Lexium 32A

0198441113755 09/2017

Lexium 32A
Servo Drive
User Guide
09/2017
0198441113755.10

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical character-
istics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2017 Schneider Electric. All Rights Reserved.

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 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Device Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Power Stage Data - General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Power Stage Data - Drive-Specific . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Peak Output Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
DC Bus Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Controller Supply Voltage 24V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Electromagnetic Emission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Non-Volatile Memory and Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Conditions for UL 508C and CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter 3 Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Deactivating the Y Capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.2 Cables and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Cables - General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Overview of the Required Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Logic Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.3 Mains Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Common DC Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Mains Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.4 Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Internal Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
External Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Rating Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.5 Functional Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Requirements for Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Chapter 4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.1 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Mounting the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

0198441113755 09/2017 3
 4.2 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Overview of Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Connection Grounding Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Connection Motor Phases and Holding Brake (CN10 and CN11) . . . . . . . . . . . . . . . . . . . . . 97
Connection DC Bus (CN9, DC Bus). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Connection Braking Resistor (CN8, Braking Resistor). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Connection Power Stage Supply (CN1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Connection Motor Encoder (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Connection Controller Supply and STO (CN2, DC Supply and STO) . . . . . . . . . . . . . . . . . . 109
Connection Digital Inputs and Outputs (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Connection PC with Commissioning Software (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Connection CAN (CN4 and CN5). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Chapter 5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
5.2 Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Overview of Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Menu Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Making Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
5.3 External graphic display terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Display and Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Connecting the external graphic display terminal to LXM32 . . . . . . . . . . . . . . . . . . . . . . . . . 135
Using the external graphic display terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.4 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Powering on the Device for the First Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Setting Limit Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Verifying the Signals of the Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Verifying the Safety Function STO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Holding Brake (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Verifying the Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Setting Parameters for Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Setting the Braking Resistor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Enhanced Settings for Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
5.5 Controller Optimization with Step Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Optimizing the Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Verifying and Optimizing the P Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Optimizing the Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
5.6 Parameter Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Duplicating Existing Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Resetting the User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Restoring Factory Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Chapter 6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
6.1 Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

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 6.2 Movement Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Size of the Movement Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Movement Beyond the Movement Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Setting a Modulo Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
6.3 Modulo Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Setting a Modulo Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Examples with Relative Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Examples with Absolute Movements and "Shortest Distance" . . . . . . . . . . . . . . . . . . . . . . . 192
Examples with Absolute Movements and "Positive Direction". . . . . . . . . . . . . . . . . . . . . . . . 193
Examples with Absolute Movements and "Negative Direction" . . . . . . . . . . . . . . . . . . . . . . . 194
6.4 Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Configuration of position scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Configuration of Velocity Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Configuration of Ramp Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
6.5 Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Parameterization of the Signal Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Parameterization of the Signal Output Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Parameterization of Software Debouncing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
6.6 Switching Between Control Loop Parameter Sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Overview of the Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Overview of Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Overview of Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Overview of Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Parameterizable Control Loop Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Selecting a Control Loop Parameter Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Automatically Switching Between Control Loop Parameter Sets . . . . . . . . . . . . . . . . . . . . . 217
Copying a Control Loop Parameter Set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Deactivating the Integral Term . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Control Loop Parameter Set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Control Loop Parameter Set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Chapter 7 Operating States and Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
7.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
State Diagram and State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Indication of the Operating State via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Indication of the Operating State via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Indication of the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Changing the Operating State via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Changing the Operating State via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Changing the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
7.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
7.3 Operating Mode Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
7.4 Operating Mode Profile Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
7.5 Operating Mode Profile Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

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 7.6 Operating Mode Profile Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
7.7 Operating Mode Interpolated Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
7.8 Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Reference Movement to a Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Reference Movement to the Reference Switch in Positive Direction . . . . . . . . . . . . . . . . . . . 274
Reference Movement to the Reference Switch in Negative Direction . . . . . . . . . . . . . . . . . . 275
Reference Movement to the Index Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Chapter 8 Functions for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
8.1 Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Motion Profile for the Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Jerk Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Stop Movement with Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Stop Movement with Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Limitation of the Velocity via Signal Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Limitation of the Current via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Zero Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Setting a Signal Output via Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Starting a Movement via a Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Position Capture via Signal Input (Vendor-Specific Profile) . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Position Capture via Signal Input (DS402 Profile) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Relative Movement After Capture (RMAC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
8.2 Functions for Monitoring Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Reference Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Software Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Load-Dependent Position Deviation (Following Error) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Load-Dependent Velocity Deviation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Motor Standstill and Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Torque Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Velocity Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Standstill Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Position Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Position Deviation Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Velocity Deviation Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Velocity Threshold Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Current Threshold Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Adjustable Bits of the Status Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
8.3 Functions for Monitoring Internal Device Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Temperature Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Monitoring Load and Overload (I2T Monitoring). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Commutation Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Monitoring of Mains Phases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Ground Fault Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Chapter 9 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

