================================================================================
  6.14 Build 20260111
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20260111
E1200 (SG5):		    Firmware Version 6.10 Build 20260111
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20260111
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20260111
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS, FSoE
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- MC-SW SG6: Source for FF Damping made selectable between demand velocity and 
  actual velocity. (D_F_F1227). 

Fixed Bugs:
- LinMot-Talk: Compare Parameter function can display incorrect values, when there 
  is a scale defined (e.g. rotary units or gripper). Fixed. (D_L_B1067)
- Intf PL SG6: In DS402 mode, MC_StateM_HomingMode is incorrectly set to 0xFF when 
  object 6098h (DS402_HomingMethod) is written to with 0xFF via the controller. 
  Fixed. (D_F_B1246).
- Install-Script: for B8050ML-IP, the wrong interface tree has been installed. 
  Fixed. (D_F_B1247).
- OS SG6: If the IP address of an E1450 is configured via DHCP, this causes a trap 
  in the drive with certain settings of the DHCP server. Fixed. (D_F_B1248). 
- Intf PL netx SG6: When disconnecting and reconnecting the Powerlink cable, there 
  may be a slight shift in the timing of the interrupts from the netx. As a result, 
  the input data is not updated in time and telegram failures occur in the input data. 
  Fixed. (D_F_B1249). 
- OS SG6: Writing correction tables to ROM in combination with certain interfaces 
  causes a system crash. Fixed. (D_F_B1250). 

================================================================================
  6.14 Build 20251001
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20251001
E1200 (SG5):		    Firmware Version 6.10 Build 20251001
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20251001
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20251001
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS, FSoE
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- LinMot-Talk: Motor wizard supports the 3 finger gripper. (D_L_F1136). 

Fixed Bugs:
- FW Installation: Firmware cannot be installed on E1450-MI over config Ethernet 
  due to timeout. Fixed. (D_L_B1063).
- OS SG6: netXFrameWork: With 2S safety drives with Ethernet IP and safety via I/Os, 
  an internal error occurs in the SM02 safety module because communication with the 
  SM02 is interrupted. This is no safety issue. Fixed. (D_F_B1244).
- EtherNet/IP: missing file EDS 1V2 for C1251. Added. (D_F_F1222).
- LinMot-Talk: when scanning the drives have not been displayed. Fixed. (D_L_B1064)
- Interface PN: Life sign errors with new netx stack when CAC > 1; new stack for 
  included, which solves start-up problems. Fixed. (D_F_B1245).
- Interface PD: Tolerance for missing telegrams increased. (D_F_F1223)

  
================================================================================
  6.14 Build 20250901
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20250901
E1200 (SG5):		    Firmware Version 6.10 Build 20250901
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20250901
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20250901
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS, FSoE
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- OS-SW SG6: Startup of the drive can be delayed by a parameter (UPID 0012h). 
  (D_F_F1221)

Fixed Bugs:
- sercos MI SG6: If errors in the drive are acknowledged via a bit in the Consumer 
  RTB word container (S_0_0145), the drive status and C1D are not reset correctly. 
  Fixed. (D_F_B1240).
- MC-SW SG6: Error log entries haven’t been logged. Fixed. (D_F_B1242).
- MC-SW SG6: Strange behavior Speed limiter in current command mode with command 
  current 0. The speed limiter direction was not always correctly set. Fixed. (D_F_B1241).
- Intf PN: the source address in safety Tlg 30 was wrong. New GSDML file for C1251 added. 
  Fixed. (D_F_F217)
- LinMot-Talk Motor-Wizard: sometimes, wrong version of motor file was opened. 
  Fixed. (D_L_B1062). 
- PN MI SG6: Sometimes Profidrive devices are not included in network at startup, 
  especially with SIMOTION master. Fixed. (D_F_B1243). 

================================================================================
  6.14 Build 20250725
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20250725
E1200 (SG5):		    Firmware Version 6.10 Build 20250725
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20250725
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20250725
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS, FSoE
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- MC-SW C1250: The brake mode when PWM is disabled can be turned on or off. 
  By default the brake mode is turned on. Parameter UPID 0x13CC added. (D_F_F1219a).
- MC-SW C1250: Missing motion command 0x0D2y (Predef VAI Increment Act Pos by Cmd Tab Var1) 
  added. (D_F_F1220).

Fixed Bugs:(
- MC-SW C1250: 3 phase motors without defined Torque Constant had 2 times too high 
  back EMF-value. Fixed. (D_F_B1236). 
- Motor-Wizard: the proposed PID values for the grippers can be incorrect in the first run. 
  Fixed. (D_L_B1059).
- Sercos Interface: the change from 'Drive Halt' to 'Drive in Operation' or the other way 
  round, has sometimes performed faulty. Fixed. (D_F_B1238)
- OS SG6: From the fieldbus reading of ENUM_DIR_8 parameters was not possible. 
  Fixed. (D_F_B1239).


================================================================================
  6.14 Build 20250626
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20250626
E1200 (SG5):		    Firmware Version 6.10 Build 20250626
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20250626
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20250626
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS, FSoE
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
 - MC-SW C1250: When power stage is disabled, the power stage will brake the motor 
   (by eddy current). The eddy current brake does not work, when STO is active. (D_F_F1219)

Fixed Bugs:
- Powerlink MI: Stack version updated from 5.1.0.5 to 5.3.0.0, which includes 
  several bug fixes, e.g. routing problems. Fixed. (D_F_B1235)
- MC SW: MC command 0x049y did not work anymore. Fixed. (D_F_B1233)
- PD on TPS1 (not MI): no response on telegram 9, when IRT is activated. 
  Fixed. (D_F_B1232)
- LinMot-Talk: Motor wizard page Homing3: the minimal and maximal positions were 
  not correcty displayed. Fixed. (D_L_B1054)
- LinMot-Talk: Motor wizard: the revolution value was always 0, it was not calculated. 
  Fixed. (D_L_B1056).
- Intf Powerlink NX (MI): synchonization of powerlink bus cycle with MC-SW was sometimes 
  jittering. Fixed. (D_F_B1234). 

================================================================================
  6.14 Build 20250430
================================================================================

LinMot-Talk 6 Program Version 6.14 Build 20250430
E1200 (SG5):		    Firmware Version 6.10 Build 20250430
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20250430
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.14 Build 20250430
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- MC-SW SG6: New motion command go to pos from act pos V=0 with I-Reset added. 
  Command 0x0DAx. (D_F_F1215).
- MC-SW: Positions recovery absolute for gripper motors added. (D_F_F1216). 
 

Fixed Bugs:
- OS SG6: PNP did not work for motors, which do not support PNP+ in HW and which 
  are programmed with FW V1.4. Fixed. (D_F_B1226).
- C1251-2S with EtherNet/IP: Installation did not work correctly because of wrong 
  tree ID. Fixed. (D_F_B1227).
- OS SG6: Config Ethernet over realtime bus did not work. The drive has trapped 
  when login was initiated. Fixed. (D_F_B1228).
- Intf CC-Link SG6: The vendor code for CC Link interfaces was not correct. 
  Fixed. (D_F_B1230). 
- Intf Powerlink: SG6: The homing mode “Actual Position” has not been executed. 
  Fixed. (D_F_B1231). 

================================================================================
  6.13 Build 20250305
================================================================================

LinMot-Talk 6 Program Version 6.13 Build 20250305
E1200 (SG5):		    Firmware Version 6.13 Build 20250305
A1100/C1100/I1150 (SG7):	    Firmware Version 6.13 Build 20250305
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.13 Build 20250305
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- LinMot-Talk: LinRS Testtool improved. Button “Message to Data” added, the calculation 
  of the header with length and CRC will be done and the result is filled in the ready to 
  send data edit box. (D_L_F1080)
- MC-SW: SG6 MI-Drives: Support of analog current command mode added. (D_F_F1206).
- Intf PD SG6: Support of ctrl word abort bit with Std Tlg 9 added. (D_F_F1102).
- Intf PD SG6: Support of open holding brake with Siemens Tlg 105 added. (D_F_F1099)
- LinMot-Talk: Motor Wizard: Cable definition page improved. Motor and extension cable 
  clarified. (D_L_F1082). 
- LinMot-Talk: motor wizard: support gripper modules for robotics. Fixed. (D_F_B1211).
- Gripper motors supported. (D_L_F1096).
- Intf PL DS402: The scaling factor for the DS402 parameter 6077h had to be changed from 
  1000 to 5000 so that this value has the same reference values as 6075h and 6076h. 
  This means that all three values have the same reference (RatedTorque corresponds 
  to 20% of the Max.Torque). (D_F_B1221).
- LinMot-Talk: will generate a warning, if the firmware folders in \exe differs from 
  \AppData. The folder OldReleases is not regarded. (D_L_F1100). 

Fixed Bugs:
- LinMot-Talk: Save configuration was stucked, if not working with the default Baud rate. 
  Fixed. (D_L_B1016)
- OS SG6: Behavior of byte to byte timeout was wrong. The buffer were not reset. 
  Fixed. (D_F_B1191)
- LinMot-Talk: Control Panel: on C1250-MI-0S the X33 instead of interface was taken for 
  the voltage enable. Fixed. (D_L_B1018).
- LinMot-Talk: Motor Wizard page for sensors fixed. Design was wrong. Fixed (D_L_B1021).
- LinMot-Talk: log out from drives sometimes generated exceptions. Fixed. (D_L_B1023). 
- LinMot-Talk: Oscilloscope: Fit view function improved. (D_L_B1029). 
- Intf SC NX: SG6: Displa of config ETH variables RAM values (e.g. IP address) have not 
  been updated when written from PLC. Fixed. (D_F_B1211).
- LinMot-Talk: Error messages distinguished between server not reachable and no valid certificate. 
  (D_L_B1034).
- LinMot-Talk: motor wizard: for some motor types the pictures for homing do not correspond 
  with the displayed positive direction in the first configuration step. Fixed. (D_L_B1036).
- Install-Script C1250-MID: if no interface is selected for drive firmware installation, 
  then the wrong MC tree will be loaded. Fixed. (D_L_B1035).
- LinMot-Talk Oscilloscope: There were problems in the preview function in context 
  with hexadecimal values. Fixed. (D_L_B1038)
- EtherNet/IP on MI: The interfaces has trapped in disable state. Fixed. (D_F_B1222)
- LinMot-Talk: when reading an unknown or invalid UPID from the motor, the system 
  crashed. Fixed. (D_L_B1040). 
- MI-Interfaces: If a http request is triggered for an MI interface, a 404 error appears 
  in the browser. Fixed. (D_F_B1203). 
- MC-SW SG6: If event force limit check is active and state operation enabled has been excited, 
  the event  remains enabled until the re-entering in operation enabled. Fixed. (D_F_B1225).
  
================================================================================
  6.12 Build 20250109
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20250109
E1200 (SG5):		    Firmware Version 6.12 Build 20250109
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20250109
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20250109
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- MC-SW SG6: Quick Stop on internal sensor added, if sensor position difference 
  error occurs, or Communication lost with absolut sensor. (D_F_F1213).
- INTF PD SG6: Support bit “Pulses enabled” in MeldeW in Tlg105. This bit is set, 
  if the power stage is active. (D_F_F1212). 

Fixed Bugs:
- INTF Powerlink SG6 MI: Writing UPID values via SDO access did not work. 
  Fixed. (D_F_B1224).
- MC-SW SG6/7: Unplugging or missing SSI encoder was not detected. 
  Function added. (D_F_B1220)

================================================================================
  6.12 Build 20241016
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20241016
E1200 (SG5):		    Firmware Version 6.12 Build 20241016
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20241016
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20241016
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- Intf PD: PROFIdrive standard telegram 3 did not work. Fixed. (D_F_B1216).
- C1251-2S drive: Safety error could have occurred, when capture input was configured. 
  The system resulted in a safe state, thus no safety issue. Fixed. (D_F_B1217). 
- Intf DS: Calculation of actual torque in module 0x1A03 was wrong. Fixed. (D_F_B1218)
- MC-SW: Safety Variables: Some safety variables may not have been correctly loaded in 
  non-safe MC-SW. The software on the safety module was not affected, thus this is no 
  safety issue. SS1, SS2 and Safe Brake Test may be affected:
  - Without fieldbus: SS1 and SS2 worked correctly.
  - ProfiSAFE: SS1 and SS2 worked correctly.
  - FSoE: SS1 always the internal stop ramp was used.
  - FsoE: SS2 always the external stop ramp was used. 
  - Safe Brake Test: test force of 0 generated an error when the brake test was started 
    (this should be detected during the system validation). 
  Fixed. (D_F_B1215).
- MC-SW SG7, BiSS Sensor: Sometimes a CRC errror could have been occurred. Fixed. (D_F_B1219). 

================================================================================
  6.12 Build 20240701
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20240701
E1200 (SG5):		    Firmware Version 6.12 Build 20240701
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20240701
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20240701
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- SG6 PD: Standard telegram 5/105: new Position-Anti-Windup concept with parameters added. 
  New parameters 'Anti Windup MaxPosDiff' (UPID  20D1h) and 'MaxPosDiff Activation Selection' 
  (UPIDs 20D8h and 20D9h) added. (D_F_F1207). 

Fixed Bugs:
- OS SG6 2S: When the internal communication between the main processor and the safety card 
  stops, the state was not visible in the variables.Failure state: 2, Error Code 22, 
  System State 7. UPIDs 0313h, 0314h, 0318h, 0330h and 0331h are visible with service login. 
  Fixed. (D_F_F1103)
- Intf PN SG6/7: Station Name and IP address were not visible. Fixed. (D_F_F1104)
- Intf SW PD MI: Stop/start with RT_CFG module did not work. Fixed. (D_F_B1202).
- M8050-IP: did not work since version 6.10. Fixed. (D_F_B1206)
- OS SG6: Defaulting a single parameter went sometimes wrong if configuration is done 
  over Ethernet. Fixed. (D_F_B1207).
- PowerLink  XDD : IP Gateway IP corrected to 240. (D_F_B1208)
- SG6 PN/PD: in Standard telegram 9 sometimes motion commands were forgotten. 
  Fixed. (D_F_F1205).
- SG6 EC/DS: Object 6502 did not show the homing option. Fixed. (D_F_F1204). 
- LinMot-Talk Motor-Wizard: Changing the positive direction for PS01-70 SSC motors 
  did not work. Fixed. (D_L_B1031). 
- Intf EC NX: When logged in to the drive over EoE, the LinMot-Talk communication could 
  have struggled. Fixed. (D_F_B1208). 
- PN/PD on NX: The GSDML files for the MI PD Netx drives has modified for the RT class 1 
  sendclock timing properties. This affects the connection of the PLC with drive with 
  sendclock less than 1 ms. Fixed. (D_F_B1209)
- PD MI NX : Depending on the configuration, the RT bus did not start. Bus timings 
  (minimal send clock) corrected. Bus period time display corrected. (D_F_B1210)
- MC SW PD Streaming: Enable the motor could have caused a knock. Fixed. (D_F_B1212)
- PD with IRT: Due to a timer overflow (after about 3 weeks), the communication aborted. 
  Fixed. (D_F_B1213)


================================================================================
  6.12 Build 20240306
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20240306
E1200 (SG5):		    Firmware Version 6.12 Build 20240306
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20240306
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20240306
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- LinMot-Talk: UInt8 parameters could not be written for rotary units (error out of range). 
  Fixed. (D_L_B1026)
- LinMot-Talk: Scaling of parameter and variables for rotary units was not consistent. 
  Fixed. (D_L_B1027).
- LinUDP on C1251-2S drive: Safety software did not start because of wrong parameter tree 
  definitions. Fixed. (D_F_B1197).
- LinMot-Talk: Control Panel: On C1250-MI-0S drives the voltage enable could not be set. 
  Fixed. (D_L_B1028).
- PowerLink interface: With DS402, the homed bit is reset when a change is made to 
  operation state 6 (homing). This should only happen when a new reference run is 
  triggered by the master via the corresponding request bit of the DS402 Controlword. 
  Fixed. (D_F_B1198).
- PROFIdrive interface: The following error on PLC was bigger than in previous version. 
  Thus, applications with build 6.12 20231205 may lead to generate a following error. 
  Fixed, delay timing set back to previous values. (D_F_B1199).
- Intf SW EC/DS SG6/SG7 buffers for user defined input and outputs were defined too small. 
  Fixed. (D_F_B1201).
- Intf SW EC/DS SG7 User defined Inputs did not work. Fixed. (D_F_B1200). 
- Intf LinRS SG6/7: Answer to command with ID 72h "Get error counters of error log and total 
  occurred error" was 2 Bytes too long. Fixed. (D_F_B1201). 

================================================================================
  6.12 Build 20231205
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20231205
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20231205
E1200 (SG5):		    Firmware Version 6.12 Build 20231205
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20231205
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20231205
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- Intf PD: Axis parking with Siemens telegram 105 supported. (D_F_F1098).
- Intf CO SG7: Sync messages synchronization with MC SW tasks. (D_F_F1097)

Fixed Bugs:
- Ethernet IP SG6: Ping requests have only been answered when they came from the 
  same sub net mask. Fixed, now all ping requests will be answered. (D_F_B1189)
- LinMot-Talk: Process Monitoring: the arrows have not been repainted on a display 
  change. Fixed. (D_L_B1017).
- LinUDP on MI-Drives in DHCP mode, the IP address is not displayed. Once switched 
  to DHCP, it is no longer possible to switch back to a static IP address. Fixed. (D_F_B1192).
- C1251-MI-2S: Safety module did not start correctly and parameter trees was not 
  correctly displayed in combination with non safe interfaces. Fixed. (D_F_B1193)
- LinMot-Talk: Install script: When switching Interface/Application the curves and 
  command table have been deleted. Fixed. (D_L_B1015). 
- sercos III on MI-Drives: Writing of signed UPIDs via IDN access did not work. 
  Fixed. (D_F_B1195).
-  LinMot-Talk: During a scan via Ethernet, LinMot-Talk sometimes does not find the 
  drives on which it is logged in. Fixed. (D_L_B1022).
- E1450-MI PN: Missing GSDML files added. (D_F_B1196).
- LinMot-Talk: Motor Wizard changed so that the torque definition can be used as a 
  fixed wizard parameter. Dependent from the revision definitions, the force 
  parameters will be calculated. Fixed. (D_L_B1024). 

