AS 4.3.3 RevInfoE

B&R Revision Information
Automation Studio 4.3.3

22−Jun−2017
Revision Information Automation Studio 4.3.3 i
Contents
B&R Revision Information (22.06.2017)Automation Studio 4.3.3..............................................................................................................................................................1
Contents......................................................................................................................................................................................................................................1
Requests and problems by version.............................................................................................................................................................................................1
Requests and problems by product/component..........................................................................................................................................................................8
1A4300.02 Automation Studio 4.x.....................................................................................................................................................................................8
Build.........................................................................................................................................................................................................................8
Build − C Compiler GCC 4.1.2...............................................................................................................................................................................10
Build − ConfigurationBuilder..................................................................................................................................................................................10
Build − Fieldbus.....................................................................................................................................................................................................10
Build − FinalizeBuild..............................................................................................................................................................................................10
Build − IECCompiler..............................................................................................................................................................................................11
Build − IOMapBuilder.............................................................................................................................................................................................11
Build − MCBuilder..................................................................................................................................................................................................12
Build − OPC...........................................................................................................................................................................................................12
Build − OPC−UA....................................................................................................................................................................................................12
Build − reACTION..................................................................................................................................................................................................12
Build − Taskbuilder................................................................................................................................................................................................12
Build − Transfer To Target.....................................................................................................................................................................................12
Build – VC3............................................................................................................................................................................................................14
Build – VC4............................................................................................................................................................................................................14
Diagnostics − Analyse Network.............................................................................................................................................................................14
Diagnostics − Debugger........................................................................................................................................................................................15
Diagnostics − Debugger 144.................................................................................................................................................................................15
Diagnostics − Logger.............................................................................................................................................................................................15
Diagnostics − Motion − NC Trace..........................................................................................................................................................................15
Diagnostics − Profiler.............................................................................................................................................................................................15
Diagnostics − Watch..............................................................................................................................................................................................16
IO Configuration − DTM.........................................................................................................................................................................................16
IO Configuration − DTM 3rd party..........................................................................................................................................................................17
IO Configuration − Profibus...................................................................................................................................................................................17
NC Software − ACP10 3.150.................................................................................................................................................................................17
Online Compare − Automation Components.........................................................................................................................................................17
Online Compare − Software..................................................................................................................................................................................17
Online Services......................................................................................................................................................................................................17
Online Settings.......................................................................................................................................................................................................17
Programming − ANSI C.........................................................................................................................................................................................17
Programming − ANSI C++.....................................................................................................................................................................................18
Programming − Automation Basic.........................................................................................................................................................................19
Programming − CFC..............................................................................................................................................................................................19
Programming − Cross Reference..........................................................................................................................................................................19
Programming − Data Type Declaration Table Editor.............................................................................................................................................19
Programming − Data Type Declaration Text Editor...............................................................................................................................................19
Programming − Declare Variable Dialog...............................................................................................................................................................19
Programming − FBD..............................................................................................................................................................................................20
Programming − Function Table Editor...................................................................................................................................................................20
Programming − IO Mapping Table Editor..............................................................................................................................................................20
Programming − LD.................................................................................................................................................................................................20
Programming − Motion − Acopos Parameter Table Editor....................................................................................................................................22
Programming − Motion − AS Inline Speed Torque Chart......................................................................................................................................22
Programming − Motion − Cam Editor....................................................................................................................................................................22
Programming − Motion − NC Mapping Table Editor..............................................................................................................................................22
Programming − Motion Components.....................................................................................................................................................................22
Programming − OPC UA Default View Editor........................................................................................................................................................22
Programming − Select Variable Dialog..................................................................................................................................................................23
Programming − SFC..............................................................................................................................................................................................23
Programming − Software Configuration Editor......................................................................................................................................................23
Programming − ST.................................................................................................................................................................................................23
Programming − System Configuration...................................................................................................................................................................24
Programming − System Designer..........................................................................................................................................................................25
Programming − Variable Declaration Files Dialog.................................................................................................................................................25
Programming − Variable Declaration Table Editor................................................................................................................................................25
Programming − Variable Declaration Text Editor..................................................................................................................................................26
Programming − Variable Mapping Table Editor.....................................................................................................................................................26
Programming − Visual Components......................................................................................................................................................................26
SG4 Runtime − Common.......................................................................................................................................................................................26
System − Unit System...........................................................................................................................................................................................26
Textsystem.............................................................................................................................................................................................................26
Tools − Generate Transfer List..............................................................................................................................................................................26
Tools − Import Fieldbus Device.............................................................................................................................................................................27
Tools − Options Dialog..........................................................................................................................................................................................27
Tools − Technology Guarding................................................................................................................................................................................27
Tools − Upgrade....................................................................................................................................................................................................28
VisualComponents Editor – VC3...........................................................................................................................................................................28
VisualComponents Editor – VC4...........................................................................................................................................................................28
Workspace − Common..........................................................................................................................................................................................29
Workspace − Configuration View...........................................................................................................................................................................30
Workspace − Export/Import...................................................................................................................................................................................30
Workspace − Find/Replace....................................................................................................................................................................................31
Workspace − Localization......................................................................................................................................................................................31
Workspace − Logical View.....................................................................................................................................................................................31
Workspace − Output Windows..............................................................................................................................................................................31
Workspace − Physical View...................................................................................................................................................................................32
Workspace − Project Converter.............................................................................................................................................................................33
Workspace − Setup...............................................................................................................................................................................................33
Workspace − Source Control.................................................................................................................................................................................34
Workspace − Textsystem......................................................................................................................................................................................34
Workspace − Unit System.....................................................................................................................................................................................34
1A4000.02 Motion Components......................................................................................................................................................................................34
NC Software − ACP10 Wichtige Information.........................................................................................................................................................34
NC Software − ACP10 V3.131...............................................................................................................................................................................36
NC Software − ACP10 V3.130...............................................................................................................................................................................36
Revision Information Automation Studio 4.3.3 ii
Contents
B&R Revision Information (22.06.2017)Automation Studio 4.3.3
NC Software − ACP10 V3.121...............................................................................................................................................................................37
NC Software − ACP10 V3.120...............................................................................................................................................................................37
NC Software − ACP10 V3.112...............................................................................................................................................................................37
NC Software − ACP10 V3.111...............................................................................................................................................................................38
NC Software − ACP10 V3.110...............................................................................................................................................................................38
NC Software − ACP10 V3.100...............................................................................................................................................................................39
NC Software − ACP10 V2.514...............................................................................................................................................................................40
NC Software − ACP10 V2.513...............................................................................................................................................................................40
NC Software − ACP10 V2.512...............................................................................................................................................................................40
NC Software − ACP10 V2.511...............................................................................................................................................................................40
NC Software − ACP10 V2.510...............................................................................................................................................................................40
NC Software − ACP10 V2.501...............................................................................................................................................................................41
NC Software − ACP10 V2.500...............................................................................................................................................................................41
NC Software − ACP10 V2.491...............................................................................................................................................................................42
NC Software − ACP10 V2.490...............................................................................................................................................................................43
NC Software − ACP10 V2.481...............................................................................................................................................................................43
NC Software − ACP10 V2.480...............................................................................................................................................................................43
NC Software − ACP10 V2.472...............................................................................................................................................................................44
NC Software − ACP10 V2.470...............................................................................................................................................................................45
NC Software − ACP10 V2.461...............................................................................................................................................................................46
NC Software − ACP10 V2.460...............................................................................................................................................................................46
NC Software − ACP10 V2.451...............................................................................................................................................................................47
NC Software − ACP10 V2.450...............................................................................................................................................................................47
NC Software − ACP10 V2.443...............................................................................................................................................................................48
NC Software − ACP10 V2.442...............................................................................................................................................................................48
NC Software − ACP10 V2.441...............................................................................................................................................................................48
NC Software − ACP10 V2.440...............................................................................................................................................................................48
NC Software − ACP10 V2.431...............................................................................................................................................................................49
NC Software − ACP10 V2.430...............................................................................................................................................................................50
NC Software − ACP10 V2.422...............................................................................................................................................................................51
NC Software − ACP10 V2.421...............................................................................................................................................................................51
NC Software − ACP10 V2.420...............................................................................................................................................................................52
NC Software − ACP10 V2.411...............................................................................................................................................................................52
NC Software − ACP10 V2.410...............................................................................................................................................................................53
NC Software − ACP10 V2.401...............................................................................................................................................................................54
NC Software − ACP10 V2.400...............................................................................................................................................................................55
NC Software − ACP10 V2.392...............................................................................................................................................................................55
NC Software − ACP10 V2.391...............................................................................................................................................................................56
NC Software − ACP10 V2.390...............................................................................................................................................................................56
NC Software − ACP10 V2.381...............................................................................................................................................................................56
NC Software − ACP10 V2.380...............................................................................................................................................................................57
NC Software − ACP10 V2.370...............................................................................................................................................................................58
NC Software − ACP10 V2.362...............................................................................................................................................................................59
NC Software − ACP10 V2.361...............................................................................................................................................................................59
NC Software − ACP10 V2.360...............................................................................................................................................................................59
NC Software − ACP10 V2.351...............................................................................................................................................................................60
NC Software − ACP10 V2.350...............................................................................................................................................................................60
NC Software − ACP10 V2.341...............................................................................................................................................................................60
NC Software − ACP10 V2.340...............................................................................................................................................................................61
NC Software − ACP10 V2.331...............................................................................................................................................................................61
NC Software − ACP10 V2.330...............................................................................................................................................................................61
NC Software − ACP10 V2.322...............................................................................................................................................................................62
NC Software − ACP10 V2.321...............................................................................................................................................................................62
NC Software − ACP10 V2.320...............................................................................................................................................................................63
NC Software − ACP10 V2.310...............................................................................................................................................................................63
NC Software − ACP10 V2.301...............................................................................................................................................................................64
NC Software − ACP10 V2.300...............................................................................................................................................................................64
NC Software − ACP10 V2.292...............................................................................................................................................................................65
NC Software − ACP10 V2.291...............................................................................................................................................................................65
NC Software − ACP10 V2.290...............................................................................................................................................................................65
NC Software − ACP10 V2.282...............................................................................................................................................................................66
NC Software − ACP10 V2.281...............................................................................................................................................................................66
NC Software − ACP10 V2.280...............................................................................................................................................................................66
NC Software − ACP10 V2.272...............................................................................................................................................................................67
NC Software − ACP10 V2.271...............................................................................................................................................................................67
NC Software − ACP10 V2.270...............................................................................................................................................................................68
NC Software − ACP10 V2.264...............................................................................................................................................................................69
NC Software − ACP10 V2.263...............................................................................................................................................................................69
NC Software − ACP10 V2.262...............................................................................................................................................................................69
NC Software − ACP10 V2.261...............................................................................................................................................................................70
NC Software − ACP10 V2.260...............................................................................................................................................................................70
NC Software − ACP10 V2.250...............................................................................................................................................................................70
NC Software − ACP10 V2.242...............................................................................................................................................................................71
NC Software − ACP10 V2.241...............................................................................................................................................................................71
NC Software − ACP10 V2.240...............................................................................................................................................................................71
NC Software − ACP10 V2.232...............................................................................................................................................................................72
NC Software − ACP10 V2.231...............................................................................................................................................................................73
NC Software − ACP10 V2.230...............................................................................................................................................................................73
NC Software − ACP10 V2.220...............................................................................................................................................................................74
NC Software − ACP10 V2.211...............................................................................................................................................................................75
NC Software − ACP10 V2.210...............................................................................................................................................................................75
NC Software − ACP10 V2.201...............................................................................................................................................................................76
NC Software − ACP10 V2.200...............................................................................................................................................................................76
NC Software − ACP10 V2.191...............................................................................................................................................................................77
NC Software − ACP10 V2.190...............................................................................................................................................................................77
NC Software − ACP10 V2.180...............................................................................................................................................................................78
NC Software − ACP10 V2.172...............................................................................................................................................................................78
NC Software − ACP10 V2.171...............................................................................................................................................................................78
NC Software − ACP10 V2.170...............................................................................................................................................................................79
NC Software − ACP10 V2.161...............................................................................................................................................................................80
Revision Information Automation Studio 4.3.3 iii
Contents
NC Software − ACP10 V2.160...............................................................................................................................................................................80
NC Software − ACP10 V2.153...............................................................................................................................................................................81
NC Software − ACP10 V2.152...............................................................................................................................................................................81
NC Software − ACP10 V2.151...............................................................................................................................................................................81
NC Software − ACP10 V2.150...............................................................................................................................................................................81
NC Software − ACP10 V2.140...............................................................................................................................................................................81
NC Software − ACP10 V2.131...............................................................................................................................................................................83
NC Software − ACP10 V2.130...............................................................................................................................................................................83
NC Software − ACP10 V2.120...............................................................................................................................................................................84
NC Software − ACP10 V2.111...............................................................................................................................................................................84
NC Software − ACP10 V2.110...............................................................................................................................................................................85
NC Software − ACP10 V2.100...............................................................................................................................................................................85
NC Software − ACP10 V2.093...............................................................................................................................................................................85
NC Software − ACP10 V2.090...............................................................................................................................................................................85
NC Software − ACP10 V2.071...............................................................................................................................................................................86
NC Software − ACP10 V2.070...............................................................................................................................................................................86
NC Software − ACP10 V2.060...............................................................................................................................................................................87
NC Software − ACP10 V2.054...............................................................................................................................................................................87
NC Software − ACP10 V2.053...............................................................................................................................................................................87
NC Software − ACP10 V2.050...............................................................................................................................................................................88
NC Software − ACP10 V2.043...............................................................................................................................................................................89
NC Software − ACP10 V2.042...............................................................................................................................................................................89
NC Software − ACP10 V2.041...............................................................................................................................................................................89
NC Software − ACP10 V2.040...............................................................................................................................................................................89
NC Software − ACP10 V2.034...............................................................................................................................................................................90
NC Software − ACP10 V2.033...............................................................................................................................................................................90
NC Software − ACP10 V2.031...............................................................................................................................................................................90
NC Software − ACP10 V2.030...............................................................................................................................................................................91
NC Software − ACP10 V2.022...............................................................................................................................................................................91
NC Software − ACP10 V2.021...............................................................................................................................................................................91
NC Software − ACP10 V2.020...............................................................................................................................................................................91
NC Software − ACP10 V2.011...............................................................................................................................................................................92
NC Software − ACP10 V2.010...............................................................................................................................................................................92
NC Software − ACP10 V2.001...............................................................................................................................................................................93
NC Software − ACP10 V2.000...............................................................................................................................................................................93
NC Software − ACP10 V1.997...............................................................................................................................................................................94
NC Software − ACP10 V1.996...............................................................................................................................................................................94
NC Software − ACP10 V1.995...............................................................................................................................................................................95
NC Software − ACP10 V1.994...............................................................................................................................................................................95
NC Software − ACP10 V1.992...............................................................................................................................................................................95
NC Software − ACP10 V1.991...............................................................................................................................................................................95
NC Software − ACP10 V1.990...............................................................................................................................................................................96
NC Software − ACP10 V1.249...............................................................................................................................................................................96
NC Software − ACP10 V1.247...............................................................................................................................................................................96
NC Software − ACP10 V1.246...............................................................................................................................................................................96
NC Software − ACP10 V1.244...............................................................................................................................................................................97
NC Software − ACP10 V1.243...............................................................................................................................................................................97
NC Software − ACP10 V1.242...............................................................................................................................................................................98
NC Software − ACP10 V1.241...............................................................................................................................................................................98
NC Software − ACP10 V1.240...............................................................................................................................................................................98
NC Software − ACP10 V1.230...............................................................................................................................................................................98
NC Software − ACP10 V1.215...............................................................................................................................................................................99
NC Software − ACP10 V1.214...............................................................................................................................................................................99
NC Software − ACP10 V1.213...............................................................................................................................................................................99
NC Software − ACP10 V1.211...............................................................................................................................................................................99
NC Software − ACP10 V1.210...............................................................................................................................................................................99
NC Software − ACP10 V1.198.............................................................................................................................................................................100
NC Software − ACP10 V1.197.............................................................................................................................................................................100
NC Software − ACP10 V1.196.............................................................................................................................................................................100
NC Software − ACP10 V1.195.............................................................................................................................................................................101
NC Software − ACP10 V1.193.............................................................................................................................................................................101
NC Software − ACP10 V1.192.............................................................................................................................................................................101
NC Software − ACP10 V1.191.............................................................................................................................................................................101
NC Software − ACP10 V1.190.............................................................................................................................................................................101
NC Software − ACP10 V1.188.............................................................................................................................................................................102
NC Software − ACP10 V1.187.............................................................................................................................................................................102
NC Software − ACP10 V1.186.............................................................................................................................................................................102
NC Software − ACP10 V1.185.............................................................................................................................................................................102
NC Software − ACP10 V1.184.............................................................................................................................................................................102
NC Software − ACP10 V1.183.............................................................................................................................................................................103
NC Software − ACP10 V1.182.............................................................................................................................................................................103
NC Software − ACP10 V1.181.............................................................................................................................................................................103
NC Software − ACP10 V1.180.............................................................................................................................................................................103
NC Software − ACP10 V1.171.............................................................................................................................................................................103
NC Software − ACP10 V1.170.............................................................................................................................................................................103
NC Software − ACP10 V1.166.............................................................................................................................................................................104
NC Software − ACP10 V1.164.............................................................................................................................................................................104
NC Software − ACP10 V1.162.............................................................................................................................................................................104
NC Software − ACP10 V1.160.............................................................................................................................................................................104
NC Software − ACP10 V1.157.............................................................................................................................................................................105
NC Software − ACP10 V1.156.............................................................................................................................................................................105
NC Software − ACP10 V1.155.............................................................................................................................................................................105
NC Software − ACP10 V1.154.............................................................................................................................................................................105
NC Software − ACP10 V1.153.............................................................................................................................................................................105
NC Software − ACP10 V1.152.............................................................................................................................................................................105
NC Software − ACP10 V1.151.............................................................................................................................................................................106
NC Software − ACP10 V1.150.............................................................................................................................................................................106
NC Software − ACP10 V1.145.............................................................................................................................................................................107
NC Software − ACP10 V1.143.............................................................................................................................................................................107
NC Software − ACP10 V1.142.............................................................................................................................................................................107
Revision Information Automation Studio 4.3.3 iv
Contents
NC Software − ACP10 V1.141.............................................................................................................................................................................108
NC Software − ACP10 V1.140.............................................................................................................................................................................108
NC Software − ACP10 V1.132.............................................................................................................................................................................109
NC Software − ACP10 V1.131.............................................................................................................................................................................109
NC Software − ACP10 V1.130.............................................................................................................................................................................109
NC Software − ACP10 V1.121.............................................................................................................................................................................109
NC Software − ACP10 V1.120.............................................................................................................................................................................109
NC Software − ACP10 V1.106.............................................................................................................................................................................110
NC Software − ACP10 V1.105.............................................................................................................................................................................110
NC Software − ACP10 V1.104.............................................................................................................................................................................110
NC Software − ACP10 V1.103.............................................................................................................................................................................111
NC Software − ACP10 V1.102.............................................................................................................................................................................111
NC Software − ACP10 V1.100.............................................................................................................................................................................111
NC Software − ACP10 V1.069.............................................................................................................................................................................112
NC Software − ACP10 V1.068.............................................................................................................................................................................112
NC Software − ACP10 V1.067.............................................................................................................................................................................113
NC Software − ACP10 V1.066.............................................................................................................................................................................113
NC Software − ACP10 V1.065.............................................................................................................................................................................113
NC Software − ACP10 V1.064.............................................................................................................................................................................114
NC Software − ACP10 V1.063.............................................................................................................................................................................114
NC Software − ACP10 V0.554.............................................................................................................................................................................114
NC Software − ACP10 V0.553.............................................................................................................................................................................114
NC Software − ACP10 V0.552.............................................................................................................................................................................115
NC Software − ACP10 V0.550.............................................................................................................................................................................115
NC Software − ACP10 V0.548.............................................................................................................................................................................115
NC Software − ACP10 V0.546.............................................................................................................................................................................115
NC Software − ACP10 V0.545.............................................................................................................................................................................115
NC Software − ACP10 V0.544.............................................................................................................................................................................115
NC Software − ACP10 V0.543.............................................................................................................................................................................115
NC Software − ACP10SDC Wichtige Information................................................................................................................................................116
NC Software − ACP10SDC V2.500.....................................................................................................................................................................116
NC Software − ACP10_MC Wichtige Information................................................................................................................................................117
NC Software − ACP10_MC V3.130.....................................................................................................................................................................118
Revision Information Automation Studio 4.3.3 v
Contents
NC Software − ARNC0 Wichtige Information......................................................................................................................................................189
NC Software − ARNC0 V3.130............................................................................................................................................................................190
Revision Information Automation Studio 4.3.3 vi
Contents
Revision Information Automation Studio 4.3.3 vii
Contents
Revision Information Automation Studio 4.3.3 viii
Contents
1A4000.02 Automation Tools.........................................................................................................................................................................................293
I/O Switchboard...................................................................................................................................................................................................293
B&R Revision Information (22.06.2017)
Automation Studio 4.3.3
The current revision information can be downloaded from the B&R Homepage download area (http://www.br−automation.com/en/downloads).
Contents
• Requests and problems by version
• Requests and problems by product/component
Requests and problems by version
ID valuation solved since known since Description
VNC visualisations mapped to the second network interface don't work if there are VNC
400203650 Problem AS4.3.03 VC 4.26.1
visualisations mapped to the first network interface.
400173775 Problem AS4.3.03 VC 4.15.6 VC4 process arguments with quotation marks not evaluated correctly
400149575 Problem AS4.3.03 VC 3.95.0 Default limits (min and max) for datatype REAL are not correct.
400205736 Problem AS4.3.03 V3.00.90.34 SP0x Automation Studio crashing when opening very large networks in Ladder Diagram editor
400085924, Period entered after pointer variable not automatically replaced by pointer and selection list
New function AS4.3.03 V3.00.90.20 SP0x
400132913 for code autocomplete not displayed
400076399 New function AS4.3.03 V3.00.90.18 Too little information is displayed in the tooltip for variables.
Information about index and subindex not contained in module configuration in the HTML
400133155 Problem AS4.3.03 V3.00.80.39 FD
description file generated for CANopen
400012095,
400139492, New function AS4.3.03 V3.0.71.20 SP02 Unable to filter error messages and warnings in the message box
400186465
400195414 New function AS4.3.03 nicht relevant No date/time specifications in entries in message box
400139409,
New function AS4.3.03 nicht relevant Exporting and importing hardware modules
400144705
400214078 Problem AS4.3.03 AS4.3.03 Error with disabled "default include mechanism"
400194836 New function AS4.3.03 AS4.3.03 Added property SamplingInterval
513285 Problem AS4.3.03 AS4.3.03 Dialog box for selecting variables displaying package−local files outside scope
Acp10sys.br is shown in the software configuration in the wrong category (NC data objects
400203406 Problem AS4.3.03 AS4.3.03
instead of data objects).
400126669,
Problem AS4.3.03 AS4.3.03 Touch screen not working on AP900 with DVI interface card if COM1 on the APC being used
400177751
400221812,
Problem AS4.3.03 AS4.3.03 Licensing returning error "An internal error occurred"
400221951
540490 Problem AS4.3.03 AS4.3.03 It's not psooible to install Automation Studio Servicepack from Tools/Upgrades
400210272 Problem AS4.3.03 AS4.3.03 Library MC_RegMA not automatically replaced
400215643 Problem AS4.3.03 AS4.2.08 SP Unable to build projects with referenced actions located in paths with spaces
Warning "Command overriding for target" if VC3−based HMI application mapped multiple
400211509 Problem AS4.3.03 AS4.2.08 SP
times
Existing references removed in table editor for data type declarations when adding new
400214797 Problem AS4.3.03 AS4.2.08 SP
member
400216097 Problem AS4.3.03 AS4.2.08 SP Automation Studio crashing after copying and pasting a certain FBD network
400214297 Problem AS4.3.03 AS4.2.08 SP Update transfer list not being created
400215727 Problem AS4.3.03 AS4.2.08 SP Files of data object cannot be encrypted
400213790 Problem AS4.3.03 AS4.2.07 SP Not possible to compile projects in paths containing spaces
400213790 Problem AS4.3.03 AS4.2.07 SP Error 3003 output when building Automation Studio project
400214873,
Problem AS4.3.03 AS4.2.07 SP Warning regarding missing binary library not sufficiently clear
400211709
527439 New function AS4.3.03 AS4.2.07 SP Updated hardware configuration file HardwareConfiguration.xml
400210195 Problem AS4.3.03 AS4.2.07 SP Error messages output when building function blocks with VAR_IN_OUT parameters
400208028 Problem AS4.3.03 AS4.2.07 SP Error message when using I/O simulation in application modules
400213686 Problem AS4.3.03 AS4.2.07 SP Maximum path length of 260 characters not permitted
400211537 New function AS4.3.03 AS4.2.07 SP Changed layout of TransferGui
400208860 Problem AS4.3.03 AS4.2.07 SP Unable to build VC3 project if Automation Studio installed under C:\Program Files
400210750 Problem AS4.3.03 AS4.2.07 SP Profiler: Display as idle task
Automation Studio crashing in ANSI C header file if incomplete structure definition added
400213942 Problem AS4.3.03 AS4.2.07 SP
before a structure
400210273 Problem AS4.3.03 AS4.2.07 SP Opening a text editor in Automation Studio taking a long time
400204781 Problem AS4.3.03 AS4.2.07 SP Automation Studio crashing in ANSI C editor if Ctrl+Spacebar pressed multiple times
Incorrect entry selected in selection list in many cases with autocomplete after entering
400211150 Problem AS4.3.03 AS4.2.07 SP
Ctrl+Space
Checkbox for reproducibility shown by mistake for enumerators in the table editor for data
400212317 Problem AS4.3.03 AS4.2.07 SP
type declarations
400213175 Problem AS4.3.03 AS4.2.07 SP Exception on "Undo" in table editor for function declarations
400209802 Problem AS4.3.03 AS4.2.07 SP Positioning from "Cross−reference" window to I/O mapping editor not working correctly
400210605 Problem AS4.3.03 AS4.2.07 SP "n.a." displayed instead of value when using monitor mode in the Ladder Diagram editor
400213040 Problem AS4.3.03 AS4.2.07 SP Missing parameters in ACOPOS parameter table when language set to Korean
400212265 Problem AS4.3.03 AS4.2.07 SP Cam editor: Incorrect limits defined automatically
Revision Information Automation Studio 4.3.3 2
400211886 Problem AS4.3.03 AS4.2.07 SP Message when loading large amount of network command trace data
Automation Studio crash in Sequential Function Chart editor when using variable of type
400210399 Problem AS4.3.03 AS4.2.07 SP
"Enumerator" in transition
Automatic scrolling when dragging and dropping objects not always working in the software
400214528 New function AS4.3.03 AS4.2.07 SP
configuration
400210132 Problem AS4.3.03 AS4.2.07 SP Changes in task class timing not identified by exclamation point
400206649 Problem AS4.3.03 AS4.2.07 SP Error converting AS 3.x project that uses an APC910 with 4 LS cards
400209532 Problem AS4.3.03 AS4.2.07 SP Error 5612 on build if .tmx file in package underneath program
400211983 Problem AS4.3.03 AS4.2.07 SP Offline licensing returning error
400214038 Problem AS4.3.03 AS4.2.07 SP Opening an Automation Studio project containing a period in the project name not prevented
Exception when trying to edit a project saved on a network if a network connection does not
400211915 Problem AS4.3.03 AS4.2.07 SP
exist
400214089 Problem AS4.3.03 AS4.2.07 SP CPU system tick not adjusted if POWERLINK or X2X interface cycle time changed
400212992 Problem AS4.3.03 AS4.2.07 SP Not permitted to use node number 240 for PLK "traced node"
400207445 Problem AS4.3.03 AS4.2.07 SP Incorrect "MaxInSize" calculated by AS for module X20DS4389
400206649 Problem AS4.3.03 AS4.2.07 SP Error converting AS 3.x project that uses an APC910 with 4 LS cards
OPC UA | EU Range Low and High limits can not be changed if 'Inherit From Parent' is set
400205745 Problem AS4.3.03 AS4.2.06 UP
to 'Inherit None'.
400205048 Problem AS4.3.03 AS4.2.06 UP Missing translation
400207011 Problem AS4.3.03 AS4.2.06 SP Error generating cross−references if binary tasks mapped
400203333 Problem AS4.3.03 AS4.2.06 SP Error initializing dynamic structure elements
400201912 Problem AS4.3.03 AS4.2.06 SP Configuration ID incorrectly added to arconfig.br in addition to module sysconf.br
Automation Studio freezing on connection loss when transfer to redundant system started
400206615 Problem AS4.3.03 AS4.2.06 SP
shortly beforehand
400204305 New function AS4.3.03 AS4.2.06 SP Transfer progress not displayed in transfer window
400202474 Problem AS4.3.03 AS4.2.06 SP Framework application module deleted when other application module transferred
400202474 Problem AS4.3.03 AS4.2.06 SP Framework application module deleted when other application module transferred
400201360 Problem AS4.3.03 AS4.2.06 SP Relative path for user files persisting as absolute path
400201656 Problem AS4.3.03 AS4.2.06 SP Option for ignoring differences in user files not dependent on Automation Runtime version
400205348 Problem AS4.3.03 AS4.2.06 SP Controller entering service mode when line coverage enabled
400201815 New function AS4.3.03 AS4.2.06 SP New feature: Debugging potentially different binary files
400200749 Problem AS4.3.03 AS4.2.06 SP Monitoring of block instances not possible for blocks embedded in structure data types
400204078 New function AS4.3.03 AS4.2.06 SP NC Trace: Size of properties dialog box now retained
Variables added while monitoring instances of function blocks in the Watch window removed
when exiting monitor mode
400205621 Problem AS4.3.03 AS4.2.06 SP Automation crashing in text editor when editing large ANSI C programs
400207519 Problem AS4.3.03 AS4.2.06 SP Automation Studio crash when adding code snippet in ANSI C editor
400204116 Problem AS4.3.03 AS4.2.06 SP Outlining not working properly when using preprocessor directives
400205133 Problem AS4.3.03 AS4.2.06 SP Variable no longer preselected when opening the dialog box for selecting a variable
400201609 Problem AS4.3.03 AS4.2.06 SP Incorrect default value for reproducibility of function block and data type components
Incorrect position marked in Function Block Diagram editor when double−clicking on an error
400208990 Problem AS4.3.03 AS4.2.06 SP
message
Data type error reported in Function Block Diagram when using bit addressing with SET and
400209993 Problem AS4.3.03 AS4.2.06 SP
RESET blocks
400206991 Problem AS4.3.03 AS4.2.06 SP Sorting lost in file−based I/O mapping editor when saved
400207617 Problem AS4.3.03 AS4.2.06 SP Copy/Paste of large networks not working in Ladder Diagram editor
Only period take into account in instance variable of function block at a line break, not
underscores and camel case
Automation Studio crashing when switching off monitor mode in the Ladder Diagram editor if
400201743 Problem AS4.3.03 AS4.2.06 SP
synchronous Powerflow is active
400206510 Problem AS4.3.03 AS4.2.06 SP Imported ServoSoft data not shown in Speed Torque Chart
Acp10sys.br is shown in the software configuration in the wrong category (NC data objects
400203406 Problem AS4.3.03 AS4.2.06 SP
instead of data objects).
400207347 Problem AS4.3.03 AS4.2.06 SP No structure elements offered by SmartEdit in structures used in actions within a library
400201684,
Problem AS4.3.03 AS4.2.06 SP Scrolling in text editor very slow and consumes much CPU time
400202368
Within the modul details view it is not possible to select single characters of the module
400204855 Problem AS4.3.03 AS4.2.06 SP
name because clicking in the module name field selects the whole text.
400207498 Problem AS4.3.03 AS4.2.06 SP Error in dialog box for entering initialization values
400200100 Problem AS4.3.03 AS4.2.06 SP Importing fieldbus description files as DTM devices causing errors
400201458 Problem AS4.3.03 AS4.2.06 SP Source files from frozen POWERLINK devices not exported
400204678 Problem AS4.3.03 AS4.2.06 SP Changed colors not correctly displayed in text editor and Ladder Diagram editor
400204025 Problem AS4.3.03 AS4.2.06 SP Visio files are not taken into account during library export
400207280 Problem AS4.3.03 AS4.2.06 SP AS allowing input of PLK IP address 192.168.100. although this is reserved for PLK
400202914 Problem AS4.3.03 AS4.2.06 SP SVN sometimes did not delete local directories.
400195252 Problem AS4.3.03 AS4.2.05 Cannot rename copied reACTION block
400192535 Problem AS4.3.03 AS4.2.05 Partition information specified on transfer if this is the reason for an initial transfer
517095 Problem AS4.3.03 AS4.2.05 Automation Studio crash when opening large system dump in the Logger
400197944 Problem AS4.3.03 AS4.2.05 Automation Studio crash when opening large system dump in the Logger
400194698 Problem AS4.3.03 AS4.2.05 Automation Runtime transfer causing service mode on controller
400200104 Problem AS4.3.03 AS4.2.05 Function block not called although value TRUE assigned on EN input
400200886 Problem AS4.3.03 AS4.2.05 Error message 1352 output on build
Increased memory consumption when switching the active configuration if the configuration
400198017 Problem AS4.3.03 AS4.2.05
contains large OPC UA mapping files
400195741 Problem AS4.3.03 AS4.2.05 Typo−fixes of several localized language−names
400192635 New function AS4.3.03 AS4.2.05 No option to create image in new transfer dialog box
400197852 New function AS4.3.03 AS4.2.05 Licensing per command line
Upgrade dialog bow showing too many upgrades if the dialog box is re−opened immediately
400194550 Problem AS4.3.03 AS4.2.05
after installing an upgrade
Request: Automatic cleaning of VC4 data source of data points no longer being used in any
400201861 New function AS4.3.03 AS4.2.05
HMI application
400200321 Problem AS4.3.03 AS4.2.05 Error changing resolution of VC4 HMI application
400198769 Problem AS4.3.03 AS4.2.05 Shared resources updated incorrect when adding second VC4 HMI application
400200626 Problem AS4.3.03 AS4.2.05 Deselecting a group discarding all other selections
400200163 New function AS4.3.03 AS4.2.05 Additional ‘Description 2' column added in the Physical View
400199159 Problem AS4.3.03 AS4.2.05 Faulty hardware configuration when identifying hardware structure online
400208091 Problem AS4.3.03 AS4.2.05 Long build times with text system builder
400173703 Problem AS4.3.03 AS4.2.04 Error handling for no more RAM
400178783 New function AS4.3.03 AS4.2.04 Monitoring of block instances not possible for blocks embedded in another block
400172448 Problem AS4.3.03 AS4.2.04 Performance problems on DTM devices with large I/O configuration
400190693 Problem AS4.3.03 AS4.2.04 Corrupt code generated for ladder diagram
400184278 Problem AS4.3.03 AS4.2.04 The VC4 Trend wizard does not add the set value for MaxValue to the Trend data.
Display error when adding button, selecting "SingleText" as text source and changing the
400168760 Problem AS4.3.03 AS4.2.04
style
400171760 Problem AS4.3.03 AS4.2.04 Modules behind 8CVE28000HC00.00−1 not displayed in Physical View
400164521, Possibility of opening Automation Studio in the correct version when double−clicking on the
New function AS4.3.03 AS4.2.03
400159694 .apj file
400189938 Problem AS4.3.03 AS4.2.02 Missing support for SafeLOGIC module X20SL8101 in Automation Studio
400204258 Problem AS4.3.03 AS4.1.12 SP Error with large encrypted C files
400214903 Problem AS4.3.03 AS4.1.12 SP Crash when adding variables to Watch window
400201024 Problem AS4.3.03 AS4.1.11 SP Incorrect conversion of an AS 3.x project with multiple 2005 extension racks
400182590 Problem AS4.3.03 AS4.1.10 SP Error: VC4 "Import from another project" dialog box crashing
400166322, If the name of the CPU (with a VNC Visu mapped on its ethernet) is alphabetically before the
Problem AS4.3.03 AS4.1.08 SP
400200349 name of the display (with the same Visu mapped), an error 7001 occures during build.
VNC visualisations mapped to the second network interface don't work if there are VNC
400152894 Problem AS4.3.03 AS4.1.05 SP
visualisations mapped to the first network interface.
400203410 Problem AS4.3.03 AS4.0.26 SP Obsolete offset data ignored
400209162 Problem AS4.3.03 AS4.0.26 SP Additional folder created when referencing hardware configuration with Ethernet panel
400142360 Problem AS4.3.03 AS4.0.20 SP Problems when debugging C++−source code
400140222 Problem AS4.3.03 AS4.0.19 SP Paths of affected VC4 data points not corrected when renaming folders in the Logical View
400136729, Variable dialog box not detecting data types of function blocks correctly if they are added
New function AS4.3.03 AS4.0.17 SP
400166079 using SmartEdit
Dialog box for automatic variable declaration file opened when selecting lines in text editor
for programming languages
400125125 Problem AS4.3.03 AS4.0.16 SP Warning in Debugger Watch
400128816 Problem AS4.3.03 AS4.0.16 SP Dependent unit group deleted when importing data source
400123272 New function AS4.3.03 AS4.0.16 SP Unable to view error messages and warnings separately in the message box
400116440 Problem AS4.3.03 AS4.0.14 Tooltip showing incorrect data type
400145359 Problem AS4.3.03 AS4.0.00 Possible to connect HMI application to MP50 and VNC server simultaneously
400201097 Problem AS4.3.03 ARSG4_4.26.1_A04.26 Remanent and permanent data not deleted when changing CF card
400196552 Problem AS4.3.03 ARSG4_4.25.10_J04.25 Online installation aborted when using Power Panel T30
400194836 New function AS4.3.03 ARSG4_4.25.10_J04.25 Added property SamplingInterval
400200834 New function AS4.3.03 ARSG4_4.25.10_J04.25 Texts available in next Automation Studio version (4.3)
400157787,
400192310,
400192785,
400157936, ArSim sporadically stuck in Booting after activating the simulation mode and trigger an offline
Problem AS4.3.03 ARSG4_4.22.4_D04.22
400195399, install
400199895,
400214748,
400215454
400158213 Problem AS4.3.03 AH4.0.16 Incorrect descriptive text for property SampleDateTimeDatapoint in trend data
400195893 Problem AS4.3.02 VC 4.25.0 Trend not displayed in AS4.2.5
New visualization object not visible in Logical View after adjusting the size of the HMI
400193562 Problem AS4.3.02 VC 4.25.0
application
400149955 Problem AS4.3.02 VC 4.15.1 2D arrays not working with VC4 DropDown control
400182873 Problem AS4.3.02 V3.00.90.33 SP0x Code−based auto−indent not always working after #ifdef preprocessor directive
400118079 Problem AS4.3.02 V3.00.90.27 SP0x Text editor showing __attribute__ as scope
400116208 Problem AS4.3.02 V3.00.90.25 SP0x Incorrect lines sometimes added in text editor if windows are split
Code−based automatic indentation not working correctly in ANSI C and ANSI C++ in
400102220 Problem AS4.3.02 V3.00.90.23 SP0x
"switch" statement after "case" statement specifying a range
400095548 Problem AS4.3.02 V3.00.90.23 SP0x Incorrect text looked for during searching
400098397 Problem AS4.3.02 V3.00.90.22 SP0x Text editor sometimes removing incorrect comments on "Uncomment"
400099397 Problem AS4.3.02 V3.00.90.22 SP0x Correct search text not entered in search dialog box if no text selected in editor
400084855 Problem AS4.3.02 V3.00.90.20 SP0x Text editor sometimes removing incorrect comments on "Uncomment"
400085762 New function AS4.3.02 V3.00.90.19 SP0x Prototypes incorrectly included in list of scopes in ANSI C editor
400083076 Problem AS4.3.02 V3.00.90.19 SP0x SmartEdit no longer working after #pragma directive
400079577,
400081018, Problem AS4.3.02 V3.00.90.19 SP0x Text editor sometimes removing incorrect comments on "Uncomment"
400095613
400081964,
400079278, Problem AS4.3.02 V3.00.90.19 SP0x Already declared data types offered for automatic variable declaration
400123797
400072780,
400072275,
400117589,
400123208,
400128089, Problem AS4.3.02 V3.00.90.15 Data points not updated correctly when deleting unit group
400170336,
400178642,
400178722,
400195117
400187790 Problem AS4.3.02 V3.00.90.14 "Go to implementation" also offering prototypes
400123672,
Problem AS4.3.02 V3.00.90.14 Text editor sometimes removing incorrect comments on "Uncomment"
400208178
400061975,
400110543,
400124221,
400124368,
400124402,
400124789,
400124810,
400124811,
400124812,
400124813,
400124814,
New function AS4.3.02 V3.00.81.24 SP03 No cycle time calculation in Automation Studio
400125464,
400125455,
400125447,
400126514,
400126516,
400130182,
400130939,
400058689,
400131531,
400148637,
400163972
Error message "Error 1000: Fatal, the value must not be NULL" output when building
400183114 Problem AS4.3.02 V3.00.80.42 FD
Automation Studio fieldbus project on 32−bit Windows 7 system
Modbus fieldbus builder ignoring entries of pseudo cyclic types when creating
400191122 Problem AS4.3.02 V3.00.80.42 FD
ModbusChannelAssignment file
400189560 Problem AS4.3.02 V3.00.80.42 FD EthernetIP Builder reporting confusing warning 1007
400159836 Problem AS4.3.02 V3.00.80.41 FD Confusing warning 6841 output when building Automation Studio project
Not possible in TwinCAT to rename subgroups (IOM...) in the XML configuration file
400111275 New function AS4.3.02 V3.00.80.39 FD
generated by EtherCAT fieldbus builder
497985 Problem AS4.3.02 AS4.3.02 Simulation of a project with a X20CM4810 module leads to a cyclic reboot of the ARsim
492815 Problem AS4.3.02 AS4.3.01 Warning 1289 no longer output
492515 Problem AS4.3.02 AS4.3.01 I/O mapping deleting preceding colons ("::") in column "Process variable"
501580 Problem AS4.3.02 AS4.2.06 SP Data exchange between 2 X20SL8100 devices not working
400201897 Problem AS4.3.02 AS4.2.06 SP Error message when assigning structures
400201656 Problem AS4.3.02 AS4.2.06 SP Option for ignoring differences in user files not dependent on Automation Runtime version
494775 Problem AS4.3.02 AS4.2.06 SP "Waiting" mouse pointer displayed
400205133 Problem AS4.3.02 AS4.2.06 SP Variable no longer preselected when opening the dialog box for selecting a variable
400201609 Problem AS4.3.02 AS4.2.06 SP Incorrect default value for reproducibility of function block and data type components
400200089 Problem AS4.3.02 AS4.2.06 SP Too many variables offered in declaration for all variables
Automation Studio crashing when switching off monitor mode in the Ladder Diagram editor if
400201743 Problem AS4.3.02 AS4.2.06 SP
synchronous Powerflow is active
The OPC UA server did not start if a setting that deviates from the standard values was
509270 Problem AS4.3.02 AS4.2.06 SP
defined in the Default View configuration when a value range violation occurred.
495760 Problem AS4.3.02 AS4.2.06 SP Nothing displayed in System Designer when using a referenced hardware configuration
400200040 Problem AS4.3.02 AS4.2.05 OPC mappings built unnecessarily
Mixed implementations of actions and functions/function blocks resulting in diagnostic mode
400191524 Problem AS4.3.02 AS4.2.05
in some circumstances
400198878 Problem AS4.3.02 AS4.2.05 Libraries using mapp variables regenerated on each build
498380 Problem AS4.3.02 AS4.2.05 Unable to build project after replacing CPU
400195963 Problem AS4.3.02 AS4.2.05 Unable to create cross−reference if using application modules
400159040 New function AS4.3.02 AS4.2.05 Additional DeviceTag entry in ArConfig
488220 Problem AS4.3.02 AS4.2.05 Changing motion library versions not working
400196552 Problem AS4.3.02 AS4.2.05 Online installation aborted when using Power Panel T30
Error 8817 during transfer if 7CX408.50−1 module connected to 3IF671.9 module via the
400192383 Problem AS4.3.02 AS4.2.05
CAN interface
400185037,
Problem AS4.3.02 AS4.2.05 Target system starting in diagnostics mode with special X2X bus setting
400190177
Error not output during compilation when using MpAlarm and MpAlarmX together in an
400198270 Problem AS4.3.02 AS4.2.05
Automation Studio project
Error not output during compilation when using MpUser and MpUserX together in an
400198270 Problem AS4.3.02 AS4.2.05
Automation Studio project
400195358 Problem AS4.3.02 AS4.2.05 Corrupt code when using function parameters with data type STRING
494030 Problem AS4.3.02 AS4.2.05 Error message "invalid lvalue in unary '&'" or "invalid type argument of '−>'" during build
400192743 Problem AS4.3.02 AS4.2.05 Warnings output if incorrect delimiter in mapping
400192080 Problem AS4.3.02 AS4.2.05 Error writing to internal function block variable
400198055 Problem AS4.3.02 AS4.2.05 AsOPCC.br regenerated on every build
400198055 Problem AS4.3.02 AS4.2.05 AsOPCC.br regenerated on every build
400192898 New function AS4.3.02 AS4.2.05 Unclear error message if mass storage device (CF, CFast, RAMDISK, etc) too small
400194010 Problem AS4.3.02 AS4.2.05 Initial transfer executed if controller has more than one data storage device
400191896 New function AS4.3.02 AS4.2.05 Implementation of function block closed after disabling monitor mode
400192834 Problem AS4.3.02 AS4.2.05 Debugger connecting to incorrect IP address
Not possible to jump to location in source code that caused an error from the "Backtrace"
400198328 Problem AS4.3.02 AS4.2.05
window after exception
400196050 Problem AS4.3.02 AS4.2.05 Changing the array index in Watch window
400198531 Problem AS4.3.02 AS4.2.05 Some EDS files not detected correctly
400194698 Problem AS4.3.02 AS4.2.05 Automation Runtime transfer causing service mode on controller
400194143 Problem AS4.3.02 AS4.2.05 Not possible to read online info on heavily loaded target system
400194369 Problem AS4.3.02 AS4.2.05 Unnecessary ANSL PVI process object with INA connection
400192255 Problem AS4.3.02 AS4.2.05 Autocomplete not working correctly in ANSI C editor
400197105 New function AS4.3.02 AS4.2.05 Faulty SmartEdit support in #include path
400197018 Problem AS4.3.02 AS4.2.05 CFC editor crashing in monitor mode if "Force all off" selected
400195144 Problem AS4.3.02 AS4.2.05 Accessing different elements of a variable on the same line
400193681 Problem AS4.3.02 AS4.2.05 Replicable icon incorrectly displayed in table editor for data type declarations
400196960 Problem AS4.3.02 AS4.2.05 Unfounded warning 1281 when building function block diagram
400196169 Problem AS4.3.02 AS4.2.05 Comment in PV mapping table sometimes not displayed correctly
400192636 Problem AS4.3.02 AS4.2.05 Improved error messages for illegal I/O mappings
400200104 Problem AS4.3.02 AS4.2.05 Function block not called although value TRUE assigned on EN input
400200886 Problem AS4.3.02 AS4.2.05 Error message 1352 output on build
400198200 New function AS4.3.02 AS4.2.05 Possibility to open Trace from shortcut menu in visual programming editors
400200771 Problem AS4.3.02 AS4.2.05 Incorrect data in Arnc0map.ncm after replacing drive
400194293 Problem AS4.3.02 AS4.2.05 Incorrect listing of OpcUA package in error message
Contents of .sw file lost if containing package renamed while the software configuration
400197056 Problem AS4.3.02 AS4.2.05
editor is open
400194590 New function AS4.3.02 AS4.2.05 Option "Transfer only if object doesn't exist on target" not available for NC data objects
400200537 Problem AS4.3.02 AS4.2.05 Outlining not working correctly in CASE statement
SmartEdit not working for declaration files whose notation in the file system differs from that
400199323 Problem AS4.3.02 AS4.2.05
in the management files
Valid value not displayed in text−based programming languages in monitor mode when first
400198956 Problem AS4.3.02 AS4.2.05
activating tooltip for structure
400192960,
Problem AS4.3.02 AS4.2.05 Display and search problems in text editor when windows split
400195746
400193916 Problem AS4.3.02 AS4.2.05 Multiple selection and then clearing "Additionally supported hardware" not working
400199065 New function AS4.3.02 AS4.2.05 Text boxes not included in saved Hardware.jpg
AS crashes after adding a new configuration by drag/drop from the object catalog with
400195267 Problem AS4.3.02 AS4.2.05
System Designer opened.
Second block comment deleted when saving two successive block comments in the variable
400195611 Problem AS4.3.02 AS4.2.05
mapping editor
400193865 Problem AS4.3.02 AS4.2.05 Error 5455 reported when generating XDC file for module X67BC8321
400195187 Problem AS4.3.02 AS4.2.05 Faulty XDD export with DTM interface card X20IF10E1−1
400188478 Problem AS4.3.02 AS4.2.05 Upgrade installation failing for local users without administrator rights if UAC disabled
Height and width of pages and layers not adjusted when changing resolution of VC4 HMI
400198342 Problem AS4.3.02 AS4.2.05
application
400198912 Problem AS4.3.02 AS4.2.05 Unable to update data sources after changing mapp version since SmartEdit not available
All Automation Runtime versions saved in project deleted after changing the Automation
400196750 Problem AS4.3.02 AS4.2.05
Runtime version
400195841 Problem AS4.3.02 AS4.2.05 AS 4.2.5 export library causes data loss
400195790 New function AS4.3.02 AS4.2.05 Search string not added to search history in some circumstances
400196621 Problem AS4.3.02 AS4.2.05 Cut operation possible on logical root node
400194363 Problem AS4.3.02 AS4.2.05 No description available after adding objects using "Existing xxx"
400192792 Problem AS4.3.02 AS4.2.05 External editor EasyCODE 9.3 can't be selected for *.c and *.h files
400197955 Problem AS4.3.02 AS4.2.05 Display problem in Physical View after replacing 4PP420 with 5AP1120
400192054 Problem AS4.3.02 AS4.2.05 .hw file containing invalid EDS parameters
400193750,
Problem AS4.3.02 AS4.2.05 Faulty conversion of AS 3.x project to AS 4.2 if 2 4PP320 terminals connected to an APC
400219087
493750 Problem AS4.3.02 AS4.2.04 Faulty code when using data type REFERENCE_TO_ARRAY[]
Online comparison of user roles not listing identical entries across from each other in specific
443430 Problem AS4.3.02 AS4.2.04
cases
400190693 Problem AS4.3.02 AS4.2.04 Corrupt code generated for ladder diagram
400190442 Problem AS4.3.02 AS4.2.04 Automatic declaration of new variables not working for transitions
Object "iomap" in software configuration editor wrongly enabled/disabled together with object
400112444 Problem AS4.3.02 AS4.2.04
"aconfig"
400182570 New function AS4.3.02 AS4.2.04 Increased standard server timeout in Technology Guard
400189966 Problem AS4.3.02 AS4.2.04 Unable to compile referenced .dis files
400189450 Problem AS4.3.02 AS4.2.04 Some graphics not adapted when adjusting the size of a VC4 HMI application
400162281,
400161252,
400171543, Problem AS4.3.02 AS4.2.02 Faulty VC shared resources when adding an additional visualization object to project
400191739,
400193603
400154797 Problem AS4.3.02 AS4.2.01 Error in method for structuring Physical View when using subslot hubs
400205693 New function AS4.3.02 AS4.1.12 SP APC2100/PPC2100: Now possible to also set system tick to 200 s for ARemb
400179883 Problem AS4.3.02 AS4.1.10 SP Worsening of the build times compared to AS 3.90.
400190923 Problem AS4.3.02 AS4.1.10 SP Settings for master interfaces not applied when replacing 5APC2100 with another CPU
400157719 Problem AS4.3.02 AS4.1.09 SP Incremental build of libraries not taking modified .o files into account
400200435 New function AS4.3.02 AS4.1.09 SP No error output if VC version not entered in project
400200058 Problem AS4.3.02 AS4.1.09 SP Installation of a new VC version increasing the VC version being used in existing projects
400200058 Problem AS4.3.02 AS4.1.09 SP Installation of a new VC version increasing the VC version being used in existing projects
400148826 Problem AS4.3.02 AS4.1.05 SP Autocomplete not working correctly in isolated cases after multiline macro
400143362 Problem AS4.3.02 AS4.0.20 SP "Go to implementation" not working for function blocks that are data elements in a structure
"Go to implementation" not differentiating between uppercase/lowercase in ANSI C and
400123377 Problem AS4.3.02 AS4.0.16 SP
ANSI C++ files
400124300,
Problem AS4.3.02 AS4.0.16 SP Correct search text not entered in search dialog box if no text selected in editor
400147258
400121370 Problem AS4.3.02 AS4.0.15 SP Text editor sometimes removing incorrect comments on "Uncomment"
Tooltip in ANSI C and ANSI C++ files sometimes showing local function variables as
400120317 Problem AS4.3.02 AS4.0.15 SP
parameters
Unable to use keyboard shortcut CTRL+I to open header file with same name in ANSI C and
ANSI C++ files
400118304,
400163963, Problem AS4.3.02 AS4.0.15 SP Incorrect dialog box text output when searching
400152864
"Go to declaration" implemented in action not working correctly if the name of the action is
400121258 Problem AS4.3.02 AS4.0.15 SP
the same as the name of the structure element
400118027 New function AS4.3.02 AS4.0.15 SP No keyboard shortcut in text editor for "Go to implementation"
Automatic variable declaration not working correctly if cursor is located in identifier and
400115256 Problem AS4.3.02 AS4.0.15 SP
nothing is selected
Auto−indent not always correct after keyword END_STRUCT in text editor for data type
400113036 Problem AS4.3.02 AS4.0.14
declaration files
400111869 Problem AS4.3.02 AS4.0.14 Outlining not working uniformly for different control structures
400110436 Problem AS4.3.02 AS4.0.14 Jumping to variable declaration and search not working in text editor if windows are split
400183247,
Automation Studio only able to read HWX files in which one certain AR version is blocked,
400177362, Problem AS4.3.02 AS4.0.14
but not multiple versions
400184938
Values of global variables shown as "n.a." in Ladder Diagram editor when synchronous
400178106 Problem AS4.3.02 ARSG4_4.25.10_J04.25
Powerflow enabled
400174619,
400175082,
400177623, New function AS4.3.02 ARSG4_4.22.4_D04.22 Removed Modbus TCP slave address range limitation
400177912,
400178683
400186298 Problem AS4.3.01 V3.00.90.32 SP0x Possible errors 1178 and 1126 when compiling project containing encrypted programs
400139207 Problem AS4.3.01 V3.00.90.29 SP0x Data types with length 0 not supported
400125249 Problem AS4.3.01 V3.00.90.27 SP0x Refactorfunction deletes Datapoints when using a Structure
400162091 New function AS4.3.01 − Consideration of disabled modules when assigning SPDO or GPDO SubIdx
400170655 Problem AS4.3.01 AS4.3.01 Font could not be found.
400187758 Problem AS4.3.01 AS4.3.01 Change of the for VNC mapped keymapping file have no impact when built.
487490 Problem AS4.3.01 AS4.3.01 Cannot connect module
400192800 Problem AS4.3.01 AS4.3.01 Cannot make key assignments for PS2 keyboard
400186667 Problem AS4.3.01 AS4.3.01 Error 6017 when compiling a project
The OPC UA server did not start if a setting that deviates from the standard values was
509265 Problem AS4.3.01 AS4.2.06 SP
defined in the Default View configuration when a value range violation occurred.
490455 Problem AS4.3.01 AS4.2.05 Cannot compile continuous function chart
Copying SDC axes of a system NC mapping table to a user NC mapping table generating
400191957 Problem AS4.3.01 AS4.2.05
faulty data during compilation
400193363 Problem AS4.3.01 AS4.2.05 Cannot create remote install structure for T30 devices on USB flash drive in Windows 10
400192898 Problem AS4.3.01 AS4.2.05 Milliseconds shown incorrectly in transfer dialog box
400192451 New function AS4.3.01 AS4.2.05 Possible to close transfer dialog box with Enter
400182472,
Problem AS4.3.01 AS4.2.05 Degraded transfer performance
400191788
491645 Problem AS4.3.01 AS4.2.05 Adjusted calculation for average cycle times
400193300 Problem AS4.3.01 AS4.2.05 Incorrect information in Watch window after transferring project
400192647 Problem AS4.3.01 AS4.2.05 Incorrect information in Watch window after transferring project
400194369 Problem AS4.3.01 AS4.2.05 Unnecessary ANSL PVI process object with INA connection
Currently not possible to apply the data from the project with a button in dialog box "Set IP
parameters"
Problem AS4.3.01 AS4.2.05 New lines added when copying text block with more than one line
400192256,
400193362
400192252 Problem AS4.3.01 AS4.2.05 No tooltip for structure member displayed in ANSI C editor
485065 Problem AS4.3.01 AS4.2.05 Automation Studio crashing if a function pointer is defined in ANSI C/C++ files
Varied order of function calls in parameter list displayed in tooltip in the Automation Basic
400191832 Problem AS4.3.01 AS4.2.05
editor
400188791 Problem AS4.3.01 AS4.2.05 Error message while searching in cross−reference window
400192135 Problem AS4.3.01 AS4.2.05 Incorrect error message in Ladder Diagram editor when using action block
Current network no longer drawn completely in Ladder Diagram editor after variable
400189881 Problem AS4.3.01 AS4.2.05
declaration
487135 Problem AS4.3.01 AS4.2.05 Synchronous Powerflow no longer working if no values to be displayed in visible area
400176600 Problem AS4.3.01 AS4.2.05 Y value of operating point displayed in table not matching the actual value
400193502 Problem AS4.3.01 AS4.2.05 Spelling error in hardware configuration
400193662 Problem AS4.3.01 AS4.2.05 Invalid initial value entered for arrays of structures
400188497 Problem AS4.3.01 AS4.2.05 Channels configured as "Read once" not transferred
400192544 Problem AS4.3.01 AS4.2.05 Unhandled exception when saving project as zip file
400193533 Problem AS4.3.01 AS4.2.05 Text field for "Delete diagnostic files" too short
Hardware "ModbusTcp_any" not receiving address if connected to CPU via ETH2 instead of
400192330 Problem AS4.3.01 AS4.2.05
ETH1
400193027 Problem AS4.3.01 AS4.2.05 Text system editor hiding subsequent lines when editing text
400189225 Problem AS4.3.01 AS4.2.04 Error in internal header files for function blocks
400189249 Problem AS4.3.01 AS4.2.04 Error message 9222 not always output
400183301,
MN − iCN connection not working if X20SL8100 is configured as SDG and Source at the
400184063, Problem AS4.3.01 AS4.2.04
same time
400186702
400168739 Problem AS4.3.01 AS4.2.04 No value displayed in tooltip when reaching breakpoint in function block
400187645 Problem AS4.3.01 AS4.2.04 Error in IOMAP builder: Faulty mapping not detected
Error message (error 11154) when using modules in DRAM that should be deleted when
400188570 Problem AS4.3.01 AS4.2.04
transferring in service mode
400188812 Problem AS4.3.01 AS4.2.04 Automation Studio not responsive after certain input in Watch window
400188370 Problem AS4.3.01 AS4.2.04 File encoding not detected when importing 3rd−party devices
400184825 Problem AS4.3.01 AS4.2.04 Possible errors when converting projects with DTM devices
400171436 Problem AS4.3.01 AS4.2.04 Imported IO−Link devices not saved
400190211 Problem AS4.3.01 AS4.2.04 Automation Studio crashing when searching in files
400189334 Problem AS4.3.01 AS4.2.04 Automation Studio freezing if synchronous Powerflow enabled after a transfer
400188986 New function AS4.3.01 AS4.2.04 Shortcut menu option "List usage" missing in Ladder Diagram editor monitor mode
Automation Studio freezing in Ladder Diagram editor if synchronous Powerflow is enabled in
400182748 Problem AS4.3.01 AS4.2.04
monitor mode for unreferenced dynamic variables
400187486 Problem AS4.3.01 AS4.2.04 Faulty code generation for Ladder Diagram if extended MOVE block with EN/ENO is used
Faulty code generated in Ladder Diagram if the outputs of EN/ENO function blocks are not
400181420 Problem AS4.3.01 AS4.2.04
used further
400190820 Problem AS4.3.01 AS4.2.04 Taking a very long time to load network command trace
In the settings for the Sequential Function Chart editor, the width of transitions cannot be set
independently of the width of the steps.
400187821 New function AS4.3.01 AS4.2.04 No tooltip shown for the parameters in function and function block calls
400186971 Problem AS4.3.01 AS4.2.04 Constant in library declaration becoming variable when "Replicable" status changed
Confusing error message if simulation enabled but no online connection can be established
400181553 Problem AS4.3.01 AS4.2.04
to the simulation target system
400186319 Problem AS4.3.01 AS4.2.04 Generating transfer list also not working after installing the necessary AR upgrades
400177852 Problem AS4.3.01 AS4.2.04 OCTET channels not offered in I/O mapping of iCN
400178094 Problem AS4.3.01 AS4.2.04 Possible to connect CANopen slave devices to incorrect master devices
400185617 New function AS4.3.01 AS4.2.04 Switching to active window when splitting the workspace
400186373 Problem AS4.3.01 AS4.2.04 Possible problems caused by CANopen EDS files
400186180 New function AS4.3.01 AS4.2.04 Unable to transfer application to target system if spaces in project name
400187597 Problem AS4.3.01 AS4.2.04 Not possible to configure the "Default task class for global I/O variables"
400191055 Problem AS4.3.01 AS4.2.04 Library description ignored when exporting library
400189058 Problem AS4.3.01 AS4.2.04 Multiple mappings lost when renaming object in the Logical View
400188278 Problem AS4.3.01 AS4.2.04 Objects deleted when moved
400187291 Problem AS4.3.01 AS4.2.04 Incorrect AR selecting after replacing a CPU
400182502 Problem AS4.3.01 AS4.2.04 Slave module determination not launched correctly
400175368 Problem AS4.3.01 AS4.2.04 Incorrect help page opened when pressing F1 on an X... connector of a compact CPU
400188772 Problem AS4.3.01 AS4.2.04 VC upgrade not working if AS installed in directory with 2 backslashes
400183750 New function AS4.3.01 AS4.2.04 "psi" unit
400175436 Problem AS4.3.01 AS4.2.03 Errors after editing a resized visualization.
400168806,
Problem AS4.3.01 AS4.2.03 Error 7128 when compiling a project in VC4 due to data source not being updated correctly
400172881
400185747 New function AS4.3.01 AS4.2.01 Now only possible to select that ARsim should be used when creating a new AS project
400185855 Problem AS4.3.01 AS4.1.10 SP Declaration files in temp directory rejected with error message during build
400186863 Problem AS4.3.01 AS4.1.10 SP PROFIBUS slave devices not reading bus baud rate correctly, error 9700 output
400185174 Problem AS4.3.01 AS4.1.10 SP VC mapping not working correctly on AP1120
400177544 Problem AS4.3.01 AS4.1.10 SP VC3 saving absolute paths
400190924 Problem AS4.3.01 AS4.1.10 SP
Replace icon not removed from Physical View when canceling the replacement procedure in
System Designer
AS does not check if the 'Task class idle time' is smaller than the 'Duration' of the configured
400179262 Problem AS4.3.01 AS4.1.09 SP
task class.
400160899 Problem AS4.3.01 AS4.1.07 SP Display error in Physical View with APC910
400156164 Problem AS4.3.01 AS4.1.06 SP Build time increase after conversion to AS 3.0.90
0400174612 Problem AS4.3.01 AS4.1.04 Cannot modify IP parameter in simulation
400146808,
400152172,
400183818,
400185557,
400138296, Problem AS4.3.01 AS4.1.04 Physical View not showing some hardware modules
400174129,
400148375,
400193555,
400194227
400161154,
Problem AS4.3.01 AS4.0.23 SP Refactoring array elements with an index greater than 25 not working in the VC 4 editor
400186459
400144841 New function AS4.3.01 AS4.0.20 SP "Start of bus communication" flag resetting after copy/paste
400139664 New function AS4.3.01 AS4.0.19 SP Allowing multiple .hw files
400137590,
400167807,
400173097,
400178281,
400179140,
400182592, Problem AS4.3.01 AS4.0.18 SP Physical View not showing some hardware modules
400183721,
400183422,
400186234,
400192995,
400194015
400134973,
400139782,
400143334,
400152783, Problem AS4.3.01 AS4.0.18 SP Physical View not showing some hardware modules
400171399,
400172028,
400192925
400126684, Date of last modification shown in separate column in software configuration editor and
New function AS4.3.01 AS4.0.16 SP
400138091 online software comparison
"Not cross linked" shown instead of "Cross linked" in I/O mapping editor for crosslink data
400111189 Problem AS4.3.01 AS4.0.15 SP
points in monitor mode
483040 Problem AS4.3.01 ARSG4_4.25.8_H04.25 OPC UA server not permitted to be used with <limit2> build parameter
400191859,
Problem AS4.3.01 ARSG4_4.25.10_J04.25 Permanent variables lost after changing CF cards
400192035
400183201 Problem AS4.3.01 ARSG4_4.10.11_K04.10 OpenPLK master gets general error 0x0800 0000 on writing object 0x1600 on iCN.
Unnecessary "Compress VC modules" property offered for visualization objects in the
400165691 New function AS4.3.01 AH4.2.03
properties window for the software configuration
Signal files with X or Y values smaller than 1 will not beaccepted (e.g.: <Value X="0,1" Y="1"
400208281 Problem AS4.3.03 −
/>)
Requests and problems by product/component

1A4300.02 Automation Studio 4.x
Build
ID#400215643 : solved problem, known since AS4.2.08 SP, solved since AS4.3.03
Unable to build projects with referenced actions located in paths with spaces
Not possible to compile projects in paths containing spaces
Error 3003 output when building Automation Studio project
ID# 400214873, 400211709 : solved problem, known since AS4.2.07 SP, solved since AS4.3.03
Warning regarding missing binary library not sufficiently clear
Error generating cross−references if binary tasks mapped
Obsolete offset data ignored
If the presence of obsolete data is detected during build, the corresponding file is ignored and deleted.
Error with large encrypted C files
The error with large encrypted C files has been corrected; the cross−reference is generated completely again.
Error initializing dynamic structure elements
Dynamic structure elements are not permitted to be initialized; any initial values are now ignored.
ID#400200040 : solved problem, known since AS4.2.05, solved since AS4.3.02
OPC mappings built unnecessarily
Mixed implementations of actions and functions/function blocks resulting in diagnostic mode in some circumstances
Libraries using mapp variables regenerated on each build
If a project contains a library that uses mapp variables, then the library will be regenerated on each build even if nothing relevant has changed.
ID#400195414 : new function since AS4.3.03
No date/time specifications in entries in message box
Unable to build project after replacing CPU
Incremental build of libraries not taking modified .o files into account
Unable to create cross−reference if using application modules
Additional DeviceTag entry in ArConfig
An entry is now made in the ArConfig.br module for hardware modules added to a project via EPLAN import and that therefore have a device
tag.
Changing motion library versions not working
Errors can occur when adding motion hardware to a project and then changing the version of the motion libraries.
Libraries are not deleted completely and cannot be added back again.
Error in internal header files for function blocks
During a build in Automation Studio, header files are created from the IEC declarations in order to use symbols declared in IEC languages in C
and C++.
Compilation was faulty, however, if an element of a string array data type was declared as "Reference to" in a function block.
The declaration in the header file did not correspond to the IEC declaration. Writing to this array using the array index in some circumstances
wrote to incorrect array indexes.
This error has been corrected.
Error message 9222 not always output
ID#400186298 : solved problem, known since V3.00.90.32 SP0x, solved since AS4.3.01
Possible errors 1178 and 1126 when compiling project containing encrypted programs
This error is caused by a problem blocking various processes. Closing and reopening the project corrects this problem.
Data types with length 0 not supported
When using a data type with length 0 (structured data type without elements), error "6045: Data types with length 0 cannot be used :
VarName"
is output since these constructs cause memory overlaps.
ID#400133155 : solved problem, known since V3.00.80.39 FD, solved since AS4.3.03
Information about index and subindex not contained in module configuration in the HTML description file generated for CANopen
Build − C Compiler GCC 4.1.2
ID# 400214078 : solved problem, known since AS4.3.03, solved since AS4.3.03
Error with disabled "default include mechanism"
Disabling the "default include mechanism" should be looked at more closely as it caused build errors.
Build − ConfigurationBuilder
Updated hardware configuration file HardwareConfiguration.xml
Configuration ID incorrectly added to arconfig.br in addition to module sysconf.br
ID#400196552 : solved problem, known since ARSG4_4.25.10_J04.25, solved since AS4.3.03
Online installation aborted when using Power Panel T30
Online installation is aborted with error 11150 if using a Power Panel T30 with configured password for the service page, VNC server or CIFS.
Error 8099 is generated in the AR Logger.
Online installation aborted when using Power Panel T30
Online installation is aborted with error 11150 if using a Power Panel T30 with configured password for the service page, VNC server or CIFS.
Error 8099 is generated in the AR Logger.
Error 8817 during transfer if 7CX408.50−1 module connected to 3IF671.9 module via the CAN interface
ID# 400185037, 400190177 : solved problem, known since AS4.2.05, solved since AS4.3.02
Target system starting in diagnostics mode with special X2X bus setting
If a specific task class (e.g. Cyclic #1) is entered for the "Output cycle trigger" setting on the X2X bus, then the target system will only start in
diagnostics mode.
ID# 400183301, 400184063, 400186702 : solved problem, known since AS4.2.04, solved since AS4.3.01
MN − iCN connection not working if X20SL8100 is configured as SDG and Source at the same time
ID# 400174619, 400175082, 400177623, 400177912, 400178683 : new function since AS4.3.02
Removed Modbus TCP slave address range limitation
On the Modbus TCP slave, it is now possible for all Modbus data types to use the full address range.
Build − Fieldbus
Data exchange between 2 X20SL8100 devices not working
Error message "Error 1000: Fatal, the value must not be NULL" output when building Automation Studio fieldbus project on 32−bit Windows 7
system
Modbus fieldbus builder ignoring entries of pseudo cyclic types when creating ModbusChannelAssignment file
EthernetIP Builder reporting confusing warning 1007
Confusing warning 6841 output when building Automation Studio project
Build − FinalizeBuild
Error not output during compilation when using MpAlarm and MpAlarmX together in an Automation Studio project
The use of both libraries together in one Automation Studio project is not permitted and results in errors on the target system.

Error not output during compilation when using MpUser and MpUserX together in an Automation Studio project
The use of both libraries together in one Automation Studio project is not permitted and results in errors on the target system.
Build − IECCompiler
Error messages output when building function blocks with VAR_IN_OUT parameters
The error messages are output for certain SG4 target systems when using the IEC check library.
Error message when assigning structures
If 2 structures with different data types but an identical structure are assigned, then error message "Incompatible types in assignment" is output
on some SG4 target systems.
Corrupt code when using function parameters with data type STRING
If a function variable of data type STRING is specified, then corrupted code is generated on some SG4 target systems.
Error message "invalid lvalue in unary '&'" or "invalid type argument of '−>'" during build
Using certain SG4 target systems causes incomprehensible error messages to be output during build if the IEC Check library is included in the
project. This happens when accessing a single bit of a REFERENCE or VAR_IN_OUT variable. The error messages are also output when
using a REFERENCE or VAR_IN_OUT variable in a function block call as an actual parameter for a VAR_IN_OUT parameter.
Faulty code when using data type REFERENCE_TO_ARRAY[]
If a variable of data typeREFERENCE TO ARRAY[] is used, an exception occurs on some SG4 target systems.
Warning 1289 no longer output
If SFC system variable SFCInit does not exist when calling an action implemented in SFC within its scope, warning 1289 is not output during
build.
Cannot compile continuous function chart
Unfounded error messages are output when compiling a continuous function chart for certain SG4 target systems. This occurs for blank
continuous function charts or if a function block is called in a continuous function chart.
Declaration files in temp directory rejected with error message during build
If declaration files are stored in the temp directory, error message 1126 will be output during the build.
No value displayed in tooltip when reaching breakpoint in function block
No value is displayed in the tooltip for a VAR_IN_OUT variable with a structure data type when reaching a breakpoint. An error message is
shown in the tooltip instead.
Build − IOMapBuilder
Error message when using I/O simulation in application modules
An error message is now output when using I/O simulation in application modules:
Error 6767: I/O simulation is not available within application modules.
Workaround: Move the respective I/O mapping to the default application module.
Warnings output if incorrect delimiter in mapping
The I/O mapping was generated correctly in each case.

The first case occurs due to the same name for the task and PV. Now a check takes place whether an applicable local PV exists and only then
the warning is output.
In the second case, the following changed warning is output:
Warning 6760: Mapping using incorrect delimiter between task class or task name and variable name (possible old syntax). Please fix the
mapping.
Error writing to internal function block variable
Writing to an internal function block variable now outputs error 6762: "Using internal function block element "Program:FUB_testFub.var1" as
mapping destination is not allowed".
Error in IOMAP builder: Faulty mapping not detected
A faulty I/O mapping of variables no longer than 4 bytes is not detected.
Build − MCBuilder
Copying SDC axes of a system NC mapping table to a user NC mapping table generating faulty data during compilation
If an SDC axis from a system NC mapping table (e.g. Acp10map.ncm) is copied to a user NC mapping table, then data intended for the system
mapping table is also copied. When compiling the user NC mapping table, this causes an incorrect address to be compiled in the user NC
mapping table. The NC Manager on the controller can then sometimes not find this address on the controller.
Build − OPC
AsOPCC.br regenerated on every build
If a configuration in a project contains an OPC Windows mapping file (OpcMap.opcm) and mapp variables are used in the project, then file
AsOPCC.br is regenerated on each build even if nothing relevant has changed.
AsOPCC.br regenerated on every build
If a configuration in a project contains an OPC Windows mapping file (OpcMap.opcm) and mapp variables are used in the project, then file
AsOPCC.br is regenerated on each build even if nothing relevant has changed.
Build − OPC−UA
ID#400205745 : solved problem, known since AS4.2.06 UP, solved since AS4.3.03
OPC UA | EU Range Low and High limits can not be changed if 'Inherit From Parent' is set to 'Inherit None'.
If you configure for the EU Range the 'Authorization' as seen below and log in with 'Administrators' rights, the 'Low' and 'High' limits can not be
changed via UA Expert.
You will get the error 'Write to node 'NS6|String|::ServerTask:VarX#EURange' failed [ret = BadNotWritable]'
ID#483040 : solved problem, known since ARSG4_4.25.8_H04.25, solved since AS4.3.01
OPC UA server not permitted to be used with <limit2> build parameter
The build parameter <limit2> requires the use of format version 1 for the data type description. An expected description of arrays
(LowerBound, UpperBound) is not included in this version. This causes faulty behavior for array variables. In this case, the value attribute
returns only the first value of the array. Creating a monitored item for the array variable results in a page fault in this constellation.
Build − reACTION
Cannot rename copied reACTION block
Build − Taskbuilder
Error handling for no more RAM
Error handling when TaskBuilder determines that RAM is running out has been improved.
In this case, the following error message should be output:
Error 6000: Insufficient memory
Build − Transfer To Target
Maximum path length of 260 characters not permitted

Changed layout of TransferGui
The button layout for transfer settings and history windows has been changed; the position of the reboot warning icon was changed.
ID#400201097 : solved problem, known since ARSG4_4.26.1_A04.26, solved since AS4.3.03
Remanent and permanent data not deleted when changing CF card
Remanent and permanent data are not deleted when changing the CF card. The previous settings are no longer available, and the settings for
generating CF data do not work when changing the CF card.
Automation Studio freezing on connection loss when transfer to redundant system started shortly beforehand
This error behavior is indicated by a modal Windows dialog box "Server overloaded", and Automation Studio can no longer be operated.
The error correction now allows work to continue even if the connection is lost. A transfer can be restarted after confirmation of the Automation
Studio error message "Unexpected communication loss".
Transfer progress not displayed in transfer window
Framework application module deleted when other application module transferred
If an application module is transferred in the German version of AS, then all other application modules are deleted from the target system if the
transfer mismatch dialog box is opened and confirmed with OK.
Framework application module deleted when other application module transferred
If an application module is transferred in the German version of AS, then all other application modules are deleted from the target system if the
transfer mismatch dialog box is opened and confirmed with OK.
Partition information specified on transfer if this is the reason for an initial transfer
Relative path for user files persisting as absolute path
Option for ignoring differences in user files not dependent on Automation Runtime version
Option for ignoring differences in user files not dependent on Automation Runtime version
Unclear error message if mass storage device (CF, CFast, RAMDISK, etc) too small
Initial transfer executed if controller has more than one data storage device
Cannot create remote install structure for T30 devices on USB flash drive in Windows 10
Milliseconds shown incorrectly in transfer dialog box
Possible to close transfer dialog box with Enter
Degraded transfer performance
The total time needed for transferring after a small change to a project (only one program is compiled) has not improved in relation to
Automation Studio V4.2.5. The time needed to compile the project has been reduced, but the time it takes to transfer the change to the target
system has increased.
Note:
If the software configuration is open, the total transfer time is noticeably slower. It is recommended to keep the software configuration closed
while transferring the project.
ID# 400191859, 400192035 : solved problem, known since ARSG4_4.25.10_J04.25, solved since AS4.3.01
Permanent variables lost after changing CF cards

Error message (error 11154) when using modules in DRAM that should be deleted when transferring in service mode
Build – VC3
Warning "Command overriding for target" if VC3−based HMI application mapped multiple times
If a VC3−based HMI application is mapped multiple times in a configuration, warning "Command overriding for target" is output when analyzing
the project.
The HMI application is correctly compiled and transferred.
Unable to build VC3 project if Automation Studio installed under C:\Program Files
If the path to Automation Studio contains a space, a VC3 project cannot be built correctly. This also occurs if installation takes place in
C:\Programme (German) since this is translated internally by Windows into "C:\Program Files".
Build – VC4
ID#400203650 : solved problem, known since VC 4.26.1, solved since AS4.3.03
VNC visualisations mapped to the second network interface don't work if there are VNC visualisations mapped to the first network interface.
Trend not displayed in AS4.2.5
A trend containing the string "tre" in its name is not displayed correctly in AS 4.2.5.
Font could not be found.
Change of the for VNC mapped keymapping file have no impact when built.
Worsening of the build times compared to AS 3.90.
VC4 process arguments with quotation marks not evaluated correctly
If process arguments with quotation marks are specified for VC Windows, then the processes are not started at runtime.
If the name of the CPU (with a VNC Visu mapped on its ethernet) is alphabetically before the name of the display (with the same Visu
mapped), an error 7001 occures during build.
ID# 400157787, 400192310, 400192785, 400157936, 400195399, 400199895, 400214748, 400215454 : solved problem, known since
ARSG4_4.22.4_D04.22, solved since AS4.3.03
ArSim sporadically stuck in Booting after activating the simulation mode and trigger an offline install
Build time increase after conversion to AS 3.0.90
VNC visualisations mapped to the second network interface don't work if there are VNC visualisations mapped to the first network interface.
Default limits (min and max) for datatype REAL are not correct.
Possible to connect HMI application to MP50 and VNC server simultaneously
The same HMI application can be connected to an MP50 and VNC server simultaneously. This is not intended, however.
If an HMI application should be displayed on multiple VNC clients, field "Max. connections" must be modified.
Diagnostics − Analyse Network
ID# 400061975, 400110543, 400124221, 400124368, 400124402, 400124789, 400124810, 400124811, 400124812, 400124813, 400124814, 400125464,
400125455, 400125447, 400126514, 400126516, 400130182, 400130939, 400058689, 400131531, 400148637, 400163972 : new function since AS4.3.02
No cycle time calculation in Automation Studio

Diagnostics − Debugger
Controller entering service mode when line coverage enabled
New feature: Debugging potentially different binary files
Binary files in the project and on the target system used to have to have the same timestamp for debugging. This update allows the timestamp
comparison to be circumvented. This also makes it possible to debug projects that have been recompiled after download.
Monitoring of block instances not possible for blocks embedded in structure data types
Implementation of function block closed after disabling monitor mode
Debugger connecting to incorrect IP address
The following error can occur if online connections are made in Automation Studio using hostnames: If the online connection is switched after
debugging and debugging is then restarted, then the debugger connects to the target system from the previous online connection.
Monitoring of block instances not possible for blocks embedded in another block
Problems when debugging C++−source code
Improvements to Debugger support for C++ source code fix several problems that have occurred (Debugger cannot reach some lines or no
longer responds to user input for 'Step−into' in certain functions)
Warning in Debugger Watch
When debugging C++ programs, it is possible that a warning about "RTTI symbols” is output in the Debugger Watch window in addition to the
value .
Diagnostics − Debugger 144
New feature: Pretty printing of STL data types in debugger Watch window
Diagnostics − Logger
Automation Studio crash when opening large system dump in the Logger
Automation Studio crash when opening large system dump in the Logger
ID# 400198328 : solved problem, known since AS4.2.05, solved since AS4.3.02
Not possible to jump to location in source code that caused an error from the "Backtrace" window after exception
Diagnostics − Motion − NC Trace
NC Trace: Size of properties dialog box now retained
If the size of the properties dialog box is changed, then it will be used again the next time it is opened.
Diagnostics − Profiler
Profiler: Display as idle task
In Profiler, certain tasks of the cyclic system are interpreted as "idle" tasks. In the future, ARwin task "WindowsLow" will be entered as an "idle"
task and no longer a system task.
Adjusted calculation for average cycle times
When calculating average cycle times, now only those task class cycles that are completely in the profiling are taken into consideration.
Diagnostics − Watch
Crash when adding variables to Watch window
Automation Studio crashes if variables with very long names (more than approx. 250 characters) are added to the Watch window.
Variables added while monitoring instances of function blocks in the Watch window removed when exiting monitor mode
Changing the array index in Watch window
The "Change array index" function in the Watch window is now no longer offered if the affected variable is inside a structure array.
Incorrect information in Watch window after transferring project
If a project is transferred while the PV Watch window is open, it is possible that the information displayed in the Watch window is no longer
correct.
The affected variable can be re−added to the Watch window again as a workaround.
Incorrect information in Watch window after transferring project
If a project is transferred while the PV Watch window is open, it is possible that the information displayed in the Watch window is no longer
correct.
This occurs when displaying arrays in the Watch window with a starting index other than 0. The affected variable can be re−added to the
Watch window again as a workaround.
Automation Studio not responsive after certain input in Watch window
If the user enters or drags−and−drops an expression starting with the "[" character in the Watch window, then the Watch window no longer
responds.
IO Configuration − DTM
"Waiting" mouse pointer displayed
The "waiting" mouse pointer is erroneously displayed after changing the configured hardware.
Cannot connect module
If a connection between an X67BC8331 and X67DS438A is deleted in System Designer and Automation Studio is then closed, then it is no
longer possible to connect these two modules after restarting Automation Studio with this project. A warning is displayed in the output window.
File encoding not detected when importing 3rd−party devices
If a 3rd−party device is imported (CANopen EDS, PROFIBUS GSD, etc.), then the file encoding is not detected (UTF−8, ASCII, etc.). UTF−8 is
always assumed as a result.
Possible errors when converting projects with DTM devices
Build errors may occur if older projects containing DTM devices are opened in newer Automation Studio versions.
"Start of bus communication" flag resetting after copy/paste

Whenever any DTM interface device (e.g. X20IF1061−1) is copied, the "Start of bus communication" flags is reset to its default value.
IO Configuration − DTM 3rd party
Some EDS files not detected correctly
Some EDS files are not correctly detected for EtherNet/IP and DeviceNet due to different, sometimes vendor−dependent notations used
therein.
Imported IO−Link devices not saved
If imported IO−Link devices are used in a project and the project is saved as a .zip file, then the source files for these devices are not included
in the .zip file.
IO Configuration − Profibus
PROFIBUS slave devices not reading bus baud rate correctly, error 9700 output
NC Software − ACP10 3.150
ID#484615 : solved problem, known since unbekannt, solved since AS4.3.03
TEMP_MOTOR_MODEL_MODE = 3: Incorrect value for adaptation
Corrected value for adaptation.
Online Compare − Automation Components
Online comparison of user roles not listing identical entries across from each other in specific cases
Online Compare − Software
ID# 400126684, 400138091 : new function since AS4.3.01
Date of last modification shown in separate column in software configuration editor and online software comparison
Online Services
Automation Runtime transfer causing service mode on controller
Automation Runtime transfer causing service mode on controller
Not possible to read online info on heavily loaded target system
An error message is output in this case.

This error only occurs if a connection was established using ANSL. The error does not occur if the connection is established using INA.
Unnecessary ANSL PVI process object with INA connection
If an online connection is selected in Automation Studio that explicitly uses INA, then a parallel ANSL connection is still established anyway, as
can be seen from the established process objects in the PVI Snapshot Viewer.
Unnecessary ANSL PVI process object with INA connection
If an online connection is selected in Automation Studio that explicitly uses INA, then a parallel ANSL connection is still established anyway, as
can be seen from the established process objects in the PVI Snapshot Viewer.
Online Settings
Currently not possible to apply the data from the project with a button in dialog box "Set IP parameters"
Programming − ANSI C
Automation crashing in text editor when editing large ANSI C programs

Automation Studio crashing in ANSI C header file if incomplete structure definition added before a structure
Opening a text editor in Automation Studio taking a long time
Automation Studio crashing in ANSI C editor if Ctrl+Spacebar pressed multiple times
Automation Studio crash when adding code snippet in ANSI C editor
Outlining not working properly when using preprocessor directives
If a preprocessor directive is used within an IF statement, then lines are collapsed incorrectly.
New lines added when copying text block with more than one line
Autocomplete not working correctly in ANSI C editor
No tooltip for structure member displayed in ANSI C editor
Autocomplete not working correctly in isolated cases after multiline macro
"Go to implementation" not differentiating between uppercase/lowercase in ANSI C and ANSI C++ files
Text editor showing __attribute__ as scope
Text editor sometimes removing incorrect comments on "Uncomment"
Tooltip in ANSI C and ANSI C++ files sometimes showing local function variables as parameters
Unable to use keyboard shortcut CTRL+I to open header file with same name in ANSI C and ANSI C++ files
Code−based automatic indentation not working correctly in ANSI C and ANSI C++ in "switch" statement after "case" statement specifying a
range
Incorrect text looked for during searching
Period entered after pointer variable not automatically replaced by pointer and selection list for code autocomplete not displayed
Prototypes incorrectly included in list of scopes in ANSI C editor
ID#400187790 : solved problem, known since V3.00.90.14, solved since AS4.3.02
"Go to implementation" also offering prototypes
Programming − ANSI C++
Faulty SmartEdit support in #include path
Automation Studio crashing if a function pointer is defined in ANSI C/C++ files

If a function pointer is defined between two curly brackets in an ANSI C/C++ file and the curly brackets themselves are enclosed by
preprocessor directives, then Automation Studio crashes.
Programming − Automation Basic
Incorrect entry selected in selection list in many cases with autocomplete after entering Ctrl+Space
Variable no longer preselected when opening the dialog box for selecting a variable
If the dialog box for selecting a variable is opened and a variable has already been selected beforehand, then it will no longer be preselected in
the dialog box.
Variable no longer preselected when opening the dialog box for selecting a variable
If the dialog box for selecting a variable is opened and a variable has already been selected beforehand, then it will no longer be preselected in
the dialog box.
Varied order of function calls in parameter list displayed in tooltip in the Automation Basic editor
ID# 400118304, 400163963, 400152864 : solved problem, known since AS4.0.15 SP, solved since AS4.3.02
Incorrect dialog box text output when searching
Programming − CFC
CFC editor crashing in monitor mode if "Force all off" selected
Programming − Cross Reference
Accessing different elements of a variable on the same line
Accessing different elements of a variable on the same line is now detected.
Error message while searching in cross−reference window
If the cross−reference window is empty and the user tries to start a search anyway (Ctrl + F keyboard shortcut or main menu option), then an
error message is output.
Programming − Data Type Declaration Table Editor
Existing references removed in table editor for data type declarations when adding new member
Checkbox for reproducibility shown by mistake for enumerators in the table editor for data type declarations
Incorrect default value for reproducibility of function block and data type components
Incorrect default value for reproducibility of function block and data type components
Replicable icon incorrectly displayed in table editor for data type declarations
Programming − Data Type Declaration Text Editor
Auto−indent not always correct after keyword END_STRUCT in text editor for data type declaration files
Programming − Declare Variable Dialog
Too many variables offered in declaration for all variables
If a source file contains programs as well as functions and function blocks, then the identifiers in the functions and function blocks are detected
as undefined variables when declaring all variables.
Programming − FBD
Automation Studio crashing after copying and pasting a certain FBD network
Incorrect position marked in Function Block Diagram editor when double−clicking on an error message
Data type error reported in Function Block Diagram when using bit addressing with SET and RESET blocks
Unfounded warning 1281 when building function block diagram
If a block is called from library "operator" using only literals or constants, then the data type of the result depends on the data type of the
constants.
Programming − Function Table Editor
Exception on "Undo" in table editor for function declarations
Programming − IO Mapping Table Editor
Positioning from "Cross−reference" window to I/O mapping editor not working correctly
Sorting lost in file−based I/O mapping editor when saved
Comment in PV mapping table sometimes not displayed correctly
If a blank comment is added in the file−based view of the PV mapping table, it will not be detected correctly as a comment.
The problem is only corrected by editing the comment line and then closing and reopening the editor.
I/O mapping deleting preceding colons ("::") in column "Process variable"
Improved error messages for illegal I/O mappings
Error messages caused by illegal I/O mappings now contain information for localizing the error.
Performance problems on DTM devices with large I/O configuration
Projects with DTM devices that have a very large I/O configuration can experience performance problems during build or when using these
DTM devices.
"Not cross linked" shown instead of "Cross linked" in I/O mapping editor for crosslink data points in monitor mode
Programming − LD
"n.a." displayed instead of value when using monitor mode in the Ladder Diagram editor
Automation Studio crashing when opening very large networks in Ladder Diagram editor
Copy/Paste of large networks not working in Ladder Diagram editor
Only period take into account in instance variable of function block at a line break, not underscores and camel case
Automation Studio crashing when switching off monitor mode in the Ladder Diagram editor if synchronous Powerflow is active
Automation Studio crashing when switching off monitor mode in the Ladder Diagram editor if synchronous Powerflow is active
Function block not called although value TRUE assigned on EN input
Corrupt code is generated for a ladder diagram with nested AND and OR operators. As a result of this error, a function block is not called even
though value TRUE is assigned on the EN input.
Function block not called although value TRUE assigned on EN input
Corrupt code is generated for a ladder diagram with nested AND and OR operators. As a result of this error, a function block is not called even
though value TRUE is assigned on the EN input.
Error message 1352 output on build
Corrupt code is generated for a ladder diagram with nested AND and OR operators. Error message 1352 is output during the build as a result
of this error.
Error message 1352 output on build
Corrupt code is generated for a ladder diagram with nested AND and OR operators. Error message 1352 is output during the build as a result
of this error.
Corrupt code generated for ladder diagram
Corrupt code is generated for a ladder diagram with nested AND and OR operators. The value of a coil is calculated incorrectly as a result of
this error.
Corrupt code generated for ladder diagram
Corrupt code is generated for a ladder diagram with nested AND and OR operators. The value of a coil is calculated incorrectly as a result of
this error.
Possibility to open Trace from shortcut menu in visual programming editors
ID#400178106 : solved problem, known since ARSG4_4.25.10_J04.25, solved since AS4.3.02
Values of global variables shown as "n.a." in Ladder Diagram editor when synchronous Powerflow enabled
Incorrect error message in Ladder Diagram editor when using action block
Error message 2202 is mistakenly output when adding an action block parallel to coils.
Current network no longer drawn completely in Ladder Diagram editor after variable declaration
Synchronous Powerflow no longer working if no values to be displayed in visible area
If no values are present in the visible area while synchronous Powerflow is active, a message box appears. After the message box is
confirmed, synchronous Powerflow no longer works. Synchronous Powerflow works again after closing and reopening the project.
Automation Studio crashing when searching in files
If long texts are output for the search results when searching in files in the output window, then Automation Studio crashes.
Automation Studio freezing if synchronous Powerflow enabled after a transfer
Shortcut menu option "List usage" missing in Ladder Diagram editor monitor mode

Automation Studio freezing in Ladder Diagram editor if synchronous Powerflow is enabled in monitor mode for unreferenced dynamic variables
Faulty code generation for Ladder Diagram if extended MOVE block with EN/ENO is used
Faulty code generated in Ladder Diagram if the outputs of EN/ENO function blocks are not used further
Programming − Motion − Acopos Parameter Table Editor
Missing parameters in ACOPOS parameter table when language set to Korean
If "Korean (Korea)" is used as the regional language setting in Windows and motor parameter sets are used, then the parameters after group
"Isolation parameters" are no longer displayed since the characters cannot be read correctly.
Programming − Motion − AS Inline Speed Torque Chart
Imported ServoSoft data not shown in Speed Torque Chart
If German (Switzerland) is configured in Windows for "Region and language", ServoSoft data can no longer be imported.
Y value of operating point displayed in table not matching the actual value
Programming − Motion − Cam Editor
Cam editor: Incorrect limits defined automatically
If a point is added before the first point or after the last point in a cam that has already been saved and reloaded, and for which no limits have
been explicitly defined, then the limit is not automatically adjusted to the newly added point.
Programming − Motion − NC Mapping Table Editor
Incorrect data in Arnc0map.ncm after replacing drive
If a drive is replaced by a drive with more axes, then the additional axes are entered in Arnc0map.ncm (if exists) although they have already
been entered properly in Acp10map.ncm.
Programming − Motion Components
Message when loading large amount of network command trace data
If more than 250,000 data sets are loaded directly from the controller, a message stating that loading can take a long time is displayed. It is
then possible to abort the data loading procedure.
Taking a very long time to load network command trace
If more than 250,000 data sets are loaded with the network command trace, this can take a very long time. If the amount of data is too much,
Automation Studio may run out of memory.
Before loading a large amount of data, a message is output that allows the user to cancel loading and reduce the amount of data.
Programming − OPC UA Default View Editor
Increased memory consumption when switching the active configuration if the configuration contains large OPC UA mapping files
If a project contains several configurations and each of these configurations contains large OPC UA mapping files (.uad), then switching the
active configuration causes Automation Studio to use more and more memory.
The OPC UA server did not start if a setting that deviates from the standard values was defined in the Default View configuration when a value
range violation occurred.
The OPC UA server did not start if a setting that deviates from the standard values was defined in the Default View configuration when a value
range violation occurred.

Added property SamplingInterval
The new property "Minimum sampling interval" has been added for variable and the groups "EURange", "EURange violation" and"Engineering
units".
This makes it possible for the minimum sampling rate (ms) to be set (10, 20, 50, 100, 200, 500, 1000).
Added property SamplingInterval
The new property "Minimum sampling interval" has been added for variable and the groups "EURange", "EURange violation" and"Engineering
units".
This makes it possible for the minimum sampling rate (ms) to be set (10, 20, 50, 100, 200, 500, 1000).
Incorrect listing of OpcUA package in error message
The "OpcUA" package is listed as "Opc UA" in an error message.
Programming − Select Variable Dialog
Dialog box for selecting variables displaying package−local files outside scope
If a declaration file for global variables outside the scope is included in a package, then the dialog box for selecting variables also offers the
declaration files for package−local variables in the project structure view.
Programming − SFC
Automation Studio crash in Sequential Function Chart editor when using variable of type "Enumerator" in transition
Automatic declaration of new variables not working for transitions
If logical expressions are enclosed in transitions, then incorrect names are given when automatically declaring new variables.
In the settings for the Sequential Function Chart editor, the width of transitions cannot be set independently of the width of the steps.
Programming − Software Configuration Editor
Automatic scrolling when dragging and dropping objects not always working in the software configuration
Acp10sys.br is shown in the software configuration in the wrong category (NC data objects instead of data objects).
Acp10sys.br is shown in the software configuration in the wrong category (NC data objects instead of data objects).
Object "iomap" in software configuration editor wrongly enabled/disabled together with object "aconfig"
Contents of .sw file lost if containing package renamed while the software configuration editor is open
Option "Transfer only if object doesn't exist on target" not available for NC data objects
Programming − ST
No structure elements offered by SmartEdit in structures used in actions within a library
Scrolling in text editor very slow and consumes much CPU time
Outlining not working correctly in CASE statement
When collapsing the last list of statements in a CASE statement, the ELSE section is also collapsed.

