Performance improvements

**Update V4.0.0 for 6ES751x-xxx03-0AB0
Firmware V4.0.0 for 6ES751x-xxx10-0AB0 (innovated S7-1500 CPUs)**

Dependencies with regard to STEP 7, STEP 7 Safety Advanced and upwards compatibility:
Totally Integrated Automation Portal with STEP 7 Professional V20 or higher is required to configure this CPU firmware version.
Configurations with earlier TIA Portal STEP 7 Professional versions are compatible with later releases.
The handling is described detailed in entry 109744163

New hardware and configuration limits (innovated S7-1500 CPUs):

• 4 Standard and fail-safe S7-1500 CPUs 1517(F)-3 PN and 1518(F)-3 PN
• 6 Technology (and technology fail-safe) S7-1500 CPUs 1516T(F)-3 PN, 1517T(F)-3 PN, and 1518T(F)-3 PN
• 2 High availability (and high-availability fail-safe) S7-1500 CPUs 1517H-4 PN and 1518HF-4 PN
• 100% more program memory
• Significantly more data storage:
  25 MB for CPU 1516T(F)
  50 MB for CPU 1517
  150 MB for CPU 1518
• Retentive data area
  1 MB for CPU 1516T(F)
  2.25 MB for CPU 1517
  4.5 MB for CPU 1518
• Extended retentive data area
  25 MB for CPU 1516T(F)
  50 MB for CPU 1517
  100 MB for CPU 1518
• Performance improvement by up to a factor of 3, depending on the CPU and STEP 7 project
• Additional performance boost (+ 25%) for CPUs 1518(F)-3 PN and 1518T(F)-3 PN
• Higher communication performance
  Performance increase with OPC UA and Web API (read/write) by up to 200%
  Performance improvement for OUC by up to 80%
  3 PROFINET/Ethernet interfaces for all 1517/1518 CPUs
  X1: PROFINET IO with RT/IRT with 2 ports for up to 512 RT and 64 IRT devices (with DFP: 256 IO devices in 8 DFP groups)
  X2: PROFINET IO with RT/IRT with 2 ports for up to 512 RT and 64 IRT devices (with DFP: 256 IO devices in 8 DFP groups)
  X3: Gigabit Ethernet with 1 port
• Completely revamped display implementation -> no need for own FW
• Integrated display with RUN/STOP buttons
• Support of SIMATIC Controller Profiling
• Number of blocks (OBs, FBs, FCs, DBs and UDTs)
  10,000 for CPU 1516T(F)
  20,000 for CPU 1517
  40,000 for CPU 1518
• OPC UA server – Increased configuration limits
  Number of server methods, max.:
  50 for CPU 1516T(F)
  4,000 for CPU 1517
  8,000 for CPU 1518
• Number of monitored items, recommended max.
  4,000 for CPU 1516T(F)
  50,000 for CPU 1517
  60,000 for CPU 1518
• Number of nodes for user-defined server interfaces, max.
  30,000 for CPU 1516T(F)
  100,000 for CPU 1517
  200,000 for CPU 1518
• S7 message functions
  Number of variables/attributes for subscriptions, max.: 120,000
  Number of configurable program messages, max.: 20,000
  Number of loadable program messages in RUN, max.: 20,000
  Number of messages for motion technology objects: 960
• Supported technology objects
  Number of available motion control resources for technology objects
  12,800 for CPU 1516T(F)
  20,480 for CPU 1517
  30,720 for CPU 1518
• Number of available extended motion control resources for technology objects
  540 for CPU 1516T(F)
  720 for CPU 1517T(F)
  1,560 for CPU 1518T(F)
• Number of positioning axes for a motion control cycle of 4 ms (typical value)
  115 for CPU 1516T(F)
  125 for CPU 1517
  205 for CPU 1518
• Number of positioning axes for a motion control cycle of 8 ms (typical value)
  160 for CPU 1516T(F)
  200 for CPU 1517
  310 for CPU 1518

