Firmware Versions RE 30543-10-Z/04.

15
Replaces: 08.14
Bodac Versions

User program BODAC and firmware

RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 3/24

Content

1 General ....................................................................................................... 5

2 Bodac .......................................................................................................... 6

2.1 Overview ...................................................................................................... 6

2.2 Bugfixes ....................................................................................................... 7

General ........................................................................................................................ 7
HACD-1x Family........................................................................................................... 7
Communication ............................................................................................................ 7
Controller parameters ................................................................................................... 8
Table ............................................................................................................................ 8

2.3 New features................................................................................................ 9

General ........................................................................................................................ 9
Manufactury.................................................................................................................. 9
Feedback Encoder ....................................................................................................... 9
Communication ............................................................................................................ 9
Controller parameters ................................................................................................. 10

3 Firmware HACD-2x .................................................................................. 11

3.1 Overview .................................................................................................... 11

Package solutions ...................................................................................................... 11
Package information ................................................................................................... 13

3.2 Bugfixes ..................................................................................................... 16

General ...................................................................................................................... 16
Manufactury................................................................................................................ 16
Feedback encoder ...................................................................................................... 16
Internal Flags.............................................................................................................. 16
Communication .......................................................................................................... 17
Controller parameters ................................................................................................. 18
Controller structure ..................................................................................................... 18
Command generator .................................................................................................. 19
4/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

3.3 New Features ............................................................................................ 20

General ...................................................................................................................... 20
Analog I/O .................................................................................................................. 20
Manufactury................................................................................................................ 20
Feedback encoder ...................................................................................................... 20
Communication .......................................................................................................... 20
Controller parameters ................................................................................................. 21
Tables ........................................................................................................................ 22
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 5/24

General

1 General

This documentation describes the versions of the windows program Bodac and the
firmware of the products based on HACD-2x technology.

Within the document there are several specific terms that are defined as follows:

Software (SW): windows based program Bodac which is used to configure and
service the HACD family

Firmware (FW): The actual software which resides within the controller

Firmware package: Is a set of firmware modules necessary for a controller operate

Bugfixes: Incremental correction or improvements in the software/firmware

functionality

Package solutions: Overview of the bugfixes and new features in a firmware

package

Package information: Overview of the firmware modules in a firmware package.

6/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Bodac

2 Bodac

2.1 Overview

Version Date Bugfixes New features

General
Bodac2.03.03.00 05.3.2014
Communication

General
Bodac2.03.01.00 19.10.2012 Communication General
Table Communication

General General
Controller Manufactury
Bodac2.03.00.00 01.04.2012
parameters Feedback Encoder
Table Communication
Controller parameters

General General
Bodac2.02.01.00 23.02.2011
HACD-1x Family Communication

General
Bodac2.02.00.00 20.12.2010 Communication Communication
Table

Bodac2.01.00.00 21.04.2010 Start of production Start of production

RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 7/24

Bodac

2.2 Bugfixes

General

Bodac2.03.03.00

 A print of the window "Card Information" was not possible and was corrected.
 When enable is set, the default parameters cannot be loaded

Bodac2.03.01.00
 Fixes a printing problem of the screens Loop2, Loop3, Ethernet Send and
Receive.

Bodac2.03.00.00
 Optimizing the download process of packages (pkg2) onto an HACD-2x

Bodac2.02.01.00
 Remedied download problems with firmware packages: A message “Unable
to erase sector” appeared before programming Ethernet firmware.
 Remove an unnecessary shown “access violation” message that was
displayed when opening the card information or the SSI screen

Bodac2.02.00.00
 Remedied download problems with Ethernet firmware: A message “Unable to
erase sector” appeared after having downloaded the bootstrap.

HACD-1x Family

Bodac2.02.01.00
 Bugfix for downloading a parameterfile onto an HACD-1x
 Correct the reading and writing of valves parameters of a VSPD: Fault was
noticeable in the user profiles.

Communication

Bodac2.03.03.00
 After an update has been done, the TCP connection will be automatically
rebuilt. Bodac will not report an "unable to restart controller" error.