SmartEdit not working for declaration files whose notation in the file system differs from that in the management files
If the notation of a declaration file in the Windows file system (e.g. MainInterface.typ) differs from the notation in the package management files
(Package.pkg) in Automation Studio (e.g. mainInterface.typ), then changes to these files are not detected correctly. As a result, the changed
content is not offered by SmartEdit.
Valid value not displayed in text−based programming languages in monitor mode when first activating tooltip for structure
Display and search problems in text editor when windows split
No tooltip shown for the parameters in function and function block calls
Code−based auto−indent not always working after #ifdef preprocessor directive
"Go to implementation" not working for function blocks that are data elements in a structure
Variable dialog box not detecting data types of function blocks correctly if they are added using SmartEdit
"Go to declaration" implemented in action not working correctly if the name of the action is the same as the name of the structure element
No keyboard shortcut in text editor for "Go to implementation"
Tooltip showing incorrect data type
If a variable and structure component in a function or function block have the same name, then the data type of the variable will be displayed in
the tooltip for the structure component.
Incorrect lines sometimes added in text editor if windows are split
Outlining not working uniformly for different control structures
Jumping to variable declaration and search not working in text editor if windows are split
Correct search text not entered in search dialog box if no text selected in editor
SmartEdit no longer working after #pragma directive
ID# 400079577, 400081018, 400095613 : solved problem, known since V3.00.90.19 SP0x, solved since AS4.3.02
ID# 400123672, 400208178 : solved problem, known since V3.00.90.14, solved since AS4.3.02
Programming − System Configuration
Changes in task class timing not identified by exclamation point
In the CPU's hardware configuration, changes made to the task class timing (duration and tolerance) are not identified by an exclamation point.
Error converting AS 3.x project that uses an APC910 with 4 LS cards
When attempting to open an AS 3.x project in AS 4.x in which 4 LS cards are connected in an APC910, the converter cannot find a suitable
slot for the third and fourth plug−in cards. As a result, the hardware is shown as "unconnected".
Touch screen not working on AP900 with DVI interface card if COM1 on the APC being used
If an AP900 is being used with 5DLDVI.1000−01 and IF1 is selected for the touch screen, then the touch screen does not work.
Multiple selection and then clearing "Additionally supported hardware" not working
It is not possible to select multiple modules under "Additionally supported hardware" in the CPU configuration and delete them.
Spelling error in hardware configuration
The FTP configuration lists "subsirectory" instead of "subdirectory".
Cannot make key assignments for PS2 keyboard
Key assignments cannot be made for a PS2 keyboard if the key assignment takes place directly on the PS2 keyboard.
Cannot modify IP parameter in simulation
VC mapping not working correctly on AP1120
A visualization object cannot be mapped on an AP1120 if a VNC server of the same object already exists.
Exporting and importing hardware modules
A hardware module and all its configuration settings can now be exported and imported in the form of a file.
Programming − System Designer
Within the modul details view it is not possible to select single characters of the module name because clicking in the module name field
selects the whole text.
Text boxes not included in saved Hardware.jpg
AS crashes after adding a new configuration by drag/drop from the object catalog with System Designer opened.
Nothing displayed in System Designer when using a referenced hardware configuration
Programming − Variable Declaration Files Dialog
ID# 400081964, 400079278, 400123797 : solved problem, known since V3.00.90.19 SP0x, solved since AS4.3.02
Already declared data types offered for automatic variable declaration
Programming − Variable Declaration Table Editor
Error in dialog box for entering initialization values
The initial value of symbols can be entered in declaration table editors using a dialog box.
In some circumstances, this dialog box incorrectly shows the initialization values of structures or function blocks being used.
This occurs if the data type of the corresponding symbol is an array.
Invalid initial value entered for arrays of structures
An invalid initial value is entered in the table editor for variable declarations of arrays of structures in which at least one element has a
predefined value.
As a result, the variable declaration can only then be opened as text (instead of a table), and an error message is output during build.
The same problem occurs in the variable declaration dialog box. In this case, the variable is not entered in the declaration file after the dialog
box is closed.
Constant in library declaration becoming variable when "Replicable" status changed
Dialog box for automatic variable declaration file opened when selecting lines in text editor for programming languages
Programming − Variable Declaration Text Editor
Automatic variable declaration not working correctly if cursor is located in identifier and nothing is selected
Programming − Variable Mapping Table Editor
Second block comment deleted when saving two successive block comments in the variable mapping editor
Programming − Visual Components
ID# 400162281, 400161252, 400171543, 400191739, 400193603 : solved problem, known since AS4.2.02, solved since AS4.3.02
Faulty VC shared resources when adding an additional visualization object to project
Shared resources are not merged correctly if an additional visualization object is added. (Ambiguous indexes are assigned for the unit groups.)
New visualization object not visible in Logical View after adjusting the size of the HMI application
After resizing an HMI application, the new HMI application is not added to the Logical View if the old HMI application is located in nested
packages.
Unnecessary "Compress VC modules" property offered for visualization objects in the properties window for the software configuration
SG4 Runtime − Common
2D arrays not working with VC4 DropDown control
1D arrays that are part of a multidimensional array are not working on the VC4 DropDown control at runtime.
System − Unit System
Texts available in next Automation Studio version (4.3)
Textsystem
Error 5612 on build if .tmx file in package underneath program
Typo−fixes of several localized language−names
Tools − Generate Transfer List
Update transfer list not being created
If a certain online connection in a configuration is set to be used and simulation is enabled, then an update transfer list cannot be created. The
"Wait" dialog box for establishing the online connection is opened and no longer closes. A transfer list is not created if the dialog box is closed
with "Cancel".
Workaround:
Disable simulation and remove the setting for using a certain online connection. The transfer list can then be created after enabling simulation.
No option to create image in new transfer dialog box
Confusing error message if simulation enabled but no online connection can be established to the simulation target system
An error message is incorrectly output stating the version of the simulation target system is in an invalid range.
Generating transfer list also not working after installing the necessary AR upgrades
This error is caused by an inconsistent state of the operating system expansions in the project (operating system file not found). The
consistency is not checked before building the transfer list and also not restored.
Tools − Import Fieldbus Device
Importing fieldbus description files as DTM devices causing errors
Importing fieldbus description files containing devices with special characters that are invalid for the file system as DTM devices, then an error
occurs exactly for those devices when updating the DTM catalog, and the devices cannot be used.
Source files from frozen POWERLINK devices not exported
If a project is saved as a .zip file and exported, then the file does not include the source files from imported and frozen POWERLINK devices.
Missing support for SafeLOGIC module X20SL8101 in Automation Studio
Error 5455 reported when generating XDC file for module X67BC8321
Faulty XDD export with DTM interface card X20IF10E1−1
Channels configured as "Read once" not transferred
If channels are configured as "Read once" for an imported POWERLINK device, then these channels are neither transferred on the
POWERLINK bus nor can they be mapped.
OCTET channels not offered in I/O mapping of iCN
ID#400183201 : solved problem, known since ARSG4_4.10.11_K04.10, solved since AS4.3.01
OpenPLK master gets general error 0x0800 0000 on writing object 0x1600 on iCN.
Possible to connect CANopen slave devices to incorrect master devices
Imported CANopen slave devices can be connected to master devices that do not support CANopen.
Tools − Options Dialog
Changed colors not correctly displayed in text editor and Ladder Diagram editor
Line numbers in the text editor are not displayed with the changed background color. Network numbering in the Ladder Diagram editor is not
displayed with the changed background color. Moreover, the background of the Ladder Diagram editor is always black if the background color
has been changed.
Tools − Technology Guarding
Licensing returning error "An internal error occurred"
When attempting to license Automation Studio, the following error message is output: "An internal error occurred. Please try it again later." This
message occurs if WIBU license containers already exist on the PC.
Offline licensing returning error
If a TG dongle is connected to a controller, an error message is output when requesting an offline license file. "The selected dongle is not
available."
Licensing per command line
Increased standard server timeout in Technology Guard

The standard timeout for actions in the Technology Guard has been increased from 30 to 300 seconds.
Tools − Upgrade
It's not psooible to install Automation Studio Servicepack from Tools/Upgrades
Upgrade dialog bow showing too many upgrades if the dialog box is re−opened immediately after installing an upgrade
Upgrade installation failing for local users without administrator rights if UAC disabled
VisualComponents Editor – VC3
VC3 saving absolute paths
The VC3 editor is saving paths used internally absolutely instead of relatively. For this reason, a change is detected when the installation path
of Automation Studio has changed.
VisualComponents Editor – VC4
Request: Automatic cleaning of VC4 data source of data points no longer being used in any HMI application
A shortcut menu option for cleaning a VC4 data source has been added. This makes it possible to remove data points that are no longer being
used in any HMI application.
Error changing resolution of VC4 HMI application
Error changing resolution of a VC4 HMI application − ("A generic error occurred in GDI+").
Shared resources updated incorrect when adding second VC4 HMI application
The shared resources are updated incorrectly when adding a second HMI application. This causes errors in the texts for unit groups during
build.
Deselecting a group discarding all other selections
When using multi−selection and then deselecting a group, all other selections on a VC4−based page are discarded.
No error output if VC version not entered in project
If a VC version is not entered in the project, then the latest version is used by default. This can have unexpected side effects, however, if the
project is copied from one computer to another. This is because a different VC version is used without the user knowing it. To prevent this, an
error is output if the VC version is not entered in the project.
Height and width of pages and layers not adjusted when changing resolution of VC4 HMI application
Unable to compile referenced .dis files
If .dis files from another configuration are referenced, then the build is aborted with error 7001.
Some graphics not adapted when adjusting the size of a VC4 HMI application
Refactoring array elements with an index greater than 25 not working in the VC 4 editor
The VC4 Trend wizard does not add the set value for MaxValue to the Trend data.
In the Trend wizard, is a user enters a value for MaxValue and immediately moves to the next wizard page, the value is not transferred to the
Trend data.
Error: VC4 "Import from another project" dialog box crashing
The "Import from another project" dialog box crashes if the element being imported references a non−existent data point array entry, for
example if the project contains array Status[0..9], but the imported element contains a reference to datapoint Status[30].
Errors after editing a resized visualization.
Display error when adding button, selecting "SingleText" as text source and changing the style
If a button is added, text source "SingleText" is selected for it and no text is entered, then error 7079 "Invalid value property (TextIndex) value
65536 of object xxx" is reported during build. If the style is also changed, then display problems also occur at runtime. Both problems are
corrected by entering a text.
Error 7128 when compiling a project in VC4 due to data source not being updated correctly
Paths of affected VC4 data points not corrected when renaming folders in the Logical View
When renaming packages in the Logical View, the paths of the affected VC4 data points were not corrected.
ID# 400158213 : solved problem, known since AH4.0.16, solved since AS4.3.03
Incorrect descriptive text for property SampleDateTimeDatapoint in trend data
Incorrect descriptive text for property SampleDateTimeDatapoint in trend data
Dependent unit group deleted when importing data source
If a data source is imported that is dependent on non−existent unit groups, then the unit groups will be imported. The unit groups are
disconnected in the data source, however.
Refactorfunction deletes Datapoints when using a Structure
ID# 400072780, 400072275, 400117589, 400123208, 400128089, 400170336, 400178642, 400178722, 400195117 : solved problem, known since
V3.00.90.15, solved since AS4.3.02
Data points not updated correctly when deleting unit group
If a unit group connected to a data point is deleted, then the reference to the unit group is also deleted.
The limit and PLC unit settings are not updated, however. This causes build warnings to be output.
Workspace − Common
Opening an Automation Studio project containing a period in the project name not prevented
The system prevents a new project containing a period in the name from being created. Opening a project like this is not prevented, however.
This can result in not being able to open source code files with no apparent reason.
Unable to update data sources after changing mapp version since SmartEdit not available
All Automation Runtime versions saved in project deleted after changing the Automation Runtime version
When changing the Automation Runtime version, an Automation Runtime version no longer being used can be deleted from the project upon
request.
If the originally configured Automation Runtime version was older than 4.06, then all Automation Runtime version saved in the project were
wrongly deleted during this.
To get around this, project setting "Store Automation Runtime support files to project" can be disabled and then re−enabled. This reapplies the
Automation Runtime versions being used in the project back to the project.
Switching to active window when splitting the workspace

If the workspace in Automation Studio is split, then the active window does not remain in the inactive part of the workspace. The window that
becomes active is the one that was last opened.
Possible problems caused by CANopen EDS files
If CANopen EDS files are imported that also contain tabulators at the end of lines before the line break, then using the resulting devices
causes errors.
Unable to transfer application to target system if spaces in project name
Not possible in TwinCAT to rename subgroups (IOM...) in the XML configuration file generated by EtherCAT fieldbus builder
Too little information is displayed in the tooltip for variables.
Workspace − Configuration View
Library MC_RegMA not automatically replaced
When changing the version of library ACP10_MC, library MC_RegMA is not automatically replaced with a suitable version.
Additional folder created when referencing hardware configuration with Ethernet panel
If a different hardware configuration with an Ethernet panel is referenced when creating a configuration, then this causes 2 CPU folders to be
created in the new configuration.
One for the CPU (e.g. X20CP3585) and one for the Ethernet panel (e.g. 4PP320xxxx).
Their AR versions cannot be configured correctly as a result.
Installation of a new VC version increasing the VC version being used in existing projects
If a new VC version is installed, the new version is used automatically in existing projects.
Installation of a new VC version increasing the VC version being used in existing projects
If a new VC version is installed, the new version is used automatically in existing projects.
Now only possible to select that ARsim should be used when creating a new AS project
Error 6017 when compiling a project
Error 6017 is possible when compiling a project that contains multiple .sw files if one of the .sw files does not contain the exception task class
entry.
Not possible to configure the "Default task class for global I/O variables"
Workspace − Export/Import
Visio files are not taken into account during library export
When exporting a library, Visio files (.vsdx) are not taken into account.
AS 4.2.5 export library causes data loss
Referenced packages of libraries gets deleted when exporting the library as binary
Unhandled exception when saving project as zip file

An unhandled exception occurs in the "Save project as zip file" dialog box if the Browse button is pressed for an empty path.
Library description ignored when exporting library
If a library is exported and then added to a project, its original description is missing.
Workspace − Find/Replace
Search string not added to search history in some circumstances
If the "Find next" button is actuated immediately after opening the dialog box for entering the search data, then a new string is not added to the
search history.
If the control for entering/selecting the search term is selected first, then the error does not occur.
Correct search text not entered in search dialog box if no text selected in editor
Workspace − Localization
ID#400205048 : solved problem, known since AS4.2.06 UP, solved since AS4.3.03
Missing translation
Text field for "Delete diagnostic files" too short
Workspace − Logical View
Files of data object cannot be encrypted
Exception when trying to edit a project saved on a network if a network connection does not exist
If working on a project stored on a network drive and the network connection is lost, then an exception occurs when updating the menu.
Cut operation possible on logical root node
An exception occurs when performing a cut operation on the logical root node.
No description available after adding objects using "Existing xxx"
Objects added using an "Existing xxx" wizard do not have a description after being added.
External editor EasyCODE 9.3 can't be selected for *.c and *.h files
Multiple mappings lost when renaming object in the Logical View
Renaming an object that has been mapped multiple times in the software configuration (program, cam profile, etc.) in the Logical View clears
the multiple mappings in the software configuration.
Objects deleted when moved
An error occurs when moving multiple objects that contain other objects as references.
As a result, the operation is not completely executed and the objects are shown as no longer being in the project (they are still located locally
on the hard drive).
Workspace − Output Windows
Unable to view error messages and warnings separately in the message box
ID# 400012095, 400139492, 400186465 : new function since AS4.3.03
Unable to filter error messages and warnings in the message box

Workspace − Physical View
CPU system tick not adjusted if POWERLINK or X2X interface cycle time changed
If the CPU system timer is "EPL/X2X interface" and the assigned interface's cycle time is changed, the calculated CPU's system tick and the
task classes' cycle times are not immediately adjusted to the new value.
Not permitted to use node number 240 for PLK "traced node"
Incorrect "MaxInSize" calculated by AS for module X20DS4389
AS allowing input of PLK IP address 192.168.100. although this is reserved for PLK
Display problem in Physical View after replacing 4PP420 with 5AP1120
The display in the Physical View is no longer correct after replacing 4PP420 with 5AP1120.
Workaround: Close and reopen the project.
Additional ‘Description 2' column added in the Physical View
Simulation of a project with a X20CM4810 module leads to a cyclic reboot of the ARsim
Faulty hardware configuration when identifying hardware structure online
When identifying a hardware structure online, some settings are shown in the hardware configuration as "deviating from the default value", or
the settings have an incorrect default value.
Error in method for structuring Physical View when using subslot hubs
The method for structuring the Physical View did not return any other modules if the input and output of the network was on a subslot hub (e.g.
X20HB2880).
Settings for master interfaces not applied when replacing 5APC2100 with another CPU
.hw file containing invalid EDS parameters
Configuration parameters from hardware modules marked with AllowDisable="True" are also saved.
This does not have a functional effect, but it unnecessarily increases the size of the .hw file.
Hardware "ModbusTcp_any" not receiving address if connected to CPU via ETH2 instead of ETH1
Replace icon not removed from Physical View when canceling the replacement procedure in System Designer
Incorrect AR selecting after replacing a CPU
If a CPU with a name other than its module ID is used in a project, then incorrect AR versions are offered for selection in the "Change runtime
versions" dialog box after it is replaced.
This only happens when switching from one CPU family to another, e.g. 15xx <==> 35xx.
AS does not check if the 'Task class idle time' is smaller than the 'Duration' of the configured task class.
Slave module determination not launched correctly

Incorrect help page opened when pressing F1 on an X... connector of a compact CPU
Modules behind 8CVE28000HC00.00−1 not displayed in Physical View
Consideration of disabled modules when assigning SPDO or GPDO SubIdx
In SafeDESIGNER 4.3 and higher, enabling/disabling hardware modules in Automation Studio does not require the SafeDESIGNER project to
be recompiled.
Display error in Physical View with APC910
If an X20HB8880 is connected to an APC910 via a PLK expansion card, then a display error occurring in the hardware tree shows an ETH
terminal that might be present as referenced hardware for the X20HB8880.
ID# 400146808, 400152172, 400183818, 400185557, 400138296, 400174129, 400148375, 400193555, 400194227 : solved problem, known since
AS4.1.04, solved since AS4.3.01
Physical View not showing some hardware modules
System Designer shows the correct hardware structure, but some modules are missing in the Physical View. This problem mainly affects
modules that are connected to a hub's expansion module (e.g. X20HB2880). It can also occur if cabling takes place directly via an X20HB...
module.
Allowing multiple .hw files
It should be possible to split up the hardware structure into multiple .hw files. This would allow for better structuring of machine configurations.
ID# 400137590, 400167807, 400173097, 400178281, 400179140, 400182592, 400183721, 400183422, 400186234, 400192995, 400194015 : solved
problem, known since AS4.0.18 SP, solved since AS4.3.01
modules that are connected to a hub's expansion module (e.g. X20HB2880).
ID# 400134973, 400139782, 400143334, 400152783, 400171399, 400172028, 400192925 : solved problem, known since AS4.0.18 SP, solved since
AS4.3.01
modules that are connected to a hub's expansion module (e.g. X20HB2880).
ID# 400183247, 400177362, 400184938 : solved problem, known since AS4.0.14, solved since AS4.3.02
Automation Studio only able to read HWX files in which one certain AR version is blocked, but not multiple versions
Workspace − Project Converter
Error converting AS 3.x project that uses an APC910 with 4 LS cards
When attempting to open an AS 3.x project in AS 4.x in which 4 LS cards are connected in an APC910, the converter cannot find a suitable
slot for the third and fourth plug−in cards. As a result, the hardware is shown as "unconnected".
Incorrect conversion of an AS 3.x project with multiple 2005 extension racks
If an AS 3.x project has more than one 2005 extension rack, only the first rack is properly converted. All other racks are ignored.
Faulty conversion of AS 3.x project to AS 4.2 if 2 4PP320 terminals connected to an APC
Workspace − Setup
APC2100/PPC2100: Now possible to also set system tick to 200 s for ARemb
VC upgrade not working if AS installed in directory with 2 backslashes
If Automation Studio is installed in a directory that contains 2 backslashes (e.g. C:\Program Files\\BrAutomation), then a subsequent Visual
Components upgrade doesn't work.
Possibility of opening Automation Studio in the correct version when double−clicking on the .apj file
Workspace − Source Control
SVN sometimes did not delete local directories.
It is possible that SVN does not delete local directories even though not data is deleted from the repository.
SVN does not reported this as an error, so AS cannot provide feedback.
Workspace − Textsystem
Long build times with text system builder
In certain network environments in which Automation is executed, build can take a long time or stop completely due to the text system builder.
Text system editor hiding subsequent lines when editing text
The text system editor hides the subsequent lines when editing text, even if the text being edited only comprises one line.
Workspace − Unit System
"psi" unit
The "psi" unit can be created as a customized unit.
1A4000.02 Motion Components
NC Software − ACP10 Wichtige Information
ID#526575 : Important Information
ACP10 versions V3.170 or higher can be used for SG4 ARM target systems
The following libraries are available for ARM target systems:

− Acp10_MC
− Acp10man
− Acp10sdc
− Acp10sim
− Acp10par
− NcGlobal
− SafeMC
− MC_RegMa
− MC_SimIf
Note:
For ARM target systems with a Cortex A8 core (e.g. C30), these libraries can not be used.
ACP10 versions V2.51.3up to V2.99.9
ACP10 versions V2.51.3 up to V2.99.9 contain extensions and bug fixes based on ACP10 V2.51.2.
Extensions and bug fixes that are listed for ACP10 V2.51.3 up to V2.99.9, do not apply to ACP10 versions starting with V3.10.0.
ACP10 software from V3.100 on can be used only for SG4 target systems with POWERLINK network
The following platforms are no longer supported:

− SGC target systems
− SG3 target systems
− SG4 target systems with CAN network
ACOPOSmulti with SafeMC: Error 7048 or 7066 after ACOPOS startup
In rare cases, encoder initialization takes too long when using ACOPOSmulti with SafeMC. This causes the following errors, which cannot be
acknowledged:
− 7048: Error during the reading of encoder memory
− 7066: Encoder: Encoder not ready
This problem is especially prevalent in applications with many SafeMC axes and a large SafeLOGIC cycle time. In some cases, it is possible to
get around this problem by reducing the SafeLOGIC cycle time.
The probability of this problem occurring has been reduced by increasing the timeout value for encoder initialization in the ACP10 software:
− Before ACP10 V2.380: Timeout 30 sec.
− ACP10 V2.380 − V2.40x: Timeout 60 sec.
− Beginning with ACP10 V2.410: Timeout 90 sec.
ACOPOSmulti 8BVx0xx0HxSx.000−1: Increased thermal load on components in the power supply for IGBT driver circuits (only in V2.250,
V2.260, V2.261, V2.262, V2.263, V2.270, V2.271 and V2.280)
In ACOPOSmulti modules 8BVI0220HxSx.000−1, 8BVI0330HxSx.000−1, 8BVI0440HxSx.000−1, 8BVI0880HxSx.000−1,

8BVI0220HWS0.001−1, 8BVI0440HCS0.001−1, 8BVI0880HCS0.001−1, 8BVP0220Hx00.000−1, 8BVP0440Hx00.000−1,
8BVP0880Hx00.000−1 using the versions listed above increases the thermal load on components in the power supply for IGBT driver circuits.
This can cause an error message or even a defect in the module hardware. The modules also display a significant increase in 24V power
consumption.
The defect of an ACOPOSmulti module caused by the problem described above can lead to the following errors:
− 6045: Power stage: X5 connection: No power flow
− 6052: Power stage: High−side: Overcurrent
− 6053: Power stage: Low−side: Overcurrent
When using inverter modules, this can cause the motor to spin out. When using power supply modules, this can cause the fuses connected
upstream to be triggered.
Note:
If there is no defect of an ACOPOSmulti module, then it is only necessary to upgrade to an ACP10 software version in which the problem has
been corrected. No other measures are necessary.
SG4 target system, POWERLINK: Task class as output cycle trigger is possible with ACP10 software from V2.280 on
In Automation Studio V3.0.90 with AR versions from V3.08 on, in the POWERLINK configuration a task class can be selected as output cycle
trigger (by default the output cycle trigger is carried out by the system tick). This selection is supported in ACP10 software starting with V2.280.
In versions before V2.280, selecting a task class as output cycle trigger will cause the ACOPOS startup to be aborted with the following error:
− 32223: Error calling plGetNodeInfo(), Status of plGetNodeInfo(): 20935
SG4 target system, POWERLINK: SDM Motion is supported from ACP10 Software V2.270 on
With Automation Studio V3.0.90 and AR versions from V3.08 on, Motion functions are available in the SDM (System Diagnostics Manager).
These functions are supported from ACP10 Software V2.270 on.
SG4 target system, POWERLINK: PDO errors with certain AR versions
The following error can occur if ACP10 software for POWERLINK is used for ACOPOS with 8AC114.60−2 with AR version F3.01:
− 32244: No PDO defined in the cyclic frame for this channel: NC object is disabled
If this error occurs with AR version F3.01, then another AR version must be used.
The following errors can occur if V2.090 or later of ACP10 software for Powerlink is used with AR versions H2.95 − K2.95 for SG4:
Error calling ncaccess() or ncalloc():
− 10712: This NC object is not enabled (channel number too high or no PDO data defined)
Error in NC structure of the NC objects:
− 32244: No PDO defined in the cyclic frame for this channel: NC object is disabled
If the errors listed above occur, then an AR version earlier than H2.95 or later than K2.95 must be used.
SG4 target system: ACP10 software versions for different AR versions
For AR versions A3.08 or higher only the ACP10 versions V2.220 or higher can be used.
ACP10 software versions V2.210 or higher can be used only with AR versions V2.82 or higher.
If an ACP10 software version V2.210 or higher is used with AR versions before V2.82, then "ACP10MAN: SG4 AR < V2.82" will be entered in
the AR logger and the initialization of ACP10 software will be aborted.
For AR versions before V2.82 only the ACP10 software versions before V2.210 can be used.
SGC target system: ACP10 software versions for different AR versions
ACP10 software versions V2.190 or higher must be used for AR versions V2.30 and higher (otherwise global PVs cannot be used as NC
object).
If an ACP10 software version V2.190 or higher is used with AR versions before V2.30, then "ACP10MAN: SGC AR < V2.30" will be entered in
ACP10 software versions V2.050 or higher must be used for AR versions E2.00 and higher.
If an ACP10 software version V2.050 or higher is used with AR versions before E2.00, then "ACP10MAN: SGC AR < E2.00" will be entered in
ACP10 software versions V2.000 − V2.033 must be used for AR versions before A2.00.
If an ACP10 software version V2.034 or higher is used for AR versions before A2.00, then "ACP10MAN: SGC AR < A2.00" will be entered in
the AR logger.
IMPORTANT:
ACP10 software versions V2.034 − V2.043 with AR versions A2.00 − D2.00 must not longer be used for SGC target systems.
NC Software − ACP10 V3.131
ID#474505 : solved problem, solved since V3.131
ACOPOSmotor 8DIxxx.xxxxxxxxx−x, POWERLINK: Error establishing connection with drive (only in V3.110 − V3.130)
In rare cases, it was possible that the node number was read out incorrectly when booting the drive (node number = 0). As a result, the drive
was incorrectly booted using DNA (Dynamic Node Allocation). This was indicated by a solid red POWERLINK LED and a blinking red axis
LED.
Parallel Cam Profile download: Warning caused erroneously error status
Previously, if a warning (error number >32767) occurred during the transfer of a cam profile's data segment, then the download was falsely
aborted with "status.error=ncTRUE". From now on, the download is completed with "status.ok=ncTRUE".
The problem occured only then, if in the ACP10 configuration "Cam Profile Download, Parallel transfer of Cam profile data=Yes" was selected
and the Cam Profile data were passed as a data buffer (via "data_adr" and "data_len").
ACOPOS P3: 8EAC0122.xxx−x: Errors 6061 and 38005 when switching on controller
If no motor data was configured, then errors 6061 and 38005 were reported instead of error 6036 when switching on the controller.
− 6061: CTRL Speed controller: Limit speed exceeded
− 38005: Motor test: Speed is too high during switch on
− 6036: Motor parameters missing or invalid
Determination of ACOPOS hardware information: Information about motors wrong (only in V3.110 − V3.130)
The information about motors were displayed incorrectly. The model number and the revision remained empty. As serial number the last
characters of the model number were displayed.
This problem occurred with the following functions for determination of ACOPOS hardware information:
− ncaction(ncSERVICE,ncACOPOS_INFO)
− FB MC_BR_GetHardwareInfo
EnDat 2.2 encoder: Error after a reset of the multi turn position (only in V2.490 − V3.12x)
After resetting the multi turn position of an EBI−encoder (motor option B1) with "ENCOD_CMD=1" a multi turn reset was performed at each
further startup of the drive.
Thus it could happen that the errors 39003, 39006 and 39034 were reported.
Homing with reference switch gate without direction reversal: Incorrect speed when starting on reference switch
With the following settings, reduction to the trigger speed took place already on the negative reference switch edge:
Start direct on switch, fixed direction and reference switch edge is equal to the starting direction.
Temperature monitoring: Diagnostic parameter names changed
Temperature monitoring: The parameter names of the following diagnostic parameters have been changed:
TEMP_RECTIFIER −> RECT_TEMP,

UDC_RECT_CURR −> RECT_CURR,
TEMP_MAINRELAY −> DCREL_TEMP,
TEMP_CONNECTOR −> DCCON_TEMP,
TEMP_CAPACITOR −> DCCAP_TEMP,
TOTALPOWER −> INVR_TPOW,
TOTALPOWER_CONT_LOAD −> INVR_TPOW_CONT_LOAD,
TOTALPOWER_CONT_LIM −> INVR_TPOW_CONT_LIM,
TOTALPOWER_PEAK_LOAD −> INVR_TPOW_PEAK_LOAD,
TOTALPOWER_PEAK_LIM −> INVR_TPOW_PEAK_LIM
ID#461780 : new function since V3.130
Drive identification: Determining jolt time with "PIDENT_MODE = 60"
The jolt time can be identified with "PIDENT_MODE = 60". The PIDENT_S parameter defines the permitted movement distance. The
PIDENT_SUB_MODE parameter can be used to define the direction of movement:
0: Bidirectional movement, start in the positive direction
1: Bidirectional movement, start in the negative direction
2: Movement only in the positive direction
3: Movement only in the negative direction
After identification is completed, the AXLIM_T_JOLT parameter is initialized with the identified value.
Setup for controller (autotuning): New parameters "signal_type", "signal_f_start", "signal_f_stop" and "signal_time"
If "signal_type = ncSIGNAL_CHIRP" or "signal_type = ncSIGNAL_CHIRP_TRAPEZOID", then a chirp signal is used for the setup function
instead of a PRBS for excitation. In this case, "signal_f_start" defines the starting frequency of the excitation signal, "signal_f_stop" defines its
stopping frequency and "signal_time" defines its duration.
"signal_type = ncSIGNAL_CHIRP_TRAPEZOID" leads to trapezoidal smoothing of the amplitude at the beginning and end of the chirp signal.
With "signal_type = ncSIGNAL_CHIRP" this is not performed.
If "signal_f_stop = 0", then the following default value is used for the stopping frequency:
− 1250 for "ncPOSITION" or "ncTEST_POSITION" mode
− 2500 otherwise
If "signal_f_start = 0", then the value for the starting frequency is calculated from the defined stopping frequency. If "signal_time = 0", then the
duration of the excitation signal is calculated from the defined stopping frequency.
Encoder interfaces AC121.60−x, 8BAC0121.000−x and 8CVIxxxH1xxxx.xx−1 with HIPERFACE: Remanent error 7029 or 7030 (only in V3.100
− 3.120)
It was possible that error 7029 or 7030 was no longer reset.
ACP10SIM: Setup for Controller (Autotuning) did not work (only in V3.110 − V3.11x)
The execution of the function Setup for Controller was not finished due to a missing status.
ACOPOS P3 Technology Guarding
License verification with the Technology Guard now is carried out for axis functions of ACOPOS P3 modules that require licensing.
The following licenses are defined for ACOPOS P3 modules:

− 1TGACP0000.00−01: ACP P3 TG − Single Technology feature
− 1TGACPSMC0.00−01: ACP P3 TG − Single Networked SafeMOTION feature
− 1TGACP0000.00−99: ACP P3 TG − Technology feature flat rate
The "flat rate" license "1TGACP000.00−99" for an axis of an ACOPOS P3 module can be selected in the hardware configuration under
"License required axis functions". With the default setting, the single licenses "1TGACPxxxx.00−01" are verified for each axis function used
that requires licensing.
Setup for controller (autotuning): Error 10100 with "operation_point = ncTUNE_V_CONSTANT"
Up to now a setup function with "operation_point = ncTUNE_V_CONSTANT" was aborted with error 10100, the speed and the acceleration
override value did not remain on 100% during the entire setup function.
For "operation_point = ncTUNE_V_CONSTANT" now is guaranteed, that the speed and the acceleration override value remain on 100%
during the setup function. Before starting the setup function, the value 100% for the speed and acceleration override is transferred to the drive
and the transfer of the override value contained in the NC structure is disabled. After end of the setup function, the transfer of the override
value contained in the NC structure is reactivated.
ACOPOSmulti, ACOPOSmicro, ACOPOS P3: Configured and connected ACOPOS modules not identified correctly (only in V2.470 − V2.521
and V3.100 − V3.11x)
Because the module code is read incorrectly during the boot phase, the module was not shown under "Plugged" in System Diagnostics
Manager (SDM) or an undefined string was displayed. The incorrect determination of the hardware information only affected the display of the
module information.
ACOPOS P3: Continuous total power and peak total power monitoring: Faulty calculation of load
The continuous total power load (TOTALPOWER_CONT_LOAD, ParID 1545) and peak total power load (TOTALPOWER_PEAK_LOAD,
ParID 1546) were calculated as being too low.
The error correction may cause the following warnings or errors to be reported:
− 41095: DC bus: Continuous total power: Warning limit exceeded
− 41096: DC bus: Peak total power: Warning limit exceeded
− 9100: DC bus: Continuous total power: Stop limit exceeded
− 9102: DC bus: Peak total power: Stop limit exceeded
Encoder interfaces 8BAC0122.000−1, 80VD100Px.C02x−xx with resolver: Incorrect determination of resolver transformation ratio (only in
V3.100 − 3.110)
Error 7031 could be reported by mistake for resolvers with a transformation ratio (parameter ENCOD_TRANS_RATIO) not equal to 0.5.
Holding brake: Releasing with CMD_BRAKE = ncSWITCH_OFF not working
During a power failure with a switched−off controller, the holding brake output was incorrectly cyclically set to 0. The holding brake could
therefore not be released with CMD_BRAKE = ncSWITCH_OFF.
ACOPOS P3: Continuous current and peak current monitoring: Faulty calculation of load at standstill
At a standstill, the continuous current load (LOAD_CONT_CURR) and peak current load (LOAD_PEAK_CURR) were calculated as being too
low.
The error correction may cause one of the following warnings to be reported:
− 41061: ACOPOS continuous current: Warning limit exceeded
− 41051: ACOPOS peak current: Warning limit exceeded
ACOPOS P3: Simulation mode: Error 41097, 9104 and 9105
In simulation mode, it could happen that the following errors were mistakenly reported:
− 41097: DC connector temperature model: Warning limit exceeded
− 9104: DC connector temperature model: Stop limit exceeded
− 9105: DC connector temperature model: Switch off limit exceeded
SG4 target system, POWERLINK: Error 32251 or 32252 (only in V2.280 − V3.10x)
Under the following conditions one of the errors 32251 or 32252 could occur when transferring parameter lists:
− The cycle time of the NC Manager task class is equal to the POWERLINK cycle time
− The tolerance time of the NC Manager task class is greater than the cycle time
ID#454675 : Information valid since V3.110
ACOPOS "IPL" function block: Added mode 4 and changed failure behavior
Addition of mode 4:
This new mode allows quadratic interpolation without overshoot on the output. The delay time is somewhat increased compared to mode 2,
however.
Change in failure behavior:

If the changes on the event input fail, the output now remains "frozen" after the extrapolation time instead of reverting back to the last input
value.
ID# 400155920, 400154658 : solved problem, solved since V3.110
80VD100PD.C088−01, 80VD100PS.C08X−01: Incorrect position calculation
At high signal frequencies, the position was incorrectly calculated for 80VD100PD.C088−01 and 80VD100PS.C08X−01 ACOPOSmicro
modules.
8B0P0110xxxx.xxx−x: Error 7227
In rare cases the following error was falsely registered:

− 7227: Bleeder: Overcurrent
8BVPxxxxxxxx.xxx−x: The reactive current compensation (ICTRL_ISD_REF) was too small by a factor of 1.2 at a mains frequency of 60 Hz
ID# 400168882, 400168593 : new function since V3.110
8B0P0110xxxx.xxx−x: 25 VDC rail voltage not enabled, incorrect behavior
If booting took place without external 24 VDC (with AC mains) and the module was then supplied externally with 24 VDC, then the 25 VDC rail
voltage was not enabled.
If 24 V was supplied externally and the internally generated 25 VDC rail voltage failed, then the 25 VDC rail voltage was permanently shut off,
which was incorrect.
ACP10SIM with ARsim: Jumps to the monitor position setpoint and incorrect error messages
Jumps in the monitor data and incorrect error messages may occur if the cyclic task class is interrupted by a background task. These problems
occurred primarily in ARsim V4.22 and higher.
Encoder interfaces 8BAC0122.000−1, 80VD100Px.C02x−xx with resolver: Resolver transformation ratioThe resolver transformation ratio is
now determined automatically. The ENCOD_TRANS_RATIO parameter therefore no longer has an effect. This measure normally results in
increased availability.
Setup for controller (autotuning): New parameter "kv_max" for defining maximum proportional amplification
This parameter defines the maximum value for the proportional amplification in the "ncSPEED" and "ncPOSITION" modes.
If "kv_max = 0.0", then the value 2000 is used for the autotuning function, which corresponds to the previously fixed maximum value.
Setup for controller (autotuning): Acceleration value for some setup functions changed
For the following setup functions, the limit values for acceleration (AXLIM_Ax_xxx) are now used (previously the base movement parameter
BASIS_MOVE_Ax_xxx):
− "ncSPEED + ..." mode with "operating_point = ncTUNE_V_CONSTANT"
− "ncISQ_F1_NOTCH + ..." mode with "operating_point = ncTUNE_V_CONSTANT"
− "ncPOSITION" mode with "operating_point = ncTUNE_V_CONSTANT"
− "ncFF..." mode for axes operating without an encoder (ELC)
ENCOD0, virtual encoder in network encoder mode: Error 4007 during homing
Error 4007 "Lag error stop limit exceeded" could occur under the following circumstances:
− Virtual encoder in network encoder mode
− Two−encoder control with ENCOD0_S_ACT_FILTER as position encoder
− Homing while control enabled
This error occurred primarily in connection with the MC_BR_InitReceiveNetworkEnc PLCopen function block. Error 4007 did not occur when
using ENCOD0_S_ACT as the position encoder.
ACP10 software from V3.100 on can be used only for SG4 target systems with POWERLINK network
The following platforms are no longer supported:

− SGC target systems
− SG3 target systems
− SG4 target systems with CAN network
Incompatible changes: Removed obsolete functions and parameter IDs
The following functions and associated parameter IDs have been removed:
− Support for CAN network cards AC110 and AC140
− Support for old POWERLINK V1 network card AC112
− Special Cam Profile Automat CMD_CAM_START
− Old drum sequencer CMD_DRUMSEQ
− Old position latch functions LATCH1/2_WINDOW_POS
− Parameter normalization SCALE_R4_PARID
− Mode for external cyclic setpoint generation CMD_CYC_SET_VALUE_MODE
− Old homing functions CMD_ENCOD2/3_HOMING
− Old toggle for cyclic monitor data CYCL_MON_REQU1/2
− Configurable error messages MSG_CONF_ERROR_NUMBER: Warnings 64500..64619
− Old functions of hardware inputs POS/NEG_LIMIT_SWITCH_HW, TRIGGER_STOP_MODE
− Delayed speed feed−forward control with switch for controller mode PCTRL_MODE_SWITCH=1
− Speed control with CONTROLLER_MODE=2
− Current control with CONTROLLER_MODE=12 and CONTROLLER_MODE=12+ncFF
− ParIDs for PCTRL_S_ACT_PARID that do not belong to an encoder position
− T_PREDICT not equal to cycle time with CONTROLLER_MODE=ncPOSITION+ncFF
− Implicit re−enabling of network coupling through use of MA1/2/3/4/5_CYCLIC_POS
− AIO function block for optional analog inputs on the X2 connector for 8BVIxxxxxxxx.xx1−x
ACOPOS P3: The error 7211 is now reported even when the controller is off.
Setup for controller (autotuning): New parameter "a" to shorten the execution time in the mode "ncFF ..."
This parameter defines the acceleration used for the autotuning function.
If "a = 0.0", then the acceleration value is determined as previously. In "ncFF..." mode, for example, this results in an iterative increase in
acceleration for as long as movements are being started and a particular current value has not yet been reached.
This iterative process now no longer needs to be carried out in "ncFF..." mode if the "a" parameter is used to define an acceleration value other
than zero, which considerably reduces the duration of the autotuning function.
ISQ ripple compensation: Error 67 during initialization
The following error could occur when writing the ISQ_RIPPLE_DAT_F, ISQ_RIPPLE_DAT_A and ISQ_RIPPLE_DAT_B parameters.
67: Necessary parameter is missing or is invalid. Info: Parameter ID = 882
This error occurred primarily with ACP10SIM axes.
Setup for controller (autotuning): Error 10100 with "operation_point = ncTUNE_V_CONSTANT"
Up to now a setup function with "operation_point = ncTUNE_V_CONSTANT" was aborted with error 10100, the speed and the acceleration
override value did not remain on 100% during the entire setup function.
For "operation_point = ncTUNE_V_CONSTANT" now is guaranteed, that the speed and the acceleration override value remain on 100%
during the setup function. Before starting the setup function, the value 100% for the speed and acceleration override is transferred to the drive
and the transfer of the override value contained in the NC structure is disabled. After end of the setup function, the transfer of the override
value contained in the NC structure is reactivated.
80VD100PD.C088−01, 80VD100PS.C08X−01: Incorrect position calculation
At high signal frequencies, the position was incorrectly calculated for 80VD100PD.C088−01 and 80VD100PS.C08X−01 ACOPOSmicro
modules.
ID# 400167410, 400165392, 400168128 : solved problem, solved since V2.512
Error 7014 when using EnDat 2.2 encoders (only in V2.490 − V2.511)
In some cases (high ACOPOS CPU load), the following error could have occurred:
− 7014: Encoder: CRC error during parameter transfer
SafeMC modules were not affected from this error.
ACOPOSmicro 80Vxxxxxx.xxxx−x: Holding brake: The voltage and current monitoring were mistakenly disabled (only in V2.510)
For motors with holding brake, the voltage and current monitoring of the holding brake were incorrectly disabled.
For motors without a holding brake the error 6030 was mistakenly reported.
8BVIxxxxxxS.xxx−x, SafeMC modules with EnDat 2.2: Encoder evaluation in permanent error state after failure of SafeMC firmware (only in
V2.451 − V2.50x)
It was possible in rare cases for encoder evaluation to remain in a permanent error state after a temporary failure of the SafeMC firmware. This
error state could only be cleared by an ACOPOS reset or power OFF/ON.
Network initialization: "network.init_allowed = ncTRUE" was sometimes not set (only in V2.480 − V2.50x)
If during the basic network initialization (startup function for all ACOPOS modules) an ACOPOS module was switched off or not connected to
the network, then "network.init_allowed = ncTRUE" later was never set.
Now, in this case "network.init_allowed = ncTRUE" will be correctly set when the ACOPOS module is recognized subsequently as active on
the network, after it has been switched on or connected to the network.
Cam Profile Automat: Speed jumps on state transition of large master periods
With a state transition for curves with large master periods (beginning at 2000000 units), multiple speed jumps could occur. The extent of the
jumps depended on the master speed and the ratio of the master and slave period. Interfering effects were especially prevalent in connection
with the MC_GearIn, MC_BR_GearIn, MC_CamIn and MC_BR_CamIn PLCopen function blocks.
The TEMP_HEATSINK_MAX parameter was invalid (only in V2.480 − 2.50x)
The TEMP_HEATSINK_MAX parameter was incorrectly and permanently set to the value 0.0.
ACOPOSmulti: Error 74 when setting the MAINS_SWITCH_PARID parameter (only in V2.440 − V2.50x)
The following error was reported incorrectly when setting the MAINS_SWITCH_PARID parameter via channel 2 (axis 2):
− 74: Parameter can only be written via channel 1 (axis 1)
Temperature prediction: LOAD_CONT_CURR_PRED and TEMP_MOTOR_MODEL_PRED incorrect
If the motor temperature model was configured in mode 4 (TEMP_MOTOR_MODEL_MODE = 4), the LOAD_CONT_CURR_PRED parameter
were erroneously and permanently set to the value 0.0 and the TEMP_MOTOR_MODEL_PRED parameter were set to an incorrect value.
HIPERFACE encoder with AC121.60−x,−x, 8BAC0121.000 or 8CVIxxxH1xxxx.xx−1: Warning 39001 with position synchronization above the
operating speed (only in V2.490 − V2.500)
Position synchronization was also active above the operating speed (movement speed up to which the absolute position can be reliably
produced on the encoder), which sometimes led to an incorrect position.
Determining error texts: FB names with IDs > 126 were not displayed for PLCopen MC FB errors
PLCopen MC FB errors (error numbers 29200 .. 29699) provide the ID of the associated PLCopen FB used to display the name of the
PLCopen FB when determining the error text.
This doesn't work for the following FB names with an ID > 126. For these, the ID was output instead of the name:
− 127: FB_MC_BR_OffsetVelocity
− 128: FB_MC_BR_OffsetZone
− 129: FB_MC_BR_SetupSynchronMotor
− 130: FB_MC_BR_CheckEndlessPosition
− 131: FB_MC_BR_ReadLoadSimInputData
− 132: FB_MC_BR_WriteLoadSimOutputData
− 133: FB_MC_LimitLoad
− 134: FB_MC_BR_LimitLoad
− 135: FB_MC_BR_LimitLoadCam
− 136: FB_MC_BR_ResetAutPar
− 137: FB_MC_BR_ConfigPowerStageCheck
− 138: FB_MC_BR_InitEndlessPosAcpEnc
− 139: FB_MC_BR_NetworkInit
− 140: FB_MC_BR_CommandError
− 141: FB_MC_BR_InitReceiveNetworkEnc
− 142: FB_MC_BR_ReadLoadSimTorque
− 143: FB_MC_BR_WriteLoadSimPosition
− 144: FB_MC_BR_WriteLoadSimTorque
− 145: FB_MC_BR_SetupFromParTabObj
− 146: FB_MC_BR_CamIn
Affected by this problem was the NC action "ncMESSAGE,ncTEXT" as well as the MC_ReadAxisError and MC_BR_ReadAxisError function
blocks.
Encoder interfaces AC121.60−x, 8BAC0121.000−x and 8CVIxxxH1xxxx.xx−1 with HIPERFACE: Modification for parameter
ENCOD_LINE_CHK_IGNORE
Setting bit0 and bit1 of ENCOD_LINE_CHK_IGNORE from now on only affects analog errors.
Bit2 and bit3 are now available for serial errors, bit4 and bit5 for HIPERFACE error bits.
Cam Profile Automat: Speed jumps in software limit's area of influence (only in V2.450 − V2.491)
With automat movements, it was possible for jumps in the speed setpoint to take place in the software limit's area of influence. This error
behavior occurred primarily with accelerations larger than the axis limit values, movements near the software limit and only when active
checking of software limits was in place (SGEN_SW_END_IGNORE = 0). The following errors were also not reported in certain cases:
− 5003: "Positive SW limit reached"
− 5004: "Negative SW limit reached"
ISQ−Ripple compensation and identification: Frequencies greater than 512 Hz incorrectly permitted
ISQ−Ripple compensation: Frequencies greater than 512 Hz for compensation were incorrectly permitted even though they have no effect due
to the compensation resolution.
ISQ−Ripple identification: Frequencies higher than 512 Hz were identified incorrectly on motors with a high number of pole pairs even though
they had no effect on compensation.
Feed−forward torque control: Incorrect effect of feed−forward torque control with encoder counting direction ncINVERSE (only in V2.470 −
V2.491)
The direction−dependent feed−forward torque control has an incorrect effect (FFCTRL_TORQUE_POS, FFCTRL_TORQUE_NEG) in position
controller mode with feed−forward control (ncPOSITION+ncFF) with an inverted encoder counting direction.
8B0P0110xxxx.xxx−x: 24 VDC auxiliary supply: Monitoring 25 V rail voltage
If 24 V is supplied with an auxiliary supply module (8B0C) and the 25 VDC rail voltage fails, then the following error is reported:
− 6020: Hardware: Error in 24 V power supply
Controller, PCTRL_ENABLE_PARID: Speed setpoint SCTRL_SPEED_REF not zero when position controller disabled
If the position controller was disabled with PCTRL_ENABLE_PARID before the controller was switched on, then a setpoint unequal to zero
remained on the speed controller input. This speed setpoint came from the actual speed during the power on phase.
Controller mode ncUF, slip compensation: Error 33002 in the event of unfavorable motor parameters
If slip compensation is enabled and the resistance/inductance values are very high, the following error could occur when controller is in ncUF
mode:
− 33002: Floating point exception.
Motor holding brake test: The slew rate of the test torque can be set with the parameter BRAKE_TEST_TORQUE_RATE.
POWERLINK, DNA (Dynamic Node Allocation): Error when linked to own node number
With dynamic node number allocation (DNA), an attempt to link back to the same station was rejected with the following error:
1013: Station not available for network communication
EnDat 2.2 with EBI encoder (motor option B1): Possible for encoder memory to be "written to death" (only in V2.490)
When using this version and an EnDat 2.2 encoder with battery backup – under certain circumstances it is possible for the encoder memory to
be written to death. The encoder is then defective and may return the following error, among others:
39006: EnDat encoder: Alarm bit is set.
The following conditions must occur simultaneously:
− Encoder alarm bit is set
− Error in the single turn position
− No error in the multi−turn position (battery supply, etc.)
Saving controller parameters only worked for the first INIT parameter object
When the NC action "ncSETUP+ncCONTROLLER,ncSAVE" is called, only the INIT parameters of the "controller" substructure should be
saved in the specified INIT parameter object. All other INIT parameters in this object should remain unchanged. This only worked for the INIT
parameter object for NC objects with the type "ncAXIS" that came first in the Automation Studio project's software configuration. For all other
INIT parameter objects, except for the INIT parameters of the "controller" substructure, the values of the INIT parameters of this first INIT
parameter object were saved.
The same behavior occurred when using the MC_BR_SetupController FB with "Command" = mcSAVE.
A workaround for this problem is to use the NC action "ncGLOBAL,ncSAVE" or the FB MC_BR_SaveAxisPar to save the INIT parameters.
ACOPOSmicro with LinMot encoder interface: Wrong absolute position with rotation motors using absolute position sensors
The absolute position was only supported on motors with LinMot PIC protocol version until 0xE0. If the motor had a newer PIC protocol version
(> 0xE0), the absolute position was not evaluated (ParID ENCOD_ABS_RES was 0 instead of 4). From now on also PIC protocol versions
greater than 0xE0 are supported.
Cam Profile Automat: Jump in speed setpoint when changing state

A very small speed jump could take place for linear curves and constant master speed when the state switches. The degree of the speed jump
depended on the master speed and the ratio between the master and slave period. It reached approximately up to 0.005% of the constant
speed.
8BVPxxxxxxxx.xxx−x: Error 6045 when switching on the controller
A small mains voltage (< 3x 380VAC) and large switching frequency (F_SWITCH = 10000Hz) sometimes caused mistakenly the following error
after switching off the controller and then immediately switching on the controller.
− 6045: Power stage: Connection X5: No current flow
8B0P0110xxxx.xxx−x: 24 VDC external supply: Monitoring 25 V rail voltage
If 24 VDC is supplied externally and the internally generated 25 VDC rail voltage fails, then the internal 90 W DC−to−DC converter remains
permanently disabled and the following error is reported:
− 6020: Hardware: Error in 24 V power supply
8B0P0110xxxx.xxx−x: Activation of the 25VDC bus bar without AC mains
If starting via the external 24 VDC supply (without AC mains), than the internally generated 25V is connected to the 25 VDC bus bar and the
CR_OK output is disabled.
80VD100PD.C188−01: Error sensitivity of encoder signal amplitude decreased
Spike stochastic signal amplitude errors are better filtered and act less on the position detection.
ACOPOSmotor 8DIxxx.xxxxxxxxx−x: Temperature measurements: Errors 41083, 9078, 9079, 41078, 9083, 9084 (only in V2.480)
The temperature measurements TEMP_AIRIN and TEMP_AIROUT were defective, which caused the following error numbers to be incorrectly
reported:
− 41078: Power stage: Temperature sensor 2: Overtemperature
− 9083: Power stage: Temperature sensor 2: Overtemperature − Movement stopped
− 9084: Power stage: Temperature sensor 2: Overtemperature − Limiter active
− 41083: Power stage: Temperature sensor 1: Overtemperature
− 9078: Power stage: Temperature sensor 1: Overtemperature − Movement stopped
− 9079: Power stage: Temperature sensor 1: Overtemperature − Limiter active
Position controller: Lag error despite disabled position control (only in V2.460 − V2.480)
If position control is disabled with PCTRL_S_ACT_PARID=PCTRL_S_SET, then a speed−dependent lag error still occurred. Interfering effects
were especially prevalent with an I component (integral action time) in connection with the PLCopen function block MC_BR_VelocityControl.
Determination of ACOPOS hardware information: The data for "motor[0]" were also shown in "motor[1]" (only in V2.47x)
When using servo drives with two axes with EnDat encoders, for the second motor wrongly the data from the first motor were displayed.This
problem occurred with the following functions for determination of ACOPOS hardware information:
− ncaction(ncSERVICE,ncACOPOS_INFO)
− FB MC_BR_GetHardwareInfo
ACP10SIM: Error 73 when writing parameter ICTRL_MODE
When writing a valid value to the parameter ICTRL_MODE, erroneously error 73 − "Invalid R4 floating point format" was returned.
Cam Profile Automat: Speed−dependent position shift when switching from base state
A position shift could have occurred when transitioning from the base state to a state with compensation gears in the following cases:
− Compensation gears mode ncONLYCOMP, ncWITH_CAM, ncSL_ABS, ncSL_LATCHPOS
− Event type ncS_START, ncS_START_IV1..4, ncTRIGGER1..2
− Event attribute ncAT_ONCE
− Master speed greater than 2500E/s
This error behavior occurred in connection with the PLCopen MC_BR_CrossCutterControl function block, for example.
SG4 target system: Data object type "ncDATOBJ_FILE" for download/upload of data blocks and ACOPOS parameter tables
For the following NC actions it is now possible with "datobj_type=ncDATOBJ_FILE", to use files as data object (so far,only BR modules were
possible):
− ncDATBLOCK, ncDOWNLOAD
− ncDATBLOCK, ncUPLOAD
− ncACP_PAR+ncDATBLOCK, ncDOWNLOAD
− ncACP_PAR+ncDATBLOCK, ncUPLOAD
For this, the substructure "datblock.parameter" in the NC structure of the NC objects with type "ncAXIS" and "ncV_AXIS" was extended by the
following components:
datobj_type: Type of data object ("ncDATOBJ_BRMOD" or "ncDATOBJ_FILE")
file_device: Name of the file device (only for type "ncDATOBJ_FILE")
Multi−axis Trace: Array "trace.test_dat" extended to 100 elements
Data type "ACP10MUTRC_typ" for the NC object with type "ncMULTI_AX_TRACE":

The array "trace.test_dat" was extended from 30 to 100 elements.
This allows now up to 100 ParIDs to be recorded simultaneously with the Multi−axis Trace.
Homing to ncBLOCK_TORQUE block: Torque limitation HOMING_TORQUE_LIM not applied in connection with TLIM_MODE=2
If the mode of the torque limiter was switched to "Cyclic" (TLIM_MODE=2) before the homing procedure to block, then the torque limitation
HOMING_TORQUE_LIM isn't applied. This error behavior occurred in particular with MC_BR_LimitLoad.
Multi−axis Trace: Saving trace data with type "ncDATOBJ_FILE" could take a very long time
This problem occurred especially with ARwin or CIFS, if the format "ncDATOBJ_FORMAT_CSV" or "ncDATOBJ_FORMAT_TXT" was used.
The following NC actions for the NC object with type "ncMULTI_AX_TRACE" were affected by this problem:
− ncTRACE, ncSAVE
− ncTRACE, ncUPLOAD+ncSAVE
− ncTRACE, ncSTART+ncSAVE
Saving trace data with type "ncDATOBJ_FILE" was significantly accelerated.
8BAC126.6−1: EnDat 2.2 encoder: Additional dead time when measuring position
If the encoder is not being used as a motor encoder, then an additional dead time of 200 µs affects the position.
Controller mode (PARID_CONTROLLER_MODE) = 8 no longer supported beginning with V2.480.
Multi−axis Trace: The network trigger delay was falsely subtracted from the recording time
If the value defined with network trigger delay was added to the start delay (parameter TRACE_T_DELAY), then this value was also falsely
subtracted from the the recording time (parameter TRACE_T_TRACE). This caused the problem, that a different number of data records was
recorded on the separate ACOPOS modules.
From now on, the recording time remains unchanged in this case and so the same number of data records is recorded for all ACOPOS
modules.
ACOPOS 8Vxxxx.xx−x: Error in DC bus voltage measurement
With ACOPOS modules (8Vxxxx.xx−x), it could happen that the measurement of the DC bus voltage (UDC_ACT) generates erroneously high
values. This causes the following warning and error to be reported.
− 41041: Bleeder temperature model: Overtemperature
− 9040: Bleeder temperature model: Overtemperature − Movement stopped
POWERLINK, cyclic network coupling: Configuring a coupling with advanced coupling data (ACP10_MC_BROADCAST) didn't work in some
cases.
After a coupling was configured (CONFIG_MA1/2/3/4/5_CYCLIC_POS) with data from an interruptible task class
(CYCLIC_DP_DATA_TYPE=66), the position data was not updated in some cases. This incorrect behavior only occurred during
reconfiguration. The coupling remained in an error state in this case (MA1/2/3/4/5_CYCLIC_ERROR_STATUS=5). This error occurred in
connection with the PLCopen function blocks MC_BR_MoveCyclicPosition and MC_BR_MoveCyclicVelocity.
8B0Pxxxxxxxx.xxx−x: Warning 41075 or 41031 (only in V2.470 − V2.471)
The calibration offset was not used for the calculation of the parameters VCTRL_I1, VCTRL_I2 and MOTOR_TERMINAL_POWER. As a
result, it may happen that one of the following warnings wrongly is reported.
− 41031: Junction temperature model: Overtemperature
− 41075: ACOPOS continuous power: Overload
8B0Pxxxxxxxx.xxx−x: UDC_RECT_CURR and UDC_CHOP_CURR: Invalid values (only in V2.450 − V2.471)
The parameters UDC_RECT_CURR and UDC_CHOP_CURR were wrongly set to the value 0.0.
Simulation mode: Error 9010 and 9070 (only in V2.470 − V2.471)
If no motor temperature sensor was connected, it was possible that the following errors were reported by mistake in simulation mode.
− 9010: Temperature sensor (Motor|Choke|External): Overtemperature
− 9070: Motor temperature model: Overload − Movement stop
8BVPxxxxxxxx.xxx−x: DC bus voltage controller: UCTRL_TN incorrectly set to 0.0 (only in V2.380 − V2.46x)
The integration time constant of the DC bus voltage controller (UCTRL_TN) was incorrectly set to 0.0. This sometimes caused one of the
following errors to be reported on the power supply module or an inverter module.
− 7200: DC bus: Overvoltage
− 4007: Lag error stop limit exceeded
8AC122.60−3, 8BAC0122.000−1, 80VD100Px.C02x−xx: Resolver transformation ratio ENCOD_TRANS_RATIO
The allowed range for the resolver transformation ratio ENCOD_TRANS_RATIO was extended from [0.2..0.5] to [0.2..0.55].
Note:
ENCOD_TRANS_RATIO can be changed for those resolver cards, which use the method "position evaluation with sample".
Simulation mode on ACOPOS, "Complete" mode in ACP10SIM: Updates and changes with regard to real path
Changes have been made to the simulation mode on ACOPOS modules and the "Complete" mode in the ACP10SIM library in order to more
closely approximate the real path:
− Motor holding brake taken into account
− Motor torque calculated more precisely
− Correct inductance used for an induction machine
− Initialization of friction term independent of cycle time
− Improved discretization of the load model
− Prevention of speed drift at zero−load torque
− Synchronization of motor model and load model
− Default resolution of encoder increased (SCALE_ENCOD_INCR)
Error 7014 when using EnDat 2.2 encoders
When using EnDat 2.2. encoders, it was possible for the following error to occur in rare cases depending on the encoder type and cable length:
NC actions for network initialization: "network.init_allowed=ncFALSE" was set too late
If one of the NC actions "ncNETWORK, ncINIT" or "ncNETWORK,ncINIT+ncRESET" was called, then "network.init_allowed=ncFALSE" was
not set immediately for the associated axis objects. Instead, they were set one NC manager task class cycle later.
It was therefore possible that these NC actions for one of these axis objects was called in this task class cycle due to the no longer valid status
"network.init_allowed=ncTRUE", which resulted in the following errors:
− 10733: Invalid network status for calling this NC action
− 32166: Network initialization not allowed during active network initialization
Basic network initialization: "network.init_allowed=ncTRUE" was set too early
If the startup function for an ACOPOS module was completed successfully during a basic network initialization (startup function for all
ACOPOS modules), then "network.init_allowed=ncTRUE" was set for the associated axis objects a few NC Manager task class cycles earlier
than "network.init=ncTRUE".
ACOPOS hardware information: Array "motor" extended to three elements
Data type "ACP10_HWINFO_typ" for ACOPOS hardware information:

The array "motor" was extended from two to three elements.
ACOPOS: Disabling configured inverter compensation after changing the switching frequency
If the switching frequency (F_SWITCH) was set after configuring the inverter compensation, then the INVCL_A1 and INVCL_A2 inverter
parameters were set to 0.0. This results in inverter compensation not taking place.
8BVIxxxxxxS.xxx−x, SafeMC Module with EnDat 2.2: Error 7014 or 7015 (only in V2.460)
When using EnDat 2.2 SafeMC modules the following errors could occur:
− 7015: Encoder: Timeout error during parameter transfer
8BVIxxxxxxDx.xxx−x: Warning 41075 and error 9075 on axis 2 (only in V2.450 − V2.460)
It was possible for the following warning and error to be incorrectly reported on axis 2 of ACOPOSmulti dual−axis modules
(8BVIxxxxxxDx.xxx−x):
− 9075: ACOPOS continuous power: Overload − Movement stopped
8B0P0110Hx00.000−1: The warning 41090 was sometimes wrongly registered
ACOPOSmulti, POWERLINK, cyclic network coupling: Transient responses to cyclic network positions
Under the following conditions, transient responses could occur when receiving network positions:
− Interpolation mode 2 or 3
− Simultaneous configuration of a coupling on both ACOPOSmulti axes (CONFIG_MA1/2/3/4/5_CYCLIC_POS)
− Use of network position through a parameter connection directly after configuration (e.g. by CYC_ABS_MOVE_PARID).
The occurrence of these transient responses also depended on the task class and POWERLINK cycle time. Interfering effects were especially
prevalent in connection with the PLCopen MC_BR_MoveCyclicPosition function block.
ACOPOSmotor 8DIxxx.xxxxxxxxx−x, POWERLINK with poll response chaining: Network communication failure
Network communication sometimes failed on ACOPOSmotor modules with enabled poll response chaining. Error 32280 was reported in these
cases.
Downloading ACOPOS parameter tables: Processing aborted after a warning response without error status
If a warning response (error response with error number >32767) occurred for one of the parameters while transferring the ACOPOS
parameter table, then processing the ACOPOS parameter table was aborted without a status value having been changed. The following status
indicators remained as they were when the NC action was called:
− status.ok = ncFALSE
− status. error = ncFALSE
− status.data_len = 0
Now in this case "status.error = ncTRUE" is set, after the processing was aborted.
The following NC actions were affected by this problem:

− ncACP_PAR+ncSERVICE, ncDOWNLOAD
Controller mode ncUF and motor parameter identification or autotuning (only in V2.430 − V2.45x)
An encoder error was reported by mistake if:

− the encoder (position or motor encoder) used before switching to controller mode ncUF is in error state and
− the motor parameter identification or autotuning was started
Virtual encoder or control mode ncUF: Error 33002 if SCALE_LOAD_UNITS = 1 or SCALE_LOAD_UNITS = SCALE_LOAD_REV
Error 33002 is erroneously reported when using a virtual encoder or operating in ncUF control mode if SCALE_LOAD_UNITS = 1 or
SCALE_LOAD_UNITS = SCALE_LOAD_REV is configured.
Autotuning with mode "ncFF_POS_MOVE" and "ncFF_NEG_MOVE": Speed now dependent on the direction
The identification speed was previously calculated for autotuning with mode "ncFF_POS_MOVE" and "ncFF_NEG_MOVE":
v_ident = 0.01 * TUNE_V_MAX_PERCENT * MIN(AXLIM_V_POS, AXLIM_V_NEG)
The speed is now calculated depending on the direction of movement:
ncFF_POS_MOVE:
v_ident = 0.01 * TUNE_V_MAX_PERCENT * AXLIM_V_POS
ncFF_NEG_MOVE:
v_ident = 0.01 * TUNE_V_MAX_PERCENT * AXLIM_V_NEG
ACOPOSmicro 80Vxxxxxx.xxxx−x: Errors 7200 and 7226 or just Error 4005 when controller is switched on
If the controller was switched on immediately after activating the ENABLE input, in rare this results in Error 4005 with no additional information
regarding the error status or the error sequence 4005, 7200 and 7226.
Torque limiter, warning 38001: Additional information misleading
The causative current limit value was erroneously reported as additional information for the following warning:
− 38001: Torque limiter: Limit value too large + info: Current limit value
Beginning with V2.460, the maximum configurable torque limit value is reported as additional information:
− 38001: Torque limiter: Limit value larger than maximum value + info: Maximum value
8BVIxxxxxxS.xxx−x, SafeMC Module mit EnDat 2.2: Error in the multi−turn part of the position
When using a multi−turn encoder, it could happen that the multi−turn part of the position was calculated incorrectly. In this case no error was
reported.
ACOPOSmicro 80Vxxxxxx.xxxx−x: Error 7228 (only in V2.420 − V2.450)
In rare cases the following error was falsely registered:

− DC bus: Nominal voltage detection: High inrush current
Motor temperature sensor, motor temperature model: Error 9010 and 9070 (only in V2.340 − V2.450)
If no motor temperature sensor was connected, it was possible that the following errors were reported by mistake:
− 9010: Temperature sensor (Motor|Choke|External): Overtemperature
− 9070: Motor temperature model: Overload − Movement stop
Now only possible to write to multiple axis−independent parameters via channel 1 (axis 1)
The following parameters can only be written to via channel 1. It used to be possible to write to them via channel 2.
R_BLEEDER_EXT,
TEMP_MAX_BLEEDER_EXT,
RTH_BLEEDER_AMB_EXT,
CTH_BLEEDER_EXT,
BLEEDER_SELECTOR_EXT,
TEMP_BLEEDER,
TEMP_BLEEDER_MAX,
TEMP_BLEEDER_LIM,
CHP_DUTY_CYCLE_MIN,
PLIM_MODE,
PHASE_MON_IGNORE,
POWER_SUPPLY_MODE,
MAINS_SWITCH_PARID,
UDC_OVMON_CTRL_OFF_LIM,
UDC_OVMON_STOP_LIM,
UDC_OFFSET,
UDC_CR_OK_OFF,
UDC_PRECHARGE_THRESHOLD
SG4 target system: Additional logger entry for error during installation of cyclic tasks
If the installation of cyclic tasks failed, so far only the following errors were written into the logger:
10560 NC manager error (see "ASCII data"), ASCII data: <TaskName>: Installation
10530 NC Manager: NC SW INIT aborted, ASCII data: ACP10MAN
This problem can usually be corrected by increasing the number of cyclic objects in the AR configuration. For this reason, in this situation the
following error is additionally written into the logger before the errors described above:
10560 NC manager error (see "ASCII data"), ASCII data: cypCreateDynamicProg failed (not enough cyclic objects configured?)
Network Command Trace: More than 65535 data records are possible
The number of data records for Network Command Trace is calculated by multiplying the value of the ACP10CFG parameter "Number of data
records per ACOPOS for Network Command Trace" with the number of configured ACOPOS modules.
Until now, the value was always limited to a maximum of 65535 after this calculation.
From now on, the calculated value is taken directly without being limited to 65535 if an Automation Studio version V4.1.4.275 or higher is used.
Note:
A Network Command Trace with more than 65535 records is saved in a new format, that can not be displayed with Automation Studio versions
before V4.1.4.275. "Load Data From File" for files with this new format would lead to the following error messages:
− "Version of the file is not supported" when loading a text file.
− "Trace buffer contains no data" when loading a binary file
ID# 400111673, 400118814, 400112916, 400117342, 400121337, 400124250, 400131493, 400131994, 400133000 : solved problem, solved since V2.450
8BVIxxxxxxDx.xxx−x, 80VxxxxxD.xxxx−xx: UDC_NOMINAL and UDC_DETECTION had to be changed for both axis.
If the value of the UDC_NOMINAL and UDC_DETECTION parameters should be changed, it was previously necessary the transfer the new
value for both axes to the ACOPOS device for dual−axis modules. It is now possible to transfer a new value for the UDC_NOMINAL and
UDC_DETECTION parameters to the ACOPOS device for one axis only.
ACOPOSmotor 8DIxxx.xxxxxxxxx−x: POWERLINK communication failure after NCSYS download (only in V2.440 − V2.442)
Downloading the ACOPOS operating system with versions V2.440 − V2.442 causes POWERLINK communication to fail.
In this case, the POWERLINK communication can not be activated again, not even by software reset or Power OFF/ON.
8BVPxxxxxxxx.xxx−x, Boost converter: DC bus voltage dip
At low mains voltage (e.g. 3x220VAC) and high power transmission, a DC bus voltage dip could occur.
8AC122.60−x, Resolver: The wire break monitoring was not evaluated (only in V2.440 − V2.441)
8AC125.60−1, 8BAC0125.000−1, 8CVIxxxE1xxxx.xx−x and 8BVIxxxxxxSA.xxx−x: SinCos/SSI – encoder interface: Position correction can be
disabled.
For SinCos/SSI encoders, it is possible that the SSI evaluation allows a lower maximum speed than the evaluation of the SinCos signals.
Position jumps are possible at speeds above the maximum SSI speed. Following error could be reported: 39001: Encoder: Position correction
active.
In such cases a speed limit can be specified using ENCOD_MAX_SYNC_SPEED, ENCOD2_MAX_SYNC_SPEED or
ENCOD3_MAX_SYNC_SPEED. Above this limit the SSI evaluation is disabled.
ACOPOS, ACOPOSmulti, trigger inputs, LATCH function block: Missing latch position when evaluating minimum signal width
With the following configuration, a signal was not identified as valid even though it exceeded the minimum signal width: LATCH_EV_TYPE 4,
LATCH_EV_PARID STAT_TRIGGER1 or STAT_TRIGGER2.
SG4 target system, function ncglobal_action()
For the action "ncglobal_action_NCDA_INFO" a wrong value was returned in "status.data_len", if an AR version A3.08 or higher was used.
8AC125.6x−x, 8BAC0125.000−1; BiSS Interface: Error in the multi−turn part of the position
When using a multi−turn BISS encoder, it can sometimes happen that the multi−turn part of the position is not determined correctly. No errors
are reported.
ncNETWORK, ncINIT+STOP" could cause a deadlock for acyclic communication
If the NC action "ncNETWORK, ncINIT+ncSTOP" was called during the basic network initialization (startup function for all ACOPOS modules),
after a parameter request was sent but before the response was received, this caused a deadlock for the acyclic communication for this
ACOPOS module. After this, for this After that it was no longer possible for this ACOPOS module to perform the network initialization
(ACOPOS startup), neither automatically nor by calling the NC action "ncNETWORK, ncINIT".
When using software before ACP10 V2.440 the problem can be avoided with the following steps:
1) Select "Wait for Enable" in the NC manager configuration in "Network initialization (ACOPOS startup), Execute at NC software initialization".
2) Call "ncNETWORK, ncINIT+ncSTOP" for all axes, for which the ACOPOS startup should not be executed.
3) Call "ncNETWORK, ncINIT+ncENABLE" for starting the basic network initialization.
New NC actions for real axes for general use of setup functions
ncaction(ax_obj,ncSETUP,ncSTART)
The setup function is accomplished with the following steps:
− Opening the ACOPOS parameter table specified in "setup.datobj.parameter.name"
− Transfer of the parameters contained in this ACOPOS parameter table to the ACOPOS
− Starting the parameter identification on the ACOPOS
− Waiting for completion of the parameter identification
ncaction(ax_obj,ncSETUP,ncSAVE)
Saving the parameters determined by the setup function, with the following steps:
− Opening the ACOPOS parameter table specified in "setup.datobj.parameter.name"
− Reading and saving the values of the parameters contained in this ACOPOS parameter table
ACOPOSmulti: 8B0P0110xxxx.xxx−x:
If the 24 V supply was connected to the X1 connector, then all 24 V consumers were incorrectly cut off after a software reset (e.g. PLC
warm/cold restart).
HIPERFACE encoder with AC121.60−x,−x, 8BAC0121.000 or 8CVIxxxH1xxxx.xx−1: Display of errors from encoder also in the simulation
mode
The serial communication was still active in the simulation mode, whereby errors were displayed also from the real encoder.
ENCOD0, virtual encoder: Evaluating external position data
The aim of this mode of the virtual encoder is to transform external position information, available via Powerlink, into a usable position for the
ACOPOS. Therefore overflow treatment, unit scaling, filter and homing are available.
80VD100PD.C188−01: LinMot − rotary encoder with absolute position values: Wrong absolute position after CMD_SW_RESET
When using a LinMot − encoder with absolute position it could occur, that the position was not detected correctly after a reset with parameter
CMD_SW_RESET (e.g. during ACOPOS startup after restarting the PCC CPU). The position in this case was +/ −120° wrong.
The problem did not occur after power OFF/ON.
SG4 target system, POWERLINK: ACOPOSmulti and ACOPOSmicro: ACOPOS startup was aborted with error 32011 after warning 64006
(only in V2.320 − V2.430)
In rare cases, "POWERLINK_PLSTATE = 0x0005" (cyclic POWERLINK communication active) is displayed, although the cyclic POWERLINK
frames to and from the ACOPOS module are not transferred correctly.
When using ACP10 software V2.320 − V2.430, in such cases first the warning 64006 was indicated after display of "NETWORK_PHASE =
10", but then tried to transfer parameters with cyclic POWERLINK frames. This led to the time−out error 32011 after the write request for the
parameter CMD_WR_BLOCK_ABORT and the startup function was then aborted for the affected ACOPOS module.
Note:
The problem could for example occur, after burning of the ACOPOS operating system has failed. If this problem occurred for ACOPOSmulti
modules with SafeMC, the message 30281 (station did not support OD object, firmware update required) was displayed in the logger.
Workaround:
When this problem occurs, then ACP10 software V2.320 − V2.430 can be used without this problem, when previously an ACP10 software
version prior to V2.320 (eg V2.310) was transferred to the target system and a ACOPOS startup with NCSYS−download was performed.
ELC: Jump in position and lag error resulting in subsequent q−axis current during cross−fading
ELC: The following configuration sometimes caused a jump in position and lag error during cross−fading, which then led to q−axis current:
− Encoder scale: Encoder revolutions other than 1
− Long transfer duration (large cross−fading time, no acceleration)
ACOPOSmotor 8DIxxx.xxxxxxxxx−x: Error 6030 erroneously reported (only in V2.422 − V2.430)
The following error was erroneously reported for modules without a holding brake:
− 6030: Holding brake: Brake output is active, but no brake entered in motor data
Homing on Block: Movement was not stopped
The following configuration could cause, that a homing procedure was not finished: Homing mode ncBLOCK_TORQUE or ncBLOCK_DS,
reference pulse ncOFF, controller mode ncPOSITION + ncFF and unfavorable controller parameters with an "inverted lag error" as result.
Motor phasing: The cyclic status bit 8 "Controller ON" was erroneously set during phasing in "Stepper" mode (PHASING_MODE = 1).
HIPERFACE linear−encoder with AC121.60−x,−x, 8BAC0121.000 or 8CVIxxxH1xxxx.xx−1: Fehler 7038 from serial absolute position
monitoring
HIPERFACE position evaluation cyclically monitors the serial absolute position. Among other things, that monitoring checks position
differences between the serial position and the accumulated absolute position.
This monitoring erroneously caused a position jump at certain positions, which then resulted in the following error:
− 7038: Encoder: Position value not synchronous with absolute value
Multi−axis Trace, trigger object without test data point: Error 10 when saving the trace data (only in V2.370 − V2.42x)
If in the trace configuration an axis was specified as trigger object, without also having configured a test data point for this axis, then the
following error occured when saving the trace data into a data object:
− 10: Data block read access not initialized
The following NC actions for the NC object with type "ncMULTI_AX_TRACE" were affected by this problem:
− ncTRACE, ncSAVE
− ncTRACE, ncUPLOAD+ncSAVE
− ncTRACE, ncSTART+ncSAVE
Setup for induction and synchronous motors: New parameter
The below listed new parameter is offered in following substructures:

setup.motor_induction.parameter
setup.motor_synchron.parameter
t_tripping_therm: Tripping time at thermal overload [sec]
If "parameter.optional.phase_cross_sect = 0" is specified, then the line cross section of the motor is calculated as follows:
MOTOR_WIND_CROSS_SECT = MOTOR_CURR_RATED * sqrt(t_tripping_therm/360.6)
If for "parameter.optional.phase_cross_sect" a value other than zero is specified, then the line cross section of the motor is initialized with this
value:
MOTOR_WIND_CROSS_SECT = phase_cross_sect
New NC action for real and virtual axes to trigger an error reaction on the drive
ncaction(nc_obj,ncMESSAGE,ncCMD_ERROR)
Parameter:
message.cmd_error.type: Type of the error reaction
− ncCMD_WARNING_ONLY
− ncCMD_ERROR_ONLY
− ncCMD_ERROR_STOP
− ncCMD_ERROR_STOP_CTRL_OFF (only for real axes)
− ncCMD_ERROR_V_STOP_CTRL_OFF (only for real axes)
Effect:
The specified type of the error reaction is transferred to the drive. There, the corresponding error reaction is carried out and the associated
error is reported.
Reported errors:
For type "ncCMD_WARNING_ONLY":
− 36005: Warning triggered by command
else:
− 4015: Error triggered by command
Controller setup: New parameters "operating_point" and "signal_order"
operating_point:
If this parameter is set to "ncTUNE_STANDSTILL", then standstill is used as the operating point for the setup function. If this parameter is set
to "ncTUNE_V_CONSTANT", then a constant speed calculated as follows is used as the operating point:
v = 0.01 * v_max_percent * MIN(limit.parameter.v_pos,limit.parameter.v_neg)
signal_order:
This parameter defines the order of the excitation signal (7..11, 0 corresponds to 9). A larger value results in a smaller frequency discretization
and better excitation at lower frequencies.
The automatic phasing is now supported in stepper mode (PHASING_MODE = 1).
ACOPOSmotor 8DIxxx.xxxxxxxxx−x: Holding brake: Replacing the configurable current control (only in V2.340 − V2.421) with a configurable
voltage control
To achieve this, the following current parameters are being replaced by voltage parameters:
− MOTOR_BRAKE_CURR_REL replaced by MOTOR_BRAKE_VOLT_REL
− MOTOR_BRAKE_CURR_HOLD replaced by MOTOR_BRAKE_VOLT_HOLD
− MOTOR_BRAKE_CURR_MAX replaced by MOTOR_BRAKE_VOLT_MAX
ACOPOSmicro 80Vxxxxxx.xxxx−x: Configurable voltage monitor
The lower limit value of the voltage monitoring can be set with parameter MOTOR_BRAKE_VOLT_REL.
The upper limit value of the voltage monitoring can be set with parameter MOTOR_BRAKE_VOLT_MAX.
"One−sided short circuit stop" was not activated with inverted pulse width modulation (only in V2.250 − V2.420)
If pulse width modulation was inverted, then the "one−sided short circuit stop" was NOT activated although the ENABLE_CONFIG parameter
was set to a value greater than 0 and the signal level of one ENABLE input was switched to LOW.
Beginning with V2.370, PWM inversion is the default setting for the second axis of ACOPOSmulti dual−axis modules (8BVIxxxxxxDx.xxx−x).
On ACOPOSmulti modules with SafeMC (8BVIxxxxxxxS.xxx−x), the "one−sided short circuit stop" is the default setting (ENABLE_CONFIG=1).
This caused, for example, the second axis of an ACOPOSmulti SafeMC dual−axis module (8BVIxxxxxxDS.xxx−x) to NOT be decelerated with
a short circuit stop if STO1 was active.
ACOPOSmulti, trigger inputs, LATCH function block: Faulty evaluation of minimum signal width
The following configuration could cause a signal to be wrongly evaluated as valid despite not reaching the minimum signal width:
LATCH_MODE 4, LATCH_EV_TYPE 4, LATCH_EV_PARID STAT_TRIGGER1 or STAT_TRIGGER2.
Trace with wrong NC object after loading the trace configuration from MTC data object
If the name of an NC object was fully contained at the beginning of the longer name of another NC object (e.g. "Axis1" at the beginning of
"Axis11"), then it could happen that after loading a Multi−axis Trace configuration of a data object with MTC format (NC action
"ncMTC,ncLOAD") erroneously the NC object with the shorter name (e.g. "Axis1") was used as trigger object or trace object, although the NC
object with the longer name (name (e.g. "Axis11") was defined in the trace configuration.
The cyclic status bit "Drive ready" was erroneously set after disabling simulation mode
After disabling simulation mode (CMD_SIMULATION = ncSWITCH_OFF), it was possible that the cyclic status bit "Drive ready" (Bit19 in
STATUS_CYCLIC_BITS) was erroneously set and the green READY LED erroneously lit although the bus was not loaded and the main relay
of the pre−charging input circuit was not closed.