Performance improvements:
The FW V4.0 update means the following S7-1500, ET 200SP, and ET 200pro CPUs have a performance increase up to factor 4
S7-1500
CPU 1511-1 PN 6ES7511-1AL03-0AB0
CPU 1511F-1 PN 6ES7511-1FL03-0AB0
CPU 1511T-1 PN 6ES7511-1TL03-0AB0
CPU 1511TF-1 PN 6ES7511-1UL03-0AB0
CPU 1511C-1 PN 6ES7511-1CL03-0AB0
CPU 1512C-1 PN 6ES7512-1CM03-0AB0
CPU 1513-1 PN 6ES7513-1AM03-0AB0
CPU 1513F-1 PN 6ES7513-1FM03-0AB0
CPU 1513R-1 PN 6ES7513-1RM03-0AB0
ET 200SP
CPU 1510SP-1 PN 6ES7510-1DK03-0AB0
CPU 1510SP F-1 PN 6ES7510-1SK03-0AB0
CPU 1512SP-1 PN 6ES7512-1DM03-0AB0
CPU 1512SP F-1 PN 6ES7512-1SM03-0AB0
ET 200pro
CPU 1513pro-2 PN 6ES7513-2PM03-0AB0
CPU 1513pro F-2 PN 6ES7513-2GM03-0AB0
Thus with the FW V4.0, all 1510SP–1516(F) CPUs are equally fast. Positioning depends on memory and number of interfaces.

New functions with firmware V4.0 for all S7-1500 and ET 200 CPUs:

• Central user administration
  System-wide, central administration of users and user groups outside the TIA Portal via UMC servers
• Retentive memory area for syslog messages
  Note:
  After the FW update to V4.0, you may receive the following message in the diagnostic buffer: "Retentive data warning: Retentive data lost".
  This message is triggered incorrectly, because no user program retentive data are actually lost.
• Trusted client availability for Embed PLC Web Pages in HTML Frames (e.g. in WinCC Unified Screens)
• OPC UA server – Expansion of functional scope
  Use of access management for OPC UA interfaces (role-based security)
  Alarms & Conditions in up to 3 languages (not R/H CPUs)
  Support of the Transfer Subscriptions function
  Update of the OPC UA standard to V1.05
• New "Profiling" instruction
  With the new "Profiling"instruction you can start or stop S7-1500 CPU profiling as of FW version V4.0.
• Increased nesting depth
  The nesting depth for the following elements has been increased from 8 to 26
  PLC data types
  Variables of data type STRUCT
  Variables of data type ARRAY of STRUCT/ARRAY of UDT
  When you start profiling, you can specify the configuration for recording the profiling data.
• Configuring SNMP and DCP
  As of STEP 7 V20 you can configure the SNMP settings for an entire PROFINET IO system centrally.
  IO devices which support the SNMP synchronize the SNMP settings of the PROFINET interface of your higher-level IO controller by default. If IO controllers and IO devices support the DCP protocol, the write-protected mode for DCP is activated by default.
• Trace functionality of the CPU
  Named value data types in traces
  Recordings as binary files during long-term trace and long-term project trace
  Acquisition of technology object events in the trace recording
  Cross-project trace

New functions with firmware V4.0 for all S7-1500 and ET 200 CPUs (without R/H CPUs):

