Potentially erroneous behavior with Firmware V2.6.1

Important notes

With the SIMATIC S7-1500 T-CPU with firmware version V2.6.1, in certain cases / under certain conditions, unexpected behavior may occur when using the TO kinematics.

With the technology CPUs, SIMATIC S7-1500T/TF with firmware version V2.6.1, unexpected behavior of the kinematics may occur under certain conditions.

If you use the "Blending active" function in conjunction with the dynamics adaptation "Dynamic adaption without segmentation of the path", an error may occur. As a result of this error, the kinematic axes perform unexpected movements, sometimes with increased dynamics.

The associated effects can be severe, such as unexpected accelerations, overloading of the mechanical system, and even machine or personal damage.

As of firmware version V2.8.1 (release 14.11.2019), this error pattern no longer occurs.

To avoid this error pattern and the associated effects, the firmware version V2.6.1 must no longer be used when using the dynamic adaptation "Dynamic adaption without segmentation of the path".

Upgrade to firmware version V2.8.1 (or a higher version). You can still use the technology version 4.0.