Induction motors: Catching a spinning motor
When switching on the controller, moving axes were erroneously decelerated before cyclic status bit 8 "Controller on" was set.
SG4 target system, POWERLINK: Error 32398 for ACOPOSmulti or ACOPOSmicro (only in V2.320 − V2.41x)
In ACP10 versions V2.320 − V2.41x, the ACOPOS hardware type is read with RD_BLOCK_SEGM in order to read the BRMOD_BSL data
immediately after RD_BLOCK_OFFSET=29 was written.
If an operating system older than V2.070 or no operating system at all existed on the ACOPOS device, then this could mistakenly cause the
following error since sometimes an incorrect ACOPOS hardware type was read:
− 32398: acp10sys does not contain an operating system for this ACOPOS hardware type
RD_BLOCK_BYTES is now read before RD_BLOCK_SEGM, which avoids this problem.
Note:
If this problem occurs, it can be circumvented with using the following steps for ACP10 versions V2.320 − V2.41x:
1) Transfer the ACP10 software V2.070 − V2.31x to the target system
2) Transfer the ACP10 software V2.320 − V2.41x to the target system
8B0Pxxxxxxxx.xx1−x: Errors 41041 and 9040 on power failure
If an external braking resistor has not been configured, then the following errors are mistakenly reported when a power failure occurs:
Target system SG4, POWERLINK: Detection of missing coupling data for coupling of axes on different networks (only in V2.310 − V2.41x)
If in the ACP10 configuration "Extended coupling data for ACP10_MC_BROADCAST=Yes" is selected for a POWERLINK or a SDC interface,
then for coupling of axes on different networks the 8 bytes position data are extended by a time stamp with 4 bytes, causing the loss of
coupling data can be detected.
If the coupling master was a POWERLINK axis, then the loss of coupling data was not detected by the coupling slave, if the slave was
connected to another network and "CYCLIC_DP_DATA_TYPE=65" was configured for the receive data point.
Virtual axis: Change direction error with CMD_MODULO_MOVE_VAX1
If an automat movement is interrupted with CMD_MODULO_MOVE_VAX1, this may have caused a faulty change in direction.
The following function blocks in the ACP10_MC library use this command when called for a periodic axis:
− MC_MoveAbsolute
− MC_BR_MoveAbsoluteTriggStop
− MC_BR_JogLimitPosition
− MC_BR_JogTargetPosition
− MC_BR_EventMoveAbsolute
8BAC0130.000−1: 0 always returned when reading inputs and readable outputs (only in V2.400 − V2.411)
The value 0 was always returned by PARID_DIO_IN (bits 4−7) or PARID_DIO_IN5/6/7/8, regardless of the physical signal state of the inputs
and readable outputs.
Start of movement: Error 5005 "Start of movement not possible: Position controller inactive"
Error 5005 appeared after the following sequence, even though the cyclic status showed "Controller on":
Turn on controller, interrupt the start−up procedure with Quickstop command, then turn on the controller again.
8BVx0880xxxx.xx0−x, 8BVx0880xxxx.xx1−x: Error 7222
At high current slew rate, the following error was mistakenly reported:
− 7222: Power stage: Summation current connection X5: Overcurrent (Ground fault)
8B0P0110xxxx.xx0−x: Error 41080, 9080 (only in V2.400 − V2.410)
If the external 24 V supply was connected via the X1 connector, then it was possible for the following errors to be reported when power was
restored:
− 9080: Charging resistor: Overtemperature
− 41080: Charging resistor: Overtemperature
The error correction increases the delay between power restoration and start of the DC bus pre−charging. The delay time can be reduced by
increasing the value of the UDC_PRECHARGE_THRESHOLD parameter.
8B0P0440xxxx.xx0−x, 8B0P0220xxxx.xx0−x: Long delay time between power restoration and DC bus pre−charging
When power was restored, DC bus pre−charging was only started if the DC bus voltage UDC_ACT fell below the threshold value
UDC_PRECHARGE_THRESHOLD = 20V. This resulted in a long delay time between when power was restored and when the cyclic status bit
19 "Drive ready" was set. The delay time can now be reduced by increasing the value of the UDC_PRECHARGE_THRESHOLD parameter.
SDC and SIM axes: Error 32204 or 32205 due to breakpoint during debugging
If a breakpoint was reached when transferring acyclic parameters (e.g. for data blocks), this could have caused one of the following errors:
− 32204: Timeout reading parameters over acyclic channel (is the drive in the network?)
− 32205: Timeout writing parameters over acyclic channel (is the drive in the network?)
Timeout monitoring for SDC and SIM axes has now been modified so that these errors are no longer incorrectly reported during debugging.
POWERLINK, cyclic communication failure
A heavy load on the POWERLINK cycle caused cyclic communication to the ACOPOS or SafeMC module to fail. Communication could only be
reestablished with an ACOPOS software reset or by turning the power off and back on. The error occurred under one of the following
circumstances:
− ACOPOS with SafeMC
− Poll−response chaining and active ACOPOS coupling
Encoder interfaces AC121.60−x,−x and 8BAC0121.000 8CVIxxxH1xxxx.xx−1 with HIPERFACE encoder: Serial absolute position monitoring
(only in V2.392 − V2.40x)
HIPERFACE position evaluation monitors the serial absolute position cyclically. The monitor checks transmission errors, protocol errors and
encoder errors (HIPERFACE error bit).
Protocol error and encoder errors were in the affected versions not tested, so some encoder errors were not detected.
UF mode: Using an encoder for position control
Until now, position control "short circuit" (PCTRL_S_ACT = PCTRL_S_SET) was used in UF mode. In addition, encoder errors were ignored
and not reported.
Setting PCTRL_S_ACT_PARID = ENCOD_S_ACT allowed the encoder position to be used for the position control (short circuit lifted). This did
not re−enable the evaluation of encoder errors, however.
If an encoder was in an error state, then this condition was not reported and the motion was not aborted.
Beginning with V2.410, the virtual encoder (ENCOD0) is used in UF mode. In addition, encoder errors are also reported.
If a real encoder is now used for position control (PCTRL_S_ACT_PARID = ENCOD_S_ACT), then the expected behavior results with respect
to encoder errors.
SG4 target system, POWERLINK: Parallel Cam Profile download to several ACOPOS modules possible
New substructure "Cam Profile Download" in the NC configuration with the following parameters:
− Parallel transfer of Cam profile data=No/Yes
− Reference task class for parallel transfer
If "Parallel transfer of Cam profile data=Yes" is selected, then the cam profile data is transferred to several ACOPOS modules in parallel if the
data is passed as a data buffer (via "data_adr" and "data_len").
If "Parallel transfer of Cam profile data=No" is selected or if the data is passed by entering a data object name in "data_modul", then the cam
profile data is transferred to several ACOPOS modules sequentially ACOPOS for ACOPOS (as was always performed with versions before
V2.41).
When transferring cam profile data in parallel via the POWERLINK network, the idle task "Acp10CamTrfTsk" is installed with a priority of 1 less
than is set for the task class defined as the "Reference task class for parallel transfer".
Simulation mode: The simulation is now possible with different load models
The substructure "simulation.parameter" with the following components has been added to the data structure for the simulation mode:
mode: Mode
add_load_par_id: Parameter−ID for additive load
mass1: Parameters for 1−mass load model
mass2: Parameters for 2−mass load model
With "mode" the load model can be selected:

ncSIM_1MASS_AUTO: 1−mass load model with automatically determined parameters
ncSIM_1MASS: 1−mass load model with parameters of "mass1"
ncSIM_2MASS: 2−mass load model with parameters of "mass1" and "mass2"
For the parametrization the following new NC actions are available:

ncSIMULATION,ncINIT: Initialize simulation mode
ncSIMULATION,ncINIT+ncSWITCH_ON: Initialize simulation mode and switch it on
ncSIMULATION,ncREAD: Read parameters of simulation mode
Application example:
If "mode = ncSIM_1MASS_AUTO" is set on the ACOPOS (this is the default mode), then the parameters of "mass1" and "mass2" are
calculated automatically, when certain motor parameters are modified. The values of these parameters could be read with the NC action
"ncSIMULATION,ncREAD" for example, and be used as basis values to parameterize the load models.
ACOPOS Hardware Information: New component "mission_time_end" for drives
In "drive.mission_time_end" the end date of the mission time (the expiration date) of a drive is displayed in the following form:
0: Date not stored
YYYYMMDD: Eight−digit number for the date (e.g."20330502" for "May 2, 2033")
Setup for controller: New values for "mode"
ncSPEED+ncT_FILTER_2{+ncISQ_F1_NOTCH}
With "+ncT_FILTER" the frequency response of the speed filter is used as a weighting value. When using a LinMot encoder, for example, this
may cause the calculated kv value to be too low. With "+ncT_FILTER_2" this weighting is not used.
ncSPEED+ncUSE_FILTER_PAR+ncUSE_TN
With this mode the determination of the controller parameters is accomplished with the preset values of the following controller parameters:
− speed.tn
− speed.t_filter
− speed.isq_filter1
Simulation mode: Motor parameter set change: Error 1016
The following error was reported in rare cases when switching on the simulation mode:
− 1016: Maximum cycle time exceeded − CPU load too high
When switching on the simulation mode, the system automatically switched to a predefined simulation motor parameter set.
Beginning with V2.410, motor simulation uses the configured motor parameter set.
Encoder interfaces AC121.60−x,−x and 8BAC0121.000 8CVIxxxH1xxxx.xx−1 with HIPERFACE encoder: Error 7038 at control of the
HIPERFACE parameter channel (only in V2.350 − V2.40x)
If an encoder error (protocol error, error for command arguments or internal encoder error) occurred during the control of the HIPERFACE
parameter channel, the error 7038 was reported. This error could not be acknowledged.
UF mode: Not possible to configure axis parameters for external encoder
If the available encoder slot was used for an external encoder (e.g. master encoder) in UF mode, then it was not possible to configure units
separately for the UF axis and the encoder.
Beginning with V2.410, the virtual encoder (ENCOD0) is used in UF mode. This allows a real encoder in the encoder slot to be configured with
the following ParIDs:
ENCOD_COUNT_DIR
SCALE_LOAD_UNITS
SCALE_LOAD_MOTOR_REV
SCALE_ENCOD_MOTOR_REV
SCALE_ENCOD_INCR
ID# 400020486, 400030706, 400038180, 400048375, 400052638 : solved problem, solved since V2.410
UF mode: No error message and no homing status when using an encoder card and encoder in an error state (e.g. encoder cable not
connected)
Encoder errors were previously not reported in UF mode. If the encoder was in an error state (e.g. encoder card inserted but encoder cable
disconnected), then the homing status was deleted and no error message was reported.
Beginning with V2.410, the virtual encoder (ENCOD0) is used in UF mode. This removes any influence on UF mode by the encoder slot.
Motor temperature sensor: The monitoring was deactivated (only in V2.390 − V2.400)
When the motor temperature model has been switched off (TEMP_MOTOR_MODEL_MODE = 0), the monitoring of the motor temperature
sensor was mistakenly deactivated.
AC114, ACOPOSmulti and ACOPOSmicro: Drive synchronization after failure of a POWERLINK synchronization frame
If a single POWERLINK synchronization frame fails with a cycle time of 3.6 ms or higher, the following error might be entered prematurely:
− 6002: Sync Controller: Error tolerance of system time difference exceeded
Setup for induction and synchronous motors: New optional parameters
The below listed new parameters are offered in following substructures:

setup.motor_induction.parameter.optional
setup.motor_synchron.parameter.optional
phase: Motor phase (1,2,3)

invcl_a1: Inverter characteristic: Gain factor
invcl_a2: Inverter characteristic: Exponent [1/A]
Setup for controller: New parameter "kv_percent"
The Autotuning function first determines the basic values for the kv parameters of speed and position controller. The percentage defined by
"kv_percent" (50..150%) is then multiplied to these values in order to calculate the final controller parameters.
"kv_percent=0" corresponds to 100%.
A value less than 100% increases the robustness of the controller with regard to parameter variations on the machine.
NC Configuration: New parameter "Enter SafeNC Logger errors into axis structure=Yes/No"
If "Yes" is selected for this parameter (default setting), the SafeMC entries of the Safety Logbook are transferred as ACP10 error into the NC
structure of the corresponding axis. With "No" this function can be switched off.
ACOPOSmicro inter circuit relay switches unnecessarily (only in V2.391)
When inter circuit voltage is OK and Enable returns, the relay drops out for a short time.
SG4 target system, POWERLINK: ACOPOSmulti and ACOPOSmicro: ACOPOS startup was aborted with error 32011 after warning 64008
(only in V2.320 − V2.391)
When using ACP10 software V2.320 − V2.391, for ACOPOSmulti und ACOPOSmicro modules "POWERLINK_PLSTATE=0x0005" (cyclic
POWERLINK communication active) must be reached already at the beginning of the basis initialization. If this POWERLINK_PLSTATE was
not reached in time, warning 64008 was displayed, but then it was tried to transfer parameters with cyclic POWERLINK frames. In the most
cases, this caused the timeout error 32011 after CMD_WR_BLOCK_ABORT and the startup function was then aborted for the affected
ACOPOS module.
Starting with ACP10 software V2.392, initial parameters are transferred via acyclic POWERLINK frames for all ACOPOSmulti and
ACOPOSmicro modules, for which "POWERLINK_PLSTATE=0x0005" cannot be reached at the beginning of the basis initialization. Thus the
ACOPOS startup and the operating system upgrade can be performed successfully in most cases.
Note:
This problem could for example occur, if a new parameter was activated in the POWERLINK configuration (e.g. "Chained station"), which is not
known to the operation system version on the ACOPOS module. With ACP10 software V2.320 − V2.391, an ACOPOS operating system
upgrade can be performed in this case, after the unknown parameter has been disabled.
8BVIxxxxxxxx.xxx.x, 8CVIxxxxxxxx.xxx.x, 8DIxxx.xxxxxxxxx−x: Error 7211 and 7218
If the inverter module was connected through a passive power supply module to the power supply 3x480VAC and the parameter
UDC_DETECTION was set, then it could happen in rare cases that the following errors were reported.
− 7211: DC bus: Voltage dip (Info: Low voltage limit = 1000)
− 7218: DC bus: Nominal voltage detection: Voltage too low (Info: Minimum required DC bus voltage = 667.125)
Workaround: The errors can be avoided if the parameter UDC_NOMINAL is set immediately before the parameter UDC_DETECTION to the
same value as UDC_DETECTION.
Encoder interfaces AC121.60−x, 8BAC0121.000−x und 8CVIxxxH1xxxx.xx−1 with Baumer Hübner encoder: Initialization error (only in V2.350
− V2.391)
When using a Baumer Hübner encoder in combination with a HIPERFACE interface card the following errors were wrongly reported:
7022: Encoder: Initialization is active
7015: Encoder: Timeout error during parameter transfer
7038: Encoder: Position value not synchronous with absolute value
ACOPOSmicro POWERLINK communication (only in V2.370 − V2.390)
In rare cases there were problems with the POWERLINK connection. The ability to communicate with the devices is limited.
ELC with ENCOD0_MODE=20: Incorrect position calculation after a transition back to open loop current vector control with a high lag error
(only in V2.380 − V2.390)
During transition from closed loop vector control to open loop vector control, an offset could wrongly be added to the position caused by a lag
error greater than one electrical revolution. This then caused a remanent lag error in open loop vector control.
8BAC013x.00x−1, encoder emulation with reference pulse: Sporadic reference pulse loss (only in V2.210 − V2.38x)
When using encoder emulation with reference pulse enabled, reference pulses could wrongly be lost sporadically, especially with higher output
frequencies.
8BVPxxxxxxxx.xxx.x with 8BAC0120.001−x: Error 5034, 7022 and 7038 when homing (only in V2.360 − V2.38x)
When using EnDat 2.2 plug−in card in connection with a power supply module a plugged encoder is not detected and the following errors are
reported:
5034: Homing procedure not possible: Encoder error
7022: Encoder: Initialization is active
7038: Encoder: Position value not synchronous with absolute value
Increased voltage limit for 2 − phase mode
For 2 − phase motors (MOTOR_NUM_PHASES = 2) the voltage limit is increased to the maximal possible value of UDC_ACT/sqrt(2). This
allows an increased motor speed.
Motor temperature model: Warning 41070 or error 9070 (nur in V2.370 − V2.380)
In rare cases the following warning and error was wrongly registered:
− 41070: Motor temperature model: Overtemperature
− 9070: Motor temperature model: Overload − Movement stopped
EnDat motors: Error 6036 when switching the controller on (only in V2.370 − V2.380)
For EnDat motors in rare cases the following error was wrongly registered when switching the controller on:
ELC with ENCOD0_MODE=20/21 and open loop current vector control with ENCOD0_MODE=1: Incorrect position calculation after position
overflow
At movements beyond the range of the position in units, an incorrect calculation of the actual position could occur.
Encoder error when using ENCOD1/2/3_S_ACT or PCTRL_S_ACT (only in V2.370 − V2.380)
If it was not possible to determine the actual position, then using ENCOD1/2/3_S_ACT or PCTRL_S_ACT cyclically resulted in an encoder
error.
Examples:
If ARNC0 axes are used on a POWERLINK network and the an ACOPOS device is initialized with CYCLIC_MON_PARID = 111 (111:
PCTRL_S_ACT), then the actual position is requested for the monitoring data. If an encoder is not connected (e.g. when using an
ACOPOSmulti power supply module), then the ACOPOS module will report error 7036.
If an SSI encoder is used with AC123 and "ENCOD_TYPE=ncSSI" is not yet initialized, then errors 7039 and 7040 are reported if using
PCTRL_S_ACT.
Encoder interfaces 8AC121.60−x, 8BAC0121.000−x and 8CVIxxxH1xxxx.xx−x: Error 7017 with HIPERFACE encoder SKS/SKM36 (only in
V2.240 − V2.380)
For HIPERFACE encoders with type SKS/SKM36 the timeout periods were extended in firmware version V8 13.03.08 . This caused the
following error which could not be acknowledged:
− 7017: Encoder: Error while reading encoder parameter
ACOPOSmulti: 8BxPxxxxxxxx.xxx−x: Simulation mode
8BVPxxxxxxxx.xxx−x: Turning off simulation mode (CMD_SIMULATION = ncSWITCH_OFF) mistakenly turned off all 24 V consumers on the
auxiliary supply modules (e.g. controller).
8B0Pxxxxxxxx.xxx−x: Turning on simulation mode (CMD_SIMULATION = ncSWITCH_ON) mistakenly turned off all 24 V consumers on the
auxiliary supply modules (e.g. controller).
Simulation mode is not supported by power supply modules. The following error is reported in V2.390 and higher for power supply modules
when writing to the CMD_SIMULATION parameter:
− 1027: Function not available for this hardware
8BVPxxxxxxxx.xxx−x: Somtimes the error 7200 was wrongly registered when switching the controller.
The mains filters fans are powered via the holding brake output when the controller is switched on. Switching on the line filter fan sometimes
incorrectly causes the following error.
Encoder interface ACOPOSmulti 8BAC0120.000−x and ACOPOSremote 8CVIxxxE1xxxx.xx−1 with EnDat2.1 encoder: SinCos monitoring
(only in V2.300 − V2.370)
The SinCos signals are checked by the amplitude monitoring. The amplitude results from the vectorial addition of the encoders Sin and Cos
signal.
With affected versions some encoder errors were not detected, because it was not monitored, whether the upper amplitude limits were
exceeded.
ELC with ENCOD0_MODE=20/21: Increase in current, lag error or temperature
Caused by a drift in commutation, an increase in current, lag error or temperature could occur during continuous operation in one direction.
The transfer of an initial ACOPOS parameter table was aborted without error message
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC mapping table. The parameters contained in these
ACOPOS parameter tables are transferred to the ACOPOS during the ACOPOS startup.
In extremely rare cases, the transfer of an initial ACOPOS parameter table was aborted without an error message. This subsequently could
cause errors, since some of the parameters were not initialized.
ACOPOS 8Vxxxx.xx−x: External bleeder: The warning 38008 was wrongly registered
When switching on the controller sometimes the following warning was wrongly registered:
− 38008: Bleeder: No current flow
Motor encoder temperature mointoring: The error 9090 was wrongly registered (only in V2.340 − V2.37x)
If the parameter MOTOR_ENCOD_TEMP_LIM was set to a value other than 0, then it was possible that the following error was wrongly
registered:
− 9090: Motor encoder temperature sensor: Temperature value not valid
Automatic ACOPOS simulation when using ARsim
If Automation Runtime ARsim is being used, then ACOPOS axes can only be operated if the ACOPOS simulation is switched on. When using
ARsim from now on, therefore, ACOPOS simulation will be switched on automatically in "Standard" mode for all axes, whose ACOPOS
simulation is not already switched on via configuration or NC mapping table.
This new function makes it possible e.g. to switch the target platform between a real CPU and CPU simulation based on ARsim without having
to explicitly switch ACOPOS simulation on or off via configuration or NC mapping table, which would otherwise require a project build after
each switch.
The auto configuration of the speed error stop limit AXLIM_DV_STOP did not work during controller active
If the parameter AXLIM_DV_STOP_MODE was changed during active controller, the speed error stop limit AXLIM_DV_STOP was not
automatically configured. Thus it could happen that the following error was wrongly registered:
− 6062: CTRL Speed controller: Speed error stop limit exceeded
8BVPxxxxxxxx.xxx−x and 8B0Pxxxxxxxx.xxx−x: The external temperature model and external temperature measurement should have been
enabled and were not (only in V2.340 − V2.362)
The external temperature model TEMP_MOTOR_MODEL_MODE is used with power supply modules (8BVPxxxxxxxx.xxx−x and
8B0Pxxxxxxxx.xxx−x) for secondary thermal monitoring of mains components (line choke, line filter and power mains).
The external temperature measurement TEMP_MOTOR is used with the 8BVPxxxxxxxx.xxx−x module for thermal monitoring of choke and
filter temperatures.
If the line choke or line filter is operated outside the specified ambient temperature, then these components can become damaged.
Remedy
The following configuration can be used to enable the external temperature model and external temperature measurement for the affected
versions (V2.340 − V2.362):
− TEMP_MOTOR_MODEL_MODE = 2 (External temperature model)
− MOTOR_TEMPSENS_TYPE = 0xFFFF (External temperature measurement)
New NC actions for transferring ACOPOS parameter tables
A new interface is now available for uploading/downloading data blocks. This new interface can also be used to upload/download ACOPOS
parameter tables using the NC actions listed below. The input/output parameters for this interface are contained in the "datblock" substructure
of the data structures for real and virtual axes. This makes it also possible to upload/download ACOPOS parameter tables in the NC Test.
ncaction(ax_obj,ncACP_PAR+ncDATBLOCK,ncUPLOAD)
The specified ACOPOS parameter table is processed by the NC manager. ACOPOS reads each parameter in the ACOPOS parameter table
individually and writes its value to the ACOPOS parameter table. Once all parameters have been read, the data module for the ACOPOS
parameter table is regenerated with the updated parameter values.
ncaction(ax_obj,ncACP_PAR+ncDATBLOCK,ncDOWNLOAD)
The specified ACOPOS parameter table is processed by the NC manager, and the parameters it contains are transferred to ACOPOS
individually.
Parameters:
datobj_name: Name of the ACOPOS parameter table
New NC actions for transferring any data blocks
A new interface is now available for uploading/downloading all types of data blocks (ParIDs with the type "DATA" or "BRMOD") using the NC
actions listed below. The input/output parameters for this interface are contained in the "datblock" substructure of the data structures for real
and virtual axes. This makes it also possible to upload/download data blocks in the NC Test.
ncaction(ax_obj,ncDATBLOCK,ncUPLOAD)
The binary data for the defined data block is read from ACOPOS and saved into the specified data object.
ncaction(ax_obj,ncDATBLOCK,ncDOWNLOAD)
The binary data for the defined data block is read from the specified data object and transferred to ACOPOS.
Parameters:
datobj_name: Name of the data object
datblock_par_id: Parameter ID of the data block
idx1_par_id: Parameter ID of the data block Index1 (set to 0 if not used)
idx1: Data block Index1
idx2_par_id: Parameter ID of data block Index2 (set to 0 if not used)
SG4 target system, POWERLINK, ACOPOS coupling: Error 1013 after reducing cyclic TX data in the POWERLINK configuration
After call of the NC action "ncNETWORK+ncSERVICE, ncACP_PAR_RECEIVE" the receipt of coupling data on the coupling slave is
configured using the Parameter "CONFIG_MA1/2/3/4/5_CYCLIC_POS". If the cyclic POWERLINK frame of the sender was configured in a
way, so that the offset of the used coupling object was unchanged to the standard frame, then for "MA_PARID_CYCLIC_POS" the
corresponding standard ParID "MA1/2/3_CYCLIC_SEND" (484/485/494) was used.
This caused the error 1013 (Station is not available for network communication), if the cyclic TX data were reduced in a way, that the length of
the cyclic POWERLINK frame from the drive did not correspond to a standard configuration (Double axis, Single Axis). This was for example
the case if only the number of coupling objects was reduced or for ACOPOSmulti only data of axis 2.
From now on, in such a case for "MA_PARID_CYCLIC_POS" the parameter "CYCLIC_DP_DATA_OFFSET" is used.
ACOPOS, 8BAC123.60−1, incremental encoder: The home position was applied at the falling edge.
Previously, the home position was only applied at the falling edge of input signal "R". With ENCOD_INC_MODE = 512 it is now possible to
have the home position be applied at the rising edge of the input signal "R".
If ENCOD_INC_MODE is set to 0 or not set at all, then the home position is applied at the falling edge.
ACOPOSmulti 8B0Pxxxxxxxx.xxx−x: After POWER−ON, the Warnings 33008 and 33009 were falsely reported (only in V2.361)
8V1180.xxx−x: ACOPOS_POWER_RATED corrected to 9000W
The rated power ACOPOS POWER RATED was incorrectly set to 8000W instead 9000W.
ACOPOSmulti: Module and firmware−related data consistencies in hardware registers
In extremely rare cases, an unfavorable combination of firmware version and ACOPOSmulti modules could cause inconsistencies in hardware
registers. Depending on the application, this can sporadically result in error messages such as:
− 6018: Hardware: 15V power supply fail
− 9002: Heat sink temperature sensor: Not connected or damaged
− 7219: DC bus: Charging: Voltage too low
− 7211: DC bus: Voltage dip
ACOPOSmulti, ACOPOSmicro, advanced coupling with multiplexed slave axis starting with V2.320
Due to an error in how timestamps are handled, data is not applied in every cycle. When using advanced coupling of multiplexed axes to data
in the poll response frame of the POWERLINK master, the multiplexed POWERLINK slave data should be applied when the SoC timestamp is
greater than or equal to the coupling timestamp in the poll response frame from the POWERLINK master.
ACOPOSmulti: 8BVPxxxxxxxx.xxx−x, 8B0Pxxxxxxxx.xxx−x:
After a software reset (e.g. controller warm/cold restart), all consumers on the control supply units (e.g. controller) were switched off.
Cam Profile Automat, MC_BR_AutControl: The cyclic status bit 12 "Stop due to active drive event" was mistakenly set
When changing to the stop state 255, with the configuration SGEN_SW_END_IGNORE 2 or 3, stop bit 12 was mistakenly set. This caused a
PLCopen axis to change to the ERRORSTOP state.
ACOPOSmulti with SafeMC, asynchronous communication lost
When there was a high load on the CPU, asynchronous communication to the ACOPOS SafeMC modules was interrupted. Restarting the
ACOPOS modules restored communication. Loss of asynchronous communication caused the axis to stop.
Setup for induction motors: New optional parameter "phase_cross_sect"
setup.motor_induction.parameter.optional.phase_cross_sect: Cross section of a phase
Automatic determination of motor parameters for synchronous motors
NC structure component "setup.motor_synchron"

NC actions "ncSETUP+ncMOTOR_SYNCHRON,ncSTART" und "ncSETUP+ncMOTOR_SYNCHRON,ncSAVE"
ID# 400053915, 400054026, 400059832 : new function since V2.360
New homing variants: Homing on block, fixed direction
New homing modes:

ncBLOCK_TORQUE: Homing on block with torque limit as condition for "block reached"
ncBLOCK_DS: Homing on block with lag error limit as condition for "block reached"
New homing parameters:

fix_dir: Fixed direction ON/OFF
torque_lim: Torque limit for homing on block
ds_block: Lag error for block detection
ds_stop: Lag error for stop of a movement
Setting PCTRL_S_ACT_PARID to a non−encoder position always changed the controller status to OFF when the movement was stopped.
When no encoder was used on the actual value input for position control (PCTRL_S_ACT_PARID), then stopping a movement triggered a
speed−controlled stop ramp. As a result the controller was always turned off, regardless of how the stop configuration was set.
ACOPOSmulti, axis2: Encoder error when using EnDat encoders
Under the following conditions an encoder error on axis2 could occur:

For axis2 an EnDat encoder was used.
For axis1 no encoder or another than EnDat was used.
In an initial ACOPOS Parameter table the encoder position of axis2 was used.
ACOPOS reset was not carried out during Multi−axis Trace
If the NC action "ncNETWORK,ncINIT+ncRESET" was called for an ACOPOS during a Multi−axis Trace with this ACOPOS was active, then
the ACOPOS reset was not carried out, until the Multi−axis Trace was completed.
From now on, in this case the trace is aborted internally with "CMD_TRACE=ncSTOP" for all ACOPOS modules which are contained in the
Multi−axis Trace configuration, so that immediately afterwards the ACOPOS reset is carried out.
Suppression of periodical disturbances
A new functionality for suppression of periodical disturbances in the speed controller is available.
Parameter list with movement command: Transfer aborted by movement stop on other NC object
If "parameter.mode = ncPAR_LIST_MOVE" is set for a parameter list, then the parameter list will be handled like a movement command after
calling the NC action "ncPAR_LIST+ncSERVICE,ncINIT". Among other things, this means that the transfer of such a parameter list for an NC
object should be aborted if the NC action "ncMOVE,ncSTOP" is called for the same NC object.
If the protocol for accelerated parameter transfer was enabled (for example when using ACP10_MC), then the transfer of such a parameter list
for an NC object was also aborted incorrectly if the NC action "ncMOVE,ncSTOP" was called for another NC object that uses the same
communication channel. For example, transmission for a real axis was aborted when "ncMOVE,ncSTOP" was called for the virtual axis of the
same channel and vice versa.
After this problem occurred, the transfer of subsequent parameter lists for the affected NC object was also blocked (status "ncACTIVE" when
calling the NC action) until the NC action "ncMOVE, ncSTOP" was called for this NC object itself.
ACOPOS, POWERLINK with poll response chaining, coupling to broadcast channel (MN response), coupling across networks
ACOPOS modules with poll response chaining enabled were not able to couple with data on the broadcast channel (MN response). No data
was received when coupling across networks and error 5110 was reported.
8B0Pxxxxxxxx.xxx−x: If the mains voltage was disrupted, the 24V supply was cut off, which caused the inverter or external 24V consumer
(e.g.: controller) to be turned off prematurely.
If power was briefly disrupted and immediately restored or strong fluctuations occurred in the supply voltage then the CR_OK output (or 24V
supply) was cut off if the DC bus voltage UDC_ACT first fell below the limit value POWERFAIL_DETECT_RATIO*UDC_NOMINAL
(pre−defined value of POWERFAIL_DETECT_RATIO = 0.779) and the rectifier value of the mains voltage MAX(MAINS_U1, MAINS_U2,
MAINS_U3) − MIN(MAINS_U1, MAINS_U2, MAINS_U3) immediately exceeded the limit value 0.9*UDC_NOMINAL. This caused the inverters
to be turned off immediately after the disruption to the mains voltage.
Starting with version V2.341, if the mains voltage is disrupted, the CR_OK output will only be turned off after the DC bus voltage UDC_ACT
drops below the limit value 20VDC.
Startup error for SDC and SIM axes with "ACOPOS reset after NCSYS download=No" (only in V2.340)
If "ACOPOS reset after NCSYS download=No" is selected in the NC configuration, for SDC and SIM axes reading of parameter
STAT_BURN_SYSMOD caused response error 1 (invalid parameter ID) and the startup was aborted for these axes.
Now parameter STAT_BURN_SYSMOD is no longer read for SDC or SIM axes in this case.
SG4 target system, save trace data into file: Pagefault when using CIFS
If a file device was used which was linked via CIFS (Common Internet File System), then saving trace data into a data object with type
"ncDATOBJ_FILE" in rare cases could lead to a pagefault.
Motor Holding Brake: Automatic functional test of the holding brake torque when switching on the drive controller
Error 6048 was not reported when using the automatic functional test of the holding brake torque when switching on the drive controller
(BRAKE_MODE Bit7 = 1) together with a deactivated movement monitoring (BRAKE_MODE Bit3 = 1).
NC Configuration: New parameter "ACOPOS reset after NCSYS download=Yes/No"
If "Yes" is selected for this parameter (default setting), an ACOPOS reset is carried out automatically after the download of an operating
system.
If "No" is selected, a manual ACOPOS restart (POWER−OFF/−ON) must be carried out after the download of an operating system. In this
case, after the download of an operating system the ACOPOS startup is aborted with the following error, if the manual ACOPOS restart was
not yet carried out:
− 32399: Manual ACOPOS restart (POWER−OFF/−ON) after NCSYS download necessary
Invalid motor parameter: Error 33002
When using induction motors, the error "33002: floating point exception" was reported, if one of the following parameters was set to zero:
− MOTOR_ROTOR_RESISTANCE
− MOTOR_ROTOR_INDUCTANCE
− MOTOR_MUTUAL_INDUCTANCE
Now setting these parameters to zero is no longer possible when using induction motors , this would be refused with the following error:
− 52: Value of parameter lower than minimum value
8B0Pxxxxxxxx.xx1−x: The charging resistors could be damaged in the following modules.
8B0P0220HC00.001−1 up to and including Rev.: J0

8B0P0220HW00.001−1 up to and including Rev.: J0
8B0P0440HC00.001−1 up to and including Rev.: H0
8B0P0440HW00.001−1 up to and including Rev.: H0
Motor Holding Brake: Error 6048 or 6063 despite deactivated monitoring
The deactivation of an active movement monitoring or external voltage monitoring (BRAKE_MODE Bit3 and Bit6) was not executed until the
next holding brake operation.
8AC125.6x−x: BISS encoder: The multi−turn position is evaluated incorrectly (only in V2.330)
8BAC0120.001−x, 8BAC0120.005−1, 8AC126.60−x und 80VD100PD.C0xx−01: EnDat 2.1 encoder does not work with EnDat 2.2 plug−in
module (only in V2.330)
8Vxxxx.xx−x: Motor temperature measurement: Error 9012 was displayed although no motor temperature sensor was configured.
8B0AC123.000−1, SSI Encoder: Parity check
SSI parity check can be activated by writing the values described below to the parameter ENCOD_SSI_PARITY_CHK.
With "ncEVEN" the parity bit is evaluated for odd parity.

With "ncODD" the parity bit is evaluated for even parity.
From V2.330 on additionally the following NC constants can be used:

ncSSI_PARITY_CHK_EVEN: Check for even parity
ncSSI_PARITY_CHK_ODD: Check for odd parity

8AC123.60−1, SSI Encoder: Parity check
The following problems occur after writing the values described below to the parameter ENCOD_SSI_PARITY_CHK.
With "ncEVEN" the parity is not checked.
With "ncODD" error 7044 is reported.
From V2.330 on the following NC constants can be used for activation of the parity check:
ncSSI_PARITY_CHK_EVEN: Check for even parity
ncSSI_PARITY_CHK_ODD: Check for odd parity
Cyclic status bits: Incorrect status "Drive Ready"
Under the following conditions, the cyclic status bit 19 "Drive Ready" remained mistakenly set to ncFALSE:
Configuration of the movement stop after drive error to STOP_ERR_DECEL_RAMP=ncCTRL_OFF and an error which resets the status "Drive
Ready".
Virtual Encoder: Mode 10: ENCOD0_STATUS_PARID wasn't initialized with PARID_CONST_I4_ONE mistakenly.
8B0Pxxxxxxxx.xxx−x + 3x480VAC power supply: UDC_NOMINAL value returned by nominal voltage detection is too high.
If the power is supplied by a passive supply module (8B0P*) and the rectified value of the mains voltage is higher than 675VDC (corresponds
to 3x477VAC), then the nominal DC bus voltage detected for the inverter modules (8BVI*, 8CVI*) is too high (UDC_NOMINAL = 750VDC).
This results in one of the follwing errors or warnings:
− 7211: DC bus: Voltage dip
− 7212: DC bus: Large voltage dip
− 9075: ACOPOS continuous power: Overload − Movement stopped
ACOPOSmulti 8Bxxxxxxxxxx.xxx−x: In simulation mode, the status of the digital input "Enable" was not updated
8AC123.60−1,8BAC0123.000.1: Support of alarm bit and warning bit for SSI encoders
ACOPOSmulti, ACOPOSmicro: Error 32011 after CMD_WR_BLOCK_ABORT (only in V2.320 − V2.321)
At the beginning of the basis initialization (after "NETWORK_PHASE=10") the following error occurred in rare cases after the Write Request for
the parameter CMD_WR_BLOCK_ABORT, if ACOPOSmulti or ACOPOSmicro modules were used:
− 32011: Drive not responding to Write Request (is the drive in the network ?)
Note:
The higher the configured POWERLINK cycle time, the higher the probability that this problem occurs.
ACOPOSmicro 80VD100Px.xxxx−xx: Error 6054 was mistakenly reported (only in V2.320)
The following error was sometimes mistakenly reported with ACOPOSmicro (80VD100PD.xxxx−xx) when 13 A was exceeded instead of the
current limit of 21 A:
− 6054: Power stage: Overcurrent
As a result of this error correction, the following prototype modules will already report error 6054 when the reduced current limit value 13 A is
reached:
− 80VD100PD.0022−01 (up to Rev. A6)
ACOPOSmulti65 8CVIxxxSxxxxx.xx−x: The encoder positon was determined incorrectly (only in V2.300 − V2.320)
SG4 target system, CAN: Pagefault when calling CAN_sendCOB
In very rare cases a pagefault could occur in Acp10man when CAN_sendCOB was called.
This problem can be avoided if the writing of data records into the network trace is deactivated. To do this, set the parameter "Number of data
records per ACOPOS for Network Command Trace" in the ACP10 configuration to zero, or call the NC action
"ncNET_TRACE,ncSWITCH_OFF" for the NC object with the type"ncNET_GLOBAL".
Error 32215 when using ARsim with version A3.09/A4.01 or higher (only in V2.310 − V2.320)
When using ARsim with version A3.09 (respectively A4.01) or higher for " %ID.SYSTIME" the plCECreate error 20923 occurs. Because of this
error the basis initialization was aborted with error 32215 (status of plCECreate = 20923) and additionally an error with ASCII data
"%ID.SYSTIME" was entered in the Logger.
Now the basis initialization in this case is no longer aborted, but only an information with ASCII data "plCECreate(%ID.SYSTIME) =20923" is
entered in the Logger.
SG4 target system, function ncda_cr(): Data were not stored in UserROM when using AR version A3.08 or higher
If data were written with the function ncda_wr() into an NC data module, which was present in the UserROM, then the data was not stored in
the UserROM, if an AR version A3.08 or higher was used. After a restart of the target system in this case the NC data module contained again
the previous data.
ACP10SIM, simulation mode Standard: The status of the enable input was not set to ncCLOSED
ACOPOSmicro 80VD100Px.xxxx−xx: Overcurrent monitoring was not activated, although it should have been
Overcurrent monitoring will now be activated for ACOPOSmicro 80VD100Px.xxxx−xx. This will cause the following error to be displayed if the
current limit value of 21 A is exceeded:
− 6054: Power stage: Overcurrent
8AC123.60−1,8BAC0123.000.1: Error 6048 when configuring an SSI encoder (only in V2.190 − V2.31x)
Under the following conditions, the error 6048 was incorrectly reported:
− The encoder was used for motor control
− The motor was equipped with a brake
8B0Pxxxxxxxx.xxx−x: Warnung 33002 during startup. (only in V2.290 − V2.31x)
In rare cases, the charging resistance temperature model was incorrectly initialized during startup. Thus, the following warning was registered.
− 33002: Floating−Point exception
ACOPOSmulti, trigger inputs and digital inputs 8BAC0130.000−1, incorrect edge times.
The time value for the rising and falling trigger edges of the parameter TRIG1/2_RISE_EDGE_TIME, TRIG1/2_FALL_EDGE_TIME,
DIO_IN7/8_RISE_EDGE_TIME and DIO_IN7/8_FALL_EDGE_TIME was too small by 100us. Further effects of the "premature" times:
Speed−dependent error when using TRIGGER1, TRIGGER2 and DIO_IN7/8 in connection with Cam Profile Automat, LATCH function and
basis movement with the mode "Stop after trigger".
NC action "ncCONTROLLER,ncINIT": From now on, the value of "controller.speed.t_filter" is always transferred to the ACOPOS
Until now, after calling the NC action "ncCONTROLLER,ncINIT", the value of "controller.speed.t_filter" was only then transferred to the
ACOPOS with parameter ID "SCTRL_TI_FIL", if the value of "controller.speed.t_filter" was changed.
If a new value for "controller.speed.t_filter" was determined by the autotuning procedure and afterwards "controller.speed.t_filter" was
overwritten with the previous value by the application or in the NC test, then the value of "controller.speed.t_filter" was falsely not transferred to
the ACOPOS after the NC action "ncCONTROLLER,ncINIT" was called. Due to this error, "controller.speed.t_filter" in the NC structure and the
parameter "SCTRL_TI_FIL" on the ACOPOS had different values afterwards.
From now on, the value of "controller.speed.t_filter" is always transferred to the ACOPOS with parameter ID "SCTRL_TI_FIL" after the NC
action "ncCONTROLLER,ncINIT" is called.
ACOPOSmulti, POWERLINK Response Chaining: Transfer error
Transfer errors could occur during communication with ACOPOSmulti devices if many stations were addressed in the POWERLINK cycle
(approximately 40 POWERLINK stations or more). This caused various error messages or faulty behavior on the drive.
8BAC0123.00x−x, Incremental encoder: Warning 39018 after activation of reference pulse monitoring
If the reference pulse monitoring was activated after a SW reset, before the first reference impulse was captured, then the following warning
could falsely be indicated:
− 39018: Reference pulse monitoring: Faulty position, resolution, or reference pulse
SG4 target system, POWERLINK: NCSYS download via broadcast
The new parameter in the NC configuration "Enable NCSYS download via Broadcast=Yes/No" makes it possible to enable/disable the
download of an ACOPOS operating system via broadcast.
If "Yes" is selected for this parameter, the download of an operating system (BRMOD_NCSYS) to all connected ACOPOSmulti and
ACOPOSmicro modules will then be carried out via broadcast (and thus be considerably faster) during the basic network initialization (startup
function for all ACOPOS modules), if the following minimum versions are present on all modules of the same type:
− BRMOD_NCSYS V2.310 or higher
− BRMOD_BSL V2.310 or higher (if BRMOD_NCSYS is not present)
NCSYS download via broadcast is not supported for ACOPOS with AC112 and ACOPOS with AC114. The download of an operating system
to modules of this type is always carried via Unicast.
Target system SG4, POWERLINK: Restrictions for extended coupling data have been lifted
Until now, extended coupling data for ACP10_MC_BROADCAST could only be used under the following restrictions:
− Cyclic #1 must be defined as an NC manager task class
− For this task class, output data must be written in synchronization with the network
From now on, these restrictions are no longer valid when using AR versions A3.09 or higher (respectively A4.01 or higher).
8B0Pxxxxxxxx.xxx−x: The temperature of the charging resistances was wrongly initialized to the value 0°C. (only in V2.290 − V2.300)
If the maximum chargeable DC bus capacitance was exceeded, then the following warning or error was sometimes reported too late:
41080: Charging resistor: Overtemperature
ACOPOSmulti with SafeMC, 8BVIxxxxxxxS.xxx−x: The Simulation mode is supported
From now on it is also possible for ACOPOSmulti modules with SafeMC to switch the simulation mode on.
8BVxxxxxxxxx.xxx−x: DC bus voltage measurement: Error 7200 was mistakenly reported (only in V2.250 − 2.300)
The following error was sometimes mistakenly reported:

ACOPOSmulti with 8BAC0133.000−1: System crash after software−reset (only in V2.210 − V2.300)
A system crash occurred on some ACOPOSmulti modules after a SW reset if the plug−in module 8BAC0133.00−1 was used.
8BAC0122.000−x, 8AC122.60−x, 80VD100Px.C02x−01, Resolver: When switching off the simulation mode, the actual position of the motor
encoder was sometimes initialized incorretly.
Target system SG4, POWERLINK: Extended coupling data for ACP10_MC_BROADCAST
The new parameter in the NC configuration "Extended coupling data for ACP10_MC_BROADCAST=No/Yes" for POWERLINK and SDC
interfaces allows users to select, whether extended coupling data are to be used for the following functionalities:
− Coupling of axes on different networks
− Coupling a POWERLINK axis to position data that is cyclically produced by a PLCopen MC FB
If "Yes" is selected for this parameter, then the 8 bytes position data are extended by a time stamp with 4 bytes for the functionalities
mentioned above, which creates the following new possibilities:
− Coupling to a master with larger cycle time than the network cycle time of the slave axis
− Detection of missing coupling data for coupling of axes on different networks
IMPORTANT:
The functionalities mentioned above can only be used with Automation Studio V3.0.80 or higher and Automation Runtime für SG4 V3.00 or
higher.
If "Yes" is selected for this parameter, then 12 bytes are needed on the broadcast channel for each master position (otherwise 8 bytes). In this
case the size of ACP10_MC_BROADCAST for the associated network interface must be increased by a factor of 1.5.
Extended coupling data can only be used under the following restrictions:
− Cyclic #1 must be defined as NC manager task class
− For this task class, output data must be written in synchronization with the network
Virtual Encoder: After switching off the controller, the homing status was kept in mode 1.
It can't be determined, wether the axis moves or not when the controller is off. Because of this, the virtual encoder looses the homing status
when the controller is switched off.
Keeping the homing status can be configured with ENCOD0_MODE Bit 9 = 1, if it can be assured that the axis can't move (eg. if there is a
holding brake).
8BVIxxxxxxxx.xx1−x: X2 plug, contact 5: OnBoard ADC input 2 (AIO_IN2) was faulty (only in V2.250 − V2.29x)
8AC123.60−1, SSI encoder: Acceleration monitoring could not be disabled with ENCODx_LINE_CHK_IGNORE
The parameter ENCODx_LINE_CHK_IGNORE is used for disabling acceleration monitoring for SSI encoders by setting Bit4=1. This did not
work when using the encoder interface 8AC123.60−1.
New NC structure component "trace.datobj.parameter.format" for the NC object with type "ncMULTI_AX_TRACE"
If for saving of the trace data into a data object the type "ncDATOBJ_FILE" is used, then another data object format than the binary format can
be defined with this component.
The following NC constants can be used for "format":

− ncDATOBJ_FORMAT_BIN: Binary format (default setting)
− ncDATOBJ_FORMAT_CSV: CSV format (only for type "ncDATOBJ_FILE")
− ncDATOBJ_FORMAT_TXT: Text format (only for type "ncDATOBJ_FILE")
ACOPOSmulti with SafeMC: Selecting STO1 did not lead to an induction stop, although this was configured with ENABLE_CONFIG (only in
V2.290 − V2.291)
POWERLINK, the NC action "ncNETWORK,ncINIT+ncSTOP" did not function during network phase 9 (only in V2.200 − V2.290)
If the NC action "ncNETWORK,ncINIT+ncSTOP" was called, during "network phase = 9" was set, then the startup function of the appropriate
ACOPOS was not aborted immediately. If the ACOPOS was not connected to the network, this could last still the entire timeout time (45 sec.).
Error 32166 when calling "ncNETWORK,ncINIT{+ncRESET}" after "ncNETWORK,ncINIT+ncSTOP"
If for an ACOPOS module the startup function was aborted during the basic network initialization by calling the NC action
"ncNETWORK,ncINIT+ncSTOP", then it was no longer possible for this ACOPOS module, to carry out the startup function by calling the NC
action "ncNETWORK,ncINIT {+ncRESET} ". Each call of this NC action for this ACOPOS module caused then the following error:
− 32166: Network initialization during active network initialization not allowed
Kinetic buffering or DC bus voltage control when power failure occurs: Error 7200 (only in V2.270 − V2.28x)
If the parameter UVLIM_MODE was set to 0x202 and a power failure occurred, then kinetic buffering was not activated as it should have been.
Therefore, the following errors was sometimes reported:
Setup for controller: Error 6029 during disabled control monitoring
In the following combinations of the parameter "orientation" and "mode" the parameter BRAKE_MODE was incorrectly set to the value 9
(automatic control on, movement monitoring off):
− "orientation = ncHORIZONTAL", "mode =ncFF..."
− "orientation = ncVERTICAL", alle modes
As a result, the setup process was falsely aborted with the following error, if control monitoring was disabled:
− 6029: Holding brake: Control signal on and output status off
Heat sink temperature sensor: Activating failure monitoring
On ACOPOSmulti modules with more than one heat sink temperature sensor (e.g.: 8B0Pxxxxxxxx.xxx−x, 8B0P0880xxxx.xxx−x,
8B0P1650xxxx.xxx−x), the values provided by each of the connected temperature sensors are checked for validity. If an error occurs, the
following error number will be reported:
9002: Heat sink temperature sensor: Not connected or damaged
8B0Pxxxxxxxx.xxx−x: Activating thermal monitoring of charging resistors
The temperature of the charging resistors on the following modules will be monitored.
8B0P0220Hx00.00x−1 from Rev.:I0,
8B0P0220HW00.001−E from Rev.:F0 and
8B0P0440Hx00.00x−1 from Rev.:G0
The following warning or error can occur if the maximum chargeable DC bus capacitance is exceeded:
8B0Pxxxxxxxx.xxx−x: Error number 6061 was mistakenly reported.
In the event of a power failure, the braking resistor's chopper output was sometimes switched off mistakenly and the error number 6061 was
mistakenly reported.
Induction motor: Error 4007 when turning on the controller (only in V2.270 − V2.281)
An increased lag error can occur briefly on induction motors when turning on the controller if, after the motor parameters have been set, the
value of the parameter UDC_NOMINAL or UDC_BLEEDER_ON has changed or UDC_NOMINAL has been newly detected (e.g.: after a power
failure or after boosting the DC bus voltage). This can result in the following error:
V2.260, V2.261, V2.262, V2.263, V2.270, V2.271 and V2.280)

consumption.
Note:
8BVIxxxxxxSx.xxx−x: IGBT temperature sensor inputs were not monitored (only in V2.250 − V2.263, V2.270, V2.271 and V2.280)
Only one temperature sensor was monitored on ACOPOSmulti inverter modules with three temperature sensors (e.g.: 8BVIxx0660Sx.xxx−x,
8BVIxx0880Sx.xxx−x, 8BVIxx1650Sx.xxx−x).
This can damage the IGBT if strong currents occur during standstill.
CAN network error 6002 when using cyclic user data or master/slave network coupling
With CAN networks the use of cyclic user data or master/slave network coupling could lead to errors in the drive synchronization.
The following error was displayed:
− 6002: Sync controller: Error tolerance of system time difference exceeded
Warnings 39003 and 39006 when using Heidenhain EBI encoders
When using Heidenhain EBI encoders, in operation sometimes the following warnings were indicated:
− 39003: EnDat encoder: Alarm bit is set
− 39006: EnDat encoder: Alarm bit − Position value contains an error
It is rarely possible even now that this warnings were indicated after ACOPOS startup . In this case the encoder error has to be cleared by
setting "ENCOD_CMD = 1".
ACOPOSmulti with SafeMC: The errors 33002, 6058 and 6059 were falsely indicated
Using large values for the load scale (SCALE_LOAD_UNITS, SCALE_LOAD_MOTOR_REV) could cause incorrect set position values to be
transferred the to SafeMC module. This error activated the STO safety function if safety related monitoring of the position lag error was
switched on. This then caused the following errors to be indicated:
− 6058: Enable1: Voltage sag
ACOPOS 8V1xxxx.xx−2: Start−up error, if multiple 8AC122.60−3 cards are plugged
Starting with version V2.240, the following occurred when using two or more AC122.60−3 cards in an ACOPOS:
− 6032: Interface: FPGA configuration error
With versions before V2.271 in this case not the error 6032 was indicated, but the ACOPOS startup was aborted with one of the following
errors, because after start of the operating system with "CMD_BOOT_STATE = 24" no response on read request for "BOOT_STATE" could be
received:
POWERLINK:
− 32204: Timeout while reading par. via acyclic channel (is the drive in the network ?)
CAN:
− 32010: Drive not responding to Read Request (is the drive in the network ?)
SG4 target system, POWERLINK, Coupling of axes on different networks: Unequal cycle times are now possible
Until now, coupling of axes on different networks was only possible if the following cycle times were equal:
− Cycle time of the NC Manager task class
− POWERLINK cycle time (if master or slave are operated via POWERLINK network)
From now on, coupling of axes on different networks is also possible with unequal cycle times if the following conditions are fulfilled:
− The cycle time of the slave network interface is equal to the cycle time of the NC Manager task class
− The cycle time of the slave network interface is greater or equal to the cycle time of the master network interface
− The ratio of the cycle times of slave and master network interface is integral
If one of the conditions specified above is not fulfilled, the following error is indicated:
− 32282: Network coupling: Incompatible cycle times (network interfaces, NC task class)
V2.260, V2.261, V2.262, V2.263, V2.270, V2.271 and V2.280)

consumption.
Note:
ACOPOSmulti: Temperature sensor inputs supplied invalid values (only in V2.250 − V2.263, V2.270)
8BVPxxxxxxxx.xxx−x:
The temperature sensor inputs on encoder plug−in module 2 and on the X1 plug supplied invalid values.
8BVIxxxxxxSx.xxx−x:
The temperature sensor input on encoder plug−in module 2 supplied invalid values.
POWERLINK, ACOPOS 8V1xxxx.xx−2, ACOPOS startup: Error 32204 after start of operating system (only in V2.230 − V2.270)
During the ACOPOS startup function, communication to ACOPOS modules 8V1xxxx.xx−2 must be re−established after the operating system
has been started with "CMD_BOOT_STATE = 24". If the ACOPOS contains plug−in modules, which cause a longer boot procedure (e.g.
8AC122.60−3), then the ACOPOS startup was sometimes falsely aborted in this phase with the following error:
− 32204: Timeout while reading par. via acyclic channel (is the drive in the network ?)
8BVPxxxxxxxx.xxx−x: Encoder interface parameters from the axis structure of Axis1 (= converter) incorrectly assigned to the encoder in slot 1
The parameters VCTRL_ENCOD_COUNT_DIR, VCTRL_SCALE_LOAD_UNITS and VCTRL_SCALE_LOAD_MOTREV are used for the
motor encoder.
The VCTRL_ENCOD_COUNT_DIR, VCTRL_SCALE_LOAD_UNITS and VCTRL_SCALE_LOAD_MOTREV parameters were incorrectly used
to configured encoder 1 (ENCOD_COUNT_DIR, SCALE_LOAD_UNITS and SCALE_LOAD_MOTREV).
From V2.270 the virtual encoder (ENCOD0) is used as the motor encoder.
From V2.270 the encoder in slot 1 can not be configured with the parameters VCTRL_ENCOD_COUNT_DIR, VCTRL_SCALE_LOAD_UNITS
and VCTRL_SCALE_LOAD_MOTREV.
From V2.270 the encoder in slot 1 must be configured with the parameters ENCOD_COUNT_DIR, SCALE_LOAD_UNITS and
SCALE_LOAD_MOTREV.
Field weakening characteristic curve for permanent magnet synchronous motors can be incorrectly configured
The field weakening characteristic curve for permanently excited synchronous motors will be incorrectly initialized
if the DC bus voltage is changed after the motor parameters have been set.
SG4 target system, POWERLINK: Determination of ACOPOS hardware information
For determination of ACOPOS hardware information the new NC action "ncSERVICE,ncACOPOS_INFO" is offered for NC objects with type
"ncAXIS" and "ncV_AXIS".
Before calling this NC action the address of a variable with data type "ACP10HWINFO_typ" must be entered in "network.service.data_adr".
After call of this NC action the ACOPOS hardware information is copied into this variable.
The following information is offered for ACOPOS module, plug−in cards and motors:
− Model number
− Serial number
− Revision
8B0Pxxxxxxxx.xxx−x: Error number 7217 was mistakenly reported. (only in V2.230 − V2.26x)
The following error could be mistakenly reported if a braking resistor with a resistance value greater than 150 ohms was connected to a
passive power supply module.
− 7227: Bleeder: Overcurrent
80Vxxxxxx.xxxx−xx: Error number 7217 was mistakenly reported.
The following error was mistakenly reported if the parameter PHASE_MON_IGNORE was set to the value 1 and the DC bus voltage
UDC_FILTER was higher than 80V:
− 7217: DC bus: Nominal voltage detection: Voltage too high
Deceleration ramp after occurrence of a drive error: New mode "ncCTRL_OFF"
With "move.stop.drive_error.decel_ramp = ncCTRL_OFF" after occurrence of a drive error the power section will be switched off immediately
(the drive has no electrical torque).
8B0Pxxxxxxxx.xxx−x: Braking resistor temperature model: The calculated temperature TEMP_BLEEDER was too low
If braking resistors (e.g.: 8B0Wxxxxxxxx.xxx−x) were operated on 8B0Pxxxxxxxx.xxx−x modules, then the braking resistor temperature model
indicated a TEMP_BLEEDER temperature that was up to 2x too low. This made it possible to put a load on the braking resistors that was
beyond the specification.
If the braking resistor used was not dimensioned correctly, then one of the following messages could be displayed due to error correction:
− 41041: Bleeder temperature model: Over−temperature
− 9040: Bleeder temperature model: Over−temperature − Movement stop
If the braking resistors with the product ID 8B0Wxxxxxxxx.xxx−x are used and the warning or error mentioned above occurs, then the
messages can be avoided in V2.270 and higher by using pre−initialized parameter groups. This can be done by adding the parameter groups
"8B0Wxxxxxxxx.xxx−x" to an ACOPOS parameter table in Automation Studio in V2.270 and higher.
IMPORTANT:
Using these parameter groups in a version older than V2.270 can result in loads being placed on the braking resistors that are beyond the
specification.
New NC actions for the Basic Network Initialization
For the NC object with type "ncNET_GLOBAL" the new NC actions mentioned below are offered to trigger the for Basic Network Initialization
(function for collective startup of all ACOPOS modules which are configured).
ncNETWORK, ncINIT: Collective network initialization without reset

The ACOPOS startup is carried out only for those ACOPOS modules, for which the cyclic network communication is not active.
ncNETWORK, ncINIT+ncRESET: Collective network initialization with reset

The ACOPOS startup is carried out for all ACOPOS modules. For those ACOPOS modules, for which the cyclic network communication is
active, a reset is applied.
V2.260, V2.261, V2.262, V2.263, V2.270, V2.271 and V2.280)

consumption.
Note:
ACOPOSmulti: Temperature sensor inputs supplied invalid values (only in V2.250 − V2.263, V2.270)
8BVPxxxxxxxx.xxx−x:
The temperature sensor inputs on encoder plug−in module 2 and on the X1 plug supplied invalid values.
8BVIxxxxxxSx.xxx−x:
The temperature sensor input on encoder plug−in module 2 supplied invalid values.
8AC125.60−1: Error 7100 during startup (only in V2.260 − 2.262)
From V2.260 on, during the ACOPOS startup it is tried to access the encoder data memory by writing "EPROM_ID+slot = 1" (slot: Slot of the
plug−in card). When using the ACOPOS plug−in card 8AC125.60−1 writing of "EPROM_ID+slot = 1" falsely caused the following error:
− 7100: Parameter function not supported. (Module ?)
8B0Pxxxxxxxx.xxx−x: ERR LED or RDY LED blinking and auxiliary supply modules were not switched on (only in V2.230 − V2.261)
After connecting the power mains, 8B0Pxxxxxxxx.xxx−x modules sometimes failed to enter the "Ready" state. This was indicated by the red
ERR−LED or the green RDY−LED blinking and the auxiliary supply modules not being switched on. As a result, all of the modules connected
to the auxiliary supply modules also remained off (PLC CPU, inverter modules, etc.).
If the PLC CPU was not supplied with the auxiliary supply module but with an external 24V voltage, then the 8B0Pxxxxxxxx.xxx−x module
reported the following error:
− 7210: DC bus: Charging: Voltage unstable
This problem occurred primarily under high, unbalanced and distorted mains voltage (e.g.: 3x480VAC 60Hz).
ACOPOSmicro Servo 80VD100xx.C0xx−01: Error 7222 was reported to early
Due to an error in the DC bus current monitoring, the following error was reported already at 15A instead of 30A:
− 7222: Power stage: Connection X5: Ground fault
8Vxxxx.xx−x: No movement stop procedure if power failure occurs (only in V2.250 − V2.260)
A movement stop procedure was sometimes not executed if the power failed on ACOPOS modules (8Vxxxx.xx−x) and the DC bus voltage
dropped rapidly or phase failure monitoring was disabled (PHASE_MON_IGNORE = 1).
Warning 39001 when using Hiperface encoders (only in V2.231 − V2.250)
When using Hiperface encoders, the encoder position was sometimes initialized incorretly by 1/4 of the signal period. This position error was
recognized and corrected after moving one signal period. Additionally the following warning was displayed:
− 39001: Encoder: Position correction active
The problem could arise only if the absolute positions of the Hiperface encoders were changed not conform to the analog signals.
8AC130: In mode "ncINC" reference pulse detection was deactivated wrongly by setting "ENCOD_OUT_PARID = 0".
No error message, although drive in error state, when switching controller on
In certain error states, when switching on the controller, the cyclic status bit16 (error record not read) was not set. As a result sometimes no
error message was registered.
Setup for controller: New parameter "orientation"
From now on, the setup procedure also supports axes which are subject to any external torque (hanging load, etc.), if "orientation =
ncVERTICAL" is set.
SDC axes, Cam Profile download: The error info was sometimes not displayed
For SDC SDC axes a Cam Profile download is processed in the cyclic NC manager task, if the Cam Profile data are handed over via "
data_adr" and " data_len". If during such a Cam Profile download in the cyclic NC manager task a response error occured, then the error info
was not copied into "message.record.info" of the corresponding NC object.
In the Network Command Trace the error info was displayed correctly.
Motor Holding Brake Control: Automatic functional test of the holding brake torque when switching on the drive controller is supported
AC114 POWERLINK, network coupling to POWERLINK participant
When linking to another POWERLINK station, which is not an ACOPOS device, sometimes only every second value will be applied.
ACOPOSmulti with SafeMC: Safety Release V1.4 is supported.
The Motor sometimes accelerated during a movement stop.
If the position controller was not enabled, for reasons such as

− the position controller was disabled using the parameter PCTRL_ENABLE_PARID or
− only the speed controller was enabled with CONTROLLER_MODE = 4
and an additive speed was enabled during the movement stop with the parameter SCTRL_ADD_SET_PARID, then the motor would be
accelerated to twice its speed during the movement stop.
Setup for controller: New value for "mode"

In mode "ncSPEED+ncUSE_FILTER_PAR" the determination of the controller parameters is accomplished with the preset filter parameters
(ISQ filter, speed filter).
Ref pulse check with the 8BAC0123
8BAC0124.000−1, 8AC120.60−1, sine−cosine encoder: Incorrect absolut positon within a signal period (only in V2.240 and V2.241)
When using a sine−cosine encoder without reference pulse as absolute encoder, it may come to an incorrect position within one signal period.
POWERLINK communication problems during startup
In rare cases, some ACOPOS devices may not be added to the POWERLINK communication cycle during startup.
8BxPxxxxxxxx.xxx−x: Thermal overload possible (only in V2.240)
The following temperature and load monitoring functions were mistakenly disabled:
− Continuous current load LOAD_CONT_CURR
− Peak current load LOAD_PEAK_CURR
− Motor temperature model and temperature model for mains components TEMP_MOTOR_MODELL
Modules could be damaged if rated current was applied to ACOPOSmulti power supply modules.
ACOPOSmulti with SMC (Safe Motion Control) and frame reduction to single axis, coupling with cyclically coupled objects is not possible
A cyclic coupling is rejected with error 1013.
ISQ−Ripple identification: The data were calculated wrong for "ENCOD_COUNT_DIR = ncINVERSE".
Motor temperature model: Warning 41070 or error 9070 was mistakenly reported
If the value of the parameter MOTOR_CURR_RATED was greater than the value of the parameter MOTOR_CURR_STALL, then the following
warning or error was mistakenly registered under minimal load:
− 41070: Motor temperature model: Overtemperature
− 9070: Motor temperature model: Overload − Movement stopped
8Bxxxxxxxxxx.xxx−x, 8Cxxxxxxxxxx.xxx−x, 80Vxxxxxx.xxxx−x: Change in the DC bus nominal voltage detection UDC_NOMINAL
From now on, the nominal DC bus voltage UDC_NOMINAL will not be detected until after the main relay has been closed.
This causes a slightly larger nominal DC bus voltage UDC_NOMINAL to be detected (approx. 5%).
As a result, if a power failure occurs, the main relay will open up at a larger DC bus voltage UDC_ACT (approx. 5%), which means that the
auxiliary supply module and all inverter modules will be shut off sooner.
8Vxxxx.xx−x: External braking resistor: Connection RB+ and RB−: Open circuit test: Warning 38008 was not reported
If the braking resistor circuit failed, it could happen that the following warning wrongly was not reported:
The filtered DC bus voltage UDC_FILTER will now be used for testing instead of the DC bus voltage UDC_ACT.
NO automatic activation of the short−circuit stop when switching off only one ENABLE input (STO1)
If
the parameter ENABLE_CONFIG was set 1 or a SAFETY module was used (ENABLE_CONFIG automatically set to 1) and
the parameter F_SWITCH or ICTRL_MODE was set after setting the parameter ENABLE_CONFIG,
then
a short−circuit stop would NOT be started when switching off only one ENABLE input.
Handling of MTC data (Motion Trace Configuration)

For handling of trace configurations with MTC format the following actions are offered for the NC object with type "ncMULTI_AX_TRACE":
− "ncMTC, ncLOAD"
− "ncMTC, ncSAVE"
Powerlink Network Coupling, ACOPOSmulti, Error 33002: Floating−Point exception
Receiving a cyclic network position with very small fractional part (<1.175e−38) the error 33002 occured.
8BVIxxxxxxxx.xxx−x: Error 4005 was mistakenly reported. (only in V2.180 − V2.23x)
The following error was mistakenly reported if the parameter MAINS_SWITCH_PARID was set to CONST_I4_ZERO on an inverter module:
− 4005: Controller cannot be switched on: Drive in error state
Setup for controller: Improvements for mode "ncFF..."
If the setup function in "ncFF..." mode was aborted, then the movement was stopped with the current deceleration if the stop configuration
ncA_LIMIT (+ncT_JOLT) was set. In some cases, this could take a long time. The stop movement is shortened by using the maximum for the
current deceleration and the respective acceleration limit values.
Previously, the acceleration would be increased in "ncFF" mode after every forward and backward movement until the maximum determined
current was reached. To shorten the identification procedure, this is now done after every movement. Furthermore, the acceleration for which
the specified current has not yet been reached will be used for identification.
Under certain circumstances, the wrong result parameters were determined in "ncFF…" mode. This was caused by an incorrectly calculated
sample time (multiple of 200us). The sample time will now be calculated as a multiple of 400us.
8AC0121.60−1, 8BAC0121.000.1: Hiperface encoder with extended type label are supported.
8AC120.60−1,8BAC124.000−1,8BAC120.000−1 : Position step during initialization of encoder (only in V2.170 − V2.23x
Due to this problem one of the following errors could be registered:

− 6048: Motor holding brake movement monitor: Position error too large
− 7033: Encoder: Incremental position step too large
Multiturn absolute encoder, homing with ncHOME_OFFSET, wrong unit position
With certain settings of the load scaling (load.units/load.rev_motor) and a large number of encoder revolutions, the unit position was calculated
incorrectly during initialization and after a homing procedure with ncHOME_OFFSET
8AC125.60−1, BiSS Encoder:
Support for register read/write access. Support for alarm and warning bits
8AC125.60−1, BiSS Encoder: Support for register read/write access
8BAC0120.000−1, 8BAC0121.000−1, 8BAC0124.000−1: The ADC calibration values are supported
Active SW limts, movement with cyclic position set values: Stop bit was incorrectly set (only in V2.230 − V2.231)
In certain cases with cyclic position set values, the status bit12 (Stop after drive event active) was set without reaching the SW limits. Thus in
these cases the wrong movement status was indicated:
− move.mode = ncSTOP
− move.detail = ncEVENT
8B0Pxxxxxxxx.xxx−x: The error 7212 and 7211 were incorrectly reported (only in V2.220 − V2.231)
The following error was sometimes incorrectly reported when switching on the mains:
− 7212: DC bus: High voltage drop
The following error was incorrectly reported only then, if the DC bus voltage fell below the threshold voltage 20VDC:
− 7211: DC bus: Voltage drop
Now this error is again reportet correctly already then, if UDC_ACT falls below POWERFAIL_DETECT_RATIO*UDC_NOMINAL.
8AC120.60−1, 8BAC120.000−1: EnDat01 encoder: Monitoring of the multiturn position
ACOPOSmulti with SafeMC: The errors 33002, 6058 and 6059 were falsely indicated
With longer movements (e.g. for a periodic axis) a wrong position set value was transferred to the SafeMC module. This error activated the
STO safety function, if the safety related monitoring of the position lag error was switched on. This led then to the fact that the following errors
were indicated:
8AC121.60−1, 8BAC0121.000−1: Incorrectly determined encoder position
The encoder position was sometimes calculated incorrectly. It could happen a constant position error (half signal period).
New NC actions for NC object with type "ncMULTI_AX_TRACE"
− "ncTRACE, ncSTART+ncSAVE"
− "ncTRACE, ncSAVE"
Target system ARwin (AR010), POWERLINK, processor blocked for the Windows operating system during ACOPOS startup (only in V2.200 −
V2.22x)
During the ACOPOS startup function, after reset commands (CMD_SW_RESET, CMD_BOOT_STATE) the communication to all configured
ACOPOS modules is re−established. During this procedure, in V2.200 − V2.22x the processor for the Windows operating system was blocked
from the low−priority NC−IDLE task on the PLC. This could last up to 45 seconds.
From V2.230 on, the processor for the Windows operating system is no longer blocked by the NC−IDLE task during communication
establishment.
8AC122.60−3, 8BAC0122.000−1: Resolver transformation ratio ENCOD_TRANS_RATIO
The allowed range for the resolver transformation ratio ENCOD_TRANS_RATIO was extended from [0.3..0.5] to [0.2..0.5].
Caution:
The position accuracy is reduced with decreasing resolver transformation ratio.
U/f Control: CONTROLLER_MODE = ncUF: Speed−jump and current−jump (only in V2.210 − V2.22x)
In control mode U / f control (CONTROLLER_MODE = ncUF) could mistakenly occur a speed−jump and current−jump.
8B0Pxxxxxxxx.xxx−x: Thermal monitoring of the rectifier and the chopper has been activated .
Using a passive power supply module with the following model number can cause the following errors or warning to occur:
8B0P0220Hx00.00x−1 from Rev.: H0

8B0P0220HW00.000−E from Rev.: E0
8B0P0440Hx00.00x−1 from Rev.: F0
9030: Junction temperature model: Overtemperature − Movement stopped

9031: Junction temperature model: Overtemperature − Limiter active
41031: Junction temperature model: Overtemperature
If an over−temperature error (e.g.: 9030 and 9031) occurs, then the chopper output and the CR_OK output will be switched off, the main relay
opened and the RDY−, RUN− and ERR LEDs will blink synchronously in 3 second cycles. The error can only be corrected by turning the mains
power off and back on.
8B0Pxxxxxxxx.xxx−x: External bleeder: Connection RB+ and RB−: Modification wire break test
Wire break test from V2.230:

While the controller is starting up, a test checks to see if the chopper current UDC_CHOP_CURR exceeds the limit value 0.8 * UDC_ACT /
R_BLEEDER_EXT when the braking resistor chopper is activated briefly (20ms). If the chopper current does not exceed the limit the following
warning will be registered: 38008: Bleeder: No current flow
Additional Cause/Remedy for 8B0Pxxxxxxxx.xxx−x:
Braking resistor error configuration: The parameter for the resistance value of the braking resistor R_BLEEDER_EXT was set too low.
Chopper current measurement defective: Replace the ACOPOS−modul
DC bus voltage measurement defective: The real DC bus voltage value is lower than the measured DC bus voltage value UDC_ACT: Replace
the ACOPOS−modul
The warning can be deactivated by setting Bit6 (0x40) in MOTOR_TEST_MODE.
Wire break test befor V2.230:

While the controller is starting up, a test checks to see if the DC bus voltage drops by at least 2% when the braking resistor chopper is
activated briefly (50ms).
If the DC bus voltage drop less than 2% during the test procedure the following warning will be registered: 38008: Bleeder: No current flow
8B0Pxxxxxxxx.xxx−x: External bleeder: Connection RB+ and RB−: Overcurrent monitoring was activated.
If the measured chopper current value UDC_CHOP_CURR exceeds the limit 1.2 * UDC_ACT / R_BLEEDER_EXT , then the following error
will be registered:
7227: Bleeder: Overcurrent
Cause/Remedy:
Braking resistor error configuration: The parameter for the resistance value of the braking resistor R_BLEEDER_EXT was set too high.
Braking resistor defective or connections RB+ and RB−: Short−circuit
Braking resistor defective or connection RB−: Ground fault RB−
Braking resistor defective: The real resistance value of the braking resistor has decreased.
DC bus voltage measurement defective: The real DC bus voltage value is higher than the measured DC bus voltage value UDC_ACT.
Chopper current measurement defective: The measured chopper current value UDC_CHOP_CURR is too high.
The overcurrent check can be disabled by setting Bit8 (0x100) in the parameter MOTOR_TEST_MODE.
Caution: Ignoring the braking resistor overcurrent can result in damage to the ACOPOS module or the braking resistor.
Setup: Motor phasing: The setup process sometimes failed to complete.
If one of the following error numbers was reported during the setup process, then the setup sometimes failed to complete.
4005: Controller cannot be switched on: Drive in error state
6036: Motor parameters missing or invalid
Parameter identification induction motor:
The internal voltage calculation was sometimes insufficient for identification due to very low stator resistances.
CURVE−FB Mode 3 with predefined 0xFFFF curve: Wrong limitation
With negative input values, the outputs CURVE_VALUE_REL_I4 and CURVE_VALUE_REL_R4 were limited wrongly at 0, instead of at the
negative curve interval.
8BAC120.000−1 : EnDat 2.2: Floating−Point−exeption while initializing a LC415 liear encoder
Due to this problem one of the following error numbers could be registered: 33002
SG4 target system with AR A3.08 or higher: Error 9650 when using ACP10 before V2.220
After optimizations some system functions are no longer contained in AR versions A3.08 or higher, which are needed by ACP10 versions
before V2.220. If a ACP10 version before V2.220 is used with AR versions A3.08 or higher, then the following error is indicated during the
project transfer or registered in the Logger during the PLC startup:
− 9650: Library function not available (System GOT)
For AR versions A3.08 or higher only the ACP10 versions V2.220 or higher can be used.
Setup ISQ−Ripple for automatically determing the parameters for the ISQ−Ripple compensation
New NC structure component "setup.isq_ripple".

New NC actions "ncSETUP+ncISQ_RIPPLE,ncSTART" und "ncSETUP+ncISQ_RIPPLE,ncSAVE".
Cam profile automat: Speed jump with trigger event
Under the following conditions, a speed jump could occur: Change of state into compensation gears, trigger event with attribute ncAT_ONCE,
activating the trigger with CMD_DIG_IN_FORCE
8B0Pxxxxxxxx.xxx−x: The error 7200 or 7225 was wrongly registered.
Passive power supply unit (8B0P): After opening of the main relay, the chopper output for brake resistor was wrongly disabled. Thus it could
happen that one of the following error was registered:
8BVPxxxxxxxx.xxx−x: The phase fail monitoring was falsely disabled (only in V2.210)
ACOPOS 8Vxxxx.xx−x und ACOPOSmulti 8B0Pxxxxxxxx.xxx−x: External bleeder: The warning 38008 was wrongly registered. (only in V2.210
and V2.21x)
When switching on the controller the following warning was wrongly registered:
ACOPOSmulti with SafeMC: The errors 6058 and 6059 were falsely indicated
With longer movements (e.g. for a periodic axis) a wrong position set value was transferred to the SafeMC module. This error activated the
STO safety function, if the safety related monitoring of the position lag error was switched on. This led then to the fact that the following errors
were indicated:
Setup for controller: Error message because of too high speed limit values in relation to motor rated speed
If AXLIM_V_POS/AXLIM_V_NEG exceeds MOTOR_SPEED_RATED (converted into [Units/s]) the following error was wrongly reported:
− 70: Value of a necessary parameter too high
Using SDC axes with task class cycle time lower than 1ms caused error 32200/32201 with info 20919
If SDC axes were used with a task class cycle time lower than 1ms, then one of the following errors with info 20919 was falsely indicated:
− 32200: Error calling plAcycWrite() (read parameter)
− 32201: Error calling plAcycWrite() (write parameter)
Encoder interface BAC124/AC120: Error 7033 when setting the encoder unit system (only in V2.190 − V2.201)
When setting the unit system of an encoder, the error 7033 "Encoder: Incremental position step too large" was sometimes reported incorrectly.
8BVx1650xxxx.xxx−x: The error 6054 was mistakenly not reported.
If the absolute value of the phase currents VCTRL_Ix has exceeded the limit 1.62 * ACOPOS_CURR_MAX, then the error 6054: "Power stage:
Overcurrent" was mistakenly not reported.
SG4, POWERLINK V1: ACOPOS reset led in rare cases to network failure for other POWERLINK stations (only in V2.160 − 2.201)
Transfer of the reset commands CMD_SW_RESET or CMD_BOOT_STATE to all connected ACOPOS modules during the basis initialization
(function for startup of all ACOPOS modules connected to the network), in rare cases could lead to network failures (loss of cyclic
communication) for other POWERLINK stations.
ACOPOSmulti with SMC (Safe Motion Control), coupling with cyclically coupled objects is not possible
A cyclic coupling is rejected with error 1013.
SG4 target system: ACP10 software versions V2.210 or higher can be used only with AR versions V2.82 or higher
If an ACP10 software version V2.210 or higher is used with AR versions before V2.82, then "ACP10MAN: SG4 AR < V2.82" will be entered in
For AR versions before V2.82 only the ACP10 software versions before V2.210 can be used.
8BVP and 8B0P: Error 7221 and 7211 (only in V2.180 − V2.20x)
The error 7221 or 7211 was sometimes registered if simulation was enabled on channel 2 of a power supply module (8BVP or 8B0P).
Wrong target position using movement with period CMD_MODULO_MOVE (MC_MoveAbsolute)
Under the following conditions CMD_MODULO_MOVE reached a wrong target position:

Call of CMD_HOMING (MC_Home) before MODULO_PERIOD (MC_BR_InitModPos) and a homing position greater than 1073741824 or
negative.
ACOPOSmulti, Multi−axis Trace with multipexed stations, misalignement of recorded trace data
When using multiplexed stations, different system times were applied from the individual stations. This could cause an offset in the trace data
recorded during Multi−axis Trace functions.
8BAC0123.00x−1: Reference Pulse which where not synchronized to A=B=high, weren't detected.
With ENCOD_INC_MODE Bit 9 =1 a edge sensitive Detection of the Reference can be activated. At a Reference Pulse width higher than 90°
there direction−dependend Reference positions can occur.
Encoder Emulation: With ENCOD_OUT_OFFSET, it is possible to offset the reference to a revolution.
Encoder Emulation: With ENCOD_OUT_OFFSET, it is possible to offset the reference to a revolution.
ERRESP_UDC_POWERFAIL
The parameter ERRESP_UDC_POWERFAIL was not able to be read and reset to the default value 1.
Position jump with basis movement and mode "stop after trigger"
Under the following conditions a position jump could occur at the end of an absolute movement with trigger stop: The trigger occoured just
before the target position, a short remaining distance and a high value of jolt time.
8BAC120.001: EnDat 2.2: Encoder Error 6057 while reading diagnostic values (only in V2.170 − V2.200)
A data transfer error occures while sending EnDat2.2 additional information if diagnostic values are supported by the encoder and no dignostic
values are activated . Due to this problem the following error number could be registered:
− 6057: Position loop controller: Load encoder error
Motor holding brake control with movement monitor: Error 6048 when setting the encoder unit system (only in V2.190 − V2.200)
When setting the unit system of the motor encoder, the error 6048 "Motor holding brake movement monitor: Position error too large" was
sometimes reported incorrectly. This error occurred only in the use of motors with holding brake.
Induction motor: Uncontrolled movement if MOTOR_CURR_ROT_DIR = ncINVERSE
An uncontrolled movement occurred when turning on the controller if the rotational direction of the encoder on an induction motor was not the
same as the rotational direction of the current and if the rotational direction of the current was inverted with the configuration
MOTOR_CURR_ROT_DIR = ncINVERSE.
The parameter MOTOR_BRAKE_CURR_RATED was falsely set to the value 1 during the boot procedure of the ACOPOS operating system.
8BAC120.001: EnDat 2.2: Increased dead time while determining position (only in V2.170 − V2.19x)
In V2.170 − V2.19x ,150µs too much dead time were falsely used for determining the position. Due to this problem one of the following error
numbers could be registered: 6054, 9030, 9300, 41031.
Multi−axis Trace: Misalignment of the recorded trace data
Now the trace is started synchronously on all configured axes. Thus a misalignment for the trace recording of the different axes is avoided.
So far a misalignment for the recorded trace data could arise, if the network cycle time and the sampling time were greater than 400µs.
Multi−axis Trace: Trigger data point without test data point
Now the configuration of a trigger data point for an axis is possible, even if for this axis of test data point is defined.
So far in this case the following error was indicated:

− 2004: Trace start not allowed: No trace test data defined
Movement start after movement stop (only in V2.130 − V2.190)
If NC actions were called in a higher task class than defined in the NC configuration as "Task class for NC manager task", then the problem
described below could arise.
If the NC action for movement stop was called in the same task class cycle after the NC action for the movement start, then first the movement
stop parameters were transferred to the drive and afterwards all movement start parameters.
This was not correct, because the NC control for the movement stop was called after the NC action for the movement start. Now in this case
the movement start parameters are not transferred to the drive after processing of the movement stop.
Encoder Interfaces 8AC120.60−1, incremental encoder: The absolut positon is set to 0 after writing PARID_SCALE_ENCOD_INCR (V2.160 −
V2.180)
Conversion from REAL into text now with 8 significant digits
Until now, REAL numbers were converted into a text with 6 significant digits. If REAL parameters were read from the ACOPOS into a data text
and afterwards were transferred again from the data text to the ACOPOS, so far therefore the value could change.

− ncSERVICE, ncREAD+ncDATA_TEXT
− ncSERVICE+ncACP_PAR, ncUPLOAD
− ncSETUP+ncMOTOR_INDUCTION, ncSAVE
SGC target system: With AR versions V2.30 or higher global PVs could not be used as NC object
With ACP10 software versions V2.190 or higher it is possible, to use global PVs as NC object with AR versions V2.30 or higher.
For this AR system libraries had to be linked, which are not compatible with AR versions before V2.30. Therefore ACP10 software versions
V2.190 or higher cannot be used with AR versions before V2.30.
If an ACP10 software version V2.190 or higher is used with AR versions before V2.30, then "ACP10MAN: SGC AR < V2.30" will be entered in
An active movement stop could be interrupted by CMD_MOVE_STOP_A2.
Setup phasing for automatically determing the commutation offset
New NC structure component "setup.motor_phasing".

New NC actions "ncSETUP+ncMOTOR_PHASING,ncSTART" und "ncSETUP+ncMOTOR_PHASING,ncSAVE".
Motor holding brake: Movement monitoring with engaged holding brake
Initial activation of movement monitoring no longer occurs after the first time the holding brake is engaged, but rather after the holding brake is
configured, when the encoder is ready. The error 6048 is registered if a movement takes place in this state.

Motor holding brake: if an external voltage over 24V is applied during closed condition, error 6063 is reported from now on.
The voltage monitoring at closed holding brake can be deactivated by setting BRAKE_MODE Bit6 = 1.
8B0P: Passiv power supply: The error 7215 will be reported if at least one phase of the power line fails.
Positon jump detection for BAC120, AC120, BAC123 and BAC124
Encoder − Emulation 8BAC0130.00x−1: The outputs of the Encoder − Emulation weren't deactivated after a network error
The outputs of the Encoder − Emulation are deactivated after a network error. This can be parameterized with
PARID_ENCOD_ERROR_MODE = 1, so that the outputs stay active.
ACOPOS, POWERLINK with AC114: Reduced send time for cyclic data from the drive
The cyclic send data from the ACOPOS was mistakenly sent with a delay of one POWERLINK cycle.
The data is now available one cycle earlier, which corresponds to the delay on the AC112.
8B0P: Error 9002
The error 9002 was mistakenly reported if the heat sink temperature on the following modules was below 14°C.
− 8B0P0440Hx00.00x−1 Rev.: C0 and
− 8B0P0220Hx00.00x−1 Rev.: E0
NC object "ncMULTI_AX_TRACE": The data object ident was not returned after saving the trace data
After completion of the NC action "ncTRACE,ncUPLOAD+ncSAVE" with data oject type "ncDATOBJ_BRMOD" the determined data object
ident was not stored into the component "status.ident".
Homing: Error 5017 was mistakenly reported.
When performing the homing procedure right after switching on the controller, the following error was sometimes reported even though the
controller status was already set to ON. "Homing procedure mode not possible: Position controller inactive." The error only occurred with the
homing methods ncSWITCH_GATE, ncABS_SWITCH and ncEND_SWITCH.
EnDat2.2 BAC0120.001−x: ENCOD_DIAG_ID could not be set during controller active.
After a network failure after a Multi−axis Trace the communication sometimes could not be re−established (only in V2.170)
If a cyclic network communication failure occurred after the trace recording for an ACOPOS which was contained in the Multi−axis Trace
configuration, then the cyclic network communication to this ACOPOS sometimes could not be re−established.
ACOPOS 8V and ACOPOSmulti 8B0P: External bleeder: The warning 38008 was wrongly registered (only in V2.170)
When switching on the controller sometimes the following warning was wrongly registered: "38008: Bleeder: No current flow"
Setup for controller: The Controller mode was not stored into the NC structure
After completion of the NC action "ncSETUP+ncCONTROLLER,ncSTART" the determined controller mode was not stored into the component
"controller.mode".
Cam profile automat: Incorrect parameters in one state after online change and direct start.
In certain cases, the new parameters were rejected after a consistent online change was made to parameters with AUT_ONL_PAR_LOCK and
a subsequent direct start in one state.
Encoder interface 8AC123.60−1: Error when using an SSI encoder (only in V2.150 − V2.161)
The error 7051 "Acceleration too high (disturbance)" was falsely registered if there was an overflow of an SSI encoder's absolute position.
After a network failure during a Multi−axis Trace the communication could not be re−established
If a cyclic network communication failure occurred during the trace recording for an ACOPOS which was contained in the Multi−axis Trace
configuration, then the cyclic network communication to this ACOPOS sometimes could not be re−established.
ACOPOSmulti: High CPU−load TimerInterrupt
The following error could be mistakenly reported: "6061: CTRL Speed controller: Limit speed exceeded"
Current controller: Change to automatic configuration of current controller (ICTRL_KV and ICTRL_TN)
The current controller gain is increased. The changed automatic configuration can cause the current controller to become unstable under the
following conditions:
− If the configured electrical time constant MOTOR_STATOR_INDUCTANCE/MOTOR_STATOR_RESISTANCE is greater than the real
electrical time constant.
− If the motor inductance MOTOR_STATOR_INDUCTANCE is considerably reduced at high currents (saturation).
An indication of high saturation is if MOTOR_TORQ_MAX*MOTOR_CURR_STALL/(MOTOR_TORQ_STALL*MOTOR_CURR_MAX) < 0.8.
An unstable current controller could cause over−current or over−temperature in the components being supplied with current.
In this case, one of the following error or warning numbers would be registered: 9300, 6054, 41031, 41051, 41061, 41070, 41011, 9010, 9030,
9050, 9060, 9070
If the parameter ICTRL_AUTO_CONF is set to the value 1, then automatic configuration of the current controller is reset to the original values
(the same as in previous versions).
The startup function for all ACOPOS modules was sometimes aborted with error 32020
If a parameter read or write error occurred for one ACOPOS during the basic network initialization (startup function for all ACOPOS modules),
after the parameter BOOT_STATE was read from the ACOPOS and before the function for operating system download was started, then the
startup function was falsely aborted for all ACOPOS modules with the following errors:
− 32196: Error downloading operating system to ACOPOS
− 32020: System module data could not be read from the drive during NC manager INIT
Now the startup function is only aborted for that ACOPOS, for which the error occurred.
ACOPOS 8V and ACOPOSmulti 8B0P: External bleeder: Connection RB+ and RB−: Wire break test
While the controller is starting up, a test checks to see if the DC bus voltage drops when the braking resistor chopper is activated briefly. If the
DC bus voltage drop during the test procedure was too low, then the following warning is registered: "38008: Bleeder: No current flow"
The warning can be deactivated by setting Bit6 in MOTOR_TEST_MODE.
8BAC0132.000−1: input values not limited to valid values
The wanted limit couldn't be read from PARID_INx at voltages over +10V or under −10V.
ACOPOS with AC114, POWERLINK V2: The network coupling to the axis 2 of an ACOPOSmulti was rejected with error 1013.
Warning 39002: "Resolver: Speed limit for 14 bit resolution exceeded" after writing parameter ID ENCOD_POLEPAIRS
In version V2.160 or higher, the warning 39002: "Resolver: Speed limit for 14−bit resolution exceeded" could be triggered after writing the
parameter ID ENCOD_POLEPAIRS.
ACOPOS with 8AC114.60−2 POWERLINK coupling
Incorrect values were copied if the connection was made using CYCLIC_DP_DATA_OFFSET on a POWERLINK frame with an uneven
amount of Payload data.
8BVP and 8B0P: CR_OK status stored on parameter STAT_LOAD_RELAY
Bit 2 is set in the parameter STAT_LOAD_RELAY when the power supply module's CR_OK output signal is switched on.
POWERLINK (and SDC), new NC actions for ACOPOS coupling
For the network types POWERLINK and SDC the following NC actions are offered for ACOPOS coupling:
− ncNETWORK+ncSERVICE, ncACP_PAR_SEND: Send ACOPOS Parameter data on the network
− ncNETWORK+ncSERVICE, ncACP_PAR_RECEIVE: Receive ACOPOS Parameter data from the network
ACOPOSmulti POWERLINK coupling
An POWERLINK error could have the result that a package was received to late. This remaining offset could cause jumps in the set values,
particularly when linking networking data.
Cam profile automat: Incorrect cam profile change when master axis is moving in reverse.
When "at once" events occurred within a state at master speeds less than 2500 units/s in the negative direction, the next cam profile was
connected to the right instead of to the left.
POWERLINK, error 32010 after disconnecting and reconnecting the network cable
If the POWERLINK cable was disconnected and then reconnected and communication was re−established, then the NC Manager immediately
tried to read an error record from the ACOPOS with a Read Request in the cyclic POWERLINK frame. If the ACOPOS after the network failure
was not yet ready to respond to a Read Request in the cyclic POWERLINK frame, then the following error was displayed one or more times by
the NC manager:
− 32010: Drive not responding to Read Request (is the drive in the network?)
Now, when communication is re−established after a network failure, the NC Manager waits until the ACOPOS is ready to respond to a Read
Request in the cyclic POWERLINK frame.
New NC structure component "nc_obj_inf.hardware" with information to identify the connected ACOPOS hardware module.
Invalid movement status after cyclic network communication failure (only in V2.000 − V2.159)
The following error is displayed if a cyclic network communication failure is detected by the NC Manager:
− 32189: Timeout for cyclic data from drive − Indications invalid (network error ?)
An invalid movement status was caused if error 32189 was output after sending the write request for a command to start or stop a movement
and the respective write response was not yet received (this is visible in the Network Trace).
This problem prevented the completion of a movement or of a movement stop from being indicated in the NC structure, even though the
respective operation on the drive was completed and indicated with the respective cyclic status bit. The following status indicators sometimes
were no longer being set because of this problem:
− move.homing.status.ok = ncTRUE
− move.basis.status.in_pos = ncTRUE
− move.mode/detail = ncOFF
New NC structure components "limit.parameter.dv_stop" and "dv_stop_mode" to configure speed error monitoring.
New NC structure component "move.stop.drive_error" to define the deceleration ramp after occurrence of a drive error.
Warning 33002: Floating point exception, after setting the parameter SCALE_ENCODx_INCR
Setting the parameter SCALE_ENCODx_INCR did not cause the incremental position to be refreshed.
With certain values, this could result in an invalid unit position, and therefore cause a floating−point exception to be entered.
Encoder Interface AC120, EnDat encoder: Positions with max. 48 serial bits are supported.
Single axis trace: Processing of NC action "ncTRACE,ncSTART" for the NC object "ncMODULE" (only in V2.151 − V2.152)
For gaps with "test_dat [i].par_id = ncOFF" falsely TRACE_TEST_INDEX was increased, so that these gaps were also contained in the
configuration which was transferred to the ACOPOS.
This problem can only occur, if the single axis trace is operated by an application program.
When operating the single axis trace with automation studio such gaps cannot occur.
The end code "TRACE_TEST_PARID=0" was not transferred to the drive.

Due to this problem, the number of trace parameters can only be increased, but not decreased.
8Vxxxx.xx−x: Error 6023 when switching on the controller (only in V1.070 − V1.071 and V1.242 − V1.248 and V1.990 − V2.151)
When switching on the controller in rare cases the following error was falsely registered:
− 6023: Voltage sag at controller enable input
ACOPOSmulti, Network coupling via POWERLINK: Incorrect position when receiving data points with bit offset.
Incorrect position values were received if a bit offset in the frame's data range (CYCLIC_DP_DATA_OFFSET) was larger than 2040.
ACOPOSmulti: Parameter ENCOD_TRANS_RATIO
The parameter ENCOD_TRANS_RATIO could be written and the transferred value was used in the firmware. However, when the parameter
was read, 0.0 was always displayed.
Encoder interface 8BAC0123: Faulty reference position (only in V2.031 − V2.140)
With the ACOPOSmulti insert modules 8BAC0123.00x−1, sometimes a faulty reference position is determined when operating at high speeds.
The position error is +/− 1 increment.
This could lead to the following error when referencing with distance coded reference marks (ncDCM):
− 7047: Invalid distance of reference marks
Setup for controller: New values for "mode"
− ncISQ_F1_NOTCH+ncISQ_F2_NOTCH
− ncISQ_F1_NOTCH+ncISQ_F2_NOTCH+ncISQ_F3_NOTCH
Holding brake test: Testing torque was too high (only in V2.054 − V2.140)
The testing torque was too high. This could have caused the following error or the following warning to occur:
38003: Motor holding brake: Test torque was limited
6048: Motor holding brake movement monitor: Position error too large
ACOPOSmulti: LED control: Modification of the ERROR−LED signals
The red ERROR−LED flickers if the ACOPOS operating system is transferred to the ACOPOSmulti (during transfer and burn).
Invalid network status caused by operating system download during startup for individual ACOPOS (only in V2.131)
The network initialization (ACOPOS startup) is only performed for an individual ACOPOS in the following cases:
− After calling the NC action "ncNETWORK, ncINIT {+ncRESET} "
− After ACOPOS reset, if "Execute startup automatically after ACOPOS reset" is configured
If an operating system download was performed during the startup of an individual ACOPOS, then the following network status components
became invalid:
− "network.phase = 40" was mistakenly set for the NC object with the type "ncNET_GLOBAL"
− "network.phase = 41" and "network.int = 0" were mistakenly set for the NC objects of the other ACOPOS modules
The operating system download is only performed during the first ACOPOS startup after the ACP10 software version has changed.
The problem no longer occurs after restarting the CPU.
DC bus voltage measurement: Error 7200 was mistakenly reported in case of EMC disturbance (only in V2.091 − 2.131)
The following error was sometimes mistakenly reported if the motor cable shields on the 8BVI00xxHxDx.xxx−x servo drives were not correctly
attached to the drives (see User's Manual):
SG4 target system, recreate existing NC data modules in the same memory area
For SG4 target systems from now on, with the following NC actions existing NC data modules are newly created in the same memory area, in
which they were before (until now, the newly created data modules were always stored in the RAM):
− "ncGLOBAL,ncSAVE"
− "ncACP_PAR+ncSERVICE,ncUPLOAD"
− "ncSETUP+ncMOTOR_ASYNCHRON,ncSAVE"
NC action "ncSETUP+ncMOTOR_INDUCTION,ncSAVE": Error 32154 was reported instead of error 32173 (only V2.130 − V2.131)
If temporary memory for creation of a new NC data module could not be allocated, then the NC action was aborted with the following error:
− 32154: The ACOPOS Parameter Table does not contain any ACOPOS parameters
Now the following correct error is reported:

− 32173: Memory for data module creation cannot be allocated
NC action "ncACP_PAR,ncSERVICE+ncUPLOAD": Error 32173 was not reported (only V2.130 − V2.131)
If temporary memory for creation of a new NC data module could not be allocated, then the NC action was aborted with the following state:
− acp_par.status.data_len = 0
− acp_par.status.ok = ncTRUE
Now the correct state "acp_par.status.error = ncTRUE" is set and the following error is reported:
− 32173: Memory for data module creation cannot be allocated
Network trace, Save INIT data records
If the selection "Network command trace, Save start index of ring buffer after network initialization (ACOPOS startup)" is set to "Yes" in the NC
configuration, then after completion of the basic initialization the INIT data records in the network trace will be saved by the fact, that the "index
after overflow" is set with the current index value if the folowing conditions are valid:
− Still no overflow in the network trace ring buffer
− The network trace ring buffer is filled less than up to the half
When the index mentioned above is set, a data record with parameter ID "NET_TRACE_RING_STARTIDX" is entered into the network trace.
Note:
In Automation Studio versions before V 3.0.80.15 the save procedure mentioned above can lead to indication problems in the network trace.
These problems in most cases can be eliminated by setting the option "Show All Data Records".
Network trace, new NC Manager Infos during basic network initialization
During the basic network initialization (startup function for all ACOPOS modules), now the following new NC Manager Infos are entered into
the network trace:
− Version, dateTtime and size of "acp10man.br"
− Task class information for the cyclic NC Manager task
− AR version
− POWERLINK version, firmware version and cycle time forPOWERLINK interface
− Detailed information to "acp10sys.br" on the PLC
− Detailed information to operationg system on ACOPOS modules
Note:
Some of the new informations are "NC manager global" and are therefore entered into the network trace with a new type.
In Automation Studio versions, in which this new type is implemented, these global informations are indicated with "NCMAN" in the column
"Interface".
In older Automation Studio versions these informations are indicated with "NET_ID=254[0]" in the column "Interface".
Parameter list with Movement Command
If for a parameter list "par_list.parameter.mode=ncPAR_LIST_MOVE" is set, then the NC action "ncPAR_LIST+ncSERVICE,ncINIT" will be
handled like the NC action "ncINIT+ncSTART" for basis movements:
− With acceptance of the NC action "move.mode=ncPAR_LIST_MOVE" will be set.
− After calling the NC action "ncMOVE,ncSTOP" the parameter list transfer will be aborted.
− The last parameter of the parameter list (the start command for the movement) will be transferred only then, if the responses to all
preceeding parameters have been received without error.
New NC action "ncSETUP+ncCONTROLLER,ncSAVE" to save controller parameters into an INIT Parameter module.
Setup for controller now also available for SG3 and SGC, Modifications for SG4
After calling the NC action "ncSETUP+ncCONTROLLER,ncSTART" the setup function is now executed on its own on the ACOPOS (previously
the setup function sequence was controlled by the "acp10tun" library). This has following effects:
For SG3 and SGC:

This functionality is now available also for SG3 and SGC targets (previously only for SG4).
For SG4:
The "acp10tun" library is no longer necessary and therefore, starting with this version, it will no longer be offered. If used in the project, the
"acp10tun" library must be deleted when using this or a newer version.
The trace can now be freely configured and therefore will no longer be automatically recorded on the ACOPOS.
Once the setup function has completed, the trace can only be loaded from the target system if it was explicitly started before the NC action
"ncSETUP+ncCONTROLLER,ncSTART" was called.
Mains voltage: The errors 7217 or 7220 were mistakenly reported.
ID# −, 400021753 : solved problem, solved since V2.140
After simulation mode was turned off, the parameters UDC_NOMINAL, UDC_DETECTION and UDC_BLEEDER_ON were mistakenly reset to
the values that were preset after the ACOPOS startup procedure.
Target system SG4, POWERLINK: Acceleration of parameter transfer when using "ACP10_MC" sometimes was not activated (only in V2.130)
When using the PLCopen−MC−Library "ACP10_MC", a function for accelerating the parameter transfer is to be activated, if an AR version
from V2.80 on is used and an integer ratio is set between the SystemTick and the POWERLINK cycle time. The following information is
entered in the Logger after this function has been successfully activated:
− Acp10NetCyc_SIOS: Install OK
− NetCyc: PL_Cycle/SysTick OK
With ACP10MAN V2.130 this function in rare cases was not activated, although all conditions were fulfilled. This could be recognized by the
fact, that the information mentioned above was not entered in the Logger.
NC object with type "ncNET_GLOBAL": The network phase 40 was falsely indicated (only in V2.120 − V2.130)
If "acp10sys.br" existed on the target system, then "network.phase = 40" (download of operating system to all connected ACOPOS modules) in
the data structure of the NC object with type "ncNET_GLOBAL" was indicated for approx. 600ms, although no operating system download was
exectuted to any ACOPOS module.
ACOPOSmulti: Faulty data transfer with POWERLINK network communication.
In rare cases, incorrect data was received from the network.

This could cause different errors depending on the application, e.g.:
4007: Lag error stop limit exceeded
33002: Floating point exception
Incorrect cyclic data to and from the drive
ACOPOSmulti: The parameters TEMP_HEATSINK_MAX and TEMP_JUNCTION_MAX was initialized on a too large value. (only in V2.090 −
V2.129)
8BVP and 8BVI: Nominal DC bus voltage is being reduced from 800VDC to 750VDC
Active power supply module 8BVPxxxxxxxx.xxx−x:

The preset value for the step−up voltage UCTRL_UDC_REF is being reduced from 800VDC to 750VDC.
The preset value for the integral action time of the DC bus controller UCTRL_TN is being changed from 0 to 0.01s (Integrator is activated).
Inverter module 8BVIxxxxxxxx.xxx−x:

The preset value for the rated voltage detection lower limit UDC_DETECTION is being reduced from 800VDC to 750VDC.
The preset value for the voltage threshold to activate the braking resistor UDC_BLEEDER_ON is being reduced from 840VDC to 800VDC.
Automatic determination of motor parameters for induction motors

New NC structure components "setup.motor_induction" and "setup.dat_obj".
New NC actions "ncSETUP+ncMOTOR_INDUCTION,ncSTART" und "ncSETUP+ncMOTOR_INDUCTION,ncSAVE".
New NC structure component "move.stop.quickstop" to define the Quickstop deceleration ramp.
Encoder interface 8AC0130: Reverse block for encoder emulation
Parameter ENCOD_INC_MODE can now be used to deactivate encoder emulation output if position changes into negative direction.
Write parameter VCTRL_ENCOD_COUNT_DIR (only in V2.110 − V2.120)
The parameter VCTRL_ENCOD_COUNT_DIR could be written and the transferred value was used in the firmware. However, when the
parameter was read, ncSTANDARD was always displayed.
Encoder interface 8AC130 and 8BAC0130: Error message for ENCODx_OUT_PARID
If the plug−in card is not inserted or the wrong card is inserted, then the following error is now generated when setting the parameter
ENCODx_OUT_PARID:
− 7100: Parameter function not supported. (Module ?)
LED control: The meaning of the LED signals has changed.
The green READY−LED blinks if the axis is not ready.

The red ERROR−LED is lit continuously if there is a module error.
Inverter − Parameter identification produces negative values but quality is not zero.
Now the quality (parameter PIDENT_FIT) will be set to 0.0 if the identified parameters are negative.
Motor: Open circuit test: Error 6045 was mistakenly reported.
An electrical time constant less than 2ms for the motor winding = (MOTOR_STATOR_INDUCTANCE / MOTOR_STATOR_RESISTANCE)
could cause the following error to be mistakenly reported:
6045: Power stage: Connection X5: No current flow
Speed−dependent torque limitation (LIM_T_SPEED_MAX, LIM_T_SPEED_K)
The parameters LIM_T_SPEED_MAX and LIM_T_SPEED_K were removed.