• Web server of the CPU
  System websites
  System website introduction with new design and functionality for the following websites
  Overview
  Diagnostics
  User program
  Messages and DataLogs
  Maintenance
• New web API methods
  The web API has been extended to include the following functions
  Read-out of general CPU information
  Read-out of API session information
  Read-out of technology objects and their values
  Configuring HTTP response headers
  Additional configuration options for web applications
• New functions with firmware V4.0 for S7-1500R/H CPUs:
• The Web API for the R/H PLCs has been extended to include new methods: Read/change the operating mode, read/change the system status and the system information.
• Support of the High Feature system power supplies now makes it possible to keep the data memory completely retentive (for CPU 1518HF-4 PN max. 100 MB)
• Using the RH_CTRL instruction, the system IP address can now be activated interface-specifically, either on the primary controller or on the backup controller.
• Single mode for R-CPUs: The R-CPU can be operated as a single controller and later expanded into a redundant system.
• Multiuser online access also in the "RUN Redundant" system state
• Support of SIMATIC Controller Profiling
• Support of the Set_Timezone, ATTACH/DETACH, and GetSymbolForReference system functions
• New motion control functions with firmware V4.0 for S7-1500(F)CPUs:
• With the motion control instruction "MC_Halt", an additional mode has been introduced which can be used to pause the basic motion.
• The "Actor.RemoveEnableReaction" parameter for the stop reaction can be changed directly at runtime using the motion control instruction "MC_WriteParameter".
• The motion control instructions "MC_MoveAbsolute" and "MC_MoveRelative" have been extended with the input parameter "BufferMode" and the output parameter "Active". The motion transition (cancel or append) can be defined via the input parameter.
• The current gear ratio of an active "MC_GearIn" order is now displayed on the synchronous axis.
• New motion control functions with firmware V4.0 for S7-1500T(F) CPUs:
• The current gear ratio of an active "MC_GearInPos" order is now displayed on the synchronous axis.
• The motion control instruction "MC_GearInPos" has been extended with the following synchronization modes.
• Succeeding synchronization via leading value distance as of current leading value position with calculated synchronous position of the following axis
• Synchronization starts as soon the "MC_GearInPos" order becomes effective. Leading axis and following axis are synchronized as soon as the leading value has passed through the leading value distance. The motion control instruction "MC_GearInPos" calculates the synchronous position of the following axis.
• Succeeding synchronization via leading value distance with calculated synchronous position of the following axis
• Synchronization starts as soon the leading value has reached the programmed synchronous position of the leading axis. Leading axis and following axis are synchronized as soon as the leading value has passed through the leading value distance. The motion control instruction "MC_GearInPos" calculates the synchronous position of the following axis.
• Reverse tolerance of the leading value during synchronization with "MC_GearInPos" and desynchronization with "MC_GearOut" can be defined.
• The current gear ratio of an active "MC_GearInVelocity" order is now displayed on the synchronous axis.
• New types are available for more complex cams
  "TO_Cam_600Seg" can include up to 600 segments and up to 50 breakpoints
  "TO_Cam_6kSeg" can include up to 6000 segmentsand up to 50 breakpoints
• The motion control instruction "MC_CamIn" has been supplemented with another synchronization profile. It is now possible to directly set the following axis synchronously at a specified leading value position.
• Reverse tolerance of the leading value during synchronization with "MC_CamIn" and desynchronization with "MC_CamOut" can be defined.
• The third derivative of the following value (jerk) of a cam can be read out with the motion control instructions "MC_GetCamFollowingValue" and "MC_GetCamFollowingValueCyclic".
• After interpolating a cam, the following values associated with the initial value and end value of the definition range are provided.
• Cross-PLC synchronous operation
  Communication is possible via a PN/PN coupler.
  Interconnection across multiple projects is possible. The CPUs can be configured in different projects.
  To analyze the synchronous operation of PLCs in different projects with the trace, you can read out the shared synchronization clock via system commands.
  The number of transfer areas via which a leading value is made available has been extended from 8 to 32.
  Cross-PLC synchronous operation is possible as of firmware version V2.8 and since technology version V5.0. With some restrictions, this can also be used in conjunction with a PN/PN coupler for cross-PLC synchronous operations across multiple projects.
  It should be noted that technology versions 5.0 to 8.0 can only be operated with versions 5.0 bis 8.0. If technology version V9.0 is used, it must be used on all CPUs.
• Kinematics functions
  Keyboard control can be activated for the "Jog" and "Jog to target position" modes. With the keyboard control you can operate the sliders for jogging the axes, joints, or kinematics. For jogging and jogging to target positions in the JCS and MCS, the keyboard control can also be used to select an axis or a joint.
  Depending on the kinematics type set, kinematics can be controlled in two different modes. Kinematics types without orientation can jog in the "Cartesian" mode, while kinematics types with orientation can also be activated in the "Orientation" mode.
  For kinematics as of technology version V9.0, the velocity in the kinematics control panel can also be adjusted as a percentage in the operating mode "Single axes: Homing".
  Display of effective dynamic limits
  With activated dynamic adaptation, the path dynamics are limited to the axial dynamic response. As of technology version V9.0, the effective dynamic limits of the current motion are provided via a TO variable.
  Dynamic reserve object coordinate system
  For conveyor tracking applications, the dynamic reserve for each object coordination system can be defined individually via an extended array as of technology version V9.0.
  Radius kinematics types "Delta picker 3D", "Delta picker 3D with orientation", and "Delta Picker 3D with 2 orientations A, B"
  Attaching upper arms of some delta pickers to the connecting plate leads to a negative value for parameter D1 in the TO kinematics definition. Technology version V9.0 now also accepts a negative value for the configuration to enable representation of this special shape.
• SIMATIC Motion Interpreter
  Program mode "Debug"
  The design of the interpreter program can be tested in the "Debug" program mode.
  Logical expressions in "waitEvent()"
  The MCL instruction "waitEvent()" supports logical expressions as an event.
  System constant "NULL_POS"
  The "NULL_POS" system constant can be used as a dummy in the "circAbs()" and "circRel()" MCL instructions for the obligatory end position "pos".

