ABB DI810 3BSE008508R1 Distributed control module

Minor faults logged multiple times when certain instructions are used. The same minor faults, typically a minor math-overflow error, may be logged more than once, depending on the type of instructions used in the program. For example, if in a task the program contained a Multiply instruction that logged a math overflow error as a minor fault, a GSV instruction in the same program will log the same fault when it should not.If you are online with one controller from two or more workstations and you alter the RPI setting for an I/O connection on one workstation, the change in RPI does not register on the other workstations. The change in RPI registers only if the altered RPI program is uploaded from the controller by the other workstations.

Unexpected motion can happen

 when you home a rotary axis of a SERCOS drive. A rotary axis of a SERCOS drive can move with unexpected motion if you use a Homing Offset when you home the axis. The axis starts to move at a high speed until a position error fault happens. Once the fault happens, the axis responds with the configured fault action. For example, the default fault action is Disable Drive. In that case, the controller disables the axis and the drive stops the axis.

This issue happens under this specific combination of circumstances.

 · The type of axis is AXIS_SERVO_DRIVE (SERCOS interface drive). 

· The Positioning mode of the axis is Rotary. 

· The axis has a Homing Offset that is near or greater than the Position Unwind value of the axis.

 · A Motion Axis Home (MAH) instruction executes when the axis is near its unwind position. For more information, see Knowledgebase technical note 34404.

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