INSTALLATION & UPGRADE INSTRUCTIONS

Transcription

1 INSTALLATION & UPGRADE INSTRUCTIONS SIEMENS AG A&D MC E5 Valid for SINUMERIK 840D Software Version Page 1 of 17

2 1 Requirements for Upgrading Data Backup Data backup with MMC Requirements Backup of NC data with MMC Data backup with MMC 103 / PCU Backing up the PLC program General Information General restrictions Software version display Frames Series start-up file Series start-up with MMC 103 software versions prior to Alarm Axis/spindle traversal from PLC Extended stop and retract (ESR) Compressor type COMPCAD Measurement Display of drive machine data New Functionality DRF with facing axis Deselection of DRF, $AA_OFF offset $AA_OFF in JOG mode Adjustable block change time Path axis motion with G Software cams Gear changes during DRY RUN and program testing Gear changes in synchronized actions or FC Fast retraction Electronic gearbox Extended stop and retract (ESR) Overlaid motion for orientation transformations Involute interpolation th degree polynomial Number of wait markers Reference point approach in follow-up mode Block-internal smoothing G Event-driven program calls Tool management Rotary axis positions Switching the exact stop conditions Basic PLC program / Toolbox Toolbox FC Machine control panel DRAM file system for cycle storage (option; MLFB 6FC5251-0AF00.0AA0) NCU link Master/slave for drives Gear changes in synchronized actions Individual axes Rigid tapping Constant cutting rate G96, G961 with ELG Synchronous spindle Page 2 of 17

3 4.31 Reset response for EGON (ELG) ELG links with curve tables Curve tables and COMPCAD NC commands for curve tables Curve tables and TRC NC command GOTOC Associated M0/M1 miscellaneous functions Frame extensions Extended interpolation of orientations Drive functions Supplementary Conditions Upgrading with channel axis gaps Auxiliary functions in OB F function output to PLC Associated miscellaneous functions Synchronous spindle Tool radius compensation Miscellaneous function M Coupled-axis combinations NCU link Alarm WAIT markers Program testing with coupled motion Axis combinations with NCU link Service drive diagnostics display Closed-loop control module Performance Errors Remedied from Software Version and Higher Page 3 of 17

4 The following instructions describe how to upgrade the software of the SINUMERIK 840D system to the latest product status Requirements for Upgrading System software Export-capable versions 6FC5250-6PX10-3AH0: NCU system software for 2 axes on PC card for NCU FC5250-6BX10-3AH0: NCU system software for 6 axes on PC card for NCU FC5250-6BY30-3AH0: NCU system software for 12 axes on PC card for NCU 572.3/573.2/573.3/ FC5250-6AY30-3AH0: NCU system software for 31 axes on PC card for NCU 572.3/573.2/573.3/573.4 Export-restricted versions 6FC5250-6BX30-3AH0: NCU system software for 12 axes on PC card for NCU 572.3/573.2 / 573.3/ FC5250-6AX30-3AH0: NCU system software for 31 axes on PC card for NCU 572.3/573.2 / 573.3/573.4 Tools - 6FC5252-6AX21-3AG0 :Toolbox V with basic PLC program PG/PC with STEP7, Version 4.02 or higher and online MPI connection capability - Current documentation for SW 6 with detailed information on functions. 2 Data Backup 2.1 Data backup with MMC Requirements The following cable connections are necessary: RS-232 interface between MMC and PG/PC for machine/drive and user data Backup of NC data with MMC Select start-up data in the "Data out" menu of the "Services" area. Back up the NCK data in archive format via RS-232 interface to the PG/PC separately from the PLC data (individual).!!! Notice!!! Compensation data are not backed up during the series start-up. The compensation data can be backed up individually on an external PC in the Services area by activating the "Data out" "Data" softkeys and selecting "Interpolator compensation", "Circle error compensation" and "Leadscrew error compensation". (Once the NCU has been upgraded, you can load the data back onto the NCK (Services area "Data in" softkey --- MD CEC_ENABLE or ENC_COMP_ENABLE for the appropriate axes has value "0"). 2.2 Data backup with MMC 103 / PCU 50 In the "Services" area, back up the upgrade backup file to hard disk ( Archive softkey) or onto an external medium in PC format (e.g. diskette or via RS-232 interface). Compensation data are backed up in the upgrade backup file. You can also back up the data of the individual areas separately in the "Services / Data management / Program data / NC-active data" area. e.g.: Open the "NC-active data" directory Select directories Page 4 of 17