The same function can be configured using a set current filter.
Example:
ISQ_FILTER1_TYPE = ncISQF_LIM2 (7)
ISQ_FILTER1_A0 = Value of LIM_T_SPEED_MAX
ISQ_FILTER1_A1 = Value of LIM_T_SPEED_K
ISQ_FILTER1_C0_PARID = SCTRL_SPEED_ACT (251)
These parameters can also be found in the axis structure under controller.speed.isq_filter1
Filter2 or Filter3 can also be used in place of Filter1.
Encoder interface BAC0123: Encoder power check can now be deactivated with Parameter ENCOD_LINE_CHK_IGNORE.
ID# 400020895 : solved problem, solved since V2.120
Simulation mode: Error 6021
If there was no voltage applied on the ENABLE input, then error 6021 was mistakenly registered when turning on the controller in simulation
mode.
ACOPOS with AC114: Error when linking with different link−data senders
If a recipient of ACOPOS link data with AC114 has receipt from different senders configured, then the recipient may experience gaps in the
received data. This does not affect the recipient's first link object.
External braking resistor; errors 7200 and 7219: (only in V1.994 − V2.100)
If the parameter BLEEDER_SELECTOR_EXT was set to the value 1 while the state of the loading relay STAT_LOAD_RELAY was equal to
one, then the external braking resistor was not activated. However, the parameters of the external braking resistor temperature model were
used mistakenly.
The following errors could occur:

− 7219: DC bus: Voltage too low − Check power supply
This could cause damage to the following hardware components:

− Internal braking resistor
− Chopper
8BVIxxxxxxxx.xxx−x ACOPOSmulti: (only in V1.202 − V2.100)
Position oscillation occurred with the frequency SCTRL_SPEED_ACT * MOTOR_POLEPAIRS during slow speed.
Incorrect values delivered by automatic detection of the current offset while turning on the controller.
NC action "ncMESSAGE,ncTEXT": "message.text.status.error" was not reset with call of NC action (only in V2.100)
NC action "ncCONTROLLER,ncINIT": "c0_par_id" and "c1_par_id" were not correctly transferred to the ACOPOS
After call of the NC action "ncCONTROLLER, ncINIT" or " ncGLOBAL,ncINIT" the parameters "c0_par_id" and "c1_par_id" of the structure
components "controller.speed.isq_filter1/2/3" were not correctly transferred to the ACOPOS.
This problem could be avoided by transferring the corresponding parameters to the ACOPOS via the Service Interface.
Encoder interface BAC0130: Reverse block for encoder emulation
Parameter ENCOD_INC_MODE can now be used to deactivate encoder emulation output if position changes into negative direction.
U/f−Control: Current oszillation (only in V2.031 − V2.093)
Current may oscillate if min(MOTOR_CURR_MAX, ACOPOS_CURR_MAX) < 2.3A and UFCTRL_CURR_LIM was not written.
Cam profile automat: Incorrect slave position in the compensation mode ncSL_LACHPOS
The position during a ncSL_LACHPOS compensation was incorrect if a shift to the additive slave axis was caused before the automat was
started.
Encoder interface 8AC121.60−1 und 8BAC0121.000−1: Digital filtering of the data line increased the immunity of the serial Hiperface
parameter channel to interference.
The BsLoader "acp10bsl.br" is no longer transferred in each case to ACOPOS modules
If a basis BsLoader with a higher version than "acp10bsl.br" is active on an ACOPOS module, then the BsLoader contained in "acp10bsl.br" is
no longer transferred to this ACOPOS.
In addition in this case the following warnings are registered in the logbook:
− ACOPOS NodeNr (see Bin.Data)
− Acp10bsl version is too low
− Transfer will not be executed
ACOPOS plug−in module 8AC122.60−3: Warning 39002 is no longer reported

The following warning is no longer reported
− 39002: Resolver: Speed limit for 14 bit resolution exceeded
8BVxxxxxxxxx.xxx−x: IGBT modules were operated outside of the specifications.
In some cases, the junction of the IGBT modules on the following servo drives was operated outside of the thermal specifications:
− 8BVI0014xxxx.xxx−x
The error correction could cause movement to be interrupted while operating existing applications.
The following error / warning is registered:
9030: Junction temperature model: Over−temperature − Movement stop
41031: Junction temperature model: Over−temperature
Setup for controller with library ACP10TUN: NC actions were rejected with error 32300 (only in V2.070)
The NC actions "ncSETUP+ncCONTROLLER,ncSTART" and "ncSETUP,ncSTOP" falsely always were rejected with following error, even if
the library acp10tun was existing on the target:
− 32300: For controller setup the library acp10tun must be transferred to the target
Furthermore this Problem in ACP10TUN V2.070 could cause a Pagefault of the library ACP10_MC.
Error 32020 after NC action "ncNETWORK,ncINIT+ncSTOP"
If the NC action "ncNETWORK,ncINIT+ncSTOP" was called during the basic network initialization (startup function for all ACOPOS modules),
after the parameter BOOT_STATE was read from the ACOPOS and before the function for operating system download was started, then the
startup function could falsely be aborted. In this case the following errors were indicated:
− 32196: Error downloading operating system to ACOPOS
− 32020: System module data could not be read from the drive during NC manager INIT
For versions before V2.070 the problem can be avoided by the following steps:
Select "Wait for Enable" in "Network Initialization (ACOPOS startup), Execute at NC software initialization" in the NC configuration.
Call the NC action "ncNETWORK,ncINIT+ncENABLE" after the NC action "ncNETWORK,ncINIT+ncSTOP".
The NC action "ncNET_TRACE,ncRESET" could cause a cycle time violation
Before V2.070 the entire network trace data area was deleted in that task class, in which the NC action "ncNET_TRACE,ncRESET" was
called. For short task class cycle times with small tolerance time this could lead to a cycle time violation.
Starting with V2.070 the network trace data area will be deleted in the the NC Manager idle time task and the completion of this operation is
indicated with "net_trace.reset=ncFALSE".
SGC target system: AR versions A2.xx − D2.xx were not accepted (only in V2.050 − V2.060)
Due to an error in the version evaluation, AR versions A2.xx − D2.xx were not accepted.
In this case falsely "ACP10MAN: SGC AR < E2.00" was entered in the AR logger and the initialization of ACP10 software was aborted.
Encoder interfaces − 8AC120.60−1 and 8BAC124.000−1 with incremental encoder: Improved precision when homing with reference pulse
When homing with reference pulse, the repeat precision was improved from +−45 degrees to +−0 degrees of a signal period.
Target system SG4, Saving trace data into a file caused the FileDelete error 20718
If trace data were saved with "datobj.parameter.type=ncDATOBJ_FILE" into the same data object again and again, then the following error
could occur:
− 32409: The specified file cannot be deleted
− Info: Status of FileDelete(): 20718

− ncNET_TRACE,ncSAVE
− ncTRACE,ncUPLOAD+ncSAVE
The problem can be avoided by deleting the data object with FileDelete() in the application programm before calling one of these NC actions.
Encoder Interface AC121: Error when using Hiperface encoders (only in V2.001 − V2.054)
When using Hiperface encoders for some encoder types the following error was wrongly registered:
Status for simulation mode new in cyclic status bits
From now on, the status of the simulation mode will be contained in Bit25 of the cyclic status bits (STATUS_CYCLIC_BITS parameter). The
value of this bit will be copied cyclically into the "simulation.status" component in the NC structure of the axis NC object. Therefore,
"simulation.status" in the NC structure will always correspond to the status of the simulation mode in the ACOPOS operating system.
In the past, "simulation.status" in the NC structure only corresponded to the status of the simulation mode in the ACOPOS operating system if
the NC action "ncSIMULATION,ncON/OFF" or the FB MC_BR_SIMULATION was used to switch the simulation mode on/off.
Target system SG4, POWERLINK, "ncSERVICE+ncPAR_LIST,ncINIT" could cause a deadlock (only in V2.042 − V2.054)
When using the PLCopen−MC−Library "ACP10_MC", the settings for processing of "ncSERVICE+ncPAR_LIST,ncINIT" were wrongly
initialized, if no integral ratio was set between the SystemTick and the POWERLINK cycle time (=> POWERLINK asynchronous to CPU cycle).
This caused a deadlock after each call of NC action "ncSERVICE+ncPAR_LIST,ncINIT".
This problem can be avoided by setting an integer ratio between the SystemTick and the POWERLINK cycle time (=> POWERLINK
synchronous to CPU cycle).
New NC structure components in "controller.speed.isq_filter1/2/3"
c0_par_id
c1_par_id
Incorrect movement mode for virtual axis (only in V2.030 − V2.053)
After an ACOPOS startup, the movement mode of the virtual axis might have been entered incorrectly (move.mode=ncSTOP,
move.detail=ncEVENT)
POWERLINK AC112, no communication established with ACOPOS when cycle time is 400us
Communication to the ACOPOS unit cannot be established if an ACOPOS with AC112 is connected to a Powerlink network via bus coupler
with a cycle time of 400us. This also applies when the ACOPOS with AC112 is connected to the POWERLINK network via the internal hub of
an ACOPOSmulti unit. Only the first connected ACOPOS with AC112 is affected. ACOPOS or ACOPOSmulti units connected further down the
line are added to the POWERLINK cycle.
After "ncSAVE" or "ncRESET" the Network Trace was switched on in each case
With the following NC actions so far the Network Trace was switched on internally in the NC Manager in each case:
− ncNET_TRACE, ncRESET
− ncNET_TRACE, ncSAVE
If the Network Trace was switched off before, after these NC actions furthermore "net_trace.status=ncOFF" was indicated, although the
Network Trace was switched on internally in the NC manager .
Now the internal status of the Network Trace is no more changed by these NC actions.
Torque limiter: Warning when setting the limits to motor peak torque
When setting the limits to motor peak torque the following warning was sometimes wrongly registered:
− 38001: Torque limiter: Limit value too high.
Lost communication with ACOPOSmulti
The error pattern after a communication failure varies depending on whether the power output stage is enabled on the module or not.
When power output stage is disabled:

− The POWERLINK LED on the module is no longer operated (LED either dark or continuous, even if the POWERLINK cable is removed).
− Communication to the module is disrupted.
− The device cannot be reset by software command, it can only be operated again after Power OFF/ON.
− The error 32189 (Timeout for cyclic data from drive), or 32204/32205 (Timeout for acyclic read/write) is registered.
When power output stage is enabled:

− The module is in boot state.
− The error 32189 (Timeout for cyclic data from drive) is registered.
8BVPxxxxxxxx.xxx−x: Error 7221 when switching on the controller
When switching on the controller sometimes the following error was wrongly registered:
− 7221: Line: Frequency not allowed
8BVPxxxxxxxx.xxx−x: When a power line failed, a phase failure was sometimes not registered while switching on the controller.
8BVPxxxxxxxx.xxx−x: Integrator was installed for DC bus controller (UCTRL_TN)
The predefined value of the integration time constant UCTRL_TN is 0. The integrator is turned off
8BVPxxxxxxxx.xxx−x: Limiting current of the DC bus controller was raised
8BVP0440Hxxx.xxx−x: Limiting current was raised from 72Arms to 90Arms

8BVP0880Hxxx.xxx−x: Limiting current was raised from 144Arms to 180Arms
This required the following measures to be taken:

− 8BVP0880xxxx.xxx−x: Automatic configuration of the current controller was changed
− 8BVPxxxxxxxx.xxx−x: Dead−time in the DC bus controller was removed
− 8BVPxxxxxxxx.xxx−x: Current limitation occurs during switching on the controller
SG3 and SGC target systems : Address error in CPU Service Mode when using ACP10_MC
On SG3 and SGC target systems in CPU Service Mode the ACP10_MC Library caused one of the following errors:
− 9100 EXCEPTION: Bus error
− 9101 EXCEPTION: Address error
− 9102 EXCEPTION: Illegal instruction
With ACP10MAN from V2.053 on this problem does no longer occur.
Missing status "Parameter sequence initialized"
When a parameter sequence was simultaneously initialized on real and virtual axes, the status "initialized" was set on only one axis
Encoder Interface AC121: Warning when using Hiperface encoders (only ACOPOSmulti in V2.041 − V2.043)
When using Hiperface encoders sometimes at high speed the following warning was wrongly registered:
Target system SGC with version A2.00 or higher : NETWORK_LIVE_CTRL was falsely initialized with 1966070000
For AR versions A2.00 the parameter NETWORK_LIVE_CTRL was falsely initialized with 1966070000 microseconds. Due to this reason e.g. a
movement would not be aborted by the ACOPOS operating system for the duration 1996 seconds, if a fatal error would occur on the PLC CPU
or the CAN network.
Starting with ACP10 software V2.050 new AR functions are used for the calculation of NETWORK_LIVE_CTRL, which are only available with
AR versions from E2.00 on.
Due to that reason the parameter NETWORK_LIVE_CTRL can be initialized correctly as follows only with AR versions E2.00 and higher:
NETWORK_LIVE_CTRL = (2 * taskclass_cycle) + taskclass_tolerance
If an ACP10 software version V2.050 or higher is used with AR versions before E2.00, then "ACP10MAN: SGC AR < E2.00" will be entered in
LED−Control:
Green blinking READY−LED:

The green READY−LED blinks when the ENABLE signal is not active and there are no pending errors.
Red blinking ERROR−LED:
The red ERROR−LED blinks when the value of the PARID_BOOT_STATE parameter is not equal to 32.
Setup for controller with library ACP10TUN: Modifications for mode "ncFF..."
The first movement is accomplished now with a factor 100 smaller acceleration value.
The increase of acceleration for the further movements now is computed with the results of measurement of the previous movement (up to
now, the acceleration was always doubled).
The maximum number of relative motions was increased of 10 to 15.
New NC action "ncTRACE,ncUPLOAD+ncSAVE" for NC object "ncMULTI_AX_TRACE"
New NC action "ncDAT_MOD+ncSERVICE,ncSICHERN"
New NC actions for NC object "ncNET_GLOBAL"
− ncNET_TRACE, ncSWITCH_OFF
− ncNET_TRACE, ncSWITCH_ON
− ncNET_TRACE, ncRESET
− ncNET_TRACE, ncSAVE
Function block MPGEN: Under certain conditions, the parameter MPGEN_V_MAX was falsely rejected with thefollowing error 40: "Value of
parameter higher than maximum value"
Encoder Interface AC120: CRC−Error with EnDat 2.2 encoders and long encoder cables
When using EnDat 2.2 encoders with a long encoder cable the following error could occur:
Controller setup: The default values were only initialized for the first ACOPOS module
The following default values were initialized so far only for the first ACOPOS module:
− setup.controller.parameter.i_max_percent = 25.0
− setup.controller.parameter.v_max_percent = 50.0
− setup.controller.parameter.ds_max = 2000
For all other modules these parameters so far were falsely initialized with zero.
Now these parameters are initialized for all ACOPOS modules with the default values specified above.
Encoder Interface AC121: Warning when using Hiperface encoders (only in V1.221 − V2.040)
When read or write the Hiperface encoder memory the following errors were wrongly registered:
− 7044: Encoder: Parity
− 39019: Serial encoder interface: Stop bit error
− 39017: Encoder: CRC error while reading position
ACOPOSmulti: 8BVP0880xxxx.xxx−x and 8BVx0440xxxx.xxx−x: Reduction of the current limits
8BVI0440Hxxx.xxx−x: Peak current reduced from 110Arms to 88Arms

8BVP0440Hxxx.xxx−x: Peak current reduced from 110Arms to 90Arms
8BVP0880Hxxx.xxx−x: Limit for the over current monitoring reduced from 350Apeak to 340Apeak
Target system SG4, POWERLINK, "Acp10NetCyc_SIOS" was sometimes falsely installed (only in V2.031 − V2.034)
"Acp10NetCyc_SIOS" (SysTick task of the ACP10 software) was sometimes installed, although neither "acp10_mc" did exist on the PLC, nor
the installation was activated via "NcManCtrl".

New NC object with type "ncNET_GLOBAL"
With this NC object the status of the basic network initialization is global (for all network interfaces) indicated.
"Wait for Enable" for basic network initialization
If "Wait for Enable" is selected in "Network Initialization (ACOPOS startup), Execute at NC software initialization" in the NC configuration, then
the basic network initialization for all ACOPOS devices within the NC software initialization is started as soon as the NC action
"ncNETWORK,ncINIT+ncENABLE" is called.
Abortion of startup function for certain ACOPOS modules during the basic network initialization
If an ACOPOS were contained in the NC configuration (nodes in ACP10CFG plus all nodes from NC Deployment tables), then so far in the
basic network initialization in each case was tried, to set up the commication to this ACOPOS. If one of these ACOPOS modules was not
connected to the network, then this process lasted the entire timeout time (30 sec.).
For the POWERLINK network, now (for SG4 with AR versions starting with V2.80) the startup function is aborted immediately for each
ACOPOS, which is not contained in the AR configuration, with the following error message:
− 32225: This ACOPOS POWERLINK node does not exist in the AR Configuration
Additionally, during the basic network initialization the startup function for an ACOPOS module now also can be aborted by calling the NC
action "ncNETWORK,ncINIT+ncSTOP".
SGC target system: ACP10 software for AR versions A2.00 and higher
ACP10 software versions V2.034 or higher can be used for AR versions A2.00 and higher.
ACP10 software versions V2.000 − V2.033 must be used for AR versions before A2.00.
If an ACP10 software version V2.034 or higher is used for AR versions before A2.00, then "ACP10MAN: SGC AR < A2.00" will be entered in
the AR logger.
Autotuning: Error 32319 when using ACOPOSmulti with switching frequency 5kHz (only in V1.994 − V2.033)
When using ACOPOSmulti with switching frequency 5kHz the following error was registered during the autotuning:
− 32319: Setup for controller: Calculation of result parameters was not possible
Encoder Interface AC121: Warning when using Hiperface encoders (only in V1.221 − V2.032)
When using Hiperface encoders at high speed the following warning was wrongly registered:
Encoder Interface AC121: Error when using Hipierface encoders (only in V1.221 − V2.030)
When using Hiperface encoders sometimes the following error was wrongly registered:
Under certain circumstances, the configurable deceleration for basis movements with a target position was exceeded by 20%
The deceleration value was exceeded during reduced speed, via override or when a movement was restarted after the basis movement
parameter was initialized
POWERLINK V2, timeout error when using an ACOPOS with property "multiplexed"
If an ACOPOS or ACOPOSmulti with property "multiplexed" is used on a POWERLINK network with mode "POWERLINK V2", then after reset
commands (CMD_SW_RESET, CMD_BOOT_STATE) the parameter response sometimes is not transferred. In this case so far the ACOPOS
startup was aborted with one of the following errors:
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
32205: Timeout while writing par. via acyclic channel (is the drive in the network ?)
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
32196: Error downloading operating system to ACOPOS
32020: System module data could not be read from the drive during NC manager INIT
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Now in this case the ACOPOS startup is continued.
Cam profile automat: The ncS_START event was calculated incorrectly if a selective master axis AUT_MA_ID was used in an state
The reference point for the event interval was shifted due to the use of different axes. Now, calculation of the ncS_START events is based only
on the relevant axis of the basis state.
ACOPOSmulti, data block transfer for channel2 sometimes used the NC object of channel1
If a data block transfer was started for an NC object ("ncAXIS" or "ncV_AXIS") with channel number 2 during a data block transfer was active
for the other NC object ("ncV_AXIS" or "ncAXIS") with channel number 2, then the NC object with channel number 1 and so the wrong data
structure was falsely used.
This problem concerned the following functionalities:

− Download of a Cam Profile
− Download of an ACOPOS Parameter table
− Upload of an ACOPOS Parameter table
− Download of a Parameter Sequence
Previously, the movement of the virtual axis was not aborted due to a network error
Encoder interface 8BAC0120.000−1: Error when using EnDat encoders (only in V2.021)
When using EnDat encoders (Type E0 or E1) the following error was registered:
U/f control: The controller was falsely switched off after each movement stop. (only in V2.001−2.021)
Setup for controller with library ACP10TUN: Error with ACOPOSmulti (only in V2.020)
When using ACOPOSmulti, each setup function was aborted with the following error when reading the parameter ENCOD2_TYPE:
− 4: Read access for a write−only parameter
ACOPOS: The POWERLINK plug−in module 8AC114.60−2 is supported.
Setup for controller with library ACP10TUN
Until now, if a resolver on slot3 or slot4 was used as motor encoder, then an incorrect "t_filter" was determined in the mode "ncSPEED +
ncT_FILTER + ...".
Before a setup function is started, the encoder interface parameters are now read from the ACOPOS and used instead of the parameters from
the NC structure:
− VCTRL_ENCOD_COUNT_DIR (instead of "encoder_if.parameter.count_dir")
− VCTRL_SCALE_LOAD_UNITS (instead of "encoder_if.parameter.scaling.load.units")
− VCTRL_SCALE_LOAD_MOTREV (instead of "encoder_if.parameter.scaling.load.rev_motor")
Until now, problems could have occurred if values for these parameters, other than those contained in the NC structure, were transferred to the
ACOPOS before a setup function was started (e.g. by initialization of encoder parameters with an ACOPOS Parameter table).
As described in the documentation for the setup function with the mode "ncFF...", the following parameters will be read by the ACOPOS before
the setup function is started and used instead of the corresponding parameters from the NC structure:
− AXLIM_V_POS (instead of "limit.parameter.v_pos")
− AXLIM_V_NEG (instead of "limit.parameter.v_pos")
8BVPxxxxxxxx.xxx−x: The time between power failure and switch off of the power stage was shortened.
Thus the components between the mains filters and the mains disconnection are less stressed.
Setup for controller with library ACP10TUN: Override now remains on 100% for mode "ncFF..."
For the setup function with mode "ncFF..." it is now guaranteed that the speed and the acceleration override value remain on 100% for all
movements.
During the entire setup function, transfer of the override value contained in the NC structure is deactivated.
Before starting the first movement, the value 100% is transferred to the drive for the speed and acceleration override.
After ending the setup function, the override value contained in the NC structure is once again transferred to the drive.
Previously, incorrect result parameters could have been determined in "ncFF..." mode if the speed or the acceleration override value did not
stand on 100% during the entire setup function.
Target systems SG3 and SGC, error 32016 after frequent call of data block operations
Until now, in rare cases the following error could occur after frequent call of data block operations:
− 32016: Error sending an idle time command to the NC Manager Task (Info 52: Queue full)
The following NC actions (data block operations) were affected by this problem:
− ncCAM_PROF+ncSERVICE, ncDOWNLOAD
− ncPAR_SEQU+ncSERVICE, ncDOWNLOAD {+ncINIT}
− ncACP_PAR+ncSERVICE, ncUPLOAD
8BVPxxxxxxxx.xxx−x: Depending on the wiring of the power mains at connector X5a it could occur that the reactive current at the filter
connector X1 was not compensated.
Target system SG4, error 32508 after frequent call of data block operations
Until now, in rare cases the following error could occur after frequent call of data block operations:
− 32508: Error sending an idle time command to the NC Manager Task (Info 25032: FIFO full)
The following NC actions (data block operations) were affected by this problem:
− ncACP_PAR+ncSERVICE, ncUPLOAD
Cyclic user data from drive were not updated(only in V1.995 − 2.001)
If a cyclic parameter was sent to the drive which caused an error, data from drive were not updated any more.
Page fault caused by NC object PV with INIT value
If a global PV is used instead of a data structure pointer for NC objects with the type "ncAXIS" or "ncV_AXIS" (this is possible starting with
V1.210), then an INIT value should not be defined in the variable declaration for this PV.
In the past, a page fault could have occurred if an INIT value was defined for this PV in the variable declaration despite the issue mentioned
above.
Now, in this case a page fault no longer occurs, but the following error is displayed:
− 32240: NC object data invalid (PV with INIT value in variable declaration ?)
U/f Control
New selection constant "ncLINEAR2" for "controller.uf.type".

New NC structure component "controller.uf.k_f_slip" for parameter UFCTRL_SLIP_COMP_K.
Target system SG4, request error after calling a command in the NC Test
In rare cases, one of the following errors could have occurred after calling a command in the NC Test if an SG4 project only contained tasks in
the task class, which were defined as "Task class for NC Manager Task" in the NC configuration.
CAN:
− 32008: Error sending Read Request (network error ?) with "info=1"
− 32009: Error sending Write Request (network error ?) with "info=1"
POWERLINK:
− 32206: Cyclic channel: Read Request in spite of Wait for Response
− 32207: Cyclic channel: Write Request in spite of Wait for Response
If this problem occurred, the ACP10 software for POWERLINK could only be operated again after restarting the CPU.
This problem can be avoided in older versions of the ACP10 software by adding an additional "empty" task to another task class as "Task class
for NC Manager Task".
8BVPxxxxxxxx.xxx−x ab Rev D0 (only in V1.994−2.001): The auxiliary supply module was falsely switched off after the reset.
After the reset of the power supply module falsely the auxiliary supply module and/or all consumers connected to it (e.g.: control, all inverter
modules) was switched off.
NC action "ncGLOBAL,ncSAVE": The hardware assignement was not applied if an existing module was newly created
If an existing INIT parameter module is newly created with "ncGLOBAL,ncSAVE" and this module was assigned to an NC object via hardware
configuration, then this hardware assignment should also be applied to the newly created module.
In previous versions this hardware assignement was not applied to the newly created module.
AC120 encoder interface, only EnDat multi−turn encoder: The absolute position was not determined identically for the plug−in cards
8BAC0120.000 and 8AC120.60−1.
The absolute position range is processed as an unsigned value (0..max) with the 8AC120.60−1 ACOPOS plug−in card.
The absolute position range with the 8BAC0120.000 ACOPOSmulti plug−in card was processed as a signed value (−max/2..max/2).
Encoder Interface AC121, Hiperface encoder: Unjustified errors during ACOPOS startup
During ACOPOS startup some of the following errors could wrongly be registered:
7012 "Encoder: Hiperface error bit"
7013 "Encoder: Status message", "Status code": 5
AS V3.0: Page fault when using NC INIT parameter objects with the type "ACP10: Virtual Axis"
If an NC INIT parameter object with the type "ACP10: Virtual Axis" was used in an AS V3.0 project, then a page fault could occur with the
following versions of the ACP10 software:
− V1.240 − V1.245
− V1.990 − V1.995
− V2.000
The error occurred immediately after the basis initialization (function for starting up all ACOPOS connected to the network) was complete.
The problem only occurs if an NC INIT parameter object with the type "ACP10: Virtual Axis" is contained in the module table on the target
system before all NC INIT parameter objects with the type "ACP10: Axis".
This problem can be avoided by sorting all NC INIT parameter objects with the type "ACP10: Virtual Axis" behind the NC INIT parameter
objects with the type "ACP10: Axis" in the Software Configuration under "Nc Data Objects".
Two encoder control: Position monitor can now be enabled with just AXLIM_DS_STOP2
From now on, the position monitor for the two−encoder control will always be enabled when AXLIM_DS_STOP2 is set to a value greater than
zero.
In the past, this position monitor was only enabled if one of the following ParIDs was also set for PCTRL_S_ACT_PARID:
− ENCOD1_S_ACT
− ENCOD2_S_ACT
− ENCOD3_S_ACT
− ENCOD1_S_ACT_FILTER
ACP10 software from V2.000 on also for SGC target system
From V2.000 on, ACP10 software is also available for the SGC target system. With SGC target system it is possible to operate ACOPOS servo
drives via CAN bus.
For performance reasons, it is recommended to only use the ACP10 software on SGC CPUs with a clock rate of 25 MHz (not on those with 16
MHz). With SGC CPUs with a clock rate of 25 MHz it is possible to operate up to 6 ACOPOS servo drives with a cycle time of 10 ms.
Motor holding brake: When movement monitoring is active for the motor encoder position, the following error could be mistakenly entered due
to the referencing command ncREF_OFFSET.
6048 "Motor holding brake movement monitor: Position error too large"
The minimum of "limit.parameter.v_pos" and "….v_neg" is now used as the basis (100%) for "v_max_percent" (until now, the motor rated
speed was used as basis).
The trace configuration will now be completely re−initialized each time before the trace is started.
In the past, before a trace function was started, only the number of test data points required for the setup function was initialized in the trace
configuration and the next test data point was deleted. No other test data points were deleted. This caused errors in the setup function if more
than 5 test data points were contained in the trace configuration before the setup function was started.
This problem can be avoided if test data points are explicitly deleted from the trace configuration before the setup function is started (via
application program or Automation Studio).
Before starting the setup function with the mode "ncSPEED {+ ... }", the ISQ Filter2 and the ISQ Filter3 are now switched off by transferring the
following parameters:
− ISQ_FILTER2_TYPE = 0
− ISQ_FILTER3_TYPE = 0
Until now, problems could occur during the setup function, if ISQ Filter2 or ISQ Filter3 were switched on.
After successful completion of the setup function with mode "ncPOSITION", the following parameter is now set and transferred to the drive:
− controller.position.p_max = 1.0e30
Until now, the value which was saved before the setup function was restored and transferred to the drive.
After successful completion of the setup function with the mode "ncSPEED {+ ... }", all parameters of ISQ Filter2 and ISQ Filter3 are now set to
zero and transferred to the drive.
After successful completion of the setup function with the mode "ncISQ_F1_NOTCH" all parameters of ISQ Filter2 and ISQ Filter3 are now
restored and transferred to the drive.
Initialization of a parameter list now will be aborted if a response error with a warning occurs
To be compatible with all other parameter transfers with "ncSERVICE", executing the parameter transfer for NC action
"ncSERVICE+ncPAR_LIST,ncINIT" will now be aborted if a response error for a parameter occurs with a warning (error number > 0x7FFF).
When this situation occurred in the past, the remaining parameters contained in the parameter list were transferred regardless and both status
components were set to "ncTRUE" which did not correspond with the description in the user documentation:
− status.init = ncTRUE
− status.error = ncTRUE
"ncMOVE,ncSTOP" did not immediately abort movements, which were started with "ncSTART+ncINIT"
All of the INIT parameters, and then the parameter for starting the movement, are transferred to the ACOPOS after calling one of the following
NC actions:
− ncHOMING,ncINIT+ncSTART
− ncPOS_MOVE,ncINIT+ncSTART
− ncPOS_MOVE+ncTRG_STOP,ncINIT+ncSTART
− ncNEG_MOVE,ncINIT+ncSTART
− ncNEG_MOVE+ncTRG_STOP,ncINIT+ncSTART
− ncREL_MOVE,ncINIT+ncSTART
− ncREL_MOVE+ncTRG_STOP,ncINIT+ncSTART
− ncREL_MOVE+ncTRG_STOP+ncS_REST,ncINIT+ncSTART
− ncABS_MOVE,ncINIT+ncSTART
− ncABS_MOVE+ncTRG_STOP,ncINIT+ncSTART
− ncABS_MOVE+ncTRG_STOP+ncS_REST,ncINIT+ncSTART
If the NC action "ncMOVE,ncSTOP" was called before all of these parameters were transferred, then the movement−stop parameter was not
transferred until the transfer of all these parameters was completed.
Now , in this case the movement−stop parameter is transferred immediately and also the transfer of the remaining parameters is cancelled.
8BVPxxxxxxxx.xxx−1: The reactive current at the filter connector X1 is compensated.
8BVxxxxxxxxx.xxx−1: The error number 6019 is replaced by the error numbers 6052, 6053 and 6054.
The power modules 8BVx0440Hxx0.000−1, 8BVx0440Hxx0.004−1 and 8BVx0220Hxx0.000−1are supported
Encoder Interface AC120: The homing procedure with distance coded reference marks (ncDCM) did not work
The following error was registered:

5019 "Homing parameter outside the valid range", "Parameter ID": 739
The problem occurs with the following versions:

− From V1.213 to V1.245
− From V1.990 to V1.994
Homing procedure with reference pulse and negative trigger direction: The status value tr_s_rel (reference pulse distance) was wrong.
8BVP0880xxxx.xxx−x: X5 connection (choke): Wire break test:
When switching on the controller, a test is made to determine whether or not current can be applied in all phases (L1, L2 and L3) on the X5
connection (choke).
The wire break test can be deactivated using MOTOR_TEST_MODE.
The standstill monitoring of the motor holding brake did not work, if the count direction of the load scaling of the motor encoder were inverted.

− Before V1.244
− From V1.990 to V1.992
8BVP0880HC00.000−1: After a software reset (e.g. controller warm/cold restart), all consumers on the control supply units (e.g. controller) are
switched off.
The error correction only works on 8BVP0880HC00.000−1 power supply modules starting with revision D0 and if the firmware for the power
supply modules wasn't updated before the software reset.
Induction stop: The controller could not be switched off after the occurrence of the error 9300: "Current controller: Over current". (only in
V1.990−1.991)
ACOPOS (8Vxxxx.xx−x): Faulty junction temperature model (in V1.205−1.209, V1.220−V1.224 and V1.990−V1.991)
The power stage may be thermally overloaded if a standing current vector is output (e.g.: constant load in standstill, presses, etc.). Current in
phase 3 was not calculated.
8BVIxxxxxDxx.xxx−x: The power stage of the second axis on servo drives with 2 axes was not turned on. Error 6045 is returned. (only in
V1.991)
Download of a cam profile aborted if a warning occurred
When setting the parameter, ACP10PAR_SCALE_ENCOD3_INCR, the error "1002: Parameter outside the valid range" could occur. (only in
V1.221−V1.990)
Now the following default values are initialized:

Starting the setup function with mode "ncFF_POS_MOVE" and "ncFF_NEG_MOVE" was falsely rejected with the following error:
− 32314: Setup for controller: Mode invalid
After successful completion of the setup function with mode "ncPOSITION" now the following parameter is set and transferred to the drive:
− controller.mode = ncPOSITION
Until now, the value which was saved before the setup function was restored and transferred to the drive. Controller problems could occur, if
this value was not
equal to "ncPOSITION".
After successful completion of the setup function with mode "ncFF..." now the following parameters are set:
− controller.position.t_predict = 0.0004;
− controller.position.t_total = 0.0004;
Until now, the values which were saved before the setup function were restored and transferred to the drive. Controller problems could occur
after the next call of "ncCONTROLLER,ncINIT" (or "ncGLOBAL,ncINIT"), if these values were not equal to "0.0004".
After successful completion or after abortion of the setup function with mode "ncFF..." now the following parameter are transferred to the drive:
− controller.position.tn
− controller.position.t_predict
− controller.position.t_total
− controller.position.p_max
− controller.position.i_max
− controller.speed.tn
Until now, after the setup function the values of the corresponding parameters on the drive were not equal to the values in the NC structure.
Disturbances on the motor holding brake caused the motor holding brake to close without the controller being deactivated. Only the error
"6048: Motor holding brake monitor: Position error too large" was registered.
Induction motor: Motor holding could not be opened
After an induction stop, the motor holding brake could not be opened via command (CMD_BRAKE = ncOFF) when the controller is turned off.
Cam profile automat: In stand−by mode of the automat error messages could be displayed, even though they were deactivated with
AUT_MSG_MODE_BITS=0x0.
The operation of ACOPOSmulti from now on is supported.
Network errors were processed too soon, before the operating system was started.
This could cause the following errors:

1012 "Breakdown of cyclic network communication"
6002 "Sync controller: Error tolerance of system time difference exceeded"
ACOPOSmulti: During the short−circuit stop, no current limitation resulted.
During the induction stop, the junction temperature TEMP_JUNCTION is limited.
Encoder Interface AC120, EnDat encoder: Positions with max. 32 serial bits are supported (up to now max. 30 bits)

Encoder Interface AC120: The homing procedure with distance coded reference marks (ncDCM) did not work
The following error was registered:

5019 "Homing parameter outside the valid range", "Parameter ID": 739

− From V1.213 to V1.245
− From V1.990 to V1.994
Homing procedure with reference pulse and negative trigger direction: The status value tr_s_rel (reference pulse distance) was wrong.
8Vxxxx.00−2: The error 6045 , 6021 or 6023 was falsely displayed. (only in V1.245)
With the following drives the failure could arise:
8V1022.00−2 Rev. smaller than L0;

8V1180.00−2 Rev. smaller than J0;
8V1320.00−2 Rev. smaller than J0
8V1640.00−2 Rev. smaller than I0;
8V128M.00−2 Rev. smaller than D0
The standstill monitoring of the motor holding brake did not work, if the count direction of the load scaling of the motor encoder were inverted.

− Before V1.244
− From V1.990 to V1.992
Download of a cam profile aborted if a warning occurred
Cam profile automat: In stand−by mode of the automat error messages could be displayed, even though they were deactivated with
AUT_MSG_MODE_BITS=0x0.
Now the following default values are initialized:

Starting the setup function with mode "ncFF_POS_MOVE" and "ncFF_NEG_MOVE" was falsely rejected with the following error:
− 32314: Setup for controller: Mode invalid
After successful completion of the setup function with mode "ncPOSITION" now the following parameter is set and transferred to the drive:
− controller.mode = ncPOSITION
Until now, the value which was saved before the setup function was restored and transferred to the drive. Controller problems could occur, if
this value was not
equal to "ncPOSITION".
After successful completion of the setup function with mode "ncFF..." now the following parameters are set:
− controller.position.t_predict = 0.0004;
− controller.position.t_total = 0.0004;
Until now, the values which were saved before the setup function were restored and transferred to the drive. Controller problems could occur
after the next call of "ncCONTROLLER,ncINIT" (or "ncGLOBAL,ncINIT"), if these values were not equal to "0.0004".
After successful completion or after abortion of the setup function with mode "ncFF..." now the following parameter are transferred to the drive:
− controller.position.tn
− controller.position.t_predict
− controller.position.t_total
− controller.position.p_max
− controller.position.i_max
− controller.speed.tn
Until now, after the setup function the values of the corresponding parameters on the drive were not equal to the values in the NC structure.
Disturbances on the motor holding brake caused the motor holding brake to close without the controller being deactivated. Only the error
"6048: Motor holding brake monitor: Position error too large" was registered.
Induction motor: Motor holding brake could not be opened
After an induction stop, the motor holding brake could not be opened via command (CMD_BRAKE = ncOFF) when the controller is turned off.
Power stage: X5 connection (motor/choke): Wire break test:
When switching on the controller, a test is made to determine whether or not current can be applied in all phases (U, V and W) on the X5
connection (motor/inductor).
The wire break test can be deactivated using MOTOR_TEST_MODE.
The versions 1.240 and 1.241 of ACP10MAN would lead to a Pagefault with ACP10_MC.
Therefore these versions in ACP10_MC V1.24x are not accepted in the SW Dependency.
Library ACP10TUN for controller setup, data restoration after error
If an error occurs during a setup operation, then the original data will now be restored in the NC structure and the respective parameters
transferred to the ACOPOS.
Incorrect trace status after re−establishing network communication
If cyclic network communication with the ACOPOS failed during an active cyclic parameter trace on the ACOPOS, then an incorrect trace
status was displayed after re−establishing network communication. Furthermore, the following error also occurred the next time
"ncTRACE,ncSTART" was called:
− 32049: Trace is already active at trace start
These problems could be avoided by setting "trace.status=ncOFF"
Target system SG4, automatic determination of controller parameters
− New NC structure component "setup.controller"

− New NC actions "ncSETUP+ncCONTROLLER,ncSTART" and "ncSETUP,ncSTOP"
New NC structure components "controller.speed.isq_filter1/2/3"
New format "ncFORMAT_T14"
New format "ncFORMAT_T14" (Text, 14 Bytes) with data type "ACP10PRT14_typ" for following NC actions:
− "ncSERVICE+ncPAR_LIST,ncREAD"
− "ncSERVICE+ncPAR_LIST,ncINIT"
− "ncSERVICE+ncPAR_SEQU,ncDOWNLOAD"
New NC action "ncSERVICE+ncACP_PAR,ncUPLOAD"

New NC action "ncSERVICE+ncPAR_LIST,ncREAD"
New NC object with type "ncMULTI_AX_TRACE"
New NC structure component "nc_test" for "ncAXIS" and "ncV_AXIS"
With this component it is possible, to switch on and off the following functions for an NC object also during run−time (without CPU restart):
− Open the NC Test with the same NC object as the application and do not block NC actions of the application
− No move abortion when closing the NC Test
New NC structure component "message.record.parameter.record_adr"
Now it is possible to determine the text for another message record as that in "message.record" by writing its address into
"message.record.parameter.record_adr".
The speed controller set value current filter ISQ_FILTER is supported.
CAN, Number of HPRIO−WRITE−COBs for ACP10USCOB for the library "ACP10_MC"
If the library "ACP10_MC" exists on the PLC, then now for each CAN interface the number of HPRIO−WRITE−COBs for ACP10USCOB is
calculated by addition of the following two values:
1) 1HPRIO−WRITE−COB per 8 ACOPOS modules, which are configured for this CAN interface
2) That value, which is defined in the NC Configuration for this CAN interface in "Number of HPRIO−WRITE−COBs for ACP10USCOB"
Until now, for this number only the first value was used.
Note:
This change is necessary, so that the FB "MC_BR_InitCyclicWrite" of the LIBRARY "ACP10_MC" can be used also for CAN (see ACP10_MC:
# 148245).
Encoder Interface AC130: The deactivation of inverted signals is supported in the incremental encoder emulation mode.
Function ncda_cr: The length of the data section was not correctly aligned
Before V0.480 of NCGLOBAL the length of the data section falsely was aligned to a value "(n*4)+2". From V0.480 on, the length is correctly
aligned to a value "n*4" (LONG alignement).
If e.g. before V0.480 with ncda_cr() an ACOPOS cam profile with 64 polynomials was created, the data section had a length of 2318 instead of
2316 bytes. The Download of this cam profile to the ACOPOS caused then the following error:
− 5304: Format error in cam profile data, Info: 8
POWERLINK, initial ACOPOS parameters, unjustified timeout error (only in V1.181 − V1.210)
Initial ACOPOS parameters are parameters that are defined for an ACOPOS module in the hardware configuration or for an NC object of that
ACOPOS module in an NC deployment table.
These ACOPOS parameters are automatically transferred to the ACOPOS in the function for ACOPOS startup. This transfer was sometimes
incorrectly aborted with the following error if the CPU load was too high:
− 32011: Drive not responding to Write Request (is the drive in the network?)
For SG3, this problem can only occur with V1.210.

For SG4, this problem can only occur with V1.181 − V1.210.
Control of the Motor Holding Brake: During the functional test of the holding brake torque the test torque was incorrect monitored
The actual test torque was monitored absolutely to the set test torque (limit 0.05Nm).
Now the actual test torque is monitored relatively to the set test torque (limit 5%).
Cam profile automat: Defined state index for inactive automats.

The index of the current state (AUT_ACT_ST_INDEX) is set to 255 for an inactive automat.
New NC action "ncGLOBAL,ncSAVE" for saving data into an INIT Parameter module
Global PVs can be used as NC object
If the selection "Use global PV as NC object" is set to "Yes" in the NC configuration, then a global PV is used for an NC object under the
following circumstances:
− The PV has exactly the same name, which is defined for this NC object in the "NC Object Name" column of the NC Deployment table
− The PV has the corresponding data type ("ACP10AXIS_typ" or "ACP10VAXIS_typ")
After transferring a task, in which such a global PV is defined, an additional CPU restart is absolutely neccesary, so that the global PV will be
used by the NC manager.
Entering NC actions in the Network Command Trace can be activated
If the selection "Network command trace, Enter ncaction() calls" is set to "Yes" in the NC configuration, then the following parameters are
entered in the network command trace when the function ncaction() is called:
− NC_ACTION, if ncaction() was called by an application programm or the NC test
− NC_ACTION_PLCopen_MC, if ncaction() was called by the PLCopen MC Library
− NC_ACTION_STATUS_NOT_OK, if the status of ncaction() was not equal to "ncOK"
Target system SG4, POWERLINK, with AR B2.85 or higher, ACOPOS modules were not recognized on the network after a reset
With AR version B2.85 or higher, after ACOPOS reset (SW reset, Power OFF/ON) the following problems occurred:
− The status "network.init_allowed" was not set to "ncTRUE"
− The automatic startup ACOPOS reset was not performed
The automatic startup after ACOPOS reset is only performed if the value "Yes" is set for the "Execute automatically after ACOPOS reset"
option in the NC configuration under "Network initialization".
Error 9070, if MOTOR_CURR_STALL = MOTOR_CURR_RATED and TEMP_MOTOR_MODEL_MODE = 2
With the following configuration the error 9070 was falsely indicated:
MOTOR_CURR_STABLE = MOTOR_CURR_RATED and
TEMP_MOTOR_MODEL_MODE = 2
Incorrect conversion of ACOPOS parameters from input texts
In ACOPOS parameter tables and with the "service.data_text" component, values for ACOPOS parameters can be defined in hexadecimal as
input text. For ACOPOS parameters of data type "DINT", input texts in the range "0x80000000" to "0xFFFFFFFF" were converted so far all to
the value "0x7FFFFFFF" by mistake.
Target system SG3, CAN, unjustified timeout errors (only in V1.100 − V1.196)
During very high CPU load, the data transmission to/from ACOPOS was sometimes falsely aborted with one of the following errors:
− 32061: Timeout sending a Read Request telegram (network error ?)
− 32062: Timeout sending a Write Request Telegram (network error ?)
This problem concerned the following data transmissions:

− Download of a cam profile
− Download of an ACOPOS parameter table
− Download of a parameter sequence
− Upload of trace data
Target system SG4, POWERLINK, Use of additional IP frames for Ethernet communication
IP frames for Ethernet communication are sent as "unicast" in the following AR versions:
− AR for SG4 A2.85 − C2.85
− AR for SG4 starting with I2.85
For this reason, ACOPOS synchronisation errors could occur with the AR versions listed above, if additional IP frames for Ethernet
communication were sent on a POWERLINK network.
The "two encoder control" can now only be activated with the parameters PCTRL_S_ACT_PARID and VCTRL_S_ACT_PARID.
Activation via "CONTROLLER_MODE=3" is now rejected with the following error:

− 1002: Parameter outside the valid range
For EnDat encoders whose serial resolution is smaller than or equal to four times the signal period resolution, the actual position could be
incorrectly placed by 1/4 of a signal period. (e.g. ECN113 and EQN1325 with 2048 signal periods)
The short−circuit−controlled movement stop was not performed correctly when certain drive errors occurred (only in V1.180 − V1.192)
Encoder error:
Short−circuit−controlled movement stop not activated. As a result, the motor does not have active braking.
Temperature error (e.g. IGBT junction, motor, heat sink):

Short−circuit−controlled movement stop is terminated too soon. As a result, the motor only has limited braking.
Lag error:
The short−circuit−controlled movement stop is not activated after the speed−controlled movement stop. As a result, the motor only has limited
braking when the axis limit values are set too high for acceleration.
Access to NC data modules did not function with certain AR versions
Management for BR modules has been changed in the following AR versions:

− AR for SG4 E2.73 − V2.79
− AR for SG4 starting with F2.85
For this reason, access to the following NC data modules did not function with the AR versions listed above:
− NC Deployment tables
− NC INIT Parameter modules
− NC Error Text tables
Override values were not transferred to the ACOPOS after ACOPOS restart
The override values "move.basis.override.v" and "move.basis.override.a" should be transferred to the ACOPOS after each change.
These values should be transferred after an ACOPOS startup (network initialization) if they differ from the default value "10000".
Until now, this was only done during the first ACOPOS startup. After restarting the ACOPOS, these values falsely were not re−transferred, if
they differ from the default value "10000".
Some controller parameters were not transferred to the ACOPOS after ACOPOS restart
After calling the NC actions "ncCONTROLLER, ncINIT" or "ncGLOBAL, ncINIT", the following parameters are only transferred to the ACOPOS
if the value of the corresponding variable in the NC structure has changed or differs from the default value (see also the Online Help):
− Parameter "SCTRL_TI_FIL" for variable "controller.speed.t_filter" from V1.120 on
− Parameter "CONTROLLER_MODE" for variable "controller.mode" from V1.130 on
In the past, these parameters falsely were not re−transferred to the ACOPOS if, after successfully executing one of the NC actions mentioned
above, an ACOPOS startup (network initialization) was executed and the NC actions mentioned above were called up again.
Target system ARwin (AR010), POWERLINK, processor blocked for the Windows operating system while establishing communication (only in
V1.183 − V1.189)
At the beginning of the basis initialization (function for start up of all ACOPOS modules connected to the network), an attempt is made to
establish communication to all ACOPOS modules that have been configured. In V1.183 − 1.189 during this attempt to establish
communication, the processor for the Windows operating system was blocked from the low−priority NC−IDLE task on the PLC. This lasted
approximately 11 seconds, if just one of the configured ACOPOS modules was not connected to the POWERLINK network.
From V1.190 on, the NC−IDLE task on the PLC the processor for the Windows operating system is no longer blocked during this function.
Target system SG4, POWERLINK, initial ACOPOS parameter tables, the data for type STRxx parameters was sometimes falsely transferred
(only in V1.182 − V1.189)
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC deployment table. The parameters contained in these
ACOPOS parameter tables are transferred to the ACOPOS during the ACOPOS startup function.
If a type STRxx parameter was present in an initial ACOPOS parameter table, then the data of the second−to−last data segment was
incorrectly contained in the last data segment (WR_BLOCK_LAST_SEGM).
This was the reason why the strings were not correctly transferred in the following cases:
− ParID 40 (MOTOR_ORDERTEXT, type STR32) for strings that are 30 bytes and longer
− ParID 41 (MOTOR_SERIALNUMBER, type STR16) for strings that are 12 bytes and longer
ACOPOS parameter tables, handling the "VersionFrom" attribute
Some ACOPOS parameters can only be used starting with a specific version of the ACOPOS operating system. For such parameters, this
minimum version is entered in the module created from an ACOPOS parameter table with the attribute "VersionFrom" when using AS versions
V2.5.2.0002 and higher during the Build procedure.
The "VersionFrom" attribute is now evaluated by the ACP10 software on the PLC when processing ACOPOS parameter tables. The parameter
is not transferred to the ACOPOS if the ACOPOS operating system version there is older than the minimum version defined with
"VersionFrom".
Transferring such a parameter (e.g. 849 "MOTOR_TAU_THERM") with older versions of the ACP10 software will cause the response error "1:
Invalid parameter ID" and transfer of the ACOPOS parameter table is aborted. This problem can be avoided by disabling this parameter in the
ACOPOS parameter table.
Target system SG4, POWERLINK, transfer of ACOPOS parameters from the hardware tree was aborted (only in V1.181 − V1.187).
Among other things, the parameters defined for an ACOPOS via the hardware tree are transferred to the ACOPOS in the startup function.
Since January 12, 2006, parameter 849 "MOTOR_TAU_THERM" is also defined. If this parameter is contained in the hardware tree for AS
versions earlier than V2.5.2.0002, then the transfer of the ACOPOS parameters for ACP10−SW V1.181 − V1.187 is falsely aborted after this
parameter has been detected. In this case, ACP10 software V1.188 or later must be used.
POWERLINK, jump in speed with network coupling
With loss of a cyclic POWERLINK frame a speed jump occurred. Extrapolating the position caused a wrong initialization for one POWERLINK
cycle.
NC actions for operation of NC objects with type "ncACP10USCOB
If in the "Number of HPRIO−WRITE−COBs for ACP10USCOB" in the NC configuration a value greater than zero is defined, NC objects with
type "ncACP10USCOB" can be operated with the following actions:
− "ncREAD_COB,ncDEFINE": Define Read CAN object with CAN_defineCOB()
− "ncWRITE_COB,ncSEND": Send Write CAN object with CAN_sendCOB()
Wrong status for initialization of a Parameter Sequence
During the initialization of a parameter sequence after calling the NC action "ncPAR_SEQU+ncSERVICE,ncINIT" wrongly "status.init =
ncTRUE" was set, despite the last parameter caused an error.
Error after calling the NC action "ncNETWORK,ncINIT"
If an error occurs during network initialization after calling the NC action "ncNETWORK,ncINIT{+ncRESET}", then the appropriate error set
remains falsely stored. This leads then to the fact that with each following call of this NC action the network initialization is not started at all, but
an abort with displaying of this error record takes place immediately.
"monitor.status.error/warning" were operated only with active communication (only in V1.103 − V1.184)
If cyclic network communication to the ACOPOS was not active, then the following status components were not operated:
− monitor.status.error
− monitor.status.warning
Encoder interface AC122, AC123: In the case of temorary encoder errors no error message was logged (only in V1.111 − V1.183)
In the case of temorary encoder errors (<800usec) the motor was stopped by short circuit halt or eddy current halt. However no error message
was logged.

Motor temperature model was deactivated (only in V1.181 − V1.183)
When current was applied to the motor, the temperature of the motor temperature model (TEMP_MOTOR_MODELL) hardly changed. This can
cause thermal damage to the motor windings. Small motors (rated current < 5A) are especially susceptible when peak current is applied, as
are motors without a temperature sensor when the current applied is higher than the rated current.
The ready LED and the error LED of the drive were not correctly controlled in the simulation mode (only in V1.180 − V1.183)
POWERLINK, basis initialization, faster recognition of ACOPOS modules that are not connected
During the basis initialization (function for start up of all ACOPOS modules connected to the network), an attempt is made to connect to all of
the ACOPOS modules that have been configured. The system is now considerably faster at recognizing, if an ACOPOS is not connected to the
network. This can speed up the basis initialization (the more configured ACOPOS modules that are not connected to the network, the more
noticeable the acceleration).
ACOPOS Parameter table: Parameters with more than 6 bytes data are now transferred
Up to now, if Parameters with data lenth greater than 6 bytes were contained in an ACOPOS Parameter table (e.g. the parameter
MOTOR_ORDER_TEXT), then the transfer of this table was aborted with following error:
− 32157: Length of parameter data too large for ACOPOS parameter in XML data
Target system SG4, POWERLINK, faster transfer of initial ACOPOS parameter tables
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC deployment table. During the basis initialization
(function for startup of all ACOPOS modules connected to the network), the parameters contained in these ACOPOS parameter tables are
now transferred parallel to all ACOPOS modules (previously, sequentially ACOPOS for ACOPOS).
This accelerates the basis initialization (the more ACOPOS modules that are used, the more noticeable the acceleration).
Induction motor, Flux controller, Flux weakening controller: Torque limitation and current fluctuation
The torque was limited in speeds over the rated speed (MOTOR_SPEED_RATED) to strongly. In addition it could happen that over the rated
speed (MOTOR_SPEED_RATED) the direct current (ICTRL_ISD_ACT) fluctuated strongly.
Avoidance of compatibility problems:

If at least one of the following parameters were changed, then a compatibility problem is to expect after an firmware exchange: FCTRL_KV
and/or FWEAK_I (=ParID 261). The internal parameter FWEAK_I was deleted. To avoid compatibility problems remove changes of the flux
controller (FCTRL_KV and FCTRL_TN). The changed automatic configuration of the flux weakening controller should lead to a better controller
behavior.
New NC structure component "controller.ff" for controller mode with feed forward control
Motor holding brake control monitioring: No error message with defective relay
If after the command "controller switch off" due to an brake control error the brake output status does not get low, the controller remains active.
In this case now the error number 6047 is logged.
The loop for reading the parameter BOOT_STATE could be aborted too early
After transfer of the parameters SW_RESET or CMD_BOOT_STATE the NC manager sends in a loop so long a Read Request for the
parameter BOOT_STATE to the ACOPOS, until the ACOPOS answers with Read Response or a timeout is reached.
If the NC manager before the next Read Request after an unsuccessful read attempt (Read Request without Response) were interrupted so
long that the timeout was reached, then the loop with an timeout error was aborted too early, without a further Read Request was sent.
CAN, no network monitoring after NC action "ncNETWORK,ncINIT+ncRESET"

If after successful completion of the ACOPOS startup the NC action "ncNETWORK,ncINIT+ncRESET" was called, then in the subsequent
ACOPOS startup the parameter "NETWORK_LIVE_CTRL" was not transferred to the ACOPOS and therefore the network monitoring not
activated.
Acceleration of parameter transfer when using "ACP10_MC"
When using the PLCopen−MC−Library "ACP10_MC", a function for accelerating the parameter transfer is only activated if an AR version 2.80
or later is being used on the PLC and an integer ratio is set between the SystemTick and the POWERLINK cycle time.
The following information is added to the logbook after this function has been successfully activated:
− Acp10NetCyc_SIOS: Install OK
− NetCyc: PL_Cycle/SysTick OK
NC Action "ncMESSAGE,ncTEXT": Error despite correct error text data module
The following message was mistakenly output if not all of the bytes after the actual module name were set to zero in
"message.text.parameter.data_modul":
− Module not existing (or wrong type)
Target system SG4, data block transfer was blocked in rare cases
In rare cases, the data block transfer could be blocked after calling one of the following NC actions if "Taskclass for NC Manager task" in the
NC configuration was set greater than or equal to "Idle taskclass" in the CPU configuration:
If this problem occurs, the following values in the status data of the data block operation, that were set after calling the NC action, remain
unchanged:
− status.data_len = 0
− status.ok = ncFALSE
− status.error = ncFALSE
POWERLINK, wrong response with writing a a parameter via the acyclic channel
With writing a parameter via the acyclic channel (e.g. with transfer of ACOPOS Parameter tables, Parameter Sequences or Cam Profiles), an
old response frame was sent back.
This could only occur if previously cyclic user data (CYCL_USER_FRDRV) with zero length were requested from the drive.
Speed controller: No movement stop with disabled speed controller (only in V1.101 − V1.161)
If the speed controller were switched off at the speed controller enable input (SCTRL_ENABLE_PARID), then in case of an error no automatic
movement stop was started.
Parameter sequence and parameter list: Data address equal to zero now is tested
For parameter records with format "ncFORMAT_ADR" in a parameter sequence or a parameter list, now a corresponding error is indicated if
the data address is equal to zero.
Previously, before the processing of a parameter record was not tested whether the data address is equal to zero and in this case an address
error (page fault) could occur.
Despite switched off controller it could occur that the error 9012: "Motor temperature sensor: Not connected or destroyed" was falsely
displayed. (only in V1.157 − V1.161)
POWERLINK, new parameters for network initialization in the NC configuration
In the NC configuration the structure "Network Initialization (ACOPOS startup)" was expanded with following two parameters:
1) Warning for non−ascending node numbers (only for POWERLINK): Yes/No

After changing the default setting "Yes" to "No", the following warnings are suppressed:
− 64002: Delay before SW Reset (network with ascending node numbers ?)
− 64003: Delay before NC System Start (network with ascending node numbers ?)
For example, this setting can be used, if network wiring with ascending nodenumbers is not unconditionally necessary.
2) Indicate network errors before first NC action (only for POWERLINK): Yes/No
After changing the default setting "Yes" to "No", monitoring of network communication is activated first then if for this ACOPOS an NC action is
called, with which parameters will be transferred to the ACOPOS. Until this point in time no network errors are indicated in this case.
For example, this setting can be used if the ACOPOS startup should be carried out for each ACOPOS individually with the NC action
"ncNETZWORK,ncINIT+ncRESET" without considering the wiring sequence in the network.
Multimotor operation: If several motors are attached at a servo drive, then for all motors the temperature models are computed now.
Servo drives 8V10xx.00−2: Junction temperature was not monitored sufficiently
Under the following conditions the junction temperatures of the transistors U+, V+ and W+ of the servo drives 8V10xx.00−2 were not
monitored.
− The motor did not move.

− The motor was in a special position.
− The current of the servo drive was larger than the rated current (ACOPOS_CURR_RATED).
Usually this scenario arises only with blocked rotor.
Encoder interface AC123, SSI encoder: During parameterising of SSI encoders a wrong actual position could be set up.
The bugfix described with ID#99252 did not work for all SSI encoders.
Encoder interface AC130: At some 8V101x.xx−2 servo drives, the encoder emulation did not work.
The outputs A, B and R were not set by the encoder emulation.
Servo drive 8V1640.13−2: The junction temperature was not monitored sufficiently
Encoder interface AC120, EnDat encoder: Sometimes the wrong motor data set was used
In use of at least two EnDat encoders with motor data set, an incorrect motor data set could be initialized. The motor data set of the encoder
that was read last, was always used per default for the controller.
Induction motor: The torque was limited in the field weakness area to strongly
Sometimes NC actions were processed in the wrong order
If for an ACOPOS both NC object types (ncAXIS and ncV_AXIS) in an application were used, then in rare cases the treatment of an NC action
for the one NC object type was earlier executed although the NC action for the other NC object type in the application had been earlier called.
ACOPOS Functions Block "CMP" (Comparator): In the comparator modes 1, 4, 9 and 12 the hysteresis function could not be activated.
Encoder interface AC130, incremental encoder emulation without reference pulse: An error occurred in the encoder emulation, after 2^25
impulses were produced.
By an internal overflow the position was incremented with the maximum counting rate in the inverse direction and the error number 39016
"Incremental encoder emulation: Frequency too high" was logged.
Encoder interface AC130, AC123, Incremental encoder reference pulse check: The parameters ENCOD_REF_CHK_DELTA,
ENCOD2_REF_CHK_DELTA und ENCOD3_REF_CHK_DELTA are available for reading the reference pulse interval error.

Encoder interface AC130, AC123, Incremental encoder reference pulse check: The value of the reference pulse width of the encoder 3 could
not be set.
Current controller: In the case of change of switching frequency F_SWITCH the current controller parameters (ICTRL_KV und ICTRL_TI) were
not adjusted automatically. (only in V1.140 −1.151)
By the fact it could occur that the error of the current controllers and all overlaid controllers was increased. In some cases the current controller
could become unstable.
It could occur that at least one of the following errors was indicated.
6019, 9300, 4007, 9000, 9010, 9030, 9040, 9070, 9050, 9060, 9075, 41001, 41011, 41031, 41041, 41070, 41051, 41061 or 41075
Simulation mode, 8V1010.50−2 und 8V1016.50−2 (only in V1.141 − V1.150)
The following errors were mistakenly diplayed in the simulation mode with the servo drives 8V1010.50−2 and 8V1016.50−2.
Encoder interface AC120, sine/cosine encoder: Short signal disturbances in the AB line are not detected
If the signal amplitude exceeds the border 1.44Vss for incremental signals longer than 400µs , the following error is now indicated:
− 7031: Encoder: Incremental signal amplitude too large (disturbance)
IMPORTANT: This correction only affects AC120 modules starting with Rev. K0.
From now on, EnDat parameters transferred from PLC to the ACOPOS always work
From now on, parameters will be transferred from PLC to the ACOPOS as soon as reading motor parameters from EnDat encoders has been
completed.
Until now, a motor parameter could be already transferred from PLC to the ACOPOS, before reading of the motor parameters of the
corresponding EnDat encoder has been completed. In this case the value which was read from the encoder worked and not the value
transferred from PLC to the ACOPOS.
From now on, always that value works, which is transferred from PLC to the ACOPOS.
Monitoring of the ACOPOS continuous power: The error numbers 9075 and 41075 were mistakenly displayed (only in V1.141 − V1.145)
The following errors were mistakenly diplayed with servo drives 8V1010.50−2 and 8V1016.50−2.
Cam automat: Wrong slave position with compensation gear mode ncSL_ABS (only in V1.020−V1.145).
The slave position with a ncSL_ABS−compensation was wrong, if the change was released by an event ncAT_ONCE while a compensation
curve was active.
Encoder interface AC130: In the mode "encoder emulation without reference pulse" the digital outputs DO5 and DO6 could not be set.
Cam automat: Position jump with negative direction of master movement (only in V1.006−V1.144).
During negative direction of master movement a position jump could occur with an ncAT_ONCE−event, if no "ncST_END+ncNEGATIVE"
event was configured in the automat state.
Cam automat: Wrong default reaction with FFFF cam profile and negative direction of master movement (only in in V1.006−V1.144).
If an "ncST_END+ncNEGATIVE" event was not configured in a automat state, then the left edge of a FFFF curve (predefined linear curve) was
not limited "horizontally". Therefore the slave movement at master reversal was not locked.
Cam automat: The maximum number of events for a state was increased from 4 to 5.
Entering parameter sequence records in network command trace can now be activated
If the selection "Network command trace, enter parameter sequence record " is set to "Yes" in the NC configuration, then the individual
parameter records are entered in the network command trace when transferring parameter sequences to the ACOPOS device.
Starting with Automation Studio V2.4.0.1106 these entries are displayed in the Network Command Trace with type "Parameter Sequence
Record", with older Automation Studio versions with type "Broadcast".
Digital outputs AC130, AC131 with POWERLINK network: The digital outputs could not be set, if the digital IO configuration was transferred
immediately after the start of the NC operating system.
Stopped axis moves during power failure
If external load torque was applied to a stopped axis during a power failure, then it was possible that the axis moved while the holding brake
was activated.
The error correction only functions for servo drives with active phase failure monitoring. For this, all contacts on connector X3 (L1, L2 and L3)
must be connected to the power mains.
The following ACOPOS servo drives do not have phase failure monitoring:
8V1022.00−2 from Rev.:A0 up to and including Rev.:F0
During a power failure in Controller mode "U/f controller", the axis stops even though movement interruption is deactivated
(ERRESP_UDC_POWERFAIL is 0) (only in V1.103 − V1.144)
After movement abortion the controller sometimes was not switched off (only in V1.067 − V1.142)
In a few cases, the controller was not switched off after a movement was was aborted due to an error (green and orange LEDs are lit and the
status was "Controller on").
Encoder interface AC123, SSI multiturn encoder
During parameterising the AC123 interface of a SSI multiturn encoder a wrong actual position could be set up.
CAN, time for response timeout after Parameter Request increased
The time for response timeout after Parameter Request telegrams was increased from 10ms to 60ms. With versions starting from V1.142
therefore the following errors occur 50ms later:
POWERLINK, inconsistent data records in Network Commando Trace
The function, which the NC Manager idle time task used to write data records into the Network Commando Trace, could be interrupted by the
respective function in the cyclic NC Manager task. This could cause inconsistent data records in Network Commando Trace.
In the NC Manager idle time task, the parameter data contained in acyclic POWERLINK frames (e.g. for data block download) are entered into
the Network Commando Trace and the parameter data contained in the cyclic POWERLINK frames are entered in the cyclic NC Manager task.
The problem occurred most often if both types of parameter transfer were used in an application at the same time (both the type using cyclic
and the type using acyclic POWERLINK frames).
NC Manager errors are now entered in the Network Command Trace
Starting with Automation Studio V2.4.0.1106 these entries are displayed in the Network Command Trace with type "NC Manager Info", with
older Automation Studio versions with type "Broadcast".
"move.reference" was contained in the "ACP10VAXIS_typ" data type instead of "move.homing" (only in V1.110 − V1.141)
Due to reasons of compatibility with the corresponding component in the "ACP10AXIS_typ" data type, the "move.reference" component in the
"ACP10VAXIS_typ" data type was corrected to "move.homing".
This change causes a compiler error if this component is used in an application program. In this case, "move.reference" must also be changed
in the application program to "move.homing".
Encoder interface Ac120, EnDat encoder
EnDat encoder with not EnDat compliant zero shift are supported.
Functions could be blocked after a network failure or network initialization (only in V1.100 − V1.140)
After detecting a network failure or after calling the NC action for network initialization, the command interfaces in the NC manager are
re−initialized. An error in the respective INIT function caused the following functions for future calls to blocked (return status "ncACTIVE" after
calling the corresponding NC action), if they were being processed during the execution of this INIT function:
− Basis movements
− Data block download
POWERLINK, cycles for response timeout after Parameter Request within cyclic frames increased
The number of cycles or response timeout after Parameter Request within cyclic frames was increased by 3, because some CPUs (above all
SG3) with POWERLINK have a so bad performance that the task class cycle time must be set to an higher value than "pl_cycle*7". The value
1 for the number of cycles for this Response Timeout, computed in this case, was sometimes too small. This could lead then to the following
errors:
The servo drives 8V1010.50−2 und 8V1016.50−2 are now supported
If the servo drive 8V1010.50−2 und 8V1016.50−2 is used with older versions, then the following error is displayed after switching on the
controller:
− 6033: "Serial EEPROM: Critical date is not valid"
Encoder interface AC120, EnDat encoder
Now, all encoder errors which occur during the boot procedure in the ACOPOS operating system are deleted because according to the
encoder manufacturer, errors may be incorrectly displayed by switching the encoder on/off.
CAN, reconfiguring the cyclic monitor data (only in V1.102 − V1.132)
Reconfiguring the cyclic monitor data for CAN with the parameters CYCL_MON_REQU1 and CYCL_MON_REQU2 only worked correctly if a
"ncV_AXIS" type NC object was configured.
Sometimes the controller was not switched off if a movement was aborted in simulation mode (only in V1.131 − V1.132)
The maximum length of the parameter data for cyclic user data to the drive ("ncCYCL_USER_TODRV") was increased from 8 to 18.
ACOPOS Parameter Tables: Disabling parameter records
Parameter records in an ACOPOS parameter table can now be disabled using the XML data "Disabled='TRUE'".
In the editor for ACOPOS parameter tables disabling parameters is possible starting with V2.4.0.1106.
NC Deployment Tables: Disabling NC object blocks
NC object blocks in a NC deployment table can now be disabled using the XML data "Disabled='TRUE'".
With Automation Studio V2.x this data can only be entered in the editor for NC deployment tables in the "Additional Data" column.
Encoder interface AC123, SSI encoder (up to V1.062 and from V1.111 to V1.132)
Incremental encoder error messages could be displayed if one of the following configurations were performed immediately after setting the
parameter ENCOD_TYPE, ENCOD2_TYPE, ENCOD3_TYPE to "ncSSI" for the corresponding encoder interface:
− Homing the encoder
− Define the actual encoder position on FB inputs
− Define the actual encoder position for vector controller or position controller
U/f Control
A position jump of up to 90 degrees electrically could occur if an emergency stop triggered by an internal error occured while a controller was
switched on and in standstill.
The servo drives 8V1640.03−2 and 8V1640.13−2 are now supported
If the servo drive 8V1640.03−2 or 8V1640.13−2 is used with older versions, then the following error is displayed after switching on the
controller:
− 6033: "Serial EEPROM: Critical date is not valid"
Initialization of a parameter list aborted due to an error
Now, parameter transfer is immediately aborted after calling the NC action "ncSERVICE+ncPAR_LIST,ncINIT", if a response error occurs for a
parameter.
Previously, if this occurred the rest of the parameters in the parameter list would have been transferred anyways. This could cause problems if
one of the remaining parameters was a command parameter with a condition dependent on the successful initialization of the preceding
parameter.
Encoder interface AC120, EnDat encoder position synchronization (only in V1.052 – V1.130)
Values which only occurred occasionally and were larger than 1/4 of a sine period were not tolerated if there were deviations between the
incremental position and the serial EnDat positions. Position jumps 1/4 of a sine period could occur. The following warning was entered:
−39001 "Encoder: Position correction active"
New NC structure component "controller.uf" for controller mode "U/f Control"
New NC structure component "controller.mode" for parameter CONTROLLER_MODE
Up to now, the parameter CONTROLLER_MODE could only be transferred to an ACOPOS via service interface. Therefore due to compatibility
reasons, after call of NC action "ncCONTROLLER,ncINIT" this parameter is only transferred to the ACOPOS, if the value of "controller.mode"
was changed.
New NC structure component "limit.parameter.a_stop"
The number of data records for the network command trace is now calculated
The number of data records for the network command trace is no longer accepted directly from the NC configuration.
This number is now calculated by multiplying the value of the new NC configuration parameter "Number of data records per ACOPOS for
Network Command Trace" with the number of configured ACOPOS modules.
Incorrect limitation of set stator current of the quadrature component on asynchronous motors during generator operation (only in V1.040 −
V1.120)
The set stator current of the quadrature component (Parameter ICTRL_ISQ_REF) was incorrectly limited on asynchronous motors during
generator operation. This could cause the following errors:
− Jump in ICTRL_ISQ_REF when speed is increasing
Supply voltage failure was sometimes not displayed (only in V1.106 − V1.111)
The following error was mistakenly not displayed if the supply voltage failed during the "controller ON, standstill" state:
− 7215: DC link circuit: At least one phase of the power line failed

New NC object with type "ncV_AXIS"
With NC Deployment tables only one POWERLINK interface could be used
Each NC object, which was defined for POWERLINK network in a NC Deployment table, was assigned to the first POWERLINK interface.
Therefore diverse errors occurred when operating such NC objects in an application program or in Automation Studio, which where defined for
another POWERLINK interface than the first one.
Target system SG4, POWERLINK, ACOPOS startup, synchronization between ACP10 software and ARNC0 software
If the same POWERLINK interface is used to operate ACOPOS modules simultaneously from the ACP10 software and the ARNC0 software,
then within the basis initialization the network initialization (ACOPOS startup) is executed synchronized between the ACP10 software and the
ARNC0 software.
This now makes it possible to alternately connect ACOPOS modules for ACP10 software and ARNC0 software within one POWERLINK line.
Up to now, using a common POWERLINK interface could lead to errors, whereby an unsynchronized ACOPOS reset command triggered by
one of the NC software programs interrupted the network communication of the other NC software program.
Wait for the network communication during the basic network initialization
If "Wait for ACOPOS" is selected in "Network Initialization (ACOPOS startup), Execute at NC software initialization" in the NC configuration,
then the basic network initialization for all ACOPOS devices within the NC software initialization is started as soon as the network
communication is active with at least one ACOPOS.
New status "ok" for download of ACOPOS Parameter data
If processing of NC action "ncACP_PAR,ncSERVICE+ncDOWNLOAD" has been successfully completed, from now on additionally
"status.ok=ncTRUE" is set after successful completion of operation, because ACOPOS Parameter data without any parameter to be
transferred do not cause an error and after successful completion of operation "status.daten_len=0" is displayed as well as
"status.error=ncFALSE".
New NC structure component "controller.speed.t_filter" for parameter SCTRL_TI_FIL
Up to now, the parameter SCTRL_TI_FIL could only be transferred to an ACOPOS via service interface. Therefore due to compatibility
reasons, after call of NC action "ncCONTROLLER,ncINIT" this parameter is only transferred to the ACOPOS, if the value of
"controller.speed.t_filter" was changed.
POWERLINK, error during download of cam profiles or parameter sequences
During download of cam profiles or parameter sequences with more than 240 bytes data at transfer of the last data segment (parameter
WR_BLOCK_LAST_SEGM) the following error could wrongly occure:
− 41: Value of parameter higher than maximum value
POWERLINK, problems when using an ACOPOS with property "multiplexed" as coupling master (only in V1.102 − V1.105)
The Parameter MA_CYCLE_TIME was only transferred to those ACOPOS modules, for which the POWERLINK property "multiplexed" was
set. This could lead to problems if an ACOPOS with property "multiplexed" was used as master for coupling functions.
Target system SG3, wrongful timeout errors (only in V1.100 − V1.104)
Inconsistency when reading the system tick could lead to wrongful timeout errors when transferring parameters to/from ACOPOS. Up to now
this problem has only occurred when transferring NC operating system directly from Automation Studuio to the ACOPOS modules.
ACP10 software V1.100 − V1.104 should no longer be used for SG3.
Reading the boot status of configured, but inactive ACOPOS modules could prevent data block download (only in V1.100 – 1.104)
A function for reading the boot status was activated every 250 NC task cycles for all configured ACOPOS modules, on which the network
initialization was not fully completed. While this function was being processed in the NC−IDLE task, all other NC IDLE task functions were
blocked (e.g. data block download). If one of these ACOPOS modules was not connected to the network at all, then this process lasted the
entire timeout time of the corresponding communication channel:
− CAN: Read channel1, timeout time 20 msec
− POWERLINK: Acyclic channel1, timeout time at least 210 msec
The problem could be avoided by removing or disabling all those ACOPOS modules in the configuration which were not connected to the
network.
For CAN from now on, reading of the boot status is executed directly in the cyclic NC task and thereforeNC idle task functions are no longer
influenced.
For POWERLINK from now on, reading of the boot status for one of these ACOPOS modules is only activated, if that ACOPOS is recognized
as being connected to the network. A status function from the POWERLINK library is used to detect this.
Encoder interface AC120. EnDat encoder (only in V1.061−V1.102)
During the transfer of the serial absolute position, a CRC error could wrongly lead to the following error:
Parameters with 5 and 6 bytes data now can be used within a Parameter Sequence
Up to now only parameters with at most 4 bytes data could be used wihtin a Parameter Sequence.
Processing of status bits from ACOPOS
Processing of some status bits is only allowed a specific number of cycles after receiving the corresponding command response from the
ACOPOS. This concerns to the status bits belonging to the following status data:
− Movement "In Position"
− "Parameter sequence initialized"
From now on, these status bits are only then processed if the receipt of the new cyclic status bits from the ACOPOS has been detected. Up to
now, status inconsistencies could occur in rare cases, if the telegram with the cyclic status bits from the ACOPOS failed in exactly the task
class cycle, in which the processing of these status bits was enabled again.
DIO interface AC130, AC131
From now on, reading the event counters is allowed.
Two−encoder control cannot be activated using "CONTROLLER_MODE=3" (only in V1.021 − V1.102)
If two−encoder control was activated by setting the CONTROLLER_MODE parameter to the value "3", the actual value of Encoder1 was used
instead of the actual value of Encoder2.
Target system SG3, the NC system download could be mistakenly aborted (only in V1.100 − V1.101)
If "Network initialization (ACOPOS startup), Execute automatically after ACOPOS reset" was set to "Yes" in the NC configuration, then the
direct NC system download (without saving to the PLC) could be mistakenly aborted.
The cyclic status bits are now processed one task class cycle earlier for POWERLINK
Until now, the cyclic status bits from the drive were processed for POWERLINK one task class cycle after being received. Therefore, status
indicators (e.g. "Controller ON" or "In Position") derived from the cyclic status bits are now provided in the application program one task class
cycle earlier.
Virtual axis, movement stop
Previously, a movement could be mistakenly started during a movement stop with CMD_MOVEMENT_STOP_VAX1.
Handling the POWERLINK property "multiplexed"
New NC action "ncPAR_LIST+ncSERVICE,ncINIT" for initalization of a parameter list.

Implicit commands are only executed if network initialization is already complete
The following implicit commands are now only executed if network initialization has already completed:
− Write override
− Write time for network monitor (only for CAN)
− Read error block
− Read homing status
Previously, if network initialization was not yet complete, the following error would have been displayed for the implicit commands after opening
the motion test:
− 32011: No response of drive for Write Request (exists drive in network ?)
Subsequent network initialization (ACOPOS startup after completing the NC software initialization) now is possible
If selected by the user, subsequent network initialization is started automatically, after a configured ACOPOS device is detected on the
network, for which the network initialization was not yet fully completed.
The network initialization can be started in an application program with the NC action "ncNETWORK,ncINIT".
New status "network.nc_sys_restart". This status can be acknowledged with the new NC action
"ncNETWORK+ncNC_SYS_RESTART,ncACKNOWLEDGE".
Supply voltage; loading relay oscillates during DC bus voltage and in single−phase mains operation (only in V1.064 − V1.068)
If a servo drive with active phase failure monitoring was not supplied with a three−phase mains supply (e.g.: DC bus voltage and single−phase
mains operation), then the loading relay was cycled on and off with charged DC bus voltage. The oscillation of the loading relay was able to be
prevented by disabling the phase failure monitor (PHASE_MON_IGNORE = 1).
Phasing in dither mode, invalid commutation angle
An invalid commutation angle (MOTOR_COMMUT_OFFSET = "NAN") was detected for motor encoders with a low number of increments per
revolution (SCALE_ENCODx_INCR parameter) and low rotor phasing current (PHASING_CURR parameter) or blocked rotor.
The following errors are displayed when the controller is switched on:
− 4005 "controller cannot be turned on: Drive in error state"
− 9050 "ACOPOS peak current: Overload"
− 9060 "ACOPOS continuous current: Overload"
− 9070 "Motor temperature model: Over−temperature"
Activation of phase failure monitoring
The phase failure monitoring has been activated for the following servo drives:
− 8V1022.00−2 starting with Rev.H0
− 8V1045.00−2 starting with Rev.I0
− 8V1090.00−2 starting with Rev.I0
The following errors are sent when a phase failure occurs:
7215 "DC link circuit: At least one phase of the power line failed"
7210 "DC link circuit: Voltage unstable"
Hardware limit switch malfunction when using a cam profile automat
Only the edges of one hardware limit switch signal are evaluated depending on the direction of movement, i.e. the edge of the positive
hardware limit switch only stopped movement if the automat speed was positive and the edge of the negative hardware limit switch only
stopped movement if the automat speed was negative.
When using an encoder position as master axis, this could cause a malfunction when a hardware limit is reached at low speeds.
The value of the hardware limit switch is now checked cyclically depending on the direction of movement.
The holding brake is now activated with a delay for short−circuit braking
To ease the load on the holding brake, it is now activated once the braking procedure is complete.
Encoder interface AC121, Stegmann Hiperface encoder: Absolute position error or commutation error
If the Hiperface encoder position was decremented during the boot phase, the absolute encoder position could be incorrectly determined. The
also affects the rotor commutation of motor encoders with synchronous motors and causes unstable control with the following error:
− 4007 "lag error, abort limit exceeded"
Limited range for permissible power supply

It was possible to operate the servo drives with supply voltages under 3x400VAC or with a DC bus voltage under 565.7 VDC. In this case,
external DC bus power supplies do not function.
The permissible range for the mains supply was reduced and standardized for all servo drives:
− 8V1022.00−2 − 8V1090.00−2 from 3x380−3x480VAC to 3x400−3x480VAC
− 8V1180.00−2 − 8V128M.00−2 from 3x380−3x480VAC to 3x400−3x480VAC
If the servo drives are supplied with supply voltages that lead to a DC bus voltage lower than 509.1VDC = sqrt(2)*0.9*400VAC, then the
following error message is given:
−7218 "DC link circuit: Voltage too low −> Nominal voltage detection not possible"
The following parameters for the motor temperature model and the ACOPOS loads can now be defined:
The following parameters can be defined:

− LOAD_CONT_CURR (ACOPOS continuous current: Load [%])
− LOAD_PEAK_CURR (ACOPOS peak current: Load [%])
− TEMP_BLEEDER (braking resistor temperature model: Temperature [°C])
The following parameter has been redefined:

− LOAD_MOTOR_MODEL (motor temperature model: Load [%])
Encoder interface AC121, Stegmann Hiperface encoder:
The following encoder errors could be displayed when using Hiperface encoders even though the encoder is functioning properly:
−7038 "Encoder: Position value not synchronous with absolute value"
−7015 "Encoder: Timeout error during transfer parameter"
− 7044 "Encoder: Parity"
Movement stop due to short−circuit braking
The following errors indicate that movement was stopped due to the controller being switched off.
− 6019 "Hardware: Over−current in the IGBTs"
− 9300 "Current controller: Over−current IGBT (current not measurable)"
−7200 "DC link circuit: Overvoltage signaled by hardware"
This causes the motor to spin out. When encoder errors occur, a stop of movement is executed with calculated encoder position.
Now, movement is stopped with controlled short−circuit when the errors mentioned above occur. There are cases where the short−circuit
braking is interrupted (e.g.: defective power transistor, etc.).
Encoder interface AC123 and AC130, reference pulse monitoring
An error message was only entered after the permissible range was exceeded two times.
Encoder Interface AC123, SSI multi−turn motor encoder: Disturbance pulse on speed controller actual speed when encoder position overflow
occurs
When the encoder position is exceeded, an extremely high value could be determined for 200us on the speed controller actual speed. An
undefined acceleration with lag error interruption could occur if the speed controller filter was also used. This only occurred when used as
motor encoder.
Overloaded braking resistor
The braking resistor was sometimes overloaded during the braking operation with the following configuration:
− ARNC0−SW with CAN network and target systems ARwin (AR010), AC140 and PP2xx
New homing mode ncDCM
Incremental encoders with distance−coded reference marks can now be referenced using the "ncDCM" mode or "ncDCM+ncCORRECTION".
The current controller occasionally malfunctions.
In rare cases, motor current could not be applied despite the controller being switched on (green and orange LEDs lit and controller status
"On"). When this occurs, the error 4007 "Lag error stop limit exceeded" was displayed when a movement was started.
Switch on controller, holding brake
After the "switch on controller" command, the controller could not be switched off using the "switch off controller" command or lag error
emergency stop, until the mechanical holding break was released. Only the position controller was disabled. This error state could not be
ended using successive "switch off controller" commands either.
Movement start, switch on / switch off controller, holding brake
After the "switch on controller" command, another movement could be started until the mechanical holding brake is engaged. This
unauthorized movement start (without error response) was not executed. Depending on the duration of the movement and the controller
configuration, a position jump could occur the next time the controller was switched on or during the next movement start.
Supply voltage range; Conditionally permissible power supply
The servo drive can be operated with DC bus voltages in the range of 24 − 678 VDC (equal to one three−phase supply voltage range of 3x17 −
3x480VAC) (e.g.: at 3x220VAC −> UDC_NOMINAL = sqrt(2)*220VAC = 311.12VDC) by writing the UDC_NOMINAL parameter.
DANGER:
With supply voltages under 3x380V, the functionality of the DC bus power supply and phase failure monitoring is no longer guaranteed. Under
certain conditions, this can cause the servo drive to FAIL or to be DAMAGED.
Limited range for permissible power supply
It was possible to operate the servo drives with supply voltages under 3x380VAC or with a DC bus voltage under 537.4 VDC. In this case,
internal or external DC bus power supplies did not function.
If devices from the group 8V1022.00−x − 8V1090.00−x are coupled with devices from the group 8V1180.00−x − 8V128M.00−x via the DC bus,
then it was possible that the loading relay closed for a short time if the DC bus was charged and the mains supply was not connected after
starting the ACOPOS operating system. If the supply was reconnected in this situation, the loading current increased which could damage the
line contactor, the supply line fuse or the rectifier in the servo drive.
In single−phase operation with devices from the group 8V1022.00−x − 8V1090.00−x, the DC bus was overloaded if the power was
reconnected via the line filter. As a result, nominal voltage detection does not function. The servo drive group 8V1022.00−2 − 8V1090.00−2
had a different voltage range for nominal voltage detection than the servo drive group 8V1180.00−2 − 8V128M.00−2
The permissible range for the mains supply has now been reduced and standardized for all servo drives:
− 8V1022.00−2 − 8V1090.00−2 from 3x208−3x480VAC to 3x380−3x480VAC
− 8V1180.00−2 − 8V128M.00−2 from 3x360.6−3x480VAC to 3x380−3x480VAC
Nominal voltage detection is only active in this voltage range. Nominal voltage detection is not active in single−phase operation.
If the servo drives are supplied with supply voltages that lead to a DC bus voltage lower than 483.66VDC = sqrt(2)*0.9*380VAC, then the
following error message is given:
−7218 "DC link circuit: Voltage too low −> Nominal voltage detection not possible"
Cam profile automat for virtual axis
The speed of the virtual axis was not calculated in the cam profile automat if the parameter SGEN_SW_END_IGNORE_VAX1 was set to the
value "3".
Encoder Interface AC123, SSI encoder
Incremental encoder error messages could be displayed if one of the following configurations were performed immediately after setting the
parameter ENCOD_TYPE, ENCOD2_TYPE, ENCOD3_TYPE to "ncSSI" for the corresponding encoder interface:
− Homing the encoder
− Define the actual encoder position on FB inputs
− Define the actual encoder position for vector controller or position controller
The value of the air gap torque TORQUE_ACT was frozen when the controller was switched off
IGBT junction temperature model: The drives 8V1640.xx−2, 8V1320.00−2 and 8V1180.00−2 could be overloaded thermally.
Control of the Motor Holding Brake: During the functional test of the holding brake torque the test torque was incorrect monitored
The actual test torque was monitored absolutely to the set test torque (limit 0.05Nm).
Now the actual test torque is monitored relatively to the set test torque (limit 5%).

− AR for SG4 E2.73 − V2.79
− NC Error Text tables
Encoder Interface AC120: With new EnDat encoders, a permanent encoder error is mistakenly shown (only in V0.546 − V0.551)
With new Heidenhain EnDat encoders, an excessively restrictive time−out in the ACOPOS operating system prevents the encoder initialization
from being completed. This problem causes the following errors to be permanently shown:
− 7022: Encoder: Initialisation is active
− 7015: Encoder: Timeout error during parameter transfer
− 7019: Encoder: OEM data not valid
Because of this problem, versions 0.546 − 0.551 should no longer be used with EnDat encoders.
Motor holding brake control monitioring: No error message with defective relay
If after the command "controller switch off" due to an brake control error the brake output status does not get low, the controller remains active.
In this case now the error number 6047 is logged.
Encoder interface AC130, AC123, Incremental encoder reference pulse check: The parameters ENCOD_REF_CHK_DELTA,
ENCOD2_REF_CHK_DELTA und ENCOD3_REF_CHK_DELTA are available for reading the reference pulse interval error.
Encoder interface AC120, EnDat encoder
Now, all encoder errors which occur during the boot procedure in the ACOPOS operating system are deleted because according to the
encoder manufacturer, errors may be incorrectly displayed by switching the encoder on/off.
Error number 6036 "Motor parameters missing or invalid": The additional information was falsely always set to zero
Encoder interface AC120, EnDat encoder position synchronization (only in V0.538 − V0.544)
Values which only occurred occasionally and were larger than 1/4 of a sine period were not tolerated if there were deviations between the
incremental position and the serial EnDat positions. Position jumps 1/4 of a sine period could occur. The following warning was entered:
− 39001 "Encoder: Position correction active"
Target system SG4, the idle time commands were not processed in the NC manager (only in V0.540−0.543)
In the NC Manager, the idle time commands were not processed. This had the following effects:
− Motion functions test, Trace and Watch could not be opened.
− The data block operations were not carried out.
− The error text identification was not carried out.
− The Trace functions were not carried out.
Braking resistor overload (only in V0.491 − V0.542)

The braking resistor was sometimes overloaded during the braking operation with the following configuration:
− ARNC0−SW with CAN network and target systems ARwin (AR010), AC140 and PP2xx
Encoder interface AC120, EnDat encoder: Timeout error due to cable disturbances
Once an interruption occurred on the EnDat encoder cables, the error 7015 "Encoder: Timeout error during parameter transfer" could be
displayed continuously and not be acknowledged.
Switch on controller, holding brake
After the "switch on controller" command, the controller could not be switched off using the "switch off controller" command or lag error
emergency stop, until the mechanical holding break was released. Only the position controller was disabled. This error state could not be
ended using successive "switch off controller" commands either.
The current controller occasionally malfunctions.
In rare cases, motor current could not be applied despite the controller being switched on (green and orange LEDs lit and controller status
"On"). When this occurs, the error 4007 "Lag error stop limit exceeded" was displayed when a movement was started.
NC Software − ACP10SDC Wichtige Information
ACP10SDC versions V3.170 or higher can be used for SG4 ARM target systems
Note:
For ARM target systems with a Cortex A8 core (e.g. C30), these library can not be used.
ACP10SDC is only supported with Automation Studio starting with V3.0.80.
NC Software − ACP10SDC V2.500
ACP10SDC, encoder interface: Error calculating absolute position with 32−bit encoders
An overflow of the incremental counter occurs in the encoder's range of movement sometimes causes a position offset of one encoder rotation
(or two encoder rotations) when homing with ncOFFSET (or ncOFFSET + ncCORRECTION).
ACP10SDC, EncIf1_Typ = ncOFF, CMD_SIMULATION: Permanent error state after switching off the simulation mode
An SDC axis with deactivated encoder interface remained permanently in error state, after the simulation mode was switched on and switched
off again. In this state the errors 4005 and 6057 were reported when switching on the controller.
ACP10SDC drive interface for stepper motor: Incorrect setpoint output if large parameter values for step resolution times motor revolutions
Exceeding the Integer32 range of values when multiplying step resolution with motor revolutions caused an incorrect setpoint output to
oSetPos (SM_SCALE_STEP times SM_SCALE_LOAD_MOTREV greater than 2147483648). This could cause a lag error abort or incorrect
movement direction of the motor.
ACP10SDC TrigIf1_Typ = ncOFF: Logger warning for "sensorless mode" was removed
If the encoder interface is disabled, no warning is registered now in the logger
ACP10SDC oBoostCurrent: Signal for acceleration erroneously given even at constant speed
The oBoostCurrent signal for controlling stepper motors in the acceleration phase was also set to ON in some cases during the constant speed
phase. These situations could occur in relation to the task class cycle time and the motion parameters.
ACP10SDC digital inputs and encoder positions: Increased dead time.
The status of the digital inputs and the positions of the encoder were only available for certain functions one task class cycle later. Effects:
Increased dead time in response to reference switches, hardware limit switches, trigger inputs and when there were links to actual positions of
encoder1 or encoder2.
ACP10SDC simulation mode: Lag error for purely simulated axes.
Excessive set speeds caused jumps to occur in the actual speed of purely simulated SDC axes and movement was consequently stopped due
to violation of the lag error limit.
The simulation is now reduced to a minimum "short circuit simulation", with the following effects:
− Lag error stays at zero.
− Movement stop caused by lag error no longer possible.
− Incremental position ENCOD_POS_ACT stays at zero.
− PCTRL_S_SET corresponds with SGEN_S_SET. This means that prediction time and total time have no effect (POS_CTRL_T_PREDICT,
POS_CTRL_T_TOTAL).
− Reduced CPU load.
ACP10SDC Cam profile automat: Missing trigger event with force function
A digital trigger input, which was set with the force function (CMD_DIG_IN_FORCE), did not work as an event for the cam profile automat
ACP10SDC Status Enable:
The drive interface of an ACP10SDC axis was expanded by the data point 'iStatusEnable'. The state of the data point is used only to update
the status of the cyclic bit enable. There is no further functionality behind the state of the data point.
ACP10SDC Function block PID: Depending on the task class cycle time a wrong transfer function was calculated.
ACP10SDC Function block DELAY: Depending on the task class cycle time a wrong delay time was calculated.
ACP10SDC Extrapolation filter for actual position of encoder1 and encoder2 did not work.
A configured ENCODx_S_FILTER_TE caused a position jump on ENCODx_S_ACT_FILTER.
ACP10SDC with ARNC0 and stepper motor: Operation only with standstill current caused by incorrect current selection.
ACP10SDC with ARsim (AR000): Error 32006 or 32007
If in a ARsim (AR000) project the function ncaction() was called in that task class, which was defined as "Task class for NC Manager Task" in
the NC configuration, then one of the following errors could occur in rare cases:
− 32206: Cyclic channel: Read Request in spite of Wait for Response
− 32207: Cyclic channel: Write Request in spite of Wait for Response
With older versions of the ACP10 software this problem can be avoided by configuring the application task with the ncaction() call into another
task class as "Task class for NC Manager Task".
NC Software − ACP10_MC Wichtige Information
ACP1_MC versions V3.170 or higher can be used for SG4 ARM target systems
Note:
For ARM target systems with a Cortex A8 core (e.g. C30), these library can not be used.
NC Software − ACP10_MC V3.130
Disabling NC objects blocked processing of NC objects with higher channel number
If the ACOPOS simulation was activated for an ACOPOS module, then NC objects were not processed, if an NC object with a smaller channel
number was disabled in the NC deployment table.
Example:
NC objects with channel number 2 were disabled, then the NC objects of channel 3 were not processed.
MC_BR_SetupController: New parameters "SignalType", "SignalStartFrequency", "SignalStopFrequency" and "SignalTime"
If "SignalType = mcSIGNAL_CHIRP" or "SignalType = mcSIGNAL_CHIRP_TRAPEZOID", then a chirp signal is used for the setup function
instead of a PRBS for excitation. In this case, "SignalStartFrequency" defines the starting frequency of the excitation signal,
"SignalStopFrequency" defines its stopping frequency and "SignalTime" defines its duration.
"SignalType = mcSIGNAL_CHIRP_TRAPEZOID" leads to trapezoidal smoothing of the amplitude at the beginning and end of the chirp signal.
With "SignalType = mcSIGNAL_CHIRP" this is not performed.
If "SignalStopFrequency = 0", then the following default value is used for the stopping frequency:
− 1250 for "mcPOSITION" or "mcTEST_POSITION" mode
− 2500 otherwise
If "SignalStartFrequency = 0", then the value for the starting frequency is calculated from the defined stopping frequency. If "SignalTime = 0",
then the duration of the excitation signal is calculated from the defined stopping frequency.
MC_BR_CalcCamFromPoints: Improved internal calculations
Improvements to internal calculations lead to better results in many cases, which are slightly different from the previous results. In addition, the
improvements result in "29308: Internal calculation error" being reported less often.
New function block: MC_BR_MechPosDeviationComp
This function block compensates for mechanical position deviations such as spindle pitch errors and backlash.
MC_BR_AutCommand: Error 29226 caused by "EndAutomat" for virtual axis
If a Cam Profile Automat was active on a virtual axis and the "EndAutomat" input and "SetSignal" / "ResetSignal" input were set
simultaneously, the function block reported error "29226: Drive error. Call MC_(BR_)ReadAxisError for details.". The Cam Profile Automat was
not terminated in this case.
MC_LimitLoad: "Active" output sometimes not set
If MC_LimitLoad with "Direction" = mcCURRENT_DIR was used on an axis with an inverted counting direction, then it never set the "Active"
output.
MC_BR_AutCommand: Error message on axis error when Cam Profile Automat in StandBy
If MC_BR_AutCommand was active, the Cam Profile Automat in "StandBy" and the PLCopen axis state on ErrorStop, the function block
reports error "29226: Drive error. Call MC_(BR_)ReadAxisError for details.".
From now on, the function block only reports this error if the Cam Profile Automat is active ("Running" output set).
MC_Stop: Changes to behavior after abort by MC_Power after deceleration ramp and abort of MC_BR_SetupXxxx
If MC_Stop is aborted by MC_Power.Enable=FALSE after completion of the deceleration ramp, it used to report "Done" and the axis state
switched to "Disabled".
From now on, MC_Stop reports "CommandAborted" in this case.
If MC_Stop aborted a MC_BR_SetupXxxx function block, the axis state switched immediately to "Disabled".
From now on, the axis state remains "Stopping" until MC_Stop.Execute=FALSE.
MC_BR_AutControl: Problem resetting outputs

If the "Enable" input of the function block is reset and it is aborted by MC_Power at the same time, then the "Running" output is not reset.
Function blocks not reporting error if channel disabled in configuration
If channel 2 of an ACOPOSmulti device is disabled in the hardware configuration (Process Data Mapping.Configuration = "Single Axis"), all
function blocks called for axes on this channel constantly reported "Busy" = TRUE.
From now on, all function blocks in this case will return error "29200: Axis object invalid".
MC_BR_NetworkInit with mcSTOP command: Error 29282 although stop was carried out
If MC_BR_NetworkInit was called with the mcSTOP command, error "29282: Command can't currently be executed" was sometimes reported
although network initialization was aborted.
MC_BR_VelocityControl: Faulty restoration of controller parameters (only in V2.491−V2.51x)
If the function block was aborted by MC_Power before the controller parameters were read, then zero values were written to the drive.
MC_BR_InitReceiveNetworkData: Usable for SDC axes
MC_BR_InitReceiveNetworkData can now be used for SDC axes.
MC_BR_CamIn: Error with virtual slave axis and disabling the function block
If a virtual axis was specified as a slave axis reference, then error "29226: Drive error. Call MC_(BR_)ReadAxisError for details." is reported
when disabling the function block.
MC_BR_SetupController: New parameters "MaxPropAmplification" and "Acceleration"
MaxPropAmplification:
This parameter defines the maximum value for the proportional gain in the "mcSPEED" and "mcPOSITION" modes.
If "MaxPropAmplification = 0.0", then the value 2000 is used for the autotuning function, which corresponds to the previously fixed maximum
value.
Acceleration:
This parameter defines the acceleration used for the autotuning function.
If "Acceleration = 0.0", then the acceleration value is determined as previously. In "ncFF..." mode, for example, this results in an iterative
increase in acceleration for as long as movements are being started and a particular current value has not yet been reached.
This iterative process now no longer needs to be carried out in "ncFF..." mode if the "Acceleration" parameter is used to define an acceleration
value other than 0, which considerably reduces the duration of the autotuning function.
Some coupling function blocks not adhering exactly to MasterStartPosition
If coupling function blocks were enabled while the master axis was moving, then the cam profile was not started at the desired
"MasterStartPosition", but somewhat later depending on the master's speed.
The following function blocks were affected by this problem:

− MC_BR_CamIn
− MC_BR_CamDwell
− MC_BR_AutoCamDwell
− MC_BR_CamTransition
Offset and phasing function block: Incorrect ShiftMode behavior when using ShiftParID
When using "ShiftParID", the "OffsetShiftMode" or "PhasingShiftMode" parameter influenced the behavior when restarting the axis coupling
differently than described in the help system. Now the behavior when using "ShiftParID" is always the same as "OffsetShiftMode" or
"PhasingShiftMode" mcABSOLUTE_NO_RESET, i.e. no reset when restarting the coupling.

− MC_BR_Phasing
− MC_BR_Offset
− MC_BR_OffsetZone
MC_BR_ReadCyclicPosition: Position outside period during homing

If a periodic axis was homed while MC_BR_ReadCyclicPosition was active, the "Position.Integer" output could take on a value outside the
period; the "Valid" output remained set to TRUE. Now the "Valid" output is set to FALSE during the homing procedure, and "Position.Integer"
remains in the range of values 0 to Period−1.
MC_BR_CyclicWrite: Timing improved in specific cases
The timing of MC_BR_CyclicWrite was able to be improved in very specific conditions.
MC_BR_CalcCamFromPoints: Data type overflow for cam profile data
When calculating cam profile data, it was possible that the values of individual polynomial coefficients were outside of the range of the REAL
data type depending on the master and slave positions and the interpolation mode used. Using this data on an ACOPOSmulti, for example,
resulted in a processor exception (Error code 33002: "Floating point exception").
MC_BR_JogXxxx: Movement no longer started in certain circumstances if "Enable" was enabled
The movement is no longer started when using the MC_BR_JogXxxx function block with the following sequence:
− The "Enable" input is reset and "JogPositive" or "JogNegative" remains set.
− The "Enable" input is set again before the movement has completely finished.
A new movement is only started by resetting and then setting again the "JogPositive" or "JogNegative" inputs.
In this case, the movement will be started again by setting the "Enable" input.

