text: <s>[INST] Powerflex DC 6.002 firmware anomalies Summary: The newest firmware might have a polarity problemMy company just commissioned two identical systems, one in October, one at the end of December. October's PF DC drive used 6.001 firmware. We downloaded the DNO file from it to the system commissioned in December, into a drive with 6.002 firmware. We had to swap motor and armature feedback leads to get proper directional control. 6.002 firmware fixed a certain anomaly involving adaptive speed gains. Rather than go through the whole speed tuning process again, we downgraded the firmware so that the adaptive gains which worked for the first installation would work in the second. We had to swap the motor and armature feedback leads back again in order to get directional control correct. One should not have to swap polarity just because you change the firmware. Has anyone else encountered this anomaly? [/INST] Interesting observation! You say motor and armature feedback leads, so was that the motor armature leads were swapped, and also the tacho leads were swapped? confirm please. I was responsible for finding an anomaly with V6.001 and alerting RA to it in that we had a special application where we wanted to employ external field control on a motor but at a fixed value (i.e. no weakening). We also wanted to employ the feedback bypass feature, where if the pulse encoder failed, the motor would revert to armature voltage control, but the firmware doesn't allow you to disable the internal field controller without having a feedback device (field configuration conflict alarm condition). The way around this was to select a permanent magnet field, but strangely enough when the motor was started the drive faulted on motor over-voltage. The reason for this is that the firmware had a bug where the motor speed feedback from reading the armature voltage was held at zero. This worked before V6.001 and was fixed in V6.002 Maybe there is a new bug introduced in this area in fixing the issue we had? \\n </s>