================================================================================
  6.12 Build 20230830
================================================================================

LinMot-Talk 6 Program Version 6.12 Build 20230830
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20230830
E1200 (SG5):		    Firmware Version 6.12 Build 20230830
A1100/C1100/I1150 (SG7):	    Firmware Version 6.12 Build 20230830
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.12 Build 20230830
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  E1450-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, MasterSlave, ProcessMonitoring
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- Interfaces EC/DS: User defined input module 2 0x1A21 with 16 entries added. (D_F_F1091).
- LinMot-Talk: Motor Wizard: New parameter Sensor Count Direction added. (D_F_F1092)
- LinMot-Talk: Wizard added for generating the reluctance and friction tables. (D_L_F1049)
- EC DS:  support of Object 60FD digital inputs. (D_F_F1086)
- C1251: FSoE added. Functional safety over Ethercat added. The same safety functionality 
  as for PROFIsafe has been implemented. (D_F943).
- LinMot-Talk: Oscilloscope: In Oscilloscope settings two buttons are made with which the 
  minimum possible sample period and the maximum number of samples can be set. (D_L_F1070)
- LinMot-Talk: Oscilloscope: when printing, the motor serial numbers are indicated as well. 
  (D_L_F1069).
- LinMot-Talk: reading info data block from motor also clears the tabs. (D_L_F1063)
- E1450-MI-Drives: Support of E1450-MI-Drives added. The same interfaces as for C1250-MI are 
  supported. (D_F_F1087).
- EE01: Encoder Emulation Module supported with AB mode. (D_F_F1089).
- C1250-MI-XC Drives: The maximal current is opened to 28A. This is useful for the combination 
  with PR02-70 and PR02-88 modules. (D_F_F1090)
- MC-SW SG6: Motion commands
   Time Curve With Adjustable Offset, Time Scale & Amp Scale Reset timer  (048xh) and 
   Time Curve With Adjustable Offset, Time Scale & Amp Scale start at time  (049xh) 
  added. (D_F_F1085).
- LinMot Talk: Motor Wizard: Force and torque sensors are supported by a separate wizard page. 
  (D_L_F1074).
- EC/DS Drives SG6/7: Mappable objects added in the user defined PDOs: 1A20, 1A21 and 1620.
  (D_F_F1096). 
- PD Drives support STW2.8 for hard stop search for Sinumerik implemented. (D_F_F1093).

Fixed Bugs:
- EtherNet IP on CM and MI SG6: Port link status was toggling and net mask had wrong values. 
  Fixed. (D_F_B1187).
- LinMot-Talk: Reading ASCII reports from 2S drives in parallel was not handled correctly. 
  Fixed. (D_L_B1011)
- sercos SG6 (on MI drives): Procedure command S-0-1048 (activate IP parameters) could not 
  be finished, thus start up was not finished correctly. Switched to new stack (V5.2.0.1). 
  Fixed. (D_F_B1186)
- LinMot-Talk: Installation for CM drives did not work. Fixed. (D_L_B1006)
- OS SG6&7: PnP errors are not displayed with clear text. Fixed. (D_F_B1182)
- LinMot-Talk: Import Configuration: When importing configurations from old builds, the 
  oscilloscopes cannot be opened because of the missing motor s serial number. 
  Fixed. (D_L_B1000)
- Ethernet/IP CIP Sync: streaming did not word properly because of wrong synchronization.
  Fixed. (D_F_B1179, continuation of D_F_B1178). 
- C1250-MI-SC: Some data points of the electronic label (S-0-1300.x.y) contained no or 
  wrong data. E.g. the SW version (S-0-1300.0.9) contained the device type instead of the 
  installed firmware. Fixed. (D_F_B1180).
- Ethernet/IP CIP Sync: streaming did not word properly because of wrong synchronization. 
  Fixed. (D_F_B1178).
- C1250-PD with TPS: Communication sometimes stops Temporarily fixed with debug 
  version on TPS. (D_F_B1174).
- LinMot-Talk Oscilloscope: In curve view, the size of the edit window can be now 
  changed. (D_L_B992)
- LinMot-Talk Oscilloscope: If preview function is active and a user defined 
  variable is used, an error occurred. Fixed. (D_L_B990)
- LinMot-Talk Motor Wizard: The pictures and directions for positions A and B for motors 
  0150-4613 and 0150-4243 are corrected. (D_L_B1011)


================================================================================
  6.11 Build 20230811
================================================================================

LinMot-Talk 6 Program Version 6.11 Build 20230811
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20230811
E1200 (SG5):		    Firmware Version 6.11 Build 20230811
A1100/C1100/I1150 (SG7):	    Firmware Version 6.11 Build 20230811
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.11 Build 20230811
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- Interface MI-PD: Telegrams 401,402 and 403 added. (D_F_F1095).

Fixed Bugs:
- Interface CM SG6: Interrupts were not correctly handled with the effect of timing 
  problems. Fixed. (D_F_B1177).
- LinMot-Talk: Download firmware on SG5 did not work. Fixed. (D_L_B998).
- LinMot-Talk: Update function from a local path did not work. 
  Fixed. (D_L_B999).
- LinMot-Talk:  Show Licences  and  Used Software  buttons did not work. 
  Fixed. (D_L_B997).
- LinMot-Talk FW installer: installation fo MI drives with specific interface did not work. 
  Fixed. (D_L_B1009)

================================================================================
  6.11 Build 20230606
================================================================================

LinMot-Talk 6 Program Version 6.11 Build 20230606
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20230606
E1200 (SG5):		    Firmware Version 6.11 Build 20230606
A1100/C1100/I1150 (SG7):	    Firmware Version 6.11 Build 20230606
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.11 Build 20230606
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- Install script: default of safety parameters at the end of the installation 
  did not work properly. Fixed. (D_L_B1001).
- Install script MI drives: Installation for customer specific products did not
  work correctly. Fixed. (D_F942).

================================================================================
  6.11 Build 20230118
================================================================================

LinMot-Talk 6 Program Version 6.11 Build 20230118
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20230118
E1200 (SG5):		    Firmware Version 6.11 Build 20230118
A1100/C1100/I1150 (SG7):	    Firmware Version 6.11 Build 20230118
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.11 Build 20230118
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- LinMot-Talk: Installation: Switch application implemented. For changing the 
  application it is not necessary to install the whole firmware. Similar to the 
  interface, the applications can be added, changed or removed. (D_L_F1058)

Fixed Bugs:
- OS E1400V2:  The brake output X4.3 was set active on power up. Fixed. (D_F_B1172)
- OS SG6/7: PnP: If motors were exchanged with the drive switched on, the PnP of the 
  new motor may have failed because parameters of the old motor were still present 
  in the RAM. Fixed. (D_F_B1173). 
- LinMot-Talk: Oscilloscope: Long channel names and cursor values were displayed 
  without a space and thus illegible. Fixed. (D_L_B965). 
- OS SG6/7: Download of Profinet image to interface chip via LinMot-Talk 
  (Download\Software) was not possible. Fixed. (D_F_B1175). 
- C1250-MI-CipSync: Interrupt was not handled. Fixed. (D_F_B1176). 

================================================================================
  6.11 Build 20221104
================================================================================

LinMot-Talk 6 Program Version 6.11 Build 20221104
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20221104
E1200 (SG5):		    Firmware Version 6.11 Build 20221104
A1100/C1100/I1150 (SG7):	    Firmware Version 6.11 Build 20221104
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.11 Build 20221104
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- LinMot-Talk: Switch interface for MI drives added. When logged in as service, the 
  interface can be changed under Drive\Show / Change Interface. (D_L_F1057). 

Fixed Bugs:
- SERCOS SG6 MI: If the producer cycle time (S-0-1050.x.10) is not configured 
  identical to the communication cycle time (S-0-1002), CP4 cannot be reached. 
  Fixed. (D_F_B1159).
- EC SG 6/7:   EC DS did not wait for bit 4 in Drive homing mode. 
  Fixed. (D_F_B1160)
- OS SG6/7: Writing bit UPIDs will change also the next higher addresses. 
  Fixed. (D_F_B1165)
- Ethernet IP SG6: Login over RT-ETH did not work. Fixed. (D_F_B1161).
- DS,MI : Ecat-EoE SG6: The interface get lost on firmware stop. Fixed. (D_F_B1163)
- MI SG6: The config ETH connection terminates when a scan is received for drives 
  with a non-drive group number. Fixed. (D_F_B1164).
- MI Sercos SG6: Login over RT ETH did not work. Fixed. (D_F_B1162).
- LinMot-Talk: Motor files update did not work with slower internet connections. 
  Fixed. (D_L_B994)
- LinMot-Talk: Import of configurations via drag and drop, the user selection did 
  not work. Fixed. (D_L_B972).
- E1400 MC-SW: Scaling of closed loop force ctrl was wrong for target force. 
  Fixed. (D_F_B1166). 
- MI drive, SERCOS: With some PLC the drive errors cannot be acknowledged. 
  Fixed. (D_F_B1167).
- SERCOS MI: IDN S-0-0086 (Force/Torque Scaling Type) was not supported, which 
  could have caused problems, depending form the run mode. Fixed. (D_F_B1168). 
- EC SG6/7: Support of border force ranges added. (D_F_B1169)
- SERCOS MI: Reading the status of the process command PCF S-0-1350 (Reboot Device) 
  has started a software reset. Fixed. (D_F_B1170). 
- Intf Powerlink SG6: If initial values for configured UPID variables are written 
  in the controller, the system traps. Fixed. (D_F_B1171).

================================================================================
  6.11 Build 20220628
================================================================================

LinMot-Talk 6 Program Version 6.11 Build 20220628
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20220628
E1200 (SG5):		    Firmware Version 6.11 Build 20220628
A1100/C1100/I1150 (SG7):	    Firmware Version 6.11 Build 20220628
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.11 Build 20220628
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1250-MI: 
    Interfaces: 	CC, DS/EC, CM, LU, PD/PN, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Safety Interfaces:   PDS, PNS
    Non Safe Interfaces: CC, EC CiA402, IP, LU, PL, SC 
    Applications: 	EasySteps, ProcessMonitoring
 C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Remarks: 
- The implementation of EC interface for C1250-MI drive is preliminary.
- The implementation of FSoE interface on C1251-MI-XC-2S drives is preliminary. 

Features:
- LinMot-Talk: Lazy Installation: Firmware installation procedure optimized and 
  improved. Parts, which already have the correct version are not updated. 
  Additionally the CRC over the code will be checked. (D_F_F941).
- Intf SW EC SG7: Parameter and monitoring channels added. (D_F_F1068)
- Appl Process Monitoring: In order to simplify the evaluation of a measurement, 
  the "Measurement Status" should show whether an error occurred during the measurement. 
  Thus, only one UPID must be read to determine whether a measurement was successful. 
  (D_F_F1076).
- Support of C1250-MI-Drives added. Available interfaces see above. (D_F_F1077).
- LinMot-Talk: MotorWizard: Position A is shown always on the same side as ZP is. 
  (D_F_F1083)
- Intf EC/DS SG6/7: Support oft operation mode 1 implemented for EC and DS 
  interfaces. (D_F_F1084). 

Fixed Bugs:
- LinMot-Talk: Import of configurations via drag and drop, the user selection did 
  not work. Fixed. (D_L_B972).
- LinMot-Talk: ReadMotor function gave an error message infinitely often when trying 
  to read from an offline drive. Fixed. (D_L_B983)
- LinMot-Talk Process Monitoring: Parameter RAM values are displayed now, before 
  the ROM values were shown. (D_L_B985). 
- LinMot-Talk: Shut down of windows when LinMot-Talk is running results in an 
  exception message. Fixed. (D_L_B986). 


================================================================================
  6.10 Build 20220620  
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20220620
E1200 (SG5):		    Firmware Version 6.10 Build 20220620
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20220620
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20220620
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- LinRS SG7: If a packet was not received completely (abort after start byte 0x02), 
  the communication may struggle. Fixed.  (D_F_B1147)
- LinMot-Talk: Login may not work when command table is running. In rare cases the 
  drive is blocked and the motor currents are freezed. Fixed. (D_L_B987)
- MC-SW SG7: Curve scaling for small amplitude factors was wrong. Fixed. (D_F_B1149)
- EC/DS SG6: SDO timeout can happen, when EOE is logged in and the changed UPID list 
  is read out. Fixed. (D_F_B1151)

================================================================================
  6.10 Build 20220404  
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20220404
E1200 (SG5):		    Firmware Version 6.10 Build 20220404
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20220404
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20220404
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- Intf SC: Acceptance of a new setpoint position in "Drive controlled positioning" 
  mode may fail under certain circumstances. Fixed. (D_F_B1141).
- MC-SW: On some motors the motor communication does not work properly. The maximal 
  temperature is not read. Fixed. (D_F_B1142).
- Intf DS402: Under certain circumstances, the motor may jump in position when the 
  power is switched on. Fixed. (D_F_B1143).
- MC-SW: Command Table Motion Command "If Cmd Table Var 1 Less Than UPID Value (256xh)"
  and "If Cmd Table Var 2 Less Than UPID Value (257xh)" did not always work correctly, 
  if UPID UINT16 was selected. Fixed. (D_F_B1144).



================================================================================
  6.10 Build 20220307  
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20220307
E1200 (SG5):		    Firmware Version 6.10 Build 20220307
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20220307
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20220307
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- OS SG5&6: OS SG5 & 6: The clear instance command (0x89 0x06 0x0y), used during 
  installation, may cause the error 0xBA (Illegal bus access). Fixed. (D_F_B1134).
- OS SG7: Oscilloscope: some rare variable having an odd address caused a trap. 
  Fixed. (D_F_B1135).
- MC-SW SG6: The status of the tara command was not known. Bit 9 (special motion 
  active) in status word is used for it. (D_F_B1136).
- MC-SW SG6: E1400: STO IGBT alarm is suppressed for 2.5 ms. A fatal error can 
  be avoided. (D_F_B1137).
- MC-SW SG6: C1250 X1 overcurrent was not evaluated. Fixed. (D_F_B1138). 
- OS SG6: E1400: When the link of RT and config ETHERNET is interrupted or 
  connected during run time, the connection may be stopped, such as no login can 
  be performed. Fixed. (D_F_B1139)
- APPL Process Monitoring: When displaying the variables, the configured exits 
  are not displayed for the variables "Window x Configuration". Fixed. (D_F_B1140). 
  
================================================================================
  6.10 Build 20211210  
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20211210
E1200 (SG5):		    Firmware Version 6.10 Build 20211210
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20211210
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20211210
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- Intf CC-Link IEFB: When interface was configured as disabled, the FW has trapped 
  on next reboot. Fixed. (D_F_B1129).
- Appl ProcessMonitoring: Measurements can only be armed by a rising edge of an IO 
  or the measurement controlword. Errors of a pre-existing measurement are cleared 
  when starting a new one. Fixed. (D_F_B1130).
- Appl ProcessMonitoring: Measurement initialization can lead to timer watchdog 
  under certain conditions with certain interfaces (e.g. CC-Link). Fixed. (D_F_B1131). 
- LinMot-Talk Updating of Older Releases via local package did not work. 
  Fixed. (D_L_B974).
- LinMot-Talk Motor Wizard: EM01-37Sx60-HP-R-1495 was not displayed correctly. 
  Fixed (D_L_F1048).
- Intf EC/DS SG6: With certain PDO configurations, firmware can trap on stop/start 
  via EC/DS intferface SW. Fixed. (D_F_B1126).
- MC-SW SG6/7: BiSS-C: MSA213C is now correctly supported. (D_F_B1122). 

================================================================================
  6.10 Build 20211122  
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20211122
E1200 (SG5):		    Firmware Version 6.10 Build 20211122
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20211122
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20211122
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:

Fixed Bugs:
- Safety FW: Temperature diagnosis did not work. Fixed. (D_F_B1127)
- Intf SW EC/DS SG6 resolve problem/trap with stop/start FW over RT-Config module. 
  (D_F_B1128). 

================================================================================
  6.10 Build 20210930
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20210930
E1200 (SG5):		    Firmware Version 6.10 Build 20210930
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20210930
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20210930
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1251-2S: 
    Interfaces: 	PDS, PNS
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- MC-SW SG7: Heating function added for motors. For cold room applications, this 
  function can reduce the temperature swing and gradient, thus increasing the life 
  of the stator. (D_F_F1066)
- OS PnP: Compatibility for motor exchange made more tolerant. Up to now, the article 
  number must have be the same. New the electrical type must be the same. E.g. if only 
  the connector has changed, the motor will be still exchangeable. (D_F_F1024).
- EC-Interface SG6/7: Monitoring and parameter channels added, similar to the 
  DS drives. (D_F_F1067).
- MC-SW SG6: Tara function added for standstill and in motion. 
  MC commands 38Axh: VAI Go To Pos Tara Diff Analog In -10V..10V 
  and 38Bxh: Standstill Tara Analog In -10V..10V. 