Bodac2.03.01.00
 Profibus Hardware Screen stays in front after opening the send/receive
screen and you cannot move it

Bodac2.02.00.00
 Local Bus: ID-Adaption in screen „Search Cards“: There has been an offset of
one.
8/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Bodac

 Remove an unnecessary shown warning message that was displayed when a

user opened the status screen of another card via Local Bus
 Extend the maximal allowed entries of the busmanager from 16 to 32
 Gray out the Ethernet Device Name subjected to the DIL switches

Controller parameters

Bodac2.03.00.00
 When an HACD-1x parameterfile will be opened in an HACD-2x the velocity
of 5000 Units/sec remains 5000 Units/sec instead of the maximum of 100000
Units/sec.
 Correct the structure overview when “Preset” or “Table” is selected.

Table

Bodac2.03.01.00
 Fixes an unwanted move of the table end marker while zooming

Bodac2.03.00.00
 Fix problems caused by opening plt-files including digital signals

Bodac2.02.00.00
 Fix problems caused by opening plt-files
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 9/24

Bodac

2.3 New features

General

Bodac2.03.01.00
 The area of the 31 blocks will now be displayed in a different color to
distinguish it from the rest of the screen.

Bodac2.03.00.00
 Put all firmware modules to a firmware package together and do the resulting
changes in Bodac:
o New card information screen
o Adapt the package download
o Add the attachment of which firmware package was used to newly
created parameterfiles
o Allow only firmware packages with the suffix “.pkg2” to be
downloaded to an HACD with Bodac
 Put the HACD-2x to the beginning when searching for offline applications
 The “Send Email to support” functionality was simplified.

Bodac2.02.01.00
 The screen Bodac>Tools>Preferences>Security>Login now accepts
passwords with a maximum of 20 characters
 Gray out the “Continue” button while downloading a package to prevent user
handling errors
 Allow the “Internal flags” screen to be put onto any security level in
Bodac>Tools>Preferences>Security>Configure Screens

Manufactury

Bodac2.03.00.00
 Implementation of an additional check, if an HACD-2x hardware has got the
corresponding HACD-2x software in it.

Feedback Encoder

Bodac2.03.00.00
 Allow single ended incremental encoder to be used, which is available with
hardware version 21a or newer

Communication

Bodac2.03.01.00
 If no busoption-switch (in front of the VT-HACD-3-2x) is used, then DHCP can
now be activated via software for ethernet capable HACDs
10/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Bodac

Bodac2.03.00.00
 Allow ethernet capable VT-HACD-3-2x to communicate not only serial, but
also over an Ethernet service interface with Bodac
o New “Search cards” screen
o Move and shorten the address space of the bus code
o Renew the Bodac>Tools>Preferences>COM Interface screen
o Cards that are connected over the local bus, can now also be found
and configured over TCP/IP.
 Remove the parameters “Ratio C1”, “Ratio C2” and “Ratio C3” from the
busmanager.
 Actualize the Multi-Ethernet (METH) screen

Bodac2.02.01.00
 Ethernet Hardware/Transmit/Receive: Changes will now only be accepted
after a card reset. Otherwise there will appear a warning message
 Ethernet Hardware: Various conditions are checked regarding the
DeviceName, IP, Gateway and Subnet. (see also chapter „IP-Address and
device name“ unter RE 30543-04-Z / RE 30543-05-Z)

Bodac2.02.00.00
 Add new Profinet functionality

Controller parameters

Bodac2.03.00.00
 Expand the parameter editor with the parameters „Stop CMD“ and “Limit I-
Control”
 Expand the parameter summary with the parameters “Stop CMD” and “Limit I-
Control”
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 11/24

Firmware HACD-2x

3 Firmware HACD-2x

3.1 Overview

Package solutions

Version Date Bugfixes New features

FWA-HACD-2x-FW*-20V10 17.02.2015 Manufactury

FWA-HACD-2x-FW*-20V08 24.06.2014

FWA-HACD-2x-FW*-20V06_0010 15.04.2014 Communication

FWA-HACD-2x-FW*-20V06_0009 06.03.2014 Communication

FWA-HACD-2x-FW*-20V06_0008 16.09.2013 Feedback encoder

Command generator
FWA-HACD-2x-FW*-20V06_0007 08.08.2013
Controller structure

FWA-HACD-2x-FW*-20V06_0006 18.06.2013 Controller parameters

FWA-HACD-2x-FW*-20V06_0005 18.02.2013 Feedback encoder

FWA-HACD-2x-FW*-20V06_0004 24.10.2012 Internal Flags

Internal Flags
FWA-HACD-2x-FW*-20V06_0003 19.10.2012
Communication

FWA-HACD-2x-FWE-20V06_0002 13.07.2012 Communication

FWA-HACD-2x-FWE-20V06_0001 28.04.2012 Controller parameters

Manufactury
Feedback encoder
FWA-HACD-2x-FW*-20V06 01.04.2012
Communication
Controller parameters