− MC_BR_JogVelocity
MC_Stop: Done not set for virtual axis, axis state staying on Stopping
If the controller is switched on for a virtual axis, a stop index is being used and MC_Stop is called, the function block does not report "Done".
The axis state remains Stopping.
MC_BR_GearIn: Function block error displayed by MC_(BR_)ReadAxisError on abort
If MC_BR_GearIn was aborted by disabling MC_Power, then the "CommandAborted" output was set correctly; error "29206: The controller is
off" was indicated on MC_(BR)_ReadAxisError, however.
An error is no longer indicated.
MC_BR_AutCommand: Error 29238 when setting/resetting signals
The MC_BR_AutCommand function block returned error "29238: This function block cannot be used in the current state" if signals are being
set or reset in the Disabled, Stopping or Homing states.
Basis motion function block: Parameter error after MC_BR_MoveCyclicXxxx and network communication reestablished
The following sequence resulted in FB error "29217: Invalid input parameter" and drive error "5026" or "5027: Basis movement parameters
(with override) exceed speed/acceleration limit value".
1. MC_BR_MoveCyclicXxxx was used with motion parameters that exceed the limit values (this is permitted)
2. A network error occurred
3. After network communication was reestablished, the errors were acknowledged and the controller was switched on
4. A basis motion FB was called with the basis motion parameters
MC_TouchProbe: Incorrect behavior on periodic axis with PLCopen factor
When MC_TouchProbe was used on a periodic axis with a PLCopen factor greater than 1, and if the trigger event occurred near the period
transition, one of the following problems could occur:
− A "RecordedPosition" was not output at the trigger event (with "WindowOnly"=TRUE).
− A "RecordedPosition" larger than the period was output (with "WindowOnly"=FALSE).
MC_BR_CamTransition: mcTRANSITION_OFF and changed parameter (in V2.470 − V2.49x only)

If "TransitionMode" = mcTRANSITION_OFF, then changing a parameter ("InitData" = TRUE) produced the following behavior:
− The slave axis changed to a 1:1 coupling
− The function block no longer responded to control input ("LeadInSignal", "LeadOutSignal", "InitData") or control ParIDs ("LeadInParID",
"LeadOutParID)
MC_BR_InitAxisSubjectPar: "Subject" = ncGLOBAL, no PLCopen parameter update
MC_BR_InitAxisSubjectPar with "Subject" = ncGLOBAL transferred the parameters to the axis, but it didn't save them to the corresponding
PLCopen axis parameters and in an internal structure for the motion function block's change detection.
When reading PLCopen axis parameters 2−16, the new value wasn't output; instead, it was the one initialized on the PLC restart.
When re−enabling a motion function block after MC_BR_InitAxisSubjectPar, it was possible that the speed or acceleration of the function block
input was not used for the movement or an error message occurred if a limit value was exceeded.
New PLCopen parameters mcAXIS_PERIOD_MAPPING and mcAXIS_FACTOR_MAPPING
There are two new PLCopen parameters that can be read with MC_ReadParameter and show the following:
mcAXIS_PERIOD_MAPPING ... Period configured for this axis in the NC mapping table
mcAXIS_FACTOR_MAPPING ... PLCopen factor configured for this axis in the NC mapping table
Function blocks for phase and offset shift: Error after toggling the "Enable" input
If the "Enable" input on phase and offset shift function blocks is set to FALSE for a task cycle and then back to TRUE, this could incorrectly
cause the function block to report error 29276: "Phase shift already in progress". From now on, no error is reported and the new phase or
offset shift takes place.

− MC_BR_Phasing
− MC_BR_Offset
− MC_BR_OffsetVelocity
MC_Home: Incorrect position of SDC axis and 32−bit encoder
Homing an SDC axis with "MC_Home.HomingMode" mcHOME_ABSOLUTE, mcHOME_ABSOLUTE_CORR and mcHOME_RESTORE_POS

with an encoder whose counting range is exactly 32 bits sometimes caused an incorrect position by one or two encoder rotations.
Axis state of axis 2 not switching to ErrorStop after drive error
If a drive error occurred during a movement, then it could happen that the axis state of axis 2 was not switching to ErrorStop.
Address error on SG3 and SGC target systems (only in V2.380 − V2.490)
Using function blocks that read 2− or 4−byte cyclic data from the drive sometimes caused a restart of the controller to service mode on SG3
and SGC target systems. Error "9101 EXCEPTION: Address error" was entered in the Logger.

− MC_BR_AutCommand
− MC_BR_CamIn
− MC_BR_HomeAcpEncoder (only if "HomingParameter.HomingMode" = mcHOME_RESTORE_POS)
− MC_BR_LimitLoad
− MC_BR_LimitLoadCam
− MC_BR_OffsetVelocity
− MC_BR_TorqueControl
− MC_BR_TouchProbe
− MC_CamIn
− MC_BR_EventMoveVelocity (only if using "VelocityParID")
− MC_ReadDigitalInput
− MC_ReadDigitalOutput
− MC_ReadActualTorque
− MC_BR_Phasing
− MC_BR_Offset
− MC_TorqueControl
− MC_TouchProbe
MC_BR_MoveCyclicXxxx: Lag error on channel 2 of ACOPOSmulti
If two MC_BR_MoveCyclicXxxx function blocks for both channels of an ACOPOSmulti drive are enabled simultaneously (e.g. by ARNC0), it
was possible that a position jump or lag error occurred on the second channel.
Motion function blocks not detecting abortion (or delayed)
If motion function blocks are aborted, e.g. with MC_Stop, while waiting for the communication to the axis to be freed up, they only reported
"CommandAborted" or an error once the communication to the axis was free again. If the axis state was already StandStill again when the
communication is freed up ("MC_Stop.Execute" = FALSE), they started their movement.
Motion function block: No response after abort
If a motion function block was aborted shortly after enabling, it sometimes no longer responded to resetting the "Enable" or "Execute" input.
Restarting the PLC was the only way to solve this problem.

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell
− MC_BR_CrossCutterControl
− MC_BR_VelocityControl
High−resolution position imprecise with large PLCopen axis factor
Using a large PLCopen axis factor (e.g. >= 1000) sometimes led to imprecision in the high−resolution position on the function block outputs.

− MC_BR_ReadCyclicPosition
− MC_BR_ReceiveParIDOnPLC (Mode = mcPOSITION)
Axis state remains in Stopping after MC_Stop.Execute=FALSE
This error can occur if MC_Stop was activated and a (stop) command was active at the same time (by exiting another function block). The
MC_Stop function block set the "CommandAborted" output and, despite the subsequent "MC_Stop.Execute" = FALSE, the axis state still
remained in Stopping.

− MC_Halt ("Deceleration" > limit value)
− MC_Home
− MC_BR_MoveCyclicPosition
− MC_BR_MoveCyclicPositionExt
− MC_BR_MoveCyclicVelocity
− MC_BR_MoveCyclicVelocityExt
Gear function block causing drive error 5102 (only in V2.381 − V2.48x)
If the master axis of a gear function block was moved at the limit value speed, the drive error "5102: Too many cam profile changes per cycle
(master period too short)" could occur.

− MC_GearIn
− MC_GearInPos
− MC_BR_GearIn
MC_BR_RegMarkCapture001: Missing output values, incorrect "AverageProductLength"
If the function block was started while the master axis was running, it was possible that no output values were calculated at the second
registration mark. When the third registration mark arrived, the product length between the first and third registration marks was calculated; this
calculated length was therefore twice as long. The "AverageProductLength" output was then subsequently incorrect.
MC_BR_CheckAutCompensation, CURVE function block: Error 29310 in mcMIN_MASTER_COMP_DISTANCE mode
Error 29310 could occur in mcMIN_MASTER_COMP_DISTANCE mode despite a valid parameter configuration. The underlying CURVE
function block returned a result value for the minimum master compensation path in these cases, but the Status output still reported error state
3. This error depended on the target system and parameter combination due to numerical imprecision.
MC_BR_VelocityControl: "SctrlInitialized" output not reset

If the "Enable" input of MC_BR_VelocityControl was set to FALSE, the function block did not reset the "SctrlInitialized" output.
MC_BR_CamIn: Deadlock of slave axis caused by invalid "CamTableID"
If a "CamTableID" or "AdvancedParameters.LeadInCamTableID" that was not transferred to the slave axis was passed to the MC_BR_CamIn
function block or deleted after the transfer, then the function block correctly reported error "29250: Invalid CamTableID". It was then no longer
possible to issue commands to the slave axis; all function blocks reported "Busy".
MC_BR_RegMarkCapture002: Problems with search function corrected
After starting a search with the "SearchRM" input, it was possible that the registration mark closest to the current position was not found (only
the one after it was detected as valid). In addition, after a few cycles of the function block with the valid registration mark, the error counter
"ProductsWithoutRM" is incremented and no longer reset.
MC_BR_JogXxxx: "Velocity"=0 resulted in incorrect status
The following incorrect behavior occurred with the MC_BR_JogVelocity and MC_BR_JogTargetPosition ("JogToTarget"=FALSE) function
blocks if "Velocity"=0 was specified:
− The "Jogging" output remained set if the "JogXxx" inputs were reset; the axis state remained set to Continuous Motion.
− When disabling the function block in this state, the axis state remained set to Continuous Motion.
Incorrect status after MC_Stop
If one of the function blocks below was aborted by MC_Stop or MC_Power disabled shortly after it was enabled, then an incorrect status could
result. The axis state changed from Stopping to Continuous Motion.
MC_Stop set the "CommandAborted" output although the function block was executed correctly.

− MC_BR_VelocityControl (only disabling of MC_Power)
MC_BR_CrossCutterControl: "CutCount" incorrectly increased
If the cutting functionality of MC_BR_CrossCutterControl was paused by setting the "EnableCut" input to FALSE, it was possible that the
"CutCount" output was increased by one when standstill was reached.
MC_BR_ReadDriveStatus: New status element "HoldingBrakeControlStatus"
The data type MC_DRIVESTATUS_TYP was extended by the element "HoldingBrakeControlStatus". The value of this element corresponds to
the value of bit0 of the ACOPOS parameter BRAKE_STATUS. "TRUE" is indicated, if the control output signal of the holding brake is
activated.
MC_BR_ParTrace, MC_BR_ParTraceConfig: Array "Parameter" extended to 100 elements
The array "Parameter" of the data type MC_PARTRACE_REF was extended from 30 to 100 elements.
This allows now up to 100 ParIDs to be recorded simultaneously with the Multi−axis Trace.
Service mode with zero values in axis structure (only V2.470 − V2.47x)
Some function blocks caused a PLC crash into service mode if they were called with zero values in the axis structure (e.g. initialization value =
0, transfer using overload mode). They now report error "29489: Internal values in the axis structure are invalid" in this case (as in versions <
2.470).

− MC_MoveAbsolute
− MC_MoveAdditive
− MC_MoveVelocity
− MC_Halt
− MC_BR_MoveAdditiveTriggStop
− MC_BR_MoveVelocityTriggStop
− MC_BR_EventMoveAdditive
− MC_BR_EventMoveVelocity
− MC_GearOut
− MC_CamOut
MC_BR_ParTrace: Saving trace data with type "mcFILE" could take a very long time
This problem occurred especially with ARwin or CIFS, if the format "mcFILE_CSV" or "mcFILE_TXT" was used.
The following commands were affected by this problem:

− mcSAVE
− mcSTART+mcSAVE
Saving trace data with type "mcFILE" was significantly accelerated.
MC_BR_CalcCamFromPoints: Cam profile data with undefined trend curve
When using mcBESTFIT_5TH_ORDER or mcBESTFIT_6TH_ORDER mode with an insufficient amount of interpolation points, it is not
possible to guarantee the clear determination of polynomial coefficients. From now on, error "29308: Internal calculation error" is reported in
this case and no cam profile data is output.
Previously, no error was reported and cam profile data was output that resulted in an invalid or undefined trend curve.
MC_BR_CrossCutterControl: Errors after re−enabling
MC_BR_CrossCutterControl could have triggered drive errors for no reason in the following circumstances:
− Multiple enabling after a previous movement was aborted (by MC_Stop or resetting the "Enable" input, for example)
− Changing input parameters before re−enabling
MC_BR_AutControl: Error behavior on master failure (only in V2.420 − V2.47x)
On a failure of the master position, an invalid value was output on the "ErrorID" output instead of the corresponding error number.
After acknowledging all errors and re−enabling the function block, it was also possible that the "Busy" and "Active" outputs were constantly set
in turn.
Entry for non−existent axes in network trace
If it is not possible to establish communication to a drive, then "PLCopen_MC_AxisState = ncMC_STATE_ERROR_STOP" was entered in the
network trace for all axes of both channels, even if the configured hardware only supports one channel.
This is now only entered for axes that are defined in an NC mapping table.
MC_CamIn: Incorrect behavior after invalid parameter modification
If invalid parameters were initialized for an active non−periodic cam profile, then the function block returned a corresponding error number.
The following incorrect behavior could occur depending on whether the invalid parameters were detected by the function block or drive:
− The coupling was closed at the end of the cam profile, but the axis state didn't switch to Standstill.
− The cam profile was repeated cyclically, and the axis state switched to Standstill.
MC_BR_InitAutData: Possible incorrect calculations involving parameters related to the master axis
If "InitOptions.GlobalParams" = mcNO_PARAMS was selected for MC_BR_InitAutData , then the PLCopen factor of the slave axis is used to
calculate the values of the parameters below instead of the PLCopen factor of the master axis specified under "AutData.Master".
− MasterCompDistance
− MasterCamLeadIn
− MinMasterCompDistance
MC_BR_CamIn: Aborting function block reporting CommandAborted (only in V2.461 − V2.470)
If MC_BR_CamIn was aborted by another motion function block immediately after the "EnterCam" input was set, it was possible that the
aborting function block set its "CommandAborted" output and the axis state remained set to Synchronized Motion. The movement of the
aborting function block was still started, however.
MC_BR_CamIn: CommandAborted output set incorrectly (only in V2.461 − V2.470)
If the communication to the axis was very fast compared to the task class in which the function block was called (e.g. ACP10SIM axis or short
POWERLINK cycle time and slow task class), it was possible that the "CommandAborted" output was incorrectly set after the "EnterCam" input
was set.
MC_BR_GetHardwareInfo: Array "Motor" extended to three elements
The array "Motor" of the data type MC_HARDWARE_INFO_REF was extended from two to three elements.
MC_BR_CamIn: Error 29230 if axes from the same communication channel are coupled
If axes from the same ACOPOS communication channel are specified on the "Master" and "Slave" inputs (e.g. virtual axis = Master, real axis =
Slave), then the function block returns error 29230 "Internal error: Error transferring parameter list".
MC_BR_OffsetVelocity: Error when simultaneous enabling and disabling coupling function block
Error 29229 "Synchronized movement not possible" was reported by a coupling function block if the coupling function block for a slave axis
was disabled at the same time that MC_BR_OffsetVelocity was enabled and then a coupling function block for the same slave axis was
enabled.
MC_Power: Timeout for turning on the controller increased to 60 seconds
The timeout for turning on the controller in MC_Power has been increased to 60 seconds (previously 20) to accommodate to changes in the
motor phasing procedure.
Behavior of Busy outputs of function blocks with Enable inputs standardized
The Busy outputs for some function blocks were reset too early (or not set at all). Busy outputs in the affected function blocks now remain set
as long as the Enable input is set, the function block is aborted by another function block or an error occurs.

− MC_Power
− MC_SetOverride (Busy was never set)
− MC_ReadStatus (Busy was never set)
− MC_ReadActualPosition (Busy only during homing)
− MC_ReadActualVelocity (Busy was never set)
− MC_ReadParameter
− MC_ReadBoolParameter
− MC_ReadAxisError
Error correction in MC_BR_Offset, MC_BR_OffsetZone, MC_BR_Phasing
MC_BR_OffsetZone:
As explained in the help system, "ZoneEndPosition" can now be specified with a value less than the "ZoneStartPosition".
A value greater than the period is no longer possible for "ZoneStartPosition".
A zone length (ZoneEndPosition − ZoneStartPosition) that is greater than the period is no longer possible.
MC_BR_Offset, MC_BR_OffsetZone, MC_BR_Phasing:

The resetting of the "InitData" input was ignored when an error occurred.
A rising edge on the "InitData" input was only applied after the "Enable" input was reset and then set once again.
New PLCopen parameters mcNETWORK_CYCLE_TIME and mcAXIS_NETWORK_CYCLE_TIME
There are two new PLCopen parameters that can be read using MC_ReadParameter that indicate the following:
mcNETWORK_CYCLE_TIME ... Cycle time of the network where the axis is being operated
mcAXIS_NETWORK_CYCLE_TIME ... Cycle time used by the axis to communicate over the network (Network cycle time * Prescale)
MC_BR_CamDwell, MC_BR_AutoCamDwell no longer reacting to LeadInSignal
It was possible that the MC_BR_CamDwell and MC_BR_AutoCamDwell function blocks no longer reacted to the "LeadInSignal" input after
they were re−enabled after an axis error occurred.
MC_BR_CamTransition: New parameters not always initialized
If the "InitData" input was set on MC_BR_CamTransition while the Cam Profile Automat was in the lead−in phase or parameters were being
changed (previous setting of "InitData"), then the "DataInitialized" output was set, but the new parameters were not applied.
Axis state not switching to Standstill after an update with invalid parameters
If a motion function block is restarted with invalid parameters during a movement, then the function blocks will return error 29217 "Invalid input
parameter".
The axis finished executing the valid movement started earlier by the function block but doesn't switch to Standstill mode.

− MC_MoveAbsolute
− MC_MoveAdditive
Incorrect axis state for MC_BR_EventMoveXxxx and an opened test window
If the event for starting the movement of a MC_BR_EventMoveXxxx function block occurred while the motion test window was open, then the
MC_ReadStatus function block reported error 29218 "Unknown PLCopen axis state".
The axis state now remains set according to the function block type and its parameters in this case.
MC_BR_CamIn: Axis state could erroneously be set to Standstill
After the "EnterCam" input of MC_BR_CamIn was set, it was possible that the axis state was erroneously set to Standstill directly after it was
correctly changed to Synchronized Motion. The automat was started correctly, however. Setting the "ExitCam" input in this state caused error
29238: "This FB cannot be used in the current state".
MC_BR_CamIn: Problems changing parameters
If the InitData input was set without other parameters being changed, the function block no longer reacted to the InitData, EnterCam and
ExitCam inputs.
If a LeadIn or LeadOut was configured with compensation paths before the function block was disabled and the function block is then
re−enabled with LeadIn or LeadOut cam profiles, then one of the following behaviors occurred:
− LeadIn or LeadOut compensation paths and LeadIn or LeadOut cam profiles were used together
− An error was reported if LeadInMasterDistance or LeadOutMasterDistance were 0
Coupling function block ends coupling immediately after new start
If a control input was set when using a coupling function block or the function block was disabled and MC_Stop called for the slave axis at the
same time, it was possible that re−enabling the function block would immediately end the coupling right after it was started.

− MC_GearIn
− MC_CamIn
− MC_BR_GearIn
− MC_BR_CamIn
MC_Stop for virtual axes: Status "Done" not reported
It was possible in the following circumstances that the "Done" status from the MC_Stop function block was not reported and the axis state
remained set to "Stopping" when used on a virtual axis:
− A MC_Power function block is used for the virtual axis.
− MC_Power is enabled and then immediately disabled.
− Movements are started and then aborted by MC_Stop (movements can also be started without an enabled MC_Power for virtual axes).
Axis state changed by motion function block although Errorstop was active
If the axis state switched to Errorstop while a motion function block was transferring a parameter list with a motion command, it was possible
that the axis state changed from Errorstop to the axis state corresponding to the motion command at the end of the parameter list transfer.
Possible incorrect status information when aborting a motion function block
If an active motion function block was aborted by another and then the first block was re−activated, the status information was sometimes
incorrect. The active function block was aborted but continued to report being active. The movement of the aborting function block was started,
but it reported "CommandAborted". The axis state remained set according to the aborteded function block.
Example:
MC_GearIn is active. MC_MoveVelocity is started. While MC_MoveVelocity is transferring its parameters, MC_GearIn is re−activated.
This resulted in the following states:
− The movement by MC_MoveVelocity was started.
− MC_MoveVelocity reported "CommandAborted".
− MC_GearIn reported "InGear".
− The axis state remained set to "Synchronized motion".
New function block: MC_BR_CamIn
Just like MC_CamIn, this function block can be used to couple a slave axis to a master axis via a cam profile.
The function block also offers the following functions:
− The movement into the cam profile can take place using either a compensation gear or a cam profile.
− The movement out of the cam profile can take place using either a compensation gear or a cam profile.
− If the coupling is aborted (e.g. MC_Stop, drive error), the coupling can be restarted.
MC_Home with mcHOME_RESTORE_POS: Incorrect restoration of position
The position was not correctly restored when using MC_Home with mcHOME_RESTORE_POS mode under the following conditions:
− A load encoder is being used for a two encoder control
− The encoder counting direction of the load encoder is different from the counting direction of the motor encoder
MC_BR_InitAutData: Pagefault after calling the FB with invalid axis reference
If the FB MC_BR_InitAutData was called with an axis reference containing invalid internal data, this lead to an Pagefault. Now, in this case the
error 29489: "Invalid internal data in axis structure" is reported.
MC_BR_MoveCyclicPosition(Ext) and periodic axes: Operating mode switched automatically due to numeric imprecision (only in V2.230 −
V2.44x)
If the function blocks are used for periodic axes, they only expect values on the "CyclicPosition.Integer" and "CyclicPosition.Real" inputs that,
added together, are greater than or equal to 0.0 and less than the configured axis period. If the sum of the two values is outside this range, the
function blocks automatically change their operating modes and process the input values as absolute positions from then on.
Example:
− Configured axis period = 1000 units
− MC_BR_MoveCyclicPosition for the periodic axis has already been active for a while; the axis is currently at the absolute position of 9999
units (periodic position = 999 units).
− The sum of "CyclicPosition.Integer" and "CyclicPosition.Real" now results in exactly 1000.0 instead of 999.99999 units due to numeric
imprecision.
− The function block therefore changes the operating mode for specifying the absolute positions, and the axis is moved to the absolute position
of 1000 units (i.e. a negative movement is carried out).
From now on, both function blocks are somewhat more tolerant with regard to numeric imprecision at both boundaries and will only change the
operating mode at a later point.
Motion FB: Corrected problem determining parameter changes after network failure
It was possible after a network failure that certain values (e.g. "Direction" for MC_MoveAbsolute) were not transferred to the drive due to an
error determining changes to parameters. Instead, the value before the network failure was used, which caused unexpected behavior.

− MC_MoveAbsolute
MC_BR_CrossCutterControl: "ProductLengthCorrection" not applied
Under the following circumstances, the value of the "ProductLengthCorrection" input was not applied following a rising edge on the "InitData"
input:
− Cycle time of the task class in which the FB is called, the network cycle time and the cycle time of the axis (e.g. ACOPOS = 400 µs) are all
the same
− "InitData" is set in the same task class cycle in which the "CutMasterPosition" output is changed
− "InitData" is set in every product cycle
− In "AdvancedParameters.StartMode" the additive mode "mcCORRECT_CURRENT_CYCLE" is not used
MC_BR_PowerMeter: Repeated reactivation caused error
A malfunction of MC_BR_PowerMeter function block could occur, if it was repeatedly deactivated/reactivated, while another parameter list was
transferred to the drive. This could occur, for example, when the axis was reinitialized after a network outage.
New function block: MC_BR_SetupFromParTabObj
"Command" = mcSTART:
The setup function is accomplished with the following steps:
− Opening the ACOPOS parameter table specified in "DataObjectName"
− Transfer of the parameters contained in this ACOPOS parameter table to the drive
− Starting the parameter identification on the drive
− Waiting for completion of the parameter identification
"Command" = mcSAVE:
Saving the parameters determined by the setup function, with the following steps:
− Opening the ACOPOS parameter table specified in "DataObjectName"
− Reading and saving the values of the parameters contained in this ACOPOS parameter table
"Command" = mcSTOP:
Abbort of an active setup function
New function block: MC_BR_InitReceiveNetworkEnc
This function block can be used to initialize a drive for reading encoder data over a network. The drive and encoder must both be on the same
POWERLINK network. This condition is also satisfied if the encoder is read using an X2X module that is being operated on a POWERLINK
bus controller.
MC_BR_AutCommand: Edge detection after function block aborted
If the function block is aborted by an error, another function block or the user, then a positive edge is not detected on the inputs (e.g. "Start")
when the Cam Profile Automat is re−enabled.
MC_BR_LimitLoad, MC_BR_LimitLoadCam: Setting "Enable" input again not apply new parameters
Resetting the "Enable" input was reset during parameter initialization and then setting it again later sometimes prevented the function block
from applying new input parameters and continued instead with the parameter initialization.
If error "29242: Cyclic read data full" was reported, the function block did not enter the error state, attempted again and again to create cyclic
read data and therefore blocked the initialization of parameters by other function blocks in some circumstances.

− MC_BR_LimitLoad
− MC_BR_LimitLoadCam
MC_Stop: Error 29207 after MC_BR_VelocityControl called with error
If an error occurs when calling MC_BR_VelocityControl (e.g. parameter greater than limit value), the axis remains in the Standstill state.
If MC_Stop is called thereafter, it incorrectly reported error "29207: This movement type is currently not allowed".
Basis motion function block: Problem when several edges on "Execute" input
If the "Execute" input is set and reset alternately in consecutive cycles, then the current parameters on the function block inputs were not
transferred for the last sequence.
This problem occurred if the "Execute" input remained set to FALSE (0) after the last sequence.

− MC_MoveAbsolute
− MC_MoveAdditive
− MC_MoveVelocity
− MC_GearOut
− MC_CamOut
− MC_Halt
Status outputs from some function blocks set too early after a change to parameters
It was possible for some function blocks that their status outputs were set too early after the parameters were changed.

− MC_GearIn ("InGear" output)
− MC_BR_GearIn ("InGear" output)
− MC_BR_OffsetVelocity ("VelocityAttained" output)
MC_BR_LimitLoadCam: Wrong parameter could be transferred
When using the limitation in negative direction a parameter of the FB previously called for this axis was transferred. This could lead to the error
"29230: Internal error: Error at parameter list transfer".
MC_BR_RegMarkCapture001: "AverageProductLength" was calculated incorrectly
If the axis is in motion during activation of the FB MC_BR_RegMarkCapture001 and the latched registration mark comes shortly before the end
of the interval, it was possible that "AverageProductLength" was calculated incorrectly.
The first measured product length "ActLength" – and therefore "AverageProductLength" – could have taken on a large negative value
(−2.147*10^9).
"AverageProductLength" was correctly calculated again only after 50 product lengths.
MC_BR_SetupInductionMotor, MC_BR_SetupSynchronMotor: New parameter "ThermalTrippingTime"

Configuration.SetupSynchronMotorPar
Configuration.SetupInductionMotorPar
ThermalTrippingTime: Tripping time at thermal overload [sec]
If "...MotorPar.OptionalData.PhaseCrossSection=0" is specified, then the line cross section of the motor is calculated as follows:
MOTOR_WIND_CROSS_SECT = MOTOR_CURR_RATED * sqrt(ThermalTrippingTime/360.6)
If for "...MotorPar.OptionalData.PhaseCrossSection" a value other than zero is specified, then the line cross section of the motor is initialized
with this value:
MOTOR_WIND_CROSS_SECT = ...OptionalData.PhaseCrossSection
New function block: MC_BR_CommandError
This function block can be used to trigger error reactions on the drive.
The following commands are available and can be specified on the "Command" input:
− mcCMD_WARNING
− mcCMD_ERROR
− mcCMD_ERROR_STOP
− mcCMD_ERROR_STOP_CTRL_OFF (only for real axes)
− mcCMD_ERROR_V_STOP_CTRL_OFF (only for real axes)
Effect:
The specified command is transferred to the drive. There, the corresponding error reaction is carried out and the associated error is reported.
Reported errors:
For type "mcCMD_WARNING":
− 36005: Warning triggered by command
else:
− 4015: Error triggered by command
MC_BR_JogXxx: Invalid axis states not always detected
A MC_BR_JogXxx function block may not have detected an invalid axis state in the following circumstances:
− The "Enable" input was set.
− The "JogPositive" and "JogNegative" inputs were not set.
Now the function block returns error "29238: The FB cannot be used in the current state". Exception: As long as the Stopping axis state is
active, only the "Active" output is reset.

MC_BR_SetupController: New parameters "OperatingPoint" and "SignalOrder"

OperatingPoint:
If this parameter is set to mcTUNE_STANDSTILL, then standstill is used as the operating point for the setup function. If this parameter is set to
mcTUNE_V_CONSTANT, then a constant speed calculated as follows is used as the operating point:
v = 0.01 * MaxSpeedPercent * MIN(limit.parameter.v_pos, limit.parameter.v_neg)
SignalOrder:
This parameter defines the order of the excitation signal (7..11, 0 corresponds to 9). A larger value results in a smaller frequency discretization
and better excitation at lower frequencies.
New function block: MC_BR_InitEndlessPosAcpEnc
This function block is used to initialize the address of a variable in permanent memory for saving and restoring the position of an external
encoder.
MC_(BR_)GearIn: Compensation steps not executed (and should be)
If a "MasterParID" is specified for the MC_BR_GearIn function block, then some compensation mechanisms (compensation steps of the
configured Cam Profile Automat) were not executed.
This was the case if the master axis from which the "MasterParID" is taken performed a movement in the negative direction.
MC_BR_JogXxx: Aborts by movement function block sometimes led to unexpected behavior
If a MC_BR_JogXxx function block was ended by resetting the "Enable" input and another motion function block started at the same time, it
was possible that the new movement was not started even though the motion function block's outputs signaled that the start was successful.
The following function blocks could have caused this problem if they were ended:
MC_BR_MoveVelocityTriggStop: Velocity transferred also in the opposite direction
This function block now transfers the speed in the opposite direction as well so that when the direction is changed (caused by a short trigger
distance), the configured speed is used for the movement. The speed for the opposite direction is automatically limited by the axis limit value.
New function block: MC_BR_NetworkInit
The following network initialization commands can be issued with this function block:
− mcENABLE: Enables network initialization for all drives
− mcSTART: Starts or resumes network initialization for one or all drives
− mcSTOP: Aborts network initialization for a drive
MC_BR_EventMoveAbsolute, MC_BR_EventMoveAdditive: "WaitingForEvent" still set despite incoming event
If the configured event for starting the movement occurred very shortly after enabling MC_BR_EventMoveAbsolute or
MC_BR_EventMoveAdditive, then the following status outputs were operated incorrectly:
− WaitingForEvent remained set
− Busy remained set
− InPosition was not set although the movement was performed properly
MC_BR_JogLimitPosition, MC_BR_JogTargetPosition: Movement not always ended on "Enable"=FALSE (only in V2.400 − V2.420)
If the "Enable" input was set to FALSE shortly after changing the motion parameters or setting the "JogToTarget" input, it was possible that the
movement was not stopped and instead continued moving until the end.

MC_Power: Simultaneous MC_Stop call, controller not switched off (only in V2.340 − V2.420)
The axis controller could not be switched off under the following conditions:
− MC_Power.Enable = FALSE and MC_Stop.Execute = TRUE are set in the same task class cycle
− MC_Power is called before MC_Stop

MC_BR_DownloadCamProfileObj, MC_BR_DownloadCamProfileData: Service mode after function block call with invalid axis reference
If the FB MC_BR_DownloadCamProfileObj and MC_BR_DownloadCamProfileData function blocks were called with an axis reference
containing invalid internal data, then the controller was restarted in service mode. Now, they report error 29489: "Invalid internal data in axis
structure".
MC_BR_TorqueControl: "CommandAborted" not set in every case
If MC_BR_TorqueControl was aborted by MC_Stop while transferring parameters (between "StartSignal" and "Active" or "InitData" and
"DataInitialized"), the function block did not set the "CommandAborted" output and the function block could no longer be operated. It was only
possible to correct this situation by restarting the controller.
MC_Home with mcHOME_RESTORE_POS: Incorrect restoration of position (only in V2.380 − V2.420)
The position was not correctly restored when using MC_Home with mcHOME_RESTORE_POS mode under the following conditions:
− A resolver is being used as a motor encoder.

− Resolution is set to 2^12 (4096) or 2^14 (16384) increments.
MC_Halt: Movement not always ended (only in V2.390 − V2.420)
If MC_Halt was enabled directly after starting a movement, it was possible that the function block correctly set the "Done" output, but the
movement was not ended.
MC_Home with mcHOME_RESTORE_POS: Position sometimes restored incorrectly on SG3 and SGC (only in V2.380 − V2.41x)
Restoring the position of a real axis using MC_Home together with the mcHOME_RESTORE_POS mode could lead to a wrong result on SG3
and SGC.
MC_BR_GearIn: ACOPOS error 5102 at master movement in negative direction
A master movement in negative direction could lead to the ACOPOS error "5102: Too many changes of cam profile per cycle (master period
too short)".
MC_Home with mcHOME_RESTORE_POS: Position sometimes restored incorrectly
Under the following conditions, the position may not be restored correctly when using MC_Home together with the mcHOME_RESTORE_POS
mode:
− No axis period is defined.

− The product of multiplying the configured units per revolution with the number of multi−turn revolutions (distinguishable revolutions) of the
encoder is greater than the maximum value of the DINT data type (2147483647).
− The encoder overflow falls within the permitted movement range of the axis (software limits).
MC_BR_MoveCyclicXxxx: Other function blocks affected by recognition of changed parameters
Due to an error in changed parameter recognition, the function blocks listed below may have affected other function blocks that also used
parameter change recognition if the latter were enabled before MC_BR_MoveCyclicXxxx and after MC_BR_MoveCyclicXxxx.
Example of a sequence of function bocks that would trigger this error:

1. MC_MoveAbsolute
2. MC_BR_MoveCyclicPosition (motion parameters greater than limit values)
3. MC_BR_MoveCyclicPosition (motion parameters unchanged)
4. MC_MoveAbsolute (motion parameters identical to 1.)
The sequence above would report axis error 5027: "Basis motion parameters (with override) exceed acceleration limits".
The following FBs were affected by this problem:

Input values were applied wrongly
The following input values could be applied differing by 1 unit, if they were negative (e.g. −54 instead of −55):
− MC_CamIn: SlaveScaling
− MC_BR_TouchProbe: PeriodChange
MC_Home: Periodic axis position sometimes calculated incorrectly
The periodic axis position was incorrect after calibration with MC_Home under the following conditions:
− An axis period must be defined.
− MC_BR_InitEndlessPosition must have been called.
− A negative value must be specified at the "Position" input of the MC_Home function block if the axis is calibrated with a "HomingMode" other
than mcHOME_RESTORE_POS.
Example:
− Axis period = 3600
− MC_BR_InitEndlessPosition was called.
− MC_Home.HomingMode = mcHOME_DIRECT
− MC_Home.Position = −100
MC_ReadActualPosition.Position was equal to 1596 in this case instead of (correctly) 3500.
New function block: MC_BR_ConfigPowerStageCheck
When the controller is turned on, the ACOPOS modules perform several checks of the connected motor or braking resistor by default. This
function block allows these checks to be individually enabled or disabled.
Error message and abort of actual value coupling after encoder error
In order for drives to be able to use an actual position from another drive as the master position (e.g. for axis coupling), it must be transferred
over the network cyclically via a transmission channel. If an error occurs on an encoder whose position is being transferred via a transmission
channel, then this situation will be indicated by an error message from the transmitting drive. In order for the coupling to continue working after
the error had been corrected, a restart of the controller used to be necessary.
From now on, each function block of a receiving axis reports error 29315: "Cyclic position transfer aborted due to axis error" if it is responsible
for the use of the actual position of a different axis and an encoder error occurs. At the same time, the coupling the function block is using is
detached and can be restarted by re−enabling the function block.
The following coupling function blocks were affected by this problem:

− MC_BR_AutControl
− MC_BR_CamDwell
− MC_BR_GearIn
− MC_CamIn
− MC_GearIn
− MC_GearInPos
This functionality is also no longer being used for the following function blocks:
− MC_DigitalCamSwitch
− MC_BR_DigitalCamSwitch
MC_Home with mcHOME_RESTORE_POS: Position sometimes restored incorrectly
The MC_Home function block together with the mcHOME_RESTORE_POS mode restored the position incorrectly if a previous attempt to
restore the position was aborted due to an axis error or the controller was turned off.
MC_BR_ReadCyclicPosition: Restart after encoder error was not possible at SDC axis
If an encoder error occurs when reading the actual position of an encoder of a SDC axis using MC_BR_ReadCyclicPosition, then the position
output of the function block remains set to the last valid value. Resetting the "Enable" input did not correct the problem.
Now when this occurs, error "29315: Cyclic position transfer aborted due to axis error" is reported. Once the source of the problem was
corrected and the "Enable" input was reset, the current position values are again output on the position output.
MC_Home with mcHOME_RESTORE_POS: Position could be restored incorrectly
If for periodic axes the product resulting from multiplying the configured units per revolution with the number of multi−turn revolutions
(distinguishable revolutions) of the encoder is larger than 4294967294, then the position was not restored correctly when using MC_Home with
mode mcHOME_RESTORE_POS.
Example:
− encoder_if.parameter.scaling.load.units = 3600000
− encoder_if.parameter.scaling.load.rev_motor = 3
− Number of multi−turn revolutions of the encoder = 4096
(3600000 / 3) * 4096 > 4294967294

MC_BR_BrakeControl: Incorrect axis state after brake test error
If an error occurred during a brake test that results in the Errorstop axis state, MC_BR_BrakeControl would incorrectly change the axis state
from Errorstop to Standstill.
New function block: MC_BR_ResetAutPar
This function block makes it possible to reset the parameters of the Cam Profile Automat to their default values. It is possible to reset either all
parameters and automat states at once or individually.
MC_BR_NetTrace: New commands
mcSAVE_RING_STARTIDX:
The data records contained in the network command trace are saved by the fact, that the start index of the ring buffer ("index after overflow") is
set with the current index value if the following conditions are valid:
− It was still no overflow in the network command trace ring buffer
− The "index after overflow" was not yet saved by calling this command
mcRESET_RING_STARTIDX:
The start index of the ring buffer ("index after overflow") is reset and can afterwards again be saved by calling the command
"mcSAVE_RING_STARTIDX".
MC_BR_CamTransition: Axis error 5102 may have occurred
The MC_BR_CamTransition function block returned axis error 5102: "Too many cam profile changes per cycle (master period too short)" after
the following sequence:
− MC_BR_CamTransition is enabled with the option "+mcLEAD_IN" on the "TransitionMode" input
− The function block is canceled by another function block or disabled by "Enable = FALSE"
− Another multi−axis function block is enabled (e.g. MC_GearIn) and subsequently ended or canceled
− MC_BR_CamTransition is enabled again with the option "+mcLEAD_IN" on the "TransitionMode" input
MC_BR_SetupController: New values for "Configuration.SetupControllerPar.Mode"
mcSPEED+mcT_FILTER_2(+mcISQ_F1_NOTCH)
With "+mcT_FILTER" the frequency response of the speed filter is used as a weighting value. When using a LinMot encoder, for example, this
may cause the calculated kv value to be too low. With "+mcT_FILTER_2" this weighting is not used.
mcSPEED+mcUSE_FILTER_PAR+mcUSE_TN
With this mode the determination of the controller parameters is accomplished with the preset values of the following controller parameters:
− speed.tn
− speed.t_filter
MC_MoveVelocity: Error 29217 despite correct input values
Under the following circumstances, the MC_MoveVelocity function block incorrectly reports error 29217: "Invalid input parameter":
− The value at the "Velocity" input is less than the configured limit value in the direction being moved
− The values for the velocity in the basis movement parameters of the axis structure and on the drive are greater than the limit values
configured on the drive
MC_BR_Simulation: New commands
The following commands are now available for MC_BR_Simulation:
mcSIMULATION_ON:
Switch simulation mode on
mcSIMULATION_INIT:
Initialize parameters of the simulation mode by transferring the parameters from the axis structure to the drive
mcSIMULATION_INIT+mcSIMULATION_ON:
Initialize parameters of the simulation mode and switch the simulation mode on
mcSIMULATION_READ:
Read parameters of the simulation mode from the drive and write them into the axis structure

Cam profiles can be transferred to index 15−20
Cam profiles can now be transferred to an index between 15 and 20 (previously 1−14) for use with the MC_BR_LimitLoadCam function block
or a CURVE−SPT function block. These cam profiles are permitted to have a Y initial value other than "0" and cannot be used for position
couplings (e.g. MC_CamIn, MC_BR_CamDwell, Cam Profile Automat, etc.).
Function blocks that can transfer cam profiles to index 15−20:

− MC_BR_DownloadCamProfileObj
− MC_BR_DownloadCamProfileData
MC_BR_GetHardwareInfo: New "MissionTimeEndDate" element for drive's hardware information, data types changed
The "MissionTimeEndDate" element is now available at the "HardwareInfo.Drive" function block output. It displays the end date of the mission
time as a value of data type UDINT in the following form:
0: Date not saved
YYYYMMDD: Eight−digit number for the date (e.g. "20330502" for "May 2, 2033")
In addition, the data types of the "Drive", "Card" and "Motor" elements of the function block output "HardwareInfo" of
MC_HW_INFO_COMPONENT_REF have been changed to MC_HW_INFO_DRIVE_REF, MC_HW_INFO_CARD_REF and
MC_HW_INFO_MOTOR_REF.
MC_BR_CalcCamFromSections, MC_BR_CalcCamFromPoints: Can now calculate cam profiles with a starting point not equal to "0.0"
The FB listed above can now be used to calculate cam profiles whose first y−coordinate is a value other than "0.0".
It is still not possible to specify a cam profile index greater than 14 for a cam profile automat.
These cam profiles can be transferred to the drive with the following function blocks using an "Index" greater than 14 and then used for the
ACOPOS "CURVE" function block:
MC_BR_CalcCamFromSections: Error in motion rule mc5TH_ORDER_POLYNOMIAL and motion task "constant speed to reverse" or "reverse
to constant speed"
Under the following circumstances, the MC_BR_CalcCamFromSections function block unjustifiably reports error 29289: "Invalid boundary
parameters":
− Section[x].Type = mc5TH_ORDER_POLYNOMIAL
− The values of the first and second derivatives of the boundary points of this section cause motion task "constant speed to reverse" or
"reverse to constant speed".
MC_TorqueControl, MC_BR_TorqueControl, MC_BR_VelocityControl: Possible to use with ACP10SIM axes.
The MC_TorqueControl, MC_BR_TorqueControl and MC_BR_VelocityControl function blocks can now also be used with ACP10SIM axes.
This allows torque and speed control to be effected with the MTLoadSim Library.
New function block: MC_BR_LimitLoadCam
This function block can be used to limit motor shaft torque

The limitation is defined for the range of movement of the axis using a cam profile. The "Mode" input can be used to select whether only the
torque generated by the controller action or the total torque (feed forward + controller action) should be limited.
The Y initial values of the cam profiles being used are permitted to be values other than 0 and – in this case – must be transferred to index
15−20 using MC_BR_DonwloadCamProfileObj or MC_BR_DownloadCamProfileData.
MC_BR_BrakeControl: Expansions for the safe brake test
This function block now provides support for the safe brake test:
− New structure element "TestMode" in MC_BRAKE_TEST_REF: This element can be used to to determine the method how the brake test is
carried out (0 = standard, 1 = safe brake test). This element must be set to "1", if the element which is described below, is also set.
− New structure element "EnableSBTRequestBySMC" in MC_BRAKE_MODE_REF: This element can be used to enable the automatic safe
brake test, which can then be requested and monitored by the SafeMC function block SF_SafeMC_SBT_BR. Without this kind of enabling, the
SafeMC function block cannot start the automatic safe brake test.
MC_BR_JogTargetPosition: In some circumstances, movement towards a "TargetPosition" occurred one period too late.
If at least one of the input parameters "Velocity", "Acceleration" or "Deceleration" was changed while an axis was already in the deceleration
phase when moving to the target position, then movement to the target position occurred in the following period instead. This was also the
case if the motion was possible in the current period with the modified input values.
MC_Stop: Change in behavior when braking ramp too small

If MC_Stop was called during an active movement with deceleration so small that stopping cannot take place withing the software limits, then
axis error "5032 or 5033: Acceleration too low − braking distance exceeds positive or negative SW limit" was reported and the motion
continued. The axis state was set to "Stopping" until the end of the motion.
From now on in this situation, a braking ramp is calculated with which stopping can take place without exceeding the software limits and used
to stop the axis. In addition, axis warning "36003 or 36004: Braking distance exceeds positive or negative SW limit − Deceleration parameter
increased" is reported.
MC_BR_ReadCyclicPosition: Restart after encoder error was not possible.
If an encoder error occurs when reading the actual position of an encoder using MC_BR_ReadCyclicPosition, then the position output of the
function block remains set to the last valid value. Resetting the "Enable" input did not correct the problem.
Now when this occurs, error "29315: Cyclic position transfer aborted due to axis error" is reported. Once the source of the problem was
corrected and the "Enable" input was reset, the current position values are again output on the position output.
Now possible to read ParIDs while a setup function block is active
The drive was previously unable to read ParIDs while a setup function block was active; this is now possible. It is still not possible to write
ParIDs.
Function blocks that can read ParIDs while a setup FB is active:

− MC_BR_ReadParID
− MC_BR_ReadParIDText
Cyclic read data via CAN interface not working (only in V2.380 − V2.39x)
No cyclic read data could be configured for axes on a CAN interface.

Function blocks that require cyclic read data to operate returned error "29242: Cyclic read data full" when activated.
New function block: MC_BR_LimitLoad
This function block can be used to limit motor shaft torque.

Inputs are included for specifying the torque limit values [Nm] for all four torque quadrants to which the limits apply. The torque limits can be
specified via ParIDs as well. The "Mode" input allows for choosing whether only the torque corrective action provided by the controller or the
overall torque (feed forward + corrective action) should be limitted.
MC_BR_AutCommand: "CommandAborted" was not set in some circumstances.
If the MC_BR_AutCommand was aborted by another motion function block, re−enabling the function block may have set the
"CommandAborted" output incorrectly.
Instead, the "Active" and "Busy" outputs remained set.
MC_BR_AutCommand: "CommandAborted" was sometimes set incorrectly
If the MC_BR_AutCommand was aborted by another motion function block and the "Enable" input is set to FALSE at the same time,
re−enabling the function block incorrectly sets the "CommandAborted" output.
The function block now executes as intended.
MC_BR_SetupInductionMotor, MC_BR_SetupSynchronMotor: New optional parameters
The following optional parameters can be specified when using the MC_BR_SetupInductionMotor and MC_BR_SetupController function
blocks:
− "Phase"... Motor phase (1,2,3)
− "InvCharacteristicGain"... Gain factor of the inverter curve
− "InvCharacteristicExponent"... Exponent of the inverter curve [1/A]
MC_BR_SetupController: New parameter "PropAmplificationPercent"
"PropAmplificationPercent" (50..150%) is then multiplied to these values in order to calculate the final controller parameters.
"PropAmplificationPercent=0" corresponds to 100%.
Determining the maximum possible torque of an axis

The maximum possible torque of an axis [Nm] can be determined by reading the new 1015 PLCopen parameter.
New function block: MC_LimitLoad
This function block can be used to limit motor shaft torque

Inputs are included for specifying the torque limit value [Nm] as well as the direction of movement to which the limit applies.
MC_MoveAdditive: Movement possible to an incorrect position
Under the following circumstances, it was possible that the axis incorrectly changed the direction of movement:
− A periodic axis was being used.
− MC_MoveAbsolute was active and the target position was in the previous or next period.
− MC_MoveAdditive was started.
Example:
− Period = 1000
− Current axis position = 800, MC_MoveAbsolute.Direction = mcPOSITIVE_DIR, MC_MoveAbsolute.Position = 200.
− During the absolute movement, MC_MoveAdditive is called with "Distance" = 400.
− The axis moved to position 600 in the current period, i.e. it reversed the direction of movement.
Now this movement ends at position 600 in the next period.
Axis state immediately changed from Errorstop to Standstill
The axis state was changed immediately from Errorstop to Standstill after canceling a movement under the following circumstances:
− Due to a drive error, an active movement was stopped, but the drive controller remained turned on.
− An NC Test window was open for the axis.
In this case (an open NC Test window), the axis state only changes from Errorstop to Standstill if one of the following conditions is met:
− MC_Reset is enabled in a program for this axis.
− A command was executed in the NC Test window that results in a different axis state.
MC_ReadActualPosition possibly output imprecise positions (only in V2.290 − V2.39x)
If the PLCopen factor was set to a large value, MC_ReadActualPosition sometimes output imprecise positions.
Example:
PLCopen factor=1000
monitor.s = 9
MC_ReadActualPosition = 0.009000001
MC_BR_MoveCyclicPositionExt: Axis error 1002 after ending a movement (only in V2.390)
Axis error "1002: Parameter outside the valid range" occurred under the following conditions:
− The MC_SetOverride FB was not enabled for the axis
− The MC_BR_MoveCyclicPositionExt function block was enabled with "AdvancedParameters.CoordinatedMovement = TRUE"
− The movement started by MC_BR_MoveCyclicPositionExt was aborted or ended.
This problem could occur for example, when processing of a CNC program was finished.
MC_BR_BrakeControl: New parameter "TestDuration"
The new "Configuration.BrakeTest.TestDuration" structure element can be used to specify how long the "TestTorque" should be applied to the
holding brake during the holding brake test.
MC_BR_MoveCyclicPositionExt: New advanced parameter "CoordinatedMovement"
The MC_BR_MoveCyclicPositionExt function block now has a new advanced parameter called "CoordinatedMovement". If this parameter is
set to 1 (TRUE), then the axis state is changed to Synchronized Motion instead of Continuous Motion when the function block is active. This
parameter is used by the ARNC0 to switch the axis to the state required by the PLCopen standard during coordinated axis movements.
ACP10SDC and ACP10SIM axes: Increased size and number of cyclic read and write parameters
Until now, ACP10SDC and ACP10SIM axes had the following data sizes for cyclic read and write parameters (same as POWERLINK axes):
Cyclic write data: 6 ParIDs, max. 18 bytes
Cyclic read data: 6 ParIDs, max. 18 bytes, max. 8 telegrams
From now on, the ACP10SDC and ACP10SIM axes have the following cyclic data sizes:
Cyclic write data: 10 ParIDs, max. 28 bytes
Cyclid read data: 12 ParIDs, max. 38 bytes, max. 8 telegrams
The MC_RECORD_REF data structure used with the "RecordInfo" output of the MC_BR_CyclicReadDataInfo function block has been
extended accordingly.
When reconfiguring applications that have been developed or tested with ACP10SIM axes to POWERLINK, it is important to note that there is
less cyclic read and write data available. This could have the following effects:
− Update rates for cyclic data worsen since more data telegrams are being used.
− The following errors may be reported:
− 29264: Cyclic write data full
− 29242: Cyclic read data full
MC_Reset: Axis state could mistakenly be changed to Stopping
The axis state was changed by MC_Reset from Disabled to Stopping under the following circumstances:
− An active movement was ended by switching off the controller ("MC_Power.Enable = FALSE").
− While ending the movement, an axis error occurred and the axis state changed to Errorstop.
− MC_Reset was called, and the axis state was changed from Errorstop to Disabled.
− MC_Reset was enabled one more time, or a second instance of the function block was enabled.
MC_Halt: FB call now also possible in Standstill
Starting MC_Halt while an axis was in Standstill used to cause error "29207: This movement type is currently not allowed".
"Done" is now reported immediately. Neither parameters nor commands are transferred.
MC_BR_HomeAcpEncoder: Referencing external encoders now possible with all drive systems
Until now, this function block could only be used for external encoders that were read and processed using interface cards in slot 3 or 4 of an
ACOPOS device.
It is now possible to use the function block for external encoders that are read and processed by other drive systems, ACP10SDC or
ACP10SIM axes.
The following is a list of configuration options for the "HomingParameters.Slot" function block input that are now valid for the various ACOPOS
series and axis types:
− ACOPOS: 2, 3, 4
− ACOPOSmulti, ACOPOSmicro, ACOPOSmotor, ACOPOSremote: 1
− ACP10SIM axes: 1, 2, 3, 4
− ACP10SDC axes: 2
MC_Home: Usage could lead to a restart of the target in service mode (only in V2.380)
The use of MC_Home with the mode mcHOME_RESTORE_POS for an axis with active motor simulation led to a restart of the target in service
mode.
MC_BR_MoveCyclicXxxx: Axis state mistakenly changed from Errorstop to Standstill
In the following circumstances, the function blocks listed below mistakenly changed the axis state from Errorstop to Standstill:
− The "Enable" input was reset in the same cycle that an event on the drive changed the axis state to Errorstop.
− The axis state switched to Errostop while a movement was being stopped after the "Enable" input was reset.

Gear function blocks could mistakenly cause axis error 5102
Gear function blocks could cause the following axis errors:

−5102: To many curve changes per cycle (master period too short)
Conditions that led to this error:

− The slave axis was an SDC axis or ACP10SIM axis.
− The cycle time of the NC Manager task class was greater than 2 ms.
− Small values were used for the gear factors.

− MC_GearIn
− MC_BR_GearIn
− MC_GearInPos

MC_TorqueControl, MC_BR_TorqueControl: Error corrections
The following errors have been corrected for both function blocks:
− If the value at the "Torque" input is changed with a rising edge at the "InitData" or "Execute" input respectively, the "InTorque" output is now
set to "0" for several cycles before the status is taken again from the cyclic data.
− The functionality of the function blocks could only be re−enabled after a failure of the ACOPOS device's 24 V power supply with a
workaround (changing values).
The following errors were additionally corrected for MC_BR_TorqueControl:

− If the speed limits at the "XxxMaxVelocity" inputs were set to the same value, error "29217: Invalid input parameter" is now output.
− The decimal places of the "Torque" input for the calculated speed limits were not taken into consideration when using "+mcV_LIMIT_CALC"
mode until now.
− If the mode is changed to "+mcV_LIMIT_CALC" during operation, the correct error "29275: At least one input value was changed while
"Enable = TRUE" ".
MC_ReadAxisError, MC_BR_ReadAxisError: Error 29294
If an error text for an error number has been determined using one of the FBs listed above, then the following error could be registered if the
errors of the respective axis have been acknowledged while determining the error text.
− 29294: Not able to determine error text. See error text string for details
− Error text string: Message number 0 not found
This problem could occur if MC_Reset was activated by a positive edge on the "Execute" input while error text was being actively determined
for the respective axis.
Function block not executed if axis not initialized
Some function blocks do not work if the "Execute" input was both set and reset before the specified axis is finished initializing.
In this case, the "Busy" output with the falling edge of the "Execute" input is immediately reset again and no further action is set by the function
block.
The following function blocks are affected by this problem:

− MC_BR_BrakeControl
− MC_BR_CheckAutCompensation
− MC_BR_GetHardwareInfo
− MC_BR_GetParIDTransferInfo
− MC_BR_InitModPos
− MC_BR_InitReceiveNetworkData
− MC_BR_InitReceiveParID
− MC_BR_InitSendParID
− MC_BR_SetupController
− MC_BR_SetupInductionMotor
− MC_BR_SetupIsqRipple
− MC_BR_SetupMotorPhasing
− MC_BR_SetupSynchronMotor
− MC_Home
− MC_WriteBoolParameter
MC_BR_AutCommand, MC_BR_CrossCutterControl: Value of a phase or offset shift is not reset in some circumstances
If performing the following sequence, then a phase or offset shift was not reset on the drive like it should have been:
− One of the coupling function blocks listed above and a phase or offset shift function block (e.g. MC_Phasing, MC_BR_Phasing,
MC_BR_Offset, MC_BR_OffsetZone, MC_BR_OffsetVelocity) are active.
− The phase or offset shift function block is disabled while the coupling function block is still active.
− The coupling function block is disabled.
− The coupling function block is re−enabled.
− The phase or offset shift function block being used before is re−enabled.
MC_BR_Phasing, MC_BR_Offset, MC_BR_OffsetZone: New "ShiftMode" mcRELATIVE_NO_RESET
If the new "ShiftMode" is active, then the offset is always interpreted as a relative value. In addition, the value of the offset on the drive is not
reset to "0" if the slave axis leaves the state "Synchronized motion" when a phasing or offset function block is active.
MC_BR_DigitalCamSwitch: New input element "Switches.MasterStartPosition"
The new input element "Switches.MasterStartPosition" can be used to specify the start position of the cam period relative to the zero point of
the axis position.
Reduction of cyclic POWERLINK frames now supported for all data points
Cyclic POWERLINK frames used to not be reduced for the data points listed below.
Cyclic data to the drive

If cyclic data to the drive is disabled or reduced to a length under four bytes, then the initialization of the affected axes is now aborted. These
axes can then no longer be operated with PLCopen MC function blocks.
Cyclic data from the drive

If cyclic data from the drive is disabled, then the following error is reported by all function blocks that require this data to operate:
− 29242: Cyclic read data full
Monitoring data
If complete monitoring data is not present in the cyclic POWERLINK frame from the drive, then the initialization of the affected axes is now
aborted. These axes can then no longer be operated with PLCopen MC function blocks.
MC_Home with mcHOME_RESTORE_POS: Position could be restored incorrectly
If the product resulting from multiplying the configured units per revolution with the number of multi−turn revolutions (distinguishable
revolutions) of the encoder is larger than the maximum value of the DINT data type (2147483647), then the position was not restored correctly
when using MC_Home with mode mcHOME_RESTORE_POS.
Example:
− encoder_if.parameter.scaling.load.units = 360000
− encoder_if.parameter.scaling.load.rev_motor = 5
− Number of multi−turn revolutions of the encoder = 65536
(360000 / 5) * 65536 > 2147483647
Cam profile automat: Start position as a DINT value
The master start position for the cam profile automat used to only be specified in REAL format, which led to problems with the precision of
values greater than 2^23. Now it is also possible to specify it as a DINT value.
The "StartPositionDINT" component has been added to the MC_AUTDATA_TYP data type. In order for it to be enabled, the value 128 must be
added to "MasterStartPosMode".
The following function blocks can use this new feature:

− MC_BR_InitAutData (operated with MC_BR_AutCommand)
New function block: MC_BR_RegMarkCapture002
This function block can be used together with MC_BR_CrossCutterControl for registration mark control in crosscutter applications.
The following are some of the available features:
− Correction calculation with "Valid" as a trigger for e.g. MC_BR_CrossCutterControl
− Delay of correction calculation with internal FIFO
− Optional limiting of correction
− Mean value generation of measured product lengths
− Calculation of the cutting length
− Calculation of the current distance between two registration marks
− Calculation of the number of FIFO elements
MC_BR_JogVelocity, MC_BR_JogTargetPosition: Movement could have been aborted by trigger event
If a movement was started with MC_BR_JogVelocity or MC_BR_JogTargetPosition after a movement was carried out with one of the function
blocks listed below, it was possible that the jog movement was ended by a trigger event and that this wasn't reported by MC_BR_JogXxx.
The following function blocks led to this behavior if they were active beforehand:
New function block: MC_BR_CheckEndlessPosition
This function block indicates whether the data address of an "endless position" data structure for an axis has already been initialized, i.e.
MC_BR_InitEndlessPosition has been called, and whether valid data exists in this structure to restore the axis position (using MC_Home and
"HomingMode=mcHOME_RESTORE_POS").
MC_BR_DigitalCamSwitch: Error "29208" occurred sometimes by mistake
If an axis reference was not specified at the "Output.Axis" input, error "29208: The axis object was changed since last FB call" is reported even
though "0" is a valid value for this input.
Error 29217 reported by mistake
The following function blocks may have incorrectly reported error "29217: Invalid input parameter" if they were enabled after an instance of
MC_BR_MoveCyclicVelocity(Ext) or MC_BR_MoveCyclicPosition(Ext) was active whose values for the motion parameters were larger than
the limit values of the axis:
− MC_GearOut
− MC_CamOut
− MC_MoveVelocity
Incorrect transmission channel used by MC_BR_InitReceiveParID in some circumstances
If the ParID sent from the master is specified for MC_BR_InitReceiveParID but the transmission channel remains set to 0 (function block
determines the transmission channel), the function block always used transmission channel 1 of the master.
MC_BR_VelocityControl: Potential problem after abort by MC_Power
If the following conditions weren't met, the controller of an axis wasn't turned off:
− MC_BR_VelocityControl and MC_Power were called in a task class other than that of the NC Manager.
− MC_Power was called before MC_BR_VelocityControl.
MC_AUTDATA_STATE_TYP: "MasterFactor" component now of data type DINT
The data type of the "MasterFactor" component in data structure MC_AUTDATA_STATE_TYP has been changed from UDINT to DINT. This
prevents the inadvertent specification of a value that is too large (greater than 2^31−1).
MC_BR_CrossCutterControl: Additional start mode
If the new additive mode mcCORRECT_CURRENT_CYCLE is added to the basic mode of "AdvancedParameters.StartMode", then a change
to the master−side product length ("ProductLengthCorrection") is applied in the current product cycle.
MC_BR_MoveCyclicPositionExt: Wrong behaviour of the axis when the "AdditiveParID" was used
If a "AdditiveParID" was configured at the MC_BR_MoveCyclicPositionExt FB, it could happen, that the axis did not follow the specified set
position value (= "CyclicPositon" + value of the "AdditiveParID").
MC_Home: Incorrect axis position after encoder parameters are changed
The homing mode mcHOME_RESTORE_POS used the encoder parameters that were initialized for the axis during the automatic global
initialization performed by the ACP10_MC library.
Any changes made to these parameters by the application were ignored, and mcHOME_RESTORE_POS subsequently resulted in an
incorrect axis position.
Now the encoder parameters are read every time MC_Home is called. This allows the application to modify the encoder parameters any time
prior to when MC_Home is called.
This applies to the encoder parameters for the axis structure that are initialized by MC_BR_InitAxisPar or MC_BR_InitAxisSubjectPar, as well
as to encoder parameters that are initialized using ParIDs (ENCOD2, ENCOD3).
MC_GearIn: Input values are sometimes not applied
After the following sequence, the values of the "RatioNumerator" and/or the "RatioDenominator" input were sometimes not applied.
− MC_GearIn is already active
− Another rising edge on the "Execute" input changes the gear ratio
Subsequently changing the gear ratio sometimes triggered the faulty behavior.
Multi−axis function blocks: Unwanted movement when exiting a compensation in the negative direction
With some multi−axis FBs, unwanted movements occurred when the master axis was moving in the negative direction after the coupling was
started and this caused a state with compensation gears to be exited in the negative direction.
From now on, the slave axis will be stopped when this occurs. Once the master axis has moved in the positive direction enough to make up for
the distance it moved in the negative direction, the slave again follows the coupling.

− MC_GearInPos
− MC_BR_CamDwell
MC_BR_CrossCutterControl: Changes and error corrections
The following changes and error corrections have been implemented for the FB MC_BR_CrossCutterControl:
The "CutMasterPosition" output value will now be output as soon synchronous movement switches to compensation movement.
Compensation was one unit too short if a negative "ProductLengthCorrection" was specified.
The "InCompensation" output was not set if the axis changed from cyclic cutting movement to standby.
The first value of "CutMasterPosition" was sometimes not calculated after a positive edge on the "EnableCut.
If, instead of "CutRangeMaster", only "CutterRadius" and "NumberOfKnives" was specified or if "CutOverspeed" was used, then incorrect
values were calculated for the "CutMasterPosition" output.
MC_BR_SetupInductionMotor: New optional parameter "PhaseCrossSection"
Using this parameter the cross section of a motor phase can be specified now.
Multi−axis FBs: Error 29200 could be mapped to an incorrect NC object
With the multi axis function blocks listed below, specifying an invalid master axis and no "MasterParID" resulted in the following error being
entered in the axis structure of the NC object ncNET_GLOBAL instead of in the axis structure of the slave:
− 29200: The axis object is invalid
This prevented the error text from being read by MC_ReadAxisError or MC_BR_ReadAxisError via the axis object of the slave axis.
In the network command trace the error was also entered for the NC object ncNET_GLOBAL.

− MC_CamIn
− MC_GearIn
− MC_GearInPos
− MC_BR_CamDwell
− MC_BR_DigitalCamSwitch
− MC_BR_GetCamMasterPosition
− MC_BR_GetCamSlavePosition
− MC_BR_RegMarkCapture001
New FB MC_BR_SetupSynchronMotor
MC_BR_SetupSynchronMotor: Starts and stops the setup (motor parameter identification) for an synchron motor and saves the data
determined during setup.
MC_Home: New homing modes for homing to a block
The following homing modes are now available:

− mcHOME_BLOCK_DS: Homing to mechanical limit with lag error value as detection criteria
− mcHOME_BLOCK_TORQUE: Homing to mechanical limit with torque value as detection criteria
The new parameters for these homing methods, "ds_block" and "torque_lim", are defined in the NC INIT Parameter module or via the axis
structure.
An unintentional direction change occurred while approaching the target position
Setting "JogToTarget" shortly before the target position changed the direction of movement and the target position was approached within the
current period.
Now when this happens, the specified deceleration is taken into consideration and the target position is approached in the next period.
Transfer of a movement command was aborted by movement stop on other NC object
If one of the following FBs caused a movement stop, the transfer of a movement command currently in progress for the second NC object on
the same communication channel could also be aborted incorrectly:
− MC_Stop
− MC_Power
− MC_GearInPos
If for example MC_Stop was called for the virtual axis, parameter transfer for the following FBs could also be aborted for the real axis on the
same communication channel.
− FBs for basis movements
− FBs for coupling
− FBs for torque control
− FBs for speed control
− FBs for cyclic set values
After this problem occurred, the transfer of subsequent parameter lists for the affected NC object was also blocked (status "ncACTIVE" when
calling the NC action) until a movement stop FB was called for this NC object itself.
MC_BR_CalcCamFromPoints: Cam profile data could be calculated incorrectly
If the following conditions were met it could happen that some of the calculated polynomial coefficients were wrong:
− At least 57 slave positions were passed to the FB
− "Configuration.NumberOfPolynomials" was set to zero or >= 56
− The FB was consecutively activated several times
New FB: MC_BR_GearIn
Just like MC_GearIn, this FB can be used to establish a specified gear ratio between a slave axis and a master axis.
MC_BR_GearIn also provides the following functions:
− Select whether to perform coupling, gear ratio change and/or stop without compensation.
− Set the jolt time for compensation
− More accurate grading of the gear ratio
− The gear ratio can even be changed when a compensation movement to achieve a previous gear ratio is already underway.
New FB: MC_BR_OffsetZone
With this FB an offset shift can be conducted during an active coupling by means of adding a position to the slave axis. The shift is carried out
inside a defined position window within the period. Optionally a ParId can be used as source of the position.
New FB: MC_BR_OffsetVelocity
With this FB a offset shift can be conducted during an active coupling by means of adding a velocity to the slave axis. Optionally a ParID can
be used as source of the velocity or trigger ParIDs can be defined for activating and dectivating the shift operation.
MC_BR_TorqueControl: The "StartParID" input is now evaluated
When this input is configured, the torque controlled movement can be started by an event on the drive.
Automatic changes to the software limits now entered in the logger
The PLCopen MC library ACP10_MC has always changed the software limits for an axis in the corresponding NC data structure to the values
listed below when zero is defined as the axis period (or when no axis period is defined explicitly) and when the following conditions are met:
− limit.parameter.pos_sw_end > 8388607
− limit.parameter.neg_sw_end < −8388608
From now on, automatic changes to the software limits will be entered in the logger, along with the details in the ASCII data:
− <Name of the NC object>
− PLCopen MC axis period is zero
− POS_SW_END adjusted to 8388607
− NEG_SW_END adjusted to −8388608
ID#400088413 : solved problem, known since ACP10 V2.32.2, solved since V2.350
MC_MoveVelocity and MC_BR_MoveVelocityTriggStop now only transfer the velocity in the specified movement direction
Until now both FBs transferred the defined velocity to the drive always for both directions. When the limits were set differently the error "29217:
Invalid input parameter" could be reported and the movement was not started even if the defined velocity was permissible for the selected
direction.
"MC_MoveVelocity" and "MC_BR_MoveVelocityTriggStop" now transfer the defined velocity to the drive only for the selected direction.
MC_BR_TouchProbe: New mode "+mcUSE_AXIS_PERIOD"
Using the additive mode "+mcUSE_AXIS_PERIOD" ignores the "Period" input and uses the axis period instead. Also, when the FB is activated
("Enable = TRUE"), the calculation for the "RecordedPeriodicValue" output uses the offset of the axis period instead of the reference point "0".
This ensures that – even if the INTEGER ParID overflows while the FB is inactive – the value on the "RecordedPeriodicValue" output matches
the axis position from MC_ReadActualPosition whenever the FB is reactivated.
The new mode can be used for the following ParIDs:

− ACP10PAR_PCTRL_S_SET (real axis)
− ACP10PAR_PCTRL_S_ACT (real axis)
− ACP10PAR_SGEN_S_SET (real axis)
− ACP10PAR_S_SET_VAX1 (virtual axis)
8B0Pxxxxxxxx.xxx−x: If the controller was switched off, then the output values of MC_BR_PowerMeter were not valid.
MC_BR_RegMarkCapture001: Wrong "PositionError" after a position overflow of the master axis
The value of "PositionError" was calculated incorrectly, if a periodic master axis was used and the FB was activated again after a DINT position
overflow of the master.
MC_BR_DigitalCamSwitch: The specified "MasterParID" was not used in some circumstances
In each of the following situations, the set position of the axis specified for the "Switches.Master" input was used instead of the
"Switches.MasterParID":
− The same axis reference was used for "Switches.Master" as was used for "OutputOptions.Axis".
− The axis reference of the real axis of a channel was used as "Switches.Master", and the axis reference of the virtual axis of the same
channel was used as "OutputOptions.Axis".
− The axis reference of the virtual axis of a channel was used as "Switches.Master", and the axis reference of the real axis of the same
channel was used as "OutputOptions.Axis".
− No axis reference was specified for "OutputOptions.Axis".
MC_Power: Error 29209 at controller switch−off
If switching off the controller took longer then two seconds, e.g. due to a move stop with low deceleration, the FB reported the following error:
− 29209: The drive is in error state
The axis remained in the state Stopping, thus when setting the input "Enable" again, the FB reported the following error:
− 29238: The FB cannot be used in the current state
From now on no error is reported in this case, but waited until the deceleration ramp is finished.
MC_Power: Error 29209 at controller switch−on with phasing
If switching on the controller took longer then seven seconds, e.g. due to phasing in dither mode, the FB reported the following error:
− 29209: The drive is in error state
From now on this error is only reported, if switching on the controller takes longer than 20 seconds.
MC_BR_InitModPos did not completely reparametrize an axis into a periodic axis
If an axis, which had no period defined, was reparametrized into a periodic axis by the FB MC_BR_InitModPos, the axis had to be homed
before a movement could be started, although that is not required for periodic axes. In this case movement FBs reported the following error:
− 29205: The axis is not homed
CAN interface: Value calculated automatically for SYNC_MASTERPERIOD can be too small
The ACP10_MC library automatically calculates a value for the ParID SYNC_MASTERPERIOD for all drives on a CAN interface during the
initialization phase. The value of this ParID defines the master cycle time for drive synchronization (axis coupling, cyclic data to/from drives)
When a large number of positions for coupled axes or a large amount of cyclic data is sent to and from the drives, the automatically calculated
value may be too small.
This can cause speed jumps on slave axes, for example.
Now there is an option to specify the value for this ParID explicitly for each CAN interface in the NC configuration, whereby this value is
initialized on the drives. If this option isn't used and the value in the NC configuration is left at the default setting ("SYNC_MASTERPERIOD
Default"), the ACP10_MC library will calculate and transfer the value for this parameter in the initialization phase as before.
MC_Home: "Position" greater than axis period produced error 29225
If for periodic axes the value on the input "Position" of MC_Home was greater than the axis period, always the following error was reported:
− 29225: The target position is outside the axis period
From now on no error is reported, if a "HomingMode" is selected which doesn't use the "Position" input value or uses it as offset respecitvely.
The modification was made for the following "HomingModes":

− mcHOME_ABSOLUTE (and mcHOME_ABSOLUTE_CORR)
− mcHOME_DCM (and mcHOME_DCM_CORR)
− mcHOME_RESTORE_POS
− mcHOME_DEFAULT
− mcHOME_AXIS_REF
MC_ERRORRECORD_REF: New element "Type"
The data type MC_ERRORRECORD_REF now has an additional element "Type", which represents the type of the currently displayed error.
The following error types can be distinguished:

− mcAXIS_ERROR (axis error)
− mcAXIS_WARNING (axis warning)
− mcFB_ERROR (PLCopen FB error)
The following function blocks have an output of this data type, so they are affected by this change:
− MC_BR_ReadAxisError
− MC_BR_NetTrace
− MC_BR_ParTrace
− MC_BR_ParTraceConfig
− MC_BR_SaveCamProfileObj
MC_GearIn: In some circumstances, a speed jump occurred on the slave axis (only in V2.160 − V2.330)
If the following conditions were met when starting the gear coupling with the FB MC_GearIn, there was a speed jump on the slave axis:
− The slave axis was moving in the negative direction.
− The master axis was not moving.
New FBs: MC_BR_MoveCyclicPositionExt, MC_BR_MoveCyclicVelocityExt
With these FBs cyclic set values can be transferred from the PLC to a drive. Additionally the value of a ParID can be added to the set value
and the jolt limitation (limit.parameter.t_jolt) can be deactivated on the drive during the movement.
MC_BR_JogLimitPositon, MC_BR_JogTargetPositon: Axis state was not set correctly
MC_BR_JogLimitPosition: The axis state was not changed from Discrete Motion to Standstill after one of the limit positions was reached.
MC_BR_JogTargetPosition: The axis state was not changed from Discrete Motion to Standstill after the "TargetPosition" was reached.
Transferring Cam Profiles, ACOPOS Parameter tables and Parameter Sequences delayed processing of other FBs
When one of the following FBs was called, data transfer to a drive from any other FB, which was subsequently called, was delayed until
processing of the previously called FB was completed:
− MC_CamTableSelect
− MC_BR_InitParTabObj
− MC_BR_DownloadParSequ
Now, data is transferred to the drives in parallel for the FBs listed above and all other FBs, so that processing of these other FBs is no longer
delayed.
Under certain circumstances an active movement could not be stopped
With the FBs listed below an active movement could not be stopped, if the following conditions were met:
− The value of the FB input "Deceleration" (if existing) is greater than the limit value of the deceleration, which is currently specified on the
drive.
− The value of at least one limit value of the deceleration within the axis structure is greater than the value, which is currently specified on the
drive.

− MC_Stop
− MC_Halt
− MC_BR_CamDwell
New FBs: MC_BR_CalcPointsFromCam, MC_BR_CalcSectionsFromCam

MC_BR_CalcPointsFromCam: Calculation of node vectors from a polynomial cam profile.
MC _BR_CalcSectionsFromCam: Calculation of a list of points from a polynomial cam profile with corresponding motion rules.
MC_BR_InitAxisPar and MC_BR_InitAxisSubjectPar multiplied basis movement parameters by the PLCopen axis factor
The function blocks MC_BR_InitAxisPar and MC_BR_InitAxisSubjectPar ("Subject" = ncBASIS_MOVE) multiplied the basis movement
parameters by the PLCopen axis factor instead of dividing by it. This resulted in wrong values of the PLCopen parameters 1001−1006. These
parameters serve only for display purposes, the functionality of other FBs was not affected.
CAN−Bus: Problem in case of a network coupling (only in V2.280 − V2.321)
After a coupling was started, the master axis could not be used anymore. FBs called for the master axis reported "Busy" all the time.
MC_Home: mcHOME_RESTORE_POS did not work under certain circumstances (only in V2.290 − V2.321)
If MC_Home was used with "HomingMode" mcHOME_RESTORE_POS the position could be restored wrongly under the following
circumstances:
− An NC test was opened for the axis
− The controller was off
The Jog−FBs could start a new movement only after the previously active was completely finished
Now a movement can be started at any time by the following FBs, if the inputs "JogPositive" or "JogNegative" are set.
MC_Power reports error 29238 when activated again
At deactivation of MC_Power the FB output "Status" could have been set to FALSE, even though the axis state was still Standstill. Therefore at
an immediate reactivation of MC_Power the error "29238: The FB cannot be used in the current state" could have occured.
New FB: MC_BR_GetParIDTransferInfo
This FB provides information about the ParID cross communication of an axis.
TorqueControl FBs could not be aborted by MC_Halt
If the function block MC_TorqueControl or MC_BR_TorqueControl should have been aborted by MC_Halt, MC_Halt reported the error "29217:
Invalid input parameter" and the TorqueControl FB stayed active. Now these function blocks can be aborted also by MC_Halt.
MC_Power: The axis state could be set to Standstill, even though the controller was off
When resetting the input "Enable" the axis state could be set to Standstill for a short period and afterwards back to Disabled, even though the
controller was always off.
New FB: MC_BR_CrossCutterControl
This FB can be used for cross cutter applications. Amongst other things the following features are available:
− Pause the movement
− Carry out a registration mark correction
− Specify an over−synchronous velocity for the cutting process
− Use a cam profile for a push−out movement
Ending MC_BR_RegMarkCapture001 does not transfer parameters any more

If the input "Enable" of MC_BR_RegMarkCapture001 was set to FALSE during a network failure, the FB persitantly tried to transfer
parameters. This resulted in a lot of entries in the network command trace.
The necessary parameters are downloaded now at the next activation of the FB.
New functionality: If MC_BR_VelocityControl is activated, the actual values are output now by MC_ReadActualXxx FBs
Once the MC_BR_VelocityControl is activated, the actual values are output (until now set values) by MC_ReadActualPosition and
MC_ReadActualVelocity. If the FB MC_BR_VelocityControl is aborted, the FBs provide the set values again.
New FBs: MC_BR_JogVelocity, MC_BR_JogLimitPosition, MC_BR_JogTargetPosition
MC_BR_JogVelocity: An axis can be operated in jog mode.

MC_BR_JogLimitPosition: An axis can be operated in jog mode within defined position limits.
MC_BR_JogTargetPosition: A periodic axis can be operated in jog mode, additionally it can be stopped at a defined target position within the
period.
New FB: MC_BR_SaveCamProfileObj
This function block saves cam profile data, which is available on the PLC in a variable of the type MC_CAMPROFILE_TYP, into a data
module.
MC_BR_VelocityControl: Error 29302 was reported unjustifiedly
If the input "Enable" of MC_BR_VelocityControl was reset before the function block had set the output "Active", every following setting of the
input "Enable" led to the Error 29302: "One instance of the function block is already active" although no instance of the function block were was
active.
ParID transfer between drives can be changed now
If send and receive channel are set explicitly at FBs for initializing the ParID transfer between drives, the parameters of the channels can be
changed later on. This add−on applies to POWERLINK and SDC, but not to CAN.
The following FBs were extended:

− MC_BR_InitSendParID
− MC_BR_InitReceiveParID
− MC_BR_InitMasterParIDTransfer
New FB: MC_BR_InitReceiveNetworkData
With this FB 4−byte data from a POWERLINK station can be read into a drive, which is located on the same network .
MC_Home: Usage could lead to a restart of the target in service mode (only in V2.301)
The use of MC_Home for a periodic axis in encoderless mode led to a restart of the target in service mode.
MC_InitFunction: Error 1 by reading SCALE_ENCOD2_REV (only in V2.301)
If two encoder control was activated, then the MC_InitFunction for ACOPOSmulti or ACOPOSmicro falsely attempted to read ENCOD2 ParIDs
of axis1. This caused the error 1: "Invalid parameter ID" when reading SCALE_ENCOD2_REV.
Now for ACOPOSmulti or ACOPOSmicro the parameters necessary for two encoder control are read correctly from axis2.
MC_BR_AutControl: Parameter transfer could be aborted by MC_Stop
If MC_Stop was called during a parameter transfer of MC_BR_AutControl (e.g. signals set or reset), it was possible that the parameter transfer
was aborted and the error 29268: "FB aborted by another one" was reported. Now only such parameter transfers are aborted which contain a
start or restart command.
MC_Home: The mode mcHOME_RESTORE_POS did not work for two encoder control
If the "HomingMode" = mcHOME_RESTORE_POS was used for axes, for which two encoder control was activated, the axis position was not
correctly restored.
MC_Home: The mode mcHOME_RESTORE_POS did not work for simulated axes
If the "HomingMode" = mcHOME_RESTORE_POS was used for axes, for which the ACOPOS simulation mode "Standard" or "Complete" was
defined in the NC mapping table, the axis position was not correctly restored.
Now the FB MC_Home with "HomingMode" = mcHOME_RESTORE_POS works for axes with activated ACOPOS simulation in the same way
as for axes with activated motor simulation.
MC_BR_ReadDriveStatus: "Valid" was set before all status information was valid (only in V2.241 − V2.300)
In the connected structure of the data type MC_DRIVESTATUS_TYP "Valid" was immediately set, if the successful end of the network
initialization is signalized by "NetworkInit" = TRUE. At that time some of the other status information was not valid.
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC mapping table. The parameters contained in these
ACOPOS parameter tables are transferred to the ACOPOS during the ACOPOS startup.
If "CMD_SIMULATION" = ncSWITCH_ON was present in an initial ACOPOS parameter table, then "Simulation" = TRUE was set three NC
Manager task class cycles after "Valid" = TRUE.
The status of "HomeSwitch", "PosHwSwitch", "NegHwSwitch", "Trigger1" and "Trigger2" is depending on the active levels which are defined for
these inputs. That's why wrong values could be displayed as long as the transfer of the active levels to the ACOPOS was not finished.
Now "Valid" = TRUE is set after the transfer of the parameters of the NC INIT parameter module is successfully finished. At that time it is
guaranteed that all status information is valid.
MC_BR_ParTrace: New component "Format" in data type MC_DATOBJ_REF for selection of a format for the trace data to be saved
If for saving of the trace data into a data object the type mcFILE is used, then another data object format than the binary format can be defined
with this component.
The following constants can be used for "Format":

− mcFILE_BIN: Binary format (default setting)
− mcFILE_CSV: CSV format
− mcFILE_TXT: Text format
MC_BR_AutCommand: Invalid axis state after "Start" or "Restart"
If the inputs "Start" or "Restart" were set while a NC Test for the slave axis was open, an invalid axis state was the result.
MC_BR_TouchProbe: New mode "+mcUPDATE_PERIOD"
With the additive mode "+mcUPDATE_PERIOD" the acceptance of a new value of the input "Period" is allowed, while the FB is active.
A coupled movement couldn't be influenced by MC_BR_Phasing or MC_BR_Offset
If the parameters of the cam profile automat were updated by MC_BR_InitAutData, MC_BR_InitAutPar or MC_BR_AutControl while a phase or
offset shift was active, MC_BR_Phasing or MC_BR_Offset lost their influence on the movement. Only at a rising edge on the input "InitData"
the next shift was considered.
MC_BR_HomeAcpEncoder: The output "Done" could be set to early
After a repeated call of MC_BR_HomeAcpEncoder it could happen that the output "Done" was immediately set, though the homing was still
active.
MC_BR_ReadDriveStatus: "HomingOk" was set twice under certain conditions
If MC_Home was used with mode mcHOME_RESTORE_POS, MC_BR_ReadDriveStatus could set the flag "HomingOk" briefly to "TRUE" and
to "FALSE" again under certain conditions, while the homing was carried out. At the end of the homing procedure "HomingOk" was set to
"TRUE" again.
MC_BR_RegMarkCapture001, MC_BR_TouchProbe: Outputs were possibly not set after a network failure or drive reset
The FBs didn't set any output after the network connection was lost or a drive reset was performed and if they were enabled before all axes left
the state Errorstop.
Starting movements without homing
Writing to the new PLCopen parameter 1014 makes it possible to deactivate the software limit monitoring. Movements can be startet then
without homing the axis prior to that.
For periodic axis the monitoring of the software limits is deactivated automatically and the PLCopen parameter 1014 is set. Therefore it is
possible now to start movements for periodic axes without homing.
MC_BR_DownloadCamProfileData: In rare cases a pagefault could occur (only in V2.290)
In rare cases the download of a cam profile with MC_BR_DownloadCamProfileData could lead to a pagefault.
MC_BR_AutControl always used the limit value for "Deceleration" (only in V2.270 − V2.28x)
MC_BR_AutControl ignored at "Enable" = FALSE or "Stop" = TRUE the value of the input "Deceleration" and used always the limit value from
the axis structure or from the NC INIT parameter module respectively.
MC_BR_Offset and MC_BR_Phasing could use wrong ParID
If a master axis and a "MasterParID" were specified at the coupling FB and master and slave axis resided on different drives (resp.
ACOPOSmulti channels), MC_BR_Offset and MC_BR_Phasing did not use the ParID of the master axis in the "ApplicationMode"
mcMASTER_POSITION_BASED or mcMASTER_DISTANCE_BASED but the same ParID of the slave axis as master of the shift profile.
Coupling−FBs reported errors that limits were exceeded at the compensation calculation
If for a virtual slave axis the basis movement or for a real slave axis the limit parameters were reinitialized between two calls of a coupling FB
an error could occur during the compensation gear calculation, or in case of MC_GearIn the compensation movement took a longer master
distance then at the first call.

− MC_GearIn
− MC_GearInPos
− MC_BR_CamDwell
Coupling FBs now use the parameter "MasterParIDMaxVelocity" also when no "MasterParID" is specified
The following FBs now use the parameter "MasterParIDMaxVelocity" also in case that no "MasterParID" is specified , but the set position is
used:
− MC_GearIn
− MC_GearInPos
− MC_BR_CamDwell
Cam profile FBs did not transfer "MasterParIDMaxVelocity"
The following FBs did not transfer "MasterParIDMaxVelocity" when the paramters were initialised anew using "InitData".

− MC_BR_CamDwell
MC_BR_CamTransition: When the FB was activated again, the LeadIn was possibly not executed
If the inputs "Enable" and "LeadIn" were reset in the same cycle and afterwards set again simultaneously, the FB didn't start the LeadIn
movement.
MC_BR_CamTransition: The lead in behavior wasn't correct, if the FB was started while the master was in stand still
If MC_BR_CamTransition was used with "CamMode" mcTIME_BASED and the master axis was started after the FB was activated, depending
on the acceleration of the master axis the following misfeatures could appear:
− Low acceleration of the master axis: The "CamTime" of the first three cam runs was not equal to the value which was specified on the input
"CamTime".
− High acceleration of the master axis: Starting with the third cam run the starting position of the cam within the master period was permanently
shifted.
Cam profile FBs multiplied master parameters by the PLCopen axis factor of the slave axis
When a "MasterParID" but no "Master" was specified for the following FBs all input parameters with a master unit relation were multiplied by
the PLCopen axis factor of the slave axis.

− MC_BR_CamDwell
MC_BR_TorqueControl: Evaluation of encoder counting direction
The FB now evaluates the encoder counting direction , and if necessary inverts "Torque" as well as "PosMaxVelocity" and "NegMaxVelocity".
Therefore the same moving direction is kept as with other basic moving FBs, if the counting direction of the encoder within the axis structure
ACP10AXIS_typ is set to ncINVERSE.
MC_BR_VelocityControl: Evaluation of encoder counting direction
The FB now evaluates the encoder counting direction, and if necessary inverts "CyclicVelocity", "CyclicVelocityCorrection" as well as
"CyclicTorque" with mode "+mcFF". Therefore the same moving direction is kept as with other basic moving FBs, if the counting direction of
the encoder within the axis structure ACP10AXIS_typ is set to ncINVERSE.
MC_Reset can now be used in any axis state
Until now the MC_Reset could only be used in the axis state Errorstop for acknowledging all axis errors and changing the axis state from
Errorstop to Disabled or Standstill.
From now on the FB can also be used on axes, which aren't in the axis state Errorstop. All pending axis errors, axis warnings and PLCopen FB
errors are thereby acknowledged. The axis state is not changed.
MC_BR_CamTransition: Cams downloaded with MC_BR_DownloadCamProfileXXX, couldn't be used with MC_BR_CamTransition
Cam profiles downloaded to the drive with MC_BR_DownloadCamProfileObj or MC_BR_DownloadCamProfileData, could not be used with
MC_BR_CamTransition. This FB reported the error "29250 CamTableID is invalid".
MC_Power changed axis state from Errorstop to Stopping
If the axis state changed to Errorstop due to an event on the drive, MC_Power was disabled and the deceleration ramp took longer then two
seconds, then the axis state was set from Errorstop to Stopping.
MC_BR_RegMarkCapture001: Searching for registration marks did not start anymore
If the FB was aborted while searching for a registration mark by resetting the input "Enable" an automatic search
("ProductParameters.MissedTriggerCount") or the manual mode ("+mcMANUAL_SEARCH") was not working after reactivation, if the
registration mark should be searched for. The output "SearchActive" was always set.
MC_BR_RegMarkCapture001: The automatic search for registration marks was initiated too late
The FB initiated the search for a lost registration mark one missing registration mark (output "MissedTriggers") too late. However the output
"SearchActive" was set already when "MissedTriggers" reached the value of "ProductParameters.MissedTriggerCount".
MC_BR_VelocityControl accepts a new value of the input "Deceleration" if "Enable" is set to FALSE
To be able to end a movement, which was started with the FB MC_BR_VelocityControl, with a different deceleration than the originally set by
"Deceleration", the FB accepts now a new value on the input "Deceleration", if the input "Enable" is set to FALSE.
Virtual axis is not automatically homed to the position "0" any more
After the initialization of the virtual axis (e.g. after a drive reset, network failure, ...) it is not automatically homed to the position "0" anymore.
MC_BR_Offset and MC_BR_Phasing: New parameter "MasterMaxVelocity"
The FBs MC_BR_Offset and MC_BR_Phasing have a new parameter "AdvancedParameters.MasterMaxVelocity" for specifying the master
speed with which the shift profile is calculated in "ApplicationMode" mcMASTER_POSITION_BASED and mcMASTER_DISTANCE_BASED.
MC_ReadActualPosition, MC_ReadActualVelocity: The output "Position" or "Velocity" can now be faster refreshed on SG4 targets with
POWERLINK
Till now the minimal refresh time of "MC_ReadActualPosition.Position" or "MC_ReadActualVelocity.Velocity" was identical to the cycle time of
the NC Manager task class. From now on it is identical to the cycle time of the task class which is defined for the the handling of cyclic data.
MC_BR_CamTransition: Start position of the cam profile could be shifted permanently.
When MC_BR_CamTransition was used with the "CamMode" mcTIME_BASED, the start position of the cam profile within the master period
was permanently shiftet, if the FB was activated while the master axis was in standstill.
MC_BR_CalcCamFromPoints: Coefficient a of the first polynomial ("PolynomialData[0].a") is now set to the value "0.0"
Due to roundings a value for "PolynomialData[0].a" could be calculated which is different from "0.0" in the decimal places. If this cam profile
data was transferred to an axis, the error 5304: "Format error in cam profile data" was reported.
MC_BR_RegMarkCapture001calculated wrong "ActPosition"
If a PLCopen axis factor which was unequal to "1" was used for an axis specified on input "Axis" , the first "ActPosition" values were calculated
wrongly.
New FB MC_BR_BrakeControl
Using this function block the following commands for the holding brake can be executed. Combinations of certain commands are possible.
− Open the holding brake

− Close the holding brake
− Initialize control parameters for the holding brake
− Initialize parameters for the torque check
− Execute a torque check of the holding brake
− Get the mechanical status of the holding brake
MC_BR_TorqueControl: Wrong behaviour after stop of movement during a parameter update
The following problems occurred, if an MC_BR_TorqueControl was aborted by MC_Power or MC_Stop while an online update of parameters
("InitData = TRUE") was in progress.
− The output "CommandAborted" was permanently set. All other outputs were not set.
− The FB started a movement after "Enable" and "StartSignal" were set to TRUE, but the check of the mode "+mcTIME_LIMIT" did not work.
MC_BR_PowerMeter: New additional mode mcMAX_IV_TIME
By using the additional mode mcMAX_IV_TIME the MC_BR_PowerMeter can now be used with an interval duration of 10 minutes. The
interval, as usual, can be finished any time by using the input "RestartInterval" or by an event configured on the input "EventInput".
MC_BR_CamTransition: Wrong behaviour with "CamMode" mcTIME_BASED
If the MC_BR_CamTransition was used with the "CamMode" mcTIME_BASED the following wrong behaviours could occur:
− The output "InCam" was not set while the velocity of the master axis was changing.
− The "MasterStartPosition" within the cam profile was permanently shifted with change of the master velocity.
− The error "29217: Invalid input parameter" was reported if the value "0" was assigned to the input "MasterScaling", although this is allowed.
− The input "InitData" was ignored if it was set in the same cycle as "LeadInSignal" or "LeadOutSignal" were set.
MC_BR_RegMarkCapture001: New additional mode mcCONTINUE_CONTROLLER_OFF

By using the additional mode mcCONTINUE_CONTROLLER_OFF the MC_BR_RegMarkCapture001 does not report an error when the
controller of the axis is switched off and continues its operation.
MC_BR_MoveCyclicPosition, MC_BR_MoveCyclicVelocity: Problem after network failure or drive reset
If the FBs MC_BR_MoveCyclicPosition or MC_BR_MoveCyclicVelocity were activated again after a network failure or drive reset, they
occupied a new area in the POWERLINK broadcast channel. If this broadcast channel was already fully occupied, the FBs reported an error
and could only be used again after a restart of the PLC.
New FBs MC_BR_InitSendParID, MC_BR_InitReceiveParID, MC_BR_ReceiveParIDOnPLC
MC_BR_InitSendParID: Initializes sending of a ParID from a drive to the network (via MA1/2/3_CYCLIC_SEND).
MC_BR_InitReceiveParID: Initializes receiving of a ParID from the network on a drive.
MC_BR_ReceiveParIDOnPLC: Reads the value of a sent ParID (via MA1/2/3_CYCLIC_SEND) from the network into the PLC.
Handling of cyclic data in different task classes: Page fault in the initialization phase (only in V2.180 − V2.270)
If for the handling of cyclic data another task class than the NC Manager task class is defined (this is possible from V2.180 on), then in very
rare cases a page fault could occur.
MC_BR_VelocityControl, MC_BR_MoveCyclicVelocity: Incorrect movement behavior when started outside the software limits.
If the FBs MC_BR_VelocityControl or MC_BR_MoveCyclicVelocity were activated outside the software limits, the movement behavior was not
correct.
Neither an error was reported if a movement in invalid direction should be started, nor a movement which was started for the valid direction
was executed. In these cases the FBs set their output "Active" or "Valid"
MC_BR_CalcCamFromSections swapped input parameters
The function block MC_BR_CalcCamFromPoints used the value of "Configuration.EndSlope" instead of "Configuration.StartCurvature" and
vice versa, if "CamType = mcNON_PERIODIC" was configured.
MC_ReadParameter can also be called in a INIT−SP of a task now
The function block MC_ReadParameter for reading PLCopen parameters can be called in a INIT−SP of a task now.
Axis can be used without NC INIT parameter module now
Axis can now be operated with FBs of the ACP10_MC library even if no NC INIT Parameter module is specified in the NC Mapping table.
Instead of that the correct intialization values can be assigned to the axis structure within a INIT SP of a task. If this is not done when no NC
INIT Parameter module is specified, an error will occur during the automatic global initialization of the axis, which is reported by any FB which
is called for this axis.
MC_BR_DownloadParSequ now also supports the format setting ncFORMAT_T14
With the function block MC_BR_DownloadParSequ also parameter sequences can be transferred now, whose parameter records are
configured with the format "ncFORMAT_T14" (data text with 14 bytes).
New FB MC_BR_DigitalCamSwitch
Using this FB a set of cam switches can be configured and operated. Compared with the FB MC_DigitalCamSwitch, the new function block
provides additional functionality, such as output of the track on FB output, configuration of several sets of switching data and fast switching
between these.
New FB MC_BR_TorqueControl
This function block starts a torque movement with limited speed and provides additional functionalities compared to MC_TorqueControl.