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 Chapter 10 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
10.1 Diagnostics via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Diagnostics via the Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Fieldbus Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Acknowledging a Motor Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Displaying error messages via the HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
10.2 Diagnostics via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Indicating the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Indicating Error Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
10.3 Diagnostics via the Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Fieldbus Communication Error Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Most Recent Detected Error - Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Most Recent Detected Error - Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
Error Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
10.4 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Description of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Table of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Chapter 11 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Representation of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Chapter 12 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
Commissioning Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
Memory Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
Application Nameplate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
CANopen Cable With Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
CANopen Connectors, Distributors, Terminating Resistors . . . . . . . . . . . . . . . . . . . . . . . . . 480
CANopen Cables With Open Cable Ends . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32 . . . . . . . . . . . . . . . . . . . . . . . 482
Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483
Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
External Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
DC Bus Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Mains Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
External Mains Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Spare Parts Connectors, Fans, Cover Plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Chapter 13 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Service Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Replacing the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Replacement of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Glossary ..................................................... 499
Index ..................................................... 503

0198441113755 09/2017 7
8 0198441113755 09/2017
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, service, or maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.

QUALIFICATION OF PERSONNEL
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. These persons
must have sufficient technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the settings and by the
mechanical, electrical and electronic equipment of the entire system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from parameterization,
modifying parameter values and generally from mechanical, electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and regulations for the prevention of
industrial accidents, which they must observe when designing and implementing the system.

0198441113755 09/2017 9
INTENDED USE
The products described or affected by this document are, along with software, accessories and options,
servo-drive systems for three-phase servo motors. The products are intended for industrial use according
to the instructions, directions, examples and safety information contained in the present user guide and
other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the
specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the planned application. Based
on the results, the appropriate safety-related measures must be implemented.
Since the products are used as components in an overall machine or process, you must ensure the safety
of persons by means of the design of this overall machine or process.
Operate the products only with the specified cables and accessories. Use only genuine accessories and
spare parts.
Any use other than the use explicitly permitted as described herein is prohibited and may result in
unanticipated hazards.

BEFORE YOU BEGIN

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-
of-operation guarding on a machine can result in serious injury to the operator of that machine.

WARNING
UNGUARDED EQUIPMENT
 Do not use this software and related automation equipment on equipment which does not have point-
of-operation protection.
 Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

This automation equipment and related software is used to control a variety of industrial processes. The
type or model of automation equipment suitable for each application will vary depending on factors such
as the control function required, degree of protection required, production methods, unusual conditions,
government regulations, etc. In some applications, more than one processor may be required, as when
backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and factors
present during setup, operation, and maintenance of the machine and, therefore, can determine the
automation equipment and the related safeties and interlocks which can be properly used. When selecting
automation and control equipment and related software for a particular application, you should refer to the
applicable local and national standards and regulations. The National Safety Council's Accident Prevention
Manual (nationally recognized in the United States of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as point-of-
operation guarding must be provided. This is necessary if the operator's hands and other parts of the body
are free to enter the pinch points or other hazardous areas and serious injury can occur. Software products
alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take
the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation
protection have been installed and are operational before placing the equipment into service. All interlocks
and safeties related to point-of-operation protection must be coordinated with the related automation
equipment and software programming.
NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation protection is
outside the scope of the Function Block Library, System User Guide, or other implementation referenced
in this documentation.

10 0198441113755 09/2017
START-UP AND TEST
Before using electrical control and automation equipment for regular operation after installation, the system
should be given a start-up test by qualified personnel to verify correct operation of the equipment. It is
important that arrangements for such a check be made and that enough time is allowed to perform
complete and satisfactory testing.