Communication General
FWA-HACD-2x-FW*-20V04_0014 29.11.2011 Controller parameters Communication
Controller structure Tables

General
FWA-HACD-2x-FW*-20V04_0012 18.10.2011 Internal Flags Analog I/O
Controller structure

FWA-HACD-2x-FW*-20V04_0010 22.07.2011 Manufactury

FWA-HACD-2x-FW*-20V04_0008 14.04.2011 Feedback encoder

Feedback encoder
FWA-HACD-2x-FW*-20V04_0006 01.03.2011 Communication
Controller parameters

FWA-HACD-2x-FW*-20V04_0004 02.02.2011 Communication

FWA-HACD-2x-FW0-20V04 20.12.2010 General Communication

12/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

FWA-HACD-2x-FWP-20V04 Communication
FWA-HACD-2x-FWE-20V04 Controller parameters
FWA-HACD-2x-FWN-20V04

FWA-HACD-2x-FW0-20V02
FWA-HACD-2x-FWP-20V02 21.04.2010 Start of production Start of production
FWA-HACD-2x-FWE-20V02
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 13/24

Firmware HACD-2x

Package information

Version Hardware Contents Bodac Ethernet

bot.04.03.00
MER.04.07.00
Ixx.04.06.00
FWA-HACD-2x-FW*- LW 0.6.5.0
22a Pxx.04.00.00 Bodac2.03.03.00
20V10 FW 0.B.D.0
VAL.02.00.00
KET.04.05.00
KPB.03.01.00

bot.04.02.00
MER.04.07.00
Ixx 04.05.02
FWA-HACD-2x-FW*- LW 0.6.5.0
21a Pxx 04.00.00 Bodac2.03.03.00
20V08 FW 0.B.C.0
VAL.02.00.00
KET.04.05.00
KPB.03.01.00

bot.04.01.00
MER.04.07.00
FWA-HACD-2x-FW*- IPB 04.03.02 LW 0.6.5.0
21a Bodac2.03.03.00
20V06_0010 VAL.02.00.00 FW 0.B.C.0
KET.04.04.00
KPB.03.01.00

bot.04.01.00
MER.04.07.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a Ixx 04.03.00 Bodac2.03.03.00
20V06_0009 FW 0.B.C.0
VAL.02.00.00
KET.04.04.00

bot.04.01.00
MER.04.07.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a Ixx 04.03.00 Bodac2.03.01.00
20V06_0008 FW 0.B.C.0
VAL.02.00.00
KET.04.02.00/KPB.03.01.00

bot.04.01.00
MER.04.06.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a Ixx 04.03.00 Bodac2.03.01.00
20V06_0007 FW 0.B.C.0
VAL.02.00.00
KET.04.02.00/KPB.03.01.00

bot.04.01.00
MER.04.04.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a Ixx 04.03.00 Bodac2.03.01.00
20V06_0006 FW 0.B.C.0
VAL.02.00.00
KET.04.02.00/KPB.03.01.00

bot.04.01.00
MER.04.04.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a IET.04.02.00 Bodac2.03.01.00
20V06_0005 FW 0.B.C.0
VAL.02.00.00
KET.04.02.00/KPB.03.01.00

bot.04.00.00
MER.04.03.00
FWA-HACD-2x-FW*- LW 0.6.5.0
21a IET.04.02.00 Bodac2.03.01.00
20V06_0004 FW 0.B.B.0
VAL.02.00.00
KET.04.01.00/KPB.03.00.00

FWA-HACD-2x-FW*- bot.04.00.00 LW 0.6.5.0

21a Bodac2.03.01.00
20V06_0003 MER.04.02.00 FW 0.B.B.0
14/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