New FB MC_TorqueControl
This function block starts a torque movement with limited speed.
MC_Home waits now until the axis is initialized
The FB MC_Home reported the error 29207: "This movement type is currently not allowed" on execution before or while the internal
initialization of the axis took place. Now the FB waits until the initialization procedure is completed and output "Busy" is set during this time.
New PLCopen parameters 1010: MoveCyclicPosInterpolationMode and 1011: MoveCyclicVelInterpolationMode
When the FBs MC_BR_MoveCyclicPosition or MC_BR_MoveCyclicVelocity are used and the cycle time of the task class in which they are
executed is bigger than the cycle time of the drive, the set value which is transferred from the PLC to the drive is interpolated there. The
following interpolation modes are available:
0 ... interpolation is switched off

1 ... linear interpolation
2 ... quadratic interpolation (less delay time, overshoot possible)
4 ... quadratic interpolation (more delay time, no overshoot)
By default the FB MC_BR_MoveCyclicPosition uses the mode "2" and the FB MC_BR_MoveCyclicVelocity uses the mode "1". With the new
PLCopen parameters, which can be written by the FB MC_WriteParameter and read by the FB MC_ReadParameter, the interpolation mode for
both function blocks can be changed now by the user.
Stop index from the initilization parameters is now supported
It is possible now to select a stop index, whose parameters are configured in the initialization parameters of the axis, by writing the desired
index to the PLCopen parameter 1013. MC_Stop then uses the selected stop configuration.
MC_CamIn: Non−periodic cam is not gone through completely
If a negative master movement took place over the left boundary of a non−periodic cam and the master moved in positive direction thereafter,
the non−periodic cam was exited at its right boundary although it has not been gone through completely. Now the non−periodic cam is exited
not until it was completely gone through either in positive or negative master direction.
MC_AUTDATA_TYP: New element "EventStartPositionInInterval"
Up to four relative positions within the "StartInterval", which are used to generate the events ncS_START_IV1 to ncS_START_IV4, can be
configured with the new element. The new events for a state transition of the cam profile automat can be used for a cyclic synchronization with
the master position.
New FB MC_BR_GetHardwareInfo
This function block provides Model Number, Serial Number and Revision of drives, plug−in cards and motors, which are stored on the
respective hardware component.
ID# 400061584 : new function since V2.270
MC_BR_InitCyclicRead: Mode mcEVERY_RECORD is supported
With the new mode mcEVERY_RECORD, the ParID will be configured in each cyclic telegram from the drive. This results in a constant refresh
rate for the ParID value. However, the maximum number of ParIDs that can be read cyclically from a drive is reduced.
New FB MC_BR_SetHardwareInputs
Using this FB the digital hardware inputs of a real axis can be forced.
New PLCopen parameter 1012: DefaultMoveParameters
This parameter configures which values are transferred to the drive for the basis movement parameters , if the according FB input is left open
or written with the value "0".
The following values are configurable for the transfer:

− mcFB_INPUTS: The value assigned to the FB input is transferred. (No change of behavior to earlier versions, Default setting)
− mcLIMIT_PARAMETERS: The directional limit values of the axis structure (limit.parameter) will be transferred.
− mcBASIS_PARAMETERS: The directional basis movement parameters of the axis structure (move.basis.parameter) will be transferred.
For the following FBs the behavior of transfer can be configured using this parameter:
− MC_MoveAbsolute
− MC_MoveAdditive
− MC_MoveVelocity
− MC_Stop
− MC_Halt
− MC_GearIn
− MC_GearInPos
Invalid function block output status if the internal initialization of the axis was not completed
The output status of some FBs was invalid (output "Busy" was not set), if the internal initialiszation of the axis was not completed.
This could happen e.g. after a network failure, if the active axis errors were not acknowledged.

− MC_BR_CamDwell
− MC_BR_InitAutPar
− MC_CamIn
− MC_CamTableSelect
− MC_GearIn
− MC_GearInPos
MC_DRIVESTATUS_TYP: New element "ResetDone"
In the data type MC_DRIVESTATUS_TYP, which is used by the FB MC_BR_ReadDriveStatus, the element "ResetDone" was added. It is set if
the drive was reset before the most recent activation of the network connection and therefore all parameters must be transfered anew.
New FB MC_BR_GetParIDInfo
This function block determines data type and data length for a specified ParID.
MC_BR_SetupController: Orientation of the axis adjustable for controller setup
For the controller setup the orientation of the axis can now be chosen out of the following two options using the parameter "Orientation"
(MC_SETUP_CONTROLLER_PAR_REF):
− mcHORIZONTAL
− mcVERTICAL
Axes used a wrong position or velocity which is transferred via the network
Under the following circumstances a axis used a wrong position or velocity which is transferred via the network.
− The real and virtual axis of a channel of an ACOPOS on a POWERLINK Interface should use a position or velocity of different master axes
or from the PLC.
− For each axis one of the following function blocks was used to configure the transfer of a position or velocity via the network.
− The function blocks which configure the transfer of a position or velocity via the network were activated simultaneously.

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_InitAutData
− MC_BR_CamDwell
MC_DigitalCamSwitch: Input value was applied wrongly
The PLCopen axis factor was not considered for the input value "TrackOptions.Hysteresis".
Some function blocks were using the same send slot for two or three master axis on a CAN interface
If ParIDs of more than one master axes on a CAN interface were configured for sending via the network at the same time, the same send slot
was used. This problem occured if some of the following FBs were activated at the same time.

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell
MC_ReadAxisError: Output "Valid" was set too early
The output "Valid" was already set before the error text was completely evaluated.
New FB MC_BR_AxisErrorCollector
This function block reports the following information either for one single axis or for all axes of the system.
− The output "Error" of at least one PLCopen FB is set to TRUE

− At least one axis error was reported
− At least one axis warning was reported
− A axis is in the axis state Errorstop
New FB MC_BR_ReadAxisError
With this function block the information about axis errors can be determined similar to the FB MC_ReadAxisError. Additionally it offers the
following functions.
− Acknowledge all queued errors automatically

− Output all additional information about the errors
− Itemize how many errors of a certain type (axis error, axis warning, function block error) are pending.
− Explicit configuration if the error text should be evaluated or not
− Complete configuration of the error text evaluation by inputs at the function block
Error numbers (ErrorID) of function blocks are entered into the axis structure now
From now on all errors of PLCopen FBs are entered into the axis structure. These error numbers are displayed at the output "AxisErrorID" of
the function block MC_ReadAxisError because of that. Furthermore the error text for the error numbers can be determined now. As additional
information the type of the function block is output which reported the error.
Resetting the error with the input "Acknowledge" of the function block MC_ReadAxisError has no effect on the outputs "Error" and "ErrorID" of
the error reporting FBs.
MC_Home: Further homing modes are allowed in axis state Disabled
The following homing modes are allowed also in axis state Disabled now:
− mcHOME_REF_PULSE
− mcHOME_DCM
− mcHOME_DCM_CORR
MC_Home: The axis position could be wrong after a repeated execution with the mode mcHOME_RESTORE_POS
If the function block MC_Home was called with "HomingMode" mcHOME_RESTORE_POS after a calibration (MC_Home with "HomingMode"
other than mcHOME_RESTORE_POS), or if it was called several times with mcHOME_RESTORE_POS the axis position could be wrong, if
the actual raw position of the encoder and the ratio between the NC manager cycle time and the POWERLINK cycle time was very big.
MC_ReadAxisError, MC_BR_ReadDriveStatus: Problem after task download in "Copy mode"
After a task download in "Copy mode" the memory area of variables, whose addresses are applied to the function block inputs "DataAddress"
or "AdrDriveStatus", can change. The FBs MC_ReadAxisError and MC_BR_ReadDriveStatus however, adopted the new addresses only after
a new rising edge on the input "Enable". As a consequence the variables have not been fed by the function blocks after a task download.
From now on, the address is also utilized if the "Enable" input of the FB is already set.
MC_BR_RegMarkCalc001: Mode mcQUEUED did not work correctly, output values were not reset
1. When using the mode mcQUEUED, the values of the inputs "LengthError" and "PositionError" were not delayed by
"ControllerParameters.ValuesForQueuing".
2. After the FB was deactivated by "Enable = FALSE", the values of some outputs remained set.
MC_BR_SetupController: New setup modes available
The controller setup can now also be executed with the following modes:
− mcSPEED + mcUSE_FILTER_PAR
− mcISQ_F1_NOTCH + mcISQ_F2_NOTCH
− mcISQ_F1_NOTCH + mcISQ_F2_NOTCH + mcISQ_F3_NOTCH
New FB MC_BR_CheckAutCompensation
With this FB the compensation parameters for an automat state can be checked for adherence of the limit values, and the limits of particular
compensation parameters can be calculated respectively.
Deadlock after error at initialization (only in V2.200 − V2.240)
For some FBs an error during the automatic internal initialization led to setting the outputs "Error" and "ErrorID" for only one cycle, resetting the
other outputs and not react on an activation or deactivation of their inputs "Execute" and "Enable" anymore. This situation could only be solved
by restarting the PLC.

− MC_Power
− MC_ReadActualPosition
− MC_ReadActualVelocity
− MC_ReadParameter
− MC_ReadBoolParameter
− MC_SetOverride
− MC_BR_InitModPos
− MC_BR_InitParSequ
− MC_BR_ReadDriveStatus
MC_BR_RegMarkCapture001: Trigger search did not work.
If the function block MC_BR_RegMarkCapture001 was used for an axis with a PLCopen axis factor unequal to 1, the trigger search did not
work, because the expected trigger position was shifted incorrectly.
New FB MC_BR_ParTraceConfig
This FB makes it possible to save and load axis trace configurations to and from data objects respectively.
MC_BR_ParTrace: New command mcSTART+mcSAVE
The new command mcSTART+mcSAVE makes it possible to start an axis trace and automatically save the recorded data into a data object.
FB−Deadlock after execution of MC_Stop
Under the following circumstances it was possible that the FBs MC_WriteDigitalOutput, MC_BR_InitAutState and MC_BR_InitAutEvent got
deadlocked, i.e. their "Busy" output was set but they did not execute their function:
− A movement was started by a FB.
− One of the function blocks mentioned above was activated.
− The transfer of the parameter list of the activated FB was aborted by MC_Stop
MC_BR_BrakeOperation now can also be used in axis state Errorstop
With the function block MC_BR_BrakeOperation a holding brake can now also be operated in axis state Errorstop, if the controller is switched
off. So far this was only possible in axis state Disabled.
MC_BR_MoveCyclicPosition, MC_BR_MoveCyclicVelocity and MC_GearIn reported the error 29207 erroneously
If one of the function blocks MC_BR_MoveCyclicPosition, MC_BR_MoveCyclicVelocity or MC_GearIn was activated while the FB MC_Halt
was active, they reported error "29207: This movement type is currently not allowed" without cause. The same error was reported by the FBs
MC_BR_MoveCyclicPosition and MC_BR_MoveCyclicVelocity if they were activated while a movement caused by
MC_BR_EventMoveAbsolute, MC_BR_EventMoveAdditive or MC_BR_EventMoveVelocity was active.
Prohibit one direction of movement
By setting the velocity limit for one direction to "0" (limit.parameter.v_pos, limit.parameter.v_neg) now movements into this direction can be
prohibited. Till now, when using this setting, an error was reported, if a function block tried to start a movement into the allowed direction.
MC_BR_RegMarkCapture001: "Valid" output set incorrectly in some cases
While using the mode "mcLENGTH_ONLY", if a valid trigger is detected after invalid trigger events ("MissedTriggers" > 0), then the "Valid"
output is set even though no new values (e.g. "ActLength" or "LengthError") have been output. Now "Valid" is only set if 2 consecutive valid
triggers are detected and new, usable values have been calculated.
MC_SETUP_OUTPUT_REF: DataObjectIdent with wrong data type.
The structure element "DataObjectIdent" of the data structure MC_SETUP_OUTPUT_REF was of data type USINT instead of UDINT until
now.
The result was a wrong value shown on this output element, if the data object index exceeded 255.

− MC_BR_SetupController
− MC_BR_SetupInductionMotor
− MC_BR_SetupMotorPhasing
− MC_BR_SetupIsqRipple
Axis state "Stopping" after "Errorstop" although MC_Stop reported "CommandAborted" (only in V2.230 − V2.232)
When the FBs MC_Reset and MC_Stop are activated while the state is "Errorstop", then MC_Stop sets the "CommandAborted" output at the
end of the deceleration ramp, but the axis state changes to "Stopping".
MC_BR_RegMarkCapture001: Manual search not ended after a valid trigger was found
When the manual search detected a valid trigger, the internal mechanism wasn't reset from search mode to normal mode.
As a result, the expected trigger position was still incorrect by the amount "LengthChange", which could easily cause valid triggers to be
missed because they are assumed to be outside of the window.
MC_BR_RegMarkCapture001: Outputs were not set correctly
If invalid trigger events ("MissedTriggers" > 0) are followed by valid triggers, the "MissedTriggers" output was set to 0, but all other outputs,
including "Valid", "ValidTriggers", "LengthError" and "PositionError" were not set, incremented or assigned values, or were set one or several
cycles delayed.
Input values of FBs were possibly not transferred correctly.
If the transfer of parameters of a FB was aborted by an error, it was possible, that a later called FB didn´t transfer its input parameters to the
drive correctly. Only FBs with an active change control of parameters were affected by this problem.
MC_BR_Offset, MC_BR_Phasing: FBs could report the error 29217.
MC_BR_Offset and MC_BR_Phasing reported the error 29217: "Invalid input parameter" if a "MasterParID" was assigned and
"MasterParIDMaxVelocity" was set to zero on one of the FBs mentioned below .
− MC_GearIn
− MC_GearInPos
− MC_BR_CamDwell
MC_BR_Offset, MC_BR_Phasing: At reapeted activation it was possible that only the first shift was performed.
If after the first successfully performed shift, the inputs "Enable" and "InitData" of the FBs MC_BR_Offset or MC_BR_Phasing were reset in the
same cycle and were also set in the same cycle at a new activation, no further shifting was possible.
The axis state was changed to Errorstop although no axis error was reported (only in V2.230 − V2.231)
1) In certain cases with cyclic position set values, the status bit12 (Stop after drive event active) was set without reaching the SW limits. Due to
this problem, it could occur, that the axis changed its state to Errorstop, although no axis error was reported.
2) If the drive detected that the SW limits would be really exceeded, the status bit12 was set at the beginning of the stop ramp and the axis
changed its state to Errorstop. If a movement stop (e.g. with MC_Stop, MC_Power, ...) was applied by the application program while the stop
ramp was active, it could happen that the expected error (5003/5004: Positive/Negative SW limit reached) was not reported.
MC_BR_CamTransition: CamMode mcDISTANCE_BASED and MasterParID lead to error 29226
Parametrizing "CamMode = mcDISTANCE_BASED" and a MasterParID for MC_BR_CamTransition led to the error 29226: "Error on drive.
Use MC_ReadAxisError for details".
MC_BR_VelocityControl does not revert changes, if not enough free cyclic write data available on drive
Once the function block reports error 29264: "Cyclic write data full" the axis behavior afterwards is different. Due to parameter download to the
control loop via the function block. From now on the control loop will be changed afterwards, if cyclic write data have been initialized correctly.
The function blocks MC_BR_GetCamMasterPosition and MC_BR_GetCamSlavePosition could calculate a wrong output value.
After the following sequence it was possible that a wrong value was calculated by the function blocks MC_BR_GetCamMasterPosition and
MC_BR_GetCamSlavePosition:
− The function block MC_BR_GetCamMasterPosition is called with a master axis with an axis factor unequal to 1 or
MC_BR_GetCamSlavePosition is called with a slave axis with an axis factor unequal to 1.
− Reset of input "Execute".
− MC_BR_GetCamMasterPosition is called again without an assigned master axis or MC_BR_GetCamSlavePosition is called again without an
assigned slave axis.
MC_BR_MoveCyclicPosition: Ok to specify a position outside the period of a periodic axis
Previously, only a position within the range "0 < x < period" could be specified for a periodic axis using the function block
MC_BR_MoveCyclicPosition. The FB will now also accept a position outside of this range for a periodic axis. The periodic position will continue
to be calculated by the ACP10_MC library. Therefore, the periodic position will also be displayed on the FB MC_ReadActualPosition. The
periodic position will also be valid when starting other movement FBs.
This update makes it possible to operate periodic ACP10_MC axes using ARNC0 rotary axes.
An axis error during a movement not always led to the state Errorstop
An axis error during a movement did not lead to the state Errorstop as intended under the following circumstances:
− MC_Stop was called during the deceleration ramp
− MC_Power was disabled during the deceleration ramp
− All errors were acknowledged during the deceleration ramp
MC_BR_PowerMeter returned no information at the output "PowerData" after a restart of the power supply module
If the function block MC_BR_PowerMeter was again called after the power supply module was restarted while the PLC was running, no
information at the output "PowerData" was returned.
MC_BR_PowerMeter reported error 29235 for PPS

If MC_BR_PowerMeter was called on a passive power supply module, it reported the error 29235.
Function blocks with an "Execute" input did not report network failures (only in V2.200 − V2.21x)
In case of a network failure the outputs "Error" and "ErrorID" of function blocks with "Execute" inputs were not set for one task class cycle, if the
input "Execute" was already reset.
Deadlock after reading or writing of a single ParIDs
A deadlock of function blocks for an axis could occur, if one of the following function blocks was called shortly after a MC_BR_TouchProbe,
MC_CamIn or MC_GearInPos was activated.
− MC_BR_ReadParID
− MC_BR_WriteParID
− MC_BR_ReadParIDText
− MC_BR_WriteParIDText
− MC_BR_ReadAutPosition
Other FBs subsequently report the status, "Busy," when called.
After a MC_BR_InitModPos FB was called, the FB MC_ReadActualPosition displayed a position greater than the axis period
After a non periodic axis was changed into a periodic axis with the FB MC_BR_InitModPos, a position greater than the axis period was
provided by MC_ReadActualPosition. Each NC Manager cycle the position was compensated by one period. As a result it could take some
time until the correct position was shown within the period.
MC_BR_CamTransition reported an error even if correct input values were used
The function block reported the error 29217: "Invalid input parameter" though correct input values were used, if "Master" and "Slave" were axes
of the same channel (e.g. the virtual axis of a channel is "Master" and the real axis of the same channel is "Slave").
New FB MC_BR_SetupIsqRipple
MC_BR_SetupIsqRipple: Starts and stops the setup for the ISQ−Ripple compensation and saves the data determined during setup.
Under certain circumstances the axis state never changed to "DiscreteMotion" (only in V2.000 − V2.21x)
With the following conditions the axis state did not become "DiscreteMotion":
− Cycle time of the task class in which the PLCopen FBs are called is greater than the cycle time of the NC Manager task class.
− The duration of the movement is shorter than the cycle time of the task class in which the PLCopen FBs are called.
This behaviour could lead to problems in application programs where changing the state in a state sequencer e.g. is depending on the axis
state.

− MC_Halt
− MC_MoveAdditive
− MC_MoveAbsolute
− MC_BR_EventMoveAdditive (only with "Mode = mcONCE")
− MC_BR_EventMoveAbsolute (only with "Mode = mcONCE")
New FB MC_BR_AutCommand
With this function block the following actions for the cam automat can be executed:
− start the automat
− stop the movement on the slave axis
− restart the slave axis after stop of the movement or abort of the movement after an axis error
− end the cam automat
− set the signals 1−4 of the cam automat
− reset the signals 1−4 of the cam automat
− transferring the parameter for the lock of the online parameter change or cam download
MC_BR_PowerMeter: The function block can now also be activated, if the controller is switched off.
The function block MC_BR_PowerMeter can also be activated now, if the controller of the power supply module is switched off.
With an active power supply module no valid power data can be determined in this case, so the output "Valid" is not set or it is reset if the
controller is switched off while the power evaluation is active. As soon as the controller is active again, valid data are displayed on the outputs
and "Valid" is set.
With the passive power supply module the determined and displayed values are always valid.
Real and virtual axes on the same channel sometimes used SPT resources from the respective other axis
The following are a few examples of what could occur due to this problem:
1. When using the same MC_BR_EventMove FB type on real and virtual axes on the same channel, the last called FB used the same target
position, distance and speed respectively as the first FB that was called.
2 . When using MC_BR_MoveCyclicVelocity FBs on real and virtual axes on the same channel, the speed of the last called FB was used for
both axes.
3 . The phase shift and offset shift for an axis are unintentionally set to 0 when the following occurs:
− Coupling FBs used on the real and virtual axis of a channel.
− One or both of the axes also uses an MC_BR_Phasing or MC_BR_Offset
− The coupling is started for one axis

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell
Input values of coupling FBs were applied wrongly
The following input values could be applied differing by 1 unit, particularly if they were negative (e.g. −1999 instead of −2000):
− FB MC_GearInPos: MasterSyncPosition and MasterStartDistance
− FB MC_BR_CamDwell: SlaveScaling
− FB MC_BR_AutoCamDwell: SlaveLength
− FB MC_BR_CamTransition: SlaveScaling
The following input values were not multiplied by the PLCopen axis factors:
− FB MC_BR_AutoCamDwell: SlaveLength and MasterLength
MC_BR_InitAutData used either no factors or partially used the wrong PLCopen axis factors
The parameter "MasterSpeedMax" was not multiplied by the PLCopen axis factor of the master axis if a master reference and no
"MasterParID" was used.
The parameters "MasterStartInterval", "StartMaRelPos" and "MasterCompDistance" were mistakenly multiplied by the slave's PLCopen axis
factor, instead of the master's, if a master reference and no "MasterParID" was used.
MC_BR_CamTransition could trigger division by ZERO
If the value "0" or a value smaller than 1/PLCopen_ModPos factor was specified on the "MasterInterval" input, then MC_BR_CamTransition
caused a division by ZERO. Now when this occurs, error 29217 "Invalid input parameter" will be registered.
MC_BR_TouchProbe now supports additional functions for trigger events
Positive edge and evaluation of the signal width using only "TriggerInput.MinWidth". The status is set and the window position is shifted after
"TriggerInput.MinWidth".
Necessary parameter settings:
− TriggerInput.Edge = mcP_EDGE
− TriggerInput.MinWidth > 0
− TriggerInput.MaxWidth = 0
Time average (or latch average) value of positive and negative edge and evaluation of the signal width with "TriggerInput.MinWidth" and
"TriggerInput.MaxWidth". Processing begins at negative edge.
Necessary parameter settings:
− TriggerInput.Edge = mcMIDDLE
− TriggerInput.MaxWidth > TriggerInput.MinWidth >= 0
Determine exact cause of error for axes that can't be linked
If the master and slave axes specified on a link FB are not able to be linked, then the cause of error can be determined accurately now. In the
past, the function block only registered the error 29200:
"The axis object is invalid" or 29298: "Error in network configuration".
Function block now outputs Error 29226: "Error on Drive", and the exact cause of error can be read as axis error using the MC_ReadAxisError
function block.
This improvement has been made on the following FBs:

− MC_CamIn
− MC_GearIn
− MC_GearInPos
− MC_BR_CamDwell
Performance increase on inactive function blocks.
The call time for inactive function blocks has been minimized by optimizing the sequence in the FB.
It now takes up to 70% less time than before to call inactive function blocks (average 50% faster).
When a FB error occurred, the slave stayed coupled to the master, but its axis status was set to Standstill
Coupling function blocks that detected an error didn't stop the slave axis, but changed the axis state to Standstill.
Now the slave is stopped when an error occurs.

− MC_BR_CamDwell
− MC_BR_AutControl (didn't change the axis status to Standstill)
MC_WriteParameter: SW end position deviates from specified value by +/− 1 unit
If the SW end positions are written with MC_WriteParameter, the effective internal values could deviate from the specified values by +/− 1 unit.
New PLCopen parameter 1009: Automat positioning tolerance
With MC_MoveAbsolut, a position with the internal decimal places of the automat position can be approached via +mcAUTOMAT_POS in
order to ensure a high−precision automat restart.
If the difference between the set position and the target position on a periodic axis is smaller than or equal to the parameter 1009, then the
selected direction will be ignored and the target position will be approached by the shortest distance.
MC_MoveAbsolute: Direction + mcAUTOMAT_POS also works on non−periodic axis
The additive setting mcAUTOMAT_POS on the direction input of MC_MoveAbsolute now also works on non−periodic axes. The specified
position plus the internal decimal places of the automat position is approached, which allows an automat restart to be performed with more
precision.
MC_Home: New homing mode mcHOME_AXIS_REF
With the new homing mode mcHOME_AXIS_REF all homing parameters in the axis structure including the position are used for homing. The
input "Position" of MC_Home is not taken into account.
MC_MoveVelocity: In rare cases "InVelocity" was not reported
In rare cases (e.g. for non−integral velocity values) it could occur that the FB MC_MoveVelocity did not set the exit "InVelocity", although the
axis reached the target velocity.
Function blocks that require SPT FBs on the drive in order to function properly were possibly not able to create or access these resources
Under certain circumstances, some function blocks were not able to create or access the required SPT FB resources on the drive. This
resulted in an error or incorrect behavior on the affected function blocks.

− MC_BR_CamDwell
− MC_BR_HomeAcpEncoder
− MC_BR_Offset
− MC_BR_Phasing
− MC_BR_PowerMeter
− MC_BR_TouchProbe
− MC_CamIn
− MC_GearIn
− MC_GearinPos
− MC_Phasing
− MC_TouchProbe
Incorrect output behavior upon network failure
If communication between the drive and controller was disrupted by a network failure, then the function blocks did not perform correctly.
The output "Error" was not set and the output "ErrorID" changed between the values "0" and "29265".
This affected all of the function blocks from the ACP10_MC library.
Outputs were not set cyclically
With some function blocks, the outputs "Error" and "ErrorID" were not set cyclically and were able to be overwritten by the application program
or in the watch window.
New FB MC_BR_CyclicReadDataInfo
MC_BR_CyclicReadDataInfo: Provides administrative information about the cyclic telegrams from a drive
MC_BR_ReadAutPosition reports error 29226 in unfavorable circumstances
After a rising edge on the "Execute" input, the MC_BR_ReadAutPosition FB reports error 29226: "Error on drive. Use MC_ReadAxisError for
details" if parameters are being transferred to or from the drive at the same moment.
This error was caused by the occurring axis error 32063: "Data address zero (set/read parameter via service interface)".
MC_BR_VelocityControl: Values of inputs were not applied; Problem with NC−Test
− Now the values of the inputs "Acceleration" and "Deceleration" will be transferred to the drive.
− Now the movement which was started by the FB MC_BR_VelocityControl will not be aborted, if the NC Test for this axis is opened.
MC_BR_MoveCyclicVelocity: The information of the input "Direction" was not used. (only in V2.170 − V2.180)
The direction of the movement of the axis was only depending on the sign of the value of the input "CyclicVelocity".
New FB MC_BR_VelocityControl
MC_BR_VelocityControl: Configures and starts a movement with cyclic velocity transfer, in which only the velocity and current controller of the
drive are active.
New FB MC_BR_CalcCamFromPoints
MC_BR_CalcCamFromPoints: Calculation of a polynomial cam profile from two node vectors.
New FB MC_BR_CamTransition
MC_BR_CamTransition: Starts a cam profile coupling with optional entry and exit and optional transition between cam profiles. Specifying a
time for the cam profile is possible.
New FB MC_BR_SetupMotorPhasing
MC_BR_SetupMotorPhasing: Starts and stops the setup for phasing for an motor and saves the data determined during setup.
MC_BR_RegMarkCapture mit Modus "+ mcINTERVAL_EVENT" not functioning correctly
Under the following conditions, the function block did not calculate the value of the output "ActPosition" correctly with the additional mode "+
mcINTERVAL_EVENT":
− All parameters required for the mode "+ mcINTERVAL_EVENT" were already set in the input structure "TriggerInput"
− The function block was activated without the additional mode "+ mcINTERVAL_EVENT"
− The input "InitData" was set after the function block was activated
− After the function block was deactivated, the mode was changed to "+ mcINTERVAL_EVENT" and then the function block was activated
again
An invalid axis reference could lead to a pagefault
The function block MC_BR_InitMasterParIDTransfer caused a pagefault, if the axes assigned to the inputs "Master" and "Slave" were not
linkable.
A pagefault could also be caused by the following function blocks, if an invalid axis reference was assigned to the input "Axis" or "Slave" for
one cycle:
− MC_WriteParameter
It was possible that some function blocks were using the same send slot for real and virtual master
If ParIDs of the real and virtual axis of an ACOPOS communication channel were configured for sending via the network at the same time, the
same send slot was used. This could happen if some of the following FBs were activated at the same time.

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell
MC_BR_InitAxisSubjectPar: PLCopen parameters have not been refreshed
If the FB MC_BR_InitAxisSubjectPar was used to initialize changed limit values of an axis, the PLCopen parameters have not been refreshed.
Deadlock after activation of a coupling of axes on a CAN bus (only in V2.170 − V2.172)
After the activation of the coupling between two axes on a CAN bus, the master axis could not be used anymore. Other FBs subsequently
reported the status "Busy" when called.
The following FBs were concerned by this Problem:

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell

Cyclic data to/from the drive via POWERLINK independent of the NC Manager task class
Previously, cyclic data via POWERLINK was always handled by the ACP10_MC library in the task class configured as "Task class for NC
Manager task". From now on, the following settings can be used to change the task class in which the cyclic data should be handled.
Global settings for a POWERLINK interface in the ACP10 configuration:

− Task class for handling of cyclic data with PLCopen (only for SG4)
Local settings for an ACOPOS communication channel in the NC mapping record of a real or virtual axis in the "Additional Data" column with
the following XML attribute:
− PLCopen_CyclicData_TaskClass = "<TaskClass_Number>" (TaskClass_Number: 0,1,2 or 3, 0: Use NC Manager task class)
Note:
The real and virtual axis with the same node number and the same channel number are operated using the same ACOPOS communication
channel. The following error is output if different task classes are defined for the real and the virtual axis from the same communication
channel:
− 32499: PLCopen_CyclicData_TaskClass: Values for real and virtual axis are not equal
MC_BR_AutControl always Busy
If MC_Stop is called for the slave axis shortly before MC_BR_AutControl is enabled, MC_BR_AutControl always shows that it is busy, but
there is no error on the Error and ErrorID outputs. Resetting the Enable input and then setting it again takes MC_BR_AutControl out of the
busy status.
MC_BR_GetErrorText: The error text was eventually not determined.
If the input "Execute" of the function block MC_BR_GetErrorText was set for only a few cycles, it was possible that the error text was not
determined.
MC_BR_ReadActualPosition: After homing the new axis position was displayed too late.
After homing, the function block MC_ReadActualPosition displayed the new position of an axis one task cycle after the output "Valid" was set.
The axis state "StandStill" was activated to early
The axis state "StandStill" was already activated after the halt command was successfully sent to the drive and not when the axis stand still by
the following function blocks:
− MC_BR_CamDwell
Until now, MC_BR_AutControl checked the controller status and reference status when setting signals and changing the ParLock input
The function block MC_BR_AutControl checked the controller status and the reference status when setting signals and changing the ParLock
input. This caused the error number 29206 "The controller is off" or 29205 "Axis not referenced" to be output. Starting in V2.172, these two
states will only be checked with movement commands (Start, Stop, Restart).
MC_BR_AutControl sometimes reports error 29206 when Enable=TRUE
If the controller was switched off when MC_BR_AutControl was active (MC_Power or axis error), one or more signal entries were set from 1 to
0 and MC_BR_AutControl was disabled, then MC_BR_AutControl rported error 29206 "The controller is off" right after setting the "Enable"
input again and as soon as an action was performed (Start, Stop, Restart, Signal1−4, ParLock).
Linked movement does not start if master position is close to DINT overflow
If the internal position of a periodic master axis was close to DINT overflow (less than 2 periods), then movements linked to this master axis
would sometimes not start.

− MC_CamIn
− MC_BR_CamDwell

After DINT overflow of the master position, linked movements were no longer able to be started
Linked movements were no longer able to be started after (internal) DINT overflow of the master position of a periodic master axis. The link
would only begin after the master axis (internal) had reached a positive DINT position again. The link is now started at the next possible
position within the current period or in the next period if the master position is already greater than that of the start position.

− MC_BR_InitAutData (started by MC_BR_AutControl)
− MC_BR_CamDwell
− MC_DigitalCamSwitch (switching ponints can be shifted)
Input values were not rounded correctly
Some of the input values of the following function blocks were simply cut off and not rounded correctly before they were transferred to the
drive:
− MC_BR_CamDwell
− MC_CamIn
− MC_BR_InitAutState
MC_TouchProbe reports error 29230 in unfavorable circumstances (only in V2.020 − V2.170)
After a rising edge on the "Execute" input, the MC_TouchProbe FB reports error 29230: "Internal error: Error at parameter list transfer" if
parameters are being transferred to or from the drive at the same time.
MC_BR_MoveCyclicVelocity, MC_BR_MoveCyclicPosition: A page fault occurs if the cycle time of the NC manager task class is different than
the cycle time of the POWERLINK network (only in V2.170)
A page fault occurs when there are different cycle times for the NC manager task class and the POWERLINK network to which the axes
operated by the FBs are connected.
MC_BR_MoveCyclicVelocity: Commanded speed might not have been reached (only in V2.170)
The function for assigning cyclic velocity limits the velocity to the value of the basis movement parameter. This could cause a problem if a
basis movement function block with a small value on the "Velocity" input was called before MC_BR_MoveCyclicVelocity. Now the FB always
initializes the basis movement parameters with the limit values configured for the axis.
MC_ReadAxisError: Error 29260 reported.
When there is no error text module specified on the "DataObjectName" input, the FB determines the error texts using the error text module that
is specified in the init parameter module. This causes the FB to reports the error 29260: "No data object name specified," if it is called
immediately after starting the controller with "Enable = 1".
New FB MC_BR_MoveCyclicVelocity
Configures and starts a movement with cyclic velocity transfer
New FB MC_BR_PowerMeter
Starts and stops the measurement of power data of an ACOPOSmulti power supply module and outputs the evaluated values
Wrong axis state after error during a homing procedure
If an axis error occurs that causes the controller to be switched off immediately during an active homing procedure, then the axis mistakenly
changes to the state Disabled. Now when this occurs, the axis will change to the state Errorstop as intended by the PLCopen standard.
MC_BR_CyclicRead: New mode mcEVERY_RECORD

With the new mode mcEVERY_RECORD, the ParID will be configured in each cyclic telegram from the drive. This results in a constant refresh
rate for the ParID value. However, the maximum number of ParIDs that can be read cyclically from a drive is reduced.
New FBs MC_BR_ReadParIDText, MC_BR_WriteParIDText
MC_BR_ReadParIDText: The value of a ParID is read from the drive and output as text
MC_BR_WriteParIDText: The value for a ParID is passed on to the FB as text, converted to the correct data type and transferred to the drive
Abort of basis movement FBs by Coupling−FBs possible
Every function block which starts a basis movement can be aborted now by the function blocks "MC_GearIn" and "MC_BR_AutControl".
Pagefault after error during initialization phase
If the ACP10_MC library reported the error 29498: "ACP10_MC library: Initialization aborted" during the initialization phase of the PLC, then
calling one of the following FBs would cause a Pagefault:
− MC_BR_GetErrorText
− MC_BR_ParTrace
− MC_BR_ReadParTraceStatus
− MC_BR_NetTrace
− MC_BR_ReadNetTraceStatus
POWERLINK, problems with cyclic data from the drive
1) Configuring cyclic data from a drive that is operated with a large multiplex−prescale−factor on POWERLINK network, caused a deadlock of
the initializing FB.
2) Data from one or more monitor records was not refreshed under certain circumstances:
− More than one monitor record from the drive is required
− Unfavorable conditions between NC Manager task class cycle time (Default Cyclic #1) and POWERLINK cycle time or unfavorable
conditions between NC Manager task class cycle time (Default Cyclic #1) and POWERLINK cycle time * Multiplex prescale factor at a
"Multiplexed station"
Example:
POWERLINK cycle time = 2 * NC Manager task class cycle time and 2 monitor records from a drive are required
=> Only the data from the first or second monitor record from the drive was read.
MC_BR_CamDwell, MC_BR_AutoCamDwell − It's possible the movement was not able to be started again
If the input "LeadInSignal" was set again while the movement was active, then the movement was not able to be started again at a positive
edge of the input "LeadInSignal".
Calculation of the periodic position was not executed (only in V2.150 − V2.152)
The position of the axis, which is displayed by the FB "MC_ReadActualPosition", was not calculated if a homing was aborted by an error or
MC_Stop.
The FB MC_BR_MoveCyclicPosition allowed no more than 32 axes to be operated on a POWERLINK interface
If more than 32 axes were operated on the same POWERLINK interface with the FB "MC_BR_MoveCyclicPosition", then all axes from the
33rd onward used an incorrect set position.
Position of a periodic axis slowly counts towards 0 after homing
The position could have been counted towards 0 when homing a periodic axis with a mode unequal to mcHOME_RESTORE_POS and an
initialized address of a permanent variable for endless position. One period was corrected each NC manager cycle.
MC_Home restored the axis position in the mode mcHOME_RESTORE_POS, even though the data on the permanent variable was invalid
If, between calling the FBs MC_BR_InitEndlessPosition and MC_Home utilizing mode mcHOME_RESTORE_POS, the permanent variable
whose address was initialized with MC_BR_InitEndlessPosition was overwritten, then the axis was homed to an incorrect position. MC_Home
now registers error 29297 if the data on the permanent variable is invalid.
Restoring the axis position after CPU restart did not work if the controller was switched on at the same time.
The homing mode "mcHOME_RESTORE_POS" on the FB "MC_Home" could home the axis to an incorrect position if the axis demonstrated a
limited range of movement and MC_Power was enabled during homing.
Restoring the axis position after CPU restart did not work if the motor encoder was rotated beyond the overflow.
The homing mode "mcHOME_RESTORE_POS" on the FB "MC_Home" could home the axis to an incorrect position if the motor encoder of a
limited axis was rotated beyond the overflow while turned off.
Restoring the axis position after CPU restart did not work if the motor encoder is connected to slot 3 or slot 4 on an ACOPOS drive.
The homing mode "mcHOME_RESTORE_POS" of the FB "MC_Home" could home the axis to an incorrect position if the motor encoder was a
multi−turn encoder and connected to slot 3 or slot 4 on an ACOPOS drive.
Abort of Coupling−FBs by basis movement FBs possible
Every function block which engeges a coupling between two axis can be aborted by a function block which starts a basis movement.
Master−slave coupling no longer functioning after a network error (only in V2.050 − V2.149)
The slave axis of a master−slave coupling that was previously started was no longer able to perform any movements after a network error,
although it seemed like it was able to be restarted using the coupling FB (e.g. MC_GearIn).
After homing a periodic axis with the NC Test, a position > period is displayed (only in V2.100 − V2.149)
The FB "MC_ReadActualPosition" sometimes returned a position > period after homing a periodic axis with the NC Test. Each ACP10
manager cycle it was compensated by one period. As a result it could take some time until the position was shown within the period.
MC_BR_Phasing or MC_BR_Offset had no longer an effect after an initialization by the FB MC_BR_InitAutData
The phase or offset shift was no longer performed, if the parameters "AUT_MA_ADD_AXIS" ("AddMasterParID") or "AUT_SL_ADD_AXIS"
("AddSlaveParID")
of the cam profile automat were initialized by the FB MC_BR_InitAutData, while a phase or offset shift was already activated.
Network trace, new ACP10_MC−FB Infos
From now on the following information is entered into the network trace by the FBs:
− FB type and error number if an error occured in a FB instance
− The type of the FB which aborted an active FB instance ("CommandAborted")
− Calls of FBs which do not execute a ncaction()
Note:
Some of the new informations are "NC manager global" and are therefore entered into the network trace with a new type.
In Automation Studio versions, in which this new type is implemented, these global informations are indicated with "NCMAN" in the column
"Interface".
In older Automation Studio versions these informations are indicated with "NET_ID=254[0]" in the column "Interface".
New FBs MC_BR_GetCamSlavePosition, MC_BR_GetCamMasterPosition
MC_BR_GetCamSlavePosition: Calculation of the slave position in a cam profile for a given master position.
MC_BR_GetCamMasterPosition: Calculation of the master position in a cam profile for a given slave position and master start position.
New FBs MC_BR_MoveCyclicPosition, MC_BR_ReadCyclicPosition

MC_BR_MoveCyclicPosition: Movement start with cyclic position transfer.
MC_BR_ReadCyclicPosition: Cyclic reading of axis position.
New FBs MC_BR_SetupInductionMotor, MC_BR_SetupController
MC_BR_SetupInductionMotor: Starts and stops the setup (motor parameter identification) for an induction motor and saves the data
determined during setup.
MC_BR_SetupController: Starts and stops the setup (parameter identification) for a drive's speed controller and position controller and saves
the data determined during setup.
MC_CamIn "InSync" output set too soon
If, when using a non−periodic cam profile, the "Execute" input of the MC_CamIn function block was set again without the parameter having
changed, then the "InSync" output was set immediately instead of being set at the next start of the cam profile.
MC_BR_InitCyclicWrite could report the internal error 29244
If the "ParID" input value for an instance of the FB MC_BR_InitCyclicWrite was changed while the "Busy" output was set, then the FB reported
the internal error 29244.
After homing a periodic axis, a position > period is displayed (only in V2.100 − V2.129)
The FB "MC_ReadActualPosition" sometimes returned a position > period after homing a periodic axis with multi−turn encoders using the
homing mode mcHOME_ABSOLUTE. Each ACP10 manager cycle it was compensated by one period. As a result it could take some time until
the position was shown within the period.
MC_BR_CyclicRead, MC_BR_CyclicWrite − New PV address from the input "DataAddress" will be applied even when the FB is already active
In the past, the "Enable" input had to be reset after a task download with the copy mode to ensure that the value of the ParID would be copied
back to the PV or transferred from the PV to the drive. The reason for this was because the PV address can change after the task download to
the target system.
From now on, the address will also be applied when the "Enable" input of the FB has already been set.
Support of ACOPOSmulti 8BAC0130.00x−1 plug−in modules
Starting with this version the following FBs support the ACOPOSmulti 8BAC0130.00x−1 plug−in modules:
− MC_WriteDigitalOutput.
ID# 400019462, 400019532, 400018512, 400019640 : solved problem, solved since V2.130
Deadlock after "ncPAR_LIST,ncSERVICE+ncINIT" immediately after "ncMOVE,ncSTOP" (only in V2.000 − V2.129)
Under the following conditions, a FB deadlock could occur for an axis:

− A FB calls the NC Action "ncMOVE,ncSTOP"
− A move FB calls afterwards immediately the NC Action "ncPAR_LIST,ncSERVICE+ncINIT"
− The call of the NC Action "ncPAR_LIST,ncSERVICE+ncINIT" leads to the status "ncACTIVE"
MC_ReadActualPosition displayed a wrong position (only in V2.100 − V2.129)
Under the following conditions the FB "MC_ReadActualPosition" could display a wrong position:
− The axis period was changed by the FB "MC_BR_InitModPos".
− The axis was homed by the FB "MC_Home"after the period was changed.
Deadlock after task download
Under the following conditions, a FB deadlock could occur for an axis during or after a task download:
− FBs from the ACP10_MC library are used in the task to operate the axis
− The task is downloaded while a FB, which transfers parameters to the drive or reads parameters from the drive, is "busy".
In V2.120 and higher of the ACP10_MC library, a deadlock no longer occurs under the previously described conditions if the following
conditions are maintained:
− Copy mode is used for the download
− Global axis PVs are used
− Active ACP10_MC FBs (= those on which the output "Busy" is set) cannot be removed
New NC constants for "DataType"
With all FBs for reading and writing of ParIDs, from now on the following new NC constants can be user for the FB input "DataType":
− ncPAR_TYP_STR16 für ParIDs with data type "STR16"
− ncPAR_TYP_STR16 für ParIDs with data type "STR32"
Note:
If these NC constants are used for "DataType" with ACP10_MC before V2.110, then this leads to the error 29241 (Wrong data type for specific
ParID).
The datatype of the constant mcHOME_RESTORE_POS was UINT instead of USINT
Under certain conditions the FB MC_BR_HomeAcpEncoder reported constantly busy
The FB constantly reported busy, if one of the following conditions was true:
− Encoder 2 (Slot 3) was already homed and encoder 3 (Slot 4) should be homed
− Encoder 3 (Slot 4) was already homed and encoder 2 (Slot 3) should be homed
MC_Home: New mode mcHOME_RESTORE_POS
New mode "mcHOME_RESTORE_POS" for restoring the position from the saved values in a permanent variable.
New FB MC_BR_InitEndlessPosition
Initialization of the address of a permanent variable for saving and restoring the axis position.
MC_BR_AutControl: Signals are set before being reset
If signals are set and others reset at the same time, unwanted state changes could occur depending on the design of the automat.
Now the command for resetting the signals is sent first, then the one to set the signals.
MC_CamIn sets InSync output for only one cycle
If a non−periodic cam profile was started, then the "InSync" output was set for just one task cycle. "InSync" now stays set to "TRUE", as long
as the non−periodic cam profile is active and the "Execute" input is set.
Deadlock after MC_BR_CyclicWrite and MC_BR_InitCyclicWrite
Calling "MC_BR_CyclicWrite" or "MC_BR_InitCyclicWrite" while a FB was configuring cyclic data could cause a deadlock of the FBs for this
axis.
Other FBs subsequently reported the status, "Busy," when called.
MC_BR_CalcCamFromSections: When using 65 points, cam profile data were calculated wrongly
If 65 points (maximum) for the calculation of a cam profile were defined, by the FB "MC_BR_CalcCamFromSections" the values of "
MasterPeriod" and " SlavePeriod" of the cam profile data were calculated wrongly. Due to this calculation error, the transfer of these cam
profile data with the FB "MC_BR_DownloadCamProfileData" was aborted with following error:
− 29222: Error at cam Download
In addition, by the drive the following response error was indicated:

− 5304: Format error in cam profile data
ACP10TUN V2.070 could cause a Pagefault of the library ACP10_MC
With ACP10TUN from V2.071 on this problem does no longer occur.
MC_BR_InitAutData falsely returned error 29208
If the global automat parameters were not initialized with the FB "MC_BR_InitAutData" (but via data type "MC_AUTDATA_TYP" with the FB
"MC_BR_AutControl"), the FB "MC_BR_InitAutData" for call with "GlobalParams=mcNO_PARAMS" falsely returned the following error:
− 29208: The axis object was changed since last FB call
MC_GearIn, MC_CamIn: Negative master direction did not function correctly (only in V2.050 − V2.060)
MC_CamIn:
When leaving the cam profile in negative master direction the cam profile was not changed, but the gradient of the left cam profile boundary
point boundary was maintained.
MC_GearIn:
The distance, which the master had driven into negative direction, had to be driven again into positive direction, before the transmission
relationship could be changed.
MC_BR_ReadDriveStatus: On "AxisError" the number of errors was written
On the BOOL component "AxisError" of the data type "MC_DRIVESTATUS_TYP" falsely the number of still existing errors was written.
Now on "AxisError" correctly the BOOL status is written, whether still errors exist or not.
Slave axes followed the wrong master axis, if more than one master axis was used on one CAN bus (only in V2.000 to V2.054)
If more than one master axis was used on one CAN bus, it could occur that FBs used the position of the first sending master axis, although
another master axis was configured. The same behavior occured also when using master ParIDs.
The following FBs were concerned by this Problem:

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_MasterParIDTransfer
− MC_BR_CamDwell
MC_BR_ReadAutPosition − Output "AutPosition" was not reset
The output "AutPosition" was not reset if the input "Execute" was set to "0".
MC_BR_ReadDriveStatus − Changed reaction after network failure
The FB doesn't longer report an error, if the network fails. Instead of this, the output "Valid" and the structure component "NetworkInit" are
reset.
New FBs "MC_BR_ParTrace", "MC_BR_ReadParTraceStatus"
New FBs "MC_BR_NetTrace", "MC_BR_ReadNetTraceStatus"
New FB "MC_BR_GetErrorText"

Division error when using "MC_BR_ReadAutPosition" for non−periodic axes
If the FB "MC_BR_ReadAutPosition" was called for a non−periodic axis, the following exception occurred:
− SG4: 25300 − AR−RTK: EXCEPTION Divide error
− SG3/SGC: 9104 − EXCEPTION: Division by Zero Error
SG3 and SGC target systems : Address error when using CPU Service Mode
On SG3 and SGC target systems in CPU Service Mode the ACP10_MC Library caused one of the following errors:
− 9100 EXCEPTION: Bus error
− 9101 EXCEPTION: Address error
− 9102 EXCEPTION: Illegal instruction
With ACP10MAN from V2.053 on this problem does no longer occur.
Deadlock after network error in initialization phase
If a network error occurred on an axis during the initialization phase, this axis was no longer able to be operated after the network problem was
corrected.
Starting with ACP10_MC V2.050 some FBs check their input values for changes since the last call
The following FBs check their input values for changes. Thus the time of the parameter transfer will be shortened, if the input values were not
changed. Now only these parameters will be transferred which have been changed since the last FB call.

− MC_GearIn
− MC_GearInPos
− MC_CamIn
− MC_BR_CamDwell
New FB "MC_BR_InitAutData"
MC_MoveAbsolute can now move to the automat position
An absolute movement to the automat position is now possible by adding the constant "mcAUTOMAT_POS" to the "Direction" input.
New FB "MC_BR_ReadAutPosition"
New FB "MC_BR_CalcCamFromSections"
MC_BR_AutControl: StateMaCamLeadIn, StateMasterComp and MasterMinCompS multiplied with PLCopen axis factor
The parameters "StateMaCamLeadIn", "StateMasterComp" and "MasterMinCompS" are incorrectly multiplied with the PLCopen axis factor if
an automat−global Master ParID is used. If a master axis was specified, then the PLCopen factor of this axis was used, otherwise the
PLCopen factor from the slave axis is used.
MC_BR_CamDwell, MC_BR_AutoCamDwell: "LeadInSignal" and "LeadOutSignal" were always evaluated
The "LeadInSignal" and "LeadOutSignal" inputs were always evaluated if they were set. However, only edges were supposed to be evaluated
on these inputs.
As a result, the cam profile was only run through one time if "LeadInSignal" was set while "LeadOutSignal" was still set.
Now, only edges on these inputs are evaluated.
MC_BR_AutControl: New parameter "MasterCamLeadIn" in MC_AUTDATA_TYP
New FB "MC_BR_Simulation"
New FB "MC_BR_ReadDriveStatus"
MC_BR_TouchProbe − Error 29279 could occur falsely (only in V2.020 − V2.032)
The error 29279: "Output value cannot be calculated" could occur falsely.
This error could be reported immediately after the FB is activated, depending on the defined mode and the current value of the ParID, which
should be saved by the FB. The error could also occur if the value of the ParID was reset (e.g. due to homing) right before a trigger event is
received.
MC_BR_AutControl − Error 29226 could occur when "InitAutData = TRUE" (only in V2.030 − V2.032)
If the FB input "InitAutData" was set to "TRUE" while the cam profile automat was active, then the FB reported the error 29226: "Error on drive.
Use MC_ReadAxisError for details".
MC_BR_AutControl − Output "AutDataInitialized" was not reset
The output "AutDataInitialized" was not reset if the input "Enable" was set to FALSE or if an error in the FB occured.
MC_BR_AutControl − The ACP10−SW error number 32191 was reported after the automat was started by the FB
If the automat was started by the FB "MC_BR_AutControl" while a FB of the type "MC_BR_Phasing" or "MC_BR_Offset" was enabled, the
error 32191 was wrongly reported.
MC_BR_Offset, MC_BR_Phasing − "ShiftMode = mcABSOLUTE_NO_RESET" does not function (only in V2.020 − V2.030)
The FB did not function as described if the "mcABSOLUTE_NO_RESET" mode was used on the FBs "MC_BR_Offset" and "MC_BR_Phasing"
for the "ShiftMode" input. The behavior was similar to "mcABSOLUTE" mode.
More information about the differences between the modes can be found in the help files.
MC_GearIn, MC_CamIn − The FBs could be started although other multi axis FBs were already active.
"MC_GearIn" could be started if a "MC_GearInPos" was active.

"MC_CamIn" could be started if a "MC_BR_(Auto)CamDwell was active
MC_BR_WriteParID and MC_BR_ReadParID set "Error" und "ErrorID" only for one cycle (only in V2.000 − V2.022)
Both FBs set the outputs "Error" and "ErrorID" only for one task cycle, even if the input "Execute" was set for more than one task cycle.
New FBs "MC_BR_CyclicRead", "MC_BR_CyclicWrite"
MC_BR_CyclicRead:
With this FB the value of a ParID can cyclically be read from the drive.
MC_BR_CyclicWrite:
With this FB the value for a ParID can cyclically be sent to the drive.
New FB "MC_BR_HomeAcpEncoder"
Using this function block, it's possible to home an external encoder, which is read in slot 3 or slot 4 of an ACOPOS drive.
MC_011BR_InitCyclicWrite causes address error 9101 and bus error 9100 (only in V2.020 − V2.022)
On SG3 targets CP47x and PPxx, calling MC_011BR_InitCyclicWrite caused address error 9101 and bus error 9100.

New FBs "MC_BR_CamDwell", "MC_BR_AutoCamDwell"
MC_BR_CamDwell:
Linking with alternating cam profile and standstill. Start/Stop via FB inputs or ParID.
MC_BR_AutoCamDwell:
Linking with alternating automatically calculated cam profile and standstill. Start/Stop via FB inputs or ParID.
Cyclic write data via CAN – Value of user variable is not transferred to the drive
If no cyclic read data were configured, the value "0" is transferred for the cyclic write data configured with MC_BR_InitCyclicWrite.
Axis changes to "standstill" although errors have occurred on the axis
If a drive error occurs and MC_Stop is called immediately, the status of the axis changes to "standstill" instead of "errorstop".
MC_BR_AutControl supports AUT_S_START_MODE
AUT_S_START_MODE can now also be configured using the FBK "MC_BR_AutControl" (Data type: MC_AUTDATA_TYP).
Unplugging the network can result in deadlock
If an error occurred immediately after the network cable is plugged back in, when FBKs are called that transfer parameters, the following error
occurs: 29491 "Error during internal initialization (software limits)". This status can only be ended by restarting the automation target.
MC_BR_AutControl supports Event−ParIDs 2 − 4
Event−ParIDs 2−4 can now also be configured using the FBK "MC_BR_AutControl" (Data type: MC_AUTDATA_TYP).
Constant "mcWITHOUT_PERIOD" had a wrong value for target systems SG3 and SGC (only in V2.020)
The constant "mcWITHOUT_PERIOD" had for the target systems SG3 and SGC the wrong value "32768" instead of the correct value "4". If
this constant was used at the input "Mode" of the FB "MC_BR_TouchProbe", the FB returned the error 29217: "Invalid input parameter".
Starting with ACP10_MC V2.020 some FBs check their input values for changes since the last call
The following FBs check their input values for changes. Thus the time of the parameter transfer e.g. of basis move FBs will be shortened, if the
values of "Velocity" or "Acceleration" were not changed. Now only these parameters will be transferred which have been changed since the
last FB call.
FBs:
− MC_MoveAbsolute
− MC_MoveAdditive
− MC_MoveVelocity
− MC_TouchProbe
New FBs "MC_BR_EventMoveAbsolute", "MC_BR_EventMoveAdditive" and "MC_BR_EventMoveVelocity"
With these FBs a basis movement can be started by an event on the drive.
New FBs "MC_BR_Phasing" and "MC_BR_Offset"
With these FBs a phase shift respectively an offset shift can be performed on the slave axis while a "Synchronized Motion" is active.

"MC_MoveAdditive" or "MC_BR_MoveAdditiveTriggStop" could perform a wrong movement if they were started after "MC_Halt".
If a "Synchronized Motion" was aborted by a "MC_Halt" and if a movement was startet by "MC_MoveAdditive" or
"MC_BR_MoveAdditiveTriggStop" before "MC_Halt.Done = TRUE", the axis performed a wrong movement.
Values of PLCopen parameters 1001 to 1006 were wrong
The values of the PLCopen parameters 1001 to 1006, when read with "MC_ReadParameter", appeared to be by the "PLCopen axis factor" too
big.
"MC_TouchProbe" returned "Done" erroneously
If a lot of values were read cyclically from the drive it could occure that the FB "MC_TouchProbe" returned "Done" and a value at
"RecordedPosition", even though there was no event to latch a position.
Invalid values could be read via cyclic telegrams
After a ParID was configured for cyclic reading (e.g. by "MC_BR_InitCyclicRead") it was possible, that invalid values were read for a few task
class cycles.
Axis moves to wrong position if "MC_MoveAbsolute" is called after netwerk error
If the axis period or the PLCopen axis factor are only set via the FB "MC_BR_InitModPos" and if the FB "MC_MoveAbsolute" is called after a
network error, the axis moved to a wrong position or in the wrong direction.
Values of cyclic telegrams were not refreshed after a network error
If ParIDs were configured for cyclic reading from the drive (e.g. by "MC_BR_InitCyclicRead"), the values were not refreshed after a network
error occured. The last valid value of the ParID was kept.
"old" events could be still active after a reinitialization of the CAM automat
With "MC_BR_AutControl" only events of types different from "ncOFF" could be configured. Thus it could happen, that after a reinitialization of
the CAM automat still some "old" events were active. As consequence some unexpected state transitions could occure.
New FB "MC_BR_TouchProbe"
With this FB the value of any ParID on a drive can be latched.
Pagefault when using more than 10 drives (only in V2.000 − V2.002)
With versions V2.000 − V2.002 a pagefault occurs after ACOPOS startup, if more than 10 drives are operated via the network.
Page fault caused by NC object PV with INIT value
If a global PV is used instead of a data structure pointer for NC objects with the type "ncAXIS" or "ncV_AXIS" (this is possible starting with
V1.210), then an INIT value should not be defined in the variable declaration for this PV.
In the past, a page fault occurred if an INIT value was defined for this PV in the variable declaration despite the issue mentioned above.
Now, in this case a page fault no longer occurs, but the following error is reported:
29489 NC object data invalid (PV with INIT value in variable declaration ?)
MC_MoveVelocity always sets the "InVelocity" output for just one cycle (only in V2.000 − V2.001)
The "InVelocity" output was always set for just one cycle, even if the "Execute" input stayed set to TRUE.
MC_GearIn always sets the "InGear" output for just one cycle (only in V2.000 − V2.001)
The "InGear" output was always set for just one cycle, even if the "Execute" input stayed set to TRUE.
MC_CamIn always sets the "InSync" output for just one cycle (only in V2.000 − V2.001)
The "InSync" output was always set for just one cycle, even if the "Execute" input stayed set to TRUE.
FB constantly reports "Busy" when no more cyclic read data is available (only in V2.000)
A drive can only read a certain number of ParIDs cyclically (depending on the network). If this maximum is already filled by data, and if another
FB requires cyclic read from the drive for its own function, then this FB always reports the status "Busy". From now on, the error message
29242 "Cyclic read data full" will be output in this situation.
MC_DigitalCamSwitch – Page fault when "Enable = 1"
A page fault occurred if the "Enable" input from the MC_BR_DigitalCamSwitch FB was set to "1" before the axis initialization was finished by
the ACP10_MC library.
Deadlock after MC_BR_InitAutPar
A deadlock could occur when an axis error appears during parameter transfer of this FB. Other function blocks subsequently reported the
status "Busy", when called.
MC_GearIn − Wrong behaviour after FB was started again
In some cases, the output "InGear" of the FB "MC_GearIn" might not get set immediately when starting the FB while the master axis is
stopped. This behavior occurs only when the FB was stopped after being active.
Library ACP10_MC from V2.000 on also for SGC target system
From V2.000 on, the ACP10_MC library is also available for the SGC target system. With SGC target system it is possible to operate ACOPOS
servo drives via CAN bus.
For performance reasons, it is recommended to only use the ACP10_MC library on SGC CPUs with a clock rate of 25 MHz (not on those with
16 MHz). With SGC CPUs with a clock rate of 25 MHz it is possible to operate up to 6 ACOPOS servo drives with a cycle time of 10 ms.
MC_GearIn, MC_GearInPos: Linking on a master whose controller is off could cause the error 29231
The error 29231 "The master velocity is invalid, 0 or negative" could occur if "MC_GearIn" or "MC_GearInPos" was started while the master's
controller was turned off.
Starting with V2.0, this error will only be registered when the master's controller is turned on or the master is a virtual axis and the master
speed is negative.
The new behavior also makes it possible to use an encoder as master axis, particularly with the ACOPOSmulti.
MC_BR_WriteParID could cause a deadlock (only in V1.242 − V1.244)
If the "MC_BR_WriteParID" FB was called while a FB's parameters were being transferred and its "Execute" input was only set for one cycle,
then a deadlock of the FB could occur for this axis. Other FBs subsequently registered the status, "Busy," when called.
New FB "MC_BR_InitAxisSubjectPar"
This FB is used to selectively initialize individual subcomponents in the NC axis structure.
MC_DigitalCamSwitch − The FB can no longer be started after an error
The MC_DigitalCamSwitch FB could no longer be started after an error occurred. The error 29217: "Invalid input parameter" was reported after
the "Enable" input was set again.
MC_DigitalCamSwitch − Changing the switching data on an active FB

Until now (versions < 2.0), it was not possible to completely move cams while an FB was active (new "on" position > old "off" position).
Furthermore, the changed switching positions were applied immediately, even on periodic axes.
Starting in V2.0, the switching data can be changed as needed. Changes are not applied on a periodic axis until the beginning of the next
period.
The change will still be made immediately when using a non−periodic axis.
MC_Home – New homing modes "mcHOME_DCM" and "mcHOME_DCM_CORR"
Until now, the homing mode for distance coded reference marks could only be configured using the NC INIT parameter module and executed
using the "HomingMode" "mcHOME_DEFAULT". With the two new modes, it is now possible to set this type of homing on the FB input
"HomingMode", even during runtime.
MC_BR_ReadParID / MC_BR_WriteParID − Pagefault when "Axis" input is invalid or "DataAddress = 0"
A Pagefault could occur if an invalid axis reference was connected to the "Axis" input on the MC_BR_ReadParID or MC_BR_WriteParID FB or
if the value "0" was specified on the "DataAddress" input.
MC_BR_InitAutPar, Deadlock when "Execute" is set when a synchronized movement (via MC_GearIn, MC_BR_GearInPos, MC_CamIn) is
already active
A library deadlock could occur if the "Execute" input of the MC_BR_InitAutPar Fb was set when a synchronized movement was already active.
In this case, the FB registered the error 29255: "Initialization not possible, axis coupling is active"
MC_CamIn: Starting a cam profile after a non−periodic cam causes the error 29207
The axis remained in "SynchronizedMotion" after a non−periodic cam profile. When starting another cam profile, MC_CamIn sends the error
29207 "This movement type is currently not allowed". Now, "Standstill" is switched to when this occurs.
MC_Power should switch off the controller after a task overload
The controller stayed on when the "Enable" input of "MC_Power" was set to 0 during a Taskoverload in the "Overload" mode (=default). It was
possible to switch off the controller by setting and resetting the "Enable" input.
Now the controller is switched off when this occurs. In other download modes, no variables are initialized with 0, so that the controller keeps its
previous state.
MC_TouchProbe − "RecordedPosition" output was not reset when the "Execute" input was reset
If the MC_TouchProbe FB saved a position one time when a trigger event occurred and if the "Execute" input was reset, then the value of the
saved position was kept on the "RecordedPosition" output. However, the PLCopen FBs should reset all outputs when the "Execute" input is set
to "0".
MC_WriteParameter − "Busy" output stays set too long when an error occurs
If an FB error occurs (e.g. 29204: Invalid parameter number), then the "Busy" output stays set for one more cycle, even though only the "Error"
and "ErrorID" outputs should remain set.
MC_BR_InitModPos causes ACOPOS error 1002 if the "Period" on a virtual axis is initialized with "0"
If the MC_BR_InitModPos FB sets the axis period of a virtual axis to "0", then the ACOPOS returns the error message 1002: "Parameter
outside the valid range" after transferring a ParID. This then causes the FB to register the error 29226: "Drive error. Call MC_ReadAxisError for
details".
MC_ReadParameter − Reading values of the axis period and the axis factor
Starting from ACP10_MC V2.0, the MC_ReadParameter FB can be used to read the currently set value of the axis period and the axis factor.
The vendor−specific parameters 1007 (AxisFactor) and 1008 (AxisPeriod) were provided for this reason.
MC_GearInPos: Problem with phasing in the negative direction
If the master in a "MC_GearInPos" coupling is resting and the phase was changed in the negative direction with "MC_Phasing", then the slave
in the phase follows only to a certain point and then comes to a rest.
Now the slave follows a negative phase shift as well as a master moving in the negative direction.
If a master is moving in the negative direction, then coupling still cannot take place.
MC_GearIn: Problem with phasing in the negative direction
If the master in a "MC_GearIn" coupling is resting and the phase was changed in the negative direction with "MC_Phasing", then the slave in
the phase follows only to a certain point and then comes to a rest.
Now the slave follows a negative phase shift as well as a master moving in the negative direction.
If a master is moving in the negative direction, then coupling still cannot take place and the gear ratio cannot be changed.
MC_GearIn, MC_GearInPos writes a negative slave factor to the drive even though RatioNumerator is positive
A negative slave factor was transferred to the drive when "RatioNumerator" had a large positive value and a large master maximum speed.
This caused the slave to incorrectly change to negative direction.
MC_Power – Axis error after "MC_Power.Enable = 0"
The axis error "4011: Controller cannot be switched off: Movement active" could be registered if the "Enable" input of the MC_Power FB was
set to "0" shortly after a movement was started (e.g. with the FBs MC_GearIn or MC_GearInPos).
MC_MoveVelocity, MC_CamIn, MC_GearIn, MC_GearInPos − FB output status revised
Behavior of the outputs on the above FBs prior to V2.0 of the ACP10_MC−Library:
The "Busy" output was reset if the "InVelocity", "InSync" or "InGear" output was set. The "CommandAborted" output was not set if a continuous
movement (MC_MoveVelocity), cam coupling (MC_CamIn) or gear coupling (MC_GearIn, MC_GearInPos) was interrupted (e.g. via FB
MC_Stop).
Behavior of the outputs on the above FBs after V2.0 of the ACP10_MC−Library:
When the "InVelocity", "InSync" or "InGear" output is set, the "Busy" output also remains active. The FB must be called until the "Busy" output
has been reset by the FB. This occurs if the FB that is currently active gets interrupted by another FB (e.g. MC_Stop, other movement FB,
disabling MC_Power, etc.). In this case the "CommandAborted" output is set, as is required by the PLCopen standard.
Modified behavior of MC_BR_AutControl
Axis state "SynchronizedMotion":

Before V2.00, the axis state "SynchronizedMotion" was switched to as soon as the "Enable" input was set. Starting with V2.00, the axis state
"SynchronizedMotion" is not switched to until the "Start" input has been set. Among other things, this makes it possible to initialize a cam
profile automat with "MC_BR_AutControl" while using movement FBs.
The error 29272 "Data for MC_BR_AutControl not initialized" is registered if one of the FBs "MC_CamIn", "MC_GearIn" or "MC_GearInPos"
was called between the automat parameter initialization (automat Init FBs or with "InitAutData" input) and the setting of the "Start" input.
The axis state "Standstill" is activated when using the "Stop" input. The "Stop" input can only be used to cancel a link that was started with
"MC_BR_AutControl". "MC_BR_AutControl" registers the error 29207 "This movement type is currently not allowed" if this input is set during
another movement.
"ParLock" and signals:

Starting in V2.00, these inputs can be used in all axis states, even if an error is present or when in the "Errorstop" state. The error 29238 "This
FB cannot be used in the current state" is only registered by "MC_BR_AutControl" in the event that a link is active which was started by
"MC_CamIn", "MC_GearIn" or "MC_GearInPos".
MC_BR_WriteParID could cause a deadlock (only in V1.990 − V1.994)
If the "MC_BR_WriteParID" FB was called while a FB's parameters were being transferred and its "Execute" input was only set for one cycle,
then a deadlock of the FB could occur for this axis. Other FBs subsequently registered the status, "Busy," when called.
ACP10_MC−Library could report Error 29490 under certain conditions
The ACP10_MC error message 29490: "Internal initialization error (Global−Init)" could occur if the network connection to an ACOPOS was
interrupted and then re−established, all error messages acknowledged in the meantime and then the controller was switched on with the
MC_Power FB immediately after "network.init = ncTRUE".
MC_Power constantly reporting "Busy" when called for a configured, but unconnected ACOPOS unit
If the "Enable" input of the MC_Power FBK was set to "1" for a configured, but unconnected ACOPOS unit, the FBK constantly returns "Busy".
Now error 29490 is returned in this case after the timeout has expired. The axis state switches to "Errorstop".
MC_DigitalCamSwitch reports an error if it was disabled while a drive error was present
If "MC_DigitalCamSwitch" was disabled or "EnableMask" was set to 0 while a drive error was present, then it reports the error 29230 "Internal
error: Error at parameter list transfer"
AxisState does not change to "Standstill" when "MC_BR_AutControl.Enable" is set to "0"
The PLCopen axis state is not changed to "Standstill" when "MC_BR_AutControl.Enable" is set to "0" if "MC_BR_AutControl.Stop" was
previously set to "1" and if the slave axis was already in standstill when "MC_BR_AutControl.Enable = 0".
AS V3.0, SG4 target system: Pagefault when transferring a project in Run mode
In AS V3.0, transferring a project to the target system with the ACP10_MC library while the CPU was in Run mode could have caused a
Pagefault.
MC_BR_AutControl: Enable=0 in case of an error caused a drive error (only in V1.990)
If the "Enable" input on the MC_BR_AutControl FB was set to "0" while it was in an error state and if an active cam profile automat was not first
terminated using the the FB input "Stop" or by resetting the "Enable" input, then the value "0" was transferred to the parameter
AXLIM_A2_POS. This caused the drive to report an error.
POWERLINK, faulty cyclic read data at high CPU load
If there was a high load on the CPU and a ratio smaller than 8 between the NC Manager cycle time and the POWERLINK cycle time, in rare
cases the cyclic read data were faulty.
CAN, crash of target system (only in V1.990)
If more than 1 ACOPOS were operated on the CAN bus, the target system crashed.
The operation of ACOPOSmulti from now on is supported.
AxisState does not change to "Standstill" when "MC_BR_AutControl.Enable" is set to "0"
The PLCopen axis state is not changed to "Standstill" when "MC_BR_AutControl.Enable" is set to "0" if "MC_BR_AutControl.Stop" was
previously set to "1" and if the slave axis was already in standstill when "MC_BR_AutControl.Enable = 0".
ACP10_MC−Library could report Error 29490 under certain conditions
The ACP10_MC error message 29490: "Internal initialization error (Global−Init)" could occur if the network connection to an ACOPOS was
interrupted and then re−established, all error messages acknowledged in the meantime and then the controller was switched on with the
MC_Power FB immediately after "network.init = ncTRUE".
MC_DigitalCamSwitch reports an error if it was disabled while a drive error was present
If "MC_DigitalCamSwitch" was disabled or "EnableMask" was set to 0 while a drive error was present, then it reports the error 29230 "Internal
error: Error at parameter list transfer"
MC_BR_AutControl: Enable=0 in case of an error caused a drive error (only in V1.242)
If the "Enable" input on the MC_BR_AutControl FB was set to "0" while it was in an error state and if an active cam profile automat was not first
terminated using the the FB input "Stop" or by resetting the "Enable" input, then the value "0" was transferred to the parameter
AXLIM_A2_POS. This caused the drive to report an error.
POWERLINK, faulty cyclic read data at high CPU load

If there was a high load on the CPU and a ratio smaller than 8 between the NC Manager cycle time and the POWERLINK cycle time, in rare
cases the cyclic read data were faulty.
MC_BR_ReadParID and MC_BR_WriteParID, deadlock during network interruption (only in V1.190 − V1.241)
A deadlock could occur if the network connection was interrupted while one of the function blocks "MC_BR_ReadParID" or
"MC_BR_WriteParID" was "Busy." Other function blocks subsequently reported the status "Busy", when called. This problem could only be
corrected by restarting the control system.
MC_BR_InitCyclicRead and MC_BR_InitCyclicWrite, the use of invalid ParIDs resulted in the transfer of incorrect data
The use of an invalid ParIDs for "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" (e.g. Write−only, Read−only, SPT ParID from a function
block not yet created) caused one of the following errors:
− 1017: Invalid parameter ID for cyclic read access
− 1018: Invalid parameter ID for cyclic write access
Calling "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" again with a valid ParID then caused the respective parameter value to be
transferred to/from the ACOPOS at the wrong location in the cyclic frame.
MC_BR_InitCyclicRead and MC_BR_InitCyclicWrite, using a ParID repeatedly no longer causes an error
Repeatedly calling "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" using the same ParID previously caused the error 29258 or 29259.
Now, this situation no longer causes an error to be displayed or a new data point to be transferred to/from the ACOPOS in the cycle frame. If
the address of the user data ("DataAddress") is changed, then the new address is used as data target/source.
MC_BR_InitCyclicRead and MC_BR_InitCyclicWrite, deadlock during the parameter transfer of other FBs
A deadlock could occur when calling one of the FBs "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" during the parameter transfer of
another FB. Other function blocks subsequently reported the status "Busy", when called. This problem could only be corrected by restarting the
control system.
MC_BR_InitCyclicRead and MC_BR_InitCyclicWrite, "Done" is output even though no parameter was entered
If multiple instances of the FBs "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" were called within a cycle using "Execute = 1", then
"Done" was occasionally output even though no parameter was entered in the cycle data to/from the drive.
MC_BR_ReadParID and MC_BR_WriteParID can now also be called when an axis error is present
MC_BR_ReadParID and MC_BR_WriteParID, deadlock during the parameter transfer of other FBs
A deadlock could occur when calling one of the FBs "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" during the parameter transfer of
another FB. Other function blocks subsequently reported the status "Busy", when called. This problem could only be corrected by restarting the
control system.
MC_ReadAxisError − Error texts could be mixed
If two or more axis error were acknowledged with the MC_ReadAxisError FBK, the error texts could have been mixed.
MC_ReadAxisError showing an axis error although it was already acknowledged with the MC_Reset FBK
If an axis error was acknowledged with the MC_Reset FBK, the MC_ReadAxisError FBK continued to show the error number on the
"AxisErrorID" output.
MC_Reset generating a change in status from "error stop" to "standstill" although network communication interrupted
The PLCopen state switches to "error stop" if the ACOPOS unit's network connection is interrupted. This status should remain until everything
is OK with the network again and the MC_Reset FB is called.
If the MC_Reset FB was called while the network connection was still interrupted, then the FBK incorrectly switched the state to "Standstill".
MC_Power constantly reporting "Busy" when called for a configured, but unconnected ACOPOS unit
If the "Enable" input of the MC_Power FBK was set to "1" for a configured, but unconnected ACOPOS unit, the FBK constantly returns "Busy".
Now error 29490 is returned in this case after the timeout has expired. The axis state switches to "Errorstop".
MC_Power outputs not correctly operated if the "Enable" input was set to "0" after network communication was lost
If the "Enable" input of the MC_Power FBK was set to "0" after network communication to an ACOPOS unit was lost, then the "Status" and
"Error" outputs were operated alternately.
Value of the "Deceleration" input not checked for MC_Halt
If the value if "0.0" or greater than one of the configured delay limit values, an axis error was reported after setting the "Execute" input, and the
movement remained active.
The value is now checked; if it's "0.0" or greater than one of the delay limit values, then that limit value is always used to stop the movement.
MC_Stop registers CommandAborted if "Enable=0" was set for MC_BR_AutControl
In the event that the "Execute" input for "MC_Stop" was set to 1 at the same time that the "Enable" input for "MC_BR_AutControl" was set to 0,
then "MC_Stop" falsely registered "CommandAborted", even though the stop ramp for "MC_Stop" was run to the end.
In this case, "MC_Stop" no longer registers "CommandAborted", because it cannot be interrupted by "MC_BR_AutControl."
MC_BR_AutControl not ending active movements if "Enable" set to "0" (only in V1.211 − V1.241)
If the "Enable" input of the "MC_BR_AutControl" FBK was set to "0" during active cam profile coupling, then this movement was not aborted.
Value of the "Deceleration" input not checked for MC_BR_AutControl
If the value if "0.0" or greater than one of the configured delay limit values, an axis error was reported after setting the "Stop" input, and the
automat movement remained active.
The value is now checked; if it's "0.0" or greater than one of the delay limit values, then that limit value is always used to stop the movement.
MC_BR_InitModPos not always transferring "Period"
This FBK didn't transfer the value of the "Period" input to the drive if an axis period wasn't defined in the mapping table.
An oriented stop didn't work correctly with the "MC_MoveAbsolute" FBK because of this.
The software limits were also not ignored when using a periodic axis.
MC_BR_AutControl only transferring the ParLock ParID in some cases
If the inputs "ParLock" and "InitAutData" were set in the same TC cycle, then only the ParLock ParID was transferred. The automat parameters
were not initialized.
MC_DigitalCamSwitch using the value "1" as the period for a non−periodic axis
This causes the outputs to switch incorrectly as well as accelerated switching after the last switch−off position (output had 12V).
Now the value "2147483646" is specified as the interval for a non−periodic axis, or the user sets the new input "Period" to the value of the
desired interval in the structure of type "MC_CAMSWITCH_REF".
MC_Phasing with MC_GearInPos
"MC_Phasing" didn't work with an active "MC_GearInPos" and returned error 29217 "Invalid input parameter".
Axis error 1017 "Invalid parameter ID for cyclic read access" was also returned.
MC_BR_InitCyclicWrite now for CAN as well
The "MC_BR_InitCyclicWrite" FB can now also be used for the CAN bus.
MC_GearIn and MC_GearInPos reporting errors with very small gear ratios
If the gear ratios for "MC_GearIn" and "MC_GearInPos" are very small (e.g. 1:1), it could have caused error 5102 "Too many cam profile
changes per cycle (master period too short)".
"MC_TouchProbe" always used the positive edge
The position was always latched with the positive trigger edge even if the negative edge was selected.
Lag error when coupling to moving virtual masters
Start of "MC_GearIn" or "MC_GearInPos" with a moving virtual master axis could cause a lag error.
Unable to restart a movement after axis error
If an axis error occurred during a movement FBK that didn't stop the axis (e.g. parameter error), the FBK constantly returns "Busy".
An additional positive edge on the "Execute"−input had no effect. The FB only escaped this state once the axis was stopped.

− MC_MoveAbsolute
− MC_MoveAdditive
− MC_MoveVelocity
− MC_Halt
− MC_GearIn
− MC_GearInPos
− MC_GearOut
− MC_CamIn
− MC_CamOut
Deadlock due to axis error during MC_BR_ReadParID or MC_BR_WriteParID
If an axis error occurred during the execution of "MC_BR_ReadParID" or "MC_BR_WriteParID", it could have deadlocked the FBs for this axis.
Subsequent FBs were not able to perform any actions on the axis and always returned "Busy".
MC_BR_MoveVelocityTriggStop constantly reports busy after MC_Stop
If the function block "MC_BR_MoveVelocityTriggStop" was started in negative direction after "MC_Stop" and a remaining distance was
specified so small that the axis had to reverse, then the axis was decelerated to a speed of 0 when a trigger event occurred and the function
block constantly reported "Busy".
MC_BR_InitCyclicRead at the same time as MC_Home, quickstop or drive error can cause incorrect cyclic data
Incorrect cyclic data could occur on the "DataAdress" of the "MC_BR_InitCyclicRead" if "MC_Home" was called, a quickstop was triggered or a
drive error occurred in the same task cycle before a "MC_BR_InitCyclicRead" call.
MC_Power: The axis remained in the "Disabled" state if the controller was not ready
If "MC_Power" is enabled and the controller is not ready the axis now changes to the "Errorstop" state. This behavior corresponds to the
PLCopen state diagram.
MC_Home: New mode mcHOME_SWITCH_GATE
The mode, "mcHOME_SWITCH_GATE" makes it possible to use a switch with 2 edges.
MC_BR_InitParList, MC_BR_DownloadParSequ, and MC_BR_InitParSequ constantly reported busy
The "MC_BR_InitParList", "MC_BR_DownloadParSequ", and "MC_BR_InitParSequ" FBs constantly reported busy if one of the following
events occurred shortly beforehand on the same axis:
− Activation of a MC FB.
− Error on the drive => reading of parameter "ERROR_REC" by the NC−Manager
− Completion of homing movement => reading of parameters "HOMING_TR_S_REL" and "HOMING_OFFSET" by the NC−Manager
− A override change => writing of parameter "OVERRIDE" by the NC−Manager
MC_GearIn and MC_GearInPos: Lag error or speed jump when starting
If a ParID is used as a master for "MC_GearIn" and "MC_GearInPos" and it was "in motion", coupling the slave could have caused a speed
jump or lag error. Now the speed specified at the "MasterParIDMaxVelocity" input is used to calculate the entry movement to couple gently.
Invalid state change with MC_Stop possible
Clearing "Execute" on the "MC_Stop" function block caused the state to change to "Standstill", even if the axis was in a state, which could not
normally be changed by this event (e.g. error stop). The state is now only changed to "Standstill" under these circumstances (clearing
"Execute" on the "MC_Stop" function block) if the axis is in the "Stopping" state.
MC_SetOverride: Error if override values very small
A value of 0.0001 (1%) is recognized as 0; for the acceleration override this results in error 29217: "Invalid input parameter".
A value of 0.0002 (2%) is recognized as 1. Larger values are processed correctly.
Error 29228 from FBKs with a master input
For various master and slave axis types (real, virtual axis), calling the FB for the fourth time caused the following error message for
drive−spanning couplings:
29228 "No further master position can be read from the network by this drive"

− MC_CamIn
− MC_GearInPos
− MC_BR_MasterParIDTransfer
MC_BR_AutControl: Clearing "Enable" caused a drive error when the controller was off
If the "Enable" input of "MC_BR_AutControl" was set to FALSE while the controller was already switched−off (e.g.: because of "MC_Power" or
lag error), an attempt was still made to stop movement. This caused error 5005 "Start of movement not possible: Position controller inactive."
MC_BR_DownloadCamProfileObj doesn't work (V1.210 only)
Calling the FB returns error 32181 "Data address zero (user data for parameter list operation)". The cam profile was not transferred.
FBs transferring 0 instead of the input value
If a FB is called immediately after the controller is booted, it's possible that it transferred 0 to the drive instead of the values on its inputs.
Affected input data included position, distance, speed, and acceleration values.
MC_Stop: Deceleration outside the valid range
Braking takes place using the limit value if the "Deceleration" is 0 or greater than the limit value for a real axis.
If the "Deceleration" is 0 for a virtual axis, the base parameter is used for braking.
In earlier versions, an error was output and the axis did not brake.
MC_ReadAxisError returning errors without DataObjectName
If a "DataAddress" is specified for "MC_ReadAxisError" to find out an error text, but a "DataObjectName" is not specified, it should be obtained
from the init parameter module. Instead, error 29260 "No data object name specified" is returned.
Now, the "DataObjectName" from the init parameter module is used when this happens.
Busy status for FBs if no init parameter module specified
If an init parameter module was not specified in the mapping table, the FBs constantly returned busy.
In this case now, error 29490 "Internal initialization error (Global−Init)" is returned.
Target system SG4 (I386), POWERLINK: In rare cases, "MC_Stop" could result in blocking parameter transfer(only with ACP10_MC from
V1.170 on with AR from V2.80 on)
Under the following conditions, the transfer of parameters to and from an ACOPOS was blocked:
− The real axis of an ACOPOS was not yet referenced.
− The "MC_stop" FB was activated for the real axis of this ACOPOS.
− An MC FB was also activated for the virtual axis of this ACOPOS in the exact same task cycle.
− Both of the activations mentioned above occurred in the "Task class for NC manager task" defined in the NC configuration
− The Activation for the virtual axis occurred in this task cycle before the activation for the real axis.
New FBs: "MC_BR_InitAxisPar", "MC_BR_SaveAxisPar" and "MC_BR_LoadAxisPar"
MC_BR_AutControl: New outputs "ActualStateIndex" and "ActualCamType"
MC_BR_InitParSequ returning error 29254 if the parameter sequence only has one parameter
If the POWERLINK cycle time was the same as the task cycle time and only one parameter was contained in the sequence, error 29254 "Error
initializing parameter sequence" was reported.
MC_BR_InitAutState returning error if automat active
If MC_BR_InitAutState was used when the automat was active, the system returned error 5302 "Parameter write not allowed: Cam automat
active."
"MC_Power": Previously possible to switch from "Errorstop" to "Disabled" state with a neg. edge on "Enable"
If an error caused the controller to turn off and the axis was in the "Errorstop" state because of it, the axis could be put into the "Disabled" state
with a negative edge on the "Enable" input of the "MC_Power" FBK.
The axis now remains in the "Errorstop" state.
"MC_CamIn": The start mode "mcDIRECT" did not work correctly
When a cam coupling was startet with the FB "MC_CamIn" with start mode "mcDIRECT", the coupling was started at a wrong master position
or the following error was reported:
− 5318: Relative distance of master axis higher than cam profile period
Cyclic data sometimes overwritten or set to 0
If more than 24 bytes of cyclic data is read by the drive, it was possible for values to be set to 0 or overwritten.
Error 29490 for "MC_Reset" after network error (V1.194−V1.196 only)
If attempting to change the axis from the "ErrorStop" state to the "Disabled" state using "MC_Reset" after a network error, then the FB returns
error 29490.
New homing mode "mcHOME_ABSOLUTE_CORR" for FB "MC_Home"
The offset specified at the "Position" input is added to the encoder absolute value and counter range correction is carried out.
Homing mode "mcHOME_ABOLUTE" with the FB "MC_Home" used counter range correction
Now, only the offset specified at the "Position" input is added to the read encoder absolute value.
Invalid master axis for "MC_CamTableSelect" crashed the target system
The "Master" input is no longer evaluated; no master is necessary for the FB function.
FBs respond as "Busy" after initializing an empty Acopos parameter table
After initializing an empty Acopos parameter table with "MC_BR_InitParTabObj", other FBs were no longer able to execute any operations and
responded as "Busy".
Now "MC_Phasing" can also be used with "MC_GearInPos", previously the error 29207 was reported.
"MC_BR_AutControl": New "Deceleration" input to define the ramp while stopping.
"MC_BR_AutControl": Error message if parameters were initialized while an automat was running
An attempt is no longer made to transfer the parameter AUT_MA_ID if the parameters are initialized while an automat is running.
"MC_BR_AutControl": If the automat was stopped, then the "Running" output remained set (automat came to a stop).
"MC_CamIn": The output "EndOfProfile" continued to output pulses if the coupling was already interrupted with "MC_CamOut" or "MC_Stop".
"MC_CamIn" sometimes did not start the coupling (only V1.184 − V1.194)
If the "Execute" input was set for only one cycle at the StartMode "mcRELATIVE", then the coupling was not started.
Jolt time is overwritten in the axis structure with 0.0004s
If the jolt time was 0.0 in the Init parameter module, then it was initialized with 0.0, but 0.0004s was written to the axis structure.
Cyclic data with a length of 4 bytes could be read incompletely (only V1.193 − V1.194)
If more than 16 bytes of cycle data were used, then sometimes only 2 bytes of a 4−byte parameter were read.
Affected FB ouputs:
− "Torque" from MC_ReadActualTorque

− "Done" and "RecordedPosition" from MC_TouchProbe
− "EndOfProfile" from MC_CamIn
− "Value" from MC_ReadDigitalInput
− "Value" from MC_ReadDigitalOutput
− User variables connected to MC_BR_InitCyclicRead via "DataAddress"
The "SlaveChannel" input of the "MC_BR_InitMasterParIDTransfer" function block had the data type UINT on SG3 targets instead of USINT.
FBs that start continuous movements did not report "Done" or "InVelocity" at high speeds
Affected FBs: "MC_MoveVelocity", "MC_GearOut" and "MC_CamOut"

The outputs "InVelocity" and "Done" were not set when running at high speeds (approx. 6 000 000).
MC_Home: "mcHOME_DEFAULT" no longer functioned after a homing procedure with a mode not equal to "mcHOME_DEFAULT"
If a homing procedure with any mode other than "mcHOME_DEFAULT" was performed before a homing procedure with
"mcHOME_DEFAULT", then the parameters from the previous homing procedure were used instead of those from the INIT parameter module.
Cyclic data was 0 with short Acp10 manager cycle time
This problem could occur with a small ratio between the defined Acp10man cycle time (default TC1) and POWERLINK cycle time and more
than 3 axes.
(e.g. 400µs Acp10man cycle time, 400µs POWERLINK cycle time, 4 axes)
Error image
The following FB outputs were always zero:

− "Torque" from MC_ReadActualTorque
− "Done" and "RecordedPosition" from MC_TouchProbe
− "InSync" and "EndOfProfile" from MC_CamIn
− "Done" from MC_Phasing
− "InGear" from MC_GearIn
− "StartSync" and "InSync" from MC_GearInPos
− "Running" from MC_BR_AutControl
− User variables connected to MC_BR_InitCyclicRead via "DataAddress" were always set to zero.
"MC_ReadDigitalInput" and "MC_ReadDigitalOutput": Invalid values for "Slot" or "Channel" caused the system to crash
2−4 are permissible values for "Input.Slot" and "Output.Slot". 1−8 are permitted for "Input.Channel" and 1−10 for "Output.Channel".
Entries outside of this range caused the target system to crash.
Error messages from automatic initialization
If an error occurs during the automatic initialization, it will be indicated by a corresponding error number for the "ErrorID" output of the FB being
called.
Modulo position only corrected by one period in each cycle after initialization
If the position value read after a warm restart or homing procedure is greater than a period (absolute encoder), it could take several cycles to
calculate the module position. The "Position" output of the "MC_ReadPosition" FB changed by one period every cycle until the output position
was less than one period. Now the modulo position is calculated within one cycle.
Output "Value" from "MC_ReadDigitalInput" and "MC_ReadDigitalOutput" remained "TRUE"
The "Value" output remained TRUE even when the "Enable" input was set to FALSE or an error occurred.
New input "Periodic" for "MC_BR_DownloadCamProfileObj"
New input "Periodic" to use the cam profile with "MC_CamIn".
"MC_Stop": "Busy" and "Done" could be set at the same time for a cycle
If Execute was set to FALSE before the "Done" FB responded, then the "Busy" and "Done" output were simultaneously set for one cycle.
"Direction" mode "mcEXCEED_PERIOD"
New "Direction" mode "mcEXCEED_PERIOD" has been implemented for "MC_MoveAbsolute" and "MC_BR_MoveAbsoluteTriggStop".
New FB "MC_BR_DownloadCamProfileData"
POWERLINK, cyclic data from the drive, in some cases 1−byte or 2−byte parameters were not able to be read
Due to an error in the configuration of the drive's cyclic data, 1−byte or 2−byte parameters were sometimes not able to be read and the FB
outputs or user variables derived from this were always set to zero.
The following FB outputs were always set to zero when this problem occurred:
− "InSync" from MC_CamIn
− "Done" from MC_Phasing
− "InGear" from MC_GearIn
− "StartSync" and "InSync" from MC_GearInPos
− "Running" from MC_BR_AutControl
If this problem occurred, then user variables connected to MC_BR_InitCyclicRead via "DataAddress" (for which 1−byte or 2−byte parameters
were configured) were set to zero.
When enabling MC_BR_AutControl a crash of the target system could occure (only in V1.190).
"MC_DigitalCamSwitch": New parameters can be initialized now when the FB is active.
With the new inputs "InitSwitches" and "InitTrackOptions" it is possible now to initialize new parameters while the FB is active
Incorrect error message 29207 from MC_GearInPos
MC_GearInPos reported the error 29207 if the master and slave axes were on different drives and a parameter transfer to the master axis was
active.
The FB now waits until this parameter transfer is complete and no longer reports this error.
New FBs for SG3 Targets
− MC_001_ReadActualVelocity
− MC_002_ReadActualTorque
− MC_003_GearInPos
− MC_004BR_BrakeOperation
− MC_005BR_MoveAbsoluteTriggSto
− MC_006BR_MoveAdditiveTriggSto
− MC_007BR_MoveVelocityTriggSto
− MC_008BR_ReadParID
− MC_009BR_WriteParID
− MC_010BR_InitCyclicRead
− MC_011BR_InitCyclicWrite
− MC_012BR_InitParList
− MC_013BR_InitParTabObj
− MC_014BR_DownloadCamProfileOb
− MC_015BR_DownloadParSequ
− MC_016BR_InitParSequ
− MC_017BR_InitAutPar
− MC_018BR_InitAutState
− MC_019BR_InitAutEvent
− MC_020BR_AutControl
− MC_021_ReadDigitalInput
− MC_022_ReadDigitalOutput
− MC_023_WriteDigitalOutput
− MC_024BR_InitMasterParIDTrans
− MC_025BR_InitModPos
New FB "MC_BR_InitModPos" for SG4−Targets
"MC_BR_InitCyclicRead" and "MC_BR_InitCyclicWrite": Calling the same ParID again could lead to a deadlock.
A deadlock could occur if "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite" was called a second time for the same ParID. The deadlock
could only be fixed by restarting.
"MC_MoveAbsolute" and "MC_BR_MoveAbsoluteTriggStop": The mode "mcSHORTEST_WAY" delivers the error 29217 (only in V1.170 −
V1.187)
The "mcSHORTEST_WAY" mode on the "Direction" input was rejected by "MC_MoveAbsolute" and "MC_BR_MoveAbsoluteTriggStop" with
error 29217.
"MC_BR_AutControl": The data type of the "ParLock" input is now USINT
The data type for the "ParLock" input in the "MC_BR_AutControl" function block was changed from BOOL to USINT. Parlock can now also be
set to 2.
The done output from "MC_BR_InitCyclicWrite" was not set
If the "Execute" input was only set for one cycle, then the "Done" output was not set.
Deadlock with "MC_BR_InitCyclicRead" / "MC_BR_InitCyclicWrite"

A deadlock could occur if another FB was called in the same cycle as "MC_BR_InitCyclicRead" or "MC_BR_InitCyclicWrite". The deadlock
could only be fixed by restarting.
New "Execute" of "MC_Stop" during the deceleration ramp led to a wrong deceleration if the PLCopen−unit−factor was used.
If an FB−instance received another positive edge on the "Execute"−input during the deceleration ramp, the PLCopen−unit−factor was not
taken into account.
This resulted in a flattening of the deceleration ramp and thus in a longer braking distance.
The value of the input "TriggerDistance" was not multiplied with the PLCopen−unit−factor.
The input "TriggerDistance" of the FBs "MC_BR_MoveAbsoluteTriggStop", "MC_BR_MoveAdditiveTriggStop" and

