DWL@DWL10000800384
| Versión | Idioma | Sistema operativo | Fecha | Tamaño | Tipo | Descargar |
|---|---|---|---|---|---|---|
| 2.6.0.0 | * | 30.06.2025 | 2 MB | EXE | AS6_HW_8ESMC59316.exe | |
| Descripción |
V6.0 HW Upgrade (8ESMC59316) Revision information 8ESMC59316 Version 2.6.0.0: ID: SFXA-5835 HW-Upgrade 2.6.0.0 FW Version 631 Minimum versions: -TP ACP10/ARNC0 Version 6.4.0 to support battery buffered EnDat 2.2 encoders -mapp Motion Version 6.4.0 to support battery buffered EnDat 2.2 encoders -mapp Safety Version 6.4.0 for the current AS help Channel description changed: yes Configuration description changed: no Firmware changed: yes ID: SFXA-5574 Improvement of processor utilization Improvement of processor utilization Channel description changed:no Configuration description changed: no Firmware changed: yes ID: SFXA-5559 Improvement: Error messages The structure and content of error messages have been improved. Reference: QCAS-965 Channel description changed: no Configuration description changed: no Firmware changed: no ID: SFXA-5481 Bugfix: A connection issue with HIPERFACE DSL encoders could lead to a Fail Safe with the logger entry -1073560571 / -1073556475 The following logger entry could be caused by connection issues with functional safety HIPERFACE DSL encoders: -1073560571 / -1073556475: SMC FS (Fail Safe): Internal error, Communication ACOPOS: Info0:0x000x, Info1:0x00000004 ...0x00000005 Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-5479 Bugfix: A HIPERFACEDSL encoder error with the logger entry -2147301373 / -2147297277 could impact the functional error diagnosis The following logger entry, in combinationwith functional safety HIPERFACE DSL encoders, could prevent in rare cases functional error messages: -2147301373 / -2147297277: SMC: Encoder - Error during cyclic operation of the encoder: Info0:0x000x, Info1:0xXXXX0001 ... 0xXXXX0018 Channel description changed: no Configuration description changed:no Firmware changed: yes ID: SFXA-5105 New function: Support EnDat2.2 EBI rotary encoders EnDat 2.2 rotary encoders with battery-buffered multiturn counters (BBMT) aresupported. Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4964 Bugfix: Unexpected failsafe with the logger entry -2147302395 / -2147298299 (MFW_ERR_ACPCOM) as a consequence of an EnDat 3 encoder error With the usage of an EnDat 3 encoder, an unexpected failsafe with the logger entry -2147302395 / -2147298299 (MFW_ERR_ACPCOM with Info1 = 0x4 (WR_INDEX_INVALID))could occur after an encoder error because internal encoder driver processes were not stopped correctly in error state. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4963 Bugfix: Sporadic error '7082: Encoder: Link to encoder disturbed' with configured Safe Speed Observer (SSO). When using the Safe Speed Observer (SSO) (configuring the parameter 'ES-Encoder type' to the values 'Safe speed observer - Rotatory', 'Safe speed observer - Linear', or 'Safe speed observer'), the error '7082: Encoder: Link to encoder disturbed' sporadically occurred during startup, preventing the controller from being switched on. This limited availability has been resolved. Channel description changed: no Configuration description changed: no Firmware changed: yes Version 2.5.0.0: ID: SFXA-4839 HW-Upgrade 2.5.0.0 FW Version 620 Minimum versions: -TP ACP10/ARNC0 Version 6.2.0 to support EnDat 3 encoders -mapp Motion Version 6.2.0 to support EnDat 3 encoders -mapp Safety Version 6.2.0 for the current AS help and when using SafeCOMMISSIONING -Automation Studio Version AS 6.0.x to support EnDat 3 encoders and when using SafeCOMMISSIONING Channel description changed: no Configuration description changed:yes Firmware changed: yes ID: SFXA-4705 Bugfix: Overly restrictive brake output monitoring led to an error with the logger entry -2147298061 /-2147302157 The overly restrictive brake output monitoring could lead to anerror with thefollowing logger entry for third-party motors: -2147298061 / -2147302157: SMC FFS (Functional Fail Safe): Safe outputs - test status has changed: Info0: 0x00, Info1: 0x00, Info2: 0x1D, Info3: 0x00, Info4: 0x0X Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4704 Bugfix: A PWM error with the logger entry -2147301124 / -2147297028 led to a failure of the encoder evaluation The following logger entry, as part of PWM monitoring, led to a failure of the encoder evaluation : -2147301124 / -2147297028: SMC: SMC FFS (FunctionalFail Safe): Internal error, FPGA communication: Info0:0x000x, Info1:0xXXXX0070 ... 0xXXXX0074 As a result, the deactivated encoder evaluation led to errors when using safety functions that require safe position. Channel description changed: no Configuration description changed: no Firmware changed:yes ID: SFXA-4703 Bugfix: Increased error response times with HIPERFACE DSL encoders The HIPERFACE DSL position comparison was incorrectly performed with a delay.As a result, the error response times were increased by one process time (800µs). This increased error response time was covered by reserves in the worst-case times. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4702 Bugfix: The response times were incorrectly documented in the user manuals. The following response times were incorrectly documented in the user manuals: Error response time (torque functions) [µs] for ACOPOS P3: Value is documented too small in all english versions of the SafeMOTION user´s manual (Legacy). Incorrect value: 2800µs Correct value: 3000µs Error response time (SSO speed functions) [µs] for ACOPOS P3: Value is documented too small in the german and english Safety technology manual (mappSAFETY) versions 5.13.0 - 5.23.0 Incorrect value: 4600µs Correct value: 5700µs Input update time (speed at SSO) [µs] for ACOPOS P3: Value is documented too small inthe german and english Safety technology manual (mappSAFETY) versions 5.13.0 - 5.23.0 Incorrect value: 4350µs Correct value: 5250µs Channel description changed: no Configuration description changed: no Firmware changed: no ID: SFXA-4701 Bug fixing: The accuracy of the process date safemoment could not be ensured. Due to undersampling during the measurement of the safe current, the accuracyof the safe torque (S_UserData) transmitted to the safe controller was reduced in cases of high-frequency phase currents (625Hz - 2,5kHz). Note: This error had no safety-related effect on other safety functions including SLT. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4442 Bugfix: "EUS - count of physical reference system" was not taken into accountin the calculation of the RSP lag tolerance. If the parameter “EUS - Count of physical reference system” was configured >1, the RSP overrun tolerance was calculated incorrectly. As a result, the diagnosis of an impermissible movement of the axis in the switched-off state was reduced. As this diagnosis has nosafety relevance, this error correction is only used to improve the diagnosis. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4441 Bugfix: Encoder exchange leads to invalid RSP encoder position on the other axes For modules with several axes, an encoder exchange resulted in the stored RSPposition becoming invalid on the axes on where no encoder exchange was executed. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4440 Bugfix: Slightly incorrect position and speed when using HIPERFACE DSL When using HIPERFACE DSL encoders, errors occurred in the calculated positionand speed. The relative error per revolution was one increment of the encoderresolution. As a result, the absolute position error became significant for large movements or corresponding unit parameterization. For an existing safety application, which are updated with a hardware upgrade version 2.5.0.0 or higher, the impact of this bugfix has to be re-qualified. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4439 Bugfix: The logger entry -2147298077/-2147302173 could be reported incorrectly The following logger entry could be reported incorrectly for certain encoder positions during homing. -2147298077/-2147302173: SMC FFS (Functional Fail Safe): SMP, SLP - INT32 overflow of S_SafePosition Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4438 New function: Deactivation of the safe monitoring of the motor holding brake output The safe monitoring of the holding brake output can be deactivated. Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4437 Improvement: SSO speed accuracy Correcting the PWM phase shift improves the speed accuracy of the safe speed observer (SSO) at higher speeds. This increases the applicability of the SSO for various applications. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4436 New function:Safe Speed Filter Support of Safe Speed Filter. Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4435 Improvement: Error messages Structure and content of error messages has been improved. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4434 Bugfix: The logger entry -2147297276 /-2147301372 was reported continuouslyinrare cases The following logger entry was reported continuously if the communication with an HIPERFACE DSL encoder failed or was interrupted: -2147297276 /-2147301372: SMC: Encoder - Error during error handling of the encoder: Info0:0x000x, Info1:0xXXXX0002 Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4432 New function: Support of EnDat 3 encoders Support of the safe encoder interface 'EnDat 3 SafeMOTION'. Channel description changed: yes Configuration description changed: yes Firmware changed: yes Version 2.4.0.0:(V611) ID: 741855 Propagation delay statistics The Propagation delay statistics can now be read out. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741965 / Support ID: 400307322 Improved encoder error handling When an alarm bit occurs, the alarm register is read out explicitly before changing to the error state and the error information is entered in the SafetyLogger. EnDat communication is kept active for a few milliseconds sothat the ACP firmware can still read out and report the operating state errorsources. Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. A separate Logger entry is generated if the encoder is not connected or an encoder timeout occurs. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741980 / Support ID: 400298548 Improved encoder error handling Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742050 / Support ID: 400339046 Error correction: SafeMOTION error 35016 can occur rarely during the transition from PreOp to Operational Error correction: SafeMOTION error35016: SMC FS:Internal error, cross-communication of test points can occur rarely during the transition from PreOp to Operational due to a timeout of the processor. Channel description changed: No Configuration description changed: No Firmwarechanged: Yes ID: 742065 / Support ID: 400351082 Error correction: StatusHoming can be lost in case of SLT violation StatusHoming / safe position valid bit can be lost if the SLT torque limit isexceeded, triggeringthe SLT safety function. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742080 / Support ID: 400348100, 400341635, 400358931 Errors 7074, 7062, 7022, 7038,7048, 35244 were sporadically reported when switching on (power on). Thefollowing errors were sporadically reported during EnDat initialization triggered by switching on, a warm restart of the CPU or project download to the CPUor SafeLOGIC controller. NCT: 7074: Encoder: SafeMOTION error 7062: Encoder: SafeMOTION module not ready 7022: Encoder: Initialization is active 7038: Encoder: Position value not synchronous with absolute value 7048: Error during the reading of encoder memory 35244: Encoder - Received positionnot valid Safety Logger: 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000010 or 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000200 Channel description changed: No Configuration description changed: No Firmware changed: Yes Firmware: 10\59314_1.fw(611) Version 2.3.0.0: (V600) ID: 714140 ACOPOS P3 SafeMOTION: Safe encoder interface "HIPERFACE DSL SafeMOTION" supported The safe encoder interface "HIPERFACE DSL SafeMOTION" is now supported for ACOPOS P3 SafeMOTION modules. -ACP10 version 5.13.0 -mappMotion version 5.13 -Automation Studio minimum versionAS 4.6.1 Channel description changed: Yes Configuration description changed: Yes Firmware changed: Yes Version 2.2.0.0: (V590) ID: 665300 New function: Safe User Data - Torque Channel description changed:Yes Configuration description changed: Yes Firmware changed: Yes ID: 665305 Change / Improvement: Stabilization, increasing the availability of the Safe Speed Observer Channel description changed: No Configuration descriptionchanged: No Firmware changed: Yes ID: 665310 Error when testing the safe encoder mounting in combination with SSO The default valueof the safe encoder mounting check ("Encoder monitoring - Safe encoder mounting", "From motor data record") in combination with SSO incorrectly results in FAIL SAFE (FS). Error number -1073560440 / -1073556344. Workaround: Setparameter "Encoder monitoring - Safe encoder mounting" to "Approved by user". Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 666750 New function: SafeCOMMISSIONING Channel description changed: No Configuration description changed: Yes Firmware changed: No Version 2.1.0.0: (V570) ID: 646955 / Support ID: 400245723 mapp Safety: The safe speed is provided in 32-bit format. The safe speed is providedin [units/s]. There is no scaling. -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: Yes Configuration descriptionchanged: Yes Firmware changed: Yes ID: 646970 Change: Reduction of errors in the current space vector by using the full Clarke transformation -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safetyversion 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 646980 Bug-fix: Firmware upgrade can result in a failsafe. (ony in HW Upgrade 1.10.2.0/V331) -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 646995 New function: Checking safe encoder mounting Setting the parameter "General settings- Encoder monitoring - Safe encoder mounting" to the value "From motor data record" enables the status of safe encoder mounting to be read from the stored motordata. -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: Yes Firmware changed:Yes ID: 647335 mapp Safety: openSafety Safe DriveProfile for all modules Channel description changed: Yes Configuration description changed: Yes Firmware changed: Yes Version 1.10.4.0: (V351) ID: 741845 Propagation delay statistics The Propagation delay statistics can nowbe read out. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741995 / Support ID: 400298548 Improved encoder error handling Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741945 / Support ID: 400307322 Improved encoder error handling When an alarm bit occurs, the alarm register is read out explicitly before changing to the error state and the error information is entered in the Safety Logger. EnDat communication is kept active for a few milliseconds so that the ACP firmware can still read out and report the operating state error sources. Alarm bit errors during initialization are reported bya defined Logger entry and not by debugging information. A separate Loggerentry is generated if the encoder is not connected or an encoder timeout occurs. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741890 / Support ID: 400299371 Loss of safety connection Loss of safety connection, even though the parametrized"safe data duration" is longer than the network failure Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742025 Failsafe at every boot It could happen under rare conditions that the module is stuck in failsafe state at every boot, generating logger messages: -1073565951/-1073561855 "internal cross communication error EPS" or -1073565945/-1073561849 "Received CRC data is not equal to sent CRC data" Channel description changed: No Configuration description changed:No Firmware changed: Yes ID: 742095 / Support ID: 400348100, 400348100, 400358931 Errors 7074, 7062, 7022, 7038, 7048, 35244 were sporadicallyreported when switching on (power on). The following errors were sporadically reported during EnDat initialization triggered by switching on, a warm restart of the CPU or project download to theCPU or SafeLOGIC controller. NCT: 7074: Encoder: SafeMOTION error 7062: Encoder: SafeMOTION module not ready 7022: Encoder: Initialization is active 7038: Encoder: Position value not synchronous with absolute value 7048: Error during the reading of encoder memory 35244: Encoder - Received position not valid Safety Logger: 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000010 or 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000200 Channel description changed: No Configuration description changed: No Firmware changed: Yes Version 1.10.3.1: (V342) ID: 729650 / Support ID: 400351082 Bugfix: Homing status can be lost if a SLT violation occurs The homing statusrespectively the safe position valid bit can be lost when the SLT torque limit is exceeded and therefore the SLT safety functions are triggered. Automation Studio version: AS 4.2.5.0 Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 729660 / Support ID: 400339046 Solved problem: SafeMOTION error 35016 can occur rarely at the transition from PreOp to Operational Solved problem: SafeMOTION error 35016: SMC FS: internal error, cross communication of check points can occur rarely due to a timeout of the processor at the transition from PreOp to Operational. Channel description changed: No Configuration description changed: No Firmware changed: Yes Version 1.10.3.0: (V341) ID: 653015 Change: Reduction of errors in the current space vector by usingthe full Clarke transformation Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 653040 Change / Improvement: Stabilization, increasing the availability of the Safe Speed ??Observer Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 653210 New function: Checking safe encoder mounting The information whether the encoder is safely mounted is read from the motor data stored in the encoder. If safety functions areused which require safe encoder evaluation and safe encoder mounting is not confirmed in the motor data (or the information is not available), it is automatically checked whether safeencoder monitoring is activated. If the configuration is wrong, the module changes into error state. When using third-party motors or motors without a stored motor data record, the automatic check can be deactivated by setting the parameter "General settings - Encoder monitoring - Safe Encoder Mounting" to "Approved by user". Channel description changed: No Configuration description changed: Yes Firmware changed: Yes Version 1.10.2.0: (V331) ID: 624770 / Support ID: 400224079 Error 7014 or7015 after ACOPOS startup If the encoder was used before the state "NotErrENC = TRUE" (see I/O Mapping of the SafeMOTION module), one of the followingerrors could have been reported: - 7014: Encoder: CRC error during parameter transfer - 7015: Encoder: Timeout error during parameter transfer In addition, at least version 5.05.0 of ACP10 must be used to solve this problem. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624780 / Support ID: 400250882 Error 115958 und 115959 after ACOPOS startup When using an EnDat encoder, the following errors could be erroneously reported in rare cases during startup or encoder error acknowledgment: - 115958: SMC: Encoder - Initialization error, Info1=0x000000FF - 115959: SMC: Debug Information, Info1=0x23000000 - 115959: SMC: Debug Information, Info1=0x80400000 Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624785 / Support ID: 400251128 Network initialization accelerated Network initialization was accelerated for the followingcases: - Encoder not connected - Encoder defective - Unconfirmed change of encoder For this new function at least version V5.05.0 of ACP10 must be used. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624790 / Support ID: 400229368, 400248609 Logger entry 112174, 108078 Logger entry 112174,108078 could happen sporadically with large projects. Channel description changed: No Configuration description changed: No Firmware changed: No ID: 624865 Neue Funktion: Safely Limited Torque (SLT) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 624870 New feature: Safely Limited Speed with Safe Speed Observer (SLS with SSO) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 624875 New feature: Blackout Mode (BM) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 624885 New feature: Safe Brake Test (SBT) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes Version 1.10.1.4: (V321) ID: 601190 Display of the SafeModuleOK in Automation Studio The status "SafeModuleOK" is displayed in the IO mapping of the SafeMOTION module in Automation Studio. Channel description changed: Yes Configuration description changed: No Firmware changed: No Version 1.10.0.3: (V321) ID: 594440 Alignment of "SafeMotion" character The display of the "SafeMotion" character in the system designer was adapted. This is not a functional change. Channel description changed: No Configuration description changed: No Firmware changed: No Version 1.10.0.2: (V321) ID: 579575 Provide the internal cycle time for calculatingthe Safe Data Duration The hardware description has been adjusted so that the correct internal cycletime is used to calculate the "Safe Data Duration" using the Network Analyzer. Channel description changed: No Configuration description changed: Yes Firmware changed: No Version 1.10.0.1: (V321) ID: 556910 Error in HWX File: wrong HardwareModuleFamily Attribute HardwareModuleFamily erroneously set to"AcoposMulti". Channel description changed: No Configuration description changed: No Firmware changed: No Version 1.10.0.0: (V321) ID: 481995 HW upgrade for support of 8ESMC59316 Channel description changed: no Configuration description changed: no Firmware changed: no |
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| Versión | Idioma | Sistema operativo | Fecha | Tamaño | Tipo | Descargar |
| 2.5.0.0 | * | 07.02.2025 | 2 MB | EXE | AS6_HW_8ESMC59316.exe | |
| Descripción |
V6.0 HW Upgrade (8ESMC59316) Revision information 8ESMC59316 Version 2.5.0.0: ID: SFXA-4839 HW-Upgrade 2.5.0.0 FW Version 620 Minimum versions: -TP ACP10/ARNC0 Version 6.2.0 to support EnDat 3 encoders -mapp Motion Version 6.2.0 to support EnDat 3 encoders -mapp Safety Version 6.2.0 for the current AS help and when using SafeCOMMISSIONING -Automation Studio Version AS 6.0.x to support EnDat 3 encoders and when using SafeCOMMISSIONING Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4705 Bugfix: Overly restrictive brake output monitoring led to an error with the logger entry -2147298061 /-2147302157 The overly restrictive brake output monitoring couldlead to an error with thefollowing logger entry for third-party motors: -2147298061 / -2147302157: SMC FFS (Functional Fail Safe): Safe outputs - test status has changed: Info0: 0x00, Info1: 0x00, Info2: 0x1D, Info3: 0x00, Info4: 0x0X Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4704 Bugfix: A PWM error with the logger entry -2147301124 / -2147297028 led to a failure of the encoder evaluation The following logger entry, as part of PWM monitoring, led to a failure of the encoder evaluation : -2147301124 / -2147297028: SMC: SMC FFS (Functional Fail Safe): Internal error, FPGA communication: Info0:0x000x, Info1:0xXXXX0070 ... 0xXXXX0074 As a result, the deactivated encoder evaluationled to errors when using safety functions that require safe position. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4702 Bugfix: The response times were incorrectly documented in the user manuals. The following response times were incorrectly documented in the user manuals: Error response time (torque functions) [µs] for ACOPOS P3: Value is documented too small in all english versions of the SafeMOTION user´s manual (Legacy). Incorrect value: 2800µs Correct value: 3000µs Error response time (SSO speed functions) [µs] for ACOPOS P3: Value is documented too small in the german and english Safety technology manual (mappSAFETY) versions 5.13.0 - 5.23.0 Incorrect value: 4600µs Correct value: 5700µs Input update time (speed at SSO) [µs] for ACOPOSP3: Value is documented too small in the german and english Safety technology manual (mappSAFETY) versions 5.13.0 - 5.23.0 Incorrect value: 4350µs Correct value: 5250µs Channel description changed: no Configuration description changed: no Firmware changed: no ID: SFXA-4701 Bug fixing: The accuracy of the process date safe moment could not be ensured. Due to undersampling during the measurement of the safe current, the accuracyof the safe torque (S_UserData) transmitted to the safe controller was reduced in cases of high-frequency phase currents (625Hz - 2,5kHz). Note: This error had no safety-related effect on other safety functions including SLT. Channeldescription changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4442 Bugfix: "EUS - count of physical reference system" was not taken into accountin the calculation of the RSP lag tolerance. If the parameter “EUS - Count of physical reference system” was configured >1, the RSP overrun tolerance was calculated incorrectly. As a result, the diagnosis of an impermissible movement of the axis in the switched-off state was reduced. As this diagnosis has no safety relevance, this error correction is only used to improve the diagnosis. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4441 Bugfix: Encoder exchange leads to invalid RSP encoder position on the other axes For modules with several axes, an encoder exchange resulted in the stored RSPposition becoming invalid on the axes on where no encoder exchange was executed. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4440 Bugfix: Slightly incorrect position and speed when using HIPERFACE DSL When using HIPERFACE DSL encoders, errors occurred in the calculated positionand speed. The relative error per revolution was one increment of the encoderresolution. As a result, the absolute position error became significant for large movements or corresponding unit parameterization. For an existing safety application, which are updated with a hardware upgrade version 2.5.0.0 or higher, the impact of this bugfix has to be re-qualified. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4439 Bugfix: The logger entry -2147298077/-2147302173 could be reported incorrectly The following logger entry could be reported incorrectly for certain encoder positions during homing. -2147298077/-2147302173: SMC FFS (Functional Fail Safe): SMP, SLP - INT32 overflow of S_SafePosition Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4438 New function: Deactivation of the safe monitoring of the motor holding brake output The safe monitoring of the holding brake output can be deactivated. Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4437 Improvement: SSO speed accuracy Correcting the PWM phase shift improves the speed accuracy of the safe speed observer (SSO) at higher speeds. This increases the applicability of the SSO for various applications. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4436 New function: Safe Speed Filter Support of Safe Speed Filter. Channel description changed: no Configuration description changed: yes Firmware changed: yes ID: SFXA-4435 Improvement: Error messages Structure and content of error messages has been improved. Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4434 Bugfix: The logger entry -2147297276 /-2147301372 was reported continuously in rare cases The following loggerentry was reported continuously if the communication withan HIPERFACE DSL encoder failed or was interrupted: -2147297276 /-2147301372: SMC: Encoder - Error during error handling of the encoder: Info0:0x000x, Info1:0xXXXX0002 Channel description changed: no Configuration description changed: no Firmware changed: yes ID: SFXA-4432 New function: Support of EnDat 3 encoders Support of the safe encoder interface 'EnDat 3 SafeMOTION'. Channel description changed: yes Configuration description changed: yes Firmware changed: yes Version 2.4.0.0: (V611) ID: 741855 Propagation delay statistics The Propagation delay statistics can now be read out. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741965 / Support ID: 400307322 Improved encoder error handling When an alarm bit occurs, the alarm register is read out explicitly before changing to the error state and the error information is entered in the SafetyLogger. EnDat communication is kept active for a few milliseconds sothat the ACP firmware can still read out and report the operating state errorsources. Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. A separate Loggerentry is generated if the encoder is not connected or an encoder timeout occurs. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741980 / Support ID: 400298548 Improved encoder error handling Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742050 / Support ID: 400339046 Error correction: SafeMOTION error 35016 can occur rarely during the transition from PreOp to Operational Error correction: SafeMOTION error 35016: SMC FS:Internal error, cross-communication of test points can occur rarely during the transition from PreOp to Operational due to a timeout of the processor. Channel description changed: No Configuration description changed: No Firmwarechanged: Yes ID: 742065 / Support ID: 400351082 Error correction: StatusHoming can be lost in case of SLT violation StatusHoming / safe position valid bit can be lost if the SLT torque limit isexceeded, triggeringthe SLT safety function. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742080 / Support ID: 400348100, 400341635, 400358931 Errors 7074, 7062, 7022, 7038,7048, 35244 were sporadically reported when switching on (power on). Thefollowing errors were sporadically reported during EnDat initialization triggered by switching on, a warm restart of the CPU or project download to the CPUor SafeLOGIC controller. NCT: 7074:Encoder: SafeMOTION error 7062: Encoder: SafeMOTION module not ready 7022: Encoder: Initialization is active 7038: Encoder: Position value not synchronous with absolute value 7048: Error during the reading of encoder memory 35244: Encoder - Received position not valid Safety Logger: 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000010 or 115956, -2147302156: SMC: Encoder - Received positionnot valid: Info0=0x000X,Info1=0x00000200 Channel description changed: No Configuration description changed: No Firmware changed: Yes Firmware:10\59314_1.fw(611) Version 2.3.0.0: (V600) ID: 714140 ACOPOSP3 SafeMOTION: Safe encoder interface "HIPERFACE DSL SafeMOTION" supported The safe encoder interface "HIPERFACE DSL SafeMOTION" is now supported for ACOPOS P3 SafeMOTION modules. -ACP10 version 5.13.0 -mappMotion version 5.13 -Automation Studio minimum version AS 4.6.1 Channel description changed: Yes Configuration description changed: Yes Firmware