IET.04.02.00
VAL.02.00.00
KET.04.01.00

bot.04.00.00
MER.04.00.00
FWA-HACD-2x-FWE- LW 0.6.5.0
21a IET.04.01.00 Bodac2.03.00.00
20V06_0002 FW 0.B.B.0
VAL.02.00.00
KET.04.00.00

bot.04.00.00
MER.04.00.00
FWA-HACD-2x-FWE- LW 0.6.3.0
21a IET.04.01.00 Bodac2.03.00.00
20V06_0001 FW 0.B.A.0
VAL.02.00.00
KET.04.00.00

bot.04.00.00
FWA-HACD-2x-FW0-20V06
MER.04.00.00
FWA-HACD-2x-FWP-20V06 LW 0.6.3.0
21a Ixx.04.00.00 Bodac2.03.00.00
FWA-HACD-2x-FWE-20V06 FW 0.B.A.0
Pxx.04.00.00
FWA-HACD-2x-FWN-20V06
VAL.02.00.00

bot.03.03.00
FWA-HACD-2x-FW*-
20b MER.03.06.00
20V04_0014 / LW 0.6.3.0
/ Ixx.03.03.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.B.9.0
20a Pxx.03.01.00
20V04_0014
VAL.02.00.00

bot.03.02.00
FWA-HACD-2x-FW*-
20b MER.03.05.00
20V04_0012 / LW 0.5.1.0
/ INO.03.01.00/Ixx.03.02.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.A.1.0
20a Pxx.03.00.00
20V04_0012
VAL.02.00.00

bot.03.01.00
FWA-HACD-2x-FW*-
20b MER.03.04.00
20V04_0010 / LW 0.5.1.0
/ INO.03.01.00/Ixx.03.02.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.A.1.0
20a Pxx.03.00.00
20V04_0010
VAL.02.00.00

bot.03.00.00
FWA-HACD-2x-FW*-
20b MER.03.04.00
20V04_0008 / LW 0.5.1.0
/ INO.03.01.00/Ixx.03.02.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.A.1.0
20a Pxx.03.00.00
20V04_0008
VAL.02.00.00

bot.03.00.00
FWA-HACD-2x-FW*-
20b MER.03.03.00
20V04_0006 / LW 0.5.1.0
/ INO.03.01.00/Ixx.03.02.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.A.1.0
20a Pxx.03.00.00
20V04_0006
VAL.02.00.00

bot.03.00.00
FWA-HACD-2x-FW*-
20b MER.03.00.00
20V04_0004 / LW 0.5.1.0
/ Ixx.03.01.00 Bodac2.02.01.00
FWA-HACD-2x-FWN- FW 0.A.1.0
20a Pxx.03.00.00
20V04_0004
VAL.02.00.00

bot.03.00.00
FWA-HACD-2x-FW0-20V04 20b
MER.03.00.00
FWA-HACD-2x-FWP-20V04 20b LW 0.5.1.0
Ixx.03.00.00 Bodac2.02.00.00
FWA-HACD-2x-FWE-20V04 20b FW 0.A.1.0
Pxx.03.00.00
FWA-HACD-2x-FWN-20V04 20a
VAL.02.00.00

bot.02.01.00 LW 0.4.A.0
FWA-HACD-2x-FW*-20V02 20b MER.02.00.00 Bodac2.01.00.00
FW 0.9.1.3
Ixx.02.00.00
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 15/24

Firmware HACD-2x

Pxx.02.00.00
VAL.02.00.00
16/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

3.2 Bugfixes

General

FWA-HACD-2x-FWx-20V08
 DPQ and DPC functionalities are supported
 increased internal read buffer for parameter files

FWA-HACD-2x-FWx-20V04_0012
 Remedied download problems with Ethernet Logicware

FWA-HACD-2x-FWx-20V04
 Remedied download problems with Ethernet Firmware

Manufactury

FWA-HACD-2x-FWx-20V10
 New Flash will be supported (Hardware version 22a)

FWA-HACD-2x-FWx-20V04_0010
 Calibration of current output AO1 will now be at 19 instead of 20mA

Feedback encoder

FWA-HACD-2x-FWx-20V06_0008
 Increase the clock from SSI .Transducer from 62.5kHz to 125kHz

FWA-HACD-2x-FWx-20V06_0005
 Home-Mode with an incremental encoder (QUAD) is not working properly, if
you have only selected INC-S in BODAC structure editor.