5 Activate the Data out softkey Select RS-232 interface, diskette or archive on hard disk The data in the backup are displayed in the window. 2.3 Backing up the PLC program The PLC data backup is created in the "Services" area as part of the series start-up with the PLC in stop mode. A new basic PLC program must be included in order to upgrade the software to Version 6. It is thus necessary to create a new S7 project with the current PLC program and include the basic program in this project. Once the project has been created, it can be downloaded with S7 while the PLC is in stop mode. 3 General Information 3.1 General restrictions - The G643 function (block-internal smoothing) is released for tool change applications (e.g. optimization of the tool change position approach). It is not released for applications in the machining process. - The tool path velocity smoothing function is released for testing. - The dynamic path response function is not released. - The overlaid motion function for orientation transformations is released for testing. - The extended interpolation of orientations function is released for testing. - The simultaneous activation of 10 channels and 31 axes is no longer possible on the NCU The number is limited to eight channels. - The curve tables in D-RAM function is released for testing. - The Cartesian handwheel travel function (handling) is released for testing. - The block change in G0, G60 during acceleration (RTLIOF;IPOBRKA) function is not released. 3.2 Software version display The display of the NCK software version in the diagnostics window (header) and machine data has been modified in conformity with Catalog NC60. Example: D 06A.. 65 ph_km This display indicates the software for 6 axes (06A). This software runs on NCU The hardware reference is no longer given in the diagnostics window, but is specified indirectly via the number of axes (see item 1). Versions displayed with the PRELIMINARY suffix instead of the MLFB no. indicate that the software has been released for testing purposes only. 3.3 Frames If $MC_MM_SYSTEM_FRAME_MASK bit 1 = 1, the external work offset via G153 is suppressed. This response differs from other releases of Software Version The initialization of $MC_CHSFRAME_POWERON_MASK has changed. MD24008 is now initialized with zero (previously "one"). This means that the system frame is retained for scratching after Power ON/Reset. Page 5 of 17

6 3.4 Series start-up file The series start-up allows machines sharing the same design to be commissioned quickly and easily. The electronic configuration of such machines (e.g. NCU CPU, software) and the mechanical equipment must be identical. If the machines are not identical in this respect, the series start-up is not necessarily a suitable tool for commissioning. In this case, a different method should be employed for data backup (e.g. separate data backup with Initial.ini etc.), as it may be necessary to modify certain machine data. Particular attention should be paid to different memory limits of the NCUs. If the capacity is full, bottlenecks can arise after upgrading the NCK software or replacing an NCU. Before creating the data backups, it is advisable to check machine data $MN_UPLOAD_MD_CHANGES_ONLY. It should be initialized with the value "0" or "FF"hex. Other values such as "1" can cause problems when reading in the data backup following a software update. The value FFhex should be entered as a matter of preference. 3.5 Series start-up with MMC 103 software versions prior to 5.3 If a series start-up is created with NCK software versions higher than NCK , the user cycles are included twice. In NCK software versions higher than , a new "CMA_DIR" directory (cycles for machine manufacturer) is created on the NC. The MMC does not recognize this directory (in MMC versions higher than 5.3) and backs up the user cycles a second time. When the series start-up file is read in, the message "File exists, overwrite yes/no?" appears when the user cycles are detected. The user cycles already exist and do not need to be overwritten. 3.6 Alarm 6693 Alarm has been known to occur sporadically when the control is switched on. The alarm indicates that one or more files on the NC is no longer correct. A prolonged search is often necessary to locate these files. The alarm frequently concerns NRKDUMP.MPF. Alarm " 6693 File%1 lost" is now output. If the alarm occurs, the hotline should be notified and it should be established which file has been lost. If the file is required for machining, it must be re-loaded onto the control. 3.7 Axis/spindle traversal from PLC If a PLC axis is started in JOG mode in the Reset state, the NCK does not switch to the "active" channel status. The corresponding VDI signal is not enabled, however the axis moves. 3.8 Extended stop and retract (ESR) The systems for monitoring the software limits and operating range limits have not yet been implemented for the retract axis. 3.9 Compressor type COMPCAD The block memory of the compressor has been increased further for smoothing of the points with COMPCAD. Consequently $MC_MM_NUM_BLOCKS_IN_PREP should be set to >=50. The centralized data for activating COMPCAD is still $SC_CRIT_SPLINE_ANGLE. It specifies the angle at or above which the compressor leaves a corner. Reasonable values are between 10 and 40 degrees. The setting data has Siemens protection level and is initialized with a default of "36". It may only contain integers. If this setting data is zero, the "Option not available" alarm is output. The following machine data must also be enabled: MD28520=5, MD28530=5, MD28540=10 It is permitted to program the assignment X = <...> instead of X..., and the expression can also contain parameter calculations. A compression is only possible while an orientation transformation is active if the orientation is interpolated by means of rotary axis motion. Page 6 of 17