WARNING
EQUIPMENT OPERATION HAZARD
 Verify that all installation and set up procedures have been completed.
 Before operational tests are performed, remove all blocks or other temporary holding means used for
shipment from all component devices.
 Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Follow all start-up tests recommended in the equipment documentation. Store all equipment
documentation for future references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not installed
according to local regulations (according to the National Electrical Code in the U.S.A, for instance). If high-
potential voltage testing is necessary, follow recommendations in equipment documentation to prevent
accidental equipment damage.
Before energizing equipment:
 Remove tools, meters, and debris from equipment.
 Close the equipment enclosure door.
 Remove all temporary grounds from incoming power lines.
 Perform all start-up tests recommended by the manufacturer.

OPERATION AND ADJUSTMENTS

The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version
prevails):
 Regardless of the care exercised in the design and manufacture of equipment or in the selection and
ratings of components, there are hazards that can be encountered if such equipment is improperly
operated.
 It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturer’s instructions as a guide for functional adjustments. Personnel
who have access to these adjustments should be familiar with the equipment manufacturer’s
instructions and the machinery used with the electrical equipment.
 Only those operational adjustments actually required by the operator should be accessible to the
operator. Access to other controls should be restricted to prevent unauthorized changes in operating
characteristics.

0198441113755 09/2017 11
12 0198441113755 09/2017
 About the Book

At a Glance

Document Scope
This manual describes technical characteristics, installation, commissioning, operation and maintenance
of the servo drive Lexium 32A (LXM32A).

Validity Note
This manual is valid for the standard products listed in the type code, see chapter Type Code
(see page 21).
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to
www.schneider-electric.com/green-premium.
The technical characteristics of the devices described in this document also appear online. To access this
information online:

Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 In the Search box type the reference of a product or the name of a product range.
 Do not include blank spaces in the reference or product range.
 To get information on grouping similar modules, use asterisks (*).

3 If you entered a reference, go to the Product Datasheets search results and click on the
reference that interests you.
If you entered the name of a product range, go to the Product Ranges search results and click
on the product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that
interests you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6 To save or print a data sheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.

Related Documents

Title of documentation Reference number

LXM32A - AC servo drive - Product manual (this manual) 0198441113755 (eng)
0198441113756 (fre)
0198441113754 (ger)
0198441113758 (spa)
0198441113757 (ita)
0198441113759 (chi)
LXM32 - Common DC bus - Application note MNA01M001EN (eng)
MNA01M001DE (ger)
LXM32A - CANopen interface - Fieldbus manual 0198441113779 (eng)
0198441113780 (fre)
0198441113778 (ger)

You can download these technical publications and other technical information from our website at
http://www.schneider-electric.com/en/download.

0198441113755 09/2017 13
Product Related Information
The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present
during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all
equipment. Verify compliance with any safety information, different electrical requirements, and normative
standards that apply to your machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains voltage, or
present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
 Disconnect all power from all equipment including connected devices prior to removing any covers or
doors, or installing or removing any accessories, hardware, cables, or wires.
 Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-
energized position.
 Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.
 Measure the voltage on the DC bus with a properly rated voltage sensing device and verify that the
voltage is less than 42.4 Vdc.
 Do not assume that the DC bus is voltage-free when the DC bus LED is off.
 Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
 Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
 Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper
ground connection exists before applying power to the unit.
 Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.

This equipment has been designed to operate outside of any hazardous location. Only install this
equipment in zones known to be free of a hazardous atmosphere.

DANGER
POTENTIAL FOR EXPLOSION
Install and use this equipment in non-hazardous locations only.
Failure to follow these instructions will result in death or serious injury.

If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions,
the motor is no longer decelerated in a controlled way. Overload, errors or incorrect use may cause the
holding brake to no longer operate properly and may result in premature wear.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that movements without braking effect cannot cause injuries or equipment damage.
 Verify the function of the holding brake at regular intervals.
 Do not use the holding brake as a service brake.
 Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Drive systems may perform unanticipated movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.