FWA-HACD-2x-FWx-20V04_0008
 Correct SSI-velocity value at enable low

FWA-HACD-2x-FWx-20V04_0006
 Set the SSI feedback values to zero at cablebreak
 Remove SSI fault that was shown at enable with an binary SSI encoder
 Correct the binary SSI feedback values
 Expand the interpretation of the busparameter “Set dig. FB to zero” for SSI
encoder 1 and 2

Internal Flags
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 17/24

Firmware HACD-2x

FWA-HACD-2x-FWx-20V06_0004
 Bug fix for FWA-HACD-2x-FWx-20V06_0003:
Some trigger constellations can result into a card crash of the HACD-2x

FWA-HACD-2x-FWx-20V06_0003
 Bug fix: The internal flags 9-16 couldn’t be used as blocktriggers

FWA-HACD-2x-FWx-20V04_0012
 Correct the internal flags after a block change

Communication

FWA-HACD-2x-FW*-20V06_0010
 The parameter limit- valve 1,2,3 and limit + valve1, 2,3 can be addressed
correctly via Profibus.

FWA-HACD-2x-FW*-20V06_0009
 Gateway address is stored

FWA-HACD-2x-FWx-20V06_0003
 If no busoption-switch (in front of the VT-HACD-3-2x) is used, then DHCP can
now be activated via software for ethernet capable HACDs

FWA-HACD-2x-FWx-20V06_0002
 Preparations for the EtherNet/IP certification

FWA-HACD-2x-FWx-20V04_0014
 Bug fix: Profinet input and output modules won’t be recognized under certain
circumstances:
o only if the power of the HACD is turned on after or at the same time
as the plc.
o only if the addresses of the input and output modules are lying
within the process image of the plc.
o only if the plc enters the STOP-mode, if it recognizes the power-off
HACD
 Bug fix: A bustrigger at issue won’t be recognized after toggling the enable signal.

FWA-HACD-2x-FWx-20V04_0006
 Expand the interpretation of the busparameter “Set dig. FB to zero” for SSI
encoder 1 and 2
 Correct the Businitfault and the Ethernet Watchdog
 Correct the device name assignment by the SPS
 Adapt the max value of the busparameter “Bustrigger”
18/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

FWA-HACD-2x-FWx-20V04_0004
 Bugfix for the bustransfer of active damping and output edit parameters

FWA-HACD-2x-FWx-20V04
 Actualized IP address by DHCP usage
 Gray out the Ethernet Device Name subjected to the DIL switches
 Improve fault handling, if the Ethernet master has not configured all modules.
Do not enter cyclic communication and stay in configuration mode.
 Improve the handling of the bus fault
 Adjust the internal Ethernet watchdog time
 Bugfix for 1 Byte read and write commands over Profibus DPV1 (acyclic)
 Extend the maximal allowed entries of the busmanager from 16 to 32

Controller parameters

FWA-HACD-2x-FWE-20V06_0006
 Overriding the parameters “Accel. Rate” and “Decel. Rate” in Block 1 is
prevented

FWA-HACD-2x-FWE-20V06_0001
 Gain+ and Gain- from Valve Output can now go from -10,00 … +10,00

FWA-HACD-2x-FWx-20V04_0014
 Correct the conversion of the HACD-1x parameters „s-ramp start“ and „s-
ramp end“ into the HACD-2x parameters „acceleration“ and „deceleration“

FWA-HACD-2x-FWx-20V04_0006
 Correct parameter interpretation of LS2/LS3 in the parameter editor

FWA-HACD-2x-FWx-20V04
 Correct the FeedForward scaling
 Realize T1 Lag without decimals
 Set T1 Lag default value to 640 Hz
 Set factory setting of constant CON 1 to zero.
 Correct handling of the Loop error debounce time

Controller structure
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 19/24

Firmware HACD-2x

FWA-HACD-2x-FWx-20V06_0007
 Die Sollwertwertaufschaltung wird zu Null gesetzt im Modus
“Geschwindigkeit” wenn sich der Sollwert nicht mehr ändert.

FWA-HACD-2x-FWx-20V04_0014
 Remove Bus-Option as external dwelltime, because it’s not possible.