7 3.10 Measurement The measuring input status in DB10.DBX107.0 is only updated by axes on which real measuring systems are active Display of drive machine data In certain cases, drive machine data are no longer displayed after an NCK software upgrade on HMI versions 5.3.n of MMC 103 and version 6.0.n of HMI Advanced. This problem only occurs if the NCK software contains a new drive version with new machine data. Remedy: All files with the extension.acc should be deleted from the MMC/HMI. All components should then be booted together. The files are stored in the C:\mmc2\dg\tmp\ directory on the MMC 103, and in the F:\hmi_adv\dg\tmp\ directory on the HMI Advanced. 4 New Functionality 4.1 DRF with facing axis You can use machine data $MC_TOOL_PARAMETER_DEF_MASK to specify that only half the length of the defined increment is traversed during DRF handwheel travel. 4.2 Deselection of DRF, $AA_OFF offset The part program command CORROF can be used to trigger an axial deselection of the DRF offset and the position offset based on $AA_OFF. The deselection response of $AA_OFF on RESET can now be set using machine data $AA_OFF_MODE. 4.3 $AA_OFF in JOG mode The interpolation of the position offset is also performed as an overlaid movement in JOG mode when $AA_OFF is changed. The function is enabled by $MA_AA_OFF_MODE. 4.4 Adjustable block change time In addition to the previous end of motion condition, a block change can now take place within the braking ramp of a single-axis interpolation. The block change time is specified in setting data $SA_IPOBRAKE_BLOCK_EXCHANGE. 4.5 Path axis motion with G0 Path axes can be moved in either of two different modes during rapid traverse. The path axes are interpolated together or each path axis traverses as an individual axis. The mode is specified with $MC_G0_LINEAR_MODE. 4.6 Software cams Timer-controlled cam output allows the output of up to eight cams per interpolator cycle. The interaction of the cams (output according to priority) no longer applies. The introduction of way-time cams allows the implementation of a cam pulse duration independent of axis velocity, travel direction reversal and changes in the axis position (e.g. by preset). Page 7 of 17

8 4.7 Gear changes during DRY RUN and program testing The setting in $MA_SPIND_FUNCTION_MASK can be used to determine the gear change behavior when DRY RUN or program testing is active. The main effect is to decide whether or not the gear change is output when the above functions are active. System variable $P_GEAR returns the gear stage programmed in the part program (and, if appropriate, any gear stages not output to the PLC). $AC_GEAR can be used to read the active gear stage. 4.8 Gear changes in synchronized actions or FC18 When specifying the spindle rotation direction and speed from the PLC in FC18, the gear stage which matches the speed can be determined and engaged automatically. This is equivalent to the M40 functionality in the part program. M functions M40 to M45 can now also be programmed in synchronized actions. 4.9 Fast retraction The target position can now be approached with all axes during fast retraction. Previously, it was only possible for one axis to perform a fast retraction. When a frame rotation is active, the retraction path components of the axes involved in the frame are also traversed Electronic gearbox It is now possible, using curve tables, to implement non-linear links in the electronic gearbox Extended stop and retract (ESR) The ESR functionality allows a flexible response to selectable error sources for maximum workpiece and tool care and personal safety & machine protection. Particularly in gear component manufacture, with its expensive workpieces and tools, great significance is attributed to fast, low-wear stop and retract functionality Overlaid motion for orientation transformations During active orientation transformations (e.g. Trafo5), movements whose direction depends on the current tool orientation can be superimposed in real time on the programmed motion. Such movements are used, for example, for the purposes of temperature compensation. In the case of this function, the temperature compensation values are assigned to the tool, and no longer to the machine axes. Compensation can be made for changes resulting from expansion occurring, for example, in 5-axis heads (due to longitudinal expansion of the tool spindle) and rotations arising from changes in the tool orientation Involute interpolation The "involute interpolation" function allows a spiral-shaped contour in the form of a circle involute to be programmed and interpolated in an NC block. The advantage of this function is accurate, smooth description of the contour and reduced fluctuation of the path velocity as compared with interpolation of the approximated contour. The result is usually higher path velocity and reduced machining times th degree polynomial The extension of NC programming to include 5th degree polynomials allows the approximation of defined contours to be improved without generating blocks with short traversing paths. Axis curves with continuous acceleration can also be programmed as a result. The standard polynomial programming method is used to program 5th degree polynomials Number of wait markers 99 WAIT markers are now available for NCU and Page 8 of 17