Fixed Bugs:
- LinMot-Talk: If multiple windows are used in LinMot-Talk, it is possible that 
  an exception occurs when clicking the save button. Fixed. (D_L_B968)
- LinRS SG5-7: Some curve commands did not respond the correct curve IC. 
  Fixed. (D_F_B1120)
- LinMot-Talk: Exceptions could have occur on logout. Fixed. (D_L_B970)
- LinMot-Talk: If the parameters of a changed actuator are set to default and a 
  motor with rotary units was set before, the data in the motor wizard will still 
  be displayed in rotary units. Fixed. (D_L_B971).
- Intf PD SG6: Homing problems due to not actualized encoder position variable 
  solved. (D_F_B1121). 
- OS SG7: Default parameters did not properly work, when firmware was running 
  and motor correction tables were active. Fixed. (D_F_B1123)

================================================================================
  6.10 Build 20210521
================================================================================

LinMot-Talk 6 Program Version 6.10 Build 20210521
B1100 (SG4) / E1100 (SG3):	    Firmware Version 3.25 Build 20210521
E1200 (SG5):		    Firmware Version 6.10 Build 20210521
A1100/C1100/I1150 (SG7):	    Firmware Version 6.10 Build 20210521
C1250/C1251/C1400/E1400 (SG6): Firmware Version 6.10 Build 20210521
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	CC, CM, DS, EC, IP, LU, PD, PL, PN, SC, SE
    Applications: 	EasySteps, ProcessMonitoring
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps, ProcessMonitoring

Features:
- RT Config module: the maximal size of a string can be read out. (D_F_F1036).
- Process Monitoring Application added. (D_F_F1029). 
- PL DS402 interface added. (D_F936).
- MC SW SG6/SG7 New run mode closed loop force control, made for PD Intf FW to enable change 
  to closed loop force Ctrl and back. (D_F_F1040)
- Intf SW EC CiA 402 SG6/SG7 New parameter added, which defines the behaviour in OP mode 10 
  (Torque Ctrl). Support of this parameter in PDO 0x1604 and 0x1614. (D_F_F1041)
- MC-SW SG7: New return PDO-Objekt 0x1A03, which contains the standards compliant return values 
  for the CiA 402 PDOs, considering the OP mode 10 parameters. New objects 0x6071 and 0x6077 (Target 
  Torque and Actual Torque) added. (D_F_F1042). 
- IG C1250: Cable limit of 30m removed. Longer cables can be used, the motor specification must 
  be regarded. Longer cables are not EMC critical. Functional restrictions will occur. (D_D216)
- Support of C1251-MI-XC-2S V2RB. (D_F_F1045)
- MC-SW: SG6: Heating function added. As long as the drive is enabled, the motor can kept warm. 
  Parameters UPID 0x1258, 0x1259 and 0x125A are used to define the temperature, hysteresis and 
  heating current. (D_F_F1043).
- LinMot-Talk, TF-Functions: Test license added for technology functions (TF). The TF can be 
  enabled via LinMot-Talk for some hours for testing. Afterwards a fatal error will occur. 
  Installing the correct TF key will permanently enable the TF function. (D_F_F1046)
- MC SW SG6 reluctance and friction correction table pos ctrl selection added and allow abort. 
  (D_F_F1047).
- C1251-2S: PL, SC, CCLinkIEFB and EasySteps for safety drives drives added. (D_F_F1051)
- MC-SW SG6: Generic motor temperature model UL508C certified. Start temperature parameter 
  added. (D_F_F1048).
- MC-SW SG6: Commutation on absolute encoder for 3 phase linear motors added. (D_F_F1034).
- MC-SW SG6&7: Permanent calculation of variable 0x1B61 "Motor Absolute Mechanical Angle 
  in Revolution" added. (D_F_F993)
- Ethernet/IP SG5: Window size and MSS are made configurable, similar to SG6. This may 
  solve problems to connect with a Mitsubishi PLC. (D_F_F1053)
- MC-SW SG7: Speed limiter for current mode added. (D_F_F1056)
- MC-Tree SG6&7: UPID 0x13E2 "Resolution (linear Encoder)" range expanded to 102.4 um. (D_F_F1055)
- EC-SW SG5-7: EC DS SW new SDO command default MC SW with immediate response added. (D_F_F1058)
- LinMot-Talk: If software is not installed, but only copied from zip file, the location 
  AppData is not used for firmware and motor files. When generating a portable app, a path 
  can be defined. (D_L_F1016)
- LinMot-Talk: Downloading the new motor ADP files is also supported for 32 bit systems. 
  (D_L_F1018)
- LinMot-Talk: The update path, from which update packages can be loaded, is now 
  configurable. Thus a trusted storage location can be defined. (D_L_F1028)
- LinUDP V2: SG6: Big data packets, which are not addressed to the drive, could have 
  caused main timer struggles. Fixed. (D_F_B1114) 
- OS SG6: MainTimer-struggle warning is made configurable as service in the parameter 
  tree. Parameter UPID 0x0B10  Main Timer Struggle . (D_F_F1059). 
- LinMot-Talk: export of OS errors to HTML added. (D_L_F1033)
- LinMot-Talk: login over NAT router needs port configuration per drive. 
  Feature added. (D_L_F1030).
- MC-SW SG6/7: Biss Encoder from Siko for magnetic stripes with zero mark added. (D_F_F1061).

Fixed Bugs:
- Ethernet IP: Streaming could have made some problems, when telegrams arrived in 
  PVA streaming too late. Fixed. (D_F_F1033).
- MC SW SG7: Force constant calculation was not always correct for RS01 motors. 
  Fixed. (D_F_B1087)
- MC-SW SG6: The switching of the power regeneration via motor was too hard and 
  leaded to instability. Made weaker. (D_F_B1096)
- MC SW SG7: knocking at start of sinoides Bestehorn improved. (D_F_B1101)
- LinMot-Talk: Motor wizard. There was a problem with the distances A and B settings 
  for the P10-54x motors. Fixed. (D_L_B956)
- MC-SW SG6&7: Master homing for rotary motors could have caused a following error. 
  Fixed. mtoro position is reset, when homeposition is set. (D_F_B1088)
- Intf SW EC/DS tree default value for streaming mode to P changed. (D_F_B1094) 
- LinMot-Talk, OSCI, SG7: When an addressable user variable is used as trigger 
  condition in the oscilloscope, the system may trap. Address definitions fixed. 
  (D_F_B1117).
- Appl Process Monitoring: Determination of the index of the reversal point for 
  X-minimum and Y-maximum was faulty. Segment evaluation did not work with X-minimum 
  and Y-maximum as reversal point. Fixed. (D_F_B1118)
- Interface / OS SG7: When logged in, the connection breaks after writing CT and 
  restarting the MC-SW via ConfigModule, interface continues to run. 
  Fixed (D_F_B1113)
- LinMot-Talk Motor Wizard: In the motor wizard with an ABZ motor and rotary units, 
  the editbox  Ticks  for an encoder increment did not work correctly. Fixed. (D_L_B963).
- LinMot-Talk / OS SG6: If logged in with LinMot-Talk, it can happen in rare cases that 
  the RS232 communication gets out of order. The drive can no longer synchronize because 
  a data byte is always recognized as a sync byte. Fixed. (D_F_F1062 and D_L_F1034).
- LinUDPV2 SG6: LinUDP can fall into a TimerWatchdogError if too many packets are sent 
  to the drive. Fixed. (D_F_F1063). 
- ETHERNET IP SG5: always times out during communication As_0x27_0x18. Fixed. (D_F_B1119). 
- LinMot-Talk Motor Wizard: stored slider home position incorrectly when reversing 
  positive count direction. Fixed (D_L_B964). 
  
================================================================================
  6.9 Build 20210430
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20210430
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20210430
E1200 (SG5):		Firmware Version 6.9 Build 20210430
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20210430
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20210430
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:

Fixed Bugs:
- LinMot-Talk: Motor wizard has opened sometimes the wrong ADF files 
  (e.g. PS01-23x80-HP instead of PS01-23x80). Fixed. (D_L_B960).
- CANOpen SG7: Object 1009 (serial number string) was read from wrong address 
  (2 bytes shifted). Fixed. (D_F_B1111).
- MC SW SG7: Knocking at start of sinoide Bestehorn improved. (D_F_B1101)
- MC SW SG6: EnDat communication was sometimes interrupted and stopped on startup. 
  Fixed. (D_F_B1112). 
- MC SW SG7: BiSS-C encoder: some combinations can lead to wrong data shifting, 
  which results in a wrong CRC. Fixed. (D_F_B1115). 
- PN-SG5-7: Communication problems could have occur because of net mask problems. 
  New firmware on interface ASIC handles these situations correctly. (D_F_B1116)
- MC SW MC Data for E1400: missing command PD Tlg 5 for PN. Added. (D_L_B962)

================================================================================
  6.9 Build 20210203
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20210203
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20210203
E1200 (SG5):		Firmware Version 6.9 Build 20210203
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20210203
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20210203
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:

Fixed Bugs:
- LinMot-Talk: Set access code did not work for C1400-1S. Fixed. (D_L_B953)
- OS SG7: BiSS communication was faulty when logged in to a SG7 drive. 
  Fixed. (D_F_B1097)
- Installation: The installation of LinUDP on E1250-IP drive did not work. 
  Fixed. (D_F_B1098)
- MC-SW SG6: Noise problem with motor regeneration solved. (D_F_B1095)
- OS SG7: Communication was lost when logged in a motor with correction table and 
  then the parameters were defaulted. Fixed. (D_F_B1099).
- OS SG7: Support of C1150-EC-XC A08 with DIP switches. (D_F_B1100)
- OS SG7: Writing to error log was faulty. Fixed. (D_F_B1102).
- Intf EPL SG5/6: The objects 0x1C0C / 0x1C0D / 0x1C0E to detect errors at 
  SOC/SOA/Preq telegram failures are not supported. If these are configured by 
  the PLC anyway, the drive can no longer be started up on the fieldbus. 
  Fixed (D_F_B1104).
- LinUPD V2: On a Count Nibble change there was no answer. Fixed. (D_F_B1105)
- EC-SW SG7: Data width problem with Pilz controller fixed. (D_F_B1106)
- Config Module (used in all interfaces): drive may trap, if config communication 
  is requested while the MC SW is restarting. Fixed. (D_F_B1108). 
- Config Module: The commands "Get next UPID List item (0x21)" and "Get next 
  modified UPID List item (0x23)" do not return a correct status "Get UPID List 
  not initiated (0xC5)" if the commands are sent again after the list ends and 
  the count nibble is not updated correctly on subsequent commands. 
  Fixed. (D_F_B1109)
- PN interface: The signal runtime detection (cable lengths) sometimes caused 
  problems. Fixed. (D_F_B1103). 
- MC-SW SG: If BiSS is configured but no encoder is connected, the drive did not 
  start up correctly (stucked in a loop). Fixed. (D_F_B1110)
  
================================================================================
  6.9 Build 20201026
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20201026
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20201026
E1200 (SG5):		Firmware Version 6.9 Build 20201026
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20201026
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20201026
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:

Fixed Bugs:
- MC-SW SG7: Force constant calculation was not always correct for RS01 motors. 
  Fixed. (D_F_B1087)
- EC CiA402: PILZ PLC can send opmode with more data different from zero. 
  This has caused an error. Made more tolerant. (D_F_B1089)
- LinMot-Talk: Problem with adf-file update for SG3 and SG4. Defaulting in motor 
  wizard can lead to blocking situation. Fixed. (D_L_B945)
- LinMot-Talk: When opening motor files with the size of 8, the question comes 
  up, if the parameter should be defaulted. Fixed. (D_L_B946).
- LinMot-Talk: a safe copy function for the application data is implemented. 
  (D_L_B942)
- MC-SW SG6: CRC monitoring for EnDat was not possible to turn off. Made similar 
  to BiSS-C, uses the parameter UPID 13BDh. Added. (D_F_B1090)
- SERCOS SG5/6: The configuration of additional cyclic process data 
  (P-0-0301 - P-0-0304 und P-0-0311   P-0-0314)  was not possible for some PLCs. 
  P4 was not reached. Fixed. (D_F_B1092). 
- LinMot-Talk: X3.6 was not displayed in the Control Panel. Fixed. (D_L_B948).
- LinMot-Talk: When the positive count direction was changed, the C, D, Max and 
  Min position were calculated wrong for Faulhaber motors. Fixed. (D_L_B950).

================================================================================
  6.9 Build 20200727
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20200727
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20200727
E1200 (SG5):		Firmware Version 6.9 Build 20200727
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20200727
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20200727
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:

Fixed Bugs:
- OS SG6: UTC Timeoffset was not initialized to 0 -> When a Unix time was set, 
  there was an offset of 0xFFFF seconds in the time shown in the message and 
  errorlogs. Fixed. (D_F_B1076).
- LinMot-Talk: Curve display for drives without rotary units has led to division 
  by zero error. Fixed. (D_L_B938).
- MC-SW SG6: EnDat encoder has overwritten the warn/error temperature of the motor 
  with it s own warn/error temperature. Fixed. (D_F_B1085). 
- LinMot-Talk: the curve for a C1100 drive was displayed with the 0.0 factor 
  scaling in y-direction. Fixed. (D_L_B941).
- EC Intf: C1250-DS (0S & 1S) report the wrong revision (1.8 instead of 1.9) on 
  the bus. Thus, the PLCs do not work when the revision check is activated. 
  Fixed. (D_F_B1084).
- Easy Steps SG6: Misalignment of the motion parameters with the GoToAnalogPosition 
  command. Fixed. (D_F_B1086). 
- C1450-PL not completely supported (XDD File missing, interface support). 
  Fixed. (D_F_F1038)
- LinMot-Talk: The calculation of the distances C and D in case of linear-rotary 
  motors was wrong. Fixed. (D_L_B944).
- SE SG5: it was not possible to switch on an axis. The control word was not 
  correctly acting. Fixed. (D_F_B1086). 
  
================================================================================
  6.9 Build 20200528
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20200528
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20200528
E1200 (SG5):		Firmware Version 6.9 Build 20200528
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20200528
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20200528
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:
- MC-SW SG5: Range for winding parameters extended. (D_F_F1035). 

Fixed Bugs:
- OS SG6: UTC Timeoffset was not initialized to 0 -> When a Unix time was set, 
  there was an offset of 0xFFFF seconds in the time shown in the message and 
  errorlogs. Fixed. (D_F_B1076).
- LinMot-Talk: When LinMot-Talk cannot open an offline configuration and again a 
  configuration is opened, the error "not in wait state" occurs. Fixed. (D_L_B930).
- Powerlink SG6: When a drive communication is via SPS NAT over RT-config and 
  other drives are on the bus, all drives respond to the RT-config telegramms 
  instead of only the addressed one. Downloading a configuration would be  
  applied to all drives on the bus. Fixed. (D_F_B1077)
- LinMot-Talk: Motor wizard: Pictures for DM01 fixed. (D_L_B932).
- LinMot-Talk: On drives, which belong to a module, double click on the drive 
  name in the drive information did not work. Fixed. (D_L_B934)
- MC-SW SG5/6: Enocder simulation did not work for negative direction. Fixed. 
  (D_F_B1079).
- MC-SW SG6: C00-Drives: The calibration constant for AnInDiff offset was 
  wrongly scaled. Fixed. (D_F_B1080).
- LinUDP V2 SG6: When the MC-SW was stopped, also the RT communication stopped. 
  Fixed. (D_F_B1082)


================================================================================
  6.9 Build 20200320
================================================================================

LinMot-Talk 6 Program Version 6.9 Build 20200320
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20200320
E1200 (SG5):		Firmware Version 6.9 Build 20200320
A1100/C1100/I1150 (SG7):	Firmware Version 6.9 Build 20200320
C1250/C1450/E1400 (SG6):	Firmware Version 6.9 Build 20200320
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1150: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1250: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1450: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Features:
- Linmot-Talk: News are displayed, so the user is always kept up to date. 
  (D_L_F1010).
- LinMot-Talk: Oscilloscope: Under statistic functions the peak to peak values 
  can be displayed. (D_L_F1006).
- LinMot-Talk: Online help for applications added. (D_L_F1007).
- C1250: MC-SW: support of V1RH4 hardware. (D_F_B1043).
- LinMot-Talk: The motor files can now be updated from the server. New motor 
  files can now be loaded independently from the LinMot-Talk version. (D_L_F975).
- Linmot-Talk: The old releases can be loaded from the server. Thus the LinMot-
  Talk installation is very compact and only the requested old releases can be 
  installed. (D_L_F955).
- LinMot-Talk: Motor files for DM01-48xYYY-CS01 and DM01-48xYYY-CS11 added. 
  (D_L_F1004). 
- LinMot-Talk: adf files for PR02-52 mit SSC front added.
- C1250-xx-xx-C00: Calibrated drives supported. (D_F_B1045).
- LinMot-Talk: DM01 is supported. (D_L_F999).
- OS Trees SG5-7: The ordering information for bus compatible drives was not 
  clearly declared. Explicit ordering information added (UPIDs  $0086 and $007D). 
  (D_L_F1000)
- ADF-Files: for Harmonic Drive FHA-8C-100-MZE, FHA-11C-100-MZE and 
  FHA-14C-100-MZE added. (D_L_F1001). 
- MC-SW SG6: In Ethernet IP, the actual velocity filtered is mapped, but in 
  Current Cmd Mode it was not be calculated. Calculation added. (D_F_F1022).
- EC-SW DS: Monitoring and parameter channels for DS drives added. (D_F_F1002)
- MC-SW SG5-7: Force Control mode with Speed Limit added. (D_F_F991)
- CC-Link: SG6: CC-Link interface is supported. A dedicated HW is defined for the 
  CC-Link interface: C1250-CC-XC-0S-000 and C1250-CC-XC-1S-000. (D_F_F998)
- LinMot-Talk: A gear can be defined in the Motor-Wizard. The supported motors 
  are EC02 and PR0X (D_L_F978)
- Motors:  P01-48x150G-HP motors added. (D_L_F993)
- LinMot-Talk / Interfaced: A Unix time stamp can be written to a parameter 
  (UPID 0x0252), which defines the absolute time. So messages can be displayed 
  with the correct time in LinMot-Talk. (D_F_F1017).
- LinUDP V1 is supported. (D_F_F1020). 
- PD-SW SG6: Range indicators as reference mark search input of the source in 
  ProfiDrive added. (D_F_F1023). 
- MC-SW SG6/7: New motion command 0x389x Inc motion with lower Force added. 
  (D_F_F1010). 
- PD-SW: SG6: New parameter for Position Anti-Windup gain added. (D_F_F1003). 
- MC-SW SG6: Modulo P Streaming added. (D_F_F1008). 
- sercos SG6: Modulo P Streaming added. (D_F_F1009).
- LinMot-Talk: Firmware installation runs with higher baud rates for SG6/7. 
  (D_F935)
- LinRS SG7: C1100-GP: Via switch S4.1 the interfaces (RS232/RS485) of LinMot-
  Talk config and LinRS can be switched. (S4.1 OFF: Config RS232, LinRS RS485; 
  S4.1 ON: Config RS485, LinRS RS232). (D_F_F1014 & D_F_F1015). 
- Ethernet IP: Mitsubishi PLC are now supported. The communication did not work 
  properly. (D_F_F1016). 
- OS & Tree SG7 PN: Additional test if interface has started correctly 
  implemented. This prohibits from communication loss. (D_F_F1019)
- LinMot-Talk: Oscillosope: Math functions added. Each channel can be used as a 
  mathematical function of other channels, such as chan1 minus chan2, or chan 3 
  multiplied with chan4,   (D_L_F980). 
- LinMot-Talk: MotorWizard: Wizard adapted for P10-70 SSC motors. (D_L_F985). 
- LinMot-Talk: Oscilloscope: Besides offset and distance, also minimum and 
  maximum can be displayed. (D_L_F987).
- LinMot-Talk: MotorWizard: New pictures and adp files for PS01-37Sx120F-HP-SSC-R 
  and PS01-37Sx60-HP-SSC-R added. (D_L_F988)
- LinMot-Talk: Adp files for mSR80.adp and mSR100.adp added. (D_L_F991)
- MC-SW SG6: Modulo P streaming added. (D_F_F1008).
- MC-SW: E1200/E1400: ME-CAM commands 0x060x and 0x061x disable and restart CAM 
  motion added. (D_F_F994)
- MC-SW SG5-7: New Indexing Startin Mode  Restart from Actual Position  added. 
  (D_F_F992). 
- LinMot-Talk: Import Raw Data can now handle curves and command tables. 
  (D_L_F966). 
- LinMot-Talk: When the drive performs plug and play, LinMot-Talk displays the 
  reset button blinking yellow-green. (D_L_F967). 
- OS SG7: The waiting time, when the OS has started until the applications 
  (MC-SW,  ) will be started, can be configured by a parameter. (D_F_F998). 
- Drive D1100 added. (D_F_F999). 
- PowerLink SG6: Config over RT supported. (D_F_F1001). 
- Motor B&R 8LSA56 added. (D_L_F979). 
- LinMot-Talk: Reluctance and friction tables can be read out and displayed. 
  (D_L_F981). 
- C1150-EC/DS-XC-0S: HW Version V1RB3 with address selector S1/S2 supported. 
  (D_F_F1049).
  
