encoders (encoder 1 and encoder 2) have been configured, posi‐
tion adjustment occurs after the position initialization. The adjustment was not
carried out if both control encoders could be evaluated in absolute form.
Variable maximum value implemented for P-0-0095/96/97 absolute encoder monitoring win‐
dow
Description: The maximum values for the parameters P-0-0095, P-0096 and P-0097 were
not limited to the position ranges.
Fixing: The maximum values for the parameters P-0-0095, P-0096 and P-0097 are
limited to logic position ranges.

Faulty parameter set switching function of encoder parameters
Description: The parameter set switching for encoder, motor and gearbox did not work.
INCH scaling does not work with linear opt. encoder
Description: If a linear encoder 2 had been operated with INCH scaling, the actual position
value and the velocity were incorrectly generated (Inch factor).

No reference marks with SSI encoder

Description: If the reference mark acquisition had been activated by reference mark de‐
tection (P-0-0014) or the homing procedure (S-0-0148), the evaluation did not
provide a valid mark for the SSI encoder.

Better utilization of synchronous motors with reluctance effect in field weakening
Description: The performance in field weakening could not be fully accessed for synchro‐
nous motors with reluctance effect.
Fixing: For synchronous motors with reluctance effect, the achieved torque is up to
20 % higher due to a different motor current input when the motor is operated
at the voltage limit.
Change in direction of motion not applied during motor data identification (C3600)
Description: The drive did not apply the configuration of parameter P-0-0601 bit 4 (change
in direction of motion). Therefore, the command error occurred during the ex‐
ecution of the command (C3600).
P-0-0017, Power output stage control word cannot be configured in signal control word
Description: It should be possible to write the parameter P-0-0017, Power output stage
control word via S-0-0145, Signal control word so that the entire parameter
does not always need to be included in the cyclic telegram. Only bit 0 has
currently been defined in parameter P-0-0017, Power output stage control
word. It is thereby possible for the control unit to switch the PWM frequency.
PT1000 temperature sensor inaccurately evaluated
Description: If the motor temperature had been measured with PT1000 and digitally trans‐
mitted via the AcuroLink encoder, the measured value was too inaccurate.
The displayed value was too low, particularly in the range of overtemperature
shutdown.
S-0-0100 incorrectly calculated with MPE20V12 during motor identification at MLP070C
Description: The adjustment to the linear motor had not been carried out correctly in the
calculation. Thus, wrong values were calculated for S-0-0100.
Wrong identification values are determined if drive is much bigger than synchronous motor


Description: If the amplifier had beern much bigger than the synchronous motor, wrong
values were determined during the identification.
S 534 set to zero after motor identification
Description: The parameter S-0-0534 was overwritten by mistake.

S-0-0337, Status P >= PL is not mapped to S-0-0013, Class 3 diagnostics
Description: The parameter S-0-0337, Status P >= PL was not mapped to S-0-0013,
Class 3 diagnostics bit 7. Bit 7 was always 0.

Coordinate offset was not deleted
Description: When setting the absolute position, homing, the current coordinate offset
(S-0-0283) was not deleted.
Only the parameter data was deleted, the effective offset in the encoder eval‐
uation was still active. This means that the offset in the actual position value
was still active.

Anti-vibration filter does not work in "drive-controlled position control"
Description: In the operation mode cycl. position control drive-controlled, the switching of
the anti-vibration filter (P-0-0642) did not work.
The switching process was not completed correctly, the synchronization com‐
pleted signal (P-0-0152) changed cyclically.
Faulty positioning block mode
Description: In the positioning block mode, the accelerations that had been set (P-0-4008,
P-0-4063) sometimes did not take effect.

P-0-0788 cannot be emulated (incremental encoder emulation)
Description: In the case of incremental encoder emulation, no increments were output
when P-0-0788, Group axis 1 position, fine-interpolated had been emulated.


P-0-2937.0.3, Input of force feedback value cannot be written via master communication
Description: It had been impossible to write the parameter acyclically (e.g., with the pa‐
rameter editor).
FW download via http cannot be locked with customer password
Description: It had been impossible to lock the FW download via http (WEB interface) with
a customer password.
IDST, unable to activate SafeMotion in „Controller replacement“ dialog after device was re‐
placed
Description: After a device had been replaced with IDST, the „Activate parameter set“ but‐
ton was not active in the „Activate SafeMotion“ area. It was impossible to acti‐
vate SafeMotion.
14.1.16 715_General Communication Services

Too many Telnet sessions cause F9100
Description: An exception had occurred due to too many (after approx. 60) Telnet ses‐
sions (logins). This caused the drive to lose the retain data (F2174).

"Operating mode neutral" profile sets wrong default operation modes
Description: If the "operating mode neutral" profile had been set and "Set parameters de‐
pending on field bus profile to default values" was afterwards selected for
loading the basic parameters (P-0-4090 = 0x4), the current default operation
mode was not set in the operation mode parameters S-0-0032, S-0-0033, ...
S-0-0287, but all operation mode parameters were loaded with "no operation
mode defined".
CoE: No check for maximum value 255 when writing byte values
Description: If 1-byte CANopen objects had been written via IndraWorks, it was possible
to write values outside of the value range of the object.
CoE: Only DS402 displayed as configurable profile

Description: Only the DS402 profile was possible with CoE
Fixing: Also the Rexroth profiles are possible with CoE
14.1.18 725_Profibus
Master communication: S-0-0000 cannot be used in process data configuration
Description: The parameter S-0-0000 could not be used in the process data configuration.
A byte length of 0 byte was calculated in the drive instead of the 2-byte data
length of S-0-0000. This sometimes caused the error F4012, for example.
It affects the field buses:
- PROFIBUS
- PROFINET
- EtherNet/IP
PROFINET: F2025 or AF after switching from PM to OM
Description: If one of the Rexroth profiles "freely configurable mode", "freely configurable
mode neutral operation modes" or "I/O mode" had been used and drive
enable had been set in the control word (P-0-4068 or P-0-4077), the error
F2025 occurred sometimes in the switching process to OM. In a few cases,
the drive was switched directly to AF instead of the error occurring.
Fixing: Drive enable is only set in the drive if a positive edge is input for drive enable
in the control word (P-0-4068 or P-0-4077).

Sercos: Value 0 can be set for S1003
Description: It had been possible to enter unusable values in the parameter S-0-1003.
The value 0 sometimes caused F4001 during phase switch to CP3.
Fixing: If the entered value is smaller than the min. value, it is automatically set to
the min. value. If the entered value is greater than the max. value, it is limited
to the max. value.
CoE: Incorrect length via subindex 81
Description: The length was not displayed in elements but in bytes via subindex 81.
CoE: No AT data during switching process from SafeOp to Operational

Description: CAN over EtherCAT: The drive controller did not provide any process data
during the switching process from SafeOp to Operational.
F9100 when downloading a FW via FoE
Description: When a FW had been downloaded via FoE konnte, the error F9100 occurred
sometimes.
P-0-3335.0.3 (possible source ID for signal control of outputs) is filled with wrong IDNs in the
case of ADS communication
Description: P-0-3335.0.3 (possible source ID for signal control of outputs) was filled with
wrong IDNs in the case of ADS communication.
Fixing: In the case of ADS communication, the alias parameters are displayed, i.e. in
the 16-bit IDN format.
EtherCAT SoE: Toggle bit (bit 0) in drive status word (S-0-0135) does not work
Description: If the parameter S-0-0135 drive status word had been read via the parameter
channel, bit 0 (of S135) toggled too often.
EPL: MDT data are not applied by the drive, AT data are not transmitted
Description: If the drive had already been switched to OM during the Basic Ethernet
mode, the configuration transmitted from the master to the drive was not ap‐
plied, since it was impossible to write the corresponding parameters in this
state.
Fixing: If the drive had been in the Basic Ethernet mode and is then switched to Init
or Per-Operational, the sub-device state machine is checked and switched to
PM, if required (i.e. if the sub-device state machine is in OM).
14.1.23 999_Other
Axis hangs up in transition command C0200 if scaling changed from mm to inch
Description: If the scaling had been set to inch, it was impossible to switch the axis to OM
due to a conversion error.
Workaround: The axis can be operated if the scaling of the axis is configured with mm.

Functionality of BiSS C encoders extended


Description: The following functionalities were added for BiSS C encoders:
- Negation of ENCB output position (S-0-0601.x.1, bit 3)
- Configuration of ENCB output resolution (S-0-0601.x.1, bit 0)
- Increase in configurable multi-turn bits (S-0-0602.x.7, bit 6-10)
- Padding bits to the left and right of the position bits (S-0-0602.x.7, bit 23-26
and bit 28-31)



Incorrect position initialization with SSI encoder after encoder error
Description: If the axis had been switched to OM after an encoder error (SSI) and the en‐
coder error had been removed, sometimes the wrong position was initialized
the next time the drive was run up to OM, without the reference being
cleared. With absolute encoder monitoring activated, F207x position offset
was detected.
F8079 with MS2N motor and Acuro single-turn encoder
Description: If an MS2N motor had been operated with a single-turn encoder, a velocity
peak occurred when the overflow threshold had been overrun, and F8079
was generated. It had thus been impossible to operate an Acuro single-turn
encoder.
Faulty measuring wheel function
Description: In the measuring wheel mode, S-0-0051 was only copied to the encoder posi‐
tion of S-0-0053 (or vice versa with measuring wheel mode switched off) for
the position modes with axis controller ctrl word. With Drive Halt and other
operation modes the parameter had not been copied. This caused uncontrol‐
led axis motion.
Fixing: In all operation modes with the "axis controller ctrl word active" attribute,
copying the encoders is allowed. The "old" position modes without axis con‐
troller ctrl word are still excluded.
Homing procedure with distance-coded marks not possible for two analog encoders
Description: The homing procedure for analog encoders with distance-coded reference
marks caused the command error C0606. This affected devices for which two
analog encoders (sine or TTL) had been activated (e.g., double-axis devices
or if the optional encoder had been used).

Magnetization with asynchronous motor takes very long
Description: When drive enable was switched on for the first time after the controller had
been switched on, it took extremely long for the magnetization to be comple‐
ted. Thus, the command value input was also enabled late. When the mag‐

netization took 100 ms, it required 30 s when drive enable was switched on
for the first time.
Fixing: When drive enable is switched on for the first time, the magnetization takes
as long as every other time.
Workaround: - Set P-0-0534 Voltage loop integral action time to 0 and then input the old
value again.
- Do not switch off the controller
- Before actually starting the procedure, set drive enable, wait a bit and re‐
move drive enable.

Cogging torque compensation not possible with single-turn encoders
Description: With single-turn encoders, the cogging torque table could not be recorded.
The error "C4803 Cogging torque compensation: inadmissible acceleration"
was always generated.
Impossible to determine the cogging torque table with linear motor
Description: With linear motors it had been impossible to determine the cogging torque ta‐
ble over the entire travel range or over a defined position range.
The drive remained permanently in the command "C4800 Command Deter‐
mine cogging torque compensation table".
15.1.4 550_Drive internal command generator

Acceleration insufficiently limited for linear motor
Description: The maximum acceleration had been additionally limited by a physical limit
value. For linear motors, this limit had been too low (2000 mm/s^2).
Thus, it was impossible to set the required acceleration values.
Fixing: Phys. limits:
linear: 2000000 mm/s^2
rotary: 100000 rev /s^2
15.1.5 585_Digital inputs/outputs

SMO parameters assigned to X31/X35 as output do not switch the output
Description: If SMO parameters had been assigned to the local output X31/X35, this was
without function.

Due to F2100: Invalid parameters when switching from PM to OM


Description: When the flash memory had been written, timeout monitoring sometimes was
activated too early and triggered F2100. This caused invalid parameters
when the drive was switched from PM to OM
Serial commissioning impossible with customer password assigned
Description: The customer password that had been assigned was not transmitted during
serial commissioning.



16.1.1 100_Safe Motion Basic system
Sporadisch F8354 mit Querschlusserkennung

F6010 if using the last 104 bytes of the MLD retain data
Description: If more than the last 104 bytes of the PLC retain data had been used, F6010
occurred after the reboot and the PLC program was not started anymore.
Error when using the entire MLD retain data
Description: If the entire retain data (MPB: 472 bytes) had been used, the data were not
restored correctly and reinitialized during the reboot.
If the retain data had subsequently been reduced so that the number of bytes
had been considerably smaller and could not be divided by 4, F9005 was
sometimes triggered.
Workaround: Use less than the maximum possible quantity of retain data.
F9005 crash if PLC project re-downloaded
Description: If a PLC project had been running, e.g., with a 1ms task but the task had a
runtime of several ms, the "F9005" crash occurred sometimes in case the
download was repeated in the PLC RUN status.
Workaround: Set task time in accordance with the required runtime or carry out PLC Stop
before the download.

PLC task watchdog or hangs up after re-download of a PLC project
Description: If a PLC project had been running, e.g., with a 1ms task but the task had a
runtime of several ms, the "F9005" crash occurred sometimes in case the
download was repeated in the PLC RUN status.
Workaround: Set task time in accordance with the required runtime or carry out PLC Stop
before the download.

16.1.4 255_PLC Programming interface

No logger message if boot project does not fit into memory
Description: In the attempt to load a boot project that was too big, a message was gener‐
ated saying only that it could not be loaded. The more detailed cause was on‐
ly displayed in a debug output.
Fixing: The following message is now output in the logger: "Bootproject too large".
16.1.5 302_HW-Support Control Units

F8836 can be cleared although error is still present
Description: It had been possible to clear the error F8836 DC bus balancing monitor al‐
though the cause of the error was still present.

S-0-1300.0.152 not read completely
Description: The last element of S-0-1300.0.152 was not completely read by the power
section.

MSK type plate version 3 not supported
Description: The first MSK motors had the version 3 type plate (today they are all supplied
with version 4).
The motors with the encoder memory version 3 were recognized, but could
not be operated. It was impossible to load the identification data and the con‐
trol loop default values.
MSM motor: Faulty thermal motor monitoring
Description: The temperature model limited the current to the 1.1-fold continuous current
of the motor. In standstill, this sometimes caused the motor to be destroyed.
Fixing: The temperature model limited the current to the continuous current of the
motor.
P-0-0018, Number of pole pairs
Description: The value of P-0-0018, Number of pole pairs had been limited to 100 pole
pairs.
Fixing: Motors up to 200 pole pairs can be operated.

P-0-0548.0.2 has an effect on duration of brake check

Description: So far there always was a waiting time of the entire maximum time of the test
item releasing the holding brake, even if the criterion for a successful comple‐
tion of the test had occurred.
Fixing: The parameter P-0-0548.0.2 is the maximum time that the axis may take for
running through the test distance in one direction. After the displacement, the
axis has to be moved back to the initial position. This takes at least the time
from P-0-0548.0.2, at most the 3-fold time from P-0-0548.0.2.
S-0-0100 set to zero after command C3200
Description: If zero had been entered in the inertia, the value of S-0-0100 was changed
after the identification.
Sensorless synchronous motor cannot be operated after execution of motor data identifica‐
tion command
Description: If the motor identification (C3600 Command Motor data identification) had
been executed with a negative direction of rotation, a sensorless synchro‐
nous motor could not be operated any longer. This was due to incorrectly de‐
termined parameters.
With asynch. motor + encoder, S-0-0100 is set to 0 after end of command C3600
Description: The velocity controller proportional gain was reset to the value 0 after the mo‐
tor data identification command.
"RL" (F2008) not generated if motor with brake replaced by motor without brake
Description: If MS2N motors without brake had been replaced by motors with brake, and
vice versa, the "RL" message was not generated. For this reason, the brake
was not configured automatically.
Fixing: If MS2N motors without brake are replaced by motors with brake, and vice
versa, the "RL" error is signaled when switching to the operating mode. When
the error is cleared, the brake data are automatically loaded.
HMS05: PT1000 motor temperature sensor cannot be operated
Description: With the PT1000 motor temperature sensor type, the temperature was dis‐
played correctly. The firmware nevertheless signaled F2021 sensor defective.
Motor replacement MSK-> MS2N

Description: If an MSK motor with brake had been replaced by an MS2N motor without
brake, the configuration of the motor brake was maintained. The brake re‐
mained active even with "RL, loading controller default values".
Workaround: If the command "set saved parameters to default values" was executed, the
brake can be deselected.
F8034 when executing C3600 together with HMS05 devices
Description: During the execution of the command C3600 Command Motor data identifi‐
cation, the error F8034 Communication error, power section modules occur‐
red after a short time. It only occurred if the command had been used with
devices of the HMS05 series.
Linear motor with encoder data memory
Description: If the motor data for a linear motor had been stored in the encoder memory,
either the scaling type for position data, velocity data, acceleration data and
torque data also had to be stored in the encoder memory (linear scaling), or
the scaling type had to be switched to linear so that the run-up to OM was
possible.
Fixing: In the case of a linear motor for which the motor data have been stored in the
encoder memory, the scaling type is automatically changed to linear.
Switching times PM -> OM too long
Description: For motors with an encoder, that have a data memory which however is not
used for saving motor data, switching from PM to OM took unnecessarily
long.
16.1.8 412_Drive Mechanics

Brake check does not start
Description: If the scaling of the velocity data had been negated, the brake check some‐
times hung up when determining the load due to weight. This means that the
command was never completed.

Battery-backed EnDat2.2 with wrong position signals reference
Description: If the battery had been replaced with the drive powered off, the drive after
having been switched back on signaled reference and had initialized to the
wrong position.
Fixing: If the battery is replaced with the drive powered off, the reference is cleared
the next time progression to OM takes place.

C202 or C209 not generated if initialization error detected

Description: The switching errors are not signaled if another slot is initialized without error
after the incorrectly initialized slot. The drive switches to the operating mode,
the encoder evaluation of the faulty encoder is not active and does not gener‐
ate correct position values.
Fixing: The transition command errors are correctly generated. If the encoder is in‐
correctly initialized, the drive does not go to the operating mode.
Loss of position in the case of negated ENCB initial position and digital encoders
Description: If a linear digital encoder (EnDat 2.2, SSI) or a linear combined encoder (Hi‐
perface, EnDat 2.1, SSI sine) had been negated using bit 3 in S-0-0601.x.1,
the initial position of the Basic encoder evaluation was incorrectly initialized in
certain cases. The reference was not cleared in case of error!
Fixing: Due to the bug fixing, the position now is always correctly initialized. In the
case of updates from older versions (<20V12) to the current version (>=
20V12), the machine reference gets lost without the drive recognizing this!
ATTENTION:
The axis has to be homed again after the update.
Position jump with linear analog encoders (travel range cannot be displayed internally)
Description: With linear analog encoders (sine or TTL) the maximum resolution was al‐
ways calculated in S-0-0601.x.2, irrespective of whether or not the entire
length of the linear scale could still be displayed internally with this resolution.
Up to now it had been impossible to parameterize the scale length.
Fixing: The new parameter S-0-0602.x.9, Phys. encoder position range was imple‐
mented. It is used to set the scale length for linear analog encoders. The res‐
olution in S-0-0601.x.2 is then calculated in such a way that the position
range input can be displayed in the position in S-0-0600.x.2.
If the parameter has the default value 0, the default resolution is calculated
as usual in the PM-OM transition command. In this case, or if the resolution
has been configured by the user, the maximum possible position range with
this resolution is entered in S-0-0602.x.9.
Amplitude and offset correction not active
Description: The offset and amplitude correction function for 1Vpp had not been active.
Distance-coded encoders were not supported
Description: Due to the modification of the encoder evaluation for the Sercos encoder pro‐
file, the function had been no longer operational.

Fixing: Distance-coded encoders are supported with the same functional principle as
in MPx-18VRS.
ENCB error bit is set too late in the case of encoder error
Description: If an encoder error occurs with a 1Vpp encoder, the error bit is only activated
after triple error. The position and velocity, however, are still generated with
the faulty signals and thus are wrong.
Fixing: If an encoder error occurs with a 1Vpp encoder, the position is extrapolated
up to 3 times and the velocity remains unchanged.
Encoder negated: Absolute monitoring for SSI sine encoder does not work anymore
Description: If the encoder position is negated for the SSI sine encoder using the parame‐
ter S-0-0602.x.2 (bit 3), the absolute monitoring does not work anymore, i.e.
the "encoder signals disturbed" warning (E2074, E2075 or E2076) is gener‐
ated.
Workaround: If these warning messages (E2074, E2075 or E2076) are to be suppressed,
the absolute encoder monitoring (S-0-0602.x.136; bit 0) has to be deactiva‐
ted.
Encoder voltage not switched off in the case of 24V error
Description: The encoder voltage was not switched off if a 24V control voltage error had
been detected. This reduced the storage time of the retain data so that the
retain data sometimes could not be correctly saved anymore.
EnDat2.2: F2105 with set absolute position procedure command
Description: In the case of the set absolute position procedure command, the error mes‐
sage F2105 is generated.
Workaround: Deactivate use of OEM memory (can be switched off with 20V10 and above):
Set bit 11 in S-0-0602.x.136 to 1.
Hengstler encoder (S4W AD37S) with 20-bit single-turn is not supported
Description: ACURO®link encoder with 20-bit position transmission could not be commis‐
sioned, because the position was incorretly generated.
Increase of resolution: Absolute range not reduced for rotary combined encoders
Description: If the position resolution (S-0-0601.x.2) had been increased, the associated
reduction of the absolute range did not take effect and was not entered in
S-0-0601.x.6.

Negation of encoder does not become active, for linear encoders: Sine, TTL, Hiperface, En‐
Dat 2.1
Description: In the case of linear encoders of the sine (1Vpp), TTL, Hiperface and EnDat
2.1 types, the initialization of the encoder configuration had not been carried
out completely so that the negation of the encoder via “S-0-0601.x.1, bit 3"
did not become active.
No detailed diagnostics displayed with F8022 (ACURO®link encoder)
Description: With ACURO®link (S4W), no detailed diagnostics were displayed in the diag‐
nostic trace for the error message F8022.
Position initialization of combined encoder: Correction angle is not limited
Description: If the bit 8 in S-0-0602.x.136 is active, the position initialization takes place
with fine correction. An error occurred with combined encoders for SSI, be‐
cause a correction angle ensued between absolute position and incr. position
greater than 120° degrees.
Fixing: The correction angle is extended to 135° degrees.
If the fine correction signals an error, implement the following measures:
- Contact encoder manufacturer to check whether the abs. track was adjus‐
ted to the incr. track.
- Or deactivate bit 8 in S-0-0602.x.136. As a result, a coarser position initiali‐
zation is carried out.
Position offset of up to one division period in the case of initialization under motion (HIPER‐
FACE)
Description: If a HIPERFACE encoder had been operated as encoder 2, the position was
sometimes initialzed incorrectly if the encoder had moved during the initializa‐
tion.
Puttin S-0-0054 in cyclic telegram S-0-0188
Description: It had been impossible to add the parameter S-0-0054 to the process data
(S-0-0187/S-0-0188).
Reduction of encoder resolution does not work
Description: With S-0-0601.x.1 bit 0 set, the resolution could not be reduced but only in‐
creased. Only values greater than or equal to the automatically calculated
resolution were allowed.

Fixing: With the bug fixing, the reduction of the resolution initially was only imple‐
mented for the HIPERFACE and ACURO®link encoder types. With
S-0-0601.x.1, bit 0, set, the resolution can now be set to values smaller than
the automatically calculated one, up to a minimum value of 1024 (2^10).
SSI-encoder emulation - SSI-encoder evaluation as measuring encoder
Description: For SSI synchronization of the absolute encoder emulation, a velocity value
(increment) has to be determined. This velocity value is added to the trans‐
mitted position in the emulator hardware to interpolate the distance to the
next SSI cycle. This value was not limited or modulo-corrected during over‐
flow of the position to be emulated (in case of modulo scaling 360° to 0°).
Thus, an incorrect value was determined and transmitted to the hardware so
that an offset was added to the position during modulo overflow of the emula‐
tor. The offset was an intermediate value.
Fixing: The velocity value written to the emulator hardware for interpolation to the
SSI synchronization is modulo corrected. In case of constant velocity, it is
displayed correctly even in case of overflow of the emulator input.
Switching off fine adjustment for combined encoders for SSI
Description: With the fine adjustment active, it was impossible to switch the drive to OM.
Fixing: For combined encoders for SSI, the fine adjustment cannot be activated any‐
more.
Third-party resolver sporadically returns F8022 if Cs heats up
Description: With certain resolver types, the exciter sine setting for the resolver supply
was sometimes not carried out correctly. Thus, the resolver signals were re‐
corded at the wrong time and were always too small.
Sporadic E2075 with optional encoder
Description: With encoder monitoring activated (S-0-0602.2.136 bit 0 = 1) and with En‐
Dat2.1 (absolute encoder) as optional encoder, the warning E2075 was spor‐
adically generated. The encoder monitoring could not be used.
Workaround: Deactivate abs. encoder monitoring --> set S-0-0602.2.136 bit 0 to 0.
SSI sine encoder linear: Encoder resolution S-0-0601.x.2 incorrectly calculated
Description: The ENCB resolution (S-0-0601.x.2) for linear SSI sine encoders is calcula‐
ted by the factor 100 too high. A too high resolution value means a too
coarse resolution.
Fixing: For compatibility reasons - changing the automatically calculated resolution
causes loss of reference - this defect is not resolved in the firmware.

