Product Change Notification

UR20-1SM-50W-6DI2DO-P (2489830000)

Version 02.00.00 Release date: March 2020

• Bug fix: Fixed that end stops no longer work during reference run.

• New feature: After switching on the module, the following errors occur: The motor LEDs light up red and if

diagnosis are activated (module and coupler) an undervoltage error diagnosis is triggered. The bit for the

output stage must not be enabled Bit 9.7 and the move Bit 9.1 must not be set. A change from 0 to 1 Bit

9.6 acknowledges the error. Known issue from Version 01.00.04. is solved.

• New feature: If the "Move Bit" 9.1 is reset during a traversing movement, the motor stops immediately.

Attention: Step loss is possible.

• The function modulo axis is implemented

• Changed that the parameter "traversing range" is now only valid for the modulo axis.

• Linear acceleration and optimal acceleration are implemented in process data

Version 01.00.04 Release date: December 03, 2018

• Known issue:

Non-simultaneous power cycling of external power supply and u-remote system supply while a motor is

rotating could lead to unwanted motor movement:

• A power cycle at the external power supply while the u-remote system supply remains causes the

motor to stop and restart after external power supply is restored. The motor will continue moving

to the target position of the last move command before the power interruption.

• A power interruption of the u-remote system supply while the external power supply remains

causes the motor to continue to rotate to the target position of the last move command.

• Workaround:

The application program of the connected controller (PLC) should check the status of the process data bit

“State power supply” (IX9.7). If the “State power supply” bit is “false” (0) the program should reset both the

bit “Moving” (QX9.1) and the bit “Enable motor driver“ (QX9.7) to “false“ (0).

(please see UR20 Stepper motor module manual)

• This behaviour is planned to be fixed with the next firmware update.