Fixed Bugs:
- LinMot-Talk: Installation on SG7 for older releases: The installation does not 
  work with higher baud rates than 38400. Limit activated. (D_L_B924).
- MC-SW SG6/7 Parameters: The Phase Search Once Flag could not be reset, because 
  there was no item defined in the parameter tree. Added. (D_F_B1071).
- LinMot-Talk: Motor files: the 48x  SSC motors had wrong FFT parameter values. 
  Fixed. (D_L_B915).
- Ethernet-IP SG6: A wrong checksum was sent on a ping request with data length 
  different from standard (32 bytes). Fixed. (D_F_B1068).
- LinUDP V2: Help texts for activation parameters were wrong. Fixed. (D_F_B1069).
- LinMot-Talk: Pictures for PSPS01-37Sx120F-HP-SSC-R were not correct. Fixed. 
  (D_L_B916)
- OS SG6: Oscilloscope: If an invalid UPID is used for the command 
  "TrigSetModeUPID" (Talk-ID: 0x85, Osc-Command: 0x81), the drive has trapped. 
  Fixed. (D_F_B1046)
- LinMot-Talk: Oscilloscope: Fit view was always done over all channels, not only 
  the active ones. Fixed. (D_L_F983). 
- LinMot-Talk: Import Raw Data could not import string variables. Fixed. 
  (D_L_B890). 
- LinMot-Talk: A memory leak of about 800MB per day is fixed. (D_L_B894)
- LinUDP V2: A double answer could have happen, when the incoming packet was too 
  big. Fixed. (D_F_F995).
- LinMot-Talk: Motor Wizard: sometimes the pictures are not updated. Fixed. 
  (D_L_B896). 
- Sercos SG6: Support of the objects S-0-0187 und S-0-0188 was not correct. 
  Fixed. (D_F_F1000). 
- MC-SW SG3&4: The hall offset values from the motor were not handled correctly. 
  Fixed. (D_F_B1075).
- OS SG6: UTC Timeoffset was not initialized to 0 -> When a Unix time was set, 
  there was an offset of 0xFFFF seconds in the time shown in the message and 
  errorlogs. (D_F_B1076)
	
================================================================================
  6.8 Build 20200316
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20200316
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20200316
E1200 (SG5):                Firmware Version 6.8 Build 20200316
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20200316
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20200316
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- MC-Tree SG6: Analog In single-ended signal below 0 V (e.g. noise around 0V) was 
  displayed wrongly with values around 160 V. fixed (D_F_B1070). 
- MC-SW SG7: Sin/cos sensor did not work together with absolut sensors. 
  Fixed. (D_F_B1072).
- MC-SW SG5-7: Startup position with position angle correction table was not correct. 
  Fixed (D_F_B1074). 

	
================================================================================
  6.8 Build 20200120
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20200120
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20200120
E1200 (SG5):                Firmware Version 6.8 Build 20200120
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20200120
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20200120
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- sercos SG5/6: Current limited to maximal drive current, because a misconfiguration 
  could lead to an error. Fixed. (D_F_B1063). 
- LinMot-Talk: Oscilloscope: When exporting data from oscilloscope in continuous mode, 
  data could be stored inconsystently. Fixed. (D_L_B913)
- LinMot-Talk: Login to SG6 drives with firmware smaller than 6.4 was not possible 
  because of a trap. Fixed. (D_F_B1064).
- LinMot-Talk: Motor wizard: PS10 motor sliders: the picture was wrong. 
  Fixed. (D_L_B919).
- OS-SW: PN SG7: Starting up the PN drives could be stucked, if interface flash CRC 
  was wrong. The drive could not communicate anymore. Fix: firmware installation is 
  still possible. (D_F_F1019).
- ADF Files V3S6 for EC02 motors added. (D_L_F1002). 

	
================================================================================
  6.8 Build 20191003
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20191003
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20191003
E1200 (SG5):                Firmware Version 6.8 Build 20191003
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20191003
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20191003
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- CANOpen SG5/6: Inconsistent PDO data could have been transmitted. 
  Fixed. (D_F_B1059). 
- Ethernet IP SG6: Rare startup problem with IP streaming. 
  Fixed. (D_F_B1058).
- MC-SW: Signed/Unsigned compares checked and fixed. (D_F_B1060). 
- MC-SW SG6: E1400 Force Ctrl with high forces limits measured force below 
  int16 range. Fixed. (D_F_F1062). 


================================================================================
  6.8 Build 20190820
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20190820
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20190820
E1200 (SG5):                Firmware Version 6.8 Build 20190820
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20190820
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20190820
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- sercos SG5/6: When homing via PFC S-0-0148, it can happen seldomly, that a PVT 
  buffer underflow occurs, because the stop streaming command (drive internally) 
  is set too late. Fixed. (D_F_B1051). 
- MC-SW SG6: MC SW SG6 missing calculation for variable "Curr Ctrl Period Time 1s" 
  added. (D_F_B1050). 
- ETHERNET IP SG6: UPD CRC check added. (D_F_B1052)
- MC-SW SG6/7: SSI/BiSS frequency of 400 kHz added. (D_F_F1011). 
- OS-SG6, Osci: trigger for masked bits True/False was missing. Fixed. (D_F_B1053). 
- MC-SW SG7: Kommuntation ABZ with init mode phase search generates now an error 
  message. Same behaviour as SG6. MC-SW documentation updated. (D_F_B1055)
- OS SG7: Remanent variables are not stored, if the drive is new and was programmed 
  directly with 6.7 or 6.8. Fixed. (D_F_B1056)


================================================================================
  6.8 Build 20190701
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20190701
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20190701
E1200 (SG5):                Firmware Version 6.8 Build 20190701
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20190701
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20190701
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- OS SG6: Firmware update from an older system could happen very rarely a boot loop. 
  Fixed. (D_F_B1047)
- LinMot-Talk: If LinMot-Talk is loged in to a E1100 drive via CAN bus, an exception 
  can happen, if parameters are modified after the drive has restartet. Fixed. (D_L_B906)
- EC-SW SG7: Force/torque limits +/- were mismatched. Fixed. (D_F_B1048).
- MC-SW SG 7: The statur word motion active bit with force ctrl did not run correctly. 
  Fixed. (D_F_B1049). 

	
================================================================================
  6.8 Build 20190517
================================================================================

LinMot-Talk 6 Program Version 6.8 Build 20190517
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20190517
E1200 (SG5):                Firmware Version 6.8 Build 20190517
A1100/C1100/I1100 (SG7):    Firmware Version 6.8 Build 20190517
C1200/C1400/E1400 (SG6):    Firmware Version 6.8 Build 20190517
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps

Fixed Bugs:
- MC-Tree SG7: I1150 DS: The default voltage for the UPIDs 101E and 101F (Turn 
  on/off voltage for RR) was too low. Fixed. (D_F_B1035)
- OS SG7: Check for minimal OS and MC version in PnP did not work correctly. 
  Fixed. (D_F_B1036)
- sercos SG5/6: The parameter S-0-0084 (Force/Torque Feedback) must be loaded 
  with the appropriate MC-SW variable, dependant on selected motor type. With 
  UPID 1195h the decision is done, if the MCSW variable MotActForce or 
  MotActTorque is taken. Done. (D_F_B1037)
- adp files: Wittenstein adp-File had wrong adp file name. Fixed. (D_L_B900). 
- C1250-CM: start/stop of the MC-SW does not work over config over RT. 
  Fixed. (D_F_B1040)
- LinMot-Talk: Error code 524541444D4F544F52 occurs, when resizing of a 
  non-existing window should be executed. Fixed. (D_L_B904). 
- LinMot-Talk: Motor Wizard: The value of the noise deadband shows the default 
  value when the wizard is run the first time. Fixed. (D_L_B903). 
- LinMot-Talk: under Help ? About ? Show License the pdf-file cannot be found. 
  Fixed. (D_L_B897). 
- LinMot-Talk, adp-files: for linear rotary motors, the noise dead band was not 
  always turned off for the rotary part. Fixed. (D_L_B902). 
- Intf SW PN: When configuring 4 parameter channels, the last two are not valid 
  in the PLC. Fixed. (D_F_B1038). 
- LinUDP SG5/6: when transferring a motion command interface header without a 
  changed count nibble, the motion command 0x0000 can be read back by the 
  LinMot-Talk. Fixed. (D_F_B1042). 
- LinMot-Talk: On C1100 the linear parts of the 0150-2703, 0150-2704 and 
  0150-2706 motors generate the error  wrong slider  because of a wrong slider 
  ID. Fixed. (D_L_B904).  
- MC-SW SG5: Encoder simulation may drift. Fixed. (D_F_B1044).  

================================================================================
  6.8 Build 20190315
================================================================================

LinMot-Talk 6			Program Version 6.8 Build 20190315
B1100 (SG4) / E1100 (SG3):	Firmware Version 3.25 Build 20190315
E1200 (SG5):			Firmware Version 6.8 Build 20190315
A1100/C1100/I1100 (SG7):  	Firmware Version 6.8 Build 20190315
C1200/C1400/E1400 (SG6): 	Firmware Version 6.8 Build 20190315
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
  C1400: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE,
    Applications: 	EasySteps


Features:
- The Structure of third party motors is reorganized. (D_L_F965).
- LinMot-Talk: Motor Wizard: Configuration for negative direction for PR02 
  linear motors is supported. (D_L_F936).
- LinMot-Talk: Motor wizard and adf files: rotary units for TG_Drives Motoren 
  and parameters for Leadshine motors adjusted. (D_L_F963).
- LinMot-Talk: ADF files for Rexroth MSK040C-0600-NN motors added. (D_L_F959)
- LinMot-Talk: ADF files for PR01-70x100-SSC-C motors added. (D_L_F960)
- LinMot-Talk: ADP files added for the following motors: Engel_HBR2660-DS1, 
  Engel_HBR2660-DS1-KTY83, Rexroth MSL040C-0600-NN-AB, Wittenstein_EC_BiSS_V2 
  (with rotary units). (D_L_F962)
- LinMot-Talk: Motor Wizard: Selection for EnDat2.1 und EnDat2.2 for all linear 
  motors added. (D_L_F938)
- LinMot-Talk: Motor Wizard: Selection for BiSS-B und BiSS-C for PS10-54x and 
  PS10-70x motors added.(D_L_F939).
- LinMot-Talk: Motor Wizard, Documentation, MC-Trees: Unified nomenclature 
  applied for Standard Stroke (SS) and Extended Stroke (ES) 
  (not for C1400/E1400). (D_D209).
- LinMot-Talk: Oscilloscope: On a single click on an oscilloscope item, the edit 
  window will be opened. On a double click the oscilloscope will be opened, 
  as usual. (D_L_F956).
- LinMot-Talk: Compare parameters: A checkbox  only raw values  is added, so 
  only the raw data is compared. (D_L_F957).
- LinMot-Talk: ADC File AM3023_Endat_V2.adc expanded for C1450. (D_L_F947)
- LinMot-Talk: The two drives of linear-rotary motors will be displayed closed 
  together and marked. (D_L_F948)
- LinMot-Talk: Motor Wizard: An edit box is placed close to the combo box. The 
  content of this edit box is regarded as filter for the selection. (D_L_F949)
- LinMot-Talk: Oscilloscope: The oscilloscope settings are checked for the range 
  and a message will be generated if the range is exceeded. (D_L_B874)
- LinMot-Talk: Phase over current messages in E1400 will be distinguished in 
  error codes 0x30 and 0x31. (D_L_B879). 
- LinMot-Talk: The PVL list can be saved as .pvl or .csv file, and the data 
  format can be chosen hex or dec. ( D_L_F934)
- Drive Firmware: All drive firmware is CRC protected. This guarantees a safer 
  FW installation. (D_F_F964).
- Remanent OS: A remanent OS layer is added, which makes the installation more 
  stable. For the user, this is transparent. (D_F_F929)
- OS: SG6/7: Oscilloscope: An additional trigger conditions is added. 
  The trigger can be set active if the difference or the absolute difference 
  (only SG6) of the signals between samples are >= or <= than the trigger level 
  (sort of gradient trigger). (D_F903)
- OS: SG6: Additional trigger condition for trigger on bitmasks added. 
  (D_F_F989).
- OS: SG6: Overrun (OV) interrupt activated in FM04 bus modul to avoid a 
  telegram jam. (D_F_B983) 
- OS: SG6: MotoLink P+ is supported. This allows a faster communication with 
  the motor on startup. (D_F_F996). 
- MC: SG 6/7: Phase search once with absolute sensors added. (D_F_F962)
- MC: SG6/7: Temp Sens Warn Level parameter (UPID 0x1040): default value set up 
  to 75 C. (D_F_F978).
- MC: SG5-7: Force mode for DS402: the units have changed from mm/degree to 
  percent. (D_F_F988)
- MC: SG5-7: Range indicator can also be done with boolean parameters or 
  variables. (D_F_F982)
- MC: SG6: Force mode for DS402: the units have changed from mm/degree to 
  percent. (D_F_F988)
- MC: SG5-7: New incremental motion commands 0xDCx and 0xDDx, with rise and fall 
  trigger parameters as motion parameters added. (D_F_F980).
- MC: SG6&7: Limit switch behaviour without resetting the home flag added. New 
  behaviour and parameter added. (D_F_F967).
- MC: SG6/7: Closed loop Force Control over MC command. New motion command 
  0x398x Closed Loop Target Force SG6 added. (D_F_F965) 
- MC: SG6: EnDat absolute Encoder with Profidrive is supported. (D_F_F948).
- MC: SG6: ProfiDriveD phase search first switch on added. (D_F_F962).
- MC SG6: New streaming command 0x03Bx modulo streaming for Ethernet IP added. 
  (D_F_F949) 
- CM: Time stamp in input assembly implemented. (D_F_F971).
- CM: CIP Sync Modulo Streaming is supported. (D_F_F955).
- CM: Docu: IP sync documentation: Command 0x3Ax added, (D_F_D211)
- EC/DS: PDO object 0x1711 with positive and negative torque/force limit added. 
  New ESI Files 1.8.7. (D_F_F982)
- EC: Cia402 Closed loop Force Control is called over MC command with new Op 
  Mode -118. (D_F_F966)
- EC, DC SG5-7: New variable UPID 213Dh added for showing the time between data 
  receiving and Sync_0. (D_F_F947). 
- PL: SG6: Enable overrun interrupt for PE2MAC to enable reconnection after 
  longer operations (e.g. flashing of command table). (D_F_F959). 
- PD: PD Reference Mark Search 1 added. (D_F_F960). 
- PD: Reference mark search added. (D_F_F958)
- SC SG6: Parameter channel made similar to PROFINET (4x Parameter Channel, 
  4x Monitoring Channel). (D_F_F972).

Fixed Bugs:
- LinMot-Talk: did not start up when the internet connection exists but the 
  server is not reachable. Fixed. (D_L_B883).
- LinMot-Talk: When defaulting the parameters and closing the motor wizard fast 
  enough, it could have happen, that the parameters were not set to default. 
  Fixed. (D_L_B891).
- LinMot-Talk: Small values will be displayed in the scientific format in the 
  parameter view. A change in scientific format was not accepted. Now it is. 
  (D_L_B892).
- LinMot-Talk: When closing a second window, LinMot-Talk crashed. 
  Fixed. (D_L_B893)
- LinMot-Talk: adf-Files: PnP: After a rotary motor without communication was 
  configured, a motor with PnP will be completely accepted. Changed the way, 
  that the new motor would be regarded as a different type. Fixed. (D_L_B886).
- LinMot-Talk: Parameter update did not work reliably because of concurrent 
  tasks. Fixed. (D_L_B888).
- LinMot-Talk: Oscilloscope: The Min/Max feature did display even channels which 
  have been turned off. Fixed. (D_L_B881).
- LinMot-Talk: When ConfigView,ini is defective, LinMot-Talk doesn t start up. 
  Fixed. (D_L_B869) 
- LinMot-Talk: MotorWizard: When the coordinate system was changed to reversed, 
  the homing mode pictures were wrong. Fixed. (D_L_B875). 
- LinMot-Talk: Control Panel: If very small values are typed in 
  (e.g. 0.00001m/s), it will be displayed with 1E-5. When clicking on this box 
  again, an error is generated because the unit doesn t fit. Fixed (D_L_B876)
- LinMot-Talk: Motor Wizard: The finish check did not calculate all rotary units 
  correctly. Fixed (D_L_B877)
- LinMot-Talk: When login to a SG7 drive with older FW, the device type, serial 
  number and article number will not be displayed correctly. Fixed. (D_L_B864).
- LinMot-Talk: After the PC (especially laptop) wakes up from the sleep 
  function, the COM port is not active anymore. Fixed. (D_L_B861).
- OS: SG7: OSCI: Trigger greater or equal did not work correctly in any case. 
  Fixed. (D_F_B1019).
- OS: PnP: Third pary motors without communication did produce the error "Fatal 
  Err: Bad Motor Comm". Fixed. (D_F_B1023).
- OS: SG6: When logged in via RT ETH and the PLC writes RAM parameters, the CT 
  cannot be written in the flash started by the LinMot-Talk. Fixed. (D_F_B1007)
- OS: SG7: Serial Number String is read with -2 Bytes Offset from the start of 
  it when adding the info to the login cmd. Fixed. (D_B_B971)
- OS SG5-7: When a non PNP motor (of the same type) is plugged after a PNP motor 
  has setup, an error  wrong stator type  was generated. After a second reboot, 
  the error disappeared. Fixed. (D_F_B981)
- OS SG6: A timer watchdog error directly restarted the system, without saving 
  the trap information an the remanent memory. Fixed. (D_F_B985).
- OS SG6/7: When installing new firmware, the error  Error saving remanent 
  Memory  occurred. Fixed. (D_F_B986).
- OS SG7: When starting up without a connected motor, the error  Fatal Error: 
  Bad Motor Comm  was generated. Fixed. (D_F_B987).
- MC-SW SG7: Homing with different set A or B did not work. Fixed. (D_F_B1014).
- MC-SW SG5-7: After homing the state 7 was entered for one cycle. Fixed, jumps 
  directly to state 8. (D_F_B1020).
- MC-SW SG6: generates a wrong stator type when after a PnP motor a non PnP motor 
  is connected. Fixed (D_F_B984)
- MC-SW C1400: Sin/Cos offset scale set to 100uV (was 1mV). (D_F_B985)
- IP on netX: The name has changed: netX IP SW is now IntfSWIPNX and netX IP 
  tree is new IntfTrIPNX. (D_F_B996)
- LinRS SG6: does not work since LT 6.7 Build 201801206. The reason is the 
  automatic baud rate reset in the OS. Fixed. (D_F_B1018).
- sercos SG5/6: Torque/Force Feedback Value (S-0-0084) did not display negative 
  values. Fixed. (D_F_B1021).
- Command "Wait until Current greather/lower than" does did work for negative 
  values. Fixed. (D_F_B1034). 