9 4.16 Reference point approach in follow-up mode The homing of measuring systems with reference to an encoder zero marker (reference point approach) is now also possible in follow-up mode Block-internal smoothing G643 A separate traversing block is not generated in the G643 function. Instead, the smoothing movement is initiated directly by the programmed NC blocks. This allows axis-specific definition of the smoothing range. In addition, the block transitions exhibit continuous acceleration in all axes, unlike the existing smoothing function which generates block transitions with continuous velocity only. G643 can be configured such that either the maximum axis deviations or the maximum contour deviation can be specified. In the case of rotary axes, which are used for tool orientation, it is possible to specify the maximum angle deviation of tool orientation. One of the benefits of this feature is that the smoothing tolerance for tool orientation can be set independent of the special machine kinematics. Activation is possible only if the polynomial interpolation or orientation transformation options have been enabled. Machine data $MC_SMOOTHING_MODE is used to set the response of smoothing functions G642 and G643. The tolerances are programmed with setting data $SC_SMOOTH_CONTUR_TOL, $SC_SMOOTH_ORI_TOL. Block transitions are always smoothed independent of the overload factor setting by enabling $MC_IGNORE_OVL_FACTOR_FOR_ADIS=TRUE. The following machine data must be enabled in order to use G643 in accordance with the restriction specified in 3.1: MD28520=5, MD28530=5, MD28540= Event-driven program calls In certain cases it is necessary to run a user program on the occurrence of a specific event. This allows the user to specify basic function settings or initialize variables by program command. Machine data $MC_PROG_EVENT_MASK can be used to define a channel-specific setting that determines the event (start of part program, end of part program, operator panel reset or power-up) in response to which the user program is to be activated. The program must be stored under the fixed path name /_N_CMA_DIR/_N_PROG_EVENT_SPF. System variable P_PROG_EVENT can be used in the user program to check which event activated the program Tool management The new functions are described in the "FB Tool Management SW 6" manual Rotary axis positions When calculating rotary axis positions in machining cycles, you should always check in the case of modulo axes that the calculated position is within 360 degrees. The modulo range of a rotary axis can also be set not equal to 360 by machine data ($MA_MODULO_RANGE). This requires extra program branches and machine data read access in the machining cycles. The MODAXVAL() function can be used to calculate a modulo position, in order to reduce the processing time of a machining cycle. The new function <modulo value> = MODAXVAL(<axis>, <value>) can be used to calculate the modulo value for a specified axis. Page 9 of 17

10 4.21 Switching the exact stop conditions When the exact stop is active (either non-modally with G9 or modally with G60), the exact stop conditions G601, G602 and G603 can be used to specify how accurately the corner point is approached and when the change to the next block takes place. This allows corners to be rounded differently, according to the dynamic response of the axes and the path velocity. The exact stop conditions are modal and effective only when G60 or G9 is active. In the case of certain traversing movements (e.g. infeed motion), it is practical to activate a "rough" exact stop condition automatically without programming one explicitly. This can be achieved, for example, by using the "rough positioning" window or the "setpoint reached" condition automatically for rapid traverse (G00). A machine data can be used to set which exact stop condition is automatically active Basic PLC program / Toolbox Toolbox SIMATIC-compliant Toolbox Installshield with automatic registration of the basic program library. Runs on Windows 95/98/2000/ME, Windows NT FC21 Function 7 of FC21 can be used to transfer byte DB[axis].DBB4 to the NCK, independent of the cyclic updating of the interface. This byte includes the axis-specific traversing and stop signals Machine control panel MCP blocks FC19, FC24, FC25 and FC26 can now be configured flexibly using axis tables containing axis number references DRAM file system for cycle storage (option; MLFB 6FC5251-0AF00.0AA0) The passive file system of the NCK (part program memory) contains files from Siemens (e.g. cycles), the machine manufacturer and end user (e.g. part programs). These files are occasionally modified online or remain unchanged (e.g. standard cycles). The complete file system is stored in SRAM. The advantage of SRAM compared with DRAM is that the memory contents are retained after the control is switched off. However, this capability frequently conflicts with the desire of the user to have as much part program memory as possible. Any file which is not modified online does not have to be stored in the SRAM. Such files can be stored in background memory and loaded into DRAM each time the control is switched on. This presupposes the availability of an alternative DRAM file system and the knowledge of which files remain unchanged until the next time the control is switched off. Machine data $MN_DRAM_FILESYSTEM_MASK and $MN_MM_DRAM_FILE_MEM_SIZE can be used to specify the cycles (CST or CMA) which are stored and the available DRAM memory capacity. This function can be used only in combination with HMI Advanced Version NCU link This function has been implemented in accordance with the Description of Functions and the stated restrictions Master/slave for drives The "Master/slave" function is implemented as part of the system software in software package 6 and higher, and is no longer stored on the technology card. The MD numbers have changed accordingly. The name allocation remains the same, but the numbers now begin at 37xxx (previously: 63xxx). This function is implemented for the 6/12 /31-axis software. Page 10 of 17