Instead, a sign is to be displayed in IndraWorks next to the determined reso‐

lution. In the context menu, the sign will point to the provided workaround:
The resolution can be increased if the configuration bit S-0-0601.x.1 bit 0 has
been set, because the calculated resolution is less fine than at most possible.
Workaround: The resolution in S-0-0601.x.2 can be increased if the configuration bit
S-0-0601.x.1 bit 0 has been set, because the calculated resolution is less fine
than at most possible.

Error when shifting coordinate system after switching PM-OM
Description: If switching from OM to PM and back to OM had taken place after a coordi‐
nate system adjustment, the current shifting value was set to zero, but the
position was initilaized to the last valid position feedback value.
Command "S-0-0447, C0300 Set absolute position procedure command" sets wrong position
Description: With the firmware FWA-INDRV*-MPB-20V11-D5 and FWA-INDRV*-
MPC-20V11-D5, the reference position was sometimes incorrect after the
command "S-0-0447, C0300 Set absolute position procedure command" had
been executed.
If the next position initialization had been performed using the retain data
(P-0-0177/178/178), the position offset persisted. If the position initialization
had been performed using the absolute encoder offset, the position offset
was corrected.
S-0-0197/0199 only take effect for one encoder
Description: The set coordinate system procedure (S-0-0197) and shift coordinate system
procedure (S-0-0199) commands only took effect for the encoder selected in
the homing parameter (S-0-0147). The other encoder was not adjusted.
This modification was incompatible with regard to MPx-18VRS and contradic‐
ted the specification.
Fixing: The shifting still refers to the reference encoder, but both encoder positions
are adjusted.
Encoder 2 encapsulated via OPT_GEB2.
Spindle encoder function cannot be activated
Description: The spindle encoder function (P-0-0185; bit 1) for encoder 2 could not be ac‐
tivated.
Homing at positive stop faulty if torque/force scaling negated

Description: The parameter clamping torque (S-0-0530) was generated as a neg. value in
the case of neg. torque/force polarity in the drive. However, the limit value is
always unsigned.
Loss of reference F2174 if PWM mode changed
Description: If a transition command error C0202 or C0203 had been generated for a
homed axis, the reference got lost F2174/75/76 if the faulty parameterization
had been corrected.

C3607 generated after C3600
Description: The motor data identification did not work with asynchronous motors.
C3609 is generated if C3600 started under motion for asynchronous motor with encoder
Description: If the motor identification C3600 had been started under motion, this caused
the command error "Incorrect number of pole pairs or number of encoder
lines (C3609)" for asynchronous motors.
E2056/C3607 during motor identification with sensorless MSK and P-0-0510 = 0
Description: During motor identification the command error C3607 occurred sometimes
under motion. The error only occurred with sensorless MSK motors and if the
parameter P-0-0510 had been 0. If the motor identification is executed in
standstill, the warning E2056 is generated instead of the command error.
F8395 in the case of load-dependent PWM reduction
Description: For devices with safety technology, S3/S4 option, the error message F9001
was generated in the case of incorrect parameterization in P-0-0001, Switch‐
ing frequency in combination with the performance setting in P-0-0556, Con‐
fig word of axis controller or load-dependent PWM switching in P-0-0045,
Control word of current controller. The error occurred when the device was
booted up after it had been switched off with the incorrect setting.
Fixing: The defect has been resolved. Now the device can be booted up without an
error message. The error is then signaled during phase switching from PM to
OM. The message C0223 Invalid settings for controller cycle times is dis‐
played.
MSM motor battery monitoring inconsistent with MPx-18VRS

Description: If the battery voltage of the encoder had fallen below 2.6V (drive signals
E2048), the reference was cleared when switching from PM to OM. This was
wrong. Because the encoder was still supplied and thus provided the correct
position unless the drive had been switched off.
PT1000 - faulty short circuit monitoring
Description: The threshold for the PT 1000 short circuit detection (P 512 = 8) was wrong.
At temperatures of less than -20 °C already the F2021 error message was
output instead of the E2021 low temperature warning.
Fixing: The E2021 warning is output in the range of -40°C to -20°C. The F2021 error
is output at temperatures below -40°C.
Sytronix and sensorless motor control do not work
Description: It had been impossible to use sensorless control (V/Hz [U/f] or FXC) with the
functional package Sytronix and the following configuration.
P-0-0560, Configuration of actuator
- e-motor-pump-hydraulic cylinder or
- e-motor-pump-hydraulic motor
Accidental axis motion occurred sometimes.

Automatic control loop setting: C1806 with linear motor because safety distance too small
Description: The safety distance of linear motors was incorrectly calculated.
Infeed factor unit P-0-0562 wrong ([mm/rev] instead of [rev/mm])
Description: The wrong unit was output for parameter P-0-0562, mm/rev instead of
rev/mm.
P-0-0509 faulty if commutation angle determined using measuring method
Description: If the command for determining the commutation angle had been executed
using the measuring method, the calculated commutation angle was not en‐
tered in the "commutation offset coarse" parameter (P-0-0509).

Current rms value: Control word P-0-0610 cannot be cycl. configured

Description: It had been impossible to cyclically configure the control word for the current
rms value generator.
Parameter S-0-1702.0.15 does not retain
Description: After the device had been switched off and back on, the parameter
S-0-1702.0.15 lost its value and restarted with 0.

Parameter conversion error (C0203) occurs after machine switched on for the first time
Description: With cogging torque compensation active and cogging torque tables related
to the travel range (P-0-1131 = 0x0003), the error occurred after the installa‐
tion had been switched off an back on.
The parameter P-0-1131, Control word of cogging torque compensation was
listed in the parameter S-0-0423.
Workaround: If phase switching had been repeated, the command error C0203 did not oc‐
cur again. The compensation function works correctly.
Incorrect min/max values of coordinate system parameters
Description: The min/max values of the coordinate system parameters (S-0-0198,
S-0-0275) had not been set correctly.

Position-controlled op. mode with encoder1 not possible with FXC as motor ctrl and complex
actuator with encoder1
Description: The operation modes with encoder 1 position control were not enabled for
Sytronix axis (complex actuator) with FXC control.
Warning E2063 no longer output after changing operation mode and changing back
Description: After the velocity mode had been deselected with the warning E2063 and di‐
rectly selected again (without removing drive enable), the warning was not
generated again although the velocity had still been greater than the limit val‐
ue (S-0-0091).
The error had still been saved internally. Only the diagnostic message was
cleared!

Extended position command value (P-0-0100) did not take effect in cyclic position control
mode


Description: The extended position command value (P-0-0100) had no longer been ap‐
plied from the cyclic telegram. The full P-0-0100 resolution did not take effect.
Only an internal resolution greater than the master communication resolution
leads to an improvement.
Inkompatibles Verhalten bzgl. konfigurierter erlaubter Verbindungsausfälle bei zyklischer La‐
geregelung

Parameters in a cyclic connection have to handle the value 0 as parameter value
Description: The value 0 is not a valid value within the respective minimum/maximum val‐
ues of all cyclically configurable parameters. If one of the parameters
P-0-0703, P-0-0704, P-0-0710, P-0-0711, P-0-0925 and P-0-0926 had been
written with the value 0 in cyclic operation and the drive had subsequently
been switched to PM, the min./max. value verification signaled an error when
there was an attempt to switch to OM again. Only if the parameter had been
written with a valid value again, switching to OM was possible.
Fixing: If one of the mentioned parameters has been configured in a cyclic connec‐
tion and the parameter is written with the value 0, this value is replaced by
the last valid parameter value.
Factor is not recalculated in OM during phase synchronization
Description: In the special case P-0-0750 = 0, "P-0-0754, command value cycle” was cal‐
culated incorrectly:
If the value of “P-0-0750 master axis revolution per master axis cycle" was
changed from 0 to a value unequal to 0 in the operating mode, "P-0-0754,
command value cycle" was calculated incorrectly by a factor of 4096 (in case
of a default value of 20 for "P-0-0084, number of bits per master axis revolu‐
tion").
Fixing: If the value of "P-0-0750, Master axis revolutions per master axis cycle" is to
be changed in the operating mode from 0 to a value unequal to 0 or from a
value unequal to 0 to 0, the parameter value is now read-only.
The error “Operating data currently read-only due to other settings” is gener‐
ated.

Controlled deceleration after encoder error did not work
Description: The "controlled deceleration" function (P-0-0119, Best possible deceleration,
bit 12 has value 1) after encoder error did not work and thus could not be
used.


Incorrect command value generator switching between different target parameters
Description: If the target parameter in P-0-1152 had been switched from one of the com‐
mand values to S-0-0000 (default), the attributes (decimal places, unit) of the
command value generator output (P-0-1150), the amplitude (P-0-1155) and
the offset (P-0-1154) were not reset to the default setings for S-0-0000 (four
decimal places, no unit). Instead, the attributes of the last command value
that had been set persisted.
Besides, the data values for amplitude and offset were not cleared from the
firmware during any change in the target parameter. They were no longer val‐
id, due to the modified decimal places, after a change in the target parame‐
ter.
Fixing: If the target parameter is switched to S-0-0000, the attributes are reset to the
default settings with S-0-0000.
If the target parameter is changed, the amplitude and offset of the command
value generator are set to zero in the firmware.
16.1.21 570_Measuring Encoder

MSM motor with the wrong position signals reference
Description: Battery-buffered MSM with the wrong position signaled reference. If the bat‐
tery had been replaced with the drive powered off, the drive after having been
switched back on signaled reference and had initialized to the wrong position.
Fixing: If the battery is replaced with the drive switched off, the reference is cleared
the next time the drive is run up to OM.
Combined encoder for SSI by AMO displays warning E2074
Description: When the encoder moves (combined encoder for SSI by AMO, resolution:
6400DP/rev) the warning E2074 Encoder signals disturbed is generated.
Workaround: Deactivate absolute encoder monitoring S-0-0602.x.136 bit 0 to 1.

Motor-related encoder emulation was not supported
Description: The function of motor-related emulation had not been available.
Fixing: The implemented motor-related emulation or encoder-1-related emulation is
compatible with the functionality of MPx-18VRS. The raw values used for em‐
ulation now are the position and reference mark from the Sercos encoder
profile.
Inversion using S-0-0277 not taken into account for encoder-1-related emulation

Description: Other than in MPx-18VRS, the negation of the encoder position using
S-0-0277, bit 3 was not taken into account for encoder-1-related emulation,
because this parameter is part of the Extended evaluation. For encoder-1-re‐
lated emulation, however, only the input of the Extended evaluation is used.
Nevertheless, the emulation also is to use the logic from S-0-0277, bit 3, so
that the emulated position matches the position in S-0-0051.
Fixing: The rotational direction set in S-0-0277, bit 3 is evaluated to invert the incre‐
mentally calculated velocity and thereby the emulated position for encoder-1-
related emulation.

Hxx05: Timeout when read accessing P-0-2602.0.1 (power section logbook event)
Description: When P-0-2602.0.1 (power section logbook event) had been read accessed
via Sercos/IP, a timeout error occurred.
Initial value of "P-0-0562, Actuator infeed/gear ratio compensation" was wrong
Description: The initial value of P-0-0562, Actuator infeed/gear ratio compensation had
been wrong after the booting process.
Fixing: The initial value now is 1.0.
Parameter limit values S550,S551,S553 wrong/unsuitable with [N] as torque scaling
Description: With Sytronix, the min/max values of the 4-byte torque/force parameters
(S-0-0559, S-0-0551, S-0-0553) had still referred to the maximum motor tor‐
que and thus were too small. However, they should refer to the hydraulic
load.
Fixing: The min/max values of the 4-byte torque/force parameters (S-0-0559,
S-0-0551, S-0-0553) are preliminarily fixed to the maximum number range
(2^31).

F9005 during boot-up if string in P-0-0492 is too long
Description: If the string entered in the symbol-based patch function in the parameter
P-0-0492 had been too long (> 20 characters), F9005 occurred sometimes.
16.1.25 655_Local Control panel

MPx20V10: Backup/restore control panel function
Description: The "Backup"-"restore" menu item had been provided for a control panel
without a uSD card slot. However, backup/restore requires a uSD card.

Problems when saving parameters using parameter snapshot
Description: The values of some snapshot backup parameters of a CCD master slave axis
were wrong.

Cyclically configured parameters get lost when default values are loaded
Description: The default values for the parameters P-0-4080 (Field bus: Config. list of cy‐
clic actual value data ch.) and P-0-4081 (Field bus: Config. list of cyclic com‐
mand value data ch.) had been loaded. This was wrong because P-0-4090
(configuration for loading default values) had been configured in such a way
that the master communication parameters were excluded from the load de‐
faults procedure.
16.1.28 725_Profibus
Exception F9003 with PROFIBUS
Description: In very rare cases the exception F9003 occurred with PROFIBUS. During the
next drive booting process, loss of retain data occurred.
PROFIBUS: Acknowledging malfunction after communication interrupted
Description: After the communication had been interrupted (F4009), it was only possible
to acknowledge a malfunction if the control was in the RUN mode again.
F4012 can be acknowledged although error still present
Description: It was possible to acknowledge the error F4012 (incorrect I/O length) al‐
though the error had still been present.
PROFINET IO: Acknowledging malfunction after communication interrupted
PROFINET: F4012 is signaled and cannot be acknowledged anymore

Description: After the cause of the error F4012 had been removed, it was impossible to
acknowledge it, even after the bus had been run up again.
16.1.30 735_EtherNet IP
EtherNet/IP: Acknowledging malfunction after communication interrupted
16.1.31 745_Sercos III

At the beginning of CP4, C-CON= 0x0, but CON.State = 2 instead of 1
Description: Sercos III: At the beginning of communication phase 4, the diagnostic param‐
eter S-0-1050.x.9 temporarily displayed the wrong value (State).
Hotplug did not work after device had been switched back on
Description: Due to synchronization problems, hotplug did not work after the device had
been switched back on.
CoE: Runtime optimization
Description: The performance was optimized for the EtherCAT CoE implementation to
enable a bus cycle time of 250 µs.
Error when writing data to list parameter P-0-4042 using EtherCAT with CoE
Description: For SDO writing to list parameters, access for a single list element had so far
been supported via subindex 11 (up to 18 for parameter sets). The list ele‐
ments in P-0-4042 formed a characteristic. When a list element had been
written, the entire characteristic was checked for correctness, while the other
elements still had to be written. This caused the error of SDO Abort.
Fixing: Access to the entire list data is now supported for SDO access via the subin‐
dex 1.
EtherCat COE: PDOs (rx) are not mapped
Description: When the drive went from the EtherCAT state Init to PreOp, it transmitted an
EoE telegram of ARP. The "TeltaTau POWER CLIPPER" control did not sup‐
port EoE and interpreted this as an incorrect response.
Fixing: EoE telegram of ARP is only transmitted after the master initializes EoE in
the drive.

EtherCAT: F9100 when saving all parameters via ADS

Description: F9100 occurred when P-0-1630 had been read via ADS.
Impossible to set system time with EtherCAT
Description: In the EtherCAT master communication, the mechanism of setting and track‐
ing the system time using Distributed Clock (DC) was missing.
Fixing: The system time in the drive can be set using two parameters. When the sys‐
tem time fine P-0-2755 (S-0-1305.0.2) is set, the value is applied to system
time coarse P-0-2756 (S-0-1305.0.3).
With DC activated the system time fine is written using EtherCAT.
Note: If the system time is to be set synchronously for multiple drives, ob‐
serve that the system time coarse has to be activated within 4.3 seconds.
Once all slaves are in the master communication state SafeOp and above
and have been synchronized with DC, the system time can be input by the
EtherCAT master. In order for all slaves to have the same synchronized sys‐
tem time, the time input is to come from DC. In the master, the current DC
time is to be latched in 64-bit EtherCAT format and afterwards converted to
Sercos format. Observe that the time in EtherCAT format starts with 1.1.2000
and in Sercos format it starts with 1.1.1970. The converted time in Sercos for‐
mat first is to be written to S-0-1305.0.3 (system time coarse) and then to
S-0-1305.0.2 (system time fine). When it is written, the time is applied to
S-0-1305.0.2 in the slave. The system time input contains a latency (from the
latching in the master until it was applied in the slave). It cannot be greater
than 32-bit DC cycle (approx. 4.3s). With multiple slaves, the DC time can be
latched again for each slave in the master.
S-0-0000 gets max. value of P-0-4071 or P-0-4082
Description: In the case of bus systems in which the parameters P-0-4071 or P-0-4082
are masked (EtherCAT CoE, VARAN), the parameter S-0-0000 was written
by mistake. It thus had a max. value.
EtherCAT COE: Drive remains in PreOp state
Description: In the case of a 250 µs EtherCAT cycle, it was detected that together with
Beckhoff Master TwinCAT2 the IndraDrive device did not automatically go to
Operational after "Activates configuration" in TwinCAT2. IndraDrive had to be
manually pulled to Operational or rebooted.
Ethernet over EtherCAT (EoE) processing was optimized
Description: The handling of the EoE data was optimized to speed up then firmware
download via EtherCAT EoE.

16.1.33 790_CCD - Communication

S-0-0134 and S-0-0135 not used with analog profile type
Description: The parameters S-0-0134 and S-0-0135 had only been disclosed in the FSP
Drive and ServoDrive profiles.
Fixing: The parameters are disclosed in all profiles, but are only active in the FSP
Drive and ServoDrive profiles.

F8354 in STO deselection with dynamization error
Description: Under certain circumstances a safety technology malfunction occurred if the
motor had been decelerated too much, when verifying the dynamization pul‐
ses of the output stage. This caused F8354.
This malfunction affects the Indradrive Cs devices with ICP03 (W18 and W28
only)
16.1.35 999_Other
S-0-0141 too short for kit motors
Description: When loading the motor data of kit motors or linear motors, the designations
of primary and secondary part are loaded to the parameter S-0-0141, Motor
type. The number of characters for the motor type is restricted to 40. When a
parameter set had been imported from DriveBase, the error "unable to write
S-0-0141" therefore occurred in IndraWorks. The other motor data had been
written and it was possible to operate the motor.
Workaround: Write the paramter S-0-0141, Motor type with mit 40 characters at most.
F9100 instead of F8070 in the case of 24V dip
Description: In the case of temporary voltage dips or voltage peaks, the suitable diagnos‐
tic message, e.g. F8070, was not generated, but F9100. F8070 was not even
displayed temporarily when switching off the device.

16.2.1 120_Safe Motion Functions
Taking the jerk into account in SMD
Enhancement: Functional enhancement:

The jerk is taken into account when using the SMD monitoring function „Safe‐
ly-monitored deceleration on basis of actual velocity“ for changing between
the SMO operating states.

P-0-0110 extended by error classes bits 1 & 2
Enhancement: The parameter "P-0-0110.0.0, Device control: status word 2" supports two
other status bits that signal whether errors of error classes F4 to F8 have
been signaled since the last execution of the command “S-0-0099, C05 Re‐
set class 1 diagnostics". Executing the command „S-0-0099, C05 Reset class
1 diagnostics“ deletes these pieces of information.
Attention: If the command "S-0-0099, C0500 Reset class 1 diagnostics" can‐
not clear all errors or other errors are signaled during the execution of the
command C0500, it is not ensured whether the bits 1 and 2 show 1 or 0 when
the command is completed. Therefore, the command "S-0-0099, C0500 Re‐
set class 1 diagnostics" cannot be executed if the axis is in control and the
bits 1 and 2 are evaluated. Drive enable (AF) can only be set for the axis if
the bits 1 and 2 are 1 and the bit 13 (drive error) of "P-0-0115, Device control:
Status word" has not been set.
P-0-0110 bit 1: 1 --> No error of error class F4, F6 or F7 signaled
P-0-0110 bit 1: 0 --> Error of error class F4, F6 or F7 signaled
P-0-0110 bit 2: 1 --> No error of error class F8 signaled
P-0-0110 bit 2: 0 --> Error of error class F8 signaled

Braking resistor supposed to be switched off
Description: If the DC bus voltage exceeds the voltage threshold at which the braking re‐
sistor is supposed to be switched on to limit the DC bus voltage (820-850V),
it is switched on to "annihilate" the kinetic energy.
If IndraDrive C(s) are operated in an axis group, the kinetic energy can be ab‐
sorbed by another device (braking resistor). This device might, for example,
have a braking resistor outside of the control cabinet.
It had been impossible to configure the DC bus group in such a way that the
kinetic energy was specifically "annihilated" at a drive.
Enhancement: For devices in the DC bus group, it is possible to configure at which device
the DC bus energy is to be annihilated. For this purpose, the braking resistor
can be switched off in the "converter in inverter mode". By inputting bit 11
and 10 in the parameter P-0-0860, the braking resistor of this device is not
used.
Web server: Enabling the file system for SD card access

Description: Only in the MPC derivative had it so far been possible to access the SD card
slot of the control panel from the web server.



17.1.1 150_Safe Motion Parameterization
Change in checksums in case of serial commissioning with different FW version
Description: When an SMO image had been loaded to an axis within the scope of the seri‐
al commissioning (1:1 copy, auto commissioning), the CRC checksums
changed (P-0-3234.0.1, SMO: Configuration checksum, P-0-3234.0.4, SMO:
Parameterization checksum). This was the case if the SMO FW version used
to generate the SMO image contained less parameters (due to a minor scope
of functions) than the SMO FW version of the axis to which the SMO image
was to be loaded. In this case, the change in the CRC checksums is uncal‐
led-for, since the parameters in the SMO image have not changed. It was
thus impossible for the customer to check whether the serial commissioning
had been carried out successfully.
Fixing: When, within the scope of the serial commissioning (1:1 copy, auto commis‐
sioning), an SMO image is loaded to an axis containing an SMO FW with
more parameters (due to functional enhancements), the CRC checksums
and the size of the image do not change. "P-0-3234.0.1" and "P-0-3234.0.4"
remain unchanged during the upgrade/update.
Invalid standard parameters after SMO auto commissioning
Description: Internal access to "P-0-3232" from two contexts caused data inconsistency.
Thsi sometimes resulted in data changes in the standard parameters.
Fixing: Internal access locking was implemented.
SMO - configuration loss after parameters were loaded
Description: If a parameter file had been loaded with all parameters (not only "backup pa‐
rameters"), internal access conflicts occurred sometimes because P-0-3232
and other SMO parameters were quickly written. Therefore, a defective SMO
parameter image was generated and saved. After a reboot, it was then im‐
possible to run SMO.
Fixing: Access conflicts are avoided by internally locking the SMO image memory
range.

Alert and warning bits incorrectly evaluated with S4W
Description: With S4W, the alert bit had been exchanged for the warning bit. The drive
identified an encoder warning as an alert, and the error F8022 was signaled.