"MC_BR_MoveVelocityTriggStop" was not multiplied with the PLCopen−unit−factor. If this factor was used a wrong rest distance was moved.
Periodic axes moved a wrong distance when the internal position value exceeded 2^31.
On periodic axes the FBs "MC_MoveAdditive" and "MC_BR_MoveAdditiveTriggStop" moved a wrong distance when the internal position
exceeded 2^31.
The data type of the input "CamTable" was STRING(10) for SG3−Targets and is now STRING(12)
The input "MasterParID" of the FBs "MC_GearIn", "MC_GearInPos" and "MC_CamIn" had no function.
The values of the constants "mcSHORTEST_WAY" and "mcCURRENT_DIR" where twisted.
That could have resulted in unexpected behavior of the FB "MC_MoveAbsolute".
"MC_BR_BrakeOperation" used invalid commands
For opening the brake the input "BrakeCommand" of the FB "MC_BR_BrakeOperation" wrongly had to be set to 2, for closing to 1.
Now it works as described, 1 for opening and 0 for closing the brake.
If "MC_GearInPos" was called after "MC_GearIn", the input "MasterSyncPosition" was not evaluated.
New FBs for SG4 targets
− MC_GearInPos
− MC_ReadActualVelocity
− MC_WriteDigitalOutput
− MC_BR_BrakeOperation
− MC_BR_ReadParID
− MC_BR_WriteParID
− MC_BR_InitCyclicRead
− MC_BR_InitCyclicWrite
− MC_BR_DownloadParSequ
− MC_BR_InitParSequ
− MC_BR_InitParList
− MC_BR_InitParTabObj
− MC_BR_InitAutState
− MC_BR_InitAutEvent
New FB for SG3 and SG4 targets
"MC_Halt"
"MC_GearIn" und "MC_CanIn": New input "MasterParID"
Every ParID of the master axis can be used as master not just the set position.
MC_ReadAxisError: Additional in− and outputs
New inputs "DataAddress", "DataLength" and "DataObjectName" for error text evaluation
New outputs "AxisErrorID", which now provides the ACP10 error number and "AxisErrorCount" that shows the number of queued errors .
MC_SetOverride: The input "Execute" was changed to "Enable"
The bahavior of the FB changed accordingly !
MC_Home: New input "HomingMode"
MC_DigitalCamSwitch: The component "Node" of the data type "MC_OUTPUT_REF" was replaced by "Axis".
Possibly MC_DigitalCamSwitch could not leave an error state
Resetting "Enable" before "InOperation" was set resulted in a state where a new "Enable" led to an error. This state could have only be left by
a Warm− / Coldstart.
Now every FB has a new output "Busy".
MC_TouchProbe could block the parameter transfer
If the Execute−input of MC_TouchProbe was only set to TRUE for one cycle (or a few cycles), the paramter transfer was blocked for the whole
axis. The FB did not report an error in this case.
FB−Outputs were set for two cycles
The following FB−Outputs were set for two cycles when the FB−Input "Execute" was reset before these FB−Outputs were set.
"Done" or "CommandAborted":
− MC_Home
− MC_MoveAbsolute
− MC_MoveAdditive
"Done":
− MC_CamOut
− MC_GearOut
− MC_Phasing
"InVelocity" or "CommandAborted":
− MC_MoveVelocity
"InSync" or "CommandAborted":
− MC_CamIn
"InGear" or "CommandAborted":
− MC_GearIn
Now these outputs are only set for one cycle. The FBs can be called with Execute = TRUE again.
Thus, under certain conditions, an FB−cycle can be saved in the application program.
New FB "MC_SetOverride" was implemented
At a negative position MC_TouchProbe delivered a big positive value
MC_Power: When the controller was switched on there was the possibility that previously reported errors were reported again.
Previously reported errors are now cleared when the controller is switched on.
Errormessage when phasing with dither mode
When pashing with dither mode an error message from MC_Power could occur.
With a negative start position MC_CamIn coupled too late
With a negative master start position and start mode mcRELATIVE, a positive start position was calculated.
Function for output "EndOfProfile" was implemented in FB "MC_CamIn"
Possibility of internal deadlock (only in V1.151)
It could have occured, that the internal locking for an axis was not released again. Thus no other FB for this axis could be called, no error was
reported.
The input "SlaveOffset" of the FB "MC_CamIn" was only used for the first start.
MC_CamIn: The "SlaveOffset" was only taken into account the first time started, at every following start the slave was coupled at the position it
was currently standing.
FB−Datatransfer was locked
When several FBs for the same axis where called in fast succession, the data of the first FBs could be overwritten.
Now each FB waits until the active one has finished transferring its data.
New function blocks
− MC_TouchProbe
− MC_AbortTrigger
Starting with V1.140 Multiaxis−FBs are also available with CAN−Bus.
State "Standstill" will be reached when the initialization is complete.
Before that the FB "MC_ReadStatus" reports "Done"=TRUE, but no status output is set.
For virtual axis the controller state is not any more checked, when a move is started.
Homing of an axis is now also possible when the controller is off, if the mode "Offset" or "Direkt" with "Refimpuls" is used.
MC_Home: When Execute was set only for one cycle and an error occurred the outputs Error and ErrorID where not set.
MC_Home: The position factor was not taken into account.
With a position factor >1 and a home position <> 0 the homing was done wrong.
NC Software − ARNC0 Wichtige Information
AS Upgrade for Arnc0 Libraries
From ARNC0 version V3.16.0, the following AS Library upgrades are no longer generated:
− AS3.0_MC_Arnc0_V3.xx.x_EXT.exe
− AS4_MC_Arnc0_V3.xx.x_EXT.exe
They are replaced by:

− AS3.0_MC_Arnc0ext_V3.xx.x.exe
− AS4_MC_Arnc0ext_V3.xx.x.exe
The new upgrades contain only the Arnc0ext Library.
ARNC0 versions V2.51.3 up to V2.99.9
POWERLINK or SDC interfaces defined in the ARNC0 configuration are not longer supported from ARNC0 V3.00.0 or higher.
ARNC0 V2.51.3 to V2.99.9 versions contain extensions / bug fixes based on ARNC0 V2.51.2.
In ARNC0 V2.51.3 to V2.99.9 implemented extensions / bug fixes do not apply to versions from V3.00.0.
Interfaces not longer supported by ARNC0
With ARNC0 V3.10.0 or higher, ACP10 and SDC axes can be used only with PLCopen (set "Use PLCopen" in the Wizard to insert axes).
If POWERLINK or SDC interface are defined in the ARNC0 configuration, the ARNC0 startup will be aborted (entry in the logger).
ARNC0 supports only virtual interfaces (PV name="VIRTUAL" Mode="0").
Minimum Requirements for ARNC0 V3.10.0
System requirements for Arnc0:

From ARNC0 V3.10.0:
− Automation Studio 3.0.90.32 up to 3.1.0.0 or
− Automation Studio 4.1.7.61 or higher
− Automation Runtime V3.00 or higher

− Automation Runtime B3.01 or higher if ACP10 axes via PLCopen IF are used
From ARNC0 V3.19.0:

− Automation Studio 3.0.90.32 up to 3.1.0.0 or
Included drive operating systems
The ARNC0 requires the Library ACP10man. Starting with ARNC0 V2.45.0 versions of both libraries, except for the last digit of the version
number, must be identical.
The drive operating system with the version of Library ACP10man is used.
From ARNC0 V1.37.0, drives with CAN interface will not be supported anymore.
Minimum AR version for PLCopen IF in ARNC0
ACP10 axes accessing via PLCopen are supported in ARNC0 by AR version B3.01 or higher.
NC Manager task−class Stack Usage
When running in Automation Runtime B3.01 (or higher) ARNC0 versions 1.05.2 and higher utilise a cyclic task class (TC#1 or starting with
V1.25.1 the NC Manager task−class, respectively) for calculating axis set positions in real−time. Since ARNC0 uses the stack memory of that
task−class, it can be necessary to increase the task−class stack size.
Especially when programming multiple coordinate system transformations (e.g. frame operations, G92, G192, G292, G53−G59, or G159) in a
row −− i.e. without any movement blocks in between −− the default task−class stack size might be too small. Each coordinate system
transformation consumes approximately 800 Bytes of stack memory and if they are programmed in a row the stack consumption is
approximately 800*n Bytes (n being the number of subsequent coordinate system transformations).
Minimum ARNC0 version for AR A3.08 or higher
For AR versions E3.08 or higher only the ARNC0 versions V1.252 or higher can be used.
If an ARNC0 version before V1.252 is used with AR versions E3.08 or higher , then the ARNC0 initialization will be aborted (Error description
in AR Logger : "NC Manager: NC Manager module not found", ASCII data: "arnc0man.br not found!")
For AR versions A3.08 or higher only the ARNC0 versions V1.220 or higher can be used.
Starting with ARNC0 V1.20.0 your system has to meet the following requirements:
− Automation Runtime V3.00 or higher
Starting with ARNC0 V1.00.0 your system has to meet the following requirements:
− Automation Studio 3.0.80 or higher
− Automation Runtime O2.95 or higher
External encoder operation
An external encoder is operated correctly only on slot 3 of the ACOPOS.
NC Software − ARNC0 V3.130
Deadlock when running a CNC program
A deadlock can occur when a CNC program with synchronous M functions, G170 or G172 is executed. The blocking CNC program can be
aborted by the user.
Automatic tangential axis could move wrongly in combination with rotation of the coordinate system.
Control blocks FOR and SWITCH newly supported in AIL.
Target coordinate programmed to value with flag 'undef' was not ignored.
Arguments may be marked as 'undef' (e.g. function argument is missing). When using argument with flag 'undef' for positioning, the argument
is then ignored.
Unexpected error 15863
This error might occur when some enumeration data type is redefined, and DeclareEnumLiteralsAsConstants="Yes" is set in Interpreter config
file gmcipiec (its default value is "No").
The IEC−ST statement CYCLIC_BL or interpreter synchronous blocking FB could cause unexpected error during high CPU load.
Function block declaration followed by its implementation caused array initialization problems.
Waiting time too short for exact stop
For ACP10 axes in a CNC channel (CNC_enabled="1"), the waiting time until the next command is too short for an exact hold (e.g. G60).
Correct behavior: As soon as the path section end has passed the path jolt filter (t_jolt) and all ARNC0 axis jolt filters (t_axfilter), the system
waits the length of the settling time (t_in_pos) and total delay time (t_total) of the axes.
With the new system variable $ACC_HOLD_ADD_T_WAIT, an additional waiting time can be programmed for an exact stop.
Positions in extended CNC monitor (ARNC0NCMON_EXT_typ) are not displayed with full accuracy
Systemvariable "$MAPPING_MODE" causes a syntax error
Selection of operating mode for cam wrapping (G17Q/G18Q/G19Q) or mapping (G217/G218/G219) by the system variable
"$MAPPING_MODE" or "MAPPING_MODE". So far "$MAPPING_MODE" causes a syntax error.
Extension of restart info data
When determining the RESTART−INFO data additionally the line number is displayed.
New restart type "restart.info.parameter.restart_type = ncABORT_DATA".
Restart date stored at program abort will be shown (data are only displayed no preparation for a possible restart is done).
OptMot − Correction of a defect in the automatic computation of the internal sample time
MX command GetTool returned invalid tool values
The MX command GetTool returned invalid tool values if such was called before any tool was set.
Interpreter single step halts program execution of local subprogram at line following program label.
DNC interface: Data type declaration for DNC buffer header (ARNC0DNCHEADER_typ) in the ARNC0 library
New AIL built−in function GetVarValue
The function takes name of variable (string) and writes its value on specified address. The variable is searched first in local scope, then
IP−global and finally in NC/PLC global scope.
Data in CNC monitor deleted when starting program
Monitoring data is reset when starting a CNC program (cnc_object.move.status.cnt_ncprog = 1).

cnc_object.monitor.line_ncprog = 0
cnc_object.monitor.block_ncprog = 0
cnc_object.monitor.nr_ncprog = 0
cnc_object.monitor.name_ncprog = '\0'
As soon as the data is available, the current values are displayed.
Random additional information for error 9249, 9250, 9270 and 9271 (CDC activation / deactivation)
Single step can now be switched on/off while program runs after restart
Error when a new program is started immediately after the end of a CNC program or a global init of the CNC system is performed
At the end of the program, the variable move.status.cnt_nc_prog is set to zero although in the ARNC0 not all operations are finished. If e.g. a
new program will be started immediately, so this will be aborted.
Deadlock by error 40112 (timeout while processing an ARNC0 command)
Error 40112 may lead to a deadlock. Error 40112 may occur when a ncaction () is called, and this is not allowed in the current state. For
example, Error 7146 occurs when ncGLOBAL, ncINIT is called during an active CNC program, and this leads to the subsequent error 40112.
Bug in built−in function EXEC_RPC

Repositioning to an empty line in IEC/ST program caused page fault.
OptMot − Position error at tool change with D_FULL and OptMot
Dead lock when using ParId Trace for ARNC0 axis
ParID Trace is not exited and cannot be aborted when started for an ARNC0 axis (axis on a virtual ARNC0 interface).
The start of the trace is prevented by error 40265.
Calculation of feed forward torque with increased accuracy
Deadlock when starting a CNC program
When a CNC program with an automatic tangential axis (G140) is aborted by an error, it can happen that the next program start is blocked by
a deadlock.
The lock can be resolved only by rebooting the controller.
The error can also occur if G17Q / G18Q / G19Q or G217 / G218 / G219 is used in the aborted program.
Interfaces not longer supported in ARNC0
Not longer supported interfaces (ARNC0 configuration):

− POWERLINK interface
− virtual Interface with the name "SDC:<interface name>"
− virtual interface in mode "1"
If one of these interfaces is defined in the ARNC0 configuration, the ARNC0 startup will be aborted (entry in the logger).
The IEC/ST statement CYCLIC_BL didn't block Interpreter execution in case of interpreter single step or break point.
New built−in functions EXEC_RPC introduced
Statement to start programs in IEC−ST. Unlike EXEC, the start position can be freely defined and can also be in subroutines.
Signal functions (G220, G221, G222) in combination with CDC
When using signal functions (G220, G221, G222) in sections with active CDC, it may happen that the signal is output at a wrong position or at
a wrong time or not at all. Possibly warning 7179 may arise.
Page fault when calling a path synchronous function and restart is switched on
Stack corruption when using more then 32 local variables inside of an AIL template.
Deadlock when using GmcGrpAPI FUB's with G126
When using GmcGrpAPI FBK's with GmcArncGrp implementation may lead to a Deadlock when function G126 is still active at the end of CNC
program.
Error 7185 is plitted into 7185 and 7198
Error 7185 ("Position modulo out of 'In−Position−Tolerance' at RESTART of CNC move") may be generated in the ARNC0 at two different
locations, so it is output either as error 7185 or as error 7198 (this step serves to simplify the SW development).
Cycle time vioalition at CNC program restart
A cycle time violation may occur at program abort if a restart buffer with a large number of trigger events is defined.
Wrong restart position if a ncROTARY axis is defined and restart mode is ncPATHDISTANCE
Abort position is always used for restart, if at least one ncROTARY axis is defined in the CNC channel and restart mode ncPATHDISTANCE is
used.
Better detection of compatible types in IEC/ST
Undesired movement of the tangential axis used in the transformation
The tangential axis in connection with the transformation could cause an undesired movement of the real axis in case of stopping the
movement (e.g. end of program, G04).
Retsart of ncROTARY axes
The restart of a CNC program is denied with error 7199 when a kinematic transformation (also RTCP) is active and axes of the type
ncROTARY exist in the project.
Deadlock when using GmcGrpAPI FUB's and CDC
When using GmcGrpAPI FBK's with GmcArncGrp implementation may lead to a Dedlock when CDC is still active at the end of CNC program.
Deadlock when running a CNC program
A deadlock can occur when a CNC program with synchronous M functions, G170 or G172 is executed. The blocking CNC program can be
aborted by the user.
Waiting time too short for exact stop
For ACP10 axes in a CNC channel (CNC_enabled="1"), the waiting time until the next command is too short for an exact hold (e.g. G60).
Correct behavior: As soon as the path section end has passed the path jolt filter (t_jolt) and all ARNC0 axis jolt filters (t_axfilter), the system
waits the length of the settling time (t_in_pos) and total delay time (t_total) of the axes.
With the new system variable $ACC_HOLD_ADD_T_WAIT, an additional waiting time can be programmed for an exact stop.
Positions in extended CNC monitor (ARNC0NCMON_EXT_typ) are not displayed with full accuracy
Systemvariable "$MAPPING_MODE" causes a syntax error
Selection of operating mode for cam wrapping (G17Q/G18Q/G19Q) or mapping (G217/G218/G219) by the system variable
"$MAPPING_MODE" or "MAPPING_MODE". So far "$MAPPING_MODE" causes a syntax error.
DNC interface: Data type declaration for DNC buffer header (ARNC0DNCHEADER_typ) in the ARNC0 library
Calculation of feed forward torque with increased accuracy
Error 14198 "Error by acp10 mode switch" if a Quickstop is triggered
For axes on a POWERLink interface on the ARNC0 error 14198 "Error by acp10 mode switch" may occur if a Quickstop was triggered.
Deadlock by error 40112 (timeout while processing an ARNC0 command)
Error 40112 may lead to a deadlock. Error 40112 may occur when a ncaction () is called, and this is not allowed in the current state. For
example, Error 7146 occurs when ncGLOBAL, ncINIT is called during an active CNC program, and this leads to the subsequent error 40112.
This bug is also in ARNC0 V3.10.1 and higher fixed.
Error when a new program is started immediately after the end of a CNC program or a global init of the CNC system is performed
At the end of the program, the variable move.status.cnt_nc_prog is set to zero although in the ARNC0 not all operations are finished. If e.g. a
new program will be started immediately, so this will be aborted.
This bug is also in ARNC0 V3.10.1 and higher fixed.
Page fault in IEC/ST function EXEC
The new extension for IEC/ST function EXEC (introduced in V2.51.1) could cause page fault if destination location contained a movement.
OptMot − first part of bezier spline (G126) skipped
IEC/ST function EXEC extended
New optional arguments (block, line) added to EXEC command (to start from specified block or line number).
Overloaded G−Functions and M−Functions called by alias did not work properly
When calling overloaded G−Function or M−Function using its alias, wrong template attributes could be used (e.g. old evaluation phase).
Cubic Bezier splines − a description of Bezier points was changed
Bezier points BP_1 and BP_2 are valid for one spline (G806/G807). If they are programmed relatively, then it refers to the current position. If
they are not programmed, or if they are programmed only for some axes, then missing coordinates are used from the current position.
Incorrect position of the tangential axis in circular blocks with an arc length greater than a full circle
In circular blocks with an angle greater than 360° for the path distance of the tangential axis only the modulo value (max. 360°) is used.
Unexpected full circle in circular blocks
A full circle is traveled if a circular block with arc length zero results from cutter diameter compensation, TrigHelp (G183) etc.
Note: It is not possible to program a circular block with arc length zero in the CNC program.
Initialization of CNC block monitor at program start
CNC blockmonitor was first time initialized with execution of the first path command.
D_FULL and frame axes additive elements
D_FULL and frame axes additive elements (d_full_add_el[], frame_add_el[]) were introduced. They can be used analogously to existing
tcp_add_el[].
Mechanical coupling
If mechanical coupling is defined on joint axes, then workspace monitoring considered wrong position of robot. Joint axes positions themselves
were wrong as well on some non−movement NC blocks (e.g. dwell time at the beginning of NC program).
arnc0add.typ file not necessary anymore
Declarations in arncoadd.typ file are moved to arnc0man.typ (arnc0man.h) file.

Path−synchronous function blocks didn't work properly when negative override
Path−synchronous function blocks were not executed when backwards movement on path. The behavior was not properly, also page fault
could occur.
System variables $AA_IW and $AA_IM will be updated first time some CNC cycles after program start
Global variables can be used also inside of IEC−ST functions when using prefix ::
Restarting from wrong byte−offset or line
Information about byte offset and line number for restart could be wrongly interpreted when coordinate system was moved/rotated (e.g. G92)
inside of a NC program.
G172 may cause a deadlock if G25 (tangential transition circle) or G26 (chamfer) is active
G26 (chamfer) only between linear blocks allowed
G26 (chamfer) is not allowed in block transitions with circular blocks. In this case no transition element is created and warning 10141 arises.
OptMot − synchronization command (like G170, G172 ...) could be accidentally exposed
additional status variables in cnc_obj.restart.status show when valid restart data are available or has been saved
OptMot − position jump during tracking section in special combination with frame−operations (G92, G192,...)
It could happen that in tracking sections due to a special combination of frame operations (G92, G192,..) and path synchronization commands
(e.g. G172,..) a position jump occurs.
Declaration of FUB instances using XML
FUB instances can be declared also using the XML configuration files (see the example in gmcipfub.cnc).
More than two non−syncronous M functions immediately after one another
If the same non−synchrnous M function is set more than two times consecutively, the NC program will be aborted with error 7127.
The program is not aborted when between the blocks with non−synchronous M functions other blocks which are processed by the path
generator (eg. moves, dwell time) are programmed.
Tool Data Number with Index=0
With the tool data number D00 a selected tool data record is deselected. If a tool data record with index 0 in the table exists, it is ignored when
activating and the warning 10133 (tool data table tool with index = 0 defined) arises.
Discontinuities in path speed profile at block transition when OptMot is active.
Number of records for expanded zero point offset (G159) increased to 500
With G159 zero point records can now be used with the index 0 up to 499.
Warning 10134 arises if a zero point offset table is loaded where for G53 (index 0) an offset unequal to zero is defined.
ncaction(ncPOSMON, ncSWITCH_ON) affects the system variable $AA_IW[ ]
All system variables are both in the default language (B&R G−code) and in the alternative language 1 available

G25 (tangential transition circles): Movement normal to active mainplane is not correct
Error 7236 (Contour segment skipped...) splitted into error 7236 (forward direction) and error 7251 (backward direction)
OptMot − the end position of a cnc program is not reached exactly from time to time
It could happen that due to adverse limit configuration a stop point was generated, which was not the desired position of the program, and the
computation ended because of this stop point.
G25 / G26 in consecutive programmed blocks
G25 (tangential transition circles) and G26 (chamfer) can be programmed in consecutive blocks.
Status "active" and status "complete" is not handled in correct way for some data module operations in ARNC0
Status "active" and status "complete" is not handled in correct way for the following ncACTIONs:
Zero point table: ncZERO_TAB, ncSAVE / ncSET
Tool table: ncTOOL_TAB, ncSAVE / ncSET
R−Parameter table: ncR_PARTAB, ncSAVE / ncSET
M−Function group table: ncM_GRP_TAB, ncSAVE / ncSET
Technology Guarding of CNC channels with robots
TG licenses 3D base and 3D standard are identified correctly for CNC channels with configured full transformations (TRF_LIB 2.12.0 or newer
required).
Inter−channel collision detection
Wire−frame models of robots from different CNC channels can be checked for their mutual collisions or too short distances between them.
MoveC with angle of rotation
MoveC command was extended with the optional parameter 'Angle'. If the parameter is programmed the end point and circle point are used for
a determination of the circle (plane, orientation) and the new end point is computed out of the programmed rotation angle. If angle is greater
than 360 degrees more than one full rotation is performed on the circle.
Joint additive elements
Joint additive elements joint_add_el[] were introduced. They can be used analogously to existing tcp_add_el[].
Cubic Bezier splines
Cubic Bezier spline interpolation type (G807, G806) was introduced for OptMot. Bezier points B1 and B2 can be defined via BP_1 and BP_2.
Feedrate is considered (G807), or neglected (G806).
Deadlock if backward move on the path and there are short blocks at begin of the CNC program
External tool
External tool was introduced (Trf2 version V2.12.0 or higher needed). Its components (dx, dy, dz, phi, theta, psi) can be set from an NC
program via EXTERNAL_D_FULL (similar syntax as D_FULL). The tool can be activated/deactivated using EXTERNAL_D_FULL_ON,
EXTERNAL_D_FULL_OFF. For more detailed information about the external tool functionality and mechanical systems which support it, see
TRF_LIB documentation.
Wrong content of $AX_T_JOLT[<axisIdx>]
OptMot − G805, unexpected movement after STOP and START of cnc program
Switch off RTCP (G196) without switching on (G195)
Using only switching off the RTCP (G196) could cause service mode when transformation variable does not exist or full transformation is
active.
Count of PVMacro indexes wasn't checked properly
G25 (tangential transition arcs) also for circular blocks available
Wrong axes are used for moves in the active main plane
It can happen that wrong axes are used for moves in the active main plane if there are only two ncCNC axes defined and G18 or G19 is active.
Wrong position when restarting with byte offset or block number
If the restart point was defined as byte offset or block number, wrong position could be set in case of restarting CNC program which contained
subprograms.
Parameter axes.axes[].type=ncNOFEED may not be taken in consideration in circular blocks
The calculation of the program run time in the plot buffer and CNC simulation mode has been improved.
Estimated runtime in plot buffer is not correct
The error appears mainly in CNC programs with many tangential block transitions without reduction of path velocity.
Error 15314 when unloading a NC program
The status cnt_ncprog was cleared too early while the CNC system was still busy. It could caused that next ncaction was refused with an error
(e.g. 15314: "Invalid operation while program is running" on NC program unload).
Starting ncFILE_XL programs with line−offset
NC programs can be started in mode ncFILE_XL with a line−offset using <file name>::<line number>. In comparison to ncFILE start mode the
parsing of previous lines is skipped. Starting from subprogram is not supported.
OptMot − removed changes from V2.49.0
Changes from V2.49.0 removed because of unexpected behavior: OptMot − too low limits in the axes init files (and ACP10 Fub) could limit the
movement
Error 15308 after CDC activation
Combination of CDC activation, zero path−distance block and path−synchronous assignment caused error 15308 (invalid motion data).
Possibly not updated parameters of built−in robot
If built−in robot from Trf2 is used, then D_FULL, frame axes, forced mode, maximal change and coupling might not work after ncGLOBAL,
ncINIT. A situation can change after next ncGLOBAL, ncINIT, and this problem was in ARNC0 since version 2.47.2.

Programmed circular block will be skipped if TrigHelp is active
Move block may be skipped if TrigHelp is active and a circular block is programmed immediately after a coordinate system transformation, a
tool data number (Dxx) or G16.
If G93 is active, error 8102 may arise in move blocks with very short move distance
G25/G26 transtion elements are skipped if tool radius too large
If G25 or G26 is active and the CDC causes contour violations (inside corner and tool radius too large), G25/G26 will be disabled for these
block transitions (warning 10410 arises).
Type auto−discovery feature available also in IEC/ST programs
New parser option AllowVarTypeAutoDiscovery for activating auto−discovery of unknown types (available in IEC/ST for variables stored at
PLC).
OptMot − too low limits in the axes init files (and ACP10 Fub) could limit the movement
Error when workspace monitoring active for mechanical system without TRF_get_joints_pos()
Active workspace monitoring together with Trf2 mechanical system with unavailable TRF_get_joints_pos() resulted into an error.
TCP position is checked instead the error now (like if Trf1 was used).
GmcIpUserConfig extended with user configuration file for IEC/ST language
OptMot − velocity jumps at the beginning and at the end of a NC block due to numerical problems
Some instructions were not supported at lines with single line IF statement
Extension of CNC monitor
Due to the extended monitor structure ARNC0NCMON_EXT_typ the axis positions and the path distance are available as LREAL.
OptMot − ncHALT caused jumps in velocity profile
Calling ncHALT caused jumps in the velocity profile.
Additive element for cyclic axis set positions
For each axis, which is used in a CNC channel, a ParID can be defined, the content of this ParId is added on the drive to the cyclically set
position of ARNC0.
The ParID is connected to the ARNC0−internal used MC_BR_MoveCyclicPositionExt FUB (input AdvancedParameters.AdditiveParID).
Non−standard order of axes in CNC init parameter module and using of PLCopen axes can cause wrong consideration of axes parameters
Using the order of axes in CNC init parameter module distinct from ncCNC/ncPOLAR, ncLINEAR/ncROTARY, ncTANGENT together with
PLCopen axes may cause wrong consideration of axes parameters (e.g. SW limits, speed limits, acceleration limits, unitfactor, etc.).
A new path single step mode ncLINENUMBER
A halt is set after each line including lines with IP synchronous execution.
"move.single_s.mode = ncLINENUMBER"
Blocks with move distance zero allowed if TrigHelp (G183) or BackLine (G181) is active.
A position jump may occur when immediately after a G65 the main plane is changed or a coordinate transformation is programmed.
CDC − detection inside outside corners
During calculation of the centre point from the programmed radius and from the end point of circular blocks a numerical inaccuracy may occur.
In block transitions with 180 °, it can happen that the CDC depending on the numerical inaccuracy once an outside corner and the other time
an inside corner detects (e.g.TrigHelp on/off).
G172/G170 after CDC lead out and multiple blocks with no move in the main plane programmed
If a G172 or G170 is programmed immediately after G40, following on multiple move blocks without a move in the main plane are allowed.
G193 + acuurate hold: feed rate to low
If linear feed mode (G193) is active, the programmed feed rate is not reached in move blocks with an accuracy hold at begin and at the end of
the block.
G102 or non−movement in wrapping/mapping section
G102 or non−movement could cause unexpected movements in the beginning of the wrapping/mapping section if MAPPING_MODE = 1 was
used.
Deadlock when illegal combination with G65
Illegal combination of G65 and G172 inside of one template could cause deadlock of CNC program (instead of an error).
Error 15308 Motion Data Invalid (old) could occur when Trig help activated
With the system variable $LINEAR_FEED_MODE the behavior of G193 (linear feed mode) can be influenced
New syntax extension for IEC−ST
New syntax extension for IEC−ST to make access to members of structures at PLC. Each member of a structure can be declared alone by it's
own alias.
Reloading of CNC program could cause page fault when global variable declared inside of the program with an alias
Mapping (G217/G218/G219) − wrong default value of multiplication factor used
CAM wrapping (G17/G18/G19 Q) − SW limits of source axis were checked, even if the axis does not move
Trig Help − Undifined positions at circular−circular block transitions
At tangential circular−circular block transitions and Trigg Help (G183) is used, undefined positions (NAN) can occur.
New functionality: G138 duplicated programmed points
A duplicate programmed point before and after CDC activation/deactivation forces a G137 like behavior. This behavior is only available if G138
is active and must be enabled with the system variable $CDC_DUPLICATE_POS_PROG.
Error 1251 to 1259 (Error at writing prior command)

Sporadically, the error 1251 to 1259 (Error at writing prior command) may occur.
Mechanical systems with numerical transformations (with Trf2) are supported.
G−code can be overloaded with user−defined NC program.
The standard behavior of specified G−Code can be temporarily overloaded (user defined NC program will be called instead of the original
G−Code).
SG4 target system: Data object type "ncDATOBJ_FILE" for download/upload of data blocks and ACOPOS parameter tables
For the following NC actions it is now possible with "datobj_type=ncDATOBJ_FILE", to use files as data object (so far,only BR modules were
possible):
− ncDATBLOCK, ncDOWNLOAD
− ncDATBLOCK, ncUPLOAD
− ncACP_PAR+ncDATBLOCK, ncUPLOAD
For this, the substructure "datblock.parameter" in the NC structure of the NC objects with type "ncAXIS" and "ncV_AXIS" was extended by the
following components:
datobj_type: Type of data object ("ncDATOBJ_BRMOD" or "ncDATOBJ_FILE")
file_device: Name of the file device (only for type "ncDATOBJ_FILE")
CDC deactivation with duplicated programmed points in combination with G170 or G172
If CDC deactivation with duplicated programmed points ($CDC_DUPLICATE_POS_PROG) is used, G170 or G172 may be programmed
immediately after G40.
Loading files using #pragma LOAD could cause usage of invalidated data
Runtime unloading of files caused by #pragma LOAD is now disabled. Loading error aborts this action.
The cumulative program runtime shown in the plot buffer may be wrong (plot buffer data format 0x02).
OnProgEnd − new predefined AIL subprogram
OnProgEnd AIL subprogram (if defined in AILHeader section) is called automatically at the end of NC program.
OptMot − call of ncHALT in combination with single step mode
When calling ncHALT after continuing from a finished block, the halt was performed in one sample instead of following a stopping ramp that
respects the limits.
Indirect subprogram calling from FILE_XL can cause a deadlock
Combination of main program started in ncFILE_XL mode and global subprograms called indirectly ("CALL" statement or "fcall" AIL instruction)
can cause a deadlock.
Alternative computation method for axis jolt filter
New G−Codes for switching axis jolt filter computation method have been defined:
G250 <axis name> − standard computation method
G251 <axis name> − accurate computation method
The original (standard) implementation of jolt filter may accumulate numerical errors in rare situations (big filtered values, long−term run). The
new method is more CPU demanding.
New AIL built−in functions

New AIL built−in functions introduced: GCodeProgrammed, JumpEndLine and SuppressSingleStep.
Plot buffer, runtime for move blocks (data format 0x02) is not precise
"SKIP Function" (Block Skip) accepted also at lines with GOTO
Skip function is generally disabled (ignored) at control block lines (FOR, WHILE, multi−line IF, etc.). GOTO is an exception of this rule.
New variable scope ip_global_at_plc
Renaming in ARNC0WSCTRL_typ (arnc0add.typ)
Items mlink_index and mlink2_index were renamed to link_index and link2_index, respectively.
Latch position (G200/G201) has been delayed by "axis_obj−>controller.position.t_total" for PLCopen axis.
OptMot − Consideration of the jolt filter for feedforward
For the computation of the feedforward torques the axes jolt filter (t_axfilter) from the cnc−object were not considered.
User robots in ARNC0 with TRF_LIB V2.ab.x
User robots are supported since TRF_LIB V2.08.1
D_FULL data in CNC monitor
Actual D_FULL is path synchronously published in CNC monitor, array d_full[]. The order of items is dx, dy, dz, phi, theta, psi.
Library Acp10man with version 2.47.0 to 2.47.9 required.
The drive operating system with the same version as Acp10man is used.
Automatic program number
Generation of unique automatic program number can be activated in configuration files.
To use ARNC0 together with ARsim no licensing (TechGuard) is required.
G395 − G399 supported for all robots.
TCP frame and path axes reorientation work for all robots if TRF_LIB V1.16.0 or higher is used.
New G code for automatically inserting a chamfer between two linear blocks.
Trig Help and T− or S−Param can cause error 7128
Writing to Technology parameter (S, T−function) when Trig Help is active (G183) can cause Error 7128:"T−Function is not yet transferred to
PLC at third call".

Automatic synchronization for "SKIP Function" (Block Skip)
User can define AIL subroutine which takes action before the line marked with block skip specifier "/". The subroutine has to be named
"OnBlockSkip" and its calling is inserted into automatically created nc block which precedes lines with the block skip specifier. The
OnBlockSkip subroutine is called always regardless settings of block skip operation mode. The AIL subroutine has to be created in
<AILHeader> section in language configuration file.
G170/G172 immediately after CDC deactivation
In CDC activation/deactivation mode G137 and G138, the interpreter synchronization commands G170 and G172 can be programmed
immediately after the CDC deactivation.
Short block_buffer can cause error 15308: Motion data invalid (old)
Error 15308 can occur if a size of buffer for backtracking movement is configured shorter than size of look−ahead buffer.
Latch position (functions G200/G201) hasn't been accurate for PLCopen axis
Trigger functions (G200 / G201) didn't work for PLCopen axis
The trigger didn't work if different PLCopen axis has been set as trigger source in "cnc_object.axis.axis[i].trg_source.nc_object_plcopen".
Plot Buffer: Expansion of output, new data format 0x02 (with runtime and block length)
Updating of ARNC0 Monitor structure could get frozen when the File Monitor was active
OptMot − Implementation of rounding whole lines with G126
The functionality of G126 in combination with OptMot was extended. Now it is possible to round the whole first line or the whole second line
using the G − code syntax, as it is used with the common ARNC0. To activate this new functionality it is necessary to set the parameter
G126_round_whole_line unequal 0.
If interpreter single step was turned on, the "decoder.status" hasn't been updated during either RESTART INFO or BLOCKSEARCH.
Program runtime when RESTART a CNC program
The program runtime in the CNC monitor is counted from program start (previously from the restart point). For program sections, which are
simulated (program start to the restart point) the runtime is approximately calculated.
G138, CDC deactivation immediately after the activation allowed
Single step mode, status not correct

In single block mode (ncSTANDARD + ncSBL_CTRL, ncBLOCKNUMBER + ncSBL_CTRL), the status is not displayed correctly when
switched off.
Wrong position when restarting with byte offset
If the restart point was defined as byte offset, wrong position was set in case of restarting CNC program of Linux format (LF as line breaks).
Array of Function Blocks was not supported in CNC program
Use of ARNC0 only with Technology Guarding possible (Automation Runtime V4.08 or higher)
Exclusive workspace monitoring
Up to 100 exclusive blocks can be defined. They are shared by all existing CNC channels. No more than one CNC channel can be in any of
those blocks at any time (ncHALT, ncSTOP and ncCONTINUE are called automatically if more channels want to enter the same exclusive
block).
Combination G65 (programmed endpoint shift) and synchronization commands (e.g. G172) allowed
Between a block with G65 (programmed zero offset) and the next movement block synchronization commands (G170, G71, G172 and G173)
are allowed.
Cyclic workspace monitoring
WS monitoring can be called every sample (WS_CTRL_ON CYCLIC_ON). It includes main workspace control, detection of collisions with
protected blocks and protected half−spaces, and self−collision detection.
Path speed to low in short rapid move blocks
In mode blocktransition = ncAUTO it is possible that short blocks with rapid interpolation are traveled with very low speed.
Syntax error when using specific preprocessor macros
Path−synch assignment of system variable $P_EP an $P_EM
Assignment of system variable $P_EP or $P_EM to a path_synch variable caused syntax error (e.g.: MF1 = $P_EP{X}).
ARNC0 gets stuck after ncation(ncMOVE,ncHALT)
ARNC0 gets stuck when ncaction(ncMOVE,ncHALT) is called right after G172 or G60.
Addition collision information in workspace monitoring
Data type ARNC0WSCTRL_typ from arnc0add.typ can be used to analyze error from workspace monitoring (address published within the
error)
CycleBurstBG had no effect since ARNC0 V1.44.0

Use of robot (with Trf2) without dynamic model on optimized section caused "wrong dynamic model" error.
Exclusive workspace monitoring
Up to 100 exclusive blocks can be defined. They are shared by all existing CNC channels. No more than one CNC channel can be in any of
those blocks at any time (ncHALT, ncSTOP and ncCONTINUE are called automatically if more channels want to enter the same exclusive
block).
Individual scaling for cartesian axes.
Cartesian axes can be scaled by individual factors independently. The function is only available for linear blocks and coordinate system shifts,
but not for circular blocks.
IEC−ST syntax: path−synchronous blocks (DO_PATH_SYNCH) accept expressions with structures.
Extension of Plot Buffer
For the representation of the data in the plot buffer, a new data format is available. In addition, the user can write data from the CNC program
in the plot buffer.
Detailed analysis of a failing TRF_LIB transformation function call from ARNC0 can be now done via a data type ARNC0TRFIODATA_typ
published in arnc0add.typ.
Monitor of NC program showed only the first 12 characters of subprogram name
Deadlock at backward move on the path
When travelling backward on the path (e.g. negative override) a deadlock could occur at very short block and subsequent stop. The block
length must be between 1e−6 and 3e−6.
OptMot − New G−Codes G804/G805 − transition curve
A transition curve movement is programmed using the endpoint and an additional parameter R. The command G804 limits the trajectory
independent from the feedrate (rapid movement − considering only the axes limits) in contrary to G805. These functionalities try to create a
path with a tangential transition respect to the Cartesian coordinates X, Y and Z to the previous and the next movement without any
modification of them. With the additional parameter R a virtual cylinder with hemispheres on the front and back side is generated to limit the
movement in space of the transition curve. The command G804/G805 is only available with the usage of OptMot. The transition curve can be
programmed with one of the following G−Codes:
− G804 X<x> Y<y> Z<z> R=<r>
− G805 X<x> Y<y> Z<z> R=<r>
For further details see OptMot − documentation " OptMot − Jerk Limited Trajectory Planner".
TCP additive elements of path axes were not applied correctly if the CNC program got to standstill.
Using of small non−integer factor for modulo function caused a page fault.
MAPPING_MODE for G17Q/G18Q/G19Q
Relationship between absolute programmed positions (G90) and target rotary axis position can be influenced by MAPPING_MODE (initial
offsets of source and destination axes can be omitted now).
M−function index can be defined indirectly, via expressions, etc. (e.g. M[var1]).
Additional information for command errors is wrong or not complete
The additional text for errors, which are caused by commands not allowed in current state is not correct or complete, now the command code
and a reference to the Automation Studio help is issued. In the Automation Studio help a table with all relevant command codes can be found.
CNC simulation mode can't be switched off
CNC simulation mode can't be switched off if the previous program was aborted and CNC simulation mode was active.
CNC simulation disable is accepted after at least one CNC program execution ends normally.
OptMot − CNC monitor data not available
With the usage of OptMot the CNC monitor data pos_ncprog, line_ncprog and v_ncprog are not available.
OptMot − extension of monitor data
The array OptMotConfig.monitor.v_path[i] provides the velocity profile of the configured path definitions.
NC program lines containing inline IF statement were triplicated in block monitor
NC program lines containing single line IF statement were triplicated in block monitor and three steps were needed in decoder single step.
NC program failed to start with offset in mode ncFILE_XL
NC program start in mode ncFILE_XL could fail with error 15554 when the start position type was set to ncFILEOFFSET + ncSKIP_PARSE
and the start position was set to a commented line.
At initialization of CNC limits (ncLIMITS, ncINIT), the value of "limit.filter_err_trans" was not transferred
Using of G04 with SingleStep could cause deadlock of NC−program
G65 (programmed target position shift) without movement in the active plane
In the first movement block after G65 (Programmed target position shift), it is no longer necessary that the active plane motion is programmed.
Extension of restart buffer for trigger functions G200 and G201
The extension allows to define the maximum number of trigger functions stored in the restart buffer using parameter
"restart.parameter.trigger_buffer".
Additional logger entry for error during installation of cyclic tasks
If the installation of cyclic tasks failed, so far only the following errors were written into the logger:
10560 NC manager error (see "ASCII data"), ASCII data: <TaskName>: Installation
10530 NC Manager: NC SW INIT aborted, ASCII data: ACP10MAN
This problem can usually be corrected by increasing the number of cyclic objects in the AR configuration. For this reason, in this situation the
following error is additionally written into the logger before the errors described above:
10560 NC manager error (see "ASCII data"), ASCII data: cypCreateDynamicProg failed (not enough cyclic objects configured?)
Labels started with L character wasn't supported in B&R G−code
System variables was reset after NC program started not as expected
Some of system variables (e.g. $LIM_AX_ACC) were reseted to their default values after NC program has started. This may caused
overwriting of newly programmed values.
Interpreter monitor structure extended
Interpreter monitor was extended with elements cur_prog_name and cur_prog_file_name for interpreter−synchronous monitoring of active
CNC programs.
Floating−point modulo operator (remainder of division)
Instruction set of the GMC interpreter was extended with floating point operator (token TKG_ARITH_BINARY_FLOATING_MODULO). The
floating−point modulo operator is disabled per default, to activate it the appropriate language configuration file (gmciplbr, gmciplsm,..) has to be
modified/extended with the new token definition.
NC program lines get lost when using inline IF statement
When single−line IF statement was programmed at the line which number is divisible by ReadLineBurstMax (default 100) the other lines
behind this statement were skipped.
G65, coordinate system shift added two times
G65 (target position shift), depending on the programming mode (relative − absolute) it could happen that a coordinate shift (e.g. zero point
shift with G54) was taken into account twice.
Path speed at block transition may be too low
By an error in the function for calculating the allowed speed at block transition, it could happen that the speed has reduced too much at block
transition.
Release of jerk limited trajectory planner called 'OptMot'
A jerk limited trajectory planner called 'OptMot' is now available.

Error 15650 occurred, when there was used indirect call many times one after another
When using indirect program call (in Alternate language 1) many times one after another, there could error 15650 (Internal Error − AIL
evaluation stack underflow ) occur.
Context switch for interpreter background task optimized
Communication with ARNC0 could freeze when calling subprogram using name already used for some folder
The communication with target could freeze, when calling a subprogram using name of any folder. It could happen also when calling a
subprogram using directory specification and the folder separator is not defined for actual language.
New functionality G183/G184 ("Trig Help")
"Trig Help" allows programming a series of blocks in a simple way. The end point of a block is programmed approximately; the exact
intersection point is determined by the system.
G65 (programmed target position shift)
In blocks with G65, the prefix IC or AC is allowed for programmed coordinates.
Automatic activation of ncFILE_XL+ncBLOCKMONITOR
NC program start mode ncFILE_XL+ncBLOCKMONITOR can be activated automatically depending on size of program file or data object. The
limit size can be set in XML configuration file gmcipsys in section <LOAD> by option ForceFileXLfromSize. The size is specified in bytes (eg.
ForceFileXLfromSize="2097152").
G126: Transitions between very short blocks will not be rounded
G126 rounding will be skiped for blocks whose execution time is less than two CNC cycles, this block transitions are treated tangential
transitions. In this case, the warning is issued 8274. Due to an error all the short path sections were not detected.
Feed calculation on very short path sections
Under the following conditions, numeric effects can cause discontinuity in the speed profile of auxiliary axes (e.g. ncLINEAR, ncROTARY,
ncTANGENT or ncNO_FEED):
decoder.parameter.v_path_mode = ncCNC
Very short distance of ncCNC axes (1e−4 CNC units or less)
Auxiliary axes programmed and their distance much longer than the distance of the ncCNC axes (a factor of 1000 or more)
"decoder.parameter.v_path_mode = ncCNC + ncLINEAR" is used for path sections on which the distance of the ncCNC axes is shorter than
1e−4 CNC units and auxiliary axes are programmed.
This adjusts the feed that is being used so that the path speed still equals the programmed feed.
The CNC Monitor and cyclic trace will show the correct path section (geometric sum of all axes ) for these path sections instead of the
programmed path section.
Colliding area detection

If extended workspace monitoring is used, then the first colliding area (block or half−space) can be identified via its index.
Programmed target position shift for linear blocks (G65): programming with absolute coordinates
Optional THEN for IF statements
Optional THEN was supported only for inline IF−statements.
Block number support in IEC−ST
Modal settings of block number can be set by following syntax:

#pragma N<number>
Option IgnoreIfNotExist="Yes" caused a page fault
Option IgnoreIfNotExist="Yes" for the node <CNCAXIS> in Interpreter configuration file caused a page fault since ARNC0 V1.40.0.
Same behavior if G93 is programmed without the F−word or G94 without F−word
If G93 is programmed without a F word, the last programmed G93 feed rate value will be used and for G94 without F word the last
programmed G94 feedrate.
So far, for G93 the feed rate of the last block (G93 or G94) was used, for G94 however the last programmed G94 feed rate has been used.
Incorrect feed rate if G93 is used in combination with G70/G71
Path speed at block transition to low
Caused by a restrictive dynamic calculation, it could happen that the path speed at block transition was reduced or even stopped, although the
limits of axes acceleration were not reached.
Path−synch assignment after target position without interpolation type causes an page fault when programmed on the same line
Syntax error in XML configuration file could cause page fault
Synchronous action could cause unexpected behavior of NC program when RESTART is switched on
If RESTART is switched on:

1) the first cyclic execution of path synchronous configured synchronous action was omitted
2) interpreter synchronously configured synchronous action could cause unexpected behavior of ARNC0
First line of subprogram was commented out in motion packet log
Limitation of contour violation at block transition caused by axis jolt filter

The allowed contour violation can be programmed with the parameters limit.filter_err_trans and in the CNC program with the system variable $
FILTER_ERR_TRANS.
Deadlock when switching on the controller at the same time when a ACOPOS error occurs
An error on the ACOPOS (e.g. jitter at the Quick−Stop input) immediately after controller on can cause a deadlock. No further commands will
be accepted (Error 14155: "internal command buffer full"). The error occurs only with ARNC0 axes.
Error 15798: "All jobs active in block_buffer" occurred when program started with synchronous actions
Page fault at ARNC0 startup (only in V1.370 − V1.42x)
This problem occurs for example, if there is a NC INIT parameter object entered in the NC mapping table, which is not on the target.
Display of Warnings (CNC system) can be configured individually
Deadlock at short blocks
When traveling with high path speed, it may occur a deadlock at very short blocks with subsequent halt (accurate stop, synchronous M
functions, etc.).
Syntax for global subprogram call was extended to support full path name
Full path name (including file device) can be used in name of called subprogram. In this case the name must be preceded with file prefix (^, #).
Relative path specification for global subprogram defined
The global subprograms can be called using relative path specification. The prefix “.\” for B&R language or “./” for Alternate language will be
substituted by full path of the caller (program).
Start of NC program with specified subprogram call sequence fails with error 15805 if program begins with label.
Setup for induction and synchronous motors: New parameter

setup.motor_induction.parameter
setup.motor_synchron.parameter
t_tripping_therm: Tripping time at thermal overload [sec]
If "parameter.optional.phase_cross_sect = 0" is specified, then the line cross section of the motor is calculated as follows:
MOTOR_WIND_CROSS_SECT = MOTOR_CURR_RATED * sqrt(t_tripping_therm/360.6)
If for "parameter.optional.phase_cross_sect" a value other than zero is specified, then the line cross section of the motor is initialized with this
value:
MOTOR_WIND_CROSS_SECT = phase_cross_sect
Extension of working area in workspace monitoring
Working area defined as a cylinder (WS_MAIN_DEF with CYLINDER_IN_Z) has new possibility. If CYLINDER2_IN_Z is used instead of
CYLINDER_IN_Z, then a cylinder equipped with lower hemisphere is considered.
Error 15650 when calling a subprogram together with other NC command

"Internal Error − AIL evaluation stack underflow" occurred when an instruction for subprogram call was not programmed alone.
Searching for global subprogram in local path of caller program
List of searched paths in XML configuration can be extended with <MAINSEARCHPATH Name=”@local” /> and <INCLUDEPATH
Name=”@local” /> settings to enable searching for global subprogram in local path of caller program.
ST−instruction EXEC not properly passed the arguments when an NC program was reloaded.
Page fault when starting reloaded IEC programs with user−defined global types
G70/G71 for axes of ncTANGENT type
G70/G71 (unit conversion metric / imperial): Axes of ncTANGENT type will also be converted.
Page fault if number of elements in block buffer for back tracing CNC−path configured low
Page fault occurred if number of elements in block buffer was configured lesser than default and first command in NC program was
non−movement path command (M−function, path−synchronous assignment, ...).
Page fault if G222 is active
A page fault may occur, if G222 is active and the desired remaining distance is not sufficient (warning 7177 arises).
Limited range of automatic tangential axis offset
Range of automatic tangential axis offset was only 0 − 360.
Page fault on ARNC0 axes
In very rare cases, a page fault may occur when an axis movement is aborted or the controller is switched on. This affects only ARNC0 axes.
Inline IF statement support
Syntax of IF statement was extended, inline IF statement is newly supported.

This extension is valid for G−Code and Alternative language.
Syntax:
$IF <condition> [$THEN] [ $IF <condition>... ] <commands>
Example:
$IF R1==2 $THEN G0 X10
is equivalent to:
$IF R1==2 (If the value from R1 is equal to 2,)
G01 X10 (the X axis is moved to position 10)
$ENDIF
Declaration of dynamic PVs
1. Error has been fixed in declaration of dynamic PVs in IEC−ST program.
2. Declaration of dynamic PVs is supported in Interpreter configuration file "gmcipvar" by specifying Ref="Yes"
Syntax:
<PV Alias="alias_name" Type="type_name" Ref="Yes">task_name:pv_name</PV>
Extension of workspace monitoring
Main working area can be defined as a cylinder inscribed into the cuboid (base of the cylinder in xy rectangle of the cuboid, centralized in it,
and with maximal possible radius and height).
Links of zero length are not considered in self−collision detection. Two links are controlled for a collision only if there is at least one nonzero
link between them, independently from their defined diameters (see ARM_DIAMETER, G320.4).
Wire−frame model of the robot can consist of more 3D points now (24 instead of 10 points). Therefore, e.g. wire−frame model of tripod (type B,
TRF_DATA13_typ) from transformation library V>=1.23.0 can be used with ARNC0 V>=1.42.0.
Optional stop mode (stop at M01) can be switched on or off even if a CNC program is active.
Skip function operating mode can be switched on or off even during active CNC program.
ST Motion Extension − wrong scope for default values and temporary variables
Default values and temporary variables was shared among CNC channels.
Use of only fractional part of number for feedrate without space
It was not possible to use a literal of fraction type after the F literal (for feedrate) without a space. (eg: F.1)
G102 with target point in joint space
If full transformation is active in CNC channel, then target point of generally oriented circle (G102) can be defined in joint space.
New option for parser
A new parser option 'AllowConditionsWithAssignEq' was added to allow or deny the use of "assign to" inside a condition with meaning of
"equal to". Default: denied.
SET/GET methods for controlling CNC parameter access
It is possible to define get/set methods for controlling CNC parameter access.
New system variable $SIM_S_NCPROG
The system variable $SIM_S_NCPROG provide an access to current path position during run in simulation mode (ncSIMULATION,
ncSWITCH_ON).
G211 (blended move mode): Path speed too high
Entrance speed at first block after G211 activation or after a stand still may be too high.
Blended move mode (G211) is not taken into consideration for run time calculation in CNC simulation mode.
Limited range of program number

Range of program number (nr_ncprog) was only 2^31−1 instead of 2^32−1.
G181/G182: Back Line
The "back−line" function allows an easy way to program linear−linear or circular−linear block combinations. The endpoint is programmed and
the intersection point will be automatically calculated.
ARNC0 error text: Number of additional error text for all errors limited to maximum 3
Starting IEC−ST CNC programs from data objects
To start a CNC program in IEC−ST syntax the program name must ends with '_iec' sufix.
Error 1114 and 1120 may occur sporadically.
Page Fault in CNC simualtion mode (only V1.41.0 and V1.41.1)
Page fault at program start may occur if CNC simulation mode is active
"NC SW INIT aborted" by ARNC0MAN because of "NC object already in NC mapping table" (only in V1.370 − V1.410)
Under the following conditions it could happen, that the startup of ARNC0MAN was falsely aborted with the logger errors "NC SW INIT
aborted" and "NC object already in NC mapping table":
− Two NC objects were defined with the same name length
− These NC objects have the same NC object type
− These NC objects have the same channel number
− These NC objects belong to an NC module with the same node number
− These NC objects belong to the same network interface type (e.g. ncPOWERLINK_IF, ncVIRTUAL_IF)
− These NC objects do not belong to the same network interface
With these logger errors the startup should only then be aborted, if the NC objects belong to the same network interface, and the following
parameters are also equal:
− NC object type
− Channel number
− Node number
Error 7742 (ACP10_MC FB error or aborted) splitted
If an error message contains more than three additional information, the determination the error text in the application task provides the
message "buffer too small for all text" instead of the error text output..
For this reason, error 7742 (ACP10_MC FB error or aborted) with four additional information is splitted:
− Error 7742 ("ACP10_MC FB Error") if a FUB error arises
− Error 7746 ("ACP10_MC FB aborted by an other command") if a FUB execution will be aborted by a command
ST Motion Extensions − TRF_LIB V2.00.2 and higher supported
Negative path velocity if short path sections are skipped over.
If path sections are skipped over when traversing a path section transition at high velocity, numeric effects can results in a negative path
velocity.
The path velocity is normally limited in the dynamic calculator to the point where at least one scan is included. However, there are cases in
which movement is still faster (e.g. v_jump>0) and short path sections may be skipped over.
Workspace monitoring without self−collision detection
Workspace monitoring can be activated without self−collision detection (modifier SELF_COLLISION_OFF of WS_CTRL_ON).
G65: CDC activation and deactvation with auxiliary line and circle
G65 provides an easy CDC activation and deactivation on inner corners.
Suppress path single step halt on current NC block
New command NOHALT was introduced to suppress path single step for current NC block.
Syntax:
[NOHALT] [N<number>] [<NC Commands>]
Description:
− NOHALT suppresses halting on the NC block where was programmed
− NOHALT takes effect only in ncSTANDARD + ncSBL_CONTROL and ncBLOCKNUMBER + ncSBL_CONTROL modes
− NOHALT command is valid only on the same NC block where was programmed
G102 with rotation angle
G102 can be programmed with rotation angle of the circle. If the angle is defined, the programmed end point and the circle point are used for a
determination of the circle (its plane and orientation) and the new end point is then computed out of the programmed rotation angle. If angle is
greater than 360 degrees, more than one full rotation is done.
Syntax error in macro expansion
If a macro expression was placed behind a G−Code on the same line (in the same NC block), a syntax error occurred.
New system variable $V_PATH_MODE
The system variable $ V_PATH_MODE allows to program in the CNC program independently for each block the mode for calculation of the
path feed (ncCNC or ncCNC+ncLINEAR).
Programmed target position shift for linear blocks (G65)
The command G65 allows to shift the target position of linear blocks in the CNC program.
ARNC0: 1115: "Error at writing prior command
When writing prior commands (i.e. commands which are also allowed during active CNC program, such as abortingl a CNC program), it may
happen that error 1115: "Error at writing prior command" occurs. Additionally error 1120 "Error with command distribution" may occur.
ST Motion Extensions − position latch supported
MoveLSearch command latches positions after trigger event during linear movement.
Not smooth speed profile in G126 spline
If there is a stop directly after G126 spline the speed can unexpectedly decrease. This can happen when programming G126 0 together with a
movement and the whole movement is consumed with that spline. Decreasing of a speed is eliminated if EXTENDED_ROUNDING is used
before an activation of G126.
Multiplied coupling coefficients
If a coupling on axes is defined (TRF_LIB 2.xx), then unexpected offsets could occur on axes within a start of NC program.
Conversion functions MXFromFrame and MXToFrame cleared other fields of MXPointType than only expected 'Pos' and 'Orient'.
Out−of−Memory when calling user−defined G−function with many arguments
Loading NC program containing call of user−defined G−function with many arguments (problem was occurring from 16 up) caused following
two errors:
15245: Out of Memory
15649: Internal Error − AIL Generator line opcode buffer full
ST Motion Extensions − Strong type check for motion command arguments
Data type of motion command argument is now checked when NC program is being loaded, not when NC program is running.
Unstable behaviour of NC program related to end of file
Program run was unstable (occasional pagefault or $GOTO was misbehaving) if the program's source code was ended with an empty line just
after every 100th line.
ST Motion Extensions − Motion packet log supported
ST Motion Extensions − Interface change for MXJointToPointEx and MXPointToJointEx
Data type of conversion function arguments for reference values were changed.
Path speed to high on circular blocks
Due to an error in the dynamics calculation, it could happen that circle blocks were traveled too fast. At block transitions, the path speed was
reduced to the correct value.
New mode to allow/suppress path single step mode in CNC program
New mode for path single step mode: ncSTANDARD+ncSBL_CONTROL and ncBLOCKNUMBER+ncSBL_CONTROL.
The commands SBLOF_PATH(G720)/SBLON_PATH(G721) allow to define sections in the CNC program where path single step mode is
suppressed.

Setup for induction and synchronous motors: New optional parameters
The below listed new parameters are offered in following sub structures:
setup.motor_induction.parameter.optional
setup.motor_synchron.parameter.optional
phase: Motor phase (1,2,3)

invcl_a1: Inverter characteristic: Gain factor
invcl_a2: Inverter characteristic: Exponent [1/A]
Setup for controller: New parameter "kv_percent"
"kv_percent" (50..150%) is then multiplied to these values in order to calculate the final controller parameters.
"kv_percent=0" corresponds to 100%.
ACP10 axes can be used for G107
Both ACP10 axes and ARNC0 axes can be used as external axis oject for axis limit switch (G107) in the CNC program. If ACP10 axes are
used, the parameter "limits.paramater.sw_end_enable" is not available.
Spindle slope compensation ncCYCLIC caused cyclic time violation
Switching the controller off can cause cyclic time violation while spindle slope compensation ncCYCLIC is on.
Non−movements in the middle of G126 spline
If G170 is programmed between two movements inside a range of active G126 area, and if there are also non−movements programmed
between those two movements, then those non−movements would be executed in the middle of the rounding spline by default. If G170 is
equipped with a modifier FUNC_BEFORE_ROUNDING (non−modal modifier), then those non−movements are executed before the spline.
Unexpexted movement if G217/G218/G219 (axis mapping) is used.
There is an unexpected movement if axis mapping (G217/G218/G219) is used more than once.
ST Motion Extensions − new features
− new command SetM introduced for setting M function(s)

− added parameter Pth for MoveA and MoveC commands
− new structure element RotAxis in MXPointType
− support of 5−axis robots with automatic tangential axis on input of inverse kinematic transformation
ST Motion Extensions − cumulative fix
− JointToPoint ended with error for several mechanics (mechanics with no modes)
− PointToJoint always returned joints closest to zero
− PointToJoint and JointToPoint read information from CNC channel without synchronization
− base frame entirely ignored for MoveJ command
− base frame axes entirely ignored for MoveA command
DPR−Trace: At the command "55 Initialize axis settings (1)" random values are displayed for rot_period and rot_offset
Unexpected movement at CDC activation
At CDC activation with G137 in areas with short blocks, it is possible that a contour violation will not be detected. In this case with active G38,
the CNC program will not be aborted, with active G39 an unexpected long movement will be travelled.
A meaning of orientation in path axes for user mechanical systems
Fourth, fifth and sixth path axes of the user mechanical system can be combined to form an orientation of the robot. Then G−codes dealing
with orientation (G818, G819, G395−G399, etc.) behave the same as it was standard 6ax robot. To enable that, the mechanical description
(TRF_DATA00_typ::_mech_ place holder) must start with two special UDINT values. The first one is the accessing code 81881906 (which
evokes that G818 and G819 behave like for 6ax robot). The second UDINT in TRF_DATA00_typ::_mech_ is the angles' type which is used to
compose 4th, 5th and 6th path axes into the rotation matrix (or vice versa, to decompose the matrix into proper Cardan/Euler angles).
CDC: Unexpected movement on inner corners if tool radius will be changed online.
If CDC is active and the tool radius will be changed ($RAD), it is possible that at inner corners a contour violation will not be detected. In this
case, with active G38, the CNC program will not be aborted, with active G39 an unexpected long movement will be travelled.
Segmentation in path planner for G102
Segmentation in path planner (SEG=<n>) was extended from lines to the circle interpolation in general orientation (G102). If such a circle is
programmed with its target position in path axes, then the segmentation considers the real circular path, and not only a connection between its
start and end point. Joint coordinates for the target position of the circle are correct then, and e.g. a point to point movement can follow.
Start NC program with specified subprogram call sequence
When starting NC program by NC Action ncPROGRAM, ncSTART, the sequence of NC−block/line numbers can be specified in name of main
program (move.ncprogram.name). This sequence (up to last element) then specifies position of subprogram which should be entered when NC
program is started.
Syntax:
<program_name>[:{:N<number>|:<number>}...]
Automatic deactivation of jolt filter on drive for CNC movements
An axis jolt filter can be defined on both the ARNC0 and the drive. The dynamic calculation takes in consideration only the axis jolt filter defined
in ARNC0. With the element <cnc_obj>.axis.axis[].drive_axfilter the user can choice if the filter on the drive is automatically disabled for CNC
movements. By default both jolt filter are active during CNC movements.
TRF_LIB 2.xx supported in ARNC0
TRF_LIB versions 2.xx can now be used together with ARNC0. Older transformation library (versions 1.xx) can be used without any change as
well.
Block transitions not rounded even though G126 is active
With active G126, it is possible that block transitions will not be rounded. Conditions: "decoder.v_path_mode = ncSTANDARD" and axes of
type ncLINEAR are involved in the movement.
Whether a transition will be rounded depends on how much the linear axes are involved in the path speed.
G153 in Workspace monitoring

G153 (Position coordinates in the machine coordinate system) can be used on NC blocks with definitions of protected areas
(PROTBLOCK_DEF and PROTHSPACE_DEF) as well as on NC blocks with a definition of workspace boundaries (WS_MAIN_DEF). G153 is
not propagated to the next NC blocks.
Path synchronous jobs in simulation mode
Simulation run of programs containing path−synchronous operations: Jobs (path−synchronous variable assignment, function calls) can be
terminated with error 15798: "Insufficient Path Synch jobs configured − all jobs active in block_buffer ".
NC progam start mode ncFILE_XL+ncBLOCKMONITOR not working in simulation mode
Run of NC program started in ncFILE_XL+ncBLOCKMONITOR mode was terminated with error 15245: "Out of Memory"
NC manager error (40xxx) during PLC startup could cause a page fault (only in V1.370 − V1.380)
Deadlock after aborting a CNC program
A deadlock can occur if a CNC program will be aborted immediately after start and the system load on target is very high.
Sporadic page fault if controller will be switched on
If the controller will be switched on after a movement abort (e.g.; basic movement, CNC program), in very rare cases a page fault can occur.
ARNC0 axes: An additive element for cam coupling will be immediately taken in consideration.
ARNC0 axes: With ncACTION(ncCAM_PROF, ncSET) the additive element will be taken in consideration immediately. The return value of the
ncACTION is either ncOK or an error number (but never ncACTIVE).
Parameter FORCE_FLUSH for NC_BLOCK_SKIP_ON
If full kinematic transformations are switched on, if NC_BLOCK_SKIP_ON is active and equipped with a parameter FORCE_FLUSH, and if a
call of the transformation (direct or inverse one) is not successful in path planner, then G171 is generated automatically (and the corresponding
movement NC block is skipped as in a case of NC_BLOCK_SKIP_ON without FORCE_FLUSH).
Interpreter axes system variable not updated
Values of Interpreter axes system variables as $MA_POS_LIMIT_PLUS (pos_sw_end) are not updated if its value is changed (initial value
from system start−up remains). The error regards only axes defined in a ACP10 mapping table with CNC_Enabled="1".
Motion Extensions of IEC−ST Interpreter
New system of motion commands, conversion functions and data structures has been designed for controlling any kind of robots or CNC
systems. Motion Extensions are activated by inserting new arnc0mx library to Automation Studio project. The ARNC0 will automatically search
for the Motion Extensions and then adopt them to its instruction set.
Note: Motion Extensions require presence of TRF_LIB from version V1.16.0 in Automation Studio project and Automation Runtime from
version V3.08.
IEC−ST supported in the GMC interpreter
The GMC interpreter has been extended to offer possibility to process IEC−ST files. The GMC interpreter supports the syntax used by the
Automation Studio IEC−ST compiler, plus extensions related to motion programming (Motion Extensions) and memory organization between
CNC channels (e.g. scope definition of variables used in the CNC system).
Note: While IEC−ST is fully supported in ARNC0 from V1.38.0, the IEC−ST Motion Extensions require presence of arnc0mx library in
Automation Studio project.
Long name for CNC program
The allowed length of the name of CNC programs and CNC ini programs was increased (99 significant characters + string terminator).
G193 − wrong path speed profile at blocktransition with stand still.
At block transition with not programmed stand still (e.g. reversing of an axis movement) it can happen that a wrong pathspeed profile (feed
rate) will be travelled.
NC action ncPROGRAM, ncLOAD was not properly refused in forbidden states
Wrong determination of restart position after restart
After restarting an NC program from positions where the interpreter execution is stopped (like G170 or synchronous M−function followed by
G172) the recording of any value to the restart buffer was turned off even if the restart is switched on.. In case of restarting the NC program
from a position behind the previous restart point the live instead of recorded values were used for determining the restart position.
G193 (liear feed rate) at block transition with accuracy hold
The feed rate will be continusly ramped down to zero before block transition wih accuracy hold (G60, synchronous M−function). In the
subsequent block the feed rate will be linearly increased to the programmed value.
ARNC0 axes: Error 107036 when initializing an ACOPOS device
When using ARNC0 axes on a POWERLINK network, during ACOPOS initialization the actual position is requested for the monitor data with
"CYCLIC_MON_PARID=111". If an encoder is not connected (e.g. when using an ACOPOSmulti power supply module), then the ACOPOS
module will report error 7036 (Encoder: Interface ID invalid), which in turn results in ARNC0 error 107036.
Remedy:
If no encoder should be used for an axis, it is possible to disable the request of actual position for the monitor data by entering
AxisConfig="NoActualPosition" in the "Additional data" column for this axis in the ARNC0 mapping table.
The error occurs only when using ACP10 software V2.37.0 − V2.38.0.
Error 7185 at restart or block search if ncROTARY axes are used.
Error 7185 ("Position modulo out of 'In−Position−Tolerance' at RESTART of CNC move ") may occur, when the restart position is located in the
immediate vicinity of an interval boundary . If the error arrises depends on the numerical values of the positions and parameters.
The maximum number of CNC channels was increased from 16 to 24.
Enable channel−ID wildcard character '*' in file device name
The channel−ID wildcard character '*' can be used in the file device name for the main program files and subprogram files. The wildcard is
substituted for the channel identity character 'A' (1st channel), 'B' (2nd channel), etc. The settings is valid for <MAINSEARCHPATH> and
<INCLUDEPATH> options in interpreter system configuration files (gmcipsys and gmcipus).
Wrong restart info in rotated coordinate system
From version 1.29.0, wrong restart info could be shown if the restart point is defined as ncPATHDISTANCE, and if it is inside the second or
later movement after change of coordinate system's rotation (Gx92, FRAMEs). Axes' positions were shown in local coordinate system, not in
global one.
NC program can't be reloaded if the init program is specified
Loading or starting of already loaded but modified NC program (reloading) failed with error 15307: "Program failed to load" with additional info
"Status 15243". Error occurred only if init program (<cnc_obj>.move.ncprogram.init_prg) was specified.
Delay before G102 if full transformation is switched on
There might be a delay before G102 (Circle interpolation in general orientation) if full transformation was switched on. Furthermore, during that
delay, a nonzero path speed could be shown in CNC monitor.
Workspace monitoring available in 2D and 1D
Workspace monitoring and self−collision do not require full 3D Cartesian space anymore (i.e. three ncCNC axes in CNC channel). Namely in
case of 2D, xy−plane is considered, and therefore z−coordinates of protected blocks can be omitted. In case of 1D, y− and z−coordinates can
be omitted.
False identifier's ambiguity detected
Name of newly declared item (variable, function, etc.) can be wrongly detected as ambiguous. For example, variable of name 'getpos_status' is
stated as ambiguous with already declared function 'getpos()'. Error is presented only in ARNC0 V1.36.1.
New interpreter configuration files
Two new interpreter configuration files added:

− gmcipus: user override for (interpreter) system configuration (added to GmcIpConfig package)
− gmcipuc: user override for interpreter instance (channel) configuration (added to GmcIpUserConfig package)
Note: if any of configurations is not presented on target the warning in AS logger will occur.
Possible memory violation when configuring max. path jobs
Configuring of the maximum number of path synchronous execution jobs (<MPQUEUE ... MaxPathJobs= "<number>"/> in gmcipsys) to values
higher than default (256) may result to memory violation.
Overloading of SCF and ICF
Content of SCF (System Configuration File − gmcipsys) and ICF (Interpreter Configuration File − gmcipcfg) can be overridden by
later−provided definitions (e.g. by definitions in included XML files).
ARNC0 manager error will written into the dpr command trace.
ARNC0 writes axis errors also into the network command trace.
Feddrate change if G25 is active
If feed rate will be changed and G25 is active, the new value will not be used in all consecutive movement blocks.
New NC actions for transferring any data blocks
A new interface is now available for uploading/downloading all types of data blocks (ParIDs with the type "DATA" or "BRMOD") using the NC
actions listed below. The input/output parameters for this interface are contained in the "datblock" substructure of the data structures for real
and virtual axes. This makes it also possible to upload/download data blocks in the NC Test.
ncaction(ax_obj,ncDATBLOCK,ncUPLOAD)
The binary data for the defined data block is read from ACOPOS and saved into the specified data object.
ncaction(ax_obj,ncDATBLOCK,ncDOWNLOAD)
The binary data for the defined data block is read from the specified data object and transferred to ACOPOS.
Parameters:
datobj_name: Name of the data object
datblock_par_id: Parameter ID of the data block
idx1_par_id: Parameter ID of the data block Index1 (set to 0 if not used)
idx2_par_id: Parameter ID of data block Index2 (set to 0 if not used)
New NC actions for transferring ACOPOS parameter tables
A new interface is now available for uploading/downloading data blocks. This new interface can also be used to upload/download ACOPOS
parameter tables using the NC actions listed below. The input/output parameters for this interface are contained in the "datblock" substructure
of the data structures for real and virtual axes. This makes it also possible to upload/download ACOPOS parameter tables in the NC Test.
ncaction(ax_obj,ncACP_PAR+ncDATBLOCK,ncUPLOAD)
The specified ACOPOS parameter table is processed by the NC manager. ACOPOS reads each parameter in the ACOPOS parameter table
individually and writes its value to the ACOPOS parameter table. Once all parameters have been read, the data module for the ACOPOS
parameter table is regenerated with the updated parameter values.
ncaction(ax_obj,ncACP_PAR+ncDATBLOCK,ncDOWNLOAD)
The specified ACOPOS parameter table is processed by the NC manager, and the parameters it contains are transferred to ACOPOS
individually.
Parameters:
datobj_name: Name of the ACOPOS parameter table
TCP additive elements in standstill
If there are more CNC channels, and if TCP additive elements are used in standstill, then the data might be mixed through channels −− namely
if there is no movement in NC program / NC block before the standstill.
New mode for interpreter single step and breakpoint halt
With "decoder.s_step.mode = ncSTEP_INTO+ncPATH" or "ncSTEP_OVER+ncPATH", the user can select whether the path follows
immediately the interpreter or not.
G126: Transitions between very short blocks will not be rounded
Transitions will not be rounded, if the block execution time of the affected blocks is shorter then two CNC cycles.
ID#400093695 : solved problem, known since MC_ARNC0_V1.33.1, solved since V1.370
G144 can't be disabled

Continuous alignment of the tangential axis (G144) can't be disabled in the CNC program using G145.
G04: Display remaining time in the CNC monitor
Undefined movement according to G217/218/219
If another block than a movement block comes before a G217/218/219 mapping, it is possible that one of the two axes carries out an
undefined movement after enabling or disabling the mapping function.
ID#400088110 : solved problem, known since V1.32.0, solved since V1.370
Axis from typ ncROTARY can be positioned to the upper bound of the intervall
Example: Intervall 360°: Axis can be positined to 360°, but the allowed range is 0 − 359,99...°.
For this reason, the restart position of the axis can differ one periode and the restart will be aborted with an error.
Note: Use the value in the CNC structure, values showen in the CNC test window are rounded.
Wrong axis is used in a CNC channel
Wrong axis may be used in a CNC channel if the name of an axis is equal to the first part of the name of an other axis (e.g. "AxX" and "AxX1")
Dual−use compliant robots in ARNC0
Dual−use compliant robots from TRF_LIB can be used in ARNC0 even without arnc0ext library. Transformation library version V1.14.0 or
higher must be used.
CAN:
For ACOPOS 8V1xxx.00−1: ACP10SYS V0.555
POWERLINK:
New AIL builtin functions / procedure to access the current block number
SetCurBlockNr() and GetCurBlockNr() allowes to overwrite and read respectively the block number of the current block.
New system variables to scale programmed values.
New system variables $SCALE_MAIN_PLANE_AXES, $SCALE_NORMAL_MAIN_PLANE_AXIS, $SCALE_LINEAR_AXES,

$SCALE_GEOMETRY_PARAMETER to scale programmed coordinates and geometry parameters.
DISPLOF caused error 15798
DISPLOF (suppress NC block monitor) caused error 15798 (Insufficient Path Synch jobs configured)
CAN:
POWERLINK:

New type of start position ncFILEOFFSET+ncSKIP_PARSE
New type of start position introduced for CNC programs (start_pos_type) introduced − ncFILEOFFSET+ncSKIP_PARSE. The ncSKIP_PARSE
ensures that a G−code before a specified byte offset (start_pos) is entirely skipped.
New G code "G239": Allow contour violation on small blocks if CDC is active.
No program abort if there are contour violations caused by small path sections and a large tool diameter. Contrary to G39 the contour violation
will not be minimized and no blocks will be removed.
G212: No edge or approach process at a full circle
If G212 is active, it can happen that at the begin of a full circle no edge/approach process will be inserted.
If G212+G138/G139+CDC activation, it can happen that no edge/approach process will be inserted (dependig on the geometry of the contour).
Setup for induction motors: New optional parameter "phase_cross_sect"
setup.motor_induction.parameter.optional.phase_cross_sect: Cross section of a phase
Automatic determination of motor parameters for synchronous motors
NC structure component "setup.motor_synchron"

NC actions "ncSETUP+ncMOTOR_SYNCHRON,ncSTART" and "ncSETUP+ncMOTOR_SYNCHRON,ncSAVE"
New homing variants: Homing on block, fixed direction
New homing modes:

ncBLOCK_TORQUE: Homing on block with torque limit as condition for "block reached"
ncBLOCK_DS: Homing on block with lag error limit as condition for "block reached"
New homing parameters:

fix_dir: Fixed direction ON/OFF
torque_lim: Torque limit for homing on block
ds_block: Lag error for block detection
ds_stop: Lag error for stopping a movement
Program abort (error 8147) if CDC is active
CNC program will be aborted, if f the tool radius and the programmed radius are nearla equal.
Data type of NC system variables $AA_IM and $AA_IW changed from DINT to LREAL
Program with G201 blocks + multiple restart
Multiple restart of an NC program with more then one G201 block will be aborted with an error (error 7743: "Position out of
'In−Position−Tolerance' at START/RESTART of CNC move")
Incompatibility of G102 and kinematic transformations
If a circle is programmed with G102 while kinematic transformations are active, then joint axes could be planned to move to the wrong
positions. These wrong positions are used for the axes only if G102 is not followed by another interpolated movement. Therefore, having G102
as the latest instruction in an NC program was producing an incorrect movement, as well as having G102 followed by a PTP movement, or
G102 followed by dwell time G4, or G102 in a combination with G60, etc.
CAN:
POWERLINK:
Program execution stopes if CDC is active
If CDC is active, it can happen that the CNC stopes in G00 blocks with CDC overshooting is active ($CDC_OVS_DISTANCE > 100%). The NC
program can be aborted.
Current offsets in ARNC0NCCTR_typ
Current offsets (and not only rotations) are available via ARNC0NCCTR_typ. The offsets originate from G92/191/292 or FRAMEs.
Using of the axis name in NC program for the axis which is not defined in "cnc_obj.axis.ais[i]" structure
The new settings in Intepreter configuration file ensures that no syntax error will be reported if the axis is not defined
Error 7745 arises at the start / restart of an CNC program (known since ARNC0 V1.33.0)
Caused by a timing problem in the ARNC0, it can happen, that error 7745 (axis already moving) occours at the start / restart of an CNC
program.
G212 + CDC: Change in Behaviour
To generate the path speed profile for G212 and CDC is active, the programmed contour and not the equidistant contour will be used. To
distinguish inserting an edge process or a fine edge process, the angle in the active main plane will be use.
ncVARIABLE, ncGETINFO fails when locking variables from one channel and some variables are already locked on another channel
(p)RTCP mechanics from TRF_LIB in ARNC0
If joint axis's properties of any joint axis in (r)RTCP mechanics is set to the non−default value (i.e. to TRF_MATH_NEGATIVE), then this
settings is lost if TRF_LIB V>1.07.1 is used together with ARNC0 V<1.35.0.
CAN:
POWERLINK:
System variable $AX_V_JUMP not updated for G105
System variable $AX_V_JUMP was not updated when G105 (setting the" v_jump" parameter) was programmed. On contrary, the
$AX_A_JUMP was updated for G106. The behavior is now consistent.
NC actions for variable access: statuses not properly updated
The statuses <cnc_obj>.var_access.status.active and <cnc_obj>.var_access.status.complete was not properly updated for NC actions
ncVARIABLE, ncGETINFO and ncVARIABLE, ncRELEASE.
CAN:
POWERLINK:
Deadlock for ncFILE_XL programs started with byte offset
If an NC program was started in ncFILE_XL start mode with nonzero byte offset (start_pos_type = ncFILEOFFSET) then a deadlock occured.
Kinematic transformations in standstill
Kinematic transformations are active also in situations where no movement is produced but tcp_add_el[] are changed, i.e. in halt, on
synchronous M−flags, during dwell times, etc.
CAN:
POWERLINK:
ID# 400089399, 400088645, 400092044 : solved problem, known since 1.32.0, solved since V1.331
Missing error text (only in V1.311 − V1.330)
Error text hasn't been found for some error numbers.
CAN:
POWERLINK:
Changes in the status message for G212
The content of the system variable $PSM1_PHASE and of the monitor element "cnc_object.monitor.PSM_phase" is extended (see ARNC0
help).
Start of a CNC program even if an axis is already moving.
A CNC program can be started even if a movement on an axis − used in the CNC system − is already active (only ACP10 and SDC axes).
Position jump on axis at program start
If a CNC program will be aborted by an axis error, a position jump on this axis can occur during the next program start. This effects ACP10 and
SDC axes.
Missing set positions in one cycle
In very rare cases it can happen that no set positions are calculated for one cycle.
G212 (path speed mode 1)

The path speed can be to high on tangential block transitions if G212 (path speed mode 1) is active. This occours only on "fine edge
processes".
CNC Block Monitor didn't show the NC Block with G102
When the NC block with programmed G102 is executed the element "ncblock" of CNC Block Monitor structure didn't show that NC block.
NC−Actions not accepted if a ParId−Trace is active (only ARNC0 Axes)
Some ncActions (e.g. ncCONTROLLER / ncSWITCH_OFF) are not accepted if a ParId−Trace is active on an ARNC0 axis.
CAN:
POWERLINK:
G212 (path speed mode #1) new
G212 defines the path speed profile at block transition (dwell time at block transition, reduced speed at begin of the following movement
blocks)
Incorrect target position when activating CDC with G137
If CDC is deactivated and then re−activated one block later, then the target position of the entry block is usually not correct in relation to the
active main plane.
The error only occurs when G137 is active.
Contour violation if s_jump_t = 180° and CDC is active
Contour violation on outer corners with alpha = 180° (inversion of movement) and if s_jump_t is set to 180° and CDC is active.
CAN:
POWERLINK:
Incorrect status cnc_obj−>global.init after ncGLOBAL, ncINIT (CNC system)
Status cnc_obj−>global.init will not be set to ncTRUE if a NC program was loaded into the memory.
Occasional error 15256 on loading NC programs
The error 15265: "PLC variable data−length mismatch” occasionally occurred when NC programs containing declarations of function blocks
was parallelly loaded on more CNC channels.
CNC program abort (mode ncAXIS) ignored directly after program start
A program abort (ncMOVE, ncE_STOP with parameter ncAXIS) will be ignored, if program abort will be performed directly after program start.
Incorrect execution order of M−parameters and synchronous M−function
The order of execution might be incorrect, if a synchronous M−function is programmed after an M−parameter, a path synchronous variable or a
path synchronous, non−blocking FUB. The execution order is correct after a movement block or after the program is started.
CAN:
POWERLINK:
New Restart Mode "ncABORT_LINE"
CDC: Overshooting on acute angles ($CDC_OVS_DISTANCE)
CAN:
POWERLINK:
ACP10 axes and ARNC0: Fractional part of SW limits (CNC units) will be removed
SW limit values are converted from axis units into CNC units (division by the unit factor) in the ARNC0. The remainder will not be taken in
consideration.
TRF_direct3() and TRF_inverse3() from TRF_LIB usable in ARNC0
The third kind of direct and inverse transformations provided by TRF_direct3() and TRF_inverse3() functions from TRF_LIB is accessible in
ARNC0.
Tangential axis inside kinematic transformations
If the tangential axis is configured either as a path or as a joint axis, its position is not overwritten by outputs of the transformations. There can
be a need for such a configuration (see e.g. TRF_direct3() and TRF_inverse3() functions for non−perpendicular 5ax mechanics, i.e.
TRF_DATA05_typ from TRF_LIB).
CAN:
POWERLINK:

Fixed memory leak from path−synch assigments (e.g. MF1=1) near end of NC program
Introducing ip_global preprocessing macros
Syntax:
define ip_global <name> as <text>
Macro can be removed with undefine statement:
undefine <name>
Line continuation and line−break characters
New syntax introduced:

"\" − Line continuation (continue the current NC block on the next line)
"@@" − Line break (divide the line of G−code to two syntactically separate NC blocks )
Reducing memory consumption for very short NC programs
Each NC program is loaded to a separate memory partition for effective memory clean−up during unloading. The minimum size of the memory
partition was set to 384KB. This can cause wasting of resources if a large number of short NC programs has to be loaded to memory all at
once − e.g. calling of multiple global subprograms.
New attributes for ncMANAGER was introduced that enable user to control size of memory partitions:
ARNC0MemPartMin="<min_val>" − Minimum size of Interpreter memory partition [hexadecimal]
ARNC0MemPartMax="<max_val>" − Maximum size of Interpreter memory partition [hexadecimal]
Errors with additional information in CNC channel after a call of external functions
If an error with additional information was issued in a CNC channel after a call of external functions (e.g. functions from TRF_LIB), then it could
lead to a pagefault.
G135 − Intersection path
To keep the contour violations as small as possible, the endpoint of the circular block is approached via the shortest path. In the past, the block
was traversed in the same direction of rotation as the programmed block.
G201 and t_axfilter from "cnc_obj.axis.axis[i]" structure
The t_axfilter was set for an axis which is used as a trigger source. If the movement distance of this axis was equal to zero for the programmed
NC block with G201 then the trigger wasn't detected.
CAN:
POWERLINK:
The maximum number of CNC channels was increased from 8 to 16
CAN:
POWERLINK:
CNC plot buffer is extended by programmed feedrate.
New G−code syntax elements
New G−code syntax elements introduced:

EXTERN − subprogram prototype
VAR − argument passed by reference
MCALL − modal subprogram call
Automatic tangential axis (G141): Movement blocks with G00 are ignored.
Movement blocks with G00 are ignored after an automatic tangential axis is reactivated (G141).
NC action "ncGLOBAL, ncLOAD+ncINIT" fails without showing an error after unsuccessful start of axis compensation
Deadlock after CDC deactivation
CNC system is blocked if G172 (or STOPRE) is programmed immediatelly after a block with G40. The program can be aborteted by the user.
NC program can't be restarted if transformation is used
If the transformation library or G195 (RTCP) is used, the restart will be aborted with error 7743 (Position out of 'In−Position−Tolerance' at
START/RESTART of CNC move).
CAN:
POWERLINK:
M function programmed before blocks with zero movement distance has not been set if the rounding edges (G126) was active (only in V1.270
− V1.280).
Path−synchronous variable has not been assigned before blocks with circular interpolation if the rounding edges (G126) was active (only in
V1.270 − V1.280).
CAN:
POWERLINK:
Occasional cycle time violation from TC#1
Combination of intensive subprogram calling and programming of multiple path synchronous jobs (e.g. FBs) from an NC program could cause
a cycle time violation of TC#1.
Workspace monitoring − change to modelling based on the robot arm radius

Problem occurred if the protected area lay closer than the robot arm radius.
New parameter "ipl_mode"
The new parameter "ipl_mode" in the "cnc_obj.axis.axis[i]" structure − interpolation mode for cyclic position. Parameter is valid only for ACP10
axes. The problem with a position overshoot at the end of an NC program has been solved with this new parameter.
Error caused by Axis Factor not equal to 1
Axis Factor not equal 1 can be now set for ACP10 axes used in a CNC channel
Optional brackets for functions with no arguments in the alternative language 1 G−Code
In the alternative language 1 G−Code a function that does not require any arguments can be called without using brackets.
Exception 9101 − address error after <ncMOVE, ncSTOP>
Exception 9101 occurs if <ncMOVE, ncSTOP> NC action is sent before the first <ncPROGRAM, ncLOAD/ncSTART> if any additional
LANG_INCLUDE files were loaded during ARNC0 startup.
Program freezes if it runs out of path synchronous commands (only in V1.251 − V1.272)
Starting with ARNC0 V1.25.1 the interpreter keeps track of all path synchronous jobs (path synchronous variable assignment, function calls)
that are in the backtracing buffer (block_buffer).
The interpreter was only keeping track of a fixed amount of path synchronous jobs. The high value for <cnc_obj>.limits.block_buffer together
with a high number of path synchronous jobs in an NC program caused the interpreter to run out of available jobs and freeze up.
The number of path synchronous jobs is now configurable in gmcipcfg in <MPQUEUE> section.
CAN:
POWERLINK:
Output of blocks with non−synchronous technology functions or path synchronous variables and tool data number in the wrong order.
If a block with a tool data number follows immediately after a block with a non−synchronous technology function (S and T functions) or a
calculation with path−synchronous variables, then the block with the tool data number will be output first.
Note: Both blocks are output in the same ARNC0 cycle, which is why this effect can only be observed in single−step operation in Halt mode
after each block (this occurs only in ARNC0 V1.27.0 to V1.27.2).
Restart not possible if restart switched off and on.
If the function for saving restart info is switched off and on (ncRESTART, ncSWITCH_OFF / ncSWITCH_ON) between aborting and restarting
an NC program, the restart will be aborted with error 15307 (Program failed to load).
CAN:
POWERLINK:
CAN:
POWERLINK:
NC block with G170 + non synchronous M function, wrong order of execution (only ARNC0 V1.27.0)
In blocks with G170 + non synchronous M function, the M flag will be set not before G170 will be acknowledged.
Program end command (e.g. M30) allowed in controll blocks (e.g. block with $IF)
Polar Coordinate Machine: To low path Speed at Circular and Linear Blocks.
Numerical problems in dynamic calculation can cause low path speed.
Ploar Coordinate Machine: Low Path Speed at tangential Block Transitions.
The axes jolt filter was not be taken in consideraten in the calculation of path speed at tangential block transitions. The calculated value of path
speed at block transition was too small. (only for polar coordinate machines)
CAN:
POWERLINK:
Deadlock while executing an NC program
A Deadlock in the CNC system can occur, if the following sequence is processed repeatedly with the same NC program:
(1) Start NC program
(2) Stop NC program
Thedeadlock can only be resolved with a warm restart of the PLC.
Memory optimization within the interpreter
Both the own memory usage of the interpreter and the memory consumption for loaded programs have been reduced.
Non synchronous Technology Functions will set on a wrong path position if G126 is active.
Non synchronous Technology Functions will set on the begin of the bezier spline instead in the centre of the spline if G126 is active.
Decomposition of frame to orientation angles and offsets
For determining the angles, depending on the used angle type, the interpreter functions F_TO_ANGLES, F_TO_EULER and F_TO_RPY are
provided. For determining the offsets of the frame the function F_TO_TRANS is available.

CAN:
POWERLINK:
Startup of ARNC0 axes get stuck in network phase 80 (only in V1.251 − V1.260)
ARNC0 axes with channel number 2, belonging to a drive connected to the POWERLINK network, get stuck in network phase 80 during
startup.
Included drive operating systems, dependency
CAN:
POWERLINK:
Circular blocks: standstill at block transition.
A standstill can occur at block transition between circular−circular blocks or circlular−linear blocks.
The error can occur if the parameter "cnc_obj−>limit.blocktransition = ncSTANDARD" or "cnc_obj−>limit.blocktransition = ncAUTO" is set.
Parameterized subroutine return (RET)
Usually, the end of subroutine returns to the calling program and the lines following the subroutine call will be executed. Parameterized RET
allowes program resumption at another, user defined position
CNC programming instructions ADR and SIZEOF
ADR[] − determines the address of a data point

SIZEOF[] − determines the size of a variable in bytes
Memory consumption optimization
Size of AIL opcode which was generated when loading NC program has been reduced.
G211 − Improved speed profile for short NC blocks
G211 (blended move mode) active: The combination of short NC blocks and long programmed acceleration time $TA could lead to dips in path
speed profile.
CAN:
POWERLINK:
Reverse movement problem

Pagefault occurred if a path synchronous variable was assigned while moving backwards in an NC block.
Error in trigger configuration for axes accessed with PLCopen IF
It was not possible to select only the desired trigger events for the axes accessed with PLCopen IF. This can now be done using the
configuration parameter "cnc_object.axis.axis[i].trg_source.trg_conf".
ARNC0 Deadlock if the same axis was connected to a CNC channel more than once
Page Fault or Memory Access Violation during backward movement on the path.
During backward movement on the path a page fault or a memory access violation can occur if path synchronous variables or function blocks
are used or if subprograms are called.

For ACOPOSmulti 8BVxxxx.xx−x: ACP10SYS V2.241
Startup of POWERLINK axes blocked in phase 80
If POWERLINK axes with node numbers greater or equal 100 are used, the startup of the axes may block in network phase 80.
Pagefault when restarting NC program
A pagefault could occur by restarting an NC program with rotary axes (ncROTARY). Problem only in the version V1.25.0.
The cyclic ARNC0 task is now installed in the NC Manager task class
The real−time part of the ARNC0 is now installed into the "NC Manager task class" which can be defined via the Arnc0cfg.ncc configuration
module. Up to now, the "NC Manager task class" was solely used for the communication between ARNC0 and the application tasks, whereas
the real−time part of the ARNC0 has always been installed into TC#1 (unless the ForceSIOS parameter was set).

New start modes for NC action ncPROGRAM, ncSTART
Two new start modes ncFILE_XL+ncBLOCKMONITOR and ncDNC+ncBLOCKMONITOR have been defined to enable CNC block monitor for
large or streamed NC programs.
New parameters "rot_period" and "rot_offset"
The new parameters "rot_period" and "rot_offset" in the "cnc_obj.axis.axis[i]" structure can be used to set the period and offset of a rotary axis
(ncROTARY+...).
A new axis type in ARNC0: ncNOFEED
The single axes can be excluded from the feed rate calculation by adding ncNOFEED to the axis type. This makes it possible to exclude the
axes of the types:
ncCNC + ncNOFEED
ncLINEAR + ncNOFEED
ncLINEAR + ncNOSTOP + ncNOFEED
ncROTARY + ncNOFEED
ncROTARY + ncNOSTOP + ncNOFEED
ncROTARY + ncSHORT_PATH + ncNOFEED
ncROTARY + ncNOSTOP + ncSHORT_PATH + ncNOFEED
from the feed rate calculation.
Corrupted error text modules
Some of the error texts have not been evaluated correctly after calling of NC action ncMESSAGE, ncTEXT.
NOTE: All error text modules on an automation target must be updated for correct determination of error texts in ARNC0 V1.25.0!
Error in Restartinfo when read from a data module.
When loading Restartinfo from a data module, the restart may be aborted with error 7150 ("Mismatched NC program lengths upon
'RESTART'").
Condition: Parameter cnc_obj−>restart.parameter.param_buffer = 0
New Systemvaribales $P_EP and $P_EM
G180
(1) Beside the current syntax "G180=000" also "G180" is allowed.

(2) The last circle in a series of joined blocks may be programmed with center point, radius and angle.
Incorrect angle of rotation in G102
If the last circular block before G102 is a full circle (360° angle of rotation), then the programmed arc as well as a full circle might be traversed
in the block with G102.
Whether the error will occur or not depends on the position of the center point.
G70/G71 was taken in consideration also for axe of the type ncROTARY.
Inch/mm conversion not allowed for angle units.

G172 can cause a CNC−system deadlock (only in V1.24.0 − V1.24.1)
Check of the orientation axes
When full transformations are switched on, the user is informed via a warning from ARNC0 when the positions of the programmed orientation
axes in NC program are not uniquely defined.

Performance issue fixed: re−loading of modified global subprogram had been very slow.


Extended monitor data
NC monitor structure have been extended with the call_level element which displays current call level of subprograms. The hierarchy of
subprogram calling can be displayed as NC block numbers in a data buffer provided by an application program. An address of the data buffer
has to be specified during ncBLOCKMON, ncSET calling.
The G201 at NC block with zero movement distance caused a deadlock.
Invalid set position values in network interface
In very rare cases, an invalid value (NaN) is entered in the network interface for the decimal part of the set position.
Accepting an ncPROGRAM,ncLOAD when an NC program is active
An ncAction ncPROGRAM,ncLOAD should be accepted when an NC program is active. The new functionality should allow user to speed−up
loading of global subprograms if they are modified between the NC program start and calling of them.
Restart − Deadlock at program abort
ARNC0 may become blocked if the program is aborted while restarting an NC program and ARNC0 is in the state "Waiting for movement to
continue". The target must be restarted in order to remove the deadlock.
Workspace monitoring − self collision reported too early
Self collision error has been reported too early.

Unit factor not considered by G200/G201
The CNC unit factor was not taken in consideration by the latch position calculation (functions G200/G201).

System Crash if a ACOPOS parameter table is downloaded
During the download of an ACOPOS parameter table (ncACP_PAR + ncSERVICE, ncDOWNLOAD) the system can crash (page fault). In
ARNC0 V1.22.0 and higher
NC monitor status "name_ncprog" not properly updated
The name of curent NC program "name_ncprog" has not been properly updated for global subprograms.
Workspace monitoring − diameter of the robot arm not considered
Diameter of the robot arm hasn't been considered by crossing a protected area.
Workspace monitoring − diameters of the robot arms as an array
Diameters of the robot arms can be defined as an array of values − separately for each arm.
Contour violation when wrapping is active
A contour violation occured when wrapping or mapping was active and CDC with arc transitions (G133) was chosen.
Error determining the RESTART−INFO in single−step operation
If the RESTART−INFO is determined with the parameter "restart.info.parameter.restart_type = ncBLOCKNUMBER") while single−step
operation is active (path generator), then cryptic characters might be output for blocks:
− with a shift of the coordinate system (e.g. G92, G54)
− with synchronous or non−synchronous M−functions
− with real−time parameters (M−parameters)
− with dwell time (G04)
Whether the error will occur or not depends on the internal timing of the ARNC0.
G201 and NC program restart
NC program restart and restart info didn't run correctly if G201 had been used.
ID#400043500 : solved problem, known since V1.038, solved since V1.231
Deadlock with neagtive override
ARNC0 was blocked if the following sequence was executed:

− start NC block or NC program
− set OVR to neative value
− wait until startposition of NC program is reached
− set OVR to zero
− set OVR to a negative value again.
Restart of target was needed to resolve the deadlock.
Motion packet log
If enabled in Arnc0cfg, the motion packet log continuously records the contents of each motion packet packet into .mpl files. This functionality
is switched on by default.
The log files are written into mplog* file devices which must be created by a user, one device per CNC channel (by default mplogA for 1st CNC
channel, mplogB for 2nd CNC channel, ...).
New NC actions have been defined:
"ncMP_LOG, ncSWITCH_OFF" − switches the motion packet logging off
"ncMP_LOG, ncSWITCH_ON" − switches the motion packet logging on

The movement didn't slow down to standstill if G201 was used in a rotated product coordinate system
The G92 or $WFRAME was used to rotate the product coordinate system. If an axis with a programmed zero distance was set as a trigger
source then the movement dindn't slowdown to standstill at NC block with G201 when the trigger occured.
Latch system variables not set for CNC channel higher than 1
Pagefault when calling AIL local function

ARNC0 crashed when analyzing a template function that contained a call to an AIL local function.
The M0 was skipped at the NC block with move distance equal to 0.0
NC program file not closed if syntax error
NC program file was locked if a global subprogram loaded from the main program contained a syntax error.
Logical operators
Following logical operators have been added to the G−code syntax:

&& − logical binary AND
|| − logical binary OR
XOR − logical binary XOR
! − logical unary NOT

SG4 target system with AR A3.08 or higher: Error 9650 when using ARNC0 before V1.220
After optimizations some system functions are no longer contained in AR versions A3.08 or higher, which are needed by ARNC0 versions
before V1.220. If a ARNC0 version before V1.220 is used with AR versions A3.08 or higher, then the following error is indicated during the
project transfer or registered in the Logger during the PLC startup:
− 9650: Library function not available (System GOT)
For AR versions A3.08 or higher only the ARNC0 versions V1.220 or higher can be used.
$CO_ORDS_MODE, $CENTER_MODE, $MOVE_CMD_MODE
New system variables have been added:

$CO_ORDS_MODE represents modal coordinate definition
$CENTER_MODE represents modal circle center point definition
$MOVE_CMD_MODE represents modal movement command
TRANS, ROT, ATRANS, AROT
New functions for programming of zero point offset and rotation of coordinate system have been added.
Non−modally effective, coordinate programming mode specifiers
The coordinate programimng mode (relative or absolute) can be specified non−modally with the AC and IC statements.
GOTO Statement
A jump to NC block with defined block number can be created with the GOTO statement.
Axis error during emergency stop: Movement state will not be actualized.
If an axis error (e.g. lag error) occurs while an emergency stop is active; it can happen that the movement state of the axis and the
CNC−system will not be set correct after stand still. Possibly a restart of the targe is necessary.
G201 in CNC simulation mode
NC program containing G201 got stuck if was run in CNC simulation mode.
G172 in CNC simulation mode
NC program containing G172 got stuck if was run in CNC simulation mode.
The G201 didn't work properly if as a trigger source was used an axis on SDC IF
The movement at NC block with G201 didn't slow down to standstill if the trigger was forced inside the trigger path section.
Setup ISQ−Ripple for automatically determing the ripple parameters
New NC structure component "setup.isq_ripple".