================================================================================
	6.7 Build 20190311
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20190311.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20190311
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20190311
E1200 (SG5):                Firmware Version 6.7 Build 20190311
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20190311
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20190311
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps

Fixed Bugs:
- LinMot-Talk: Downgrade on a B1100 to 6.3 20150416 did not work. 
  Fixed. (D_L_B889).
- MC-SW SG5/6: The state machine went from state 9 over 7 to 8. This caused 
  problems with some PLC libraries. State 7 is not staged anymore. (D_F_B1022). 
- MC-SW SG6/7: The actual position ist not set correctly on a master homing 
  command with BiSS. Fixed. (D_F_B1024).
- LinMot-Talk: Installation: Wrong file was loaded when installing a 
  C1450-SE-VS-1S. Fixed. (D_L_B895).
- OS SG6, E1400: Stopping the drive over the RT Ethernet, the connection was 
  lost because the interface was also stopped. Fixed. (D_F_B1027).
- Ethernet IP SG6: After a software download to the PLC, the communication 
  wasn t always re-established. Fixed. (D_F_B1028)
- MC-Tree SG5: Error message 0x5C added in List. (D_F_B1031). 
- PN on E1450: the RT Ethernet can loose communication when saving CT or curves. 
  Fixed. (D_F_B1029).
- EULA: End User License Agreement updated. (D_D211). 
  
================================================================================
	6.7 Build 20181206
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20181206.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20181206
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20181206
E1200 (SG5):                Firmware Version 6.7 Build 20181206
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20181206
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20181206
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps

Fixed Bugs:
- OS SG6: Stability for firmware installation improved. (D_F_B1004)
- LinMot-Talk: Motor wizard: when changing the sensor resolution for rotary 
  motors, the update of the PID values was not done. Fixed. (D_L_B878)
- MC-SW: SG5-7: Applying the brake with motion profile DS did not work correctly. 
  Fixed. (D_F_B1006)
- Installation: missing GSDML files added. (D_L_B873)
- OS SG5/6: Writing a RAM value via parameter service is only performed, when the 
  new value is different from the old one. So the LinMot-Talk does not refresh 
  the parameters all the time. (D_F_F976)
- Sercos SG5/6: When writing the bipolar torque limits (S-0-0092) over the SVC, 
  the value was ignored by the MC-SW. Fixed. (D_F_B1008)
- MC-SW SG7: The position controller set selection in homing state did not work. 
  Fixed. (D_F_B1012). 
- LinMot-Talk: FW Installer: If drive hardware is not supported by the firmware 
  installation, because it is too old or too new, the error message is now more 
  precise. (D_L_B884)
- LinMot-Talk: FW Installer: Installation from an older version (up to 6.5) did 
  not work properly. Fixed. (D_F_B1016). 
- A1100: MC-Tree: analog mode did not work properly. The analog source was not 
  handled correctly. Fixed. (D_F_B1017). 
  
================================================================================
	6.7 Build 20180921
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20180921.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20180921
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20180921
E1200 (SG5):                Firmware Version 6.7 Build 20180921
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20180921
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20180921
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps

Fixed Bugs:
- MC-SW E1400: In brake state the IGBT diagnosis has raised an error. Suppressed. 
 (D_F_B1001).
- Sercos ML (B8050): During the configuration of the CAN link a timer watch dog 
  error was raised. Fixed. (D_F_B999). 
- IP-ML (B8050): IP link did not respond. Fixed (D_F_B1000).
- LinMot-Talk: ADF Files V3S2 for PR01-70 rotary added. (D_L_F950)
- LinMot-Talk: LinMot-Talk: warning suppressed by missing html documentation parts. 
  (D_L_F951).
- PROFIdrive Std Tlg 5 cast error for velocity fixed. (D_F_B1002). 
- MC-SW SG5/6: VAI commands may calculate wrong demand position, because of a 
  numeric problem. Fixed. (D_F_B1005). 

================================================================================
	6.7 Build 20180828
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20180828.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20180828
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20180828
E1200 (SG5):                Firmware Version 6.7 Build 20180828
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20180828
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20180828
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps

Fixed Bugs:
- LinMot-Talk: Calculation of rotary units, when depending on other parameters, was 
  not correct. Fixed. (D_L_B867)
- MC-SW SG6: Modulo behaviour of RS01 and EC02 motors on start up was not identical. 
  Fixed. (MC SW SG6)
- MC-SW SG6: Modulo position after homing was not correct. Fixed. (D_F_B989).
- MC-SW SG5: Position indexing per X4.9/X4.10 is not supported. Removed from 
  parameter tree. (D_F_B990).
- MC-SW SG5: Homing direction with mode  Home Switch Negative  was not always correct. 
  Fixed. (D_F_B991).
- MC-Trees SG5-7: The motor temperature with rotary units had an offset of 50 C 
  (values showed 50 C higher than the reality). Fixed. (D_L_B868)
- LinUDP SG6 and Ehternet IP SG6: The communication did not establish, when the server 
  has directly responded to the new DHCP address. Fixed. (D_F_B992).
- ADF file for PR01-70: Temperature model parameters adjusted. (D_L_B871).
- ADF file for PS01-48x240-XX: Value for force constant corrected. (D_L_B872).
- OS-SW SG5/6: When stopping MC-SW via real time interface, on restart the interface 
  can time out while the MC-SW is starting up. Fixed. (D_F_B997).
- MC-SW SG7: Delay time of current coupling fixed. (Control behavior improved). 
  (D_F_B998). 

================================================================================
	6.7 Build 20180702
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20180702.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20180702
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20180702
E1200 (SG5):                Firmware Version 6.7 Build 20180702
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20180702
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20180702
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps
   
Fixed Bugs:
- SG5: EtherCAT xml-Files: Object 1A12 ind SG5 xml- file missing. Fixed. (D_F_D211)
- OS SG5-7: When stopping and restarting the MC-SW via interface, there will be 
  written an error message  Fatal Err: Bad Motor Comm . Fixed. (D_F_B966). 
- OS SG5 & 6: The oscilloscope has sampled too slow, when running in OS mode. 
  Fixed. (D_F_B967)
- MC-SG6: The EnDat error decoding was wrong. Fixed. (D_F_B968).
- CM-IP Interface: When too many indications have been received, the mailbox could 
  have been blocked. Fixed (D_F_B972)
- Interface IP, CIP Sync: The drive sets the synchronization flag before it really 
  happened. Fixed. (D_F_B973)
- EtherCAT: Old xml files have been removed. (D_F_F953)
- OS SG7: When logged in with LinMot-Talk and sending the command default MC-SW 
  parameters over the RT bus, it can a trap occur. Byte to byte time out added. 
  Solved. (D_F_B974).
- Interface IP, CM: Interface firmware was updated.because of collision between 
  set attribute single and get attribute single. (D_F_B975).
- Interface IP, CM: Installation of new firmware did not work, because a flash 
  sector was not erased. Fixed. (D_F_B976).
- OS A1100: The RT LEDs did not light up. Port settings set correctly. (D_F_B977).


================================================================================
	6.7 Build 20180517
	Zip-File: 0187-0001_SW_6V7_LinMot-Talk_6.7_Build_20180517.zip
================================================================================

LinMot-Talk 6               Program Version 6.7 Build 20180517
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.25 Build 20180517
E1200 (SG5):                Firmware Version 6.7 Build 20180517
A1100/C1100/I1100 (SG7):    Firmware Version 6.7 Build 20180517
C1200/C1400/E1400 (SG6):    Firmware Version 6.7 Build 20180517
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE, CM
   Applications: 	EasySteps

Features:
- MC SW New motion command (388x)  force ctrl inc act pos with force ctrl limit 
  and target force  added. ( F906). 
- SG5 Sercos: Sercon100 image updated to Version 2.11 from Version 2.8. (F910)
- LinMot-Talk: Oscilloscope the keyboard buttons y,x,1,2,3,4,5,6,7,8 has 
  functionality by zooming with the mouse wheel, the numbers also by fit view. 
  (F914).
- sercos SG5/6: S-0-0092 (Bipolar torque limit) configurable in RT-Data. 
  SG6 only: S-0-0082 and S-0-0083 (Posititve and Negative torque limit) added. 
  (F922)
- EC, DS: New telegrams 1613, 1614, 1A12 are similar to telegrams 1603, 1604, 1A02 
  without OpMode added. (D_F924)
-  OS/LinTalk: Supports higher Baudrates for RS232 Talk-Communication (e.g. 57600, 
  115200). (D_F904)
- LinMot-Talk: Message window added. Displays important messages, like motor 
  wizard not done. (D_L_F915)
- MC-SW: SG6: Support of position correction tables. (D_F927)
- MC-SW: SG6: Support of EnDat as encoder. (D_F928)
- MC-SW: SG6/7: Support of BiSS-B/C (D_F929).
- MC-SW: SG6/7: Support of SSI for rotary motors. (D_F930). 
- OS SG6/7: An installation counter is added. Each time a firmware installation 
  is done, this counter is incremented. (D_F_F934). 
- MC SW C1250: A single, periodic reluctance compensation is added for ForceCtrl 
  functionality. LinMot motors and RS01 are supported. (D_F_F936).
- MC SW SG5-7: With MC command 382x the Force Ctrl Mode is activated, if it wasn t 
  before. (D_F_F937).
- LinMot-Talk: Parameter Inspector: Shows additionally the RAM value. (D_L_F927).
- LinMot-Talk: Firmware installation can be done only if the LinMot-Talk version is 
  equal or newer than the actual installed firmware on the drive. (D_F_F928)
- OS SG5-7: PnP behaviour changed the way, that a switch from a PnP motor to a non 
  PnP motor is supported. (D_F_F935). 
- Linmot-Talk: Faulhaber EC and Harmonic Drive FHA C Mini series supported with 
  rotary units. (D_L_F925)
- Linmot-Talk: Zoom of channels improved by key combinations (D_L_F_931). 
- OS SG6/7: Saving remanent memory speeded up. (Higher loads can be connected 
  on the +5VDC). (D_F_F934)
- LinMot-Talk: Motor wizard supports EC-02 motors. (D_L_F_929)
- LinMot-Talk: Motor Wizard: Page added for setting the PDI parameters for 
  linear-rotary motors. (D_L_F_930).
- LinMot-Talk: Oscilloscope trigger mode  Change  added. (D_L_F934). 
- LinMot-Talk: Motor wizard supports change of PR01 linear motor direction. 
  (This feature does not work with motor version V3S1). (D_L_F935)

Fixed Bugs:
- OS SG6: When sending a reset request over RT Ethernet (e.g. Ethernet I/P) the 
  answer was not always correctly sent before the drive resets. Fixed. (B804)
- OS SG6: Lintalk commands via RT ETH that request a longer timeout are missing 
  the second answer after the command is done (e.g. RET_OK). Fixed. (B805)
- E1250-SE: Drive goes into fatal error state when FW is stopped. Fxed. (B825)
- C1250-IP: when logged in over config ETH over RT, the connection is interrupted, 
  when sending the stop command. Fixed (B827).
- Powerlink SG5 & SG6: EPL-Frames can be read with the wrong start offset from 
  the switch. This leads to misinterpretation of frame content ? All process data 
  (including MC commands and RT config module) can have arbitrary values. 
  Fixed. (B831)
- sercos SG6: Homing via PFC 148 failed after 3rd time. Fixed. (B836)
- SG7: MC SW scaling of speed and acceleration with continuous curve was wrong. 
  Fixed. (B838)
- SG5/6: MC SW VAI motions didn t terminate in every situation. Fixed. (B839)
- SG7: MC SW SG7 motor ActForce was stored in variable MaxForce. Fixed. (B840)
- OS SG6: Command-Table and Curve Service do not work via Lintalk when logged in 
  over RT ETH. Trap when either CS or CT is written to Flash. Fixed. (B852)
- MC SW SG6: The initial position of rotative motors with SSI/BiSS-B/BiSS-C 
  single-turn encoder, which are not homed and powered-up between position U/2 
  and U (where U is a full turn), is set to U, instead of 0. Fixed. (B854)
- CO-Intf: Cannot be started separately via Run Request Flag. Fixed. (B782)
- SG7: AB sensors with more counts per revolution than 0x10000 did not work, 
  the commutation went wrong. Fixed. (D_F_B944).
- Powerlink XDD files generatee warnings when importing in B&R AutomationStudio 
  4.5. Fixed. (D_F_B947)
- E1200-SoE : After stopping the firmware, all parameters are read out again. 
  Fixed. (D_F_B938). 
- SG7: Position Recovery SSI/BiSS with AB sensor did not work. Fixed. (D_F_B949)
- OS SG6: The webserver displays the I/O information not correctly. 
  Fixed. (D_F_B950). 
- OS SG6: The webserver on drive may cause a timer watchdog, if multiple access 
  is done. Fixed. (D_F_B951). 
- OS SG6: Stop and start over realtime config did not work properly. 
  Fixed. (D_F_B952).
- MC SG6/7: When direction is changed via wizard, the homing with absolut sensors 
  did not work properly. Fixed. (D_F_B954). 
- LinRS SG7: When writing RAM and ROM value via LinRS with Main-ID: 03 and 
  SUB-ID: 04, then only the ROM value was written. Fixed. (D_F_B965)

================================================================================
		Build 20180509
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20180509.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20180509
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20180509
E1200 (SG5):                Firmware Version 6.6 Build 20180509
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20180509
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20180509
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Fixed Bugs:
- OS SG7: First byte access of serial EEPROM via c-Functions of PSRV failed. 
  Fixed. (D_F_B939)
- OS SG6: When installing with connected RT-Bus, erasing of flash can fail with 
  error 0xD6. Fixed. (D_F_B940)
- SERCOS SG5/6: Homing procedure PFC-0148 can fail with PVT-Buffer underflow. 
  Fixed. (D_F_B941)
- MC SW SG7: AB sensors with higher counts / revision values did not work. 
  A false value was calculated for the commutation length. Fixed. (D_F_B944).
- Easy Steps SG6: "Goto Initial Position" did not work in any case. 
  Fixed. (D_F_B946)

================================================================================
		Build 20180226
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20180226.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20180226
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20180226
E1200 (SG5):                Firmware Version 6.6 Build 20180226
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20180226
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20180226
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Fixed Bugs:
- C1400: MC-SW: IGBT alarm was not locked when STO was active. Fixed. 
  (D_F_B930)
- LinMot-Talk: adp-Files: Force constant for 12mm hollow sliders was fixed. 
  (D_L_B859). 
- MC-SW SG7: Jogging speed was only 0.06m/s. Fixed. (D_F_B931). 
- OS SG7: When PnP was off, the drive could have stucked on startup. Fixed. 
  (D_F_B933). 
- New GSDML files for all PN drives to avoid missing "Knotentaufe" with newer 
  Siemens CPU firmwares. (D_F_B935)
- IGs: C1100, C1200, C1400, E1400: Maximal cable length information added or
  made more prominent. (D_F_D207). 
- SG7 OS: Safe remanent generates often safe remanent margin errors. 
  Saving improved. (D_F_B936)

================================================================================
		Build 20180111
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20180111.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20180111
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20180111
E1200 (SG5):                Firmware Version 6.6 Build 20180111
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20180111
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20180111
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps


Fixed Bugs:
- MC-SW SG3-7: Phase output frequency increased to 599 Hz. (D_F_B924)
- LinMot-Talk: adf-Files: Temperature model parameters for linear motors in 
  LinRot-Motors adjusted. (D_F_B925).
- Linmot-Talk: eds-files: EDS file for C1400 was missing. Added. (D_F_B926)
- LinMot-Talk: adf-Files: ZP for sliders were wrong. Fixed. (D_F926)
- OS SG7: State Machine for serial EEPROM may be stucked, when a huge amount of 
  messages are logged. Fixed. (D_F_B926).
- MC-SW I1150: Parameter for brake set and release delay time was missing. 
  Added. (D_F_B927).
- Install Script: E1200-PN installation got wrong PN image. Fixed. (D_L_B857)

================================================================================
	Build 201671108
	Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20171108.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20171108
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20171108
E1200 (SG5):                Firmware Version 6.6 Build 20171108
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20171108
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20171108
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- Installation: C1400 drives cleaned up (0S and GP removed). (F919)

Fixed Bugs:
- LinMot-Talk: Curve tool: auto numerate curves button was invisible, but worked. 
  Fixed. (B851). 
- Installation: C1450 V1RF was missing in installation script. Added. (B854)

================================================================================
		Build 20170905
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20170905.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20170905
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20170905
E1200 (SG5):                Firmware Version 6.6 Build 20170905
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20170905
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20170905
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- LinMot-talk: PnP Motor Files for Version V3S3 added. (F912)