Encoder positions drifting if encoder evaluation deactivated under motion

Description: If the transition command "C0400 Activate parameterization level 1 proce‐
dure command" was executed while one or multiple encoders had been in
motion, a slight position offset occurred sometimes in the case of repeated
encoder position initialization, if the retain data of the absolute encoder buffer
(P-0-0177/P-0-0178/P-0-0179) had been used for the initialization. The posi‐
tion offset was persistent. The same error occurred sometimes if the control
voltage of the axis controller had been switched off while one or multiple en‐
coders had been in motion.
Incorrect position initialization of measuring encoder if P-0-0765 = 0
Description: If "P-0-0765, Modulo factor measuring encoder" had been set to 0, the posi‐
tion initialization always used the absolute encoder offset of the measuring
encoder. This sometimes caused incorrect position initialization.
Incorrect position initialization with modulo scaling
Description: With certain mechanical configurations, incorrect position initialization occur‐
red sometimes. In the case of error, position initialization was carried out us‐
ing the absolute encoder offset instead of using the retain data of the abso‐
lute encoder buffer (P-0-0177/P-0-0178/P-0-0179).
F8359 with Acuro-Link encoders when setting absolute position
Description: When setting the absolute position, the error message F8359 was output be‐
cause the lifecounter had been incorrectly generated. The error only occurred
if the performance had been set to Advanced.
Workaround: Set the performance to Basic.
Increase in ENCB resolution incorrectly implemented for EnDat2.2 and ACURO-Link
Description: Setting bit 0 in S-0-0601.x.1 had no effect. It was not evaluated for the En‐
Dat2.2 and ACURO-Link encoder types.
Fixing: The bit 0 in S-0-0601.x.1 is checked, and then the internal shifting factors are
adjusted to the parameterized resolution so that increased ENCB resolutions
(up to a max. of 2^number of single-turn bits) are supported. The absolute
range in S-0-0601.x.6 is also reduced accordingly.
However, the bug fixing does not cover linear EnDat2.2 encoders. See also:
Defdb00190068 Impossible to increase ENCB resolution for linear EnDat2.2
encoders.
No F2174 or F2175 if loss of reference P-0-0753 Position actual value in actual value cycle

Description: The generation of "P-0-0753, Position actual value in actual value cycle", that
is required for the "position synchronization" mode, relates to the encoder1
(S-0-0051) or to the encoder2 (S-0-0053). In the PM-OM transition command,
the bit 0 of parameter "S-0-0520, Axis control word" defines to which encoder
it relates. If the absolute position reference had been established for
"P-0-0753” by "set absolute position", a check is run in every PM-OM transi‐
tion command to find out whether the absolute position reference still exists.
If the check reveals that the absolute position reference no longer exists, the
corresponding encoder has to signal the "loss of reference" error.
Encoder1: "F2174 Loss of encoder 1 reference"
Encoder2: "F2175 Loss of encoder 2 reference"
"P-0-0753, Position actual value in actual value cycle" loses its absolute posi‐
tion reference,
- if the corresponding encoder loses its absolute position reference
- if "P-0-0786, Modulo value actual value cycle" changes
or
- if P-0-0753 relates to a different encoder (old encoder 1 (S-0-0051), new
encoder 2 (S-0-0053) or vice versa.
Description of error: Loss of reference of "P-0-0753, Position actual value in
actual value cycle" did not cause the corresponding encoder evaluation of
"S-0-0051" or of "S-0-0053" to signal the F2 error "loss of reference".
Overflow of encoder position handled incorrectly with digital encoders
Description: With the EnDat2.2, ACURO-Link and SSI encoder types, the overflow thresh‐
olds were not calculated, and neither limitation of position differences nor
overflow detections were used.
Fixing: The overflow thresholds are calculated. In the case of encoder positions with
32 bits, however, the thresholds take the value 0. The functions for limiting
the position differences and overflow detection are applied.

Position actual value in actual value cycle is incorrectly initialized with motion
Description: If the encoder had been moved during the PM->OM position initialization, the
position was sometimes initialized slightly wrong. If the retain data had been
used for initialization, the position offset persisted.

Values for S-0602.1.1 and S-0602.1.3 got lost
Description: With master communication: Ethercat COE / profile: DS402 / third-party mo‐
tor / encoder: 1Vpp, the settings of the parameters "S-0602.1.1, Phys. encod‐
er type" and "S-0602.1.3, Phys. encoder resolution" got lost after the third-
party motor had been parameterized and the axis had been rebooted.


No IP communication due to incorrect detection of duplicate IP
Description: With MPx-20V10, the ARP probe mechanism by mistake detected a duplicate
IP for a received IP telegram.
Incorrect web server list access
Description: With MPx-20VRS, it is no longer possible to read MLD lists via the CGI inter‐
face.
17.2 Hardware
17.2.1 Resolved defects
100_Safe Motion Basic system
F6200 in normal operation
Description: The error F6200 sporadically occurred with MPx18/SMO13 in normal opera‐
tion. This was caused by too high timing tolerances in bus access. The bug
fixing was also implemented in MPx20/SMO14, since the problem might also
occur here.
Fixing: The defect has been resolved with a new ICS11-FPGA.


18.1.1
POWERLINK: Sporadic F4009 with bus cycles >= 1ms
Description: With Ethernet POWERLINK, the error F4009 occurred sporadically, with bus
cycle times >= 1ms.

Long switching times for PM to OM switching
Description: Switching from PM to OM with EnDat2.2 took up to 14 s.
Fixing: The switching time was reduced to 7 s.

F8304 if control unit reestablishes connection after F4001/F4002
Description: F8304 occurred sometimes if the control unit had reestablished the connec‐
tion after F4001 or F4002.
18.1.4 110_Safe Motion IO interface

Rejected Forward Open request
Description: In the case of a faulty Forward Open request, the SMP channel had some‐
times been disabled and it was impossible to reestablish the connection.
Fixing: The handling of the Forward Open reply was modified. A check is now run to
find out whether the reply is acknowledged with Success or not. If the reply is
not acknowledged successfully, the sessions created when processing the
Forward Open request are reset to their default states so that they are availa‐
ble again for further attempts to establish a connection.
Workaround: Reset the device.
18.1.5 140_Safe Communication

F8304: No detailed diagnostics displayed in Diagnostic Trace
Description: In the case of F8304, no detailed diagnostics were output in the Diagnostic
Trace.


F9005 when accessing SMO parameters with MLD
Description: Aborting a PLC task (PLC exception, stop and reset) can cause the error
F9005.
PositionLoop event needs more calculating time after PLC reset (warm,cold)
Description: If a PLC reset (warm or cold) had been executed for a project with a Position‐
Loop, the PositionLoop needed more calculating time after the restart than
before. With MPB-20VRS this were approx. 8-10 µs.
Workaround: Execute reset origin instead of reset (warm,cold).
Possible F9003 in the case of overloaded PLC task in synchronism with CCD/master com‐
munication
Description: In the case of a PLC project with overload in a task in synchronism with CCD
or master communication (task not completed in the required time), F9003
with failure of the 2 ms task occurred sometimes. The error had occurred on
an MLD-M master with a CCD clock of 1 ms and a specific timing.
Workaround: A synchronous task generally should not work at its limit load -> modify task
structure so that a synchronous task does not reach the limit load.
In the case of 1 ms tasks, it is possible to use a cyclic task without difficulty.
Retain variables do not work after project loaded using parameters
Description: If an MLD project with retain data had been loaded using the IW DS dialog
(parameter file), the retain variables were reinitialized after every reboot. If
the MLD program is loaded to the drive in the "standard way" (compilation,
IW download), the retain variables retain their values as expected before
switching off.
Workaround: Project with SPS in STOP, load the parameters incl. "P-0-1359" via parame‐
ter group and then switch off / switch on.

F9005 when loading a PLC project
Description: In very rare cases, F9005 was generated if a PLC program had been loaded
to a drive (without PLC program so far). To this end, MLD-S had to have
been configured and AxisData had to have been activated.
Since the error occurred very rarely and only if no PLC program had been
available on the drive, this could only happen at the beginning of a commis‐
sioning procedure.
Workaround: Restart drive.

18.1.8 302_HW-Support Control Units

UL certification failed due to "Component Breakdown Test"
Description: A DC bus capacitor short circuit is simulated within the scope of the UL certif‐
ication. Thereby, an electrolytic capacitor has to absorb the entire DC bus
voltage. This can cause a very large heat build-up and possibly destroy the
electrolytic DC bus capacitor in an explosion, if the supply voltage is not
switched off.
This fault has to be monitored and the device has to be disconnected before
the destruction occurs.
Using the specified fuses.
Reinforced fuses are specified for the UL test so that the disconnection from
the supply has to be effected by the appropriate error evaluation and the
mains contactor being switched off. Such an error evaluation had not been
active.
Fixing: The unbalanced voltage load caused the F2836 unbalance in DC bus error
message.
The bb relay is opened with this error message, and the "supply unit error" is
output on the module bus causing the mains contactor to be immediately
switched off.
This requires a mains contactor with the bb relay connected in its switch-off
chain.

Default values of the parameters were not available
Description: The parameters P-0-0548.0.2 and P-0-0548.0.3 did not have their default val‐
ues after the basic parameters had been loaded.
Direction of rotation incorrectly checked in sensorless operation
Description: For motor data identification, the direction of rotation of the motor is sup‐
posed to be possible both in positive and negative direction if the correspond‐
ing button is activated in the menu dialog. In doing so, the motor has to turn
slowly. So far the motor simply remained in the nonoperating state in spite of
the current flowing.
Loading application-specific data from encoder did not work
Description: It is possible to store data in the motor encoder. These data can be loaded to
the drive with the "load application-specific data" command.
In the case of a Hiperface encoder without a motor type plate by Bosch
Rexroth, this did not work because the application-specific data in the encod‐
er had been detected to be valid.

Fixing: The motor type plate including the application-specific data has to be gener‐
ated again so that the application-specific data become valid. Afterwards, the
loading of the data works.
Motor holding brake remains applied in spite of drive enable
Description: If the "Release motor holding brake" command had been reset at the same
time as drive enable had been set, the holding brake sometimes remained
applied in spite of drive enable and the drive subsequently moved against the
applied brake. This caused heavy wear of the brake.
P-0-0548.0.2, Maximum test duration holding system released, has an influence on the brake
check duration
Description: So far there always was a waiting time of the entire maximum time of the test
item releasing the holding brake, even if the criterion for a successful comple‐
tion of the test had occurred.
Y-D switching of synchronous motors
Description: During star-delta switching for synchronous motors with incremental measur‐
ing system, the commutation offset was not switched. Switching the commu‐
tation offset related to the zero mark of the encoder did not work.
Fixing: For synchronous motors with incremental measuring systems, the commuta‐
tion offset has to be automatically determined when switching on the first time
to PM->OM. During the initial commissioning, the offset has to be saved in
optimized form in relation to the zero mark. When the parameter sets are
switched, the zero mark detection of the encoder is activated. Thereby
switching to the commutation offset saved in P-x-0508 takes place when the
mark is passed.

EnDat2.2 encoder with multi-turn range using external battery box
Description: The stored multi-turn revolutions get lost if the battery fails or the external
battery box is disconnected. The firmware does not detect the battery failure.
After the device has been switched back on, the previously homed encoder
signals to be homed, although its position is distorted by the lost multi-turn
revolutions.
Fixing: If the battery voltage with an EnDat2.2 encoder is low, the warning E207x is
signaled. If the battery is empty, the warning E2048 is generated. In the case
of PM-OM, F2048 is generated and the reference is cleared.
Incorrect "P-0-0334, Absolute encoder range of measuring encoder"

Description: If the "automatic calculation of the output resolution" had been deactivated in
"S-0-0601.x.1, Encoder data out configuration" by setting bit 0, "P-0-0334,
Absolute encoder range of measuring encoder", was incorrectly calculated if
the following conditions had been fulfilled.
(((S-0-0611.3.6*S-0-0611.3.2) > S-0-0611.3.10) && S-0-0611.3.10 > 0
or
((S-0-0611.3.6*S-0-0611.3.2) > 2^32) && S-0-0611.3.10 == 0
Thus, absolute encoder evaluation possible (P-0-0328 bit6 = 1) was some‐
times signaled, although this had not been the case.
MSM motor encoder: Incorrect position if battery entirely empty
Description: If the battery with an MSM motor had been discharged so far that the encod‐
er did not provide the correct absolute position any more, this was not ac‐
knowledged with a loss of reference (F2174). The position is incorrect and
the drive signals reference!
Fixing: If the battery voltage with an MSM motor is low, the warning E207x is sig‐
naled. If the battery is empty, the warning E2048 is generated. In the case of
PM-OM, F2048 is generated and the reference is cleared.
C0401 and longer switching time in simulation mode
Description: Operation in the simulation mode had no longer been possible, because the
"parking axis" command used for it could not be completed when switching
from PM->OM.
Command error "C0401 Switching not allowed" was generated with detailed
diagnostics "Impossible to stop command C1600 Parking axis procedure
command".
Drive remains in PM to OM transition command
Description: With the combined encoder for SSI type and if the baud rate had been set
too high, the drive sometimes hung up in the transition command when
switching from PM to OM.
Workaround: Reduce baud rate and restart drive.
E2074 with a high-resolution Endat2.1 encoder
Description: In the case of EnDat2.1 encoders with a resolution > 2048DP/rev, the warn‐
ing E2074/75/76 always occurred after the encoder had moved shortly, al‐
though the signals were error-free.
Encoder negated: Absolute position incorrectly initialized with EnDat 2.1, Hiperface and SSI
sine

Description: If the position had been inverted on the basis of S-0-0601.x.1 bit 3, only the
absolute track was inverted, the incremental track was not taken into ac‐
count.
Encoder negated: Reference mark detection does not work correctly with sine encoders and
TTL encoders
Description: The value of the reference mark counter was not negated in the reference
mark calculation, although bit 3 had been set in S-0-0601.x.1. Therefore, the
determined difference between reference mark counter and current position
was wrong. This led to the wrong reference mark position in S-0-0173.
Fixing: The value of the reference mark counter is negated for generating the differ‐
ence between the reference mark that was passed and the current position, if
the ENCB position is negated using S-0-0601.x.1. Thus, the reference mark
position can be determined correctly.
F2105 with command for commutation offset determination
Description: When the commutation offset had been determined, F2105 "Cannot address
OEM memory" occurred.
Fixing: A new bit is defined in which the user can deactivate or activate the use of
the OEM memories (S-0-0602.x.136; bit 11).
F2105 with rotary Hiperface encoder (encoder data memory < 600 bytes) and MPB-20V06
Description: If a Hiperface encoder <600 bytes is used, F2105 is generated when switch‐
ing to the operating mode.
Incorrect encoder status (S-0-0600.x.1) if error detected, only encoders with SSI interfaces
and encoders of MSM motors
Description: “Not ready” was signaled in S-0-0600.x.1, Encoder status, because bits 15,14
had been set to 0 and bit 13 to 1 in the case of error.
Fixing: “Ready” is also signaled in S-0-0600.x.1, Encoder status in the case of error,
bits 15,14 remain at 11.
KTY motor temperature inaccurately transmitted via S4W
Description: KTY motor temperature had been inaccurately transmitted via S4W protocol,
because at more than 100 °C the motor temperature differed by 5 °C from
the real temperature!
Position feedback value drifts when changing between PM-OM under motion

Description: If an axis had been frequently switched (PM-OM-PM) and it had been impos‐
sible to accurately display the selected modulo value (with modulo scaling)
internally, the position drifted slightly during each phase progression!
Reference is always set again after "C1500 Cancel reference point procedure" command
Description: If the reference of a an encoder evaluated in absolute form had been deleted
using the command S-0-0191 "Cancel reference point procedure" and PM-
OM switching had been subsequently carried out, the reference was reestab‐
lished with the last valid position.
Sercos encoder cannot be used as a motor control encoder
Description: If used as a motor encoder, the position signal transmitted by the master
communication has to be fine interpolated with regard to the V-controller cy‐
cle. This had failed so that the velocity in every second V-controller was zero.
Speed-dependent position offset between encoder 1 and 2 (F2036)
Description: If an encoder 2 had been operated in addition to encoder 1, the encoder 2
evaluation was carried out with an offset of one cycle. This caused a velocity-
dependent position offset and also the error F2036, according to the monitor‐
ing window.
Transition command error C0209 with Endat2.1 encoders
Description: When the drive had been switched to OM, the transition command error
C0209 encoder configuration was generated.
TTL encoder evaluation: S-0-0600.x.1 Encoder status, bit 5 position status always 0
Description: With a TTL encoder, the position status in the parameter "S-0-0600.x.1 En‐
coder status; bit 5" was had not been generated correctly and always had the
value 0.
Velocity feedback value of encoder 2 incorrectly generated
Description: With a linear encoder 2, the velocity feedback value was determined by the
factor 10^6 too low.
Absolute encoder monitoring default is deactivated
Description: With some combined encoders the warning E2074 was sometimes gener‐
ated.

Fixing: When loading the basic parameters, the bit 0 in S-0-0602.x.136 is now set to
1. Therefore, the monitoring function is deactivated.
Workaround: Set bit 0 in S-0-0602.x.136 to 1!
F2174 after set absolute position procedure and OM->PM->OM switching
Description: In spite of the set absolute position procedure having been carried out,
F2174 was signaled when the drive had been switched to OM.
Incorrect automatic calculation of Encoder Basic resolution with linear sine encoders and TTL
encoders
Description: With linear sine encoders and TTL encoders, the resolution in S-0-0601.x.2
was incorrectly calculated and set in the case of automatic calculation. It
should be the physical resolution in nanometers divided by 2^15. The inver‐
ted value was calculated instead: 2^15 divided by the physical resolution. In
addition, a decimal place had been moved in the conversion from millimeters
to nanometers so that the calculated resolution was lower by the factor 10.
Incorrect entries in S-0-0423 during physical initialization of multiple encoder types
Description: If S-0-0602.x.3 had not contained a valid value, the wrong parameter was en‐
tered in S-0-0423 (S-0-0603.x.3 instead of S-0-0602.x.3) for sine encoder,
EnDat 2.1, Hiperface, resolver and TTL. This was due to an error in the IDN
generation.
With Safety-4-Wire, S-0-0302.x.7 instead of S-0-0602.x.7 was also entered in
S-0-0423 due to an incorrect IDN, if the writing of the telegram length had
failed.
Sercos encoder: Position value transmission not checked in transition command
Description: No check was carried out to find out whether a connection exists in which
S-0-0610.x.2 is transmitted. Accordingly, no error was entered. An error was
only generated, if the encoder status had not been transmitted or had been
"not ready for operation".

Incorrect position after exception
Description: If a reboot had been necessary due to a system crash (F9xxx), the position
was sometimes incorrectly initialized without the reference getting lost. Dur‐
ing the first phase progression, loss of reference (F217x) was always detec‐
ted. In the case of repeated phase progression, however, reference was sig‐
naled in addition to the wrong position!

Incorrect position initialization of position feedback value (modulo) with motion

Description: If the encoder had been moved during the position initialization and the initial‐
ization had taken place using the absolute encoder buffer (P-0-0177/178),
the generated position was slightly wrong. This offset then persisted or could
accordingly increase by repeated PM-OM switching (drift).
Sporadic F9100 with MSM motor
Description: The system crashed sporadically when the drive had been switched from OM
to PM. Hereby the absolute position got lost, but this was not reliably detec‐
ted! Only during the first phase progression after the crash had the retain da‐
ta been invalid and the error F217x was generated!
Endat 2.1: Incorrect position initialization without fine correction
Description: In the case of an encoder with Endat2.1 protocol, the position initialization
was wrong by half a division period, if the position initialization was only sup‐
posed to be carried out with regard to the digital position information of the
encoder.
(S-0-0601.1.136 bit 8 equal 1).
This initialization mode has to be selected, if the zero point shifting of the en‐
coder had not been performed in compliance with Endat, since the analog
track and digital position did not match in this case.
Incorrect position initialization measuring encoder with motion
Description: If the measuring encoder had been moved during the position initialization
PM->OM, the position was sometimes initialized slighty wrong. If the retain
data had been used for initialization, the position offset persisted!
Homing procedure with incremental motor encoder and asynchronous motor
Description: The homing procedure with zero mark worked exactly once after the drive
had been switched to OM.
If the homing procedure had been restarted, the drive did not find the zero
mark, the axis kept moving at homing velocity.
Increasing the Basic resolution for encoders does not work correctly
Description: If the user had increased the resolution (with S-0-0601.x.1 bit 0 set), the over‐
flow value was not limited. Thus, the overflows were incorrectly displayed.

Fixing: For rotary encoders, the overflow threshold is limited to 2 to the power of 30.
If a higher value is calculated, the maximum threshold of 2 to the power of 30
is used instead.
For linear encoders, the overflow threshold is limited to a maximum of 2 to
the power of 31. If a higher value is calculated, the natural overflow is used
instead.

Drive keeps turning infinitely after E8040 in spite of AH in the control word
Description: In the sensorless control V/Hz (U/f) mode the drive kept turning with a load at
the current limit, although "Drive Halt (AH)" had been activated.
Commutation using encoder 2 not active
Description: Absolute initialization of commutation with encoder 2 was not possible.
Fixing: The "absolute commutation" function is activated in the parameter "P-0-0185,
Encoder 2 configuration; bit 4".
If an encoder 1 (motor encoder) is available and not suited for absolute com‐
mutation of the motor, the configuration in P-0-0185 is used for absolute initi‐
alization of the commutation position, if encoder 2 suited for this purpose.
Inductance values Ld and Lq incorrectly determined
Description: During the motor data identification, the inductance values Ld and Lq were in‐
correctly determined. This affected the quality of motor control.
Velocity search mode did not work
Description: The velocity search mode did not work in FXC and V/Hz (U/f) operation.

Impossible to activate redundant motor encoder
Description: The function of the redundant motor control encoder was not available.
Fixing: With a fixed mechanical link between encoder 2 and encoder 1, the encoder
2 can be used as a redundant motor control encoder.
Filters without effect in velocity control loop after P-0-1120 = 0
Description: If a filter in the list of IIR filters (P-0-1120) had been switched to inactive, all
following filters became inactive, too.

Optimized commutation offset in relation to the zero mark does not work
Description: In the case of incremental measuring systems, the commutation offset, for
more precise commutation, can be related to the reference point and/or the
zero mark of the encoder. For the reference to the zero mark, the encoder
has to have a zero mark with a fixed reference to the electrical revolution
(e.g., one zero mark/revolution).
The reference to the zero mark did not work.
Fixing: For incremental measuring systems with a fixed reference of the zero mark to
the electrical revolution, the commutation offset can be saved in optimized
form with reference to the zero mark during initial commissioning.
The optimized commutation offset takes effect in operation when the zero
mark is passed.

Axis incorrectly moves to target position in drive-controlled positioning mode!
Description: If the "drive-controlled positioning" mode had been used with modulo scaling
and the configuration "relative positioning with actual position used for posi‐
tion control in "S-0-0346, Positioning control word", the axis sometimes incor‐
rectly moved to the target position.
In the case of error, the actual travel distance was corrected by an additional
travel distance of one modulo value (S-0-0103). Therefore, the axis either
moved to the target position in the wrong direction or it moved to the target
position in the correct direction, but with an additional distance of one modulo
value.
The error occurred if the actual velocity and the internally filtered velocity,
when the operation mode had used the actual position for position control,
had different signs and the absolute value of the filtered actual velocity was
additionally greater than "S-0-0124, Standstill window".
"S-0-0417, Positioning velocity threshold in modulo format" in this case did
not have any influence on the erratic behavior.

Velocity synchronization mode: Operation mode incorrectly activated, if Vact < S-0-0124
Description: The "velocity synchronization" mode was initialized with the filtered actual ve‐
locity without taking the "S-0-0124, Standstill window" into account.
Fixing: If the filtered actual velocity is smaller than "S-0-0124 Standstill window", the
"velocity synchronization" mode is initialized with the velocity 0, otherwise
with the filtered actual velocity.


"P-0-0175 configurable reaction for specific devices – error cases"
Fixing: The device reaction that can be configured using "P-0-0175 configurable re‐
action for specific devices – error cases" is only supported with IndraDrive
Cs, IndraDrive Mi and IndraDrive HCQ/HCT devices. Data input in
„P-0-0175“ is disabled for all other devices.