changed: Yes Version 2.2.0.0: (V590) ID: 665300 New function: Safe User Data - Torque Channel description changed: Yes Configuration description changed: Yes Firmware changed: Yes ID: 665305 Change / Improvement: Stabilization, increasing the availability of the Safe Speed Observer Channel description changed: No Configuration descriptionchanged: No Firmware changed: Yes ID: 665310 Error when testing the safe encoder mounting in combination with SSO The default valueof the safe encoder mounting check ("Encoder monitoring - Safe encoder mounting", "From motor data record") in combination with SSO incorrectly results in FAIL SAFE (FS). Error number -1073560440 / -1073556344. Workaround: Setparameter "Encoder monitoring - Safe encoder mounting" to "Approved by user". Channel description changed: No Configuration description changed: No Firmware changed: Yes ID:666750 New function: SafeCOMMISSIONING Channel description changed: No Configuration description changed: Yes Firmware changed: No Version 2.1.0.0: (V570) ID: 646955 / Support ID: 400245723 mapp Safety: The safe speed is provided in 32-bit format. The safe speed is providedin [units/s]. There is no scaling. -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: Yes Configuration descriptionchanged: Yes Firmware changed: Yes ID: 646970 Change: Reduction of errors in the current space vector by using the full Clarke transformation -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safetyversion 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 646980 Bug-fix: Firmware upgrade can result in a failsafe. (ony in HW Upgrade 1.10.2.0/V331) -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 646995 New function: Checking safe encoder mounting Setting the parameter "General settings- Encoder monitoring - Safe encoder mounting"to the value "From motor data record" enables the status of safe encoder mounting to be read from the stored motor data. -ACP10 version 5.07.0 -mapp Motion version 5.7.0 -mapp Safety version 5.7.0 -Automation Studio version AS 4.6.1.x Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 647335 mapp Safety:openSafety Safe DriveProfile for all modules Channel description changed: Yes Configuration description changed: Yes Firmware changed: Yes Version 1.10.4.0: (V351) ID: 741845 Propagation delay statistics The Propagation delay statistics can now be read out. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741995 / Support ID: 400298548 Improved encoder error handling Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741945 / Support ID: 400307322 Improved encoder error handling When an alarm bit occurs, the alarm register is read out explicitly before changing to the errorstate and the error information is entered in the Safety Logger. EnDat communication is kept active for a few milliseconds so that the ACP firmware can still read out and report the operating state error sources. Alarm bit errors during initialization are reported by a defined Logger entryand not by debugging information. A separate Logger entry is generated if the encoder is not connected or an encoder timeout occurs. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 741890 / Support ID: 400299371 Loss of safety connection Loss of safety connection, even though the parametrized "safe data duration" is longer than the network failure Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742025 Failsafe at every boot It could happen under rare conditions that the module is stuck in failsafe state at every boot, generating logger messages: -1073565951/-1073561855 "internal cross communication error EPS" or -1073565945/-1073561849 "Received CRC data is not equal to sent CRC data" Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 742095 / Support ID: 400348100, 400348100, 400358931 Errors 7074, 7062, 7022, 7038, 7048, 35244 were sporadically reported when switching on (power on). The following errors were sporadically reported during EnDat initialization triggered by switching on, a warm restart of the CPU or project download tothe CPU or SafeLOGIC controller. NCT: 7074: Encoder: SafeMOTION error 7062: Encoder: SafeMOTION module not ready 7022: Encoder: Initialization is active 7038: Encoder: Position value not synchronous with absolute value 7048: Error during the reading of encoder memory 35244: Encoder - Received position not valid Safety Logger: 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000010 or 115956, -2147302156: SMC: Encoder - Received position not valid: Info0=0x000X, Info1=0x00000200 Channel description changed: No Configuration descriptionchanged: No Firmware changed: Yes Version 1.10.3.1: ID: 729650 / Support ID: 400351082 Bug fix: Homing status can be lost if a SLT violation occurs The homing status respectively the safe position valid bit canbe lost when the SLT torque limit is exceeded and therefore the SLT safety functions are triggered. Automation Studio version: AS 4.2.5.0 Channeldescription changed: No Configuration description changed: No Firmware changed: Yes ID: 729660 / Support ID: 400339046 Solved problem: SafeMOTION error 35016 can occur rarely at the transition from PreOp to Operational Solved problem: SafeMOTION error 35016: SMC FS: internal error, cross communication of check points can occur rarely due to a timeout of the processor at the transition from PreOp to Operational. Channel description changed: No Configuration description changed: No Firmware changed: Yes Version 1.10.3.0: (V341) ID: 653015 Change: Reduction of errors in the current space vector by using the full Clarke transformation Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 653040 Change / Improvement: Stabilization, increasingthe availability of the Safe Speed ??Observer Channel description changed:No Configuration description changed: No Firmware changed: Yes ID: 653210 New function: Checking safe encoder mounting The information whether the encoder is safely mounted is read from the motor data stored in theencoder. If safety functions are used which require safe encoder evaluation and safe encoder mounting is not confirmed in the motor data (or the information is not available), it is automatically checked whether safeencoder monitoring is activated. If the configuration is wrong, the module changes into error state. When using third-party motors or motors without a stored motor data record, the automatic check can be deactivated by setting the parameter "General settings - Encoder monitoring - Safe Encoder Mounting" to "Approved by user". Channel description changed: No Configuration description changed: Yes Firmware changed: Yes Version 1.10.2.0: (V331) ID: 624770 / Support ID: 400224079 Error 7014 or7015 after ACOPOS startup If theencoder was used before the state "NotErrENC = TRUE" (see I/O Mapping of the SafeMOTION module), one of the followingerrors could have been reported: - 7014: Encoder: CRC error during parameter transfer - 7015: Encoder: Timeouterror during parameter transfer In addition, at least version 5.05.0 of ACP10 must be used to solve this problem. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624780 / Support ID: 400250882 Error 115958 und 115959 after ACOPOS startup When using an EnDat encoder, the following errors could be erroneously reported in rare cases during startup or encoder error acknowledgment: - 115958: SMC: Encoder - Initialization error, Info1=0x000000FF - 115959: SMC: Debug Information, Info1=0x23000000 - 115959: SMC: Debug Information, Info1=0x80400000 Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624785 / Support ID: 400251128 Network initialization accelerated Network initialization was accelerated for the followingcases: - Encoder not connected - Encoder defective - Unconfirmed change of encoder For this new function at least version V5.05.0 of ACP10 must be used. Channel description changed: No Configuration description changed: No Firmware changed: Yes ID: 624790 / SupportID: 400229368, 400248609 Logger entry 112174, 108078 Logger entry 112174,108078 could happen sporadically with large projects. Channel descriptionchanged: No Configuration description changed: No Firmware changed: No ID: 624865 Neue Funktion: Safely Limited Torque (SLT) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 624870 New feature: Safely Limited Speed with Safe Speed Observer (SLS with SSO) Channel description changed: No Configurationdescription changed: Yes Firmware changed: Yes ID: 624875 New feature: Blackout Mode (BM) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes ID: 624885 New feature: Safe Brake Test (SBT) Channel description changed: No Configuration description changed: Yes Firmware changed: Yes Version 1.10.1.4: (V321) ID: 601190 Display of the SafeModuleOK in Automation Studio The status "SafeModuleOK" is displayed in the IO mapping of the SafeMOTION module in Automation Studio. Channel description changed: Yes Configuration description changed: No Firmware changed: No Version 1.10.0.3: (V321) ID: 594440 Alignment of "SafeMotion" character The display ofthe "SafeMotion" character in the system designer was adapted. This is nota functional change. Channel description changed: No Configuration description changed: No Firmware changed: No Version 1.10.0.2: (V321) ID: 579575 Provide the internal cycle time for calculatingthe Safe Data Duration The hardware description has been adjusted so that the correct internal cycletime is used to calculate the "Safe Data Duration" using the Network Analyzer. Channel description changed: No Configuration descriptionchanged: Yes Firmware changed: No Version 1.10.0.1: (V321) ID: 556910 Error in HWX File: wrong HardwareModuleFamily Attribute HardwareModuleFamily erroneously set to "AcoposMulti". Channel description changed: No Configuration description changed: No Firmware changed: No Version 1.10.0.0: (V321) ID: 481995 HW upgrade for support of 8ESMC59316 Channel description changed: no Configuration description changed: no Firmware changed: no |
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| Versión | Idioma | Sistema operativo | Fecha | Tamaño | Tipo | Descargar |
| 2.4.0.0 | * | 30.09.2024 | 2 MB | EXE | AS6_HW_8ESMC59316.exe | |
| Descripción |
V6.0 HW Upgrade (8ESMC59316) Revision information 8ESMC59316 Version 2.4.0.0: First version for Automation Studio 6 |
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