11 4.26 Gear changes in synchronized actions M functions M40 to M45 can now also be programmed in synchronized actions. M41...M45 selects the first to fifth gear stage from the part program. Please note that an "axis replacement" is necessary in order to run the function and that the spindle is in a neutral state at the end of the gear change (same response as M3..M5 programming) Individual axes The PLC can assume control of an axis in order to exclude it from the NC program sequence. Axes which are started from the PLC (e.g. with FC18) in this case no longer respond to channel signals. An axis which has been started from the PLC can no longer be stopped by an NC stop Rigid tapping The spindle speed limit for rigid tapping with G331, G332 can be configured in $MA_35550 DRILL_VELO_LIMIT Constant cutting rate G96, G961 with ELG The coupling component is now included in the facing axis position when calculating the spindle speed Synchronous spindle In the synchronous spindle coupling, the selection and deselection of position control is implicit. The function extension is not available for the NCU link Reset response for EGON (ELG) $MC_RESET_MODE_MASK can be used to specify the response at reset/end of part program. Bit 15 = 0: Active electronic gears remain active at reset/end of part program. Bit 15 = 1: Active electronic gears are deactivated at reset/end of part program ELG links with curve tables ELG links with curve tables can now also be activated with EGON Curve tables and COMPCAD The COMPCAD compressor type can be activated when defining a curve table NC commands for curve tables Two further NC commands, CTABSSV and CTABSEV, have been added to the "curve tables" function. These new NC commands return the start or end value of the slave axis of the curve table segment for a specific master value. This allows you, for example, to read the values programmed for the slave axis Curve tables and TRC It is possible for tool radius compensation to be activated for curves with polynomials in a curve table. Similarly, segments in which an axis (slave or master axis) is not moved can be included in a curve table NC command GOTOC In the existing jump commands GOTOF and GOTOB the direction of the jump is specified. As an extension to this feature, a jump command has now been implemented with the vocabulary word GOTOC. Page 11 of 17

12 This command searches for the jump mark first forwards, i.e. from the program line following the GOTOC command towards the end of the file, and then backwards, i.e. from the program line containing the GOTOC command towards the start of the file. As with GOTOF/GOTOB, a label or a block number can be specified as the jump mark Associated M0/M1 miscellaneous functions The M0 functionality (program stop functionality) can be assigned to a user-configured M function with $MC_AUXFU_ASSOC_M0_VALUE. This miscellaneous function with the value from $MC_AUXFU_ASSOC_M0_VALUE is then available in addition to the pre-defined M0 miscellaneous function, however with the same M0 functionality. The M1 functionality (conditional stop) can be assigned to a user-configured M function with $MC_AUXFU_ASSOC_M1_VALUE. This miscellaneous function with the value from $MC_AUXFU_ASSOC_M1_VALUE is then available in addition to the pre-defined M1 miscellaneous function, however with the same M1 functionality Frame extensions The function extensions are described in the documentation under the heading "System frames in version 6.1 and higher" Extended interpolation of orientations With extended interpolation of orientations, orientation changes on any outside taper surface in space can be described Drive functions The following table lists drive functions and values which differ from module to module: Function Standard 2 Performance 1 Performance 2 CCU3 1-axis 2-axis 1-axis 2-axis (2-axis) (6-axis/810D) Pulse suppression via no no yes yes NCK (Safety) Encoder limit freq. 200kHz 300kHz 350kHz 300kHz direct measuring sys. Motor data blocks no no yes yes extension from 2 to 4 for MSD Actual speed filter no no yes yes analog 611U i 2 t power limitation no no yes yes Minimum current controller cycle Minimum speed controller cycle Minimum position controller cycle Speed controller rise time Reference frequency of closed speed control loop 125µs 500µs 62.5µs 125µs 62.5µs 156.5µs standard (125µs optional) 125µs 500µs 62.5µs 125µs 62.5µs 312µs standard (125µs optional) 2ms 4ms 0.5ms 1ms 0.5ms 1.5 ms: up to 3 axes 2.5 ms: 3 or more axes (2.5ms standard) 1.4 ms 4 ms 0.8ms 1.4ms 0.8ms approx. 1.4ms 550Hz 160Hz 1kHz 550Hz 1kHz at 125µs: approx. 550Hz; at 312µs: approx. 300Hz 18,000rpm ,000rpm 42,000rpm 18,000rpm Max. motor speed (4-pole) Max. electrical 600Hz 1200Hz 600Hz 1400Hz 600Hz fundamental frequency for motor Smooth running 0.2µm 1.5µm 0.1µm 0.2µm 0.1µm approx. 1.5µm Pulse multiplication Page 12 of 17

