Cause : Actual topology changed comes when the device target topology (p0099) does not correspond to the device actual topology (r0098). The fault only occurs if the topology was commissioned using the automatic internal device mechanism and not using the commissioning software.

1. One of the following counter-measures can be selected if no faults have occurred in the topology detection itself:
   If commissioning is still not completed:
   - carry out a self-commissioning routine (starting from p0009 = 1).
2. In general:
   Set p0099 = r0098, set p0009 = 0; for existing Motor Modules, this results in servo drives being automatically generated (p0107).
3. Generating servo drives: Set p0097 to 1, set p0009 to 0.
4. Generating vector drives: Set p0097 to 2, set p0009 to 0.
5. Generating vector drives with parallel circuit: Set p0097 to 12, set p0009 to 0.
6. In order to set configurations in p0108, before setting p0009 to 0, it is possible to first set p0009 to 2 and modify p0108. The index corresponds to the drive object (p0107).
7. If commissioning has already been completed:
   - re-establish the original connections and re-connect power to the Control Unit.
   - restore the factory setting for the complete equipment (all of the drives) and allow automatic self-commissioning again.
   - change the device parameterization to match the connections (this is only possible using the commissioning software).