New NC actions "ncSETUP+ncISQ_RIPPLE,ncSTART" und "ncSETUP+ncISQ_RIPPLE,ncSAVE".
Exceedance of programmed feed rate at block transition
Athough G111 is programmed, the programmed feed rate of the consecutive block can be exceeded at block transition.
Deadlock issued by G201
NC program got stuck if there was the G201 function in the last NC block.
G211 (Blended Move Mode)
Prommable, linear feed rate profile on block transitions.
Using G172 when the CDC is active will cause an NC program standstill

Interpreter does not find task−local PVs
On rare occasions the Interpreter was not able to find task−local PVs that were declared in the Configuration−Module "gmcipvar" by using the
syntax "TaskName:PvName".
Pagefault G200/G201
Pagefault occurred when an axis in standstill has been used as trigger source for G200/G201 functions and less than 15 axes have been
configured in the CNC channel. This problem occurred only in version V1.21.0.
Error when calling an NC subprogram
A syntax error occured when calling a global subprogram with a name that starts with a number.
Robot orientation axes moved after a change was made to the product coordinate system

G200 and G201 − axis in standstill as trigger source
Wrong positions of CNC axes have been latched, if an axis in standstill had been used as a trigger source for the function G200 or G201.
Workspace monitoring: Extension for Frames
Workspace could previously only be defined in the global coordinate system, now can it be defined in any coordinate system. The current
coordinate system is remembered together with each protected area.
Functions G70 and G71 are ignored for the rotary axes
The units switch (G70 and G71) is from now ignored for the rotary axes (ncROTARY). The system units are always used for the rotary axes.

The movement state of an axis was not correct after movement abort
After abort of a movement (axis movement or CNC program) the axis state was set to move.mode = ncOFF, before the axis was in standstill.
Exceedance of axis acceleration on tangential corners due to t_axfilter
The axis jolt filter can cause a violation of the allowed axis acceleration limits (acceleration on the path was not taken in consideration).
Memory footprint grew by 4 bytes per timestamp check
The timestamp is checked for each NC program start and each global subprogram call. Each timestamp check consumed 4 bytes of free
memory.

The G201 deactivated programmed rotation of the coordinate system
Status of NC action remained "ncACTIVE"
Status of the NC action remained ncACTIVE after global init performed for a CNC object with more than 4 axes in a basis version of ARNC0.
NC program got stuck on short path elements
The NC Program got stuck on very short path elements if the path element had to be skipped because of high path speed (warning 7236
"Contour segment had to be skipped, contour speed too high"), and if the element was followed by a non−tangential transition.

The parameter global.init not set
The parameter global.init of an axis object hasn't been set in some cases, if the axis object had been represented by a global PV.

ID# 400046336, 400046111 : solved problem, known since 1.09.7, solved since V1.100
Page Fault during Boot Phase with Win7/ARsim (AR000)
When working with ARsim (AR000) on Windows 7, the ARNC0 caused a page fault during the system boot phase.
Member "class" of structure ARNC0MSREC_typ renamed to "errorclass"
In order to use ARNC0 in C++ programs the structure member "class" of ARNC0MSREC_typ has to be renamed to "errorclass". "class" is
recogniced as keyword for the C++ compiler and leads to an error.
ID#400045497 : solved problem, known since 1.09.6, solved since V1.100
Path speed is reduced to zero on short NC blocks.
Sometimes the movement on the path stops at short NC blocks, if mode "cnc_obj−>limit.blocktransition = ncAUTO" is set.


Homing procedure aborted by error
The homing procedure on an ARCN0 axis was aborted with the error 5112: "Search Home procedure cancelled by Event ". The error started to
occur in ARNC0 version 1.05.2 in combination with Automation Runtime B3.01.
Page Fault during ARsim (AR000) Boot Phase
When working on ARsim (AR000), a rather high number of axes could have caused an ARNC0 page fault during the system boot phase.
Trajectory speed jump because of different path acceleration at consecutive blocks
If in several blocks a lower path acceleration is programmed (e.g. G110), the path speed will not ramp to zero at a stand still but the speed will
be forced to zero by the ARNC0. Furthermore the allowed acceleration on the axes can be violated.

Pagefault trying to configure more than 2 CNC channels
Pagefault occurred if user configured more than 2 CNC channels in the NC deployment table. This error was present from version 1.02.0.
Error stopping NC block or NC program
The following errors occured after an NC block or NC program was stopped during the loading phase: 10106: Event not allowed in curret
state", 15743: "Errors detected in block text" and 15319; "Operation aborted by user". The error 10106 was additionally followed by a deadlock.
Error 1114 with NC−Action ncGLOBAL/ncINIT
When there is a high CPU load on the runtime target, the NC action ncGLOBAL/ncINIT could fail with error 1114.

Deadlock if NC−program was aborted when calling global subprogram
A deadlock would occur if an NC−program, which had called a global NC subprogram, was aborted by an error.
Pagefault when calling NC−subprogram with parameters
A deadlock would occur if an NC−program, which had called a global NC subprogram, was aborted by an error.
The synchronized M Function is ignored if a path−synchronous variable is used in the same NC block.
PLCopen IF in ARNC0
ACP10 axes kann be accessed with PLCopen IF from ARNC0

New NC structure component "cnc_object.axis.axis[i].nc_object_plcopen"
Interpreter−Error was displayed in wrong CNC−Channel
An Interpreter−Error (e.g. Interpreter detects a syntax error during NC−Action ncPROGRAM/ncLOAD) in a CNC−Channel with Index other than
0 might have affected the CNC−Channel with Index 0.
The ARNC0 trace failed with the error 2104: Invalid NC object for trace test data .
The trace test data were set properly but NC object "ncMODULE" issued the error 2104.
AILHeader section is limited to 4096 bytes in language configuration file (LCF).
Path speed drops to zero when assigning path synchronous variable
When path synchronous variable e.g. M−parameter was assigned in NC−program the path speed always dropped to zero. This happened
even when the path synchronous variable was assigned between two tangentially connected path elements.
Version control on config files according to ARNC0 version number
The standard configuration (AS package "GmcIpConfig") files must have a version number that matches the first three digits of the ARNC0
version number (Vx.yy.z)

Setup phasing for automatically determining the commutation offset
New NC structure component "setup.motor_phasing".

New NC actions "ncSETUP+ncMOTOR_PHASING,ncSTART" und "ncSETUP+ncMOTOR_PHASING,ncSAVE".

Trigger Configuration for axes accessed with PLCopen IF
New NC structure component "cnc_object.axis.axis[i].trg_source.nc_object_plcopen".

New NC structure component "cnc_object.axis.axis[i].trg_source.trg_conf".
Compensation of axis errors for axes accessed with PLCopen IF
New NC structure component "cnc_object.axis.axis[i].ax_compensation".
ncAUTOSAVE on ARwin (AR010) − Problem regarding access time
Trace with ncAUTOSAVE setting (saves trace data in text file automatically) took a long time when running on ARwin (AR010). The access
time has now been optimized.
Position jump when using CAM wrapping
A position jump could occur on the rotary axis when the CAM wrapping hasn't been switched off in the previous NC program.
Internal errors after calling of external function from NC−program
Error sequence 10638, 10640, 10636 (internal errors) occurred as a response to a ncPROGRAM/ncSTART NC−Action if a previous program
run had been aborted by a runtime error caused by an external function call (in case of a path−synchronous function with return type STATUS
that returned a value between 1 and 65533).
Negative values for G108/G109/G110 ACC=<value> were not rejected
An error is is reported if the path acceleration exceeds the valid range.
ID#400041582 : solved problem, known since ARNC0 V 1.05.6, solved since V1.090
NC action ncAXES, ncINIT + cycle time violation
NC action ncAXES,ncINIT was adapted so that it no longer causes a cycle time violation when CPU load is too high.
G193, G194 not working since ARNC0 V1.00.0
The functions G193/194 (enable/disable "Linear feed characteristic" mode) have not been working since version V1.00.0. The functions G193,
G194 are now supported again.
POWERLINK drive startup
If a drive that had not finished starting up was switched to ncCNCSYS simulation mode, the remaining drives didn't finish starting up.
Extension of Interpreter Single Step Functionality
− Step into subprograms or step over

− Definition of a number of blocks to halt after
New Debugfunctionality for CNC Program Execution

− Breakpoints
− Varable watch and force function
− Expression execution
− Direct access to interpreter variables from PLC application tasks
− CNC blockmonitor display either path synchronous or interpreter synchronous
Page fault when initializing the axis settings
A page fault occurs while initializing the axis settings if the axis object "cnc_object.axis.axis[i].nc_object" has not been assigned to a CNC
object.
Rotation angle H falsely interpreted as variable name
Syntax error occurred when using G02 argument H (rotation angle) after use of variable starting with H.
Axis Movement State at NC Program Emergency Stop
At NC program emergency stop (ncMOVE, ncE_STOP) with the parameter cnc_obj−>move.e_stop.path = ncAXIS, the axis movement state
will be set to axis_obj−>move.mode = ncOFF before the axis stands still.
FRAME independent from TRF_LIB version
Reorientation of axes is now independent from the TRF_LIB version if FRAME is used.
Usage of local_frame without frame axes
local_frame is used also if frame axes are not defined. Values from the transformation variable are then considered.


Poor performance accessing files during startup
Reading the XML configuration files from the CF took a long time during ARNC0 startup. The access time has now been made 5 times faster.
Cutter diameter compensation: $RAD_IDX error
The change to an external parameter (EXF), which was used for indirectly accessing the tool radius, was detected too late. As a result, the tool
radius value was updated too late. This error was present from version V1.00.0.
Default error level for function blocks called from an NC−program changed from error level 4 (warning) to error level 3 (program halt)
Error 40137: "Internal Error − Invalid Job ID in ARNC0 response" on the axis object
The error 40137: "Internal Error − Invalid Job ID in ARNC0 response" was issued on the axis object if the NC program was aborted due to an
interpreter error.

Backwards Compatibility: Local Sub−Program and Main−Program may have the same Program−Number
Starting with ARNC0 V1.00.0 using the same program−number for a local sub−program and the main−program resulted in error 15196. For the
sake of backwards compatibility, this is now allowed again.

NC program stops after approx. 250 subprogram calls
Error 10442 occurs upon return from an NC subprogram
The error 10442: "A line containing an expression must not contain anything else" occurs after returning from an NC subprogram. The
frequency of the error depends on the length configured for the MP queue.
CNC path movement stops after return from global subprogram.

Allowed Contour Violation caused by the Axis Jolt Filter can be programmed in the NC Program.
The axis jolt filter causes contur deviation at circular blocks. The allowed contour deviation can be programmed in the NC program with system
variable $filter_err_cir.

Workspace monitoring: If the function TRF_get_joints_pos is not available
If the function TRF_get_joints_pos from TRF_LIB is not available for certain mechanical constructions, the NC program is no longer
interrupted. Instead, only a warning is produced.
Error 40112 when loading data from INIT parameter module with subsequent global initialization
Loading data from INIT parameter module with subsequent global initialization (NC action ncGLOBAL, ncLOAD+ncINIT) was aborted with the
error 40112:"Timeout at processing an ARNC0 command" if the same NC action had previously been aborted with the error 40245: "Error
loading init parameter module". Error occurred only on the axis object.
Deadlock with runtime error
The deadlock occurred when the NC−program was aborted by runtime error (e.g. division by zero).
Additive Frame
The user−defined frame is added to the currently used workpiece frame.

Syntax: $WFRAME_ADD = <frame_name>

Speed limit of tangential axis exceeded
The speed limit of the tangential axis was exceeded when circular interpolation was used.
Workspace monitoring
Workspace monitoring has been implemented. The working area can be defined and monitored.
In_pos_tolerance for full transformations
If a movement is started with full transformations switched on, then path and joint axes have to be in the corresponding positions. These
positions are checked via direct transformation, and there is an allowed tolerance for path axes ("axis.transformation.in_pos_tolerance").
Frame axes
In addition to current joint and path axes, frame axes were introduced to the full transformations as well. These new axes are used if the whole
robot (i.e. its basement) is moving.

Frames − Coordinate system definition
FRAME variable describes new workpiece coordinate system. FRAME variable can be modified by set of operations as translation or rotation.

Error 10726 when calling ncaction() for NC objects, for which ncacces() or ncalloc() have not been called
It is possible to define a global PV with type "ncAXIS" or "ncCNCSYS" for an NC object. In this case the address of this PV can be used as NC
object for ncaction (), i.e. the NC object does not have to be determined with ncaccess () or ncalloc (). However so far this did not function,
because with call of ncaction () the error 10726 occurred for all NC objects, for which ncaccess() or ncalloc() have not not called.
Error 40112 for POWERLINK axis in simulation mode "ncCNCSYS"
If the NC action "ncGLOBAL,ncINIT" was called for an POWERLINK axis in simulation mode "ncCNCSYS", when the correspondig ACOPOS
was not available on the network, then the following error occurred:
− 40112: "Timeout at processing an ARNC0 command"
ID#400034873 : solved problem, known since V1.x, solved since V1.040
ARNC0 Axis: In ARNC0NCMON_typ the structure element "s_ncrecord" was used instead of "s_ncblock"
Error 10704 by ncalloc() and ncaccess() in TC#5 .. TC#8

The error 10704 occurred until now when calling ncalloc() or ncaccess() in TC#5 .. TC#8.

Axis acceleration Limits exceeded at transient block transitions
On transient block transitions, the axis acceleration limits can be ecceded for one CNC cycle up to twice−time of the limit value.
Cycle time violation of ARNC0 tasks
The cycle time violation occured when NC−program ran on system with the high CPU load (>= 95%).

Pagefault by a circular interpolation
A page fault occurred if a circular interpolation has been decoded and the first axis of a CNC object (cnc_obj.axis.axis[0]) hasn't been a
Cartesian one.
Skip Function
There are up to 10 independent skip level available.
Deadlock issued by NC−program loader error
If there is a calling of non−existing global subprogram at NC−program very begin, the program is blocked.
Deadlock with NC−program started in ncFILE_XL mode
If an NC−program that has been started in ncFILE_XL mode was stopped, it couldn't be started again unless it was explicitely removed from
memory.

Error message 5152: 'In−Position−Tolerance' at START/RESTART of CNC move " has been replaced
The error message 5152: "Position out of 'In−Position−Tolerance' at START/RESTART of CNC move " has been replaced by the error
message 7743 with the same meaning. The error 7743 is now issued by a CNC−object.
Error 15138: "Bad arguments to exec built−in function " on ARsim (AR000)
Starting of an NC−program can cause the error 15138: "Bad arguments to exec built−in function "

Speed jump on ncLINEAR+ncNOSTOP axis
s_jump_t is correctly interpreted for ncLINEAR+ncNOSTOP axes.
G92 and full transformations
G92 is usable for path axes without any limitation.

With active axis jolt filter sometimes an axis movement was not completed
Sometimes with very high position values, the target position was reached but the positioning was not completed. This error occurred only with
active axis jolt filter. Also the abort command (NC action "ncMOVE, ncSTOP") could be affected by this problem.
New NC structure component "nc_obj_inf.hardware" with information to identify the connected ACOPOS hardware module.
New NC action "ncSTOP,ncINIT" for POWERLINK and SDC axes for initialization of the stop configuration.
New NC structure components "limit.parameter.dv_stop" and "dv_stop_mode" to configure speed error monitoring.
New NC structure component "move.stop.drive_error" to define the deceleration ramp after occurrence of a drive error.

The same node numbers on the axes on the different interfaces
Some problems like "Timeout at processing an ARNC0 command" could have occurred if the axes with the same node− and channel−numbers
have been used on different interfaces. This problem occurred starting in version V0.240.
NC−program restart with rotary axis
Second program restart resulted to deadlock when rotary axis was out of 'In−Position−Tolerance'
Trace not saved when more network Interfaces used
The recorded Trace data wasn't been automatically saved to file when more than one network Interface had been configured.
Pagefault while NC−program running on ARsim (AR000)

An NC−program running on ARsim (AR000) causes an exception followed by the service mode.

Error 14126: "No cyclic positions from drive" on ARsim (AR000)
Error 14126: "No cyclic positions from drive" (only on ARsim (AR000)) is caused by usage of the SDC axes.
Parameter "line_ncprog" in nc−monitor structure
A new parameter "line_ncprog" (line number in CNC program) in ARNC0NCMON_typ data type.
NC action ncLIMITS, ncINIT aborted with an error (only in V1.020)
NC action ncLIMITS, ncINIT may be aborted with an error 14198: "Error by acp10 mode switch".
Timestamp check fails for subprograms
The time stamp was checked only for main program. The subprograms weren't reloaded when changed.
Bigger lookahead causes deadlock
If the size of the lookahead buffer was significantly increased, the deadlock could ocured with several combination of ncaction called in short
time interval.
Binary AIL−based Interpreter
The G−code Interpreter has been modified to work on binary AIL. The modification reduced memory consumption and enhanced performance
of the AIL interpretation. The syntax of the Interpreter configuration files was changed. The G−code which is defined in the language
configuration files in text−based AIL is translated to binary AIL during ARNC0 startup. The <AILHeader> section is only translated to binary AIL
and not executed while NC−program starts.
ParID Trace only for one PaID possible
Only the first configured ParID can be recorded with the ParID Trace, although more ParIDs has been configured.
Watch Dog Error
If the function ncaction() was not called in that task class, which was configured as "Task class for NC Manager task", then in very rare cases a
watch dog error (logger error 9206) occured.
Pagefault if a global PV is used as an NC object
A pagefault occurs when a global PV is used as an NC object.
Error Levels of Function Block
Error level of function block determines what should happen when the FB returned an error. There are four error levels according severity of
the error to define the reaction (1 − Emergency Stop, 2 – Program Stop, 3 – Program Halt, 4 − Warning).



G100 and G101
Point to point (PTP) movements are integrated into ARNC0. Transformation functions from TRF_LIB are called. Path axes and joint axes are
still hold in the corresponding positions.
Page Fault during Init−Phase in Service Mode
On rare occasions a page fault occured in service mode during the initialisation phase of ARNC0. This page fault resulted in a cyclic (i.e.
infinite) rebooting of the runtime target, which consequently inibited online connections to the target.
Position latch (G200/G201) syntax changed
Latched axes positions are copied to dedicated latch system variables. The automatic decoder and path movement synchronisation performed
when EV−flag had been accessed was removed.
C2 spline boundary conditions syntax changed
G801/G802: spline boundary conditions consist of axis name and boundary condition value.
Example:
G801 CE=0.1 BC1 X2.3 C0 A5.5 Z1.2 B3.8

ACP10MAN as axis driver for Powerlink and SDC axes
ACP10MAN is used as axis driver for Powerlink and SDC axes. Library acp10man has to be installed and is added automatically with the
library arnc0man.
Pagefault and CAN DDC error after ARNC0 startup
A pagefault occurred when no configured ARNC0 CAN−axis has been connected during ARNC0 startup.
New NC actions for PLK and SDC axes
New NC actions for PLK and SDC axes have been implemented:
"ncDAT_MOD+ncSERVICE,ncSAVE"
"ncPAR_SEQU+ncSERVICE,ncDOWNLOAD"
"ncPAR_SEQU+ncSERVICE,ncDOWNLOAD+ncINIT"
"ncPAR_SEQU+ncSERVICE,ncINIT"
"ncPAR_LIST+ncSERVICE,ncINIT"
"ncPAR_LIST+ncSERVICE,ncREAD"
"ncSETUP+ncCONTROLLER, ncSTART"
"ncSETUP+ncCONTROLLER, ncSAVE"
"ncSETUP, ncSTOP"
Delay of a set position on an axis on a virtual interface in mode 3
Usage of an ACOPOS or an ACOPOSmulti on an virtual interface in mode 3 caused a delay by copying from
ACP10PAR_CYC_MASTER_SET_POS to ACP10PAR_SGEN_S_SET.
Now block number allowed in the line with the programmnumber (before ARNC0 V1.000)
Reading the EPROM serial number
The reading of an EPROM serial number did not run correctly on the powerlink axes.
Error if last line was a control block
If the last row of a text file is any control block (e.g. $ENDIF) without <end−line> character, then the program was aborted with "Error 10259
(unknown statement)
Error if NC program was started with ncFILEOFFSET
If a program was started in a block with a tool place number or a tool data number close before a subroutine call, the programm could be
aborted by the error 10212 (Multiple use or illegal combination of NC block type)
Everything programmed together with G17 or G18 or G19 was ignored.
No Program Abort at syntax error
NC program was not aborted at error 10276 "Unknown Term (syntax error)"
CNC Monitor was not updated immediately after Program Start
It could take some cycles after program start until the CNC monitor was updated first time (depending on system configuration and CPU load).


Pagefault by a circular interpolation
A page fault occurred if a circular interpolation has been decoded and the first axis of a CNC object (cnc_obj.axis.axis[0]) hasn't been a
Cartesian one.

Position error on the automatic tangential axis at very short path sections when CDC is active.
When CDC is active, position errors can occur on an automatic tangential axis at very short path sections with allowed contour violations.
Contour Violation − Tool Radius to large (error 9247)
At a contour violation in consequence of a large tool radius the programm will be aborted or only a warning will be displayed. In both cases the
error number 9247 was used. Now for warning 9247 and for error 9274 is used.
G39 − Position error at very short path sections if coordinate system is rotated
When CDC is active and the coordinate system is rotated (G92, G192, G292), position jumps can occur if contour violations are allowed.
Page Fault at the end of a movement block
A page fault can arrise if there is a gap between entries in the CNC axis configuration. The page fault occurs at the end of a movement block.
Strange Characters in NC block monitor
If the decoder has reached the end of NC program and the path is still running, strange characters can be displayed in NC block monitor.
System Crash if NC Program is active
Caused by a memory limitation in the ARNC0, the system can crash under certain conditions (overflow of an internal stack).
Set Tabel Data from Data Modul
Tabel data (tool data, R parameter or zero point data) can be set also if a NC program is active. Saving the data is only allowed if no NC
program is active.
Pagefault at ARwin (AR010) + ARNC0 startup
A page fault occours if a cycle time less then 800us is set.
ARwin (AR010) + ARNC0 − Cycle time violation or page fault if cycle time is set to 400µs
Full circle detection in plot buffer
The CNC Plot Buffer outputs one more circle if a full circle is defined in a CNC program.
G144/G145: Continuous Alignment of Automatic Tangential Axis
The functions G144 and G145 are used to modify behavior of the automatic tangential axis on linear interpolation section (G01)
G144: Continuous alignment of automatic tangential axis
The tangential axis is continuously positioned during current NC block to be aligned with start tangent of the next path section. This mode is
analogous to the behavior of automatic tangential axis on the rapid interpolation section (G00).
G145: Standard automatic tangential axis behavior

The tangential axis keeps the position tangential to current path section. In tangential block transition (if maximum speed jump is exceeded) or
in non−tangential block transition a stop is made and the tangential axis aligned.

ARNC0 deadlock with CDC
When the CDC is active and the tool radius equals the radius of the programmed circle, then the ARNC0 can block.

New mode for calculation of acceleration on the path
With the parameter "cnc_obj.decoder.parameter.v_path_mode" can be selected, if the acceleration on the path is allways limited to the value in
"cnc_obj.limit.a_pos" or "cnc_obj.limit.a_neg" or only if cartesian axes are programmed in the NC block.
G126: when switching off G126, parameter $VE is not reset to 1
New restart option ncNO_CHECK. New NC action "ncPROGRAM, ncBLOCKSEARCH"
A restart of a modified NC−program is now possible with option ncNO_CHECK.

The NC action "ncPROGRAM, ncBLOCKSEARCH" determines the starting positions of all axes when an NC program is started with a
simulation run to a specified starting point.

New ACOPOS Parameter are not trnafered to ACOPOS (only ARNC0 V0.623)
Warning "acp10man.br not found!" will be written as error in the AR−Log.
Error 8103 in circular blocks.
Error 8103 (No feed rate ...) could occur in circular blocks, even though a feed rate is programmed in NC program.

Error in blocks with G92 + G170
If after a block with G92 a block with G170 is programmed, on certain targets an error occurs.

ACOPOS−Multi doesn't run correct in ARNC0
ACOPOS−Multi couldn't be used as a Acp10 axis by ARNC0.

Usage of Acp10 axes in ARNC0
Acp10 axes can be used by ARNC0. It is possible to use e.g. ACOPOS−Multi for ARNC0 axes and the complete range of Acp10 manager
functions (e.g. auto−tuning).

Restart for blocks without traverse path and without block number
The restart point is defined by the byte offset of the NC block (please note changes in data structure).
Halt in an NC block containing a synchronized M−Function
The NC program can not be continued when a halt is performed in an NC block containing a synchronized M−Function.
Restart in NC block with G201 generates error 7169
This problem occurs only when the NC program was aborted due to an axis error and the trigger input had not been activated.

Length of ARNC0DBLST_typ now matches the length of the ACP10 data type

Positioning with target position 0 before first movement block

The first statement in an NC−program is M0 or M1. When a positioning with target position zero is startet, then the NC−program will be
executed until the beginning of the first movement block.
Continue movement with negative override before the first movement block
The first statement in an NC−program is M0 or M1. When the movement is continued with negative override, then the error 5107 "Event not
allowed in current state" occurs on all CNC axes and the NC−program is aborted.
Position jump for G92 + G126
If, after a block with G92 (rotation of the coordinate system), a linear block is immediately followed by a block with G126, a position jump
occurs (ARNC0 V0.550 and higher).
Position jump for G92 + Subprogram Call
If, after a block with G92, subprogram is called immediately, a position jump occurs.
Restart−Info contains wrong axes positions
When the restart−info is determined with the block number of the first movement block, then the axes positions of the restart point are
incorrect.
Filter time for contour jolt filter is not considered when running in simulation mode
The filter time for the contour jolt filter is considered only after an NC−program is run with the simulation mode switched off.

Polar coordinate motor + G114: Path speed too slow at circle path sections.
Even though G114 has no effect on the polar coordinate motor, the path speed was reduced to a very low value when programming with
G114.
Note: In calculation of path dynamics, a reduction of the path speed, which may be necessary, is carried out for the polar coordinate motor so
that the relationship between the path speed and the path acceleration after the reduction is the same as the relationship between the limit
values for the path speed and the path acceleration.
CNC Restart with sync. M−Functions generates error 7134
The error occurs only when M−function groups are defined such that a synchronized M−function is set at the restart point.
Polar coordinate motor: Axis limits exceeded
The axis limits for the rotating axis could be exceeded in a coordinate system that is rotated or shifted with G92/G192.
Polar coordinate motor: Path speed too slow at circle path sections.
Programmed speed sometimes not reached at circle path sections. Depending on the position and dimensions of the circle path section, parts
of the circle which were not traversed were also included when calculating the limit values.


NC action "ncGLOBAL,ncSAVE": The hardware assignement was not applied if an existing module was newly created
If an existing INIT parameter module is newly created with "ncGLOBAL,ncSAVE" and this module was assigned to an NC object via hardware
configuration, then this hardware assignment should also be applied to the newly created module.
In previous versions this hardware assignement was not applied to the newly created module.
Page fault in ARNC0 after ncaction(ncBLOCK, ncSTART)
At first an NC program that does not exist is started. Then after ncaction(ncBLOCK, ncSTART) a page fault occurs in the ARNC0.
Parameter "sl_chain" has no effect
If the master axis is an CNC axis, the set positions of all coupled axes are not delayed according to "sl_chain". This produces a position
difference between the master axis and the slaves axes.
Page fault, if a global NC subprogram is started with (ncBLOCK, ncSTART)
The page fault occurs upon return from the global NC subprogram.
The automatic switch off the compensation of the mechanical impreciseness of an axis.
The compensation of the mechanical impreciseness of an axis is switched off automatically if the controller is switched off. The compensation
switch on is possible only if controller is on.
Rebuilding: Absolute positioning of the axes ncROTARY in a CNC program.
The behaviour has been so changed that the start position of the axis ncROTARY is not taken into consideration.

G171 after non−synchronized M Function
When a non−synchronized M Function in the DNC−Interface is followed by G171, then the flag for this M Function is not set.
G90 and G91 or G161 and G162 in the same NC block
Absolute and relative coordinates can be used in the same movement block.

Error in circle programming with angle specification.

If a block with circular interpolation with angle specification immediately follows a block with a coordinate transformation (e.g. G92 or G192),
then the NC program is aborted with the error 8134 (Radius difference between beginning and end).
Restart at block number, S, T and M functions are not updated.
When an NC program is restarted at a defined block number, the S, T and M functions are not updated at the restart point.
Improved synchronization of CAN communication (ACOPOS − ARNC0)
Starting with AR P2.90, B2.92, the ARNC0 can detect system jitters in Automation Runtime and take them into consideration during
synchronization.

Free definition of the active plane using the mapping functions
The functions G217, G218, G219 allow the free definition of active plane using the mapping. These combinations of definition axis−types are
possible: ncCNC−ncROTARY, ncCNC−ncLINEAR, ncCNC−ncCNC (standard case).
Set positions of the axes ncROTARY in the monitor of the CNC object
For the set positions is used the interval (0.0, 360.0) instead of the interval (−360.0, 360.0).
Absolute positioning of the axes ncROTARY in a CNC program.
The behaviour has been modified in this way that now it more matches the characteristic of "rotary" axes.
Runtime of an NC−program in simulation mode
The runtime of an NC−program can be determined by running an NC−program in simulation mode.

Problem with CAM coupling
If a step change in desired position comes for a slave axis the peek in acceleration in oposite direction occures at the 3rd sample after the step
change.
Circle calculation error in the CDC
An error in the CDC could cause a radius of zero to be calculated for a circle path section. In such a case, the NC program was stopped (G36
active) or the circle was replaced by a straight line (G37 active).
Combination of G220 + G170 + G40 produces a deadlock of the ARNC0.
The ARNC0 stops if blocks with G220 (signal before path section end over multiple path sections), G40 and G170 follow one another
consecutively, without having a traverse path programmed in between.

Position not equal zero by Wrapping on/off allowed.
It is no more necessary that the positions of "source" and "destination" axes are by Wrapping on/off equal zero.

Wrong path speed in blocks with G126
In CNC systems without a tangential axis the path speed may be wrong in blocks with G126.
New G−codes G114, G115
With G114, bigger part of acceleration limits is allowed to be consumed by centripetal acceleration on arcs. G115 means the original
behaviour, and it is default. G114 is valid from its first occurance till G115 or till the end of CNC program.


Internal Error − Job ID already acknowledged.
Access conflicts to the DPR−Fifo can occur in the CNC System if a large number NC actions were made or many warnings occurred in a short
amount of time.

G102 – Circle in general position
The G102 command is used to program a circle segment in a general position in space. Programming is done by specifying the end point and
any point on the circle.
Restart at block number – Restart point not found.
Processing a NC program with very short path sections or using a block buffer with few elements (limit.block_buffer), it could happen that the
restart point will not be found. There is no error if the restart point is defined by path distance.

CNC Plot Buffer: − The decoding−end is not reported in Plot Buffer Header in simulation mode.
In simulation mode remains the old value of the parameter "plot_header.status" (ARNC0PLOTHEADER_typ), although decoding has been
finished.
CNC Plot Buffer doesn't take the functions G92 and G126 into consideration.
The functions G92 (Programmed Zero Point Offset and Rotation of the Coordinate System) and G126 (Rounding Edges) had no influence on
the CNC Plot Buffer.
Synchronizataion ACOPOS via CAN
The ARNC0 synchronization mechanism for CAN network calculates the start for an ideal time frame according to the mean jitter of the
system. The start is set in a way that the mean jitter (for 96 synchronization periods) tends to zero. If the mean jitter is above or below, the start
is shifted by 1µs per periode in order to achive zero jitter.

Single step mode − Stop also at blocks with no movement
CNC−Plot−Buffer doesn't function in simulation mode.
The writting to the CNC−Plot−Buffer didn't function, if the CNC object was switched to the simulation mode.

CNC−Plot−Buffer.
A memory−area allocated in the application can be used as a CNC−Plot−Buffer.

New / changed elements in the data structure:
German:
"cnc_object.grenzwert.plot.access_adr"
English:
"cnc_object.limits.plot.access_adr"

Restart for blocks without traverse path

NC programs restart when using blocks. The reset point is defined by the block number (please note changes in data structure).


Pagefault in CNC channels with ncROTARY Axes (only ARNC0 V0.550).
Pagefault was caused by using a CNC channel with ncROTARY axes, if fewer than 9 axes were defined.
Positioning in the current NC Program fails to reach target position 0
When a positioning with target position 0 is started while s_ncprog in the CNC−monitor is negative, then this positioning fails.
Set position jump due to a G92 sequence (only ARNC0 V0.550).
A position jump occurs on the axes if two blocks with G92 follow each other with only one block programmed between them having a traverse
distance s=0.

ncROTARY − the new axis type
The new axis type has been implemented to allow the Flat Cam Programming.
Wrong speed at the path section transition.
In a rotated coordinate system (G92, G192), the speed at the path section transition is sometimes calculated incorrectly.
No stop after blocks with G92
Until now, a stop was always implemented at transition blocks after blocks with G92/G192, a tool data number or an absolute zero point offset
(G54 etc.). The permissible speed at the path section transition is now calculated according to the axis and path limits.

Page fault in global NC subprogram
When a gobal NC subprogram is terminated by %progno instead of M2, M29 or M30, then a page fault occurs.
New trace data points in the CNC block monitor
These variables in the CNC block monitor can now be traced: path length until end of current NC−block, path length of current NC−block, path
length of next NC−block in the direction of motion.
New path length variables in CNC block monitor
The CNC block monitor additionally displays the path length of the current NC−block and the path length of the next NC−block in the direction
of motion.

Restart – Current axis positions in the DPR trace
The current axis positions are now recorded in the DPR trace when restarting an NC program. In previous versions, the positions were stored
when starting the programming.
Path distance in CNC Monitor after CNC Init
The ncaction(..., ncLIMITS, ncINIT) resets all variables in the CNC monitor except the set positions. It also resets the path length variables in
the CNC block monitor.

External encoder − Homing error
The mode without reference pulse is always used no matter which homing mode has been defined (with or without pulse). An error message is
not given.

Save data to an INIT−Parameter−Module. Target memory User ROM.
The INIT−Parameters contained in the NC−object user data are saved to the given INIT−Parameter−Module in User ROM using the NC−action
"ncGLOBAL,ncSAVE" .

Overlapping signal function in a path section with zero length
When an overlapping signal function is programmed in a path section with zero length, the error 8155 "Distance is equal to 0.0, signal will be
ignored" results, although there is enough distance for the signal ahead of this path section.
Save data to an INIT−Parameter−Module. Target memory User RAM.
The INIT−Parameters contained in the NC−object user data are saved to the given INIT−Parameter−Module using the NC−action
"ncGLOBAL,ncSAVE" .

Non synchronized M−functions between dwell times
If non synchronized M−functions are programmed between two dwell times, then the M−functions are output after the second dwell time has
passed.
Deadlock with function combination G221+G220/G222+G170
The CNC blocks at the G221, when G221 is programmed together with a synchronized M−function and the NC−block containing a G220 or
G222 has zero length and is followed by a G170.

Standstill when changing the active working plane.
Movement is not stopped when changing the working plane if tool length compensation is not active (tool length = 0) or the programmed plane
is already selected.
Turning of a circle & its dynamics
In case of too low axis acceleration limits (lower than limits of CNC object), the path−speed on the circles (G2, G3) could be reduced more than
necessary.
Problem with Restart of an NC−program
NC−program creation time was not saved correctly in case of "move.ncprogram.start_mode == ncFILE" or "move.ncprogram.start_mode ==
ncFILE_XL". Error 7151 could occur sometimes.
Error in german user data structure
The german user data structure for the NC Object ncCNCSYS contained the member monitor.typ_ncblock instead of monitor.typ_ncsatz.
Control structure for NC test
The behaviour of NC test functions for the NC objects ncAXIS and ncCNCSYS can be selected by the new component nc_test.
nc_test.Open_UseApplNcObj:
1 = Test function with application object
0 = Test function with standalone test object
nc_test.Close_NoMoveAbort:
1 = No move abort when the test function is closed.
0 = Abort all active movements when the test function is closed.
The global initialization is done with the attribute NcManCtrl of the NC Object ncMANAGER in the NC mappin table.


Incorrect cutter diameter.
The radius from the previous NC program is used when activating CDC if a cutter diameter has not been defined in an NC program (tool data
number or $RAD).
The tool length and tool offset are wrongly accounted for in CNC systems with less than three path axes.
In a CNC System with two cartesian axes, the tool length correction and the tool offset of the non−existent third cartesian axis are calculated in
the first linear axis.
In a CNC system with one cartesian axis, the compensations for both of the non−existent cartesian axes are incorporated in the first two linear
axes.

Position error on the tangential axis when activating the cutter diameter.
If cutter diameter compensation is activated with the following conditions, the automatic tangential axis in the path section that immediately
follows the activation will be aligned incorrectly. As a result, the tangential axis will be aligned to the end position of the block during movement
as in a block with G00.
− Automatic tangential axis is active
− Linear interpolation block (G01)
− Indirect activation with transition block (G137)
− The transition angle of the subsequent path section transition is greater than 180° (outside corner)
Unjustified error 8134:"Radius difference between start and end".
The error occurs under the following coditions: There are only two cartesian axes and the ZX−plane has been selected.

Compensation matrix for cartesian axis is not taken in consideration.
It could happen, that the the compensation matrix ("p_cnc_obj.axis.compensation.matrix_el[]") is not taken in consideration.
Page Fault while calling a local subroutine.
A page fault occours if in a line with the call of a local subroutine are additional syntax elements.

New display mode and data in the CNC monitor, new system variables for tool data and zero point offset.
New display mode for position in the CNC monitor:

− Machine coordinates
− Consideration of the coordinate system transformation, tool data offset and tool length
− Consideration of the coordinate system transformation
− Consideration of tool data offset and tool length
CNC monitor shows number of the active tool data record and index of absolute zero point offset.
New system variables: Active tool data record, tool location number and index of absolute zero point offset can be read in the NC program.
Unification of the trace record number calculation (ACP10 − ARNC0).

CNC program in form of text file can lie in any directory
Till version V0.490 the text files had to lie in directory "C:\CNC_Prg". Now can the directory be chosen using the "CPU−properties−File
Devices".

Start of CNC programs and subprograms from text files
CNC programs can be used in form of text files without the previous conversion. Parameter "move.ncprogram.start_mode" defines the start
mode of a CNC program.
Automatic tangential axis: first and last synch. M−function can not be used as sync1_t or sync2_t
Use of the first or last synch. M−function for sync1_t or sync2_t, generates the error 8244 "G141 M−function sync1_t or sync2_t not in the
admissible range".
Rotation angle of 90 degrees results in a half circle
If a circular arc is programmed via a rotation angle immediately after a circular arc, it can happen that a wrong arc is traversed or the error
8134: "Radius difference between start and end" occurs.
Reduction in path speed along short NC−blocks
An undesired reduction in path speed along short NC−blocks can occur with the parameter setting "cnc_obj−>limit.blocktransition=ncAUTO".
Unjustified error after ncaction(ncAUTOMAT, ncINIT)
When initializing the Cam Profile Automat with correct data, the error 5157: "Cam Profile Automat INIT − Invalid parameter in the basis state"
occurs. This bug exists since version V0.430.
"cnt_ncprog" remains "1" after stopping a movement
If immediately after starting an NC−program a "ncMOVE, ncHALT" followed by a "ncMOVE, ncSTOP" is given, the CNC−System blocks.

Incorrect display in the CNC monitor.
Incorrect positions could be displayed in the CNC monitor during standstill.
Page Fault at ncaction (nc_object, ncZEROPMON, ncSWITCH_ON/ncSWITCH_ON)
A Page Fault could occur if one of the two actions were called before an NC program was started.
Cutter diameter accounted for at G153.
The cutter diameter was taken into consideration at G153 (position entry in the machine coordinates) if cutter diameter compensation was
active. The corresponding point on the equidistant segments was moved to instead of the programmed point.

NC program aborted when selecting an automatic tangential axis.
The NC program was aborted with error 8244 if one of the two parameters "limit.s_sync1_t" or "limit.s_sync2_t" was set to the value ncOFF
when selecting the automatic tangential axis (G141).
An M−function for lifting the tool is not output if "limit.s_sync1_t" has the value ncOFF. An M−function is also not output for lowering the tool if
"limit.s_sync2_t" = ncOFF. In both cases, a warning is generated when activating the tangential axis.
Page Fault when restarting an NC program (since ARNC0 V0.400).
A Page Fault could occur when restarting an NC program.
Saved trace file includes informations about the traced values.
Saved trace file format has been changed from MathCad to MathLab, which includes also the header with the information about the traced
data points. Header carries an information if the traced data point is CNC or Axis (including its index)parameter, data point name, trace date
and time, X and Y units.
M−Functions are set after a restart
It is now possible to define groups of M−Functions. After a restart the last programmed M−Function of every group is set.
Pagefault after Calling ncaction(ncCOMP, ncSTART)
Pagefault was caused by calling ncaction(ncCOMP, ncSTART) with the parameter"move.compensation.parameter.mode = ncOFF".

Incorrect tangential axis position in the first movement block after multiple rotations of the coordinate system.
The position of the tangential axis in the first movement block could be incorrect if the coordinate system is rotated several times consecutively
without moving an axis in the meantime.
New ARNC0 behavior after a block with a tool data number.
After a block with a tool data number, the tool length and the tool offset are only traversed with absolute programming (G90) and with
programmed axes. The compensation movements are not executed with relative programming (G91) or non−programmed axes (see ARNC0
documentation).
Monitor display: The setting "monitor.status.nullpver = ncON" causes the position of the tool bit in the programmed coordinate system to be
displayed in the CNC monitor. The position of the new tool bit is displayed immediately after a block with a new tool data number.
The setting "monitor.status.nullpver = ncOFF" causes the position (tool clamping point) in the machine coordinate system to be displayed.
Position error on the tangential axis after rotating the coordinate system.
The tangential axis is aligned to the wrong angle in the transition block if a subprogram is called before G92 or G192 with a rotation of the
coordinate system .

Pagefault after Calling a Global Subprogram
Pagefault was caused by calling a global subprogram (presented as a BR−module on PLC) from a main program started from file.

Inverse feed rate (G93) by circular interpolation (G2/G3).
Inverse Feed Rate (G93) by circular interpolation (G2/G3) functioned correctly only if the rotation angle was defined.
NC−program blocks upon CDC activation with G137
Upon CDC activation with G137 in the range of 180 to 360 degrees, the NC−program sometimes blocks.
CDC: incorrect arc transition after circles programmed with a rotation angle
If the CDC inserts an arc transition after a circle programmed with a rotation angle, then the arc transition has the same rotation angle as the
programmed circle. This error exists since version V0.428.
CDC: Full circle instead of arc transition.
If the CDC inserts an arc transition <= 90 degrees after a programmed full circle, then instead of the arc transition a full circle is traversed.
Full circle is traversed two times
With active CDC it can happen, that a full circle is traversed two times. This error can occur since Version V0.428
Restart: the values of the S and T parameters are incorrect after a restart.
Override for G0 (R_override)
For G0 function new "rapid" override "move.R_override" is used instead of the "move.F_override". The allowed value range spans 0 to 10000
(0.00 − 100.00% of the axes limits). If greater value would be inserted by the user, value will be limited to 10000 by ARNC0.
Feed override was valid also for G0
Parameter "move.F_override" was incorrectly taken into consideration also by G0.
Inverse Feed Rate, Functions G93, G94.
Function G93 switches the inverse feed rate on. Parameter F defines the inverse of the time (in minutes) needed to complete the NC−block.
Function G94 switches the inverse feed rate off.
Incorrect behavior when disabling CDC with G39
If a cutter diameter that is too large was detected right before deactivating CDC with active G39, then a point located far from the contour was
traversed to while deactivating CDC.
Polar coordinate motor not possible.
In case of polar coordinate motor the decoder initialization have been cancelled with the error 10103 ("PKM − No compensationparameters for
Cartesian axis").

New Speed Profile for a Circular Interpolation.
A dynamics on an arc/circle/helix has been changed. A movement with G02/G03 can be faster in general. All axes limits, as well as CNC limits
are respected.
Maximum number of tool data blocks and tool placement numbers has been raised to 500.
G171 − immediate processing of NC blocks.
G171 forces immediate processing of the blocks which previously were buffered.
Incorrect conversion of ACOPOS parameters from input texts.
In ACOPOS parameter tables and with the "service.data_text" component, values for ACOPOS parameters can be defined in hexadecimal as
input text. For ACOPOS parameters of data type "DINT", input texts in the range "0x80000000" to "0xFFFFFFFF" were previously converted to
the value "0x7FFFFFFF" by mistake.

G153 − Specifying the positions as absolute coordinates in the machine coordinate system
In rapid feed blocks and interpolation blocks, all coordinate specifications are interpreted as absolute coordinates in the machine coordinate
system independent of any transformations or compensation (G54 – G59, G92, G159, G192, tool offset and tool length).
Additional module format for ARNC0 error text modules

Until now, ARNC0 error text modules were managed as standard data modules. Starting now, an additional
module format, that enables management of error texts according to version in AutomationStudio, will be
supported for error text modules. See also A&P#138900.
Standard priority for background tasks too low
Until now, the standard priority of ARNC0 background tasks was set quite low. This sometimes caused the
processing of CNC programs to be interrupted, particularly on target platforms with low processing power
or high load. From now on, the standard priority of the background tasks will be increased so that the CNC
background tasks have a higher priority than the tasks for online communication and visualization. The
previous state (low priority of the background tasks) can be restored by setting the attribute
'ARNC0SystemConfig="1,10,1"' for an NC object with the type 'ncMANAGER' in an NC deployment
table.

ID#139407 : solved problem, known since 0.451, solved since V0.452
Transition angle of very short path section defined as non−tangential.
The transition angle of very short path sections was defined as non−tangential (alpha > s_jump_t) if v_path_mode == 1.

G113 syntax error
In G113, the unit factor k must be absolute in the NC program instead of being specified as a percentage (since ARNC0 V0.440).
Tangential transitions on linear axes
New mode of CNC axis (cnc_obj.axis.axis[i].type == 17) has been introduced. If there is a transition between NC−blocks, realized exclusively
by axes of such type, then this transition should be considered as tangential.

New mode of feed rate calculation
With the parameter cnc_obj.decoder.parameter.v_path_mode == 1 all axes types (except ncTANGENT) are taken into consideration by the
feed rate calculation.
In DPR−Trace was the ARNC0 Sampling Time 0 Microseconds
In DPR−Trace was the ARNC0 Sampling Time 0 Microseconds and wrong values by ARNC0MAN−ID and ARNC0SSY−ID.
CDC deactivation with G137 caused erroneous axes movements normal to the main plane
The programmed Z−movement was already done in the transition block instead of in the programmed
NC−block after G40. (in ARNC0 V0.441 only)

Incorrect values of remaining distance for linear axes.
In CNC system with only linear axes the monitor of remaining distance (monitor.s_ncsatz and monitor.s_ncblock) were not valid.

Exit movement of CDC deactivation immediately after G40
In combination with the new mode and G137, the deactivation movement is executed immediately after G40.
Activate this behavior by making the following entry in the data structure:
German: "cnc_object.decoder.parameter.wrk.abwahl" = ncAUTO
English: "cnc_object.decoder.parameter.cdc.exit" = ncAUTO
This makes it possible to deactivate CDC immediately before the program is ended.
With activated CDC the z−axis and the slave axes do not move.
The CDC is active and only the z−axis is programmed in an NC−block. When the z−axis is programmed again in the next NC−block as part of
a move in the main plane then it does not move. This error also affects both the linear and tangential slave axes.
CDC activation with G137 causes erroneous axes movements normal to the main plane
The programmed Z−movement is already done in the transition block instead of in the programmed NC−block. This error affects both the linear
and tangential slave axes too.


Reduction of path speed at tangential path section transitions depending on the transition angle.
G113 makes it possible to reduce the path speed at tangential path section transitions depending on the transition angle.
G108/G109/G110 Set Path Acceleration/Path Deceleration
With the command G108, G109 and G110 the acceleration or deceleration can be programmed as absolut or relative value.
G103/G104 (Radius Dependent Feed Adjustment)
Radius dependent feed adjustment can be programmed proportional to the radius or reciprocal proportional to the radius of the path section.
Compensation of the mechanical impreciseness of an axis
Compensation of the mechanical impreciseness of the axis (backlash, spindle slope and combination) has been added. Call from an
application:
ncaction(nc_obj,ncCOMP,ncSTART), ncaction(nc_obj,ncCOMP,ncSTOP).


Warning 10459 when activating CDC
The warning 10459 is output if the first movement block after CDC activation does not contain a movement in the active plane.
Error deactivating CDC with G137
If the movement block does not contain a path in the active plane immediately before or after CDC deactivation (G40), then an additional
movement normal to the active plane is executed in the inserted exit block (G137).
Wrong contour results from G180=0 with active mirroring
Only the rotational direction of the circle is reflected, but not the centerpoint coordinates.
Violation of the Software Ends
Starting with version V0.400 the errors 8141 "Position on the Circle > positive SW End" and 8142 "Position on the Circle < negative SW End"
could be erroneously reported.
Circle programming with an angle.
The angle of the circle is specified with H. It is possible to program full circles and circles with more than one full revolution.
Only for internal tests




− AR for SG4 E2.73 − V2.79
− NC Deployment tables

Position jump during reverse movement of an NC program
During reverse movement of an NC program, a position jump occurred on all axes when entering a path section.

Standstill after a path section following G60, synchronous M−function or G04
Movement was always stopped at the end of a path section after an accuracy hold G60, after a synchronous M−function or after a dwell time
G04 (since ARNC0 V0.421).

Switching from inches to mm.
G70/G71 can be used to select the unit for the NC program (inch or mm).
Division by zero at G103/G104.
A division by zero is performed if the center point is not completely specified using center point programming for blocks with G103/G104.

ID#134432 : solved problem, known since ARNC0 V0.402 bis V0.420, solved since V0.421
Violation of axis acceleration and axis speed limits at circular blocks
At circular blocks the limits of axis acceleration and axis speed limits can be exceeded. The limits of path speed and path acceleration are
taken in consideration in a coorect way. (ARNC0 V0.402 − V0.420)

Contour error with a combination of G40 and G141.
Arcs are replaced by straight sections if G40 and G141 follow each other one right after another.
NC program blocked with a combination of G170 and G141.
In some cases, the NC program might stop being processed if G170 and G141 follow each other one right after another.
NC program is not terminated.
In some cases, the path speed on very short path sections is reduced to the value 0 and the program stops being processed. The NC program
remains active, but can be cancelled.
Limit value violation (axis acceleration) at the path section transition.
The axis acceleration on very short path sections could exceed the defined limit values at the path section transition (path section runtime
shorter than the axis jolt filter time).
On very short path sections where the programmed offset is not reached, the maximum path speed is now reduced to the entrance speed in
the next path section. This prevents accelerating and braking on the path.
If the path section runtime is shorter than the axis jolt filter time, then multiple path section transitions might be present in the filter, which can
cause the axis limit values (acceleration) to be exceeded at the path section transition. The permissible speed jump on the axes is now
reduced at these path section transitions.
Activating can be done by setting the variable as it's written bellow:
German: "cnc_object.grenzwert.satzuebergang" = 1
Englisch: "cnc_object.limit.blocktransition" = 1
ARNC0 trace buffer size is configurable
The trace size can be changed in the NC configuration "Size of data buffer for cyclic ARNC0 trace" for ARNC0. For the trace data uploading of
the different size than the default value of 20kB (0x5000), version 2.5.2.0004 of Automation Studio is required. When the trace data size is
changed and Automation Studio is not capable to upload the data, a warning is output to the logbook.

ACOPOS parameter tables, handling the "VersionFrom" attribute
Some ACOPOS parameters can only be used starting with a specific version of the ACOPOS operating system. For such parameters, this
minimum version is entered in the module created from an ACOPOS parameter table with the attribute "VersionFrom" when using AS versions
V2.5.2.0002 and higher during the Build procedure.
The "VersionFrom" attribute is now evaluated by the ARNC0 software on the PLC when processing ACOPOS parameter tables. The
parameter is not transferred to the ACOPOS if the ACOPOS operating system version there is older than the minimum version defined with
"VersionFrom".
Transferring such a parameter (e.g. 849 "MOTOR_TAU_THERM") with older versions of the ARNC0 software will cause the response error "1:
Invalid parameter ID" and transfer of the ACOPOS parameter table is aborted. This problem can be avoided by disabling this parameter in the
ACOPOS parameter table.
ACOPOS Parameter table: Parameters with more than 6 bytes data are now transferred
Up to now, if Parameters with data lenth greater than 6 bytes were contained in an ACOPOS Parameter table (e.g. the parameter
MOTOR_ORDER_TEXT), then the transfer of this table was aborted with following error:
− 14180:"Error transfering ACOPOS−Parameter "
− Info: "Length of parameter data too large for ACOPOS parameter in XML data"


Automatic tangential axis at straight line path section transition.
With the new constant ncS_SPR_T the behaviour at straight line path section transitions (alpha equal or less than s_sprung_t) can be
influenced.
Position jump of tangential axis at G126 + G60
If G60 was used in combination with G126 the tangential axis jumped to a wrong position and back again to the correct one at the path section

Tangential axis orients itself on a path section.
If the angle difference at a non−tangential path section transition is less than the parameter s_jump_t and the actual speed jump of the
tangential axis is less than the parameter v_jump_t, then the tangential axis now jumps to its new orientation at the start of the path section.

Rotating the coordinate system freely in space.
Programmed zero point offset G92: The coordinate system can be shifted and rotated in space as needed.
Span correction: The coordinate system can be shifted and rotated again in addition to G92.
Correction to the Cartesian coordinate system: A matrix can be defined for correcting any angles that are not exactly 90° in the machine
coordinate system.
Incorrect tangential axis position at G92 transition blocks.
If the coordinate system is rotated and shifted when a tangential axis is switched on and if blocks without a traverse path (e.g.: M−Functions)
follow immediately after the shift, then the tangential axis could be set to an incorrect angle in the transition block.
Position jump at a full circle after a block with G92.
A position jump occurs if a full circle without coordinate specification is programmed after a block with G92.

Error 9263:"Angle calculation impossible, vector length is 0"
When an NC−programm contained very short path sections (e.g. 0.0001 CNC−units), then with activated CDC the error 9263:"Angle
calculation impossible, vector length is 0" was reported.
path speed is too high for the tangential axis.
At tangential path section transitions the path speed was too high for the tangential axis, if the limit speed of the second path section was
higher than the limit speed of the first path section.
Error when using eight and more ACOPOS on ETHERNET Powerlink
When using eight and more ACOPOS on an ETHERNET Powerlink line, error 14126: "No cyclic positions from drive" was output accidentially.
Error while determining the RESTART−INFO.
Determining the RESTART−INFO delivers a wrong name of the NC init program (from ARNC0 V0.380).
CNC parameter "halt=ncV_JUMP" does not work properly.
When the CNC parameter "cnc_obj−>limit.halt" was set to "ncV_JUMP", than the axes stopped at every non−tangential path section transition.

ARNC0 V0.390 with ACOPOS 8V1xxx.xx−1: Response errors for FFCTRL parameters
With ARNC0 software V0.390 after calling the NC actions "ncGLOBAL,ncINIT" or "ncCONTROLLER,ncINIT" all FFCTRL parameters are
always transferred to the ACOPOS. For ACOPOS 8V1xxx.xx−1 this causes the following response error for each FFCTRL parameter:
− 1: Invalid parameter ID
Apart from these response errors has this no further effects.

NC−block−number was not set by SW limit error.
The errors 8137/8138 were set instead of errors 8258/8259.
CNC program was stopped after G126 with $LIN.
A CNC program was interrupted at the end of a path section after a linearized rounding edges function (G126 + $LIN), depending on the set
movement parameters.

Full circle together with G180.
If a full circle was programmed together with G180, the full circle was not traversed. The NC program was interrupted and could not be
continued at this point.
Problem during the restart of a NC program
The CNC program cannot be continued at the restart point (since ARNC0 V0.370).

Wrong axis positions in the CNC monitor.
When an NC−program was started after homing, the last CNC positions were displayed for one ARNC0−cycle, instead of the current axes
positions.
New parameter 'mode' for Cam Profiles
mode == ncSTANDARD: default. The slave axis behaves in the usual manner. I.e. it follows the master axis as closely as the slave's software
end values and acceleration and speed limit values permit it to do.
mode == ncGANTRY: the slave axis follows the master axis without regard to its own software end values and acceleration and speed limit
values.
Position jumps when using G25 or G180 together with G92.
Position jumps occurred on the CNC axes if G25 (tangential arc transitions) or G180 (tangential line−circle programming) was used in a
coordinate system rotated with G92.
Maximum length for the names of data modules extended to 12 bytes
The maximum length of the data module names is now 12 bytes (was 10).


Refresh of monitor for ncAXIS and ncEXTENCOD
The monitor structure nc_obj−>monitor of the NC objects ncAXIS and ncEXTENCOD is refreshed in every cycle of the ARNC0 Manager. Until
now, the data was refreshed in every second cycle.

NC object name in NC object information.
The NC Object Name from a deployment table is copied to the NC Object Information structure: nc_obj−>nc_obj_inf.nc_obj_name
Status of ncaccess() wrong
If an NC INIT parameter module was defined in a NC mapping table which was not present on the target, function ncaccess() output ncOK,
which was wrong.

Stop after a trigger path section (G201).
No other NC programs can be started if a stop is executed immediately after a trigger path section (G201).
Position jumps when using multiple interfaces simultaneously in one CNC system.
Position jumps could occur on the Cartesian axes when a stop or accuracy hold is executed if the axes in a CNC system are distributed on
multiple interfaces (e.g. Powerlink IF and virtual IF) (since ARNC0 V0.130).

Error at expanded zero−point offset (G159).
In blocks with G159 (zero−point offset), incorrect values are sometimes used for the zero−point offset due to an error during the index
calculation (since ARNC0 V0.260).
NC Programm will not be terminated.
In NC programs with very large values for the programmed coordinates, the ends of path sections may sometimes not be detected and
therefore the NC program will not be terminated.
NC program is terminated at the first block with a zero−point offset (G53 − G59, G159).
Occasionally, blocks may no longer be processed after a block with a zero−point offset (G53 − G59, G159). The program is terminated at this
block.
The start of an NC block caused the simulation mode "ncCNCSYS" to be switched off.

Axis limit exceeded during circular movement.
The acceleration limits for the circle axes were sometimes exceeded in circular blocks.
Compensation movement when changing the tool length and axis offset.
The entire compensation movement is processed at once if multiple NC blocks occur consecutively, causing a change in the tool length or axis
offset (G16, G17, G18, G19, G53 to G59, G158 or tool data number).
This occurs either in the subsequent movement block (if linear block) or immediately before the next movement block (if circular block).

Changing the direction of the tool length compensation while changing the main level.
The direction of the tool length compensation is automatically changed to the new main level when the main level is changed with
G17/G18/G19. Note: The level switching does not affect the direction of the tool length compensation if G16 was used to define the direction of
the tool length compensation in the direction of an axis (e.g. G16 Q+).

The automatic tangential axis may not reach the target position on the shortest distance.
In NC blocks with G00 it can happen, that the automatic tangetial axis may not reach the target position on the shortest distance.

Addition to the time signal function
The override to be used for calculating the runtime can be specified using an optional parameter for the G function G221.
The program is not aborted when a positioning movement is held up at M0/M1.
A positioning movement held up at M0/M1 in the NC program can now be aborted using the NC action "ncMOVE, ncHALT".
NC action "ncMOVE, ncHALT" not allowed while in the "ncHALT_SST" state.
It is now also possible to apply the NC action "ncMOVE, ncHALT" while in the "ncHALT_SST"" state (halt via single step operating mode).
Positioning not allowed in the NC program while in the "ncHALT_PRG" state.
It is now also possible to start a positioning movement in the NC program while in the "ncHALT_PRG" state (halt via M0/M1).



Error message in response to correct time signal output

When the path section was programmed with the signal function G220 immediately after a G221, the error 7178:"Signal time longer than path
section runtime", occurred even though the time signal was output correctly.
Error in edge detection for trigger2 by using the force function.
When forcing Trigger2, positive edges were detected as negative edges.
New G function: G12
G12 makes it possible to influence the override on the transition arc inserted by the CDC.
Incorrect shift of coordniate system with G92 for linar axes
The calculation for shifting the coordinate system with G92 was made incorrectly for linear axes (ARNC0 versions 0.345 to 0.360).

ARNC0 sampling time not dependent on TC1
Starting with AutomationRuntime V2.80, it is possible to set the ARNC0 sampling time independently from the cycle time of TC 1 when using
ETHERNET Powerlink. However, the ARNC0 sampling time must still be a multiple of the ETHERNET Powerlink cycle time and the ACOPOS
position controller cycle (400µs).

No reverse movement at G170 or trigger event delay.
If a G170 or a trigger event delay ($IF <axis><edge>.EV) was moved in the reverse direction, the CNC system could come to a halt,
depending on the course of the contour. This error was present starting with version V0.320.
Reverse movement not possible on path sections with G201.
The CNC system came to a halt if reverse movement was made on a path section with G201.
CNC monitor not initialized.
The previous values were still displayed in the CNC monitor after starting an NC program. This caused problems if a program halt already
occurred at the beginning of an NC program (e.g. M0/M1, G170 or override at zero). The fields are initialized as follows:
NC block monitor: The s_ncblock field is zero.
CNC monitor: The fields s_ncblock[], v_path, pos_ncprog, block_ncprog, t_ncprog, s_ncprog and v_ncprog all contain zero. The fields
name_ncprog and nr_ncprog contain the name and program number of the current NC program.
CAN synchronization PP2xx
On PP2xx, large jitter in the system timing could cause generated set positions to be transferred to the ACOPOS at the wrong time (too early).
The error 104007:"Lag error stop limit exceeded" or 105024:"Cyclic set value mode aborted: Set positions missing" could be triggered if large
interruptions occur.
CNC halt after program was aborted.

The CNC system came to a halt if an NC program was aborted in the next PLC cycle after startup. "move.status.cnt_ncprog" remained at 1.
The error state could only exited by resetting the controller.

Position error after G92 and active tool compensation (tool offset or tool length compensation)
Starting with ARNC0 0.260: The target position was not calculated correctly in the automatically created transition block after G92 and during
active tool offset or tool length compensation.
Up to ARNC0 0.250: The target position was not calculated correctly in the relatively programmed transition blocks after G92 and during active
tool offset or tool length compensation.

After some restart errors, cnt_ncprog remains at 1.
During restart, if the NC program does not match the saved restart information, an appropriate error message appeared, but the system was
not restarted, and the restart was not aborted.
Not an error message if multiple signals of the same type are contained in the same path section.
In certain situations, time or path entries require multiple G220 or G222 signals be output in a single path section. However, since only one
signal of each type can be output at a time, an error message appears. The previously entered signal is retained.
G222 signal is ignored during restart.
Reset occurred in a path section with G222, but the G222 signal was not output.
Incorrect G222 signal output during path positioning.
The G222 signal was only output one time during positioning within the path section. When the path section was entered backwards, the G222
signal was immediately output forwards, and the change in direction occurred between the correct signal position and the end of the path
section.
G222 signal output in the wrong position.
The length of a path section was not a whole number, and the G222 signal was output from the wrong position.
CNC system deadlock during G220 / G222.
Multiple path sections with G220 or G222 followed directly after one another and no G221 with synchronous M function was found, causing the
CNC system to halt.
CNC system deadlock during G221.
A G221 with synchronous M function was run in an NC program, and the NC program finished before a path section was completed with G220
or G222, causing the CNC system to halt at G221.
Error message appears without cause for signal functions.

One of the following error messages appeared during the G220 and G222 signal functions, which overlap different path sections, although
sufficient runtime and path distance were available: 7177:"Remaining path distance for signal is too long", 7178:"Signal time longer than path
section runtime", or 8228: "Path command with undefined length or runtime."

G126 with G141 together in an NC block
If G126 and G141 were together used, it could occur that the NC programm did not terminate.
Signal function G220 and path jolt time > 0.
The signal function G220, which overlaps different path sections, registers error 7163:"Time is longer than section run time " if a path jolt time
was set > 0. This error mostly occurred in NC programs with short path sections.
Signal function G220 and override.
The override was not correctly calculated during the signal function G220, which overlaps different path sections.
Dwell time 3 NC cycles too long.
The delay was 3 NC cycles longer than the programmed dwell time.

Invalid Job−ID at ARNC0 response
It was possible that error 40137:"Internal Error − Invalid Job ID in ARNC0 response" occured after the completion of a CNC program and after
the controller of an axis used in the CNC channel was switched off.

Global NC subprograms are not terminated correctly
A global NC subprogram could not be correctly terminated if it was not completed with M02, M29 or M30 or if more than three axes were used.
In this case, the CNC system would freeze.
Init ACOPOS parameter tables
The transfer of parameters from an Init Acopos parameter table (from NC mapping table) to the drive is now also performed when parameters
for this drive are present in the NC configuration.
CNC program cannot be aborted if the override is <= 0 when the program is started
If the override was negative or zero at the start of an NC program, then the NC program could no longer be aborted.

Signal functions G221 and G222
The signal function G220, together with G221, outputs a signal to the PLC at a specific time before the target is reached. The signal function
G222 outputs a signal to the PLC at a specific remaining path distance before the target is reached. Both signal functions overlap different path
sections.
"Divide error" after $TIME or G04
If a dwell time ($TIME bzw. G04) was used in a NC programm when the CNC cycle time was < 1 ms, the system error 25300:"Divide error"
(division by 0) occured.
Position error after rotation of coordinate system without shift offset (G92)
If the first block of a NC programm contained G92 with rotation but without offset, an additional offset (depending on previous NC programs),
was included to the coordinate system.
Incorrect rotation direction of the automatic tangential axis after G92
After a block with G92, the automatic tangential axis may not be aligned to the new position via the shortest distance.
NC program can get held up if the sign for the movement override is changed
An NC program could get held up if a positive movement override and than a negative movement override was set several times in the NC
program.

Wrong INIT states after switching off the simulation mode "ncCNCSYS "
If one of the following NC actions

− ncCONTROLLER,ncINIT
− ncDIG_IN,ncINIT
− ncENCODER_IF,ncINIT
− ncLIMITS,ncINIT
− ncGLOBAL,ncINIT
was called in the simulation mode "ncCNCSYS" or "ncCNCSYS+ncDRIVE", the corresponding INIT states ( "controller.init", "dig_in.init",
"encoder_if.init", "limit.init" or "global.init") should be set to "ncFALSE" after switching off the simulation mode "ncCNCSYS ". Up to now the
values of this INIT states could falsely remain on "ncTRUE".
New NC structure component "dig_in.force"
Transfer errors during initialization of digital inputs blocked further commands
If an error occurs when transferring a parameter to the ACOPOS during initializing of digital inputs, error 14170:"Error initialize digital Inputs"
was indicated.
Up to now, in this case the execution of nearly all further commands was blocked. This problem could be eliminated only with a restart of the
PLC−CPU.
Force function for digital Inputs
Digital inputs can now be set with an application using the NC action "ncDIG_IN,ncFORCE".

Tool radius from the tool table sometimes was not used (only in V0.270 − 0.323)
If for a tool in the tool table a length or an offset not equal to zero were defined, then the tool radius defined in the tool table was not used.

Inconsistent referenced status
An inconsistency between the user status "move.homing.status.ok" and the corresponding status on the drive could occur after a change in the
simulation mode (ncDRIVE) of an axis (ncSIMULATION, ncSWITCH_ON/ncSWITCH_OFF).
Incorrect target position after backwards positioning before a G170.
An incorrect target position was calculated on the path during backwards positioning if a stop was executed after the last path section before a
G170 using a halt command. Backwards positioning first started when the decoder was resumed using the SYNC command. After error
correction, the positioning now starts immediately and reaches the correct target.
Error processing structure blocks such as $IF, etc.
If parts of structure blocks were skipped over (e.g. the section from $ELSE to $ENDIF), $ functions contained in the structure block such as
$TIME, $RAD etc. were evaluated instead of being ignored.
EnDat parameters transferred to ACOPOS always work
From now on, parameters will be transferred from ARNC0 to the ACOPOS as soon as reading motor parameters from EnDat encoders has
been completed.
Until now, a motor parameter could be already transferred the ACOPOS, before reading of the motor parameters of the corresponding EnDat
encoder has been completed. In this case the value which was read from the encoder worked and not the value transferred from PLC to the
ACOPOS.
From now on, always that value works, which is transferred from PLC to the ACOPOS.

Cycle time violation TC1 during the initialization of a PV interface
A cycle time violation could occur in TC 1 during a PV interface initialization.
Change to the user status, "controller.ready"
The user status, "controller.ready" is always set to ncTRUE for drives in the simulation mode ncCNCSYS or ncCNCSYS+ncDRIVE as well as
drives on a virtual interface.
CNC standstill after consecutive NC blocks with M parameters.
Writing more than 10 NC blocks with M parameters immediately following each other causes a CNC standstill. This error also occurred if more
than 10 NC blocks immediately followed each other, which just contained non−synchronous M functions, S or T functions.

Command Acceptance (only in Version 0.320)
If a drive that has been successfully initialized ("network.init==ncTRUE"), it is possible that service commands (ncSERVICE,ncSET/ncREAD)
are not accepted and error 1220 "Command not accepted network not ready" is given. The same could also occur when downloading
ACOPOS parameter table (via service interface) (ncACP_PAR+ncSERVICE, ncDOWNLOAD).
New NC structure component "network.nc_sys_restart"

After stopping an NC program, the CNC system sometimes gets stuck.
If an NC program is stopped shortly before a G170, it is possible that the axes stopped but the number of active NC programs gets stuck at 1.
Then no other NC programs can be started.
Path speed too high, if a G170 is moved over in the backwards direction.
If v_jump > 0 was configured and a short path section and a G170 follow after a contour corner, then braking does not occur before this
contour corner when moving backwards.
Error when initializing the external encoder
When initializing an external encoder with the NC action "ncENCODER_IF, ncINIT", the count direction was not transferred to the drive
correctly. The count direction of the motor encoder was transferred, which is incorrect.
Error when transferring parameters for controller initialization
During controller initialization (ncCONTROLLER,ncINIT or ncGLOBAL,ncINIT), the parameters PARID_SCTRL_TI_FIL (#283 − Speed Filter)
and PARID_CONTROLLER_MODE (#328 – Controller Mode) were not transferred under the following circumstances:
1. ncSIMULATION,ncON (ncCNCSYS mode)
2. ncGLOBAL,ncINIT => Parameters not transferred to drive (because of simulation mode "ncCNCSYS")
3. ncSIMULATION,ncOFF
4. ncGLOBAL,ncINIT => The two parameters are not transferred to the drive!
G92 + G170, Decoder stopped a movement block too early.
If a G170 block immediately followed G92 with a transition block without traverse path, then the decoder stopped a movement block too early.
(Starting with ARNC0 0.310, transition blocks without traverse paths are automatically inserted after G92, G54−59 and G159.)
Position jump when network communication drops out
If communication dropped out during cam profile coupling on a slave axis, then a jump in speed could occur. In this case, the internal
deceleration ramp uses the speed resulting from this jump, which is incorrect (the data is no longer transferred to the drive because of the
communication failure).
Position latch function
A position latch function activated with the NC action "ncLATCH1(2), ncSW_ON" was not completely deactivated with the NC action
"ncLATCH1(2), ncSW_OFF". Then it was not possible to activate the other respective position latch function.
ACOPOS CAN synchronization
If systematic deviations occurred between the system time and CAN time (different timers), ACOPOS sometimes reported the error
106002:"Sync Controller: Error tolerance of system time difference exceeded". Starting now, only the timer from the corresponding CAN
interface is used for CAN synchronization.
Position error at the end of a program without first deactivating an automatic tangential axis:
If an NC program with active automatic tangential axis (G141) is ended without first deactivating the tangential axis (G140) and if the last NC
block is a rapid feed block (G00), the tangential axis in this block will travel to the position it had before the activation (G141).
Automatic transfer of motor and encoder parameters during ACOPOS startup:
In the past, encoder parameters for ACOPOS (AC122, AC123) were not automatically transferred to the drive via ETHERNET Powerlink upon
drive startup. This problem occurred for CAN starting in version V0.240.
No compensation movement at NC blocks with tool data number or tool orientation:
The tool compensation (tool offset or tool length) is not taken into consideration if a block without programmed traverse path (e.g.: only
M−functions or only G91) immediately follows an NC block with a tool data number (Dxx) or G16. This error only occurs during relative
programming.
(since V0.270)
Change of CAN response timeout
During the start up of an ACOPOS with AC140 the error 14112:"Timeout for parameter ID" could be output. The extended CAN response
timeout only works in ARNC0 V0.292, but not in V0.300 − V0.311.


ACOPOS Parameter Tables: Disabling parameter records
Parameter records in an ACOPOS parameter table can now be disabled using the XML data "Disabled='TRUE'".
In the editor for ACOPOS parameter tables disabling parameters is possible starting with V2.4.0.1106.
NC Deployment Tables: Disabling NC object blocks
NC object blocks in a NC deployment table can now be disabled using the XML data "Disabled='TRUE'".
With Automation Studio V2.x this data can only be entered in the editor for NC deployment tables in the "Additional Data" column.
NC Configuration for Virtual Interface

The data structure of the NC configuration for the virtual interface was extended with "pv_name".


CNC program aborted at circle−circle transitions if tool radius nearly equal to programmed radius
If the tool radius used was equal to the programmed radius of circle segments, the CNC program could have been aborted at circle−circle
transitions with error 9221:"Excentric Circles".
NC program freezes. 'Illegal float value' is displayed in the CNC monitor as position, remaining distance and speed.
If circle programming in the NC program is inaccurate, NaN or −NaN could occur as result of an internal angle calculation. This would then also
cause the target position of the NC block to be NaN or −NaN.
G90/G91 with G16, G53 up to G59, G92, G159 and Dxx allowed in an NC block.
New NC structure component "limit.parameter.a_stop"
New NC structure component "controller.uf" for controller mode "U/f Control"

New NC structure component "controller.mode" for parameter CONTROLLER_MODE
Up to now, the parameter CONTROLLER_MODE could only be transferred to an ACOPOS via service interface. Therefore due to compatibility
reasons, after call of NC action "ncCONTROLLER,ncINIT" this parameter is only transferred to the ACOPOS, if the value of "controller.mode"
was changed.

'External encoder' as coupling master:
Starting now, 'ncEXTENCOD' NC objects can be used as master for cam profile couplings. The slave is not compensated for a master position
jump (e.g. after referencing the external encoder).
New NC structure component "controller.speed.t_filter" for parameter SCTRL_TI_FIL
Up to now, the parameter SCTRL_TI_FIL could be transferred to an ACOPOS via service interface only. Therefore due to compatibility
reasons, after call of NC action "ncCONTROLLER,ncINIT" this parameter is transferred only, if the value of "controller.speed.t_filter" was
changed.
New status "ok" for download of ACOPOS Parameter data
If processing of NC action "ncACP_PAR,ncSERVICE+ncDOWNLOAD" has been successfully completed, from now on additionally
"status.ok=ncTRUE" is set after successful completion of operation, because ACOPOS Parameter data without any parameter to be
transferred do not cause an error and after successful completion of operation "status.daten_len=0" is displayed as well as
"status.error=ncFALSE".
ACOPOS startup synchronization between ACP10 and ARNC0
If the same ETHERNET Powerlink interface is used to operate ACOPOS modules simultaneously from the ACP10 software and the ARNC0
software, then within the basis initialization the network initialization (ACOPOS startup) is executed synchronized between the ACP10 software
(from V1.120 on) and the ARNC0 software. This now makes it possible to alternately connect ACOPOS modules for ACP10 software and
ARNC0 software within one Powerlink line. Up to now, using a common Powerlink interface could lead to errors, whereby an unsynchronized
ACOPOS reset command triggered by one of the NC software programs interrupted the network communication of the other NC software
program.

Position of the automatic tangential axis after deactivation (G140)
When deactivating the automatic tangential axis (G140), the axis was moved to the position, which it had upon activation (G141). This could
cause large traverse paths for 'non periodic' tangential axes.
Positon error when restarting an NC program whith automtic tangential axis.
Error 5152:"Position out of 'In−Position−Tolerance' at START/RESTART of CNC move" could occur while restarting an NC program with an
automatic tangential axis. Requirements:
Activation of the automatic tangential axis before the first movement block in the NC program
Another NC program must be executed between the abort and the restart.

Extended possible combination for S− and T−function.
S and T functions are allowed in NC blocks with G16, G53−G59, G92, G159 or tool data number.
Drive start up after change of simulation mode.
If the start up of an ACOPOS was interrupted by switching on the ncCNCSYS simulation mode, the start up could not be completed after
switching off the simualtion mode.

NC operating system download
If a drive had no NC operating system, the startup of this drive was aborted and an NC operating system download could not be executed.
ACOPOS operating system start abort.
In certain ACOPOS firmware versions (Boot loader), the operating system start was aborted with the error 100018: "The Data segment at data
block read is not yet the last".
Contour violation at circular−linear transitions when CDC is active.
A contour violation sometimes occurs at circular−linear transitions with 360° or 0° when the CDC is active.
Selection of CNC after transition block
It is possible to select the CDC (G41, G42) after a transition block (G16, G53−G59, G92, G159, Dxx).
Function expansion of Stop / E−Stop.
Using two new parameters in the user data structure ARNC0CNC_typ cnc_obj.move.stop and cnc_obj.move.e_stop, the behaviour of stopping
and emergency stopping of NC programms can be defined.
Function expansion of the tool compensation (G16 and G130/G131)
Orientation of the tool length correction can be selected using G16.

The tool length correction and the tool offset are taken into consideration in the machine coordinate system (G130) or in the programmed
coordinate system (G131).

NC deployment table for ARNC0
An NC deployment table can be evaluated for ARNC0. Version 2.4.0 with upgrade 1105 or higher is required to support this function.
ATTENTION: If the Upgrade was not installed, the new data structure element cnc_obj.axes.axis[..].nc_object_name must be set to an empty
string ("")!

Behavior of non−programmed axes with G92
The behavior of non−programmed axes in the transition block after G92 has been changed. See
"ARNC0: CNC Programming Instructions, G−Functions, G92".
Position jump after G92 during reverse movement
If another block with G92 immediately follows a transition block (G92) during reverse movement, then a position jump occurs.


NC program aborted at G92 + G141
If the automatic tangential axis (G141) was used together with the coordinate system shift (G92), the NC program was aborted with error
10368:"G141 Automatic tangential axis cannot be programmed" (starting with V0.240).
Mirroring allowed in combination with G92
The coordinate system can be shifted using G92 during active mirroring (G21, G22, G23). However, a change in angle is not allowed during
active mirroring.
Wrong transition block at G92 + G141
Wrong position of the automatic tangential axis in the transition block (G92).
Error changing the parameter "limit.block_buffer".
If the value of the "limit.block_buffer" parameter was changed, then the next following NC program started remained inactive (not started)
(starting with V0.208).
Error using $LIN with G126
If G126 with $LIN was activated between two straight lines, $LIN first takes effect starting at the second rounding path section. If G126 with
active $LIN was deactivated in a straight line, $LIN is only effective until the second−to−last rounding path section. As a result, both cases
resulted in an axis jump and path speed jump which further caused a violation of the axis and path acceleration limits.
CNC program restart: Saving of decoder synchronous parameters for restart
Decoder synchronous parameters (R, P, EX parameter and cutter diameter at $RAD_IDX) can be saved during the processing of an NC
program.
When a restart is executed, the saved parameters are used up to the restart point. This guarantees that the desired restart point is reached
even if the parameters from the application have been changed.
CAN drive startup
During drive startup on the CAN bus, a delay for checking the boot status (2 or 3 seconds) was added after Phase 20: "BsLoader start after
SW reset" and Phase 50:"ACOPOS operating system start".
CDC: incorrect 0/360° distinction at circle/circle transitions
At circle−circle transitions with interior contact and opposite direction of rotation, the distinction between the transition angles 0° and 360° was
made incorrectly.

Incorrect CDC calculation at circle/circle transitions with transition angle near 180°
At a transition angle equal to 180°, the circle intersections were calculated correctly, but the wrong intersection was selected.

Abort of an CNC programm at the end of a path section not possible.

Abort of an CNC programm at the end of a path section not possible.
Für ACOPOS 8V1xxx.00−1: ACP10SYS V0.543

System blocked at blocks with G126
At blocks with G126, the ARNC0 system can become blocked when there are low values for speed or acceleration.
Error rotating the coordinate system (G92)
A position jump occurs in the transition block if a block only with commentary follows immediately after G92.
Error accepting the CDC selection from the Init parameter module
If "CDC selection = ncBLOCK" (G137) is set in the Init parameter module, the decoder initialization is aborted with the error 10105:"Incorrect
Parameter ". CDC selection "ncDIRECT" and "ncINDIRECT" both function.
Incorrect monitor data for the current actual position of an axis
When using an external encoder, sometimes the actual position of an axis was displayed incorrectly in the monitor data. This problem only
occurred on axes connected with ETHERNET Powerlink.
Reverse movement in NC programs with G92
In the first movement block (transition block) after G92, sometimes the axis positions jump during the reverse movement.
G92 with rotation of the coordinate system
If all axes used in the system are not programmed after G92 in the first movement block (transition block), sometimes the target position of the
transition block is calculated incorrectly.
Incorrect transfer of ACOPOS parameters
Parameter values, which were only valid in ACP10sys − versions 1.xxx, were not correctly transferred to the ACOPOS with the NC action
"ncSERVICE, ncSET+ncDATA_TEXT". Instead of sending an error message, the last value transferred was used for the new parameter.
Starting now, when a parameter ID is defined which is not contained in the ACOPOS operating system version being used, error 14187 (CAN)
or 15187 (Powerlink) is output: "Invalid parameter ID for the ACOPOS operating system version being used".
Dip in the path speed when using the G170
If a G170 was used in a CNC program, the path speed was reduced at the corresponding transitions, even though the decoder was
synchronized in time. This problem only occurred when the deceleration distance before the G170 was longer than the path section before the
G170.

Error when restarting an NC program
If the axes were positioned to the restart point using a positioning command, the saved restart information was sometimes overwritten.
NC program cannot be resumed after G170
If an NC program was interrupted with movement HALT when the axes arrived at a G170, the NC program could no longer be resumed.
Restart function update
− Restart of CNC programs started with offset

− Restart point at preset path position or at preset block number
− Restart point can lie anywhere before or after the stop point
Starting CNC programs at preset block number "Nxxxx"
The start position for a NC program can be defined in bytes as file offset or as block number.
Extended value range for "F_override"
The value range for "F_override" has been extended and is now 0 to 42,949,672.95%. The data type of the corresponding structure
components was increased from UINT to UDINT. This makes it possible to implement a 'fast mode' for CNC systems. However, the maximum
possible feed rate is limited by the preset axis limit value.
CNC parameter 'limit.elements'
As of now, the CNC parameter 'limit.elements' is being evaluated again. It was not being evaluated after version V0.132.
Maximum number of CNC channels is now 8
AutomationStudio 2.4.0 with Upgrade V2.4.0.1103 or higher is required.
Dip in the path speed when feed override >100%
If a feed override "F_override" >100% was used, the path speed was reduced to the programmed feed at the transition between two NC
blocks. The new operating mode G112 makes it possible to prevent the path speed from reducing at block transitions.
Error when switching on the controller
Sometimes the controller was switched off by the ARNC0 without an error message immediately after being switched on. This was a very rare
error.




Incorrect assignment of error and NC action (command)
A JobID for the NC action "ncCONTROLLER, ncSWITCH_ON"" was acknowledged immediately after the command was accepted. If an error
then occurred on the drive (e.g. due to activation of the quickstop input), the reported errors were entered with this JobID. Because this JobID
was already acknowledged, it was possible that it was already occupied by another command. As a result, the reported errors would be
transferred to the wrong command. If positioning was active, the "move.basis.status.in_pos" would not be set to "ncWAHR" after the movement
was successfully completed.

Additional information was added to the individual error texts using the block number.
Function expansion G126
− $LIN is used so that the rounding radius is traversed at constant path speed.
− The entrance speed to the rounding radius can be increased using $VE <factor>.
This functions can cause the axis acceleration limits to be exceeded.

Included drive operating systems:

Full circle when radius programming
When a very small arc was programmed using radius programming (dx and dy smaller than 0.001 CNC units), a full circle was traversed
instead of the arc.
Unwarranted message 8154:"NC block with distance equal to 0.0" at short path sections
If several path sections with the length 0.001 CNC units were traversed consecutively, the message 8154:"NC block with distance equal to 0.0"
was output.
CNC System: Initialization subprogram
Starting now, the name of a CNC program which is called each time the program starts, can be specified in the CNC data structure
"cnc_object.bewegung.ncprogramm.init_prg" (German) or "cnc_object.move.ncprogram.init_prg" (English). When a CNC program is started
using the NC action "ncPROGRAM, ncSTART" the CNC program specified in the data structure is first executed as global subprogram.
Movement reversal on the circle when CDC is active
When there was a full circle made up of several circle segments, a straight line was inserted as segment counter to the circular direction.


Insert intersection path (G135):
If circles lying within another were programmed inaccurately, sometimes intersection paths could not be
created. The program was aborted by error 9221:"Excentric Circles".

Unsteadiness in the path speed:
If Cartesian axes were programmed together with linear axes in a block, unsteadiness could occur in the
path speed at a path section transition (spikes with the length of a scanning cycle).
Adjust v_jump, a_jump parameters (G105 / G106 ):
In certain circumstances, the parameters v_jump and a_jump, programmed with G105/G106, were
assigned to the wrong axis.
Select/deselect CDC with transition block (G137):
If the CDC is selected and deselected in one block, the CNC program is not always completed. The error
could also occur when a change is made to the selected side right after being selected.


CNC monitor update:
The name of the active NC program or global NC subprogram is displayed in the CNC monitor.
Updates to the cutter diameter compensation
The following new functions have been added to the mode "Activate/Deactivate CDC Indirectly with Entry
or Exit Block" (G137):
− Deactivate CDC with exit block
− Activate CDC in the circular block
− Deactivate CDC in the circular block
− Change editing side in the circular block
− Change editing side with transition block

Dip in the path speed after G170 + unsync. M−function
If a combination of G170 and an unsynchronized M−function was used in a CNC program, undesired path
speed reductions could occur at tangential transitions in the subsequent path sections.
System crash when updating the NC block monitor
If an NC program which calls global NC subprograms was moved backwards with a turned−on NC block
monitor, the CNC crashed upon entry into the global NC subprogram (page fault).

Path speed reduction after G92+rotation
After a block with G92+rotation and the parameter v_jump = 0, a stop was always made at tangential path section transitions.
Motor parameters not transferred for resolver motors to the drive
The motor parameters from resolver motors were no longer transferred automatically from the NC configuration object to the drive (starting
with V0.220).
Syntax error at G200 / G201
If G200/G201 <axis><edge> was followed immediately by 'End of Line', error 10200:"Unknown or missing letter in the NC program" was output
(starting with V0.205).

CNC System: Path speed interruption at circle−circle transitions (r=const)
An undesired reduction in path speed can occur at tangential transitions between circle segments with the same radius.

Full circle with cutter diameter compensation (CDC)
If a full circle was traversed with active CDC, a position jump could occur on the circle axes at the end of
the circle (starting with V0.220).
CNC System: Software connection of trigger sources
Any axis within the ARNC0 can be defined as trigger source for a CNC axis. To do this, the reference to the
axis object with the desired (HW) trigger inputs must be specified in the data structure
"cnc_object.achse.achse[].trg_quelle.nc_object" (German) or
"cnc_object.axis.axis[].trg_source.nc_object" (English). The defined trigger source is transferred using the
NC action "ncAXIS, ncINIT".

Error message for G201 together with tangential axis:
If G201 was used together with the tangential axis, error 10106:"Event not allowed at current module state
" occurred on an axis.
CNC program blocked with M0/M1:
The processing of a CNC program was blocked if a synchronous M−function and M0 or M1 occurred
together in an NC block (starting with V0.202).
Position jump during reverse movement of a CNC program
During reverse movement of a CNC program, a position jump could occur on all axes when entering a path
section.
CNC System: Reverse movement of CNC program not possible with G92+rotation
CNC programs in which the coordinate system rotates, could not be moved backwards (starting with
V0.208).
CNC program cannot be resumed after restart.
The CNC program was unable to be resumed following a CNC program restart (starting with V0.208).
SW limit monitor:
A rounding error sometimes caused the values for the SW limits to differ from the default values in the axis
structures. The values could deviate in the positive direction by a maximum of the unit factor of the
corresponding axis ("cnc_object.axis.axis[].unitfactor").
Straight−circle transitions with cutter diameter compensation
At straight segments which are almost perpendicular, sometimes the intersection between straight segment
and circle were not calculated correctly. The CNC program was aborted with Error 8134 or 8136:"Radius
difference between start and end ".
Full circle with cutter diameter compensation (CDC)
If the path section transition in a full circle is not exactly tangential, sometimes the full circle is not traversed
when CDC is active.
The dependent libraries "ncda_lib" and "nccnccom" transferred to "ncglobal"
The functions from the libraries "ncda_lib" and "nccnccom" were transferred to "ncglobal" (starting with
V0.300).
NOTE: These libraries must first be removed from the current project using the Library Manager before
updating to ARNC0 0.220.
Download of ACOPOS parameter data:
New NC actions "ncSERVICE+ncACP_PAR, ncDOWNLOAD" for transferring the parameters contained in

the ACOPOS parameter data (XML data with the format used for ACOPOS parameter tables) to the
ACOPOS.
Loading the INIT parameter module:
Update to the data structure in the NC objects ncAXIS and ncCNCSYS (German/English):
"global.init_par". The data from the specified INIT parameter module can be loaded to the corresponding
user data structure of the NC object using the new NC action "ncGLOBAL, ncLOAD" or
"ncGLOBAL, ncLOAD+ncINIT". If the option "+ncINIT" is set, the NC action "ncGLOBAL, ncINIT" is then
automatically executed.
CNC System: Updated monitor data structure
In the CNC monitor data structure "cnc_object.monitor", the currently processed NC block number (N....)
"satz_ncprog" (German) or "block_ncprog" (English) are displayed.
Change of CNC movement parameter
The maximum size of an NC block was increased from 36 to 52:

German: "cnc_object.bewegung.ncsatz[52]"
English: "cnc_object.move.ncblock[52]"
CNC decoder parameter update
Update to CNC data structure with initialization variables for CNC special functions:
German:: "cnc_object.decoder.parameter.wrk"
− "kreisersatz" (für G37)
− "konturverletzung" (für G39)
− "schnittpunktsatz" (für G134)
English: "cnc_object.decoder.parameter.cdc"
− "circ_replace" (für G37)
− "contour_violation" (für G39)
− "intersection_path" (für G134)
The element entries are transferred by calling the NC action "ncDECODER, ncINIT".
CNC System: CNC program is blocked with G201
The processing of a CNC program was blocked using G201 (starting with 0.208).
1A4000.02 Automation Tools
I/O Switchboard
ID#400208281 : solved problem, known since unbekannt, solved since AS4.3.03
Signal files with X or Y values smaller than 1 will not beaccepted (e.g.: <Value X="0,1" Y="1" />)
When selcting a Signal file fo a graph control in the I/O Switchboard which contains values smaller than 1 the file will be rejected.

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Automation Studio 4.3.3

Requests and problems by version

ID valuation solved since known since Description

Requests and problems by product/component

Not possible to compile projects in paths containing spaces

Error 3003 output when building Automation Studio project

Warning regarding missing binary library not sufficiently clear

Error generating cross−references if binary tasks mapped

Obsolete offset data ignored

Error initializing dynamic structure elements

ID#400200040 : solved problem, known since AS4.2.05, solved since AS4.3.02

OPC mappings built unnecessarily

ID#400191524 : solved problem, known since AS4.2.05, solved since AS4.3.02

ID#400198878 : solved problem, known since AS4.2.05, solved since AS4.3.02

Libraries using mapp variables regenerated on each build

ID#400195414 : new function since AS4.3.03

No date/time specifications in entries in message box

ID#498380 : solved problem, known since AS4.2.05, solved since AS4.3.02

Unable to build project after replacing CPU

Incremental build of libraries not taking modified .o files into account

ID#400195963 : solved problem, known since AS4.2.05, solved since AS4.3.02

Unable to create cross−reference if using application modules

ID#400159040 : new function since AS4.3.02

Additional DeviceTag entry in ArConfig

ID#488220 : solved problem, known since AS4.2.05, solved since AS4.3.02

Changing motion library versions not working

ID#400189225 : solved problem, known since AS4.2.04, solved since AS4.3.01

Error in internal header files for function blocks

This error has been corrected.

ID#400189249 : solved problem, known since AS4.2.04, solved since AS4.3.01

Error message 9222 not always output

Data types with length 0 not supported

Build − C Compiler GCC 4.1.2

Error with disabled "default include mechanism"

ID#527439 : new function since AS4.3.03

Updated hardware configuration file HardwareConfiguration.xml

Configuration ID incorrectly added to arconfig.br in addition to module sysconf.br

ID#400196552 : solved problem, known since ARSG4_4.25.10_J04.25, solved since AS4.3.03

Online installation aborted when using Power Panel T30

ID#400196552 : solved problem, known since AS4.2.05, solved since AS4.3.02

Online installation aborted when using Power Panel T30

ID#400192383 : solved problem, known since AS4.2.05, solved since AS4.3.02

Removed Modbus TCP slave address range limitation

Data exchange between 2 X20SL8100 devices not working

EthernetIP Builder reporting confusing warning 1007

Confusing warning 6841 output when building Automation Studio project

ID#400198270 : solved problem, known since AS4.2.05, solved since AS4.3.02

ID#400198270 : solved problem, known since AS4.2.05, solved since AS4.3.02

Error message when assigning structures

ID#400195358 : solved problem, known since AS4.2.05, solved since AS4.3.02

ID#494030 : solved problem, known since AS4.2.05, solved since AS4.3.02

ID#493750 : solved problem, known since AS4.2.04, solved since AS4.3.02

Faulty code when using data type REFERENCE_TO_ARRAY[]

ID#492815 : solved problem, known since AS4.3.01, solved since AS4.3.02

Warning 1289 no longer output

ID#490455 : solved problem, known since AS4.2.05, solved since AS4.3.01

Cannot compile continuous function chart

ID#400168739 : solved problem, known since AS4.2.04, solved since AS4.3.01

No value displayed in tooltip when reaching breakpoint in function block

Error message when using I/O simulation in application modules

ID#400192743 : solved problem, known since AS4.2.05, solved since AS4.3.02