13 5 Supplementary Conditions 5.1 Upgrading with channel axis gaps If the channel axis definition contains gaps and you upgrade from a software version prior to to version 6, the work offsets must be entered manually or the series start-up file read in again without clearing the NC. 5.2 Auxiliary functions in OB40 Auxiliary functions in the following combination are sporadically not detected on the PLC. H/T function extension in OB40 (parameter IRAuxfuT/H =true in FB1) In part program: m=qu(55) h2=33 The H function is sporadically lost. Remedy: Program m F function output to PLC If MD22200=1 and MD22240=1 (i.e. F function output to PLC), the M8 auxiliary function which is decoded in the following block N10 g1 x100 m8 f1000 is not output to the PLC interface. Remedy: Decode the M function and generate a dynamic signal. 5.4 Associated miscellaneous functions The NCK to PLC VDI signal "PLC associated M01 is active" DB[channel].DBX318.5 is not set. 5.5 Synchronous spindle In a cross-channel synchronous spindle link, a setpoint jump can occur on the slave spindle if the master spindle is changed to a different channel after the link has been established. Remedy: Use spindle names instead of axis names to define the link. If the synchronous spindle link is activated while the master spindle is in an acceleration phase, the slave spindle accelerates at a higher rate than entered in the MD. Alarms such as contour monitoring can occur. When the synchronous spindle link is activated, all spindles involved in the link must have been enabled. If not, a position discrepancy between the master and slave spindle can occur. 5.6 Tool radius compensation When CDON, KONT is active, floating-point calculation errors can occur if the radius offset matches the traversing distance with the result that no motion occurs. Remedy: Change the programmed distance by 0.001mm. 5.7 Miscellaneous function M32 The default of 32 in MD10714 causes M32 to have the same effect as M30 (end of program). MD10714 must be changed from 32 to -1 in order to retain the old functionality. Page 13 of 17

14 5.8 Coupled-axis combinations When activating coupled-axis combinations via synchronized actions or in cross-channel configurations, the user must ensure that the control parameters (e.g. acceleration, velocity) of the slave axis are maintained. (In such cases, the NC does not check). 5.9 NCU link If NCUs are to be connected using the NCU link function, NCUs of the same type (MLFB) must be used. If a link connection is to be configured with different interpolator cycles, the basic system cycles on both systems must be the same. Otherwise, alarm 4013 is output with error code SYSCLOCK_SAMPLE_TIME_RATIO Alarm Alarm or can occur when frames are loaded via the HMI followed by a program start WAIT markers Channels are synchronized by means of WAIT markers. If a REPOSA is triggered while a channel is at a WAIT marker, and a channel-specific delete distance-to-go is initiated in addition to the REPOSA, the WAIT marker is acknowledged. Consequently the channel synchronization is lost Program testing with coupled motion If a coupled-axis combination is active when the program testing function is selected, system error 1016, can occur Axis combinations with NCU link In axis combinations where the axes are on different NCUs, different dead times can cause dynamic link errors on the NCUs Service drive diagnostics display The display of terminal 64 is not updated in the drive diagnostics display; the value remains static at zero Closed-loop control module Performance 2 Hybrid operation of the new measuring circuit module Performance 2 and older closed-loop control modules is not permitted at present. Page 14 of 17