Fixed Bugs:
- SG7: MC SW scaling of speed and acceleration with continuous curve was wrong. 
  Fixed. (B838)
- SG5/6: MC SW VAI motions didn t terminate in every situation. Fixed. (B839)
- SG7: MC SW SG7 motor ActForce was stored in variable MaxForce. Fixed. (B840)
- LinMot-Talk: Generating mdf file results in an access violation. (B841)
- SG6: C1400: Flash protection sequence during startup fixed. (B846).
- UPID 0x1E64 changed to UINT16 in tree. (B847)
- MC-SW: CT command IfAnalogValueOnX4.11works with the wrong scaling and works on 
  X4.9. Fixed. (B848)
- Profidrive: Article number for C1450-PD corrected in GSDML file (xml). (B849)
- SG5-7: Intf PN IRT output data is written one cycle earlier. (B850)
- SG5/6: Powerlink: No communication is established via PL under rare conditions. 
  Startup sequence modified. Fixed. (B853)

================================================================================
		Build 20170704
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20170704.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20170704
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20170704
E1200 (SG5):                Firmware Version 6.6 Build 20170704
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20170704
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20170704
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Fixed Bugs:
- E1250-PN: Profinet did not work. Fixed. (B823)
- SG6: MC-SW E1400 PN with IRT was not running, because Intf SW couldn t be 
  installed in SC3. Fixed. (B826)
- C1250-IP: when logged in over config ETH over RT, the connection is interrupted, 
  when sending the stop command. Fixed. (B827)
- SG6: PN & PD-Intf: Intf SW with IRT could cause error less calc time in 
  SC0,1,2,3. Fixed. (B828).
- MC-SW: C1250: Caption for modulo parameters adapted. Some Modulo variables 
  permission changed from developer to user.
- Powerlink SG5 & SG6: EPL-Frames can be read with the wrong start offset from 
  the switch. This leads to misinterpretation of frame content. All process data 
  (including MC commands and RT config module) can have arbitrary values. 
  Fixed. (B831)
- OS SG6 E1400V2: Config Ethernet and Config over RT Ethernet are both handled, 
  which can cause problems when config telegrams are send over both interfaces. 
  Change: When Config Ethernet is plugged in, all config Ethernet traffic is 
  handled exclusively via this interface (No config over RT ETH possible). 
  Config via RT ETH is selected when all cables are disconnected from the Config 
  Ethernet interface at startup. Fixed. (B832)
- OS SG7: Port of DIPSwitch 7 was not initialized as INPUT before checking DIP 
  Switch. This can lead to incorrect values of Bit 6 after power-up. 
  Fixed. (B833)
- OS SG5-7: Stopping and starting MC-SW from interface can endup in a bus timeout, 
  because of the blocking sequence in PnP setup (Erasing correction tables). 
  The Correction table handling is not done anymore, because MC-SW does not 
  support correction tables. Fixed. (B834)
- Master Slave SG5: Drive Traps if Master Slave Mode is set to disabled because 
  CAN is not initialized a protected CAN registers are accessed afterwards. 
  Fixed. (B836)
- SG6 MC-SW: Missing Modulo documentation added. (D201)
- Master-Slave Manual: DipSwitches for E1200 displayed the wrong way. 
  Fixed. (D202)

================================================================================
		Build 20170522
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20170522.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20170522
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20170522
E1200 (SG5):                Firmware Version 6.6 Build 20170522
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20170522
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20170522
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Fixed Bugs:
- SG5: Master Slave: MS connection stopped after 10s, when more than 1 slave was 
  connected. Drive goes from Data Exchange to Timeout and recovers. Fixed. (B806).
- SG5 Master Slave: The error messages were not displayed in the decoded 
  representation. There was a problem with the source ID. Fixed. (B807).
- LinMot-Talk: Save Configuration when the new Curves are not downloaded resulted 
  in a freeze of the LinMot-Talk. Fixed (B808).
- LinMot-Talk SG5-7: After using a rotary Motor with rotary units, then plug in a 
  linear motor and config it over the motor wizard, there are still the rotary 
  units active. When defaulting the MC parameters, also the rotary unit parameters 
  in OS (UPIDs 0x0800-0x0808) will be defaulted. Fixed (B810). 
- LinMot-Talk SG3-7: Genrating the motion command list under manuals results in an 
  access violation because of a missing unit definition. Fixed. (B811).
- Master Slave SG7: Slave position and speed interpolation did not work, because 
  interpolation factor was 0. Fixed. (B813). 
- PD SG6/7: Siemens Tlg105 Xerr was absolute before. Now it is relative to 
  internal PosDiff. Fixed. (B814)
- LinMot-Talk: Motor Wizard: If a E1200 is selected, no Regeneration Resistor 
  can be selected. Fixed. (B815).
- MC-SW SG7: If position recovery is activated with an absolute sensor and the 
  position limits are used, Min Position (UPID $146E) is set >0, the drive will 
  produce the error  Min Pos Overshoot) and the home bit will be cleared. 
  Fixed. (B817).
- PD SG6/7: Servo task settings slower than communication task (multiplier) was 
  not possible. Added. (B818).
- LinMot-Talk: Sint16 Parameters did not function with rotary units. Fixed. 
  (B819).
  
================================================================================
		Build 20170410
		Zip-File: 0187-0001_SW_6V6_LinMot-Talk_6.6_Build_20170410.zip
================================================================================

LinMot-Talk 6               Program Version 6.6 Build 20170410
B1100 (SG4) / E1100 (SG3):  Firmware Version 3.24 Build 20170410
E1200 (SG5):                Firmware Version 6.6 Build 20170410
A1100/C1100/I1100 (SG7):    Firmware Version 6.6 Build 20170410
C1200/C1400/E1400 (SG6):    Firmware Version 6.6 Build 20170410
(SGx = System Generation)

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link)
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:	CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  I1100: 
    Interfaces: 	DS, EC, MD, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- MC-SW SG6 (C1200): Modulo for rotative motors added with three modes: 
  VAI Modulo Go To Pos Positive Direction (3C0xh), Negative Direction (3C1xh) 
  and Shortest Way (3C2xh). (F646)
- PD SG6: Following error at higher speeds. Death time, with Siemens controller. 
  (F789)
- MC-SW: SG6 (except C1400): BiSS-B and BiSS-C. (F805)
- MC-SW: SG6: Min. Temp limit with KTY sensors SW added. (F807)
- SG6&7 support of KTY84 and PT1000 Motor temp sensors on X3. (F810)
- MC-SW: SG6/7: PD Support of Siemens TDB added. (F811)
- MC-SW: SG6/7: Support of Regeneration in Motor. (F812)
- POWERLINK SG5/6: RX-Queue of Powerlink MAC enhanced to be able to buffer more 
  frames before an overrun occurs. (F815)
- OS SG5-7: OSCI: Trigger condition  Not Equal  added. (F825)
- Sercos: SG6: Config over RT Bus added. (F826)
- OS SG5-7: Check added for how much time there is left after Remanent block is 
  safed. If the time is too low, an nonfatal error will be generated. (F830)
- MC-SW: Brake function: Drive brake only with enable. Add apply delay time (Add 
  check box). (F831)
- SG5, MC-SW: Make variables "Winding Application" visible for user. (F834)
- EPL SG5/6: MCSW Task synchronized to SoC to eliminate beat effects between 
  interface data evaluation in the PLC and the drive. Timestamp jitter for 
  streaming improved. (F837)
- MC-SW: Add command: like 016xh with reset I accumulator. Command: 0x00Ax. 
  (F840)
- MC-SW: Add command Set Dem Pos = Act Pos and reset I accumulator Command: 0x0D9x. 
  (F841)
- MC-SW: Dead time compensation for 3phase motors added. (F842).
- LinMot-Talk:  adp files for stator programming version V3S2 added. (F844).
- sercos SG5/SG6: Implemented GDP_RST (IDN S-0-1350) to reboot the device. (F848)
- MC-SW SG5-7: Command 0x00Ex  Reconnect Motor  added. (F850).
- MC-SW SG5-7: Command 0x00Dx  Disconnect Motor  added. (F851)
- MC-SW SG6: Force Control: FF Friction (UPID 0x150B) and FF Acceleration 
  (UPID 0x150C) added. (F853).
- Sercos SG5/6: Start of MCSW-Tasks is now synchronized to reception of 
  MDT-Telegrams. (F857)
- LinMot-Talk: Wizard supports BiSS encoders. (F858)
- LinMot-Talk: MDF-Generator: Another window added to define a list with additional 
  UPIDs and values to be set. (F875)
- EtherNet/IP: The receive procedure is managed by interrupt. The jitter is smaller 
  and is more robust for broadcast traffic. (F879)
- LinMot-Talk:Support of rotary units added. (F881)
- OS: SG5/6: State machine changed. Before MC-SW is started, the PnP setup is always 
  done. This avoids the error message  Wrong Stator Type  when configured over the 
  RT bus and no reboot is done. (F882)
- SG7: Appl Gantry Master Slave via CAN added. (F891)

Fixed Bugs:
- CANOpen SG7: COB-Ids of TXPDOs and RXPDOs (e.g. Object 0x1400sub1) cannot be 
  changed via SDO access. Fixed. (B728)
- PN Input size of Get Actual Position in GSDML-file was 2 bytes instead of 
  4 bytes. Fixed. (B729)
- OS SG5: Intf Trees could not be downloaded via Lintalk. Fixed. (B731)
- B1100: MC-SW: EC motors may turn in the wrong direction when jog moves are 
  executed. Fixed (B734). 
- LinUDP_V2 SG5 when the MC Software is stopped after a short time LinUDP loose 
  the connection. Fixed (B740).
- SG6: After a flash access, a timer struggle message was shown and logged. 
  This was a false alarm. Fixed. (B741)
- SG6: Installation may result in timeout and no communication is possible 
  anymore. (Problem with flash lock). Fixed. (B742)
- SG7: MC-SW: In two phase model, the temp calculated error on phase 2 does not 
  turn off the motor. This problem exists since version 6.5. Fixed (B743) 
- SG7: LinRS: Sending of packets sometimes stops. The driver output enable may be 
  disabled unintentionnaly. Fixed. (B745)
- SG7: LinRS: Parameter  Time Out  (UPID 208Bh) had no influence. Fixed. (B747)
- C1150-DS-1S: Parameter  Periods per Revolution  (UPID 11ECh) was missing. The 
  motor wizard in LinMot-Talk ended up with a division by zero error. 
  Fixed. (B749)
- PL SG5/6: Default Value and Calculation of Object 1F98 sub05 
  (PResActPayloadLimit) were incorrect. Fixed. (B750)
- PL SG5/6: Peaks to maximum value of Demandposition while P-Streaming and PVT 
  Buffer Errors when setting the tolerance to 0 fixed --> Timestamping is now 
  done in MCSW Cyclic Function. Fixed.  (B751)
- MC-SW SG5: Default value of parameter  Phase Voltage Low Level  (UPID 0x102C) 
  set to 2.54V. (B752)
- Motor data: adf/adp-Files: Short time overload model parameters (C Winding 
  (UPID 0x122A) and R Winding-Sensor (UPID 0x122B)) for 37Sx60 and 48x360 motors 
  corrected. (B754)
- MC-SW: SG7: When brake is activated and Noise Dead Band is active, the demand 
  current was not set to 0A, even when Maximal Current is set to 0A. 
  Fixed. (B756). 
- MC-SW: SG7: Brake apply delay time is only   of the correct value. (B758)
- EDS-File for C1250-IP-XC-0S had not the correct datatype. It did not function 
  with the Add on instruction. (B759)
- OS SG7: Application parameter tree values are not correct. UPIDs 0x058C, 
  0x05A0, 0x05A. Fixed. (B762)
- OS SG6 C1250: TCP Frames received over RT Ethernet led to a trap because 
  tcpip_init() was only executed on E1400 series drives. (B763)
- SG6, VAJI Increment Act Pos Starting with Dem Vel = 0 and Dem Acc = 0 (346xh): 
  As soon as a rotative motor moves from +210000mm to -210000mm (or another 
  increment command over the INT32 range), the motor changes the direction and 
  turns all back to -210000mm. Fixed. (B765)
- SG5&6: OS: Start MC-SW from interface results in a trap, when MC is already 
  running. Fixed. (B766)
- OS: GetErrorMsgStringLet did not work for MC and INTF messages. Error messages 
  could not be displayed correctly over the RT bus. Fixed. (B767). 
- MC SW SG6: Commands 3AAxh, 3ABxh, 3ACxh, 3ADxh, 3BAxh, 3BBxh, 3BCxh, 3BDxh had 
  wrong parameters. Fixed. (B768)
- LinRS: Byte to byte time out bug fixed. Time out counter was also running in 
  idle state. Fixed. (B769)
- sercos SG5/SG6: Duration of IP-Window during RT-Traffic increased. A lack of 
  throughput could result in Indra-Drives not being able to update their firmware 
  correctly. Fixed (B770).
- OS SG5/6: Port access to LED pins made uninterruptable. Problems with LinRS 
  driver cannot occur anymore. (B771)
- OS: OSCI: UINT8 or SINT8 types with odd address could not be sampled. 
  Fixed (B773).
- EasySteps SG7: Autostart mode did not work (only problem in 6.6 20170104-IM). 
  Only temporary problem with new switch on sequence (adaption to C1200). 
  Fixed (B775).
- OS SG7: When writing ROM bit parameters, it could happen, that other bits in 
  the same word or byte are altered. Fixed. (B777)
- OS: SG7: Several deleting and writing of curves destroys Command table. 
  Fixed. (B779)
- LinRS SG6/SG4: Checksum calculation in mode  Add  was wrong. Start Value was 
  always assumed as 0000h.Fixed. (B780)
- Oscilloscope SG6: Trigger on STO input did not work. Fixed. (B781)
- LinMot-Talk: Voltage enable set over X4.6 in 0S-Drives did not affect Voltage 
  Enable flag. Fixed. (B783)
- LinMot-Talk: When motor PS01-23x80 is selected, and slider PL01-12x130/90-LC, 
  the slider was not stored in the wizard. Fixed. (B784)
- EtherNet/IP: If a message is received, which looks like forward open but 
  shorter, then the sequence number was set back to 0, which caused a Realtime 
  IO Timeout. Fixed. (B785)
- MC-SW: (E1100): If "Jogging Mode" is set to "Speed Limited Move", only positive 
  direction works. In negative direction nothing happens. Fixed. (B789)
- PN SG6: Bus timing improved. Very rarely wrong data was loaded. Fixed. (B790).
- sercos SG5: Erronous sercos error counter fixed. The counter incremented even 
  if there was no real error. Fixed. (B791)
- sercos SG5/6: initiating Homing via Interface while drive is operational could 
  lead to error "Motion Command in Wrong State". Fixed. (B792)
- SG3: MasterSlave Application E1100: Source ID in tree corrected from 1002h to 
  2001h. Error descriptions in the error log when read with LinMot-Talk are now 
  correct. Fixed. (B793)
- SoE: Homing with Home Switch Positiv does not work properly. Fixed. (B794).
- SG7: MC-SW: VAI infinite motion could start with wrong start values (Problem 
  homing SoE). Fixed. (B795)
- PLC does not receive those in time and resets the drive again and again. 
  Fixed. (B796)
- CANOpen SG6: Timing for Errorcontrol and sync monitoring fixed (250us and not 
  200us MC-cycle). Fixed. (B797)
- LinMot-Talk: Stop script did not work. Fixed. (B799)
- MC-SW SG6: EncoderSimulation on E1400 did not work. Fixed. (B800)
- MC-SW: SG7: For rotary motors one revolution could only be defined as 36mm. 
  Fixed. (B802)

================================================================================
		Build 20160927
		Zip-File: 0187-0001_SW_6V5_LinMot-Talk_6.5_Build_20160927.zip
================================================================================
		
LinMot-Talk 6                           Version 6.5   Build 20160927
B1100/E1100 Series Firmware:            Version 3.23  Build 20160927
E1200 Series Firmware:                  Version 6.5   Build 20160927
A1100/C1100 Series Firmware:            Version 6.5   Build 20160927
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160927

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link) 
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:		CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- LinMot-Talk: ADP files version 3.2 added. (F817)
   
Fixed Bugs:
- Ethernet-IP: SG5/6: Less Calc Time C1 occurred. Fixed. (B714)
- LinMot-Talk: Saving congurations from offline Drives was not possible. Fixed. 
  (B732)
- B8050: Ethernet IP communication timeout occurred. Fixed. (B733)
- C1250: Show IP Address incorrect by save configuration over Realtime. 
  Fixed. (B737)
- LinMot-Talk: When connection lost, the configuration safed had no data. 
  Fixed. (B738). 

================================================================================
		Build 20160711
		Zip-File: 0187-0001_SW_6V5_LinMot-Talk_6.5_Build_20160711.zip
================================================================================
		
LinMot-Talk 6                           Version 6.5   Build 20160711
B1100/E1100 Series Firmware:            Version 3.23  Build 20160711
E1200 Series Firmware:                  Version 6.5   Build 20160711
A1100/C1100 Series Firmware:            Version 6.5   Build 20160711
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160711

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link) 
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:		CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- MC-SW: SG5-7: Before HW tests demand position is set to actual position. 
  (F807).
   
Fixed Bugs:
- SG7: Timer Watch Dog Error when writing CT or curves to flash via interface. 
  Since Build 20160325. Fixed. (B719)
- E1400 and C1400 Switch on Current limit (UPID 0X102F) increased to 1A (B720)
- E1100 and B1100 Switch on Phase Voltage low limit (UPID 0X102C) decreased 
  to 2.5V. (B721)
- SG7: CO: Writing CT entries via SDO did not work correctly. Fixed. (B723)
- SG5-7: LinRS: Various length in default response. Fixed. (B726)


================================================================================
		Build 20160622-IM
		Zip-File: 0187-0001_SW_6V5_LinMot-Talk_6.5_Build_20160622a-IM.zip
================================================================================
		
LinMot-Talk 6                           Version 6.5   Build 20160622-IM
B1100/E1100 Series Firmware:            Version 3.23  Build 20160622-IM
E1200 Series Firmware:                  Version 6.5   Build 20160622-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160622-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160622-IM

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link) 
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:		CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

Features:
- CANOpen SG7: Baudrate Autodetection implemented. (F803)
   
Fixed Bugs:
- E1100: Hall Switch W on X3 is not read in. (Wrong Port direction). 
  Fixed. (F800)
Documents:
- German installation guides for C1100 and C1200 added. (D192)

   
================================================================================
			Build 20160613-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160613-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160613-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160613-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160613-IM

  E1200: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  E1400: 
    Interfaces: 	CO, DP, DS, EC, IP, LU, PD, PL, PN, RS, SC, SE
    Applications: 	EasySteps, MasterSlave
  B8050 / MB8050 ML (MC-Link) 
    Interfaces: 	EC, IP, PN, PL, SC
    Applications: 	-	
  A1100: 
    Interfaces:		CO
    Applications: 	Autostart, Sinoide
  C1100: 
    Interfaces: 	CO, DS, EC, PN, RS, SE
    Applications:	Autostart, EasySteps
  C1200: 
    Interfaces: 	DS, EC, IP, LU, PD, PL, PN, SC, SE
   Applications: 	EasySteps

(Interface key: CO: CANopen, DP: Profibus DP, DS: EtherCAT CoE, EC: EtherCAT, 
 IP: Ehternet IP, LU: LinUDP, PL: PowerLink, PN: PROFINET, RS: LinRS, 
 SC: sercos, SE: EtherCAT CoE)
		  
Features:
- SG6, SG7: Phase Search with minimal movement. (F698)
- SG7: SSI supported during operation (additional to position recovery) for linear 
  motors. (F775)
- E1400 PTC, KTY and PT1000 Evaluation on X2 implemented. (F795)
- SG6: MC-SW: Command  Mod. Command Table 32/16Bit   added. (F796)

Fixed Bugs:
- SG5/SG6: Master Slave: On a restart of one drive, the MS communication is lost. 
  Fixed. (B713)
- E1400 V2 Master encoder on X10 didn t work. Fixed. (B715)
- E1400 V2 Encoder simulation didn t work. Fixed. (B716)

================================================================================
			Build 20160517-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160517-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160517-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160517-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160517-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

		  
Features:
- LinMot-Talk: Save / Load workspace configurations. Multiple drive configurations 
  can be stored and loaded together. So a complete machine configuration stays 
  consistent. (F415)   
- POWERLINK SG5: CN asynchronous reaction time optimized from ~100us down to 
  ~10us. (F784)
- Installation Guides: Declaration of Conformity CE-Marking updated according to 
  new directives.