14 0198441113755 09/2017
 WARNING
UNINTENDED MOVEMENT OR MACHINE OPERATION
 Carefully install the wiring in accordance with the EMC requirements.
 Do not operate the product with undetermined settings and data.
 Perform comprehensive commissioning tests that include verification of configuration settings and
data that determine position and movement.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths and,
for certain critical control functions, provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop and overtravel stop, power outage
and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Machines, controllers, and related equipment are usually integrated into networks. Unauthorized persons
and malware may gain access to the machine as well as to other devices on the network/fieldbus of the
machine and connected networks via insufficiently secure access to software and networks.
Schneider Electric adheres to industry best practices in the development and implementation of control
systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This
approach places the controllers behind one or more firewalls to restrict access to authorized personnel and
protocols only.

WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION
 Evaluate whether your environment or your machines are connected to your critical infrastructure and,
if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the
automation system to any network.
 Limit the number of devices connected to a network to the minimum necessary.
 Isolate your industrial network from other networks inside your company.
 Protect any network against unintended access by using firewalls, VPN, or other, proven security
measures.
 Monitor activities within your systems.
 Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated
actions.
 Prepare a recovery plan including backup of your system and process information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

For more information on organizational measures and rules covering access to infrastructures, refer to
ISO/IEC 27000 series, Common Criteria for Information Technology Security Evaluation, ISO/IEC 15408,
IEC 62351, ISA/IEC 62443, NIST Cybersecurity Framework, Information Security Forum - Standard of
Good Practice for Information Security.

0198441113755 09/2017 15
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that
appear in or on the products themselves, are generally derived from the terms or definitions of international
standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited
to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error
message, dangerous, etc.
Among others, these standards include:

Standard Description
EN 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2008 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
EN 1088:2008 Safety of machinery - Interlocking devices associated with guards - Principles
ISO 14119:2013 for design and selection
ISO 13850:2006 Safety of machinery - Emergency stop - Principles for design
EN/IEC 62061:2005 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2008 Digital data communication for measurement and control: Functional safety
field buses.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive

In addition, terms used in the present document may tangentially be used as they are derived from other
standards such as:

Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems

Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and
is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and
ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present
documentation. For more information concerning the individual standards applicable to the products
described herein, see the characteristics tables for those product references.

16 0198441113755 09/2017
 Lexium 32A
Introduction
0198441113755 09/2017

Chapter 1
Introduction

Introduction

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Device Overview 18
Components and Interfaces 19
Nameplate 20
Type Code 21

0198441113755 09/2017 17
Introduction

Device Overview

The Lexium 32 product family consists of various servo drive models that cover different application areas.
Together with Lexium BMH servo motors or Lexium BSH servo motors as well as a comprehensive
portfolio of options and accessories, the drives are ideally suited to implement compact, high-performance
drive solutions for a wide range of power requirements.

Lexium Servo Drive LXM32A

This product manual describes the LXM32A servo drive.

Overview of some of the features of the servo drive:

 Communication interface for CANopen and CANmotion; the reference values for numerous operating
modes are supplied via this interface.
 The product is commissioned via the integrated HMI, a PC with commissioning software or the fieldbus.
 The safety function "Safe Torque Off" (STO) as per IEC 61800-5-2 is implemented on board.
 A memory card slot is provided for backup and copying of parameters and fast device replacement.

18 0198441113755 09/2017
 Introduction

Components and Interfaces

CN1 Power stage supply

CN2 24V controller supply and safety function STO
CN3 Motor encoder (Encoder 1)
CN4 CAN in
CN5 CAN out
CN6 4 digital inputs and 2 digital outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus
CN10 Motor phases
CN11 Motor holding brake

0198441113755 09/2017 19
Introduction

Nameplate

The nameplate contains the following data:

1 Product type, see type code

2 Power stage supply
3 Cable specifications and tightening torque
4 Certifications
5 Serial number
6 Output power
7 Degree of protection
8 Hardware version
9 Date of manufacture

20 0198441113755 09/2017
 Introduction

Type Code

Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type code (example) L X M 3 2 A D 1 8 M 2 • • • •

Item Meaning
1 ... 3 Product family
LXM = Lexium
4 ... 5 Product type
32 = AC servo drive for one axis
6 Fieldbus interface
A = Advanced Drive with CANopen fieldbus
7 ... 9 Peak current
U45 = 4.5 Arms
U60 = 6 Arms
U90 = 9 Arms
D12 = 12 Arms
D18 = 18 Arms
D30 = 30 Arms
D72 = 72 Arms
10 ... 11 Power stage supply
M2 = Single-phase, 115/200/240 Vac
N4 = Three-phase, 208/400/480 Vac
12 ... 15 Customized version
S = Customized version

If you have questions concerning the type code, contact your Schneider Electric representative.