15 6 Errors Remedied from Software Version and Higher BRKdb05765 BRKdb06105 BRKdb06351 CHMdc06709 CHMdc06837 CHMdc06838 ERLde37381 ERLde37828 ERLde38756 ERLde38938 ERLde39438 ERLde40923 ERLde41190 ERLde41695 ERLde42080 ERLde42198 ERLde42600 ERLde42806 ERLde43137 ERLde43387 ERLde43419 ERLde43491 ERLde43522 ERLde43524 ERLde43553 ERLde43631 ERLde43687 ERLde43711 ERLde43803 ERLde43815 ERLde43826 ERLde43878 ERLde43881 ERLde43882 ERLde43883 ERLde43898 ERLde44034 ERLde44068 ERLde44090 ERLde44124 ERLde44222 ERLde44336 ERLde44379 ERLde44404 ERLde44511 ERLde44698 MGLdm00062 MGLdm00071 MGLdm00074 MGLdm00079 SWBds04330 SWBds04473 BRKdb02251 BRKdb05645 BRKdb05775 BRKdb05986 BRKdb06008 BRKdb06063 BRKdb06172 BRKdb06184 BRKdb06222 BRKdb06231 BRKdb06235 BRKdb06247 BRKdb06255 BRKdb06273 BRKdb06293 CHMdc04854 CHMdc06135 CHMdc06265 CHMdc06311 CHMdc06597 CHMdc06667 CHMdc06668 ERLde26457 ERLde26703 ERLde31613 ERLde32524 ERLde36500 ERLde37282 ERLde37659 ERLde38177 ERLde38791 ERLde40188 ERLde40709 ERLde40796 ERLde40816 ERLde41069 ERLde41194 ERLde41230 ERLde41458 ERLde41636 ERLde41647 ERLde41803 ERLde42091 ERLde42108 ERLde42113 ERLde42209 ERLde42213 ERLde42313 ERLde42324 ERLde42365 ERLde42413 ERLde42419 ERLde42424 ERLde42620 ERLde42661 SWBds04015 ERLde42687 ERLde42724 ERLde42753 ERLde42774 ERLde42779 ERLde43041 ERLde43042 ERLde43056 ERLde43059 ERLde43065 ERLde43072 ERLde43085 ERLde43087 ERLde43088 ERLde43117 ERLde43148 ERLde43190 ERLde43203 ERLde43204 ERLde43223 ERLde43232 ERLde43233 ERLde43234 ERLde43264 ERLde43318 ERLde43350 ERLde43361 ERLde43362 ERLde43439 ERLde43490 MGLdm00039 SWBds04201 SWBds04210 SWBds04260 BRKdb05707 BRKdb05908 BRKdb05911 BRKdb05935 BRKdb05954 BRKdb05973 BRKdb05974 BRKdb05975 BRKdb05987 BRKdb05993 BRKdb06009 BRKdb06047 BRKdb06103 ERLde31278 ERLde37570 ERLde37630 ERLde37677 ERLde38257 ERLde38791 ERLde38900 ERLde38915 ERLde39592 ERLde39646 ERLde39926 ERLde40084 ERLde40653 ERLde40775 ERLde40833 ERLde40938 ERLde41160 ERLde41171 ERLde41249 ERLde41309 ERLde41333 ERLde41416 ERLde41508 ERLde41570 ERLde41629 ERLde41707 ERLde41814 ERLde41822 ERLde41836 ERLde41889 ERLde42018 ERLde42048 ERLde42068 ERLde42082 ERLde42104 ERLde42105 ERLde42135 ERLde42264 ERLde42311 ERLde42369 ERLde42370 ERLde42373 ERLde42385 ERLde42418 ERLde42421 Page 15 of 17

