Just download the parameters from drive firmware 0404 to the drive now equipped with firmware 0504 using the Safe Motion (SMO) serial commissioning tool
Then change the settings for safe homing
and the related safety function like "SLP"
Mind that you probably need to assign a digital input
which as well needs to be assigned in an I/O mapper network
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The Snapshot option is for saving all parameters to look at later on (drive parameter S-0-0017). Commision is for backing up all operation data (S-0-0192) and Device firmware. This is useful for serial commissioning of devices. Device replacemnt backs up operation data, firmware, and retain data (p-0-0195) in case you have to replace a specific device.
See the image below for a breakdown chart:
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If memory serves, I did try to clean all, but I will review to be sure. For now, of course, I was able to manually assign an open address. I will look to test again with 2.06 in March and update the post. Thanks.
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For version 2.02 of the X7, the Max for the sum of the inputs and outputs is 10 kb.
See this post for additional reference: https://developer.community.boschrexroth.com/t5/ctrlX-I-O/EtherCAT-master-number-of-cyclic-data/m-p/86481
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