Designation Customized Version

In the case of a customized version, position 12 of the type code is an "S". The subsequent number defines
the customized version. Example: LXM32••••••S123
Contact your local Schneider Electric service representative if you have questions concerning customized
versions.

0198441113755 09/2017 21
Introduction

22 0198441113755 09/2017
 Lexium 32A
Technical Data
0198441113755 09/2017

Chapter 2
Technical Data

Technical Data

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Environmental Conditions 24
Dimensions 26
Power Stage Data - General 28
Power Stage Data - Drive-Specific 30
Peak Output Currents 35
DC Bus Data 36
Controller Supply Voltage 24V 37
Signals 38
Braking Resistor 40
Electromagnetic Emission 43
Non-Volatile Memory and Memory Card 45
Conditions for UL 508C and CSA 46
Certifications 47

0198441113755 09/2017 23
Technical Data

Environmental Conditions

Conditions for Operation

The maximum permissible ambient temperature during operation depends on the mounting distances
between the devices and on the required power. Observe the pertinent instructions in the chapter
Installation (see page 87).

Ambient temperature (no icing, non-condensing) °C 0 ... 50

(°F) (32 ... 122)

The following relative humidity is permissible during operation:

Relative humidity (non-condensing) % 5 ... 95

The installation altitude is defined in terms of altitude above mean sea level.

Installation altitude above mean sea level without m <1000

derating. (ft) (<3281)
Altitude above mean sea level when all of the m 1000 ... 2000
following conditions are met: (ft) (3281 ... 6562)
 Maximum ambient temperature 45 °C
(113 °F)
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)
Altitude above mean sea level when all of the m 2000 ... 3000
following conditions are met: (ft) (6562 ... 9843)
 Maximum ambient temperature 40 °C
(104 °F)
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)
 Overvoltages of the supply mains limited to
overvoltage category II as per IEC 60664-1
 No IT grounding system

Conditions for Transportation and Storage

The environment during transportation and storage must be dry and free from dust.

Temperature °C -25 ... 70

(°F) (-13 ... 158)

The following relative humidity is permissible during transportation and storage:

Relative humidity (non-condensing) % <95

Installation Site and Connection

For operation, the device must be mounted in a closed control cabinet. The device may only be operated
with a permanently installed connection.

Pollution Degree and Degree of Protection

Pollution degree 2
Degree of protection IP20

Degree of Protection When the Safety Function Is Used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive
substances may cause the safety function to become inoperative.

24 0198441113755 09/2017
 Technical Data

Vibration and Shock

Vibration, sinusoidal Tested as per IEC 60068-2-6

3.5 mm (2 ... 8.4 Hz)
10 m/s2 (8.4 ... 200 Hz)
Shock, semi-sinusoidal Tested as per IEC 60068-2-27
150 m/s2 (for 11 ms)

0198441113755 09/2017 25
Technical Data

Dimensions

Dimensions LXM32•U45, LXM32•U60, LXM32•U90, LXM32•D12, LXM32•D18 and LXM32•D30M2

LXM32•... U45, U60, U90 D12, D18, D30M2

B mm (in) 48 ±1 (1.99 ±0.04) 48 ±1 (1.99 ±0.04)
H mm (in) 270 (10.63) 270 (10.63)
e mm (in) 24 (0.94) 24 (0.94)
E mm (in) - -
a mm (in) 20 (0.79) 20 (0.79)
Type of cooling Convection(1) Fan 40 mm (1.57 in)
(1) Greater than 1 m/s

Dimensions LXM32•D30N4 and LXM32•D72

26 0198441113755 09/2017
 Technical Data

LXM32•... D30N4 D72

B mm (in) 68 ±1 (2.68 ±0.04) 108 ±1 (4.25 ±0.04)
H mm (in) 270 (10.63) 274 (10.79)
e mm (in) 13 (0.51) 13 (0.51)
E mm (in) 42 (1.65) 82 (3.23)
a mm (in) 20 (0.79) 24 (0.94)
Type of cooling Fan 60 mm Fan 80 mm (3.15 in)
(1) Greater than 1 m/s