Enhanced user experience:
The following behavior has been improved:

• The IO controller establishes the application relation to a shared device with the IP address configuration "no router", even if an application relation already exists through a non-Siemens IO controller.
• The "ServerConfiguration" (i=12637) node and its children are now also visible with an unencrypted connection in the address space of the OPC UA server, if the OPC UA GDS is activated. This complies with OPC UA specification V1.05.
• SubjectNames are now treated in accordance with OPC-10000-12 when GDS Push is used. The applicant format is a sequence of name-value pairs separated by a "/".
• The name consists of "CN", "O", "OU", "DC", "L", "S", or "C", followed by an "=" and then the value. The CommonName (CN) field is mandatory when updating the OPC UA server certificate.
• The behavior of the WriteToArrayDB instruction has been improved so that an error code is now issued as an input parameter at the BOOL data type if it is not in an optimized memory area.
• The behavior of the MOVE_BLK instruction has been improved when overlapping data areas are copied with 16-bit data width.
• The startup behavior of the CPU has been improved.
• The following behavior has been corrected:
• An issue whereby associated values in motion alarms or program alarms were not resolved correctly and therefore not shown in the web server has been resolved.
• An issue whereby an inconsistent state of the View of Things application could occur when it was under a high communication load has been corrected.
• When using the FBs MC_MeasuringInput, the following sporadic error messages no longer occur: "Serious firmware exception (internal system code: 16#00400001 16#10020064 16#00010202)".
• An issue whereby a specific command sequence resulted in the contour monitoring stopping the kinematics motion with certain velocity override values has been resolved.
• Erroneous triggering of technology alarm 521 when using the <to>.FollowingError.AdditionalSetpointDelayTime variables has been corrected.
• An issue whereby, after switching the axis to simulation, technology alarm 109 was triggered erroneously on the axis when a HW output cam was configured, has been resolved.
• The display of the direction in the <to>.StatusTorqueData.TotalTorqueAdditive variables has been corrected.
• A sporadic issue whereby an MC_GroupInterrupt was interrupted with a technology alarm or an MC_GroupStop, and no MC_GroupContinue was issued before the next path motion, has been resolved. Rare cases of setpoint value jumps when smoothing the next motion, resulting in a kinematics stop caused by the contour monitoring, no longer occur.
• An issue whereby the dynamic limits were exceeded when MC_GearInPos was used has been resolved.
• An issue whereby technology alarm 608 occurred sporadically when MC_GearOut was used has been resolved.
• A problem caused when the target coordinate of the orientation axis changed by 0.001° has been corrected. In this case smoothing was previously not performed.
• An issue when smoothing the orientation axis has been resolved, whereby an overshoot of the target coordinate is now avoided.
• An issue whereby output cams in cam tracks now switch correctly in connection with modulo axes.
• An issue when homing the kinematics axes for a user transformation, whereby the linear axes for A, B, and C were limited to a value range of -180° to +180° during homing, has been resolved. With V4.0, axes of rotation and linear axes now behave in the same way and there are no longer any restrictions on homing.
• An issue when desynchronizing via MC_CamOut, whereby the desired target position was overrun, has been resolved.
• An issue whereby the "InClamping" status bit remained set after the axis had left the fixed stop has been resolved.
• An issue whereby setpoint values for position and velocity of the kinematics axes were inconsistent in certain cases has been corrected.
• An issue whereby the variable <to>.StatusProvidedLeadingValue.DelayedLeadingValue.Position was set briefly to 0 when using MC_Reset has now been resolved.
• Undesirable behavior whereby motions were performed very slowly in the smoothing area has been resolved.
• An issue whereby the absolute encoder data were deleted during axis reconfiguration has been resolved.
• With 6D kinematics, a behavior which resulted in smoothing not being performed with certain C target coordinates has been corrected.
• An issue with 6D user transformations, whereby certain combinations of motion commands were aborted with technology alarm 201, has been resolved.