Fixed Bugs:
- SG7: OS: Address of monitoring variables used in MC-SW, defined by UPIDs, may 
  be wrong. Fixed. (B703)
- PN SG5: If Flash operations (e.g. write curves to flash) are executed, the 
  Profinet Interface stops working -> TPS-1 watchdog was not toggled during 
  flash operations. Fixed (B704).
- SG7: If invalid UPIDs are used as a value to configure other parameters (e.g. 
  Range indicator 1 Minuend UPID) in LinMot-Talk, the drive does not start up 
  anymore and a SW trap occurs. Fixed. (B705).
- E1400-V2: Master encoder on X13 does not work. Fixed. (B706)
- MC-SW A1100: Temperature parameter scaling was wrong. Fixed. (B707)
- Sercos SG5/6: If the SVC channel is mapped in a different AT/MDT than the 
  rest of the data, the SVC channel does not work. Fixed. (B709)
- EthernetIP: MCSW stopping fieldbus does not work with RPI 1ms. Fixed (B710)
- LinUDP: write UPID, the Dirve does not answer on the first request, after 
  the second request it works normal. Fixed. (B711)
- MC-SW E1400: Masterencoder: both sources X10 and X13 are not processed. 
  The counter stays at 0 and the position indexer does not work. Fixed. (B712).

================================================================================
			Build 20160325-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160325-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160325-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160325-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160325-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

		  
Features:
- MC-SW: (SG7) Predef VAI Increment Act Pos by Cmd Tab Var1 added. (0D2xh)

Fixed Bugs:
- OS SG7: Login not possible after a trap or wdt occurs. LED Pattern to indicate 
  the different kinds of traps does not work correctly. Fixed. (B694). 
- OS SG7:  (Infineon Errata  PVC_X.H001) 
- OS SG7:  (Infineon Errata  PVC_X.H001): PVC Threshold Level 2 interrupt: Due to 
  variations of the tolerance of both the Embedded Voltage Regulators (EVR) in 
  the CPU, this interrupt can be triggered inadvertently, even though the core 
  voltage is within the normal range. This leads to a Trap since this interrupt 
  triggers the same source as the timer watchdog. The user sees a timer watchdog 
  error entry in the error log even though the reason was a different one. 
  Fixed. (B697)
- EasyStep SG7 didn t work in 6.5 IM build. Fixed. (B698)
- E1250-SE the Velocity command value in MDT 1 did not work in Build 6.4. 
  Fixed. (B699)
- C1250 Easy Steps analog Parameter Scale on differential channel fixed. (B701)
- LinMot-Talk: Control Panel: Display of digital outputs on A1100 fixed. (B702)


================================================================================
			Build 20160222-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160222-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160222-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160222-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160222-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

		  
Features:
- POWERLINK SG6: CN asynchronous reaction time optimized from ~100us down 
  to ~1us. (F778)
- EC02 ADP Files added. (F781)
- EC02 running with C1100, C1200, E1200. (F782)

Fixed Bugs:
- EC:SG5 and SG6: NC  In/Out fixed with new XML. (B690).
- B8050-ML-IP: RT Communication did not work with Build 6.4. Fixed. (B691)
- SG7 DiagLivePar was not called in IM 6.5. (B692)
- SG7 Hall cross coupling compensation fixed. (B693)


================================================================================
			Build 20160201-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160201-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160201-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160201-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160201-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

		  
Features:
- Sercos SG5/6: Procedure Function Command S-0-0262 Load defaults implemented. 
  (F766)
- EC SoE expanding PDO data with any UPID of 16 or 32 bit data size. (F767)
- MC-Tree: Captions for UPID 0x11DB changed from  Positive  to  Cosine before 
  Sine  and from  Negative  to  Sine before Cosine . (F769)
- SG7 Support Sin/Cos Motor position with IFFT 2 Arctan table. (F770).
- SG6: CFG ETH with PN and PD. (F772)
- SG6: SSI supported during operation (additional to position recovery) for 
  linear motors. (F774)

Fixed Bugs:
- CANopen SG5/6: If a SDO-Abort Transfer request message is sent from the PLC, 
  the drive does not respond anymore to further SDO Requests. Fixed (B688).
- MC-SW SG5/6: 32 bit overflow with sine and bestehorn motions fixed. (B689)


================================================================================
			Build 20160112-IM
================================================================================

LinMot-Talk 6                           Version 6.5   Build 20160112-IM
B1100/E1100 Series Firmware:            Version 3.22  Build 20150416
E1200 Series Firmware:                  Version 6.5   Build 20160112-IM
A1100/C1100 Series Firmware:            Version 6.5   Build 20160112-IM
C1200/C1400/E1400 Series Firmware:      Version 6.5   Build 20160112-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- ProfiDrive: Velocity watch added. Result is stored in Warn Word bit 11. 
  (F757)
- ProfiDrive: Torque limit positive, negative: Two limits are added (the 
  older limit still exist). The torque watch works with the lower of the 
  two values. (F759)
- EC02: On power on, the motor position is zero plus the actual angle. The 
  angle offset is stored on the motor. (F761)


Fixed Bugs:
- SG7: A1100/C1100: Curve Service: Write Curves with Ids 9..16, 25..32 etc. did 
  not work. Fixed (B677)
- SG6 Sercos: Problem of variable mislocation. Can lead to other problems. 
  Fixed (B678)
- C1150-EC: As soon as PDO Mapping  NC Inputs  and  NC Outputs  are selected on 
  the master, the drive switches to  Error Pre-Operational State . Fixed (B679)
- SG5/SG6: Installation over Config ETHERNET: When the default IP Address is 
  selected, it was not possible to install on a second drive. Fixed (B680).
- LinMot-Talk: When the first user defined variable is deleted and then double 
  click on the next variable, an address error is generated. Fixed (B681)
- SERCOS: Data exchange when more than one telegram is sent (if number of bus 
  nodes is very high) may be faulty. Fixed. (B683)
- MC-SW: SG7: Bugfix reading differential hall switch W input. Was mapped to 
  single ended hall switch W input. Fixed. (B684)
- SG5/6 Sercos: Only AT0/MDT0 telegrams work. If Data is placed in AT1-3/MDT1-3 
  the drive is unable to get to CP4. Fixed (B685)
- SG5/6 Sercos: Timing optimised in RT Data handling. Handling the data too late 
  can lead to corrupted telgrams (alignement errors) with image version 2.8 of 
  the sercon100. Fixed (B686)
- SG5/6 Sercos: Ring recovery can lead to missed telegrams. Fixed (B687)
 

================================================================================
			Build 20151112
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20151112
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20151112
A1100/C1100 Series Firmware:    Version 6.4   Build 20151112
C1200       Series Firmware:    Version 6.4   Build 20151112

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Key Features:
- Winding on E1200
- Jerk Limited Motion Commands on C1200 / E1400V2
- Config ETH on C1250 for EC and LU


Fixed Bugs:
- SG7: OS: When installing firmware, the drive information shown (MAC-ID, serial 
  number and comment) was not displayed correctly. Fixed. (B672).
- SG 5-7: LinRS: Transmitter was enabled after initialization. Caused problems 
  when more than one drives where connected together over RS485. Fixed. (B673)
- SG5-7 (except A1100): Position recovery over SSI fixed. Offset calculated 
  after (first time) homing was wrong. (B674)
- E1400V2: EasySteps: X4.11 functionality added. Made compatible to E1400V1. 
  (B675)
- C1100: MC-SW: Force control: Scaling measured force if range is greater than 
  0xFFFF bug fixed. (B676)
- SC: Workaround for SC position jump bug. (B677)


================================================================================
			Build 20151005-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20151005-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20151005-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20151005-IM
C1200       Series Firmware:    Version 6.4   Build 20151005-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- Motors with SSI-Sensors added. (F746)

Fixed Bugs:
- E1400V2: Config ETH improved. (B664)





================================================================================
			Build 20150914-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20150914-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20150914-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20150914-IM
C1200       Series Firmware:    Version 6.4   Build 20150914-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- E1200 MC-SW: Winding functionality added. (F542)
- MC-SW SG6: Jerk-Limited Motion commands. (F598)
- C1250-EC: Config over Ethernet supported. (F728) 
- MC-SW: Variable for Motor Temperature margin added in SG5 and SG6. UPID 0x1C00 
  shows the temperature difference between error temperature and actual motor 
  temperature. (F740)
- PnP: in  Same Motor Type Mode  only the stator specific parameters will be 
  defaulted and reloaded. Except for the first time, when all parameters will be 
  loaded. (F741)
- SG6: Less calc time C0 error occurs, e.g. when CMD table starts a curve. Timing 
  for RAM optimized. (F743) 
- C1200-LU: Config over Ethernet supported. (F744) 

Fixed Bugs:
- LinRS: SG5-7: Error code instead of Warn word was sent in response. (B667)
- LinRS: SG6: Stop and Start MC Software (Main ID: 6, Sub ID 3-5) improved. (B668).
- C1x00, E1200, E1400V2: Position Recovery over SSI fixed. Offset calculated after 
  (first) homing was wrong. (B669)
- Sercos SG5/SG6: FSP-IO: Data Inconsistency fixed. Was possible when passing 
  Motion Interface Parameters from the Interface to the MCSW, which can lead to 
  unpredictable behaviour when executing motion commands (B671).  

Known Bugs:
- Config ETH for E1400V2 does not work properly. 


================================================================================
			Build 20150821-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20150821-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20150821-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20150821-IM
C1200       Series Firmware:    Version 6.4   Build 20150821-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- E1400: Force Control: Demand force can be mapped to Analog Input single 
  ended. (F740)

Fixed Bugs:
- C1100 bugfix Sin Motion profiles with low const speed phase. Could stick in 
  the middle of the motion due numeric problems. Fixed (B663)

  
================================================================================
			Build 20150715-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20150715-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20150715-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20150715-IM
C1200       Series Firmware:    Version 6.4   Build 20150715-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- Support of AS01-X4-DIP-SW on C1150-EC drives. (Adapter connector with DIP 
  switches on X4). (F725)
- PN on SG7: CRC Calculation over serial flash added, so the installation can 
  be shortened. (F726)
- PN on SG6: CRC Calculation over serial flash added, so the installation can 
  be shortened. (F727)
- GSD Files for E1400 added. (F730)

Fixed Bugs:
- LinMot-Talk Drive Installation: E1450-LU-QN-1S was missing. Added. (B653) 
- OS SG7: Stopping the MC SW via Interface and starting again, while logged in 
  and control panel is, may result in a trap. Fixed (B654). 
- OS SG7: Stop Firmware Script did not work reliably. Fixed (B655).
- LinTalk in ControlPanel Motion Control Interface: not every Command was 
  executed on the drive because of problems with Auto Increment Count Nibble 
  and multy read. Fixed. (B656)
- OS SG6: Lintalk commands, which request a longer timeou,t can lead to 
  communication errors if other messages i.e. Ping commands are sent before 
  the last command that requested a longer timeout is fully executed. Fixed. 
  (B657)
- E1450LU with Build 6.3 has the same MACID for RT and Config Ethernet 
  -> Config Ethernet does not function. Fixed (B658)
- C1250-EC: It could happen, that the ROM-write command was not terminated 
  correctly by the Callback Routine. Fixed. (B659)
- CT: When downloading Command  Sin VA Go To Ananlog Pos  and uploading 
  again, the parameters will not be the same. Fixed. (B660).
- E1200: Encoder simulation did not work. Fixed. (B661)
- MC-Tree: E1400-V2: Address for Brake Out Status $1C60 was wrong. The 
  displayed value was flickering because the mapping was wrong. Fixed. (B662)
- LinMot-Talk ADF/ADP Files: Release 6.3 -> Wrong Force Constant in RS01 
  Motors (Rotative Part of LinRot). Fixed. (B663) 

================================================================================
			Build 20150610-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20150610-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20150610-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20150610-IM
C1200       Series Firmware:    Version 6.4   Build 20150610-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:

Fixed Bugs:
- Sercos SG5/6: IF the source of /QuickStop was set to  Forced by Parameter , 
  then after a reboot it will be set back to  Interface  with the use of the 
  IO profile. (This behavior is correct when using the drive profile, but not 
  for IO). Fixed. (B649). 
- CANOpen SG5-7:  PDOs are not updated/sent anymore after the MCSW is stopped 
  and restarted over the Interface. Fixed. (B650)
- C1150-PN: PN has started up unreliably. Fixed (B651)
- PN on SG6 has started up unreliably. Fixed (B652)


================================================================================
			Build 20150511-IM
================================================================================

LinMot-Talk 6                   Version 6.4   Build 20150511-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.4   Build 20150511-IM
A1100/C1100 Series Firmware:    Version 6.4   Build 20150511-IM
C1200       Series Firmware:    Version 6.4   Build 20150511-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- E1400V2: MasterSlave application added. (F724)

Fixed Bugs:
- OS SG5: Get multiple UPID values: Sometimes traps. Fixed. (B397)
- LinMot-Talk: After the default command, the parameter values are read out 
  from the drive but not displayed. Fixed. (B635)
- Sercos SG5/SG6: Using Drives with the FSP-IO profile does not work with all 
  PLCs. The connection lengths get mixed up and it is not possible to get to 
  CP4. (B644) 
- sercos: Quickstop is not executed correctly on a falling edge of Bit 15 of 
  the drive control word (S-0-0134). (B645)

  
================================================================================
			Build 20150416
================================================================================

LinMot-Talk 6                   Version 6.3   Build 20150416
B1100/E1100 Series Firmware:    Version 3.22  Build 20150416
E1200/E1400 Series Firmware:    Version 6.3   Build 20150416
A1100/C1100 Series Firmware:    Version 6.3   Build 20150416
C1200       Series Firmware:    Version 6.3   Build 20150416

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, LinUDPV2, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
     C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, LinUDPV2, PROFINET, sercos, 
          sercos over EtherCAT, DS402 over EtherCAT, PROFIdrive

Features:
- LinMot-Talk / OS: (SG5, SG6, SG7) Modified UPID List for parameter service 
  added to assure consistency between drive and LinMot-Talk. (F682)
- OS: Cfg ETH: ARP requests for getting the server MAC address take place every 
  256s (old 60s) and have a start value depending on the MAC ID. This distributes 
  the requests. (F712) 
- Drive Types LU: LinUDP added for C1250, E1250 and E1450. (F713) 
- Interface Choice is reduced for each drive type, so the software settings are 
  reduced in diversity. See also F713.(F714)
- sercos: On a falling edge of bit 15 of the drive control word (S-0-0134) a 
  Quick Stop is executed to halt the drive in the best possible manner. This only 
  works if the Quick Stop control bit is not set to  Forced by parameter . (F715) 
- LinMot-Talk: adf-File structure changed. Main folder for OEM types added.  (F716) 
- Panasonic motor series supported as standard motors. (F717). 
- C1100: Support of position limits added. (F718). 
- C1100: UPID 0x1C89 X4 Intf Output added to tree. (F719)

Fixed Bugs:
- Sercos SG5/SG6: Using Drives with the FSP-IO profile does not work with all  PLCs. 
  The connection lengths get mixed up and it is not possible to get to CP4. Fixed. (B644)
- Lin-UDP: Byte order was not consistent over all commands. Fixed. (B611) 
- SG6 Installation does not work. Flash write time outs occur. Fixed. (B625) 
- sercos SG5/6: Homing Bit via Interface is not reset if an error occurs during 
  homing procedure or if the drive is put out of the enabled state during homing. 
  (B628)
- Motor Communication: When the signal supply raises very slowly, it can happen, 
  that the error  No motor communication  comes up. Fixed. (B629) 
- LinUDP stability and problems with countnibble in motion command fixed. (B630) 
- Ethernet IP E1250 loses the connection after a while (minutes until hours). 
  Fixed. (B631) 
- C1200 OS: Oscilloscope time scaling not correct. Real time does not match with 
  recorded time. (B633) 
- OS C1100: Bit parameters could not be defaulted. Fixed. (B634). 
- CANOpen SG5: Sporadically CAN-messages are ignored by the drive because of a 
  functional deviation of the CPU. (B635) 
- OS: SG5/SG6: Time consistency check did not work. Reset operating time when 
  MSByte is set. (B637) 
- LinMot-Talk: Safe / Open with chinese folder names was not working. Fixed. 
  (B638) 
- C1100: Bug Actual Pos at Continous Count overflow fixed. (B639) 
- C1200: IO logic definitions input and outputs were mixed up. Fixed. (B640) 
- C1100:  When homing request occurred with " No Drive Homing" mode, drive trapped. 
  Fixed. (B641). 
- C1250: Tree: controller set B max current was 32A instead of 25A. Fixed. (B642) 
- C1100: Analog source select in Force Control mode was always on differential 
  input. Fixed. (B643) 

  
  
================================================================================
			Build 20150130-IM
================================================================================

LinMot-Talk 6                   Version 6.3   Build 20150130-IM
B1100/E1100 Series Firmware:    Version 3.22  Build 20150130-IM
E1200/E1400 Series Firmware:    Version 6.3   Build 20150130-IM
A1100/C1100 Series Firmware:    Version 6.3   Build 20150130-IM
C1200       Series Firmware:    Version 6.3   Build 20150130-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET, 
        DS402 over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET, PROFIdrive
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
          EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT, 
          DS402 over EtherCAT, PROFIdrive

Features:
- PnP: Plug & Play:  PnP same Motor Type  mode added. Set as default. (F705) 
- OS SG7: Talk-Command 0x05 (Get Group Device Names) implemented. Used e.g. for 
  blinking to identify device. (F706)
- LinMot-Talk: New Document nomenclature supported, consistency with web shop.
  (F708)
- IP-Interface: ODVA conformal behaviour. (F709). 
- PROFIdrive interface added. (F710). 