F9005 sporadically generated when target parameter switched in command value generator
Description: The cyclic call of the command value generator was only stopped when the
target parameter had been switched in "P-0-1152", if the command value
generator had been enabled in the command value generator control word.
Otherwise, the generator function kept being called which caused an error
due to the different data lengths of the target parameters used.
Fixing: When target parameter is switched, the cyclic call of the generator function is
stopped until the target parameter has been reconfigured.
18.1.19 575_Virtual master axis

Virtual master axis generator: Incorrect motion profile if NC cycle time unequal "S-0-0001"
Description: With active Sercos III master communication (e.g., IndraMotion MLC as
Sercos III master), the virtual master axis generator generated an incorrect
motion profile if the NC cycle time set in the Sercos III master differed from
the time set in "S-0-0001".
Example:
If the NC cycle time set in the master had been twice (e.g., 4ms) the value in
"S-0-0001" (e.g., 2ms), the position values generated by the virtual master
axis generator were generated in twice the time. This caused the master axis
generator velocity to be halved.
Workaround: If the active NC cycle time is entered in "S-0-0001", the virtual master axis
generator generates the correct motion profile.

Incremental encoder emulation: Error F2053 in the case of modulo processing of "S-0-0051"
Description: To initialize the modulo processing of the signal to be emulated, the internal
modulo value for encoder 2 was always used for "S-0-0051, Position feed‐
back value of encoder 1", "S-0-0053, Position feedback value of encoder 2"
and "S-0-0386, Active position feedback value".
Fixing: The modulo value is set depending on the selected encoder function.

Encoder emulation: F2053 during homing procedure

Description: Initially, only the raw position of the encoder display value was set for the
homing procedure, but not the actual display value. Thus, it was only updated
in the next call of the encoder evaluation. The intended jump processing of
the encoder emulation then already took effect between the setting of the raw
value and the updating of the display value.
Fixing: Besides the raw value, the display value is now immediately switched again
during the homing procedure. In doing so, the display value is simply set to
the raw value without a correction factor, because anyway the correction fac‐
tor normally has to be so small that it does not cause the error F2053. The
correction then is carried out in the next encoder evaluation.
F9005 if motor encoder emulation selected in MPx-20VRS
Description: It had been possible to select the motor encoder emulation although this
functionality is not available in MPx-20VRS. With the initialization of encoder
emulation, this caused incorrect access and thus F9005 during PM-OM
phase switch.
Fixing: The bit 12 for selecting the motor encoder emulation was removed from the
list of allowed bits. Therefore, it always remains at 0 which corresponds to the
"signal emulation" selection.

Diagnostics not helpful with Engineering using ADS interface
Description: Problem in the case of Engineering using ADS interface: If EIDN had been
entered in "S-0-0423" for which no alias number had been defined, S-0-0000
was displayed.
Fixing: A new parameter "P-0-0503, EIDN-list of invalid parameters" was created.
This parameter contains the content of "S-0-0423" in "HEX", 32-bit display.
The original EIDN are always contained in "P-0-0503" and not replaced by
"S-0-0000". Also with ADS interface, IWD thereby contains the information on
the problematic EIDN and can display them as EIDN.
Incorrect parameter set switching

Description: If encoder switching or gearbox switching had not been active, the parameter
set 0 always became active with PM-OM switching, although the set switch‐
ing to the preselected set initially was performed correctly and also displayed
like this in the current parameter set.
18.1.22 655_Local Control panel

Control panel: "Backup"-"Restore" menu item

Description: If one of the commands for backup/restore had been started from PM, the
drive was afterwards switched to OM.
18.1.23 675_FTP Server

Connection aborted or F9005 with FTP
Description: 1. With FTP commands in rapid chronological succession, the first command
sometimes provided the error "421 Service not available" after login (PASV in
this case).
2. After different communication first "SIP" or "Telnet" and afterwards "FTP”,
the connection was sometimes aborted in FTP after a longer period (approx.
2 h).
3. If a connection had been established with "SIP" (e.g., IndraWorks/DS) and
immediately terminated by the client (test: program terminated by process),
F9005 occurred sometimes.
Workaround: Reestablish connection or restart drive.
Handling problems with FTP
Description: 1. With WinScp it had been impossible to delete directories on IndraDrive
(Command via FTP is, e.g.: "RMD /directory1/directory1/").
2. Transmitting empty files (0 byte long) was aborted with error.
3. Files on the drive using FTP were generally created in uppercase letters.
Workaround: Use a different FTP client. Do not process empty files.

Backup/restore does not work if Profibus set as master communication
Description: If PROFIBUS had been set as the master communication for a device, the
firmware version (as an *.ibf file) was neither saved nor restored during back‐
up/restore.
Diagnostic messages C6601 and C6704 cannot be cleared
Description: The command errors C6601 and C6704, after they had been possibly trig‐
gered by the command C0200, were not automatically cleared afterwards
and it was impossible to clear them manually.
Fixing: The command errors C6601 and C6704, that are possibly triggered by the
command C0200, were replaced by the command errors C0206 and C0207.
If these errors are triggered during the execution of C0200, they are automat‐
ically cleared as soon as the command is afterwards terminated by the user.
F9202 after reboot command

Description: F9202 occurred sporadically after the reboot command.

Workaround: Switch off and back on.
Restore: MLD reload was triggered although MLD had not been stopped/restored
Description: Within the scope of the Backup & Restore function, an MLD reload was trig‐
gered during restore although MLD had not been stopped and restored.
Fixing: The erroneous MLD reload does not happen any more.
Backup&Restore: FWA update is possible in spite of MLD running
Description: In spite of the MLD running, the FWA update with subsequent automatic re‐
boot is possible.
Fixing: The check as to whether MLD is running was extended to all cases in which
reboot takes place. If MLD is running, the command is aborted with the error
C6706. If reboot is required due to parameter loading because the functional
package was changed, the reboot is not carried out and the command is
aborted with the error C6706.
Backup&Restore: Update.zip use case was not executed correctly
Description: If an update had been executed with a .zip file and no backup archive (Back‐
up.zip) had been available on the SD card:
a) Running MLD applications were not stopped/checked
b) The update was not detected and displayed during boot-up (init medium)
Fixing: a) Running MLD applications are stopped/checked b) The update is detected
and displayed during boot-up (init medium)
FW update invitation still displayed after update
Description: As long as a file had been in the update directory, the "Update?" query was
displayed at the control panel during every boot-up process, independent of
whether the file had already been loaded by an update or not.
New device detected with Backup/Restore function
Description: A new device was sporadically detected with the Backup/Restore function al‐
though nothing had changed. Background: The programming module identifi‐
er (P-0-1521.0.0 elements 4) was read incorrectly.
Fixing: The reading of the programming module identifier (P-0-1521.0.0) from the
programming module is repeated if the data are not correct.


S-0-0007 becomes invalid when basic parameters are loaded
Description: When the basic parameters had been loaded under EtherCAT in a phase >
PreOp, the parameter S-0-0007 became invalid. Even if the loading of the
master communication parameters had been deselected.

CiA402: Objects cannot be configured in oscilloscope
Description: The following objects and/or parameters could not be configured in the oscil‐
loscope.
0x6060, 0x6061, 0x603F, 0x6063, 0x60FC, 0x6098

E2004 during Sercos phase switch
Description: In the phase progression and regression of the der Sercos communication
phase, the change in parameterization of the Logicware took too long. De‐
pending on the FW version, this caused the warning E2004 (detailed diag‐
nostics: Monitored part of position controller interrupt interrupted by velocity
controller interrupt).
Sercos: Drive sometimes loses telegrams after switching to CP3
Description: Sercos FPGA sometimes loses telegrams in a cycle after having switched to
CP3. This can cause errors in other slaves in the Sercos network.
"S-0-1000" contains the "SCP-SafetyCon" class
Description: In the case of drives without a safety technology card, the parameter
"S-0-1000" contained the "SCP-SafetyCon” class.
EtherCAT COE: Drive address
Description: The EtherCAT address in P-0-4089.0.3 was write-protected in SafeOpera‐
tional and Operational.

POWERLINK: Communication interrupted with "backup of all parameters"
Description: Telegrams got sometimes lost in the case of SDO access or TCP telegrams
(e.g., via IndraWorks). This caused communication interruption messages,
for example, in IndraWorks.

"F2821 Error in control of braking resistor" sporadically signaled
Description: The "F2821 Error in control of braking resistor" error was sometimes gener‐
ated if long motor cables had been used.



Sporadic F8034
Description: The error F8034 Communication error, power section was sporadically gen‐
erated, if the device had been in operation mode without drive enable for a
longer time. This only affected the HMS05 device series.

Error of FB "MC_ReadStatus" in conjunction with MC_TorqueControl
Description: In the torque control mode (MC_TourqueControl function block),the following
error was generated when calling the MC_ReadStatus function block:
ErrorIdent.Additional1 = 16#00000199
The MC_TorqueControl function block had not been assigned to any
PLCopen state.
Fixing: The MC_ReadStatus function block as of now sets the "ContinuousMotion"
output when called with Enable = TRUE.
MC_CamIn: Deadlock in error state
Description: If the MC_CamIn function block had generated an error ("Error", "ErrorID"
and "ErrorIdent" outputs set), a deadlock occurred in the case of certain er‐
rors. The function block remained in the error state, even after a falling and a
rising edge at the Execute input. It was necessary to reset the PLC to run the
function block again.
MC_ReadStatus: Done and Error outputs simultaneously set
Description: If the MC_ReadStatus function block had signaled the error "internal process‐
ing error (undefined state)", the "Error" and "Done" outputs were simultane‐
ously set.
The error occured, for example, if the drive had been in the torque control
mode (MC_TorqueControl) and the MC_ReadStatus function block was
called.

ErrorID and ErrorIdent error outputs are reset at falling Execute edge
Description: If the Execute input had been set to FALSE for the MLD motion function
blocks with a function block error being present, the ErrorID and ErrorIdent
outputs were reset.
Fixing: If a function block error is present (Error, ErrorID and ErrorIdent outputs have
been set) and the Execute input is set to FALSE, only the Error output is re‐
set. The pieces of information at the ErrorID and ErrorIdent outputs remain
present.
At a rising Execute edge, the pieces of information at the ErrorID and ErrorI‐
dent outputs subsequently are also reset.
The pieces of information at the ErrorID and ErrorIdent outputs always should
only be evaluated in conjunction with the Error=TRUE output.
MB_PhasingSlave: VmAxisInt has to be used in secondary master mode to offset the slave
axis position
Description: In the secondary master mode of the virtual master axis, "VmAxisInt" had to
be transmitted at the "Axis" function block input at the MB_PhasingSlave
function block to offset the master axis position for the slave axis (P-0-0761).
To activate the secondary master mode, "VmAxis1" has to be transmitted at
the "Axis" input at the MB_GearInPos function block. This was not consistent.
Fixing: If the MB_PhasingSlave function block is used in conjunction with the secon‐
dary master mode of the virtual master axis to implement the adjustment of
the master axis position for the slave axis (P-0-0761) by position offset
(P-0-0928), "VmAxis1" now has to be transmitted at the "Axis” function block
input.
If "VmAxisInt" is transmitted, the following error message is generated at the
function block outputs:
- Error = TRUE
- ErrorID = RESOURCE_ERROR
- ErrorIdent.Table = MLD_TABLE
- ErrorIdent.Additional1 = 16#00000001
Recursive master axis combination is not checked
Description: With the function blocks MB_GearInPos, MC_GearIn, MC_CamIn and
MB_MotionProfile used to support the synchronization modes, recursive mas‐
ter axis linking was not checked. Thus, it was possible to transmit the same
axis at the master input and at the slave input. In this case, the function
blocks did not generate an error although the axis had been required to fol‐
low itself.
Fixing: If the same axis reference is transmitted at the "master" and "slave" inputs,
the following error is generated at the function block outputs:

- ErrorID = INPUT_INVALID_ERROR - ErrorIdent.Additional1 = 16#0024 - Er‐

rorIdent.Additional2 = transmitted axis number - ErrorIdent.Table = MLD_TA‐
BLE.
The defect has been resolved for all synchronization function blocks.
Wrong error message with VmAxisInt as slave axis
Description: If the "VmAxisInt" axis had been transmitted at the MLD motion function
blocks at the "Axis" input (e.g., MC_MoveAbsolute) or at the "Slave" input
(e.g., MB_GearInPos), the following error message was generated at the
function block outputs:
- Error = TRUE
The error message is not correct for this error case.
Fixing: If the "VmAxisInt" axis is transmitted at the MLD motion function blocks at the
"Axis" input (e.g., MC_MoveAbsolute) or at the "Slave” input (e.g., MB_Gear‐
InPos), the following error message is generated at the function block out‐
puts:
- Error = TRUE
19.1.3 230_PLC IO_Channel

Faulty digital inputs and outputs after Online Change
Description: Digital inputs and outputs behave faultily after Online Change or remain "Off".
The error occurs from and including MPx-18VRS to MPx-20VRS in combina‐
tion with the compiler/IW version 3.4.5.120 / IW13V16 and above.
Workaround: Do not carry out Online Change or set compiler version <= 3.4.5.120 /
IW13V16.

PLC: AxisData does not work for SMO parameters as actual values
Description: If an SMO parameter had been configured as an actual value in AxisData
(dwUserActualDataA_i, etc.), the parameter value was not applied to / dis‐
played in AxisData. In this case, AxisData always provides 0 for these param‐
eters.

19.1.5 270_PLC HMI support

IL_UdpKeys and IL_MKeys missing in MPx-20VRS
Description: The two function blocks were not available in the firmware.
If the function blocks from RIL_HMI_UTILITIES.library had been used, an
error during download was signaled.

Motor replaced without C0263
Description: The "C0263 Serial number of motor has changed" display was supposed to
point out that the diagnostic motor data stored in the programming module
can be retained either in axis-related (e.g., operational performance for lubri‐
cation intervals of axis guideways) or motor-related form when the MSM mo‐
tor is replaced. This collided with the objective of motor replacement without
commissioning tool.
Fixing: In the mentioned case of motor replacement, the axis-related diagnostic data
are to be retained. "C0263 Serial number of motor has changed" is not dis‐
played.
The diagnostic data are cleared, i.e. set to 0 when the parameter P-0-2055 is
deleted.
OEM memory was not recognized after motor replacement
Description: If an MS2N motor with a C (S4W) type encoder had been replaced, it was
sometimes impossible to read the motor data from the OEM memory of the
encoder. The error occurred if the controller had been switched on once dur‐
ing the motor replacement without the encoder having been connected.

Absolute position lost with combined encoder for SSI
Description: If a combined linear encoder for SSI had been used, a position offset some‐
times occurred sporadically. However, the reference was still signaled.
F9003 in the case of line interruption with EnDat 2.2
Description: The exception F9003 was generated in the case of line interruption with En‐
Dat2.2 encoder!
Cyclic monitoring between absolute and incremental tracks missing for combined encoders
(for E2074)


Description: The cyclic monitoring between absolute and incremental tracks was not ac‐
tive for combined encoders.
Encoder status bits are incorrectly generated
Description: The bits 2, 3, 4, 6, 7, 8 and 11 were incorrectly set or not set in the encoder
status parameters S-0-0600.x.1 and S-0-0610.x.1.
Position feedback value 2 jumps if feed constant 2 activated
Description: If hybrid position control with feed constant 2 had been activated (P-0-0185),
the encoder 2 position value (S-0-0053) jumped by an arbitrary value, at an
undefined position.
Position initialization of combined encoder: max. initialization speed not taken into account
Description: For the initialization of a combined encoder, the actual speed cannot exceed
the defined maximum initialization speed. If the maximum initialization speed
(S-0-0602.x.137) had been exceeded, no switching error was generated.
Position offset in the case of initialization under motion (SSI sine)
Description: If the position initialization had been carried out under motion, a position off‐
set of up to one division period occurred sometimes.
Position offset under motion (EnDat 2.1)
Description: If the position initialization had been carried out under motion, a position off‐
set of up to one division period occurred sometimes.
Reference in spite of F2105 when setting absolute position
Description: If the command C0300 Set absolute position had been executed and F2015
"impossible to address OEM encoder memory" had been generated in doing
so, the command was still completed without error. No loss of reference was
detected with the next switching.
Fixing: If an error is detected with C0300, the serial number (S-0-0611.x.136) is reset
to 0 and the command C0300 is interrupted with the "absolute encoder offset
cannot be saved" error. When the drive is switched to OM the next time, the
error F2174 or F2175 is signaled depending on the encoder slot.
S-0-0600.x.1 Encoder status; bit 5 position status was not generated

Description: Bit 5 position status had not been generated correctly in the parameter
S-0-0600.x.1 Encoder status, and always had the value 0.
Fixing: Bit 5 position status is generated correctly in the parameter S-0-0600.x.1 En‐
coder status, and in the case of successful position initialization has the value
1.
S4W signals wrong encoder status in the case of error F8022
Description: In the case of the error F8022, S4W signaled the wrong encoder status. The
“ready for operation” bits were set to zero in the case of the error.
Fixing: Even in the case of error, the encoder status signals ready for operation. That
is to say the bits 14 and 15 have the value one, and the error bit 13 has been
set.
TTL encoder wire break monitoring does not work
Description: The TTL encoder wire break monitoring did not work, because the corre‐
sponding hardware signal had not been read. No error was output in spite of
hardware-side wire break detection.
Wrong IDN for reading maximum possible phys. initialization speed
Description: The parameter S-0-0602.x.137 Phys. max. initialization speed was used for
the maximum possible phys. initialization speed. This does not comply with
the Sercos specification for which S-0-0602.x.8 is to be used.

Incorrect measuring encoder position initialization after setting absolute position with
P-0-0087 unequal 0
Description: If the "set absolute position" command had been executed for the measuring
encoder at a point in time at which the parameter P-0-0087 had been un‐
equal 0, the measuring encoder position, at repeated position initialization,
was incorrectly initialized by the value that P-0-0087 had when "set absolute
position" had been executed.
Linear encoder with absolute scaling
Description: For linear encoder systems, the absolute encoder range had been deter‐
mined in such a way that it was only possible to use (+/-) half the travel
range.
Measuring encoder: Error in homing procedure: Incorrect reference position depending on
velocity

Description: If the "homing" function had been executed for the measuring encoder, the
reference position afterwards deviated by the distance that the measuring en‐
coder had covered within approx. 2 ms after the reference mark had been
passed.
Drive has to be switched off after command error C0606 to allow homing procedure to be
carried out again
Description: If the reference signal line had been interrupted during the homing procedure
(encoder with real mark), the error C0606 was correctly generated.
After the line had been closed, the axis was moved by one revolution (refer‐
ence signal now set although homing procedure not active).
When homing had been repeated, the error C0606 was generated again.
The error could only be cleared by repeating the drive run-up.
Fixing: The search for the reference mark (HW) is always deleted if the homing pro‐
cedure is stopped, even if the homing procedure is aborted.
Workaround: Switch drive off and on.

FXC asynchronous motor, taking the premagnetization factor into account
Description: The premagnetization factor was only taken into account in standstill. That is
to say, the magnetizing current was only reduced in standstill.
Fixing: The premagnetization factor reduces the magnetizing current and thereby the
losses.
FXC: Switching on drive enable after F8xxxx error
Description: If an F8xxxx error had occurred with sensorless motor control, the velocity at
the time of error was retained in S-0-0040, because it was impossible to keep
monitoring the velocity once drive enable had been switched off. After the
error had been cleared and drive enable switched on, motor control initially
started with this velocity. This did not work, because the motor current could
no longer be maintained at an efficient and stable level, resulting in loud cur‐
rent noises in the motor.
Fixing: If drive enable is set again after the error has been cleared, the velocity is ini‐
tialized to 0.
FXC: Switching open-loop-controlled closed-loop-controlled range
Description: In the low voltage range, the motor can no longer be monitored by the motor
model. Therefore, the motor is operated in open-loop-controlled form below
this frequency.
Switching from open-loop-controlled to closed-loop-controlled operation oc‐
curred on the basis of the maximum motor speed.

Fixing: Switching from open-loop-controlled to closed-loop-controlled operation oc‐

curs at a motor voltage of approx. 4.6V.
PT1000 motor temperature sensor does not work with V1 control sections
Description: It had been impossible to thermally protect motors with a PT1000 tempera‐
ture sensor (P 512 = 8) at the V1 power sections (HMD, HCS2.1, HCS3.1,
HCS4.2).
Fixing: PT1000 now can also be evaluated with these power sections.
FXC: Incorrect torque feedback value is displayed
Description: If the motor is controlled without encoder, the current torque has to be deter‐
mined from the motor model.
Fixing: The value in parameter "S-0-0084, Torque/force feedback value" is calcula‐
ted and displayed from the motor model.
Max. frequency slope incorrectly calculated
Description: The maximum frequency slope was set to a default value for the motor data
identification.
Fixing: The maximum frequency slope is calculated from the inertial mass and the
nominal torque of the motor.
Switching frequency of the power output stage can now be changed in PM
Description: Functional enhancement: The switching frequency of the power output stage
(P-0-0001) can now be changed in PM independently of the field bus commu‐
nication phase.
Thermal motor model overload E2051
Description: The motor temperature measurement has an effect on the thermal model. If
the measured temperature was higher than the allowed motor temperature,
the thermal model generated the warning E2051 with the motor load warning
threshold detailed diagnostics (thermal model).
Fixing: This warning is no longer displayed in the parameter mode.

Velocity feedback value (S-0-0040) incorrectly calculated if mix factor used
Description: In the calculation of the actual velocity (S-0-0040), the feedback value was in‐
correctly calculated in the case of mixed operation encoder 1 - encoder 2.

The 2 ms smoothed feedback value was used for encoder 2 instead of the
original value. Due to this error, the controller feedback value was smoothed.
This resulted in greater dead times in the controller.
Wrong cogging reference with absolute encoder and encoder gearbox unequal 1:1
Description: Cogging reference in the case of rotary axis only set with encoder gearbox
1:1 during init. By mistake, it sufficed if only input or output were set to 1.
Error message "C5603 Timeout: Axis in motion" with command C5600
Description: When the command C5600 Command Subsequent optimization of commuta‐
tion offset had been started, the motor sometimes started turning and did not
stop. If a resolver had been used as a motor encoder, "C5603 Timeout: Axis
in motion" was sometimes signaled during command execution, although the
motor did not move.
Error message F8012 with commutation setting command
Description: If the commutation setting command had been started and the sine-wave
method selected, the message F8012 was sometimes generated. This partic‐
ularly affected MCL motors.
19.1.12 445_Limitations, monitoring

Considering the directives for products requiring export licenses (closed-loop)
Description: The restrictions in accordance with "3A225 frequency converters requiring
export licenses" were extended so that the maximum output frequency of 599
Hz also applies to closed-loop operation.
Fixing: If the command velocity exceeds the threshold of 590 Hz (in relation to the
output frequency) in firmware variants not requiring export licenses (FD), the
warning E2059 is generated and the command velocity is restricted. With an
output frequency > 599 Hz, the error message F8079 is generally generated
and the drive is shut down accordingly. The restriction does not apply to the
firmware variant requiring export licenses (ER).

W54 device remains in bb in spite of mains voltage having been connected
Description: The Indradrive Cs W54 device remained in the "bb - ready for power on"
state, although the mains voltage had been connected. The state can occur
after the mains voltage has been switched on and off repeatedly.
After the control voltage has been switched off, the device works "normally"
again.


"P-0-0753, Position actual value in actual value cycle" incorrectly generated, if active param‐
eter set number is not 0
Description: If a parameter group had been configured for parameter set switching and
the PM-OM transition command had not been carried out with the parameter
set 0, "P-0-0753, Position actual value in actual value cycle" was incorrectly
initialized.
Exception if synchronous bit generation activated for MotionProfile and synchronization mode
not active
Description: If the synchronous bit generation had been activated for the MotionProfile in
parameter P-0-0088 and the synchronization mode had not been active, the
exception E0800 occurred sometimes if the selected MotionProfile motion set
was invalid.
MotionProfile - erratic behavior if value of P-0-0701 changed in operating mode
Description: If the value of P-0-0701 had been changed in the operating mode with abso‐
lute position data processing (P-0-0088, bit 10 = 0), the following erratic be‐
havior occurred:
1. After synchronization, the position command value generated in the "Mo‐
tionProfile" mode did not correspond to the position contained in P-0-0701, if
"P-0-0227, Cam table, access angle" had been zero (i.e. at the beginning of
the 1st motion step). That is to say, if the position of the master axis had
been 0 at the synchronization of the slave axis, the slave axis did not syn‐
chronize to the position contained in P-0-0701.
2. After a complete revolution of the master axis, a position command value
jump of the slave axis occurred, because the value in P-0-0701 had been ap‐
plied at the zero passage of the master axis.
Fixing: 1. If the value of P-0-0701 is changed in the operating mode with the Motion‐
Profile mode not being active, the position command value generated after
the synchronization corresponds to the position contained in P-0-0701 when
the MotionProfile mode is activated (if "P-0-0227 = zero; i.e. at the beginning
of the 1st motion step). That is to say, if the position of the master axis is 0 at
the synchronization of the slave axis, the slave axis now synchronizes to the
position contained in P-0-0701.
2. With active MotionProfile mode and absolute position data processing
(P-0-0088; bit 10 = 0), P-0-0701 is write-protected.