16 Page 16 of 17 ERLde42428 ERLde42487 ERLde42521 ERLde42540 ERLde42559 ERLde42684 MGLdm00026 SWBds03017 SWBds04270 SWBds04311 BRKdb03875 BRKdb05319 BRKdb05626 BRKdb05638 BRKdb05708 BRKdb05725 CHMdc06329 ERLde26178 ERLde28429 ERLde31201 ERLde31961 ERLde33033 ERLde34214 ERLde36148 ERLde37126 ERLde37673 ERLde37779 ERLde38278 ERLde38734 ERLde39002 ERLde39117 ERLde39347 ERLde39353 ERLde39421 ERLde39467 ERLde39509 ERLde39522 ERLde39525 ERLde39599 ERLde39627 ERLde39643 ERLde39664 ERLde39667 ERLde39679 ERLde39805 ERLde39968 ERLde39991 ERLde40003 ERLde40129 ERLde40146 ERLde40176 ERLde40289 ERLde40330 ERLde40353 ERLde40375 ERLde40386 ERLde40405 ERLde40450 ERLde40575 ERLde40583 ERLde40625 ERLde40700 ERLde40708 ERLde40736 ERLde40809 ERLde40823 ERLde40844 ERLde40880 ERLde40946 ERLde40950 ERLde40955 ERLde41104 ERLde41135 ERLde41172 ERLde41185 ERLde41189 ERLde41197 ERLde41199 ERLde41211 ERLde41325 ERLde41357 ERLde41391 ERLde41461 ERLde41682 MGLdm00005 MGLdm00013 SWBds03458 SWBds04227 SWBds04228 SWBds04239 SWBds04256 BRKdb03206 BRKdb05280 BRKdb05375 BRKdb05388 BRKdb05475 BRKdb05487 BRKdb05495 BRKdb05546 BRKdb05565 BRKdb05592 BRKdb05596 BRKdb05612 BRKdb05613 BRKdb05645 CHMdc02766 CHMdc03315 CHMdc05749 CHMdc05867 CHMdc05903 CHMdc06163 CHMdc06164 CHMdc06204 ERLde23483 ERLde23923 ERLde26606 ERLde29495 ERLde31941 ERLde32008 ERLde32039 ERLde32546 ERLde32797 ERLde33417 ERLde33475 ERLde33629 ERLde34056 ERLde34075 ERLde34076 ERLde34877 ERLde34908 ERLde35011 ERLde35928 ERLde36011 ERLde36360 ERLde36366 ERLde36540 ERLde36616 ERLde36772 ERLde36803 ERLde36932 ERLde36999 ERLde37143 ERLde37146 ERLde37160 ERLde37222 ERLde37234 ERLde37278 ERLde37279 ERLde37353 ERLde37436 ERLde37544 ERLde37655 ERLde37673 ERLde37730 ERLde37816 ERLde38075 ERLde38096 ERLde38101 ERLde38119 ERLde38152 ERLde38184 ERLde38188 ERLde38211 ERLde38212 ERLde38248 ERLde38254 ERLde38256 ERLde38322 ERLde38328 ERLde38331 ERLde38351 ERLde38352 ERLde38354 ERLde38403 ERLde38427 ERLde38443 ERLde38456 ERLde38495 ERLde38552 ERLde38598 ERLde38621 ERLde38643 ERLde38646 ERLde38672 ERLde38705 ERLde38717 ERLde38718 ERLde38750 ERLde38787 ERLde38817 ERLde38946 ERLde38949 ERLde39046 ERLde39075 ERLde39121 ERLde39130 ERLde39156 ERLde39158 ERLde39166 ERLde39178 ERLde39192 ERLde39255 ERLde39298 ERLde39433 ERLde39436 ERLde39438 ERLde39465 ERLde39547 ERLde39571 ERLde39596 ERLde39700 SWBds04037 BRKdb04616 BRKdb05148 BRKdb05178 BRKdb05189

17 Page 17 of 17 BRKdb05210 BRKdb05264 BRKdb05277 BRKdb05280 BRKdb05288 BRKdb05290 BRKdb05320 BRKdb05328 BRKdb05331 BRKdb05412 CHMdc04751 CHMdc05318 CHMdc05439 CHMdc05569 CHMdc05678 CHMdc05685 CHMdc05690 CHMdc05691 CHMdc05732 CHMdc05818 ERLde08149 ERLde31609 ERLde31691 ERLde32389 ERLde33375 ERLde33660 ERLde33663 ERLde33755 ERLde33806 ERLde33814 ERLde33872 ERLde33985 ERLde34071 ERLde34153 ERLde34214 ERLde34231 ERLde34740 ERLde34749 ERLde34799 ERLde34807 ERLde34808 ERLde34873 ERLde34886 ERLde34911 ERLde35011 ERLde35157 ERLde35161 ERLde35299 ERLde35375 ERLde35379 ERLde35386 ERLde35409 ERLde35414 ERLde35459 ERLde35488 ERLde35535 ERLde35556 ERLde35581 ERLde35583 ERLde35586 ERLde35728 ERLde35790 ERLde35833 ERLde35839 ERLde35879 ERLde35891 ERLde35905 ERLde35910 ERLde35927 ERLde35951 ERLde35993 ERLde35994 ERLde35995 ERLde36010 ERLde36059 ERLde36067 ERLde36098 ERLde36106 ERLde36118 ERLde36131 ERLde36145 ERLde36159 ERLde36174 ERLde36261 ERLde36274 ERLde36276 ERLde36302 ERLde36347 ERLde36370 ERLde36373 ERLde36414 ERLde36415 ERLde36417 ERLde36444 ERLde36454 ERLde36508 ERLde36560 ERLde36574 ERLde36584 ERLde36585 ERLde36601 ERLde36634 ERLde36715 ERLde36732 ERLde36771 ERLde36780 ERLde36795 ERLde36886 ERLde36907 ERLde36909 ERLde36917 ERLde36942 ERLde36969 ERLde37114 ERLde37124 ERLde37214 ERLde37215 ERLde37248 ERLde37249 ERLde37300 ERLde37303 ERLde37348 ERLde37351 ERLde37353 ERLde37373 ERLde37395 ERLde37478 ERLde38066 ERLde38139 SWBds03843