Fixed Bugs:
- Sercos: When drives are in a ring topology and the ring is opened and closed 
  again at runtime, the topology did not recover. Fixed (B452).
- Sercos SG6: RT LEDs flash irregularly when indicating a connection error. 
  (B619)
- Sercos SG5/SG6: When the RT data is configured with a list, changing from a 
  longer list to a shorter list leads to a connection length error when the PLC 
  tries to change to CP4 with the new configuration. Fixed. (B621)
- LinUDP: instable communication. Fixed. (B626) 
- E1200: ETHERNET-IP: instable communication. Fixed. (B627) 
- sercos SG5/6: Homing Bit via Interface was not reset if an error occurs during 
  homing procedure or if the drive is put out of the enabled state during homing. 
  Fixed. (B628)
- All Drives: Motor Communication: When the signal supply raises very slowly, it 
  can happen, that the error  No motor communication  comes up. Fixed. (B629). 
- LinUDP: Stability and problems with count nibble in motion command. Fixed. 
  (B630).

  
================================================================================
			Build 20141127-IM
================================================================================

LinMot-Talk 6                   Version 6.3   Build 20141127-IM
B1100/E1100 Series Firmware:    Version 3.21  Build 20140915
E1200/E1400 Series Firmware:    Version 6.3   Build 20141127-IM
A1100/C1100 Series Firmware:    Version 6.3   Build 20141127-IM
C1200       Series Firmware:    Version 6.3   Build 20141127-IM


    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET, DS402 
        over EtherCAT
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET, DS402 over EtherCAT
    C1200: Supported Interfaces: 
        EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT, 
        DS402 over EtherCAT


Features:
- DS402 profile for EtherCAT added. (F696)
- Lin-UDP: Communication optimized, so data is responded with the next answer. 
  (F701)
- PROFINET Installation: The serial Flash will only be written if necessary. 
  Makes the installation much faster. (F703)

Fixed Bugs:
- OS SG7: OS could trap occasionally because cyclic RTC interrupt was setup 
  before RS232 etc. was setup. Fixed. (B610)
- E1400 IP with Master/Slave Appl: Firmware traps on Startup. Fixed. (B612)
- C1250-SC: interface does not start up correctly. (B613)
- C1250-SC: RS232-Communication via LinMotTalk stops working when in drive is 
  in CP4. Fixed. (B614)
- Sercos SG5/SG6: The SVC channel occasionally stops working. Fixed. (B615)
- Sercos SG5/SG6: if a sercos address of 0 is set via the DIP-Switches the drive 
  does not use the topology address as the sercos address if topology based 
  addressing is available. Fixed. (B616)
- E1250-PN: Occasional Timer Watchdog Errors on Interface Startup. Fixed. 
  (B617)
- Sercos SG5/SG6: When the drive is configured as a virtual device in a PLC, 
  getting to CP4 is not possible. Fixed. (B618)



================================================================================
			Build 20140915
================================================================================

LinMot-Talk 6                   Version 6.2   Build 20140915
B1100/E1100 Series Firmware:    Version 3.21  Build 20140915
E1200/E1400 Series Firmware:    Version 6.2   Build 20140915
A1100/C1100 Series Firmware:    Version 6.2   Build 20140915
C1200       Series Firmware:    Version 6.2   Build 20140915


    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
    C1200: Supported Interfaces: 
        EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT


Features:
- Oscilloscope SG7: Trigger time will be saved automatically with oscilloscope 
  shot. (F693)
- Talk-Protocol SG5/6: Multiple UPIDs read command added. The Control panel can 
  be read consistently and the remote login can be done much faster. (F694)


Fixed Bugs:
- OS E1200: UUID: Only the first 4 bytes have been transmitted in the response. 
  Fixed. (B602)
- OS SG7: OSCI service command 0x84 0x42 (get sampled UPIDs) did not work.
  Fixed. (B603)
- PN: SG5: FW installation (PN serial flash) was instable. Fixed. (B605)
- CANOpen SG7: Only the lower 16Bit of the Demand current in TXPDO2 are 
  transmitted. Fixed. (B608)
- B1100/B1150: Free CPU Capacity is wrong. Fixed. (B609)



================================================================================
			Build 20140812-IM
================================================================================

LinMot-Talk 6			Version 6.2   Build 20140812-IM
B1100/E1100 Series Firmware: 	Version 3.21  Build 20140812-IM
E1200/E1400 Series Firmware: 	Version 6.2   Build 20140812-IM
A1100/C1100 Series Firmware:  	Version 6.2   Build 20140812-IM
C1200        Series Firmware: 	Version 6.2   Build 20140812-IM


    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
     C1200: Supported Interfaces: 
        EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT


Features:
- Oscilloscope SG5/SG6: OsciGetRunState command expanded to incorporate system 
  time when the trigger occurred. (F689)
- B1100: OS: SROM routines speed optimized and saving remanent memory improved.
  (F690)
- C1200: MC-SW: Position indexing Run Mode in Tree. (F692)


Fixed Bugs:
- C1100, C1200: Motor Wizard LinRot-Module 52x60 with 37x120 motor sets the 
  force constante equal zero. Other Parameters have to be checked. (B449)
- B8050 EthernetIP: Status Error LED was always on. Fixed (B597)
- CANOpen SG7: Timebase for NodeGuarding and Heartbeat incorrect. If for example 
  the produced Heartbeat is configured for 300ms it gets sent only every 750ms. 
  (B598)
- CANOpen SG5/SG7: Togglebit in NodeGuarding message is not updated correctly, 
  it does not toggle with every message. (B599)
- OS C1100: if the function  Get RAM Value of UPID  is called via mon_trap, a 
  trap calss B occurs. This happens i.e. with certain command table functions 
  that read RAM values via UPIDs. Fixed (B600)
- SG5 and SG6 FF Spring compensation was not working. Fixed. (B601)
- C1200: OS: Start up could be instable. Fixed. (B603)


================================================================================
			Build 20140718-IM
================================================================================

LinMot-Talk 6			Version 6.2   Build 20140718-IM
B1100/E1100 Series Firmware: 	Version 3.21  Build 20140718-IM
E1200/E1400 Series Firmware: 	Version 6.2   Build 20140718-IM
A1100/C1100 Series Firmware:  	Version 6.2   Build 20140718-IM
C1200        Series Firmware: 	Version 6.2   Build 20140718-IM


    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
     C1200: Supported Interfaces: 
        EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT


Features:
- CANOpen B1100/E1100: Added Heartbeat related objects (0x1016, 0x1017) to the 
  EDS-Files. (F676)
- Config Ethernet over IP added. (F677)
- MCSW E1200/E1400: Added Motion Interface Variables as 16Bit values to make 
  E1100 compatible mappings in CANOpen possible. (F679)

Fixed Bugs:
- C1200: Oscillosope: The sampling time was not correct. Dependant on the 
  running tasks and the CPU capacity the sampling can be disturbed. (B586)
- C1150-EC: SoE: When SoE is installed on a C1150-EC drive, it will be still 
  recognized as a Standard EtherCAT Drive from TwinCAT. Fixed. (B588)
- CT Service SG5/SG6/SG7: Get CT data command of entry 255 does not work. 
  The entry can not be read, the return value always indicates that the reading 
  of the data block was already finished. (B590)
- CANOpen SG5: When using the  Reset Communication  NMT command, the error 
   X1: Power over current  can be triggered on occasion. (B591)
- EtherCAT SG7: In combination with TwinCAT 3 erronous communication can be 
  observed (wrong or missing RT data etc.) (B592)
- B1100:  Start Encoder Cam From Actual Count With Delay Counts (064xh)  
  results in a trap. Fixed (B593)



================================================================================
			Build 20140509
================================================================================

LinMot-Talk 6			Version 6.1  Build 20140509
B1100/E1100 Series Firmware: 	Version 3.20 Build 20140509
E1200/E1400 Series Firmware: 	Version 6.1  Build 20140509
A1100/C1100 Series Firmware:  	Version 6.1  Build 20140509
C1200       Series Firmware: 	Version 6.1  Build 20140509

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
    C1200: Supported Interfaces: 
        EtherCAT, EthernetIP, PowerLink, PROFINET, sercos, sercos over EtherCAT
 
Features:
- A1100/C1100 OS: Command to clear remanent parameter sections implemented 
  (PSRV 0x89, 0x06, 2-4) and added to installscript. (F675).

Fixed Bugs:
- CANOpen SG5/7: Configuration of bit variables and byte variables on odd 
  addresses in TPDOs did not work. Fixed (B573)
- LinUDP (C1200) when connect the RT-Cable, the firmware stopped because of an 
  illegal bus access. Fixed (B574)
- Sercos: Writing of a UPID via the SVC-channel with an integrated function of
  a Bosch-Rexroth-PLC did not work. Fixed (B575)
- CANOpen SG5/7: Too many PDOs are indicated when a PLC reads the corresponding 
  objects of the dictionary -> Error Bit in answer of objects that didn t exist 
  were not set. Fixed (B577)
- Config Module SG5 IP/SC/PL: After stopping and restarting the MCSW, the 
  fieldbus communication gets lost because the cyclic realtime data isn t 
  updated anymore. Fixed (B578)
- C1250-IP: Get modified UPID list: The drive doesn't return the last UPID. 
  Fixed. (B579).
- LinMot-Talk: Adding a user variable by UPID will display two variables. 
  Fixed (B580). 
- Config Module SG6 SC/PL: Config Module did not work. Drive SW crashes on 
  execution of a config module command. Fixed (B581)
- C1250: MC-SW: 3 Phase motors: Back EMF was miscalculated. Fixed. (B586). 

================================================================================
			Build 20140326-IM
================================================================================

LinMot-Talk 6			Version 6.1  Build 20140326-IM
B1100/E1100 Series Firmware: 	Version 3.20 Build 20140326-IM
E1200/E1400 Series Firmware: 	Version 6.1  Build 20140326-IM
A1100/C1100 Series Firmware:  	Version 6.1  Build 20140326-IM
C1200       Series Firmware: 	Version 6.1  Build 20140326-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET

Features:
- C11x0-1S: Now supported by LinMot-Talk . (F673)

Fixed Bugs:
- Sercos: Timing correction between primary and secondary telegram war wrong. 
  Fixed (B451). 
- A/C1100: OS: Parameter Service: Write RAM has trapped when called by the 
  interface. Fixed (B563). 
- IP-Interface: Sometimes there occurred a communication problem between PLC 
  and drives when a new program was downloaded to the PLC and several drives are 
  connected to the network. Fixed (B564). 
- B8050-IP: Lost of communication. (internal address/data bus timing changed). 
  Fixed (B565). 
- A/C1100: OS: Oscilloscope service: if uint8 / sint8 variables are configured 
  as a trigger, the trigger did not work. Fixed (B566).
- A/C1100: OS: Oscilloscope service: sampling of values with odd addresses did 
  not work. Fixed (B567).
- A/C1100: OS: Oscilloscope service: sampling of uint8 / sint8 variables did 
  not work correctly ? only every second read out value is correct. 
  Fixed (B568). 
- B1100: Motor comminication is not established reliably. The error  No Motor 
  Communication  can occur. Fixed (B569). 
- A/C11x0: Cam curves can be selected in the curve-editor even though no master 
  encoder functionality is available (B571)
- A/C1100: OS: Oscilloscope service:  Greater than  trigger also triggers on 
  condition  equal  by mistake. Fixed (B572)

================================================================================
			Build 20140227-IM
================================================================================

LinMot-Talk 6			Version 6.1  Build 20140227-IM
B1100/E1100 Series Firmware: 	Version 3.20 Build 20140227-IM
E1200/E1400 Series Firmware: 	Version 6.1  Build 20140227-IM
A1100/C1100 Series Firmware:  	Version 6.1  Build 20140227-IM
C1200       Series Firmware: 	Version 6.1  Build 20140227-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET

Features:
- C1250: sercos interface added. (F668)
- C1250: PowerLink interface added. (F669)


Fixed Bugs:
- Sinoide-ApplA1100/C1100: The scaling of the Bestehorn demand position was 
  wrong. Fixed. (B550) 
- A lot of minor bug fixes. 

================================================================================
			Build 20140211-IM
================================================================================

LinMot-Talk 6			Version 6.0  Build 20140211-IM
B1100/E1100 Series Firmware: 	Version 3.19 Build 20140211-IM
E1200/E1400 Series Firmware: 	Version 6.0  Build 20140211-IM
A1100/C1100 Series Firmware:  	Version 6.0  Build 20140211-IM
C1200       Series Firmware: 	Version 6.0  Build 20140211-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT, PROFINET
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET

Features:
- B8050-SC: SDDML file created for device, so it can be configured in a PLC.
  (F666)

Fixed Bugs:
- Parameters : Unit scale values are wrong, because the IEEE float to integer 
  conversion was wrong. Fixed. (T015). 
- A lot of minor bug fixes. 

================================================================================
			Build 20140120-IM
================================================================================

LinMot-Talk 6			Version 6.0  Build 20140120-IM
B1100/E1100 Series Firmware: 	Version 3.19 Build 20140120-IM
E1200/E1400 Series Firmware: 	Version 6.0  Build 20140120-IM
A1100/C1100 Series Firmware:  	Version 6.0  Build 20140120-IM
C1200       Series Firmware: 	Version 6.0  Build 20140120-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET


Features:
- LinMot-Talk: Control Panel / Monitoring: User selectable variables, which are 
  monitored, added. (F329)
- OS: C1100/C1200/E1200 change state machine, so wait2seconds state is the first 
  one. (F658)
- E1400-SC-QN-0S/1S: SDDML files for PLCs to work with 0S / 1S drive types 
  created. (F662)
- C1200: Run mode  Position Indexing  added in tree. (F665)

Fixed Bugs:
- E1400: PnP: When drive parameters are on default, and a PS10x70 motor (with 
  PnP functionality) is plugged,  Cfg Err: No Motor Defined  will occur. Fixed 
  (B441)
- C1100-CO: Problem with user stacks in FW. Fixed. (B444)



================================================================================
			Build 20131216
================================================================================

LinMot-Talk 6			Version 6.0  Build 20131216
B1100/E1100 Series Firmware: 	Version 3.19 Build 20131216
E1200/E1400 Series Firmware: 	Version 6.0  Build 20131216
A1100/C1100 Series Firmware:  	Version 6.0  Build 20131216
C1200       Series Firmware: 	Version 6.0  Build 20131216

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET

Features:
- A1100: OS: Default parameters by DIP-Switch added. (F655) 
- A1100 / C1100: OS: Default parameters by instance via Talk-Command added. 
  (F656) 
- A1100/C1100: OS: Stop on startup added. (F657) 
- EthernetIP: EDS-File added. (F660) 

Fixed Bugs:
- LinUDP: Telegram size is sometimes below 64 bytes. Fixed to minimal size of 
  64 Bytes. (B394) 
- Install-Script: E1200 / E1400: Installation does not work, if installation 
  is done over Ethernet in a network without a DHCP server. Fixed. (B437) 


================================================================================
			Build 20131122-IM
================================================================================

LinMot-Talk 6			Version 6.0 Build 20131122-IM
B1100/E1100 Series Firmware: 	Version 3.18 Build 20131122-IM
E1200/E1400 Series Firmware: 	Version 6.0 Build 20131122-IM
A1100/C1100 Series Firmware:  	Version 6.0 Build 20131122-IM
C1200        Series Firmware: 	Version 6.0 Build 20131122-IM

    E1200/E1400: Supported Interfaces: 
        Ethernet IP, PowerLink, EtherCAT, LinRS, CANopen, ProfibusDP, sercos,
        sercos over EtherCAT, CANopen over EtherCAT, LinUDP, PROFINET
    B8050 / MB8050 ML (MC-Link) Supported Interfaces:
        PowerLink, EtherCAT, EthernetIP, sercos, PROFINET
    A1100: Supported Interfaces: 
        CANopen
    C1100: Supported Interfaces: 
        CANopen, EtherCAT
    C1200: Supported Interfaces: 
        EtherCAT, sercos over EtherCAT, 
        EthernetIP, PROFINET

Features:

- LinMot-Talk: When saving a configuration, operating time will be saved too. 
  (F608)
- LinMot-Talk: Saving an osci shot the parameters for serial number, device 
  type, article number and firmware are saved too. Additional parameters can be 
  defined by the user. (F609)
- MS-SW: UPID $1591 "Cycle Monitoring" changeable for service. (F642)
- EC-Intf: Move motor to a safe position if an error occurs (for example when 
  communication lost.). (F645) 
- OS A1100 / C1100: Parameter to delay the FW-Startup for up to 65s added. 
  (F653)

Fixed Bugs:
- SG5 LinRS: Parity (odd or even) did not work correctly. Fixed. (B371). 
- SG5 MC-SW: Demand position keeps running while homing if emergency stop 
  (eg. SVE=0) occurs. Fixed. (B377)
- SG5 PN: Interface has some unpredictable behaviour with VAI commands. Fixed. 
  (B423).
- E1250-EC: NC In-/Outputs did not work. Fixed. (B425).
- SC: (E1250, B8050): LinMot streaming does not work (problem with time stamp). 
  Fixed. (B426)
- MC: E1200 & B1100: on homing with  Index on X13 And Limit Switch Negative , 
  the evaluation of the index is too early. (The Limit Switch is still active). 
  Fixed. (B427 & B428)
- CFG ETH: On parallel communication over CFG ETH and Powerlink, the Powerlink 
  generates often time outs. Fixed. (B433)
- E1250-IP-/LinUDP: Count Nibble in State Var is set to 0 after the command 
  execution. (Can be watched in the override mode in the control panel.) 
  Fixed. (B436)