F2053 and missing zero pulses if external signal P-0-0901.0.7 turning backward
Description: Incorrect modulo values had been used (maximum value of parameter
P-0-0901.0.7 instead of modulo value set in P-0-0901.0.8) for modulo pro‐

cessing in the interpolation function when emulating the external signal.

Thus, the overflow in negative direction was not detected.
Fixing: Modulo processing was set to the modulo value provided for this purpose in
P-0-0901.0.8. In addition, modulo processing with regard to the unsaved old
value of encoder emulation was removed because not required.
P-0-0901.x.2, bit 7, not cyclically configurable in signal control word
Description: P-0-0901.x.2 had not been configurable in the signal control word and thus
was not displayed in S-0-0399.
P-0-0901.x.2, bit 7, not cyclically configurable in signal status word
Description: P-0-0901.x.2 had not been configurable in the signal status word and thus
was not displayed in S-0-0398.

F9005 when reading via ADS
Description: Reading string parameters via interface without UTF8 support (example:
ADS) can cause F9005.
Dependencies between P-0-4084 and P-0-4089.0.1 when loading a parameter
Description: If a parameter file had been loaded, P-0-4084 sometimes could not be written
because the master communication protocol P-0-4089.0.1 was not okay.
Fixing: No order dependency. Validity is only checked later during PM->OM switch‐
ing (C02).

Reading P-0-2602.0.130 provided error message
Description: Reading the instance parameter "P-0-2602.0.130, Power section logbook da‐
ta, compact" provided an error message and no data.
List parameters contained in oscilloscope signal selection
Description: The following list parameters were contained in the oscilloscope signal selec‐
tion:
- P-0-0173, List of configurable axis-specific monitoring functions
- P-0-0175, List of configurable device-specific monitoring functions
- P-0-0705, List of master axis initial positions, set 0

- P-0-0706, List of motion laws, set 0

- P-0-0707, List of distances, set 0
- P-0-0708, List of slave axis velocities, set 0
List parameters cannot be usefully recorded with the drive oscilloscope func‐
tion, because the list element cannot be selected in the oscilloscope. Only el‐
ement 0 can be recorded.
Fixing: The list parameters P-0-0173, P-0-0175, P-0-0705, P-0-0706, P-0-0707 and
P-0-0708 are no longer enabled for the oscilloscope function, and thus can‐
not be selected anymore in the signal selection list for the oscilloscope func‐
tion.
Recordiung of diagnostic messages cannot be controlled using diagnostic trace control
Description: If a diagnostics threshold (e.g., only record diagnostic messages starting with
warnings [E]) had been set in "S-0-1303.0.2, Diagnostic trace control", the di‐
agnostics threshold did not take effect.

DS402 prevents switching from "Ready to Switch on" to "Switched on" without power on
Description: DS402 prevented switching from "Ready to Switch on" to "Switched on" with‐
out power on. No diagnostic message was generated.
CiA402 (P-0-4084 == 0x402) profile had not been contained in the list of
available profiles (P-0-4084.0.1) with Sercos 3 (P-0-4089.0.1 == 6) and thus
could not be configured.
Fixing: DS402 does not prevent switching from "Ready to Switch on" to "Switched
on" without power on.
Configuration of CiA402 profile is accepted again with Sercos 3 for test pur‐
poses, but not contained in the list of available profiles (profile not in selection
combo box).
Switching the master communication protocol does not cause switching of master communi‐
cation profile
Description: If the master communication protocol (P-0-4089.0.1) had been changed
usign the control panel, the profile type (P-0-4084) was not set to the default
profile of the master communication protocol.
FSP Drive 0x102 profile not possible with PROFINET, EtherNet/IP and PROFIBUS
Description: FSP Drive 0x102 profile was not possible with the PROFINET, EtherNet/IP
and PROFIBUS field buses


F4002 after first run-up to CP4
Description: F4002 after first run-up to CP4
„Enable PDO Configuration“ bit missing in EEPROM for CoE
Description: Controls that read the ESI (EtherCAT Slave Information) of the slave (EE‐
PROM) got a wrong feedback. The „Enable PDO Configuration“ bit was not
set.
Problems with parameter download, e.g. using IW
Description: Exception when writing the parameter P-0-0320.
19.1.21 Measuring systems (mechanical axis system)

Incorrect zero point shifting with EnDat 2.1
Description: With EnDat 2.1 encoders, zero point shifting was not carried out as indicated
in the specification. The analog tracks were not taken into account for zero
point shifting. The adjustment between digital and analog track was lost. Al‐
so, the shifting was not performed in accordance with the commutation offset.
19.1.22 Motor control

F8078 in FXC control
Description: Sensorless control uses a part of the "encoder evaluation" to generate the
parameter "S-0-0040, Velocity feedback value of encoder 1” from the model
velocity. If the physical sense of rotation of the encoder had been inverted in
the parameter "S-0-0277, Encoder 1, type of position encoder", F8078 was
immediately generated.
19.1.23 Parameters, basics

P-0-4089.0.1 - misleading min/max values
Description: P-0-4089.0.1 had the min value 0 and, depending on the derivative, the max
value 19 or 22. These values were misleading because they could not be set
by the user.


19.2.1 140_Safe Communication
F3450 cannot be cleared during serial commissioning
Severity: K8 - product modification
Description: In the SMO configuration mode, the SMO, with a running CSOS connection
in CP4 and using "forward open", could be brought to an error which could
not be cleared (F3450).
Enhancement: The defect has been resolved by an adjustment in the CSAL initialization.

MLD axis pattern adjusted for MLD-S
Description: The MLD axis pattern implemented in MPx-18VRS and above caused com‐
prehension problems to MLD-S users. Besides, the necessity to use the
"VmAxisInt", "RmAxisInt" and "LinkAxisInt" MLD axes for MLD-S caused an
incompatibility with MLD-M applications.
Explanation on the basis of the virtual master axis generator:
When using MLD-S, it had been necessary up to now to command the virtual
master axis generator with the „VmAxis1“ axis reference (e.g., using
MC_MoveVelocity). At the master input of a synchronization function block
(e.g., MB_GearInPos), however, it had been impossible to transmit „VmAx‐
is1“ with MLD-S. In this case, it had always been necessary to transmit
„VmAxisInt“ as the axis reference. This was disadvantageous, because differ‐
ent PLC axes had to be used although both axis references had the internal
virtual master axis generator as their target.
Enhancement: For the synchronization function blocks MB_GearInPos, MB_MotionProfile,
MC_CamIn and MC_GearIn, it is now possible with MLD-S to use the "VmAx‐
is1", "RmAxis1" and "LinkAxis1" axis variables at the master input. They have
the following significances with MLD-S:
- VmAxis1 (equivalent with VmAxisInt): local virtual master axis generator
- RmAxis1 (equivalent with RmAxisInt): local measuring encoder
- LinkAxis1 (equivalent with LinkAxisInt), local group axis
19.2.3 999_Other
HCS03.1-W0350 supported
Description: Functional enhancement - The device is new in the product range. Up to
now, it had not been supported.
Enhancement: The HCS03.1-W0350 device is supported. The device variants with and with‐
out bleeder are supported.


20.1.1 _Other
Error C0209 generated when progressing from PM to OM, if encoder line interrupted with
Safety4Wire® encoder
Description: After an encoder error in "OM", it was impossible to commission the
Safety4Wire® encoder. Only by restarting the drive was the encoder ready
for operation.
Parameter values are lost after 2nd reset (via S-0-1350)
Description: If a parameter backup had been running during the reboot command, this
sometimes caused parameter loss; F2009 was generated.
Immediately switched on after OM->PM->OM with the IO profiles 0xFF82,0xFF92
Description: With the IO profiles 0xFF82,0xFF92, the drive was immediately switched on
after OM->PM->OM switching if the enable signal had been set (P-0-4068, bit
0: "0"->"1”).

IL_SIIIMasterState function block does not work with MLD
Description: The IL_SIIIMasterState function block from the RIL_SercosIII library did not
work with MLD.
20.1.3 Analog input/output

P-0-0214 and P-0-0216 cannot be configured in MDT and AT
Description: The parameters "P-0-0214, Analog input, assignment A, scaling" and
"P-0-0216, Analog input, assignment A, dead zone" were not provided as cy‐
clically assignable parameters.
Fixing: To establish compatibility with MPx-08VRS, the folllowing parameters are cy‐
clically configurable in MPB20, MPC20, MPM20 and PSB20 (not with
MPE20!):
P-0-0214, Analog input, assignment A, scaling
P-0-0215, Analog input, assignment A, signal value at 0
P-0-0216, Analog input, assignment A, dead zone
P-0-0217, Analog input 1, time constant input filter


P-0-0233, DA: Analog input 1, time constant input filter
P-0-0234, DA: Analog input 2, time constant input filter
P-0-0237, Analog input, assignment B, scaling
P-0-0238, Analog input, assignment B, signal value at 0
P-0-0239, Analog input, assignment B, dead zone
P-0-0246, Analog input, assignment C, scaling
P-0-0247, Analog input, assignment C, signal value at 0
P-0-0248, Analog input, assignment C, dead zone
20.1.4 Axis control

Increased lag error for devices with optional safety technology module "L4"
Description: In the case of devices with optional safety technology module "L4" (STO/
SBC), the internally effective velocity controller proportional gain and velocity
controller integral action time was halved if no brake had been configured.
Fixing: The parameterized values of the velocity controller proportional gain and ve‐
locity controller integral action time are used.
Incorrect maximum values of S-0-0113/P-0-0113 with linear motors
Description: With linear motors, the maximum values of the parameters S-0-0113/
P-0-0113 were wrong.
20.1.5 Brake
"C3900 Holding brake resurfacing" command not completed after specified time
Description: When the "C3900 Holding brake resurfacing" command had been started, er‐
ratic drive behavior occurred sometimes. The axis stopped or kept moving
until the command was reset.
20.1.6 Diagnostic system

Diagnostic system signals F6001 due to incorrect diagnostics
Description: Due to incorrect diagnostics, the diagnostic system signaled the error F6001
when booting up.
20.1.7 Drive PLC

F9005 during PLC download while project info is displayed

Description: If a new/different PLC project had been loaded and "P-0-1363" had been
called at the same time to display the project info, an exception could occur.
("P-0-1363" is cyclically read in the "MLD project info" dialog. If this dialog
had been opened during the download, this error could occur.)
Problems with MLD project when parameter file is loaded
Description: If a loaded MLD project is deleted in the PLC dialog, restart is not carried out
and the MLD project is then loaded using a parameter file, the MLD project
does not automatically become active after PM->OM switching.
To achieve this, it is necessary to either switch off and back on or set bit 7 of
P-0-1350 to load the boot project. This is automatically started by IndraWorks
using the „Project info“ and „Load project“ dialog.
S/IP: PlcVarAccess, F9005 if MLD not configured as functional package
Description: In the case of requests via the "PLC Browse Requests”, the device generated
the error F9005, if the functional package MLD not active.
20.1.8 Encoder
Invalid encoder operating data parameters for MS2N motor with HIPERFACE encoder
Description: In the case of MS2N motors with HIPERFACE encoder, the diagnostic motor
data were not stored in the motor. The diagnostic motor data were only stor‐
ed in the controller.
20.1.9 Encoder emulation

Encoder emulation does not work with new encoder structures
Description: Due to the modification of the complete encoder structures (catchwords: "SIII
encoder profile", "ENCE input data"), several variables and functions required
by the encoder emulation were not available.
20.1.10 Establishing the position data reference

Position feedback value drifts with modulo scaling
Description: If an axis had been operated with modulo scaling and the modulo value could
not be displayed in whole numbers in the absolute encoder range, the posi‐
tion feedback value was incorrectly determined if the axis had moved when
PM-OM or OM-PM switching took place or the device was switched off. The
extent of the deviation from the actual position feedback value depended on
the axis velocity during the switching between the communication phases.
Encoder replacement recognition with MSM motor


Description: If an MSM motor had been evaluated as a motor with absolute encoder func‐
tion, it was recognized when the motor had been replaced (RL), but the refer‐
ence was not deleted. The position was incorrect.
Linear HIPERFACE encoders (TTK70) are not supported
Description: Linear HIPERFACE encoders (TTK70) were not supported.
Loss of reference with linear encoders without OEM memory
Description: If a linear encoder had been operated without an OEM memory which sig‐
naled F8022/F2042 in the operating mode (OM), the error F2174 or F2175
(loss of reference) was signaled when the communication phases were
switched (OM->PM->OM). However, the position was correctly initialized.
Resolution not automatically determined for combined encoder for SSI
Description: If the automatic determination of the resolution for the combined encoder for
SSI had been activated (S-0-0601.1.1; bit 0), the function did not take effect.
The automatic determination was active, if a value = 0 had been entered in
the resolution parameter S-0-0601.x.2.
20.1.11 Master communication

EtherCAT CoE: Wrong flashing pattern of diagnostic LED in the case of configuration error
Description: In the case of a configuration error, the diagnostic LED of the drive showed
the flashing pattern "red, one LED lighting up" (synchronization error) instead
of "flashing red".
EPL: Free_Run: Content of object 1006 does not comply with bus cycle time
Description: The content of the object 0x1006 did not comply with the bus cycle time, but
contained the data of "P-0-4076".
Starting commands "S-0-0127/S-0-0128" in forbidden Sercos phase using real-time bits
Description: It was possible to start the commands "S-0-0127" and "S-0-0128" in the for‐
bidden Sercos phase using real-time bits.
20.1.12 Measuring systems (mechanical axis system)

Combined encoder for SSI by AMO, incorrect position initialization


Description: The evaluation was incorrect if an SSI encoder or combined encoder for SSI
had been used that apart from the position bits also requires bits not carrying
any information. The position was incorrectly generated. The error F2074/
F2075 was sometimes generated during initialization.
Position feedback value drifts when changing between PM-OM under motion
Description: If a combined encoder had been moved during the position initialization (PM-
>OM), the position feedback value was not correct. Depending on the current
velocity, the value was incorrectly determined.
Position initialization with EnDat2.1 is not initialized over entire absolute encoder range
Description: The position was incorrectly initialized with EnDat2.1 encoders that can rep‐
resent more than 32 bits. The more significant bits were not taken into ac‐
count.
Axis error correction for external encoder activated with motor encoder by mistake (P-0-0413
= 0x1)
Description: The axis error correction was also activated for the external encoder with the
axis correction control word (P-0-0413 = 0x1). However, only the correction
for the motor encoder was supposed to be activated with the value 0x1.
Fixing: The axis error correction is activated with P-0-0413 = 0x2 for the external en‐
coder.
F9005 with sensorless control and linear scaling
Description: If the drive had been operated in sensorless control (P-0-0077 = 0) and linear
scaling had been activated, the system crashed (F9005) when switching from
PM to OM.
No C0211 if 3 encoders configured
Description: It had been possible to activate 3 encoders (encoder 1, encoder 2, measuring
wheel encoder) with the MPB and MPM derivatives. However, only 2 encod‐
ers are allowed.
Fixing: If 3 encoders are activated (P-0-0077 = 1, P-0-0078 and P-0-0079 = 2), the
command error C0211 is output when PM-OM switching takes place.
Rotary combined encoder for SSI only works with SSI resolution

Description: The output resolution "S-0-0601.x.2" for a rotary combined encoder for SSI
was defined using the SSI protocol (bit/rev). Hereby, the position was gener‐
ated with the SSI position resolution, but not using incremental signals!
Fixing: Due to the bug fixing, the resolution is recalculated, but calculated incompati‐
bly. This can cause loss of reference of the position (F2174/F2075). Atten‐
tion: Check this when updating the firmware!
Measuring encoder always initializes using the retain data
Description: With integral multiples of the modulo value with regard to the absolute encod‐
er range, the position initialization was not carried out with the absolute en‐
coder offset, but with the retain data.
S-0-0602.x.136 is not reset when default values are loaded
Description: When "load default values" had been executed, "S-0-0602.x.136, Phys. en‐
coder evaluation configuration" was not reset.
20.1.13 Motor control

Diagnostic motor data MSM: Motor replacement is not displayed
Description: If the serial number of the motor has changed, the transition command error
"C0263 Serial number of motor has changed" is supposed to be displayed. If
the serial number is deleted, the diagnostic motor data should be deleted.
These functions were missing.
Fixing: If the parameter "P-0-2055, Serial number, motor" is deleted, the diagnostic
motor data are reset when switching from parameter mode to operating mode
occurs:
- P-0-2051, Operating hours counter, motor
- P-0-2052, Thermal operating data, motor
- P-0-2053, Mechanical operating data, motor
- P-0-2054, Operational performance, motor
If the serial number of a different motor has been assigned to the parameter
"P-0-2055, Serial number, motor", switching from parameter mode to ope‐
rating mode is aborted with the error message "C0263 Serial number of mo‐
tor has changed". The user can now delete the serial number to also delete
the diagnostic motor data. As an alternative, the serial number of the replace‐
ment motor (S-0-1300.20.12) can be input. With this procedure, the diagnos‐
tic motor data currently stored in the drive controller are not changed the next
time the drive is switched from PM to OM, but retained as the initial values for
the replacement motor.
MPM: Incorrect default value for "P-0-0045" with OPEN-LOOP
Description: With the active functional package "OPEN-LOOP", the default value of
"P-0-0045, Control word of current controller" was "0", which was not correct.

Fixing: With the active functional package "OPEN-LOOP", the default value of
P-0-0045=0b0101.0000.0000.0100.
20.1.14 Om_cam mode

Cam table in MotionProfile incorrectly processed
Description: If a cam table had been processed in the "MotionProfile" mode, velocity
jumps occurred if "linear interpolation between the table values" had been
set.
Fixing: If a cam table is used in the MotionProfile, only the cubic interpolation be‐
tween the table values is allowed. If linear interpolation has been set in
"P-0-0086, Configuration word synchronous operation modes", the table is
identified as invalid.
20.1.15 Om_drive-controlled positioning

Double velocity when switching to position control with a clock ratio of 1:1
Description: With a 1:1 clock ratio (NC clock : position clock), a delay clock was taken into
account by mistake when the command position had been initialized from the
actual position. The calculated command velocity was thus doubled.
Operation modes: Drive-controlled positioning, positioning block
20.1.16 Om_phase synchronisation

Master axis synchronization range incorrectly implemented with single-step synchronization
Description: The parameter "P-0-0698, Synchronization, master axis synchronization
range" had been incorrectly converted. Therefore, the synchronization proc‐
ess started at the wrong position and the synchronization duration did not
comply with the requirements.
"MotionProfile” mode: F2028 when switching sets
Description: In the "MotionProfile" mode and with relative processing, a command value
jump occurred, with the master axis having stopped, at the switch angle when
sets had been switched. The drive generated the error F2028.
20.1.17 Parameters, basics

Drive is constantly rebooted in the case of C6600 with safety technology
Description: If a device replacement is carried out in the case of "restore device data"
(C6600) and the drive had been rebooted due to safety technology, the
C6600 recall bit was not reset and C6600 started again after the reboot.

Combination check for 0x60C2 might possibly prevent changeover

Description: The limit values of the object 0x60C2 and their check were not correct.
Incorrect velocity scaling in mm/s
Description: In the case of mixed scaling (position rotary, velocity linear), the conversion
of the velocity values was wrong; the feed constant was not taken into ac‐
count.
Feed constant (S-0-0123) has no unit
Description: In the case of rotary scaling, the unit of the feed constant (S-0-0123) was set
to "not available".
The feed constant is position-scaled. Consequently, degrees/rev should be
displayed for rotary scaling. However, this does not make sense because the
feed constant refers to the feed spindle.
Fixing: For reasons of compatibility, the feed constant is displayed in mm/rev for the
rotary position, too. The decimal places refer to the rotary position scaling.
20.2 Unresolved defects

20.2.1 Safety Technology
Modulo correction missing for absolute position feedback values
Beschreibung: The "modulo" position data format is typically set for infinitely turning/moving
axes. If the entered modulo value cannot be displayed in whole numbers, the
decimal portion gets lost with every modulo revolution. Thus, the position
feedback value drifts. Note: With the Safe homing procedure activated, it is
impossible to activate the modulo format.