FWA-HACD-2x-FWx-20V04_0012
 Sporadic peaks in the DT1(LFB) signal are fixed.
 Bugfix: When a new block is started after an emergency ramp (start-stop-
condition) command values go directly to their final value without executing any
ramp

Command generator

FWA-HACD-2x-FWx-20V06_0007
 In a transition from a fast to a low velocity the parameter deceleration is used
instead of the parameter acceleration.
20/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

3.3 New Features

General

FWA-HACD-2x-FWx-20V06
 Put all firmware moduls to a firmware package together

FWA-HACD-2x-FWx-20V04_0014
 Check address at firmware download
 Limit access to the FPGA-flash on the Ethernet daughterboard; only
Logicware and Firmware can now be exchanged.

Analog I/O

FWA-HACD-2x-FWx-20V04_0012
 Improve the quality of the analog input signals

Manufactury

FWA-HACD-2x-FWx-20V06
 Implementation of an additional check, if an HACD-2x hardware has got the
corresponding HACD-2x software in it.

Feedback encoder

FWA-HACD-2x-FWx-20V06
 Allow single-ended incremental encoder to be used, which is available with
hardware version 21a or newer

Communication

FWA-HACD-2x-FWx-20V06
 Allow ethernet capable VT-HACD-3-2x to communicate not only serial, but
also over an Ethernet service interface with Bodac
o Move and shorten the address space of the bus code
o Divide the bus communication “EtherNet/IP” or “PROFINET” from
the service communication “TCP”
o Cards that are connected over the local bus, can now also be found
and configured over TCP/IP.
 The consolidation of the GSDML files with the HNC100-3x and MAC8 causes
incompatibility to the already delivered GSDML files.
 Only with EtherNet/IP: Add functionality “Save all Parameters over the bus”
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 21/24

Firmware HACD-2x

FWA-HACD-2x-FWx-20V04_0014
 Actualize the Multi-Ethernet (METH) screen
 Allow an out-of-box reset over Ethernet
 Observe the min and max values of bus parameters (Profibus, EtherNet/IP
and Profinet)
 All error states will be shown flashing red on the Ethernet MS (Module status)
LED
 Check if BusIDs (slot/index) are valid for acyclic and cyclic reading and writing
(Profibus, EtherNet/IP and Profinet)
 If the DIL-switch is used to determine the IP address, then the IP-suite cannot
be changed over the PLC or Bodac anymore.
 Show actual IP-address in Bodac when using DHCP already in the state
COMINIT instead of showing it in COMACTV (EtherNet/IP and Profinet)
 After power-on stay in the state COMCFG instead of the state SYSRDY as
long as the firmware checksum is calculated (EtherNet/IP and Profinet)
 Activate Ethernet Watchdog
 After an ethernet capable card has reached the state COMACTV, cyclic and
acyclic transmit data will be set invalid, if the card went back to bootstrap for an
firmware download for example.
 Receive data will be ignored in an ethernet capable HACD which is in the
state COMACTV, as long as the card went back to bootstrap for a firmware
download for example.
 Change state of ethernet capable HACD from COMACTV, COMRDY or
COMINIT to the state COMCFG, if the card went back to bootstrap for an
firmware download for example.
 Only with EtherNet/IP: Allow access to the single table points by using the
classes 0xC5 and 0xC6
 Allow access to the table setup parameters over the bus (Profibus,
EtherNet/IP and Profinet)

FWA-HACD-2x-FWx-20V04
 Add new Profinet functionality (cyclic and acyclic) including Profinet alarms
 Activate control of the Ethernet MS (Module status) LED
 Add checksum check of the Ethernet Firmware after power-on and wait for the
result before entering cyclic communication
 Implement coherency check of the ethernet objects chosen by a user, like the
IP address or the device name
 Expand the desciption of the Ethernet CI_StateFlags in the Multi-Ethernet
(METH) screen

Controller parameters

FWA-HACD-2x-FWx-20V06
 Expand the parameter editor with the parameters „Stop CMD“ and „Limit I-
Control“
22/24 Bosch Rexroth AG | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

Firmware HACD-2x

Tables

FWA-HACD-2x-FWx-20V04_0014
 Only with EtherNet/IP: Allow access to the single table points by using the
classes 0xC5 and 0xC6
 Allow access to the table setup parameters over the bus (Profibus,
EtherNet/IP and Profinet)
RE 30543-10-Z/04.15 | History VT-HACD-2x product family Hydraulics | Bosch Rexroth AG 23/24

Firmware HACD-2x
24/24 Bosch Rexroth | Hydraulics History VT-HACD-2x product family | RE 30543-10-Z/04.15

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