Change to compatible type

	Further documentation: The steps shown in this functional description refer to a configuration in the TwinCAT 3 development environment. Further information can be found at: www.beckhoff.com → Automation → TwinCAT 3 → Documentation

Change to Compatible Type in the case of AX5000 servo drive

With the Change to Compatible Type function, TwinCAT offers an exchange of the AX5000 servo drive (larger range of functions or performance, see above) and/or the revision, taking into account the links in the task.

Breakdown of the EtherCAT revisions

Change to compatible type 2:

If the AX5000 servo drive is inserted by means of a device scan in the TwinCAT configuration the Solution Explorer displays the EtherCAT revision of the device (see picture, left). The user can change the device name.

Depending on the hardware and firmware version of the AX5000 servo drive, there is an assignment of different EtherCAT revisions to the appropriate firmware.

In the table below the EtherCAT revisions of hardware 1 and 2 are allocated to the
firmware versions (V1.00 – V2.10).

Example hardware 1 device:
The EtherCAT revision number AX5yxx-0000-0004 (hardware 1) was created to:
operate a firmware V1.00 b0010 (final build).

Example hardware 2 device:
The EtherCAT revision number AX5yxx-0000-0202 (hardware 2) was created to:
operate a firmware V2.05 b0008* (final build).

AX5000 - Hardware 1			AX5000 - Hardware 2
Order key	EtherCAT revision	Firmware (final build)	Order key	EtherCAT revision	Firmware (final build)
AX5yxx-0000-0000	AX5yxx-0000-0004	V1.00 b0010	AX5yxx-0000-0200¹⁾	AX5yxx-0000-0200	V2.03 b0026*
AX5yxx-0000-0000	AX5yxx-0000-0006	V1.01 b0008	AX5yxx-0000-0200¹⁾	AX5yxx-0000-0201	V2.04 b0016*
AX5yxx-0000-xxxx	AX5yxx-0000-0007	V1.02 b0007	AX5yxx-0000-0200¹⁾	AX5yxx-0000-0202	V2.05 b0008*
AX5yxx-0000-xxxx	AX5yxx-0000-0008	V1.03 b0001	AX5yxx-0000-0200¹⁾	AX5yxx-0000-0203	V2.06 b0028*
AX5yxx-0000-xxxx	AX5yxx-0000-0009	V1.04 b0005	Order key	EtherCAT revision	Firmware (final build)
AX5yxx-0000-xxxx	AX5yxx-0000-0010	V1.05 b0011	AX5yxx-0000-0202¹⁾	AX5yxx-0000-0210	V2.10 b0014*
AX5yxx-0000-xxxx	AX5yxx-0000-0011	V1.06 b0030	AX5yxx-0000-0202¹⁾	AX5yxx-0000-0211	V2.11 (no release)
AX5yxx-0000-xxxx	AX5yxx-0000-0012	V1.07 b0016	AX5yxx-0000-0202¹⁾	AX5yxx-0000-0212	V2.12 (no release)

^{1) Operation of the EtherCAT revisions 020x with firmware versions V2.03 - V2.06 is permitted. Operation of the EtherCAT revision with FW version V2.10 is permitted. The full functionality of a firmware can only be guaranteed with the corresponding EtherCAT revision (e.g. firmware V2.06 b0023 with EtherCAT revision 203).}

*Due to continuous software development, the firmware versions listed in the table may be obsolete.

Example scenarios for the handling of the Change to Compatible Type function

Scenario	Example and feasibility of the Change to Compatible Type
Firmware Update:	Initial situation: There is a TwinCAT configuration. Intention: A firmware update is to be carried out on the AX5000 servo drive. Explanation: The new firmware uses a more recent EtherCAT revision. Following the update the TwinCAT configuration is no longer identical to the EtherCAT revision of the modified servo drive. Result: A Change to Compatible Type can be performed.
Service case: Device replacement – deviating performance	Initial situation: There is a service case. The AX5203 servo drive on the machine is defective. Intention: The defective servo drive is to be replaced. No identical replacement device is available, but one from the same series with a higher performance (AX5206). Explanation: The AX5203 is replaced by the AX5206. The configuration has to be adapted due to the different performances. Result: A Change to Compatible Type can be performed.
Service case: Device replacement – backward compatible	Initial situation: An AX5000 servo drive with current firmware (V2.06 b0023) is to be installed in the machine. Problem: The configured servo drive in TwinCAT has an older EtherCAT revision (0012). Request of the application: The new functions of the firmware V2.06 b0023 are not required. The servo drive is to be operated with the old configuration. Result: No Change to Compatible Type is necessary.
Service case: Device replacement – upwardly compatible	Initial situation: An AX5000 servo drive with an EtherCAT revision 0200 and a current firmware V2.06 b0023 is configured in TwinCAT. Problem: An AX5000 servo drive with an EtherCAT revision 0011 and a firmware V1.06 b0028 is installed in the machine. Explanation of the problem: Newer EtherCAT revisions include new or changed functions. The interfaces of the EtherCAT revisions have been extended. This has the consequence that an older EtherCAT revision cannot serve a newer one. The AX5000 servo drive cannot be controlled. Result: A Change to Compatible Type is not possible. A downgrade of the servo drive or a reinstallation must be carried out.

Further Information