Index
Index
Symbols Amplitude and offset adjustment does not
"C3900 Holding brake resurfacing" com‐ work for resolvers with number of pole pairs
mand not completed after specified time.......... 172 smaller than 3..................................................... 87
"C8215 SMO: Incorrect encoder/scaling con‐ Amplitude and offset correction not active........ 117
figuration" in the case of serial commission‐ Analog Hall sensors are not operable................. 71
ing with ACUROlink encoder.............................. 47 Anti-vibration filter does not work in "drive-
"F2036 Excessive position feedback differ‐ controlled position control"................................ 103
ence" generated if "C0300 Set absolute po‐ At the beginning of CP4, C-CON= 0x0, but
sition procedure command" executed............... 101 CON.State = 2 instead of 1............................... 129
"F2821 Error in control of braking resistor" Automatic control loop setting: C1806 with
sporadically signaled......................................... 155 linear motor because safety distance too
"F8324 SMO: Error in activation" in the case small.................................................................. 123
of parking axis with ACUROlink encoder............ 47 Automatically calculated resolution of ana‐
"MotionProfile” mode: F2028 when switching log, rotary encoders is not rounded down
sets................................................................... 177 correctly............................................................ 101
"Operating mode neutral" profile sets wrong Average value filter for display, error.................. 32
default operation modes................................... 104 Axis does not comply with target position........... 50
"P-0-0175 configurable reaction for specific Axis does not switch to OM if a 2nd encoder
devices – error cases"....................................... 150 has been parameterized as a position con‐
"P-0-0753, Position actual value in actual trol encoder......................................................... 35
value cycle" incorrectly generated, if active Axis error correction for external encoder ac‐
parameter set number is not 0.......................... 166 tivated with motor encoder by mistake
"RL" (F2008) not generated if motor with (P-0-0413 = 0x1)............................................... 175
brake replaced by motor without brake............. 115 Axis hangs up in transition command C0200
"S-0-1000" contains the "SCP-SafetyCon" if scaling changed from mm to inch.................. 106
class.................................................................. 154 Axis incorrectly moves to target position in
„Enable PDO Configuration“ bit missing in drive-controlled positioning mode!.................... 149
EEPROM for CoE............................................. 169 AxisData only works in PM if OM was
reached before.................................................... 83
A
A deadlock occurred in MX_SetDeviceMode B
after changing the OperationMode during Backup and Restore: F9005 with modified
processing........................................................... 63 ZIP file................................................................. 76
Absolute encoder monitoring default is deac‐ Backup/restore does not work if Profibus set
tivated......................................................... 69, 145 as master communication................................. 152
Absolute position lost with combined encod‐ Backup/Restore: Incomplete restore with
er for SSI........................................................... 160 IndraDrive Mi (C6605)......................................... 76
Absolute range is not correctly reduced for Backup/Restore: String parameters with an
linear EnDat2.2 and BiSS C encoders................ 68 odd number of characters were not restored
Acceleration feedback value encoder 2 correctly with Restore......................................... 90
(S-0-0195) always has the value 0..................... 57 Backup&Restore: FWA update is possible in
Acceleration insufficiently limited for linear spite of MLD running......................................... 153
motor................................................................. 110 Backup&Restore: Update.zip use case was
Actual position value is not initialized to en‐ not executed correctly....................................... 153
coder raw value in the case of modulo scaling... 86 Battery-backed EnDat2.2 with wrong posi‐
Acuro-Link: Impossible to load application- tion signals reference........................................ 116
specific data from encoder.................................. 67 Better utilization of synchronous motors with
After phase progression, error F2087 is sig‐ reluctance effect in field weakening.................. 102
naled................................................................... 44 Brake check does not start............................... 116
Alert and warning bits incorrectly evaluated Brake check: No check in the direction of
with S4W........................................................... 135 load due to weight with brake released............... 95
Alias parameter cannot be written via SDO Brake test: Problems when determining the
in the case of EPL............................................... 93 holding torque (P-0-0554)................................... 48
Braking resistor supposed to be switched off... 132
Index
C Check of resolution for 2^n with rotary SSI

C06 with absolute encoder does not work sine does not match default resolution............... 86
properly, P-0-0177 data is invalid....................... 41 Check sum changed due to parameter de‐
C0202 after switching from PM to OM with duction................................................................ 43
HMS inverter....................................................... 94 Checking the rotational direction moves axis
C202 or C209 not generated if initialization to mechanical limit stop/position limitation.......... 72
error detected.................................................... 117 CiA402: Objects cannot be configured in os‐
C0206 Error when accessing machine ar‐ cilloscope.......................................................... 154
chive is not generated......................................... 92 Classes missing in S-0-1601.............................. 38
C0209 (incorrect encoder configuration) af‐ CoE: Error F4009 is not signaled if bus con‐
ter FW update (in the case of MN/Mi with nector is removed............................................... 77
MS2N-Acuro)...................................................... 69 CoE: Incorrect length via subindex 81.............. 105
C0209 after switching on MS2N motor with CoE: No AT data during switching process
Acuro encoder..................................................... 57 from SafeOp to Operational.............................. 105
C0209 with linear SSI encoder........................... 98 CoE: No check for maximum value 255
C220 at MCL with analog Hall sensor / lower when writing byte values................................... 104
signal monitoring threshold too high................... 35 CoE: Only DS402 displayed as configurable
C0258 in the case of NC cycle time of 24 ms profile................................................................ 104
and linear fine interpolation (cycl. position CoE: Process data configuration is not saved.... 92
control)................................................................ 51 CoE: Runtime optimization............................... 129
C0270 warning was sporadically signaled CoE: S-0-0014 and P-0-4073 not always
when initializing an MS2N motor (AD37S) for consistent............................................................ 77
MPE20V18.......................................................... 41 CoE: Sercos II provides wrong length for
C0298 after occurrence of C0242 with simu‐ mailbox................................................................ 92
lated axis............................................................. 60 Cogging torque compensation does not take
C0300 Set absolute position procedure com‐ effect in torque control mode.............................. 73
mand sucessfully executed in spite of "Fxxxx Cogging torque compensation not possible
Encoder X: Encoder signals incorrect"................ 72 with single-turn encoders.................................. 110
C0401 and longer switching time in simula‐ Cogging torque compensation value does
tion mode.......................................................... 143 not take effect or takes effect with a delay.......... 74
C600 takes a long time > 200ms........................ 36 Combination check for 0x60C2 might possi‐
C3300 and C3400 generate wrong offset........... 71 bly prevent changeover..................................... 178
C3607 generated after C3600.......................... 122 Combined encoder for SSI by AMO displays
C3609 is generated if C3600 started under warning E2074.................................................. 126
motion for asynchronous motor with encod‐ Combined encoder for SSI by AMO, incor‐
er....................................................................... 122 rect position initialization................................... 174
C6500 generates ibf files independent of Command "S-0-0447, C0300 Set absolute
AGP status of the firmware................................. 38 position procedure command" sets wrong
C7600 parameter image error with string pa‐ position.............................................................. 121
rameters.............................................................. 76 Command “Positive stop drive procedure” -
Calculated absolute encoder offset is inac‐ torque jump when disabling drive enable............ 64
curate when homing procedure uses refer‐ Command errors (C0113) with EtherCAT in
ence marks......................................................... 87 Free Run Mode................................................... 93
Cam table in MotionProfile incorrectly pro‐ Command value jump when velocity control
cessed............................................................... 177 mode is activated................................................ 31
CANopen (CoC, CoE): impossible to config‐ Commands: Error when implementing ele‐
ure parameter P-0-4077 as process data ments 5 and 6 (minimum and maximum val‐
(command value)................................................ 77 ue)....................................................................... 51
CCD cycle time is incorrectly generated Communication aborted in the case of PLC
(S-0-0001 is not generated correctly)................. 92 exception............................................................. 95
CCD group - last slave remains in AF in the Commutation setting aborted with "timeout"
case of bus failure............................................... 60 error message..................................................... 68
Change in checksums in case of serial com‐ Commutation setting, saturation method
missioning with different FW version................ 135 does not work with subsequent optimization...... 87
Change in direction of motion not applied Commutation using encoder 2 not active.......... 148
during motor data identification (C3600)........... 102 Connection aborted or F9005 with FTP............ 152
Considering the directives for products re‐
quiring export licenses (closed-loop)................ 165
Index
Control panel: "Backup"-"Restore" menu Defdb00182463................................................ 177

item................................................................... 151 Defdb00182523................................................ 163
Control sections, overview.................................... 6 Defdb00182580................................................ 177
Controlled deceleration after encoder error Defdb00182591................................................ 175
did not work....................................................... 125 Defdb00182669................................................ 173
Coordinate offset was not deleted.................... 103 Defdb00182671................................................ 172
Copy protection for MSK motors......................... 79 Defdb00182732................................................ 171
Correction of torque constant does not work Defdb00182797................................................ 173
correctly.............................................................. 88 Defdb00182807.................................................. 86
Current rms value: Control word P-0-0610 Defdb00182826................................................ 160
cannot be cycl. configured................................ 123 Defdb00182837................................................ 104
Cyclic marker evaluation function does not Defdb00182838................................................ 178
work with multi-axis devices................................ 48 Defdb00182907................................................ 177
Cyclic monitoring between absolute and in‐ Defdb00183023................................................ 174
cremental tracks missing for combined en‐ Defdb00183071................................................ 145
coders (for E2074)............................................ 160 Defdb00183121................................................ 174
Cyclically configured parameters get lost Defdb00183216................................................ 162
when default values are loaded........................ 128 Defdb00183217................................................ 165
Defdb00183234................................................ 174
D Defdb00183281................................................ 175
Deactivated controlled deceleration in the Defdb00183289................................................ 175
case of encoder failure........................................ 59 Defdb00183310................................................ 176
Default value loading "without device param‐ Defdb00183338................................................ 176
eters" and "without SMO parameters" did Defdb00183376................................................ 147
not work.............................................................. 44 Defdb00183434................................................ 171
Default values of the parameters were not Defdb00183442................................................ 177
available............................................................ 141 Defdb00183558................................................ 172
Defdb00174215................................................ 150 Defdb00183585................................................ 178
Defdb00175413................................................ 127 Defdb00183606................................................ 175
Defdb00177730................................................ 174 Defdb00183612................................................ 171
Defdb00178509................................................ 154 Defdb00183626................................................ 176
Defdb00178825................................................ 168 Defdb00183641................................................ 173
Defdb00178858.................................................. 68 Defdb00183659................................................ 169
Defdb00180371................................................ 166 Defdb00183678................................................ 163
Defdb00180562................................................ 167 Defdb00183797................................................ 164
Defdb00180750................................................ 168 Defdb00183819................................................ 163
Defdb00180832................................................ 171 Defdb00183844................................................ 167
Defdb00181583................................................ 175 Defdb00183859................................................ 163
Defdb00181608................................................ 174 Defdb00183862................................................ 164
Defdb00182108................................................ 174 Defdb00183902................................................ 144
Defdb00182168................................................ 177 Defdb00183930................................................ 169
Defdb00182209................................................ 174 Defdb00183972................................................ 129
Defdb00182213................................................ 173 Defdb00184013................................................ 157
Defdb00182229................................................ 172 Defdb00184020................................................ 157
Defdb00182231................................................ 173 Defdb00184035................................................ 165
Defdb00182315................................................ 172 Defdb00184037................................................ 117
Defdb00182328.................................................. 94 Defdb00184085................................................ 166
Defdb00182336................................................ 175 Defdb00184162................................................ 141
Defdb00182355................................................ 154 Defdb00184180................................................ 164
Defdb00182361.................................................. 96 Defdb00184183................................................ 164
Defdb00182366................................................ 172 Defdb00184189................................................ 162
Defdb00182383................................................ 171 Defdb00184242................................................ 167
Defdb00182414................................................ 178 Defdb00184259................................................ 160
Defdb00182435................................................ 178 Defdb00184267................................................ 155
Defdb00182443................................................ 168 Defdb00184276................................................ 162
Defdb00182450................................................ 176 Defdb00184295................................................ 119
Defdb00182457................................................ 173 Defdb00184297................................................ 162
Defdb00184341................................................ 151
Index
Defdb00184391................................................ 147 Defdb00185983................................................ 160

Defdb00184405................................................ 126 Defdb00186003................................................ 161
Defdb00184415................................................ 169 Defdb00186016................................................ 165
Defdb00184432................................................ 161 Defdb00186017................................................ 157
Defdb00184447................................................ 121 Defdb00186049................................................ 160
Defdb00184491................................................ 170 Defdb00186051................................................ 152
Defdb00184519................................................ 137 Defdb00186070................................................ 129
Defdb00184520................................................ 147 Defdb00186093................................................ 169
Defdb00184585................................................ 100 Defdb00186116................................................ 153
Defdb00184614................................................ 161 Defdb00186117................................................ 153
Defdb00184618................................................ 159 Defdb00186160................................................ 139
Defdb00184750................................................ 167 Defdb00186225................................................ 153
Defdb00184815................................................ 170 Defdb00186308................................................ 144
Defdb00184853................................................ 161 Defdb00186334.................................................. 77
Defdb00184883................................................ 168 Defdb00186360................................................ 143
Defdb00184907................................................ 164 Defdb00186397................................................ 131
Defdb00184918................................................ 161 Defdb00186401................................................ 154
Defdb00184923.................................................. 85 Defdb00186413................................................ 128
Defdb00184958........................................ 115, 142 Defdb00186423................................................ 124
Defdb00184989................................................ 169 Defdb00186508................................................ 140
Defdb00185003................................................ 158 Defdb00186517................................................ 118
Defdb00185021................................................ 142 Defdb00186574................................................ 139
Defdb00185024................................................ 157 Defdb00186577................................................ 130
Defdb00185043................................................ 159 Defdb00186588................................................ 122
Defdb00185047................................................ 158 Defdb00186602................................................ 146
Defdb00185086................................................ 170 Defdb00186606................................................ 151
Defdb00185134................................................ 167 Defdb00186618................................................ 120
Defdb00185192................................................ 162 Defdb00186621................................................ 143
Defdb00185219................................................ 166 Defdb00186645................................................ 142
Defdb00185233................................................ 162 Defdb00186659................................................ 154
Defdb00185239................................................ 158 Defdb00186696................................................ 143
Defdb00185280................................................ 166 Defdb00186735................................................ 149
Defdb00185300................................................ 160 Defdb00186757................................................ 146
Defdb00185314................................................ 137 Defdb00186834................................................ 141
Defdb00185388................................................ 160 Defdb00186919................................................ 148
Defdb00185426................................................ 165 Defdb00186931................................................ 145
Defdb00185441................................................ 165 Defdb00186946................................................ 128
Defdb00185446................................................ 161 Defdb00187000................................................ 148
Defdb00185447................................................ 161 Defdb00187025................................................ 140
Defdb00185448................................................ 119 Defdb00187026................................................ 124
Defdb00185491................................................ 139 Defdb00187060................................................ 139
Defdb00185576................................................ 144 Defdb00187065................................................ 152
Defdb00185606................................................ 126 Defdb00187066................................................ 130
Defdb00185607................................................ 148 Defdb00187067................................................ 149
Defdb00185608................................................ 121 Defdb00187069................................................ 151
Defdb00185609................................................ 101 Defdb00187083................................................ 152
Defdb00185610.................................................. 79 Defdb00187084................................................ 148
Defdb00185611.................................................. 71 Defdb00187116................................................ 150
Defdb00185612................................................ 148 Defdb00187146................................................ 147
Defdb00185637................................................ 169 Defdb00187150................................................ 143
Defdb00185658................................................ 154 Defdb00187160................................................ 114
Defdb00185679................................................ 167 Defdb00187174................................................ 120
Defdb00185813................................................ 152 Defdb00187319................................................ 100
Defdb00185845................................................ 164 Defdb00187331................................................ 155
Defdb00185847................................................ 140 Defdb00187367................................................ 142
Defdb00185857................................................ 130 Defdb00187415................................................ 145
Defdb00185864................................................ 159 Defdb00187480................................................ 154
Defdb00185878................................................ 100 Defdb00187498................................................ 146
Index
Defdb00187540................................................ 135 Defdb00189492................................................ 100

Defdb00187591................................................ 150 Defdb00189562................................................ 125
Defdb00187604................................................ 144 Defdb00189643................................................ 131
Defdb00187606................................................ 118 Defdb00189735................................................ 125
Defdb00187631................................................ 150 Defdb00189740................................................ 136
Defdb00187665................................................ 151 Defdb00189743................................................ 137
Defdb00187682................................................ 140 Defdb00189764................................................ 131
Defdb00187689................................................ 139 Defdb00189792................................................ 138
Defdb00187752................................................ 117 Defdb00189794................................................ 136
Defdb00187774................................................ 122 Defdb00189815................................................ 128
Defdb00187784................................................ 135 Defdb00189857................................................ 135
Defdb00187795................................................ 141 Defdb00189897................................................ 136
Defdb00187858................................................ 126 Defdb00189903................................................ 128
Defdb00187865................................................ 149 Defdb00189925................................................ 113
Defdb00187882................................................ 116 Defdb00189973................................................ 113
Defdb00187920................................................ 147 Defdb00189993................................................ 120
Defdb00187997................................................ 141 Defdb00190001................................................ 136
Defdb00188013................................................ 122 Defdb00190040................................................ 124
Defdb00188025................................................ 148 Defdb00190071................................................ 136
Defdb00188030................................................ 140 Defdb00190099................................................ 138
Defdb00188123................................................ 146 Defdb00190222................................................ 121
Defdb00188148................................................ 147 Defdb00190280................................................ 136
Defdb00188153................................................ 153 Defdb00190373................................................ 116
Defdb00188177................................................ 145 Defdb00190392................................................ 115
Defdb00188192................................................ 143 Defdb00190458................................................ 117
Defdb00188219................................................ 146 Defdb00190475................................................ 113
Defdb00188261................................................ 151 Defdb00190492................................................ 115
Defdb00188282................................................ 127 Defdb00190558.................................................. 85
Defdb00188322.................................................. 89 Defdb00190630................................................ 124
Defdb00188344................................................ 153 Defdb00190631................................................ 123
Defdb00188351................................................ 114 Defdb00190644................................................ 119
Defdb00188358................................................ 129 Defdb00190666................................................ 127
Defdb00188378................................................ 142 Defdb00190706.................................................. 84
Defdb00188391................................................ 122 Defdb00190707................................................ 100
Defdb00188395................................................ 145 Defdb00190754................................................ 123
Defdb00188400................................................ 123 Defdb00190765................................................ 118
Defdb00188509................................................ 145 Defdb00190797................................................ 123
Defdb00188525................................................ 152 Defdb00190834................................................ 117
Defdb00188561................................................ 144 Defdb00190939................................................ 130
Defdb00188574................................................ 144 Defdb00190945................................................ 119
Defdb00188613.................................................. 98 Defdb00190986................................................ 127
Defdb00188706................................................ 130 Defdb00191064................................................ 116
Defdb00188725................................................ 132 Defdb00191115.................................................. 95
Defdb00188730................................................ 127 Defdb00191175................................................ 114
Defdb00188774................................................ 129 Defdb00191195................................................ 114
Defdb00188775................................................ 128 Defdb00191201................................................ 128
Defdb00188779................................................ 145 Defdb00191339................................................ 132
Defdb00188826................................................ 132 Defdb00191441................................................ 105
Defdb00188893................................................ 120 Defdb00191448................................................ 114
Defdb00188902................................................ 129 Defdb00191462................................................ 115
Defdb00188906................................................ 115 Defdb00191463................................................ 123
Defdb00188923................................................ 123 Defdb00191518................................................ 102
Defdb00189238................................................ 138 Defdb00191724.................................................. 95
Defdb00189311.................................................. 98 Defdb00191763................................................ 125
Defdb00189349................................................ 119 Defdb00191765................................................ 121
Defdb00189402................................................ 135 Defdb00191807................................................ 126
Defdb00189412................................................ 125 Defdb00191909.................................................. 96
Defdb00189424................................................ 124 Defdb00192177................................................ 118
Index
Defdb00192179................................................ 128 Defdb00193799................................................ 103

