Various improvements and bug fixes

Improvements

• OPC UA Server: Change of behavior when using multidimensional arrays in a UDT:
• Starting with firmware version V2.9.4, S7-1500 CPUs encode multidimensional arrays within structures according to OPC UA specification V1.04. CPUs with older firmware versions encode corresponding structures in a different form. If you have used multidimensional arrays within structures for CPUs with older firmware versions and you upgrade to the current firmware version, then you have to adapt your client programs accordingly.
• The startup behavior of the CPUs has been stabilized
• Copying of data between optimized and non-optimized data blocks has been improved
• Export of recipes with structures and underlying scalar data types does not bring the error message 16#8091 anymore.
• With the S7-1500 CPUs <=1516 it does not happen anymore that in very large instance data blocks (>32kByte) a constant of type LWORD or LREAL is not written correctly when calling the instance.

Bug fixes

When establishing communication to a PROFINET device the sporadic error messages no longer occur:

• Temporary CPU error: Serious firmware exception error (internal system code: 16#00000265 16#1002000D 16#000000) CPU changes to DEFECTIVE state (system response) or
• Temporary CPU error: Serious firmware exception error (internal system code: 16#00080001 16#1002FFFF 16#00000246) CPU changes to DEFECTIVE state (system response)

When SFB 143 " DataLogClear is used simultaneously with an instruction from the "File handling" group ("FileReadC" or "FileWriteC"), the sporadic error messages no longer occur:

• Temporary CPU error: Serious firmware exception error (internal system code: 16#00400001 16#1002006F 16#7856D54C) CPU changes to DEFECTIVE state (system reaction) or
• Temporary CPU error: Serious firmware exception error (internal system code: 16#00400001 16#1002006F 16#00010202) CPU changes to DEFECTIVE state (system response)

The CPU web pages created with SIMATIC WinCC Unified "View of Things" no longer return an error message "invalid Tagname xxx" if the symbolic address contains UTF-8 characters, such as Chinese characters, and the address element has not been enclosed by quotation marks.
The sporadic error messages no longer occur when accessing the CPU's web server:.

• Temporary CPU error: Serious firmware exception error (internal system code: 16#00080001 16#1002007B 16#E0042DB4) CPU changes to DEFECTIVE state (system response) or
• Temporary CPU error: Serious firmware exception error (internal system code: 16#000038 16#10020000 16#000000) CPU changes to DEFECTIVE state (system response) or
• Temporary CPU error: Fatal firmware exception error (internal system code: 16#00080001 16#1002007B 16#E0042EA4) CPU changes to DEFECTIVE state (system response)

When using very large blocks, there is no longer a sporadic compilation error when downloading to the CPU and subsequent error message:

• Temporary CPU error: Serious firmware exception error (internal system code: 16#00400001 16#10020035 16#77D95B54) CPU changes to DEFECTIVE state (system response)

When alarms are triggered, sporadic error messages no longer occur:.

• Temporary CPU error: Serious firmware exception error (internal system code: 16#0FFF0000 16#10020000 16#000000) CPU changes to DEFECTIVE state (system response)

**Using the MC_SetAxisSTW instruction, error 16#8FFF no longer occurs when the Execute bit is set with the falling edge of MC_Power.Enable.
When using the TO_CamTrack technology object in special scenarios, incorrect switching of cams no longer occurs.
When using the MC_OffsetRelative or MC_OffsetAbsolute instructions with a negative offset, which are replaced by an MC_OffsetRelative, undesired movements of the slave axis no longer occur.
After upgrading a project to Motion Control version 6.0 there is no longer a null pointer access in the OB MC transformation (OB98) when using the user defined kinematics.
Intensive changing of dynamic values on TO kinematics no longer results in sporadic error messages:

• Temporary CPU error: Serious firmware exception error (internal system code: 16#00400001 16#10020059 16#00010202) CPU changes to DEFECTIVE state (system reaction)