Defdb00192253.................................................. 87 Defdb00193858.................................................. 85
Defdb00192310................................................ 114 Defdb00193913................................................ 104
Defdb00192323................................................ 103 Defdb00193937................................................ 103
Defdb00192334................................................ 131 Defdb00193942.................................................. 98
Defdb00192370................................................ 110 Defdb00193975................................................ 109
Defdb00192380................................................ 131 Defdb00193980................................................ 102
Defdb00192405................................................ 122 Defdb00194007................................................ 102
Defdb00192423................................................ 115 Defdb00194016.................................................. 95
Defdb00192424................................................ 122 Defdb00194041................................................ 110
Defdb00192430................................................ 116 Defdb00194048................................................ 101
Defdb00192431................................................ 126 Defdb00194066................................................ 100
Defdb00192483.................................................. 83 Defdb00194075................................................ 105
Defdb00192543................................................ 104 Defdb00194086................................................ 110
Defdb00192558................................................ 129 Defdb00194153.................................................. 99
Defdb00192629................................................ 119 Defdb00194226.................................................. 97
Defdb00192659................................................ 106 Defdb00194293................................................ 109
Defdb00192665................................................ 116 Defdb00194342................................................ 102
Defdb00192680.................................................. 98 Defdb00194353................................................ 105
Defdb00192725................................................ 115 Defdb00194408................................................ 109
Defdb00192813.................................................. 91 Defdb00194417................................................ 101
Defdb00192830.................................................. 97 Defdb00194443................................................ 104
Defdb00192831................................................ 120 Defdb00194564................................................ 106
Defdb00192853................................................ 124 Defdb00194574................................................ 104
Defdb00192866................................................ 118 Defdb00194575.................................................. 85
Defdb00192879................................................ 106 Defdb00194609.................................................. 86
Defdb00192880................................................ 113 Defdb00194610................................................ 102
Defdb00192883................................................ 113 Defdb00194651................................................ 104
Defdb00192942................................................ 118 Defdb00194699.................................................. 99
Defdb00192982................................................ 121 Defdb00194703.................................................. 74
Defdb00192983.................................................. 97 Defdb00194726.................................................. 98
Defdb00193022.................................................. 96 Defdb00194797.................................................. 98
Defdb00193026................................................ 101 Defdb00194930................................................ 102
Defdb00193129................................................ 117 Defdb00194937.................................................. 90
Defdb00193134.................................................. 97 Defdb00194954.................................................. 64
Defdb00193191................................................ 102 Defdb00194984................................................ 103
Defdb00193278................................................ 105 Defdb00195005.................................................. 95
Defdb00193280................................................ 105 Defdb00195019.................................................. 94
Defdb00193304.................................................. 87 Defdb00195167................................................ 101
Defdb00193328.................................................. 99 Defdb00195234.................................................. 92
Defdb00193360.................................................. 48 Defdb00195399.................................................. 69
Defdb00193405................................................ 106 Defdb00195419.................................................. 60
Defdb00193467................................................ 106 Defdb00195455.................................................. 93
Defdb00193468.................................................. 69 Defdb00195459.................................................. 93
Defdb00193473................................................ 103 Defdb00195463.................................................. 92
Defdb00193494.................................................. 75 Defdb00195486.................................................. 77
Defdb00193522................................................ 111 Defdb00195505.................................................. 89
Defdb00193523................................................ 104 Defdb00195544................................................ 101
Defdb00193586.................................................. 95 Defdb00195566.................................................. 93
Defdb00193611.................................................. 95 Defdb00195576.................................................. 86
Defdb00193621................................................ 103 Defdb00195621.................................................. 99
Defdb00193666.................................................. 97 Defdb00195646.................................................. 97
Defdb00193685................................................ 109 Defdb00195684.................................................. 85
Defdb00193702.................................................. 91 Defdb00195792................................................ 106
Defdb00193706................................................ 110 Defdb00195810.................................................. 83
Defdb00193728................................................ 110 Defdb00196078.................................................. 93
Defdb00193749.................................................. 90 Defdb00196120.................................................. 84
Defdb00193765................................................ 109 Defdb00196127.................................................. 84
Index
Defdb00196155.................................................. 92 Defdb00198711.................................................. 81
Defdb00196156.................................................. 87 Defdb00198899.................................................. 67
Defdb00196304.................................................. 84 Defdb00198916.................................................. 72
Defdb00196345.................................................. 86 Defdb00198950.................................................. 79
Defdb00196348.................................................. 85 Defdb00198980.................................................. 72
Defdb00196411.................................................. 88 Defdb00198981.................................................. 79
Defdb00196461.................................................. 94 Defdb00199015.................................................. 64
Defdb00196579.................................................. 84 Defdb00199066.................................................. 77
Defdb00196591.................................................. 83 Defdb00199082.................................................. 78
Defdb00196703.................................................. 89 Defdb00199091.................................................. 64
Defdb00196713.................................................. 87 Defdb00199123.................................................. 71
Defdb00196751.................................................. 74 Defdb00199132.................................................. 76
Defdb00196842.................................................. 92 Defdb00199133.................................................. 78
Defdb00196843.................................................. 93 Defdb00199135.................................................. 76
Defdb00196852.................................................. 89 Defdb00199137.................................................. 75
Defdb00196864.................................................. 63 Defdb00199155.................................................. 78
Defdb00196997.................................................. 89 Defdb00199243.................................................. 77
Defdb00197039.................................................. 88 Defdb00199258.................................................. 72
Defdb00197142.................................................. 90 Defdb00199272.................................................. 76
Defdb00197188.................................................. 87 Defdb00199276.................................................. 68
Defdb00197327.................................................. 93 Defdb00199340.................................................. 78
Defdb00197396.................................................. 92 Defdb00199361.................................................. 70
Defdb00197411.................................................. 88 Defdb00199392.................................................. 74
Defdb00197417.................................................. 91 Defdb00199467.................................................. 71
Defdb00197458.................................................. 84 Defdb00199644.................................................. 79
Defdb00197693.................................................. 74 Defdb00199647.................................................. 79
Defdb00197696.................................................. 83 Defdb00199820.................................................. 74
Defdb00197702.................................................. 85 Defdb00200017.................................................. 78
Defdb00197704.................................................. 73 Defdb00200019.................................................. 77
Defdb00197706.................................................. 75 Defdb00200038.................................................. 73
Defdb00197722.................................................. 70 Defdb00200056.................................................. 68
Defdb00197740.................................................. 91 Defdb00200123.................................................. 67
Defdb00197748.................................................. 91 Defdb00200227.................................................. 71
Defdb00197798.................................................. 93 Defdb00200230.................................................. 68
Defdb00197821.................................................. 69 Defdb00200242.................................................. 69
Defdb00197838.................................................. 68 Defdb00200249.................................................. 72
Defdb00197862.................................................. 76 Defdb00200309.................................................. 72
Defdb00197871.................................................. 76 Defdb00200332.................................................. 71
Defdb00197873.................................................. 92 Defdb00200392.................................................. 77
Defdb00197882.................................................. 76 Defdb00200476.................................................. 65
Defdb00197890.................................................. 86 Defdb00200495.................................................. 67
Defdb00197948.................................................. 83 Defdb00200572.................................................. 69
Defdb00197962.................................................. 67 Defdb00200609.................................................. 59
Defdb00198004.................................................. 90 Defdb00201245.................................................. 47
Defdb00198046.................................................. 87 Defdb00201338.................................................. 65
Defdb00198081.................................................. 73 Defdb00201528.................................................. 63
Defdb00198105.................................................. 73 Defdb00201539.................................................. 63
Defdb00198189.................................................. 77 Defdb00201540.................................................. 64
Defdb00198203.................................................. 75 Defdb00201569.................................................. 64
Defdb00198219.................................................. 72 Defdb00201716.................................................. 64
Defdb00198287.................................................. 70 Defdb00201844.................................................. 41
Defdb00198288.................................................. 69 Defdb00201914.................................................. 65
Defdb00198289.................................................. 70 Defdb00201949.................................................. 47
Defdb00198290.................................................. 69 Defdb00201969.................................................. 65
Defdb00198344.................................................. 78 Defdb00202040.................................................. 65
Defdb00198387.................................................. 81 Defdb00202207.................................................. 63
Defdb00198687.................................................. 75 Defdb00202272.................................................. 58
Defdb00198688.................................................. 81 Defdb00202439.................................................. 58
Index
Defdb00202496.................................................. 60 Defdb00206669.................................................. 44
Defdb00202511.................................................. 57 Defdb00206764.................................................. 44
Defdb00202835.................................................. 60 Defdb00206862.................................................. 37
Defdb00202865.................................................. 58 Defdb00206892.................................................. 42
Defdb00202933.................................................. 57 Defdb00207060.................................................. 45
Defdb00202944.................................................. 59 Defdb00207113.................................................. 43
Defdb00203187.................................................. 57 Defdb00207173.................................................. 44
Defdb00203278.................................................. 57 Defdb00207209.................................................. 37
Defdb00203294.................................................. 58 Defdb00207259.................................................. 39
Defdb00203311.................................................. 52 Defdb00207262.................................................. 33
Defdb00203351.................................................. 59 Defdb00207263.................................................. 38
Defdb00203398.................................................. 57 Defdb00207403.................................................. 37
Defdb00203495.................................................. 60 Defdb00207411.................................................. 38
Defdb00203641.................................................. 58 Defdb00207586.................................................. 36
Defdb00203673.................................................. 59 Defdb00207674.................................................. 35
Defdb00203690.................................................. 48 Defdb00207692.................................................. 35
Defdb00203812.................................................. 60 Defdb00207707.................................................. 36
Defdb00203956.................................................. 52 Defdb00207816.................................................. 32
Defdb00203989.................................................. 51 Defdb00207866.................................................. 36
Defdb00204063.................................................. 49 Defdb00207942.................................................. 35
Defdb00204109.................................................. 48 Defdb00207957.................................................. 36
Defdb00204152.................................................. 50 Defdb00208001.................................................. 36
Defdb00204266.................................................. 43 Defdb00208061.................................................. 35
Defdb00204292.................................................. 50 Defdb00208122.................................................. 37
Defdb00204393.................................................. 43 Defdb00208543.................................................. 31
Defdb00204395.................................................. 49 Defdb00209039.................................................. 32
Defdb00204471.................................................. 52 Defdb00209367.................................................. 33
Defdb00204525.................................................. 47 Defdb00209431.................................................. 31
Defdb00204543.................................................. 55 Defdb00209589.................................................. 31
Defdb00204565.................................................. 50 Defdb00209620.................................................. 33
Defdb00204672.................................................. 47 Defdb00209816.................................................. 31
Defdb00204799.................................................. 51 Defdb00209904.................................................. 32
Defdb00204820.................................................. 48 Defdb00209920.................................................. 33
Defdb00204847.................................................. 48 Defdb00209963.................................................. 33
Defdb00204904.................................................. 50 Defdb00210068.................................................. 32
Defdb00204931.................................................. 48 Defdb00210213.................................................. 34
Defdb00205091.................................................. 38 Defdb00210565.................................................. 31
Defdb00205096.................................................. 44 Delay time for parameter set switching
Defdb00205199.................................................. 49 (P-0-2218) too long............................................. 75
Defdb00205206.................................................. 52 Dependencies between P-0-4084 and
Defdb00205208.................................................. 49 P-0-4089.0.1 when loading a parameter........... 167
Defdb00205236.................................................. 41 Diagnostic messages C6601 and C6704
Defdb00205252.................................................. 42 cannot be cleared............................................. 152
Defdb00205256.................................................. 51 Diagnostic motor data MSM: Motor replace‐
Defdb00205324.................................................. 41 ment is not displayed........................................ 176
Defdb00205343.................................................. 51 Diagnostic system signals F6001 due to in‐
Defdb00205590.................................................. 38 correct diagnostics............................................ 172
Defdb00205728.................................................. 50 Diagnostics missing for faulty EnDat2.2 en‐
Defdb00205868.................................................. 41 coder................................................................... 98
Defdb00206122.................................................. 44 Diagnostics not helpful with Engineering us‐
Defdb00206129.................................................. 41 ing ADS interface.............................................. 151
Defdb00206150.................................................. 42 Different behavior of safety technology state
Defdb00206183.................................................. 45 machine with resolver......................................... 48
Defdb00206262.................................................. 38 Direction of rotation incorrectly checked in
Defdb00206417.................................................. 42 sensorless operation......................................... 141
Defdb00206429.................................................. 45 Distance monitoring home switch/reference
Defdb00206500.................................................. 42 mark in case of linear TTL encoder with cy‐
Defdb00206612.................................................. 35 clic reference marks............................................ 42
Index
Distance-coded encoders were not suppor‐ E2075 in the case of combined encoders for
ted..................................................................... 117 SSI with activated "combined encoder moni‐
Distance-coded encoders: Display of offset toring".................................................................. 81
in S-0-0600.x.10 is applied to S-0-0173.............. 99 E8260 warning occurs during homing in the
Double velocity when switching to position case of positive stop drive procedure................. 41
control with a clock ratio of 1:1.......................... 177 ECAT SoE in Free Run: MDT error counter
Drive controllers is incremented..................................................... 77
Control sections............................................... 6 ENCB error bit is set too late in the case of
Power section platform.................................... 4 encoder error.................................................... 118
Drive has to be switched off after command ENCB resolution incorrectly calculated for
error C0606 to allow homing procedure to TTL encoder........................................................ 84
be carried out again.......................................... 163 Encoder 2 mounted on actuator side is not
Drive is constantly rebooted in the case of correctly supported for all allowed scaling
C6600 with safety technology........................... 177 settings................................................................ 89
Drive keeps turning infinitely after E8040 in Encoder emulation does not work with new
spite of AH in the control word.......................... 148 encoder structures............................................ 173
Drive remains in PM to OM transition com‐ Encoder emulation: F2053 during homing
mand................................................................. 143 procedure.......................................................... 151
Drive sporadically moves in wrong direction Encoder negated: Absolute monitoring for
or by one modulo range too far........................... 37 SSI sine encoder does not work anymore........ 118
Drive switched off erroneously with F8079 in Encoder negated: Absolute position incor‐
the case of firmware not requiring export li‐ rectly initialized with EnDat 2.1, Hiperface
censes................................................................. 50 and SSI sine...................................................... 143
Drive systems, overview....................................... 4 Encoder negated: Reference mark detection
Drive-controlled homing procedure, select‐ does not work correctly with sine encoders
ing position control.............................................. 58 and TTL encoders............................................. 144
Drive-controlled positioning: Positioning sta‐ Encoder positions drifting if encoder evalua‐
tus incorrectly determined when using the tion deactivated under motion........................... 136
positioning jerk (jerk limitation)............................ 58 Encoder replacement recognition with MSM
Drive-controlled transition to SMES with motor................................................................. 173
ramp and filter without function........................... 37 Encoder status bits are incorrectly gener‐
DS402 prevents switching from "Ready to ated................................................................... 161
Switch on" to "Switched on" without power Encoder switching in hybrid position control....... 94
on...................................................................... 168 Encoder voltage not switched off in the case
DS402: Bit 9 not generated in status word of 24V error....................................................... 118
0x6041 (remote).................................................. 78 Endat 2.1: Incorrect position initialization
Due to F2100: Invalid parameters when without fine correction....................................... 147
switching from PM to OM.................................. 110 EnDat2.1 encoder (combined encoder) re‐
turns E2074/75 during active absolute en‐
E coder monitoring................................................. 63
E2004 during Sercos phase switch................... 154 EnDat2.2 encoder with multi-turn range us‐
E2001 prevents other diagnostic messages ing external battery box..................................... 142
from being displayed........................................... 73 EnDat2.2 encoders with more than 32-bit
E2001 warning in conjunction with EtherCat position provide wrong ENCB position................ 71
COE.................................................................... 93 EnDat2.2: F2105 with set absolute position
E2010 after complete machine start-up at an procedure command......................................... 118
EtherCAT axis..................................................... 49 Endat2.2: Velocity-dependent position offset
E2048 cannot be cleared after battery re‐ between S-0-0051 and S-0-0053........................ 49
placed................................................................. 84 EPL: "All" parameter backup via IP does not
E2056/C3607 during motor identification work.................................................................... 94
with sensorless MSK and P-0-0510 = 0............ 122 EPL: Free_Run: Content of object 1006
E2074 after update from 20V09/20V10 to does not comply with bus cycle time................. 174
20V14 with MSK motor....................................... 89 EPL: MDT data are not applied by the drive,
E2074 for MS2N motors with HIPERFACE AT data are not transmitted.............................. 106
encoder............................................................... 69 EPL: SDO access to DS402 objects is rejec‐
E2074 with a high-resolution Endat2.1 en‐ ted....................................................................... 78
coder................................................................. 143
Index
Error "F2075 Actual pos. value 2 outside ab‐ EtherCAT CoE: Wrong flashing pattern of di‐
solute encoder window" is incorrectly gener‐ agnostic LED in the case of configuration
ated..................................................................... 84 error.................................................................. 174
Error bit set in status word 0x6041..................... 76 EtherCat COE: Wrong max. AT and MDT
Error C0209 generated when progressing length.................................................................. 78
from PM to OM, if encoder line interrupted EtherCAT EoE: Invalid MAC address does
with Safety4Wire® encoder.............................. 171 not cause error.................................................... 78
Error F2028 is signaled due to a jump in EtherCAT SOE : Missing error message
P-0-0098 after acknowledgement quick stop F4009 in EtherCAT in FreeRun mode................ 65
with probe detection............................................ 43 EtherCAT SOE: Data applied in spite of
Error F2067 occurs sporadically when error message 0x7003........................................ 60
switching from phase 4 to phase 0..................... 77 EtherCAT SoE: Toggle bit (bit 0) in drive sta‐
Error F2174 if encoder replaced, although tus word (S-0-0135) does not work................... 106
S-0-0277, bit 13 set to 1...................................... 36 EtherCAT: Diagnostics missing if SM not ac‐
Error in commutation with increased resolu‐ tivated but SYNC activated................................. 52
tion of linear HIPERFACE and SSI sine............. 70 EtherCAT: F9100 when saving all parame‐
Error in position initialization of digital encod‐ ters via ADS...................................................... 130
ers....................................................................... 97 Ethernet over EtherCAT (EoE) processing
Error in the case of configured resolution was optimized................................................... 130
with ACURO-Link encoder.................................. 70 EtherNet/IP: Acknowledging malfunction af‐
Error in the case of configured resolution ter communication interrupted.......................... 129
with resolver........................................................ 69 Evaluating PT1000 with EnDat2.2 encoder........ 79
Error in the case of configured resolution Exception F9003 with PROFIBUS.................... 128
with rotary BiSS C encoder................................. 69 Exception if synchronous bit generation acti‐
Error message "C5603 Timeout: Axis in mo‐ vated for MotionProfile and synchronization
tion" with command C5600............................... 165 mode not active................................................. 166
Error message F8012 with commutation set‐ Extended position command value
ting command................................................... 165 (P-0-0100) did not take effect in cyclic posi‐
Error of FB "MC_ReadStatus" in conjunction tion control mode.............................................. 124
with MC_TorqueControl.................................... 157
Error reaction of SysSemEnter etc. with F
wrong handle...................................................... 83 F2008 instead of C4101 during parameter
Error reaction uses command value and not set switching of encoder parameters in AF......... 75
actual value......................................................... 32 F2019 cannot be cleared in phase 4 after
Error when shifting coordinate system after encoder error (data+ interrupt) with
switching PM-OM.............................................. 121 ACURO@link...................................................... 83
Error when using the entire MLD retain data.... 113 F2021 "motor temperature sensor defective"
Error when writing data to list parameter for Acuro-Link encoder........................................ 70
P-0-4042 using EtherCAT with CoE................. 129 F2032 Validation error during commutation
ErrorID and ErrorIdent error outputs are re‐ fine adjustment.............................................. 58, 67
set at falling Execute edge................................ 158 F2037 Excessive position command differ‐
Establishing the position data reference is ence in the case of probe with drive quick
missing for controller replacement of Mi............. 92 stop..................................................................... 32
EtherCat COE S1 is overwritten......................... 77 F2053 and missing zero pulses if external
EtherCAT COE: Drive address......................... 154 signal P-0-0901.0.7 turning backward.............. 166
EtherCAT COE: Drive remains in PreOp F2053 when switching from P2 to P4................. 89
state.................................................................. 130 F2074 after MSM battery replaced and drive
EtherCAT CoE: E4072 Mac address invalid controller switched off/on.................................... 84
with Beckhoff control........................................... 33 F2100 due to individual corrupt pages................ 65
EtherCAT COE: F4009 : although exiting the F2105 after C02xx transition command error
cyclic communication.......................................... 93 in the case of encoders with encoder data
EtherCat COE: PDOs (rx) are not mapped....... 129 memory............................................................... 49
EtherCAT COE: Value of P4076 can be F2105 during “Referencing" or “Delete refer‐
changed in Data Exchange................................. 78 ence" with a HIPERFACE encoder..................... 64
EtherCat COE: Watchdog trigger of SM 3 F2105 when switching to OM with HIPER‐
activated at drive --> drive goes online to OP..... 60 FACE encoder.................................................... 57
Index
F2105 with command for commutation offset F9005 if motor encoder emulation selected
determination.................................................... 144 in MPx-20VRS.................................................. 151
F2105 with rotary Hiperface encoder (en‐ F9003 in the case of line interruption with
coder data memory < 600 bytes) and EnDat 2.2.......................................................... 160
MPB-20V06....................................................... 144 F9005 occurs when disconnecting the
F2174 after set absolute position procedure Ethernet connector while sending data with
and OM->PM->OM switching............................ 146 TCP-IP from a PLC project................................. 45
F2174 with MSM motors without buffer bat‐ F9005 sporadically generated when target
tery and 360 degrees modulo............................. 97 parameter switched in command value gen‐
F2177 Encoder 1 modulo limitation error erator................................................................. 150
with EnDat2.2...................................................... 85 F9005 when accessing SMO parameters
F3450 cannot be cleared during serial com‐ with MLD........................................................... 140
missioning......................................................... 170 F9005 when loading a PLC project................... 140
F4002 after first run-up to CP4......................... 169 F9005 when reading via ADS........................... 167
F4012 can be acknowledged although error F9003 when switching from PM to OM and
still present........................................................ 128 an error occurring simultaneously....................... 99
F6010 if using the last 104 bytes of the MLD F9005 with sensorless control and linear
retain data......................................................... 113 scaling............................................................... 175
F6010 occurred during an MLD tech function F9100 instead of F8070 in the case of 24V
update................................................................. 63 dip..................................................................... 131
F6028 occurred during drive-controlled refer‐ F9100 is displayed after error F900x.................. 91
encing with distance-coded measuring sys‐ F9100 when downloading a FW via FoE.......... 106
tems.................................................................... 64 F9202 after reboot command............................ 152
F6200 during torque change at load................... 65 Factor is not recalculated in OM during
F6200 in normal operation................................ 138 phase synchronization...................................... 125
F8034 when executing C3600 together with Faulty cogging torque compensation with in‐
HMS05 devices................................................. 116 cremental measuring systems............................ 74
F8064 Interruption of motor phase is inade‐ Faulty digital inputs and outputs after Online
quately displayed in the case of error................. 31 Change............................................................. 159
F8078 during drive-controlled homing with Faulty measuring wheel function...................... 109
dedicated point "positive stop"............................ 72 Faulty parameter set switching function of
F8078 in FXC control........................................ 169 encoder parameters.......................................... 101
F8079 in the case of overflow S-0-0600.x.2 Faulty positioning block mode........................... 103
with EnDat 2.2 (>32bit)....................................... 99 Faulty torque scaling with pound force unit......... 91
F8079 with MS2N motor and Acuro single- Faulty virtual mark evaluation for resolver
turn encoder...................................................... 109 encoder............................................................... 68
F8304 if control unit reestablishes connec‐ Feed constant (S-0-0123) has no unit.............. 178
tion after F4001/F4002...................................... 139 Filters without effect in velocity control loop
F8304: No detailed diagnostics displayed in after P-0-1120 = 0............................................. 148
Diagnostic Trace............................................... 139 Firmware downgrade.......................................... 21
F8354 in STO deselection with dynamization Firmware release downgrade............................. 26
error.................................................................. 131 Firmware release update.................................... 22
F8359 SMO: Encoder evaluation error with Firmware releases................................................ 1
ACURO(R)link encoder....................................... 47 Firmware replacement........................................ 21
F8359 with Acuro-Link encoders when set‐ Basic principles, terms................................... 21
ting absolute position........................................ 136 Possible problems.......................................... 29
F8395 in the case of load-dependent PWM Firmware types................................................... 11
reduction........................................................... 122 Firmware update................................................. 21
F8836 can be cleared although error is still Firmware upgrade............................................... 21
present.............................................................. 114 Firmware variant................................................... 2
F9005 and retain data deleted during oscillo‐ Firmware version downgrade.............................. 27
scope measurement (8 channels)....................... 59 Firmware version upgrade.................................. 24
F9005 crash if PLC project re-downloaded....... 113 Forcing absolute encoder evaluation also
F9005 during boot-up if string in P-0-0492 is possible for merely incremental encoders.......... 71
too long............................................................. 127 FSP Drive 0x102 profile not possible with
F9005 during PLC download while project PROFINET, EtherNet/IP and PROFIBUS......... 168
info is displayed................................................ 172
Index
Functional package Synchronization: Encod‐ I

er 1 loses reference or encoder 2 cannot be IDST, unable to activate SafeMotion in
detected in the case of modulo scaling............... 97 „Controller replacement“ dialog after device
Functionality of BiSS C encoders extended...... 106 was replaced..................................................... 104
FW download via http cannot be locked with If F217x is reported, a reference is signaled
customer password........................................... 104 after switching between OM-PM-OM.................. 42
FW update invitation still displayed after up‐ IL_SIIIMasterState function block does not
date................................................................... 153 work with MLD.................................................. 171
FW update via loader not possible with IL_UdpKeys and IL_MKeys missing in
PROFIBUS and CoC.......................................... 44 MPx-20VRS...................................................... 160
FXC asynchronous motor, taking the pre‐ Immediately switched on after OM->PM-
magnetization factor into account..................... 163 >OM with the IO profiles 0xFF82,0xFF92......... 171
FXC: Incorrect torque feedback value is dis‐ Impossible to activate redundant motor en‐
played............................................................... 164 coder................................................................. 148
FXC: Stall bit when SM spindle motor stalling.... 36 Impossible to complete homing procedure
FXC: Switching on drive enable after F8xxxx after motor encoder emulation............................ 90
error.................................................................. 163 Impossible to configure S-0-0390, bit 20, in
FXC: Switching open-loop-controlled closed- the signal status word......................................... 75
loop-controlled range........................................ 163 Impossible to determine the cogging torque
table with linear motor....................................... 110
G Impossible to negate EnDat2.2 with <= 32-
Gear ratio not taken into account in the case bit position format................................................ 68
of parameter set switching 0 to 1........................ 85 Impossible to negate the incremental track
for distance-coded encoders............................... 99
H Impossible to operate digital Hall sensors.......... 79
Handling problems with FTP............................. 152 Impossible to set system time with Ether‐
HCS03 hangs up in "Bb" in spite of DC bus CAT................................................................... 130
voltage (DC560V)............................................... 58 Impossible to switch MS2N with Acuro-Link
HCS03.1-W0350 supported.............................. 170 encoder to operating mode................................. 36
HCSW54 F2816 when operated at energy INCH scaling does not work with linear opt.
buffer................................................................... 33 encoder............................................................. 101
Hengstler encoder (S4W AD37S) with 20-bit Incompatible behavior with 2nd encoder in
single-turn is not supported............................... 118 versions MPx-18VRS and MPx-20VRS.............. 45
HMS05: PT1000 motor temperature sensor Incorrect "P-0-0334, Absolute encoder range
cannot be operated........................................... 115 of measuring encoder"...................................... 142
Homing at positive stop faulty if torque/force Incorrect actual position during fast homing
scaling negated................................................. 121 procedure............................................................ 50
Homing at positive stop, torque limitation Incorrect automatic calculation of Encoder
with S-0530 remains active................................. 72 Basic resolution with linear sine encoders
Homing procedure not executable multiple and TTL encoders............................................. 146
times................................................................... 57 Incorrect bit display in P-0-0445......................... 50
Homing procedure with distance-coded Incorrect command value generator switch‐
marks not possible for two analog encoders..... 109 ing between different target parameters........... 126
Homing procedure with incremental motor Incorrect commutation angle with linear motor... 31
encoder and asynchronous motor.................... 147 Incorrect cyclic handling of 1-byte values........... 77
Hotplug did not work after device had been Incorrect detection of the warning “E2048
switched back on.............................................. 129 Battery undervoltage (encoder)”......................... 41
Hxx05 F8060 when executing C3600 motor Incorrect diagnostic message C0270 when
data identification................................................ 97 encoder fine correction fails................................ 85
Hxx05: Timeout when read accessing Incorrect diagnostic message generated
P-0-2602.0.1 (power section logbook event).... 127 with SSI encoders............................................... 85
Hybrid actual position value also takes effect Incorrect encoder status (S-0-0600.x.1) if
in operation modes w/o axis control word error detected, only encoders with SSI inter‐
S-0-0520, and for spindle positioning................. 73 faces and encoders of MSM motors................. 144
Incorrect entries in S-0-0423 during physical
initialization of multiple encoder types.............. 146
Incorrect length of cyclic data with 1:1 timing..... 38
Index
Incorrect maximum torque value for MS2N Inkompatibles Verhalten bzgl. konfigurierter
motors................................................................. 42 erlaubter Verbindungsausfälle bei zyklischer
Incorrect maximum values of S-0-0113/ Lageregelung.................................................... 125
P-0-0113 with linear motors.............................. 172 Invalid basic device parameters (P-0-0192,
Incorrect measuring encoder position initiali‐ P-0-0193, ...)....................................................... 81
zation after setting absolute position with Invalid encoder operating data parameters
P-0-0087 unequal 0.......................................... 162 for MS2N motor with HIPERFACE encoder...... 173
Incorrect min/max values of coordinate sys‐ Invalid parameters when switching from
tem parameters................................................. 124 master communication to EtherCAT COE.......... 44
Incorrect parameter set switching..................... 151 Invalid retain data (P-0-1359)............................. 38
Incorrect parameter set switching for motor/ Invalid standard parameters after SMO auto
encoder............................................................... 91 commissioning.................................................. 135
Incorrect position after exception...................... 146 Inversion using S-0-0277 not taken into ac‐
Incorrect position initialization measuring en‐ count for encoder-1-related emulation.............. 126
coder with motion.............................................. 147
Incorrect position initialization of measuring K
encoder if P-0-0765 = 0.................................... 136 KTY motor temperature inaccurately trans‐
Incorrect position initialization of position mitted via S4W.................................................. 144
feedback value (modulo) with motion............... 147
Incorrect position initialization with modulo L
scaling............................................................... 136 Linear encoder with absolute scaling................ 162
Incorrect position initialization with SSI en‐ Linear HIPERFACE encoders (TTK70) are
coder after encoder error.................................. 109 not supported.................................................... 174
Incorrect position when homing distance-co‐ Linear motor with encoder data memory.......... 116
ded encoder systems.......................................... 71 List parameters contained in oscilloscope
Incorrect serial number in S-1300.0.12 for MI..... 63 signal selection................................................. 167
Incorrect velocity extrapolation in case en‐ LOADER IP address: 192.168.0.1...................... 29
coder telegram fails........................................... 100 Loading application-specific data from en‐
Incorrect velocity scaling in mm/s..................... 178 coder did not work............................................. 141
Incorrect web server list access........................ 138 Long adjusted diagnostic messages and er‐
Incorrect zero point shifting with EnDat 2.1...... 169 rors of PLC are not displayed in S-0-0095.......... 95
Increase in ENCB resolution incorrectly im‐ Long switching times for PM to OM switch‐
plemented for EnDat2.2 and ACURO-Link....... 136 ing..................................................................... 139
Increase of resolution: Absolute range not Long switching times for resolver after park‐
reduced for rotary combined encoders............. 118 ing axis and PM-OM........................................... 58
Increased lag error for devices with optional Loss of position in the case of negated
safety technology module "L4".......................... 172 ENCB initial position and digital encoders........ 117
Increasing the Basic resolution for encoders Loss of position without loss of reference in
does not work correctly..................................... 147 the case of encoder with sine signals and
Incremental encoder emulation: Error F2053 SSI interface....................................................... 86
in the case of modulo processing of Loss of reference after encoder was replaced.... 72
"S-0-0051"......................................................... 150 Loss of reference F2174 if PWM mode
IndraDrive device signaled inadmissible changed............................................................ 122
service channel error code.................................. 51 Loss of reference with linear encoders with‐
IndraDrive Mi - wrong drive state AB if DC out OEM memory.............................................. 174
bus voltage missing - no error message in AF.... 88
IndraDrive: Sensorless control FXC - motor
M
does not stop with Drive Halt.............................. 37
Magnetization with asynchronous motor
Inductance values Ld and Lq incorrectly de‐
takes very long.................................................. 109
termined............................................................ 148
Mark evaluation does not work with com‐
Infeed factor unit P-0-0562 wrong ([mm/rev]
bined encoders for SSI....................................... 85
instead of [rev/mm]).......................................... 123
Master axis synchronization range incorrect‐
Infinite loop of DriveInit task................................ 35
ly implemented with single-step synchroniza‐
Initial value of "P-0-0562, Actuator infeed/
tion.................................................................... 177
gear ratio compensation" was wrong................ 127
Master comm. motion task occasionally
Initializing IndraDrive oscilloscope function........ 65
called in 1 ms clock during switching proc‐
ess of master comm. state machine................... 48
Index
Master communication encoder displays MSC motors with Tamagawa encoder are
twice the velocity of encoder at master axis..... 100 supported............................................................ 45
Master communication: S-0-0000 cannot be MSK type plate version 3 not supported........... 114
used in process data configuration................... 105 MSM motor battery monitoring inconsistent
Max value velocity miscalculated in Sytronix with MPx-18VRS............................................... 122
functional package and complex actor................ 35 MSM motor encoder: Incorrect position if
Max. frequency slope incorrectly calculated..... 164 battery entirely empty........................................ 143
Maximum length =0 displayed when reading MSM motor with the wrong position signals
instance parameters (e.g., S-0-0601.1.130/ reference........................................................... 126
P-0-2572) via PROFINET/PROFIBUS................ 51 MSM motor: Faulty thermal motor monitor‐
MB_PhasingSlave: VmAxisInt has to be ing..................................................................... 114
used in secondary master mode to offset the
slave axis position............................................. 158 N
MC_CamIn: Deadlock in error state.................. 157 NC cannot control axis anymore after easy
MC_MoveAbsolute: Simultaneous startup mode has been exited............................. 38
CommandAborted and Done.............................. 96 Negation of encoder does not become ac‐
MC_ReadStatus: Done and Error outputs si‐ tive, for linear encoders: Sine, TTL, Hiper‐
multaneously set............................................... 157 face, EnDat 2.1................................................. 119
Measuring encoder always initializes using New device detected with Backup/Restore
the retain data................................................... 176 function............................................................. 153
Measuring encoder: Error in homing proce‐ No C0211 if 3 encoders configured.................. 175
dure: Incorrect reference position depending No command error C3609 if wrong number
on velocity......................................................... 162 of pole pairs or encoder resolution...................... 97
Measuring encoder: Incorrect position initiali‐ No comparison of phys. absolute range with
zation if "P-0-0765, Modulo factor" = 0............... 98 configured resolution for linear analog en‐
Measuring systems coder................................................................... 70
Supported measuring systems...................... 10 No detailed diagnostics displayed with
Missing display parameter for output of posi‐ F8022 (ACURO®link encoder)......................... 119
tion command value generator........................... 34 No detailed diagnostics if the same F6010
MLD axis pattern adjusted for MLD-S............... 170 error occurs again............................................... 83
MLD: Error during project download via pa‐ No F2174 or F2175 if loss of reference
rameters.............................................................. 67 P-0-0753 Position actual value in actual val‐
Modulo correction missing for absolute posi‐ ue cycle............................................................. 136
tion feedback values......................................... 178 No IP communication due to incorrect detec‐
Modulo value can be set to value higher tion of duplicate IP............................................ 138
than maximum travel range................................ 98 No logger message if boot project does not
MotionProfile - erratic behavior if value of fit into memory.................................................. 114
P-0-0701 changed in operating mode............... 166 No position adjustment between encoder 1
Motor holding brake remains applied in spite and encoder 2 if both encoders can be eval‐
of drive enable.................................................. 142 uated in absolute form...................................... 101
Motor motion during Drive on delay time............ 31 No reference marks with SSI encoder.............. 102
Motor replaced without C0263.......................... 160 No zero pulses output after E2035..................... 59
Motor replacement MSK-> MS2N..................... 115 Noise reduction by smoothing the actual cur‐
Motor shutdown temperature was not set or rent value............................................................ 52
not checked......................................................... 87
Motor-related encoder emulation was not O
supported.......................................................... 126 OEM memory was not recognized after mo‐
Motors tor replacement................................................. 160
Supported motors.......................................... 10 Offline parameterization not possible with
MPC-20V08: C0606 and E2001 in the case IndraWorks........................................................ 100
of drive-controlled homing with 1Vpp encod‐ Optimized commutation offset in relation to
er....................................................................... 100 the zero mark does not work............................. 149
MPE: Motor data identification, third-party Optional modules.................................................. 6
motor, S106 = 0.................................................. 84 Oscilloscope function changes parameter at‐
MPM: Incorrect default value for "P-0-0045" tributes of uninvolved parameters....................... 59
with OPEN-LOOP............................................. 176 Oscilloscope: Manual trigger does not work
MPx20V10: Backup/restore control panel as expected......................................................... 44
function............................................................. 127
Index
Overcurrent when operating asynchronous Parameters S-0-0440 to S-0-0443 (marker

motors................................................................. 36 position) re-implemented.................................... 69
Overflow of encoder position handled incor‐ PLC error F6010 if retain data only defined
rectly with digital encoders................................ 137 in FB instances................................................... 31
PLC project prevents repeated program
P download............................................................. 95
P-0-0013 contains parameters whose values PLC task watchdog or hangs up after re-
were not changed by the customer..................... 90 download of a PLC project................................ 113
P-0-0013 does not show all affected param‐ PLC tasks are not suspended if suspension
eters if EtherCAT master communication is occurs at the wrong time..................................... 48
active................................................................... 90 PLC: AxisData does not work for SMO pa‐
P-0-0017, Power output stage control word rameters as actual values................................. 159
cannot be configured in signal control word...... 102 PLL type can be switched with Sercos III........... 52
P-0-0018, Number of pole pairs........................ 114 Position actual value in actual value cycle is
P-0-0019, Initial position value has no effect.... 100 incorrectly initialized with motion....................... 137
P-0-0110 extended by error classes bits 1 & Position feedback value (S-0-0051/S-0053/
2........................................................................ 132 P-0-0052) incorrectly initialized if forced ab‐
P-0-0214 and P-0-0216 cannot be config‐ solute encoder evaluation configured................. 98
ured in MDT and AT.......................................... 171 Position feedback value 2 jumps if feed con‐
P-0-0509 faulty if commutation angle deter‐ stant 2 activated................................................ 161
mined using measuring method........................ 123 Position feedback value drifts when chang‐
P-0-0548.0.2 has an effect on duration of ing between PM-OM under motion........... 144, 175
brake check....................................................... 115 Position feedback value drifts with modulo
P-0-0548.0.2, Maximum test duration hold‐ scaling............................................................... 173
ing system released, has an influence on the Position feedback value of encoder 2
brake check duration......................................... 142 (homed) is not applied to position feedback
P-0-0788 cannot be emulated (incremental value of encoder 1 (not homed).......................... 85
encoder emulation)........................................... 103 Position initialization of combined encoder:
P-0-0901.x.2, bit 7, not cyclically configura‐ Correction angle is not limited........................... 119
ble in signal control word.................................. 167 Position initialization of combined encoder:
P-0-0901.x.2, bit 7, not cyclically configura‐ max. initialization speed not taken into ac‐
ble in signal status word.................................... 167 count................................................................. 161
P-0-2937.0.3, Input of force feedback value Position initialization with EnDat2.1 is not ini‐
cannot be written via master communication.... 104 tialized over entire absolute encoder range...... 175
P-0-3335.0.3 (possible source ID for signal Position jump with linear analog encoders
control of outputs) is filled with wrong IDNs (travel range cannot be displayed internally).... 117
in the case of ADS communication................... 106 Position limit value monitoring does not take
P-0-4089.0.1 - misleading min/max values....... 169 effect for homing WITHOUT mark and switch.... 50
P1901.0.2 (CiA402: status word) not set cor‐ Position offset in the case of initialization un‐
rectly in simulation mode with CiA402 profile..... 93 der motion (SSI sine)........................................ 161
Parameter conversion error (C0203) occurs Position offset of up to one division period in
after machine switched on for the first time...... 124 the case of initialization under motion (HI‐
Parameter limit values S550,S551,S553 PERFACE)........................................................ 119
wrong/unsuitable with [N] as torque scaling...... 127 Position offset under motion (EnDat 2.1).......... 161
Parameter P-0-1365 does not contain code Position synchronization operation mode is
offset................................................................... 97 incorrect when using a linear motor.................... 65
Parameter P-0-3060.0.3 invalid.......................... 81 Position-controlled op. mode with encoder1
Parameter S-0-0001 NC cycle time is not not possible with FXC as motor ctrl and
correctly generated with Sercos.......................... 60 complex actuator with encoder1....................... 124
Parameter S-0-1702.0.15 does not retain......... 124 PositionLoop event needs more calculating
Parameter set switching of gearbox parame‐ time after PLC reset (warm,cold)...................... 140
ters...................................................................... 85 Possible F9003 in the case of overloaded
Parameter values are lost after 2nd reset PLC task in synchronism with CCD/master
(via S-0-1350)................................................... 171 communication.................................................. 140
Parameters in a cyclic connection have to Power sections, overview..................................... 4
handle the value 0 as parameter value............. 125 POWERLINK: Communication interrupted
with "backup of all parameters"......................... 155
Index
POWERLINK: Sporadic F4009 with bus cy‐ Releases............................................................... 1

cles >= 1ms....................................................... 139 Replacing the control panel: Display shows
Problems when saving parameters using pa‐ C0214 after "Load new Safety" was carried
rameter snapshot.............................................. 128 out....................................................................... 33
Problems with incremental encoder emula‐ Resolution not automatically determined for
tion with zero pulse offset (P-0-0901.x.4) combined encoder for SSI................................ 174
and P-0-0052...................................................... 89 Restore possible if archive created on differ‐
Problems with MLD project when parameter ent device type.................................................... 76
file is loaded...................................................... 173 Restore: MLD reload was triggered although
Problems with parameter download, e.g. us‐ MLD had not been stopped/restored................ 153
ing IW................................................................ 169 Restricted travel range with rotary distance-
Problems with temperature sensor evalua‐ coded measuring systems.................................. 98
tion of SNM 110-EK (ML3 motors)...................... 42 Retain variables do not work after project
PROFIBUS: Acknowledging malfunction af‐ loaded using parameters.................................. 140
ter communication interrupted.......................... 128 Return motion error reaction not available in
PROFINET IO: Acknowledging malfunction functional package Sytronix................................ 89
after communication interrupted....................... 128 RIL_SercosIII: Done output (Fb IL_SIIISvc‐
ProfiNet: Communication via Ethernet im‐ Write) is not set when deleting 1-byte list pa‐
possible if IP settings are incorrect..................... 92 rameters.............................................................. 57
PROFINET: F2025 or AF after switching Rotary combined encoder for SSI only works
from PM to OM.................................................. 105 with SSI resolution............................................ 175
PROFINET: F4012 is signaled and cannot
be acknowledged anymore............................... 128 S
PT1000 - faulty short circuit monitoring............ 123 S 534 set to zero after motor identification....... 103
PT1000 motor temperature sensor does not S-0-0000 gets max. value of P-0-4071 or
work with V1 control sections............................ 164 P-0-4082........................................................... 130
PT1000 temperature sensor inaccurately S-0-0007 becomes invalid when basic pa‐
evaluated.......................................................... 102 rameters are loaded.......................................... 154
Puttin S-0-0054 in cyclic telegram S-0-0188..... 119 S-0-0100 incorrectly calculated with
MPE20V12 during motor identification at
Q MLP070C.......................................................... 102
QSK motor is not acknowledged with C0204...... 68 S-0-0100 is calculated incorrectly when the
Quiting parking axis and exiting parameteri‐ motor identification C3600 is in motion............... 64
zation level too slow with HIPERFACE en‐ S-0-0100 set to zero after command C3200..... 115
coders................................................................. 79 S-0-0134 and S-0-0135 not used with ana‐
log profile type................................................... 131
R S-0-0141 too short for kit motors...................... 131
Reading P-0-2602.0.130 provided error S-0-0192 does not contain enough elements
message........................................................... 167 when backed up via 16-bit interface................... 32
Recordiung of diagnostic messages cannot S-0-0197/0199 only take effect for one en‐
be controlled using diagnostic trace control...... 168 coder................................................................. 121
Recursive master axis combination is not S-0-0211, S-0-0212: decimal places deviat‐
checked............................................................. 158 ing from standard................................................ 73
Reduction of encoder resolution does not S-0-0337, Status P >= PL is not mapped to
work.................................................................. 119 S-0-0013, Class 3 diagnostics.......................... 103
Reference gets lost after measuring wheel S-0-0425, bit 0, cannot be controlled via dig‐
mode is activated................................................ 69 ital input............................................................... 75
Reference in spite of F2105 when setting S-0-0600.x.1 Encoder status; bit 5 position
absolute position............................................... 161 status was not generated.................................. 161
Reference is always set again after "C1500 S-0-0602.x.136 is not reset when default
Cancel reference point procedure" com‐ values are loaded.............................................. 176
mand................................................................. 145 S-0-1300.0.152 not read completely................. 114
Reference point offset with a distance-coded S/IP server sporadically cannot be accessed
encoder............................................................... 86 in the drive.......................................................... 76
Rejected Forward Open request....................... 139 S/IP: PlcVarAccess, F9005 if MLD not con‐
Release downgrade............................................ 21 figured as functional package........................... 173
Release update................................................... 21
Index
S4W signals wrong encoder status in the Switching encoder 1 to encoder 2 does not
case of error F8022........................................... 162 work with two homed absolute encoder sys‐
SafeMotion: Detailed diagnostics in tems.................................................................... 87
S-0-0390.0.136................................................... 95 Switching error C0272 if linear axis set to
Scaling of velocity changes after restart............. 33 load scaling....................................................... 100
Sense of motion check results in permanent Switching frequency of the power output
motor rotation...................................................... 64 stage can now be changed in PM..................... 164
Sensorless deceleration is possible again.......... 55 Switching from PM to OM takes a long time
Sensorless synchronous motor cannot be with a configured master communication en‐
operated after execution of motor data iden‐ coder................................................................... 78
tification command............................................ 115 Switching from position to velocity control
Sercos encoder cannot be used as a motor uses command value instead of actual value..... 37
control encoder................................................. 145 Switching off fine adjustment for combined
Sercos encoder: Position value transmission encoders for SSI............................................... 120
not checked in transition command.................. 146 Switching the master communication proto‐
Sercos: Drive sometimes loses telegrams af‐ col does not cause switching of master com‐
ter switching to CP3.......................................... 154 munication profile.............................................. 168
Sercos: Value 0 can be set for S1003.............. 105 Switching times PM -> OM too long.................. 116
Serial commissioning impossible with cus‐ Sytronix and sensorless motor control do not
tomer password assigned................................. 111 work.................................................................. 123
SMO - configuration loss after parameters Sytronix: Impossible to include actuator in‐
were loaded...................................................... 135 feed compensation in AT telegram..................... 91
SMO dynamization monitoring only works for
one functional input............................................. 83 T
SMO parameters assigned to X31/X35 as Taking the jerk into account in SMD................. 131
output do not switch the output......................... 110 Target position is not applied to actual posi‐
SMO: Incorrect velocity feedback value with tion when changing from MC_Jog to
modulo scaling.................................................... 47 MC_MoveAdditive............................................... 88
Softstart fault F2816............................................ 74 The 0x1C00 01..04 objects are of the wrong
Softstart fault F2816 with HCS1.1W54............... 33 data type............................................................. 93
Softstart fault with HCS W54.............................. 39 The readout of stored parameters in the en‐
Speed-dependent position offset between coder fails / or encoder cannot be written........... 41
encoder 1 and 2 (F2036).................................. 145 Thermal model inadmissibly reduces above
Spindle encoder function cannot be activa‐ 125 Hz................................................................. 84
ted..................................................................... 121 Thermal motor model overload E2051.............. 164
Sporadic E2075 with optional encoder............. 120 Third-party resolver sporadically returns
Sporadic error F2028 "Excessive deviation"....... 74 F8022 if Cs heats up......................................... 120
Sporadic F8034................................................. 157 Time stamp of hardware/firmware replace‐
Sporadic F9100 with MSM motor...................... 147 ment detection contains wrong data................... 67
Sporadisch F8354 mit Querschlusserken‐ Too many Telnet sessions cause F9100.......... 104
nung.................................................................. 113 Transition command error C0209 with En‐
SSI encoder is changed to combined encod‐ dat2.1 encoders................................................ 145
er for SSI during 1st OM switching..................... 86 Transition command error C0212 due to in‐
SSI issues with gray-coded encoders and valid parameters................................................. 91
enabled error bits................................................ 64 TTL encoder evaluation: S-0-0600.x.1 En‐
SSI sine encoder linear: Encoder resolution coder status, bit 5 position status always 0....... 145
S-0-0601.x.2 incorrectly calculated................... 120 TTL encoder wire break monitoring does not
SSI-encoder emulation - SSI-encoder evalu‐ work.................................................................. 162
ation as measuring encoder.............................. 120
Stall detection does not work in FXC opera‐ U
tion...................................................................... 48 UL certification failed due to "Component
Starting commands "S-0-0127/S-0-0128" in Breakdown Test"............................................... 141
forbidden Sercos phase using real-time bits..... 174 Unjustified E2084 "Reference mark not de‐
Subsequent PM switching is prevented with tected (cogging reference)" cannot be cleared... 49
C0401 in the case of bus failure (F4009)............ 52
Supported temperature sensors for ML3 lin‐
ear motor............................................................. 79
Index
V Wrong module code and thereby motor seri‐

V/Hz (U/f) control: Wrong command value al number in motor encoder memory.................. 35
after drive enable switched on............................ 87
Value read back of parameters with struc‐ Y
ture index 130 does not comply with written Y-D switching of synchronous motors............... 142
value................................................................... 75
Values for S-0602.1.1 and S-0602.1.3 got Z
lost.................................................................... 137 Zero data are transmitted to FSoE stack............ 93
Variable maximum value implemented for Zero pulse output with motor encoder-rela‐
P-0-0095/96/97 absolute encoder monitoring ted emulation incorrect in case of absolute
window.............................................................. 101 encoder systems................................................. 42
Velocity feedback value (S-0-0040) incor‐
rectly calculated if mix factor used.................... 164
Velocity feedback value of encoder 2 incor‐
rectly generated................................................ 145
Velocity search mode did not work................... 148
Velocity synchronization mode: Operation
mode incorrectly activated, if Vact <
S-0-0124........................................................... 149
Velocity-dependent PWM switching did not
work with command value box............................ 72
Verification of SMO parameters via ADS
does not work...................................................... 95
Version downgrade............................................. 21
Version upgrade.................................................. 21
Virtual master axis generator: Function
blocks do not output any error message if
master axis generation not activated.................. 96
Virtual master axis generator: Incorrect mo‐
tion profile if NC cycle time unequal
"S-0-0001"......................................................... 150
W
W54 device remains in bb in spite of mains
voltage having been connected........................ 165
Warning E2035 indicates that the encoder
emulation frequency is too high.......................... 43
Warning E2063 no longer output after
changing operation mode and changing
back.................................................................. 124
Watchdog when accessing list/string param‐
eters.................................................................... 96
Web server: Enabling the file system for SD
card access....................................................... 132
With anti-vibration filter, drive does not move
to initial position, F2028...................................... 74
With asynch. motor + encoder, S-0-0100 is
set to 0 after end of command C3600............... 115
Wrong cogging reference with absolute en‐
coder and encoder gearbox unequal 1:1.......... 165
Wrong error message with VmAxisInt as
slave axis.......................................................... 159
Wrong identification values are determined if
drive is much bigger than synchronous mo‐
tor...................................................................... 102
Wrong IDN for reading maximum possible
phys. initialization speed................................... 162
Notes
Bosch Rexroth AG
P.O. Box 13 57
97803 Lohr a.Main, Deutschland
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main, Deutschland
Phone +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics
**

ReleaseNotes IndraDrive MPB20VRS EN

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ReleaseNotes IndraDrive MPB20VRS EN

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IndraDrive

Firmware Release Notes 2021-10-21

Type of Documentation Firmware Release Notes

Copyright © Bosch Rexroth AG 2021

2 ACS and MSC motor encoder in RN MPB20V26........................................................ 13

4 Firmware release FWA-INDRV*-MPB-20V30-D5........................................................ 31

2021-10-21 Bosch Rexroth AG

5 Firmware release FWA-INDRV*-MPB-20V28-D5........................................................ 35

Bosch Rexroth AG 2021-10-21

6 Firmware release FWA-INDRV*-MPB-20V26-D5........................................................ 41

2021-10-21 Bosch Rexroth AG

7 Firmware release FWA-INDRV*-MPB-20V24-D5........................................................ 47

Bosch Rexroth AG 2021-10-21

8 Firmware release FWA-INDRV*-MPB-20V23-D5........................................................ 55

9 Firmware release FWA-INDRV*-MPB-20V22-D5........................................................ 57

2021-10-21 Bosch Rexroth AG

10 Firmware release FWA-INDRV*-MPB-20V20-D5........................................................ 63

Bosch Rexroth AG 2021-10-21

11 Firmware release FWA-INDRV*-MPB-20V18-D5........................................................ 67

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

12 Firmware release FWA-INDRV*-MPB-20V17-D5........................................................ 81

13 Firmware release FWA-INDRV*-MPB-20V16-D5........................................................ 83

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

14 Firmware release FWA-INDRV*-MPB-20V14-D5........................................................ 95

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

15 Firmware release FWA-INDRV*-MPB-20V13-D5...................................................... 109

2021-10-21 Bosch Rexroth AG

16 Firmware release FWA-INDRV*-MPB-20V12-D5...................................................... 113

Bosch Rexroth AG 2021-10-21

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

17 Firmware release FWA-INDRV*-MPB-20V11-D5...................................................... 135

2021-10-21 Bosch Rexroth AG

18 Firmware release FWA-INDRV*-MPB-20V10-D5...................................................... 139

Bosch Rexroth AG 2021-10-21

2021-10-21 Bosch Rexroth AG

19 Firmware release FWA-INDRV*-MPB-20V08-D5...................................................... 157

Bosch Rexroth AG 2021-10-21

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

20 Firmware release FWA-INDRV*-MPB-20V06-D5...................................................... 171

2021-10-21 Bosch Rexroth AG

Bosch Rexroth AG 2021-10-21

FWA-INDRV*-MPB-20V30-D5 2021-10-21 V28 → V30

Tab. 1-1: Record of revisions of firmware FWA-INDRV*-MPB-20VRS

From MPx-20V10: in case of a firmware release downgrade from

MPx-20V08 and above: In the case of firmware release update

Not supported Encoder types:

2021-10-21 Bosch Rexroth AG

● HIPERFACE (linear) can not be released in the derivat MPE →

1.2 Firmware variant

Tab. 1-2: Firmware variant

For the explanation of the type code, see chapter "Firmware

Bosch Rexroth AG 2021-10-21

Material No. Firmware Comment

Tab. 1-3: Type codes of the supported firmware variants

2021-10-21 Bosch Rexroth AG

1.3 System overview

Software Application Properties

SWA-IWORKS-DS* (1) Drive commissioning tool ● No offline simulation