Mass

LXM32•... U45 U60, U90 D12, D18M2 D18N4, D30N4 D72

D30M2
Mass kg (lb) 1.6 (3.53) 1.7 (3.75) 1.8 (3.97) 2.0 (4.41) 2.6 (5.73) 4.7 (10.36)

0198441113755 09/2017 27
Technical Data

Power Stage Data - General

Mains Voltage: Range and Tolerance

115/230 Vac single-phase Vac 100 -15% ... 120 +10%

200 -15% ... 240 +10%

208/400/480 Vac three-phase (1) Vac 200 -15% ... 240 +10%
380 -15% ... 480 +10%
Frequency Hz 50 -5% ... 60 +5%
(1) 208 Vac: With firmware version ≥V01.04 and DOM ≥10.05.2010

Transient overvoltages Overvoltage category III(1)

Rated voltage to ground Vac 300
(1) Depends on installation altitude, see chapter Environmental Conditions
(see page 24)

Type of Grounding

TT grounding system, TN Approved

grounding system
IT grounding system Depends on hardware version
≥RS 02: Approved(1)
<RS02: Not approved
Mains with corner grounded Not approved
system
(1) Depending on installation altitude, see chapter Environmental
Conditions (see page 24)

Leakage Current

Leakage current (as per mA <30(1)

IEC 60990, figure 3)
(1) Measured on mains with grounded neutral point and without external
mains filter. Take into account that a 30 mA RCD can already trigger at
15 mA. In addition, there is a high-frequency leakage current which is not
considered in the measurement. The response to this depends on the
type of residual current device.

Harmonic Currents and Impedance

The harmonic currents depend on the impedance of the supply mains. This is expressed in terms of the
short-circuit current of the supply mains. If the supply mains has a higher short-circuit current than indicated
in the Technical Data for the device, use upstream mains reactors. See chapter Accessories and Spare
Parts (see page 475) for suitable mains reactors.

Monitoring the Continuous Output Current

The continuous output current is monitored by the device. If the continuous output current is permanently
exceeded, the device reduces the output current.

PWM Frequency Power Stage

The PWM frequency of the power stage is set to a fixed value.

PWM frequency power stage kHz 8

Approved Motors
The following motors can be connected to this device family: BMH, BSH.
When selecting, consider the type and amount of the mains voltage and the motor inductance.
For other motor possibilities, contact your local Schneider Electric representative.

28 0198441113755 09/2017
 Technical Data

Inductance of Motor
The permissible minimum inductance of the motor to be connected depends on the device type and the
nominal mains voltage. See chapter Power Stage Data - Drive-Specific (see page 30) for the values.
The specified minimum inductance value limits the current ripple of the peak output current. If the
inductance value of the connected motor is less than the specified minimum inductance value, this may
adversely affect current control and trigger motor phase current monitoring.

0198441113755 09/2017 29
Technical Data

Power Stage Data - Drive-Specific

Data for Single-Phase Devices at 115 Vac

LXM32•... U45M2 U90M2 D18M2 D30M2

Nominal voltage (single-phase) Vac 115 115 115 115
Inrush current limitation A 1.7 3.5 8 16
Maximum fuse to be connected A 25 25 25 25
upstream(1)
Continuous output current Arms 1.5 3 6 10
Peak output current Arms 3 6 10 15
Minimum inductance motor mH 5.5 3 1.4 0.8
(phase/phase)
Values without mains reactor(2)
Nominal power kW 0.15 0.3 0.5 0.8
Input current (3) Arms 2.9 5.4 8.5 12.9

THD (total harmonic distortion)(4) % 173 159 147 135

Power dissipation(5) W 7 15 28 33

Maximum inrush current(6) A 111 161 203 231

Time for maximum inrush current ms 0.8 1.0 1.2 1.4
Values with mains reactor
Mains reactor mH 5 2 2 2
Nominal power kW 0.2 0.4 0.8 0.8

Input current (3) Arms 2.6 5.2 9.9 9.9

THD (total harmonic distortion)(4) % 85 90 74 72

Power dissipation(5) W 8 16 32 33

Maximum inrush current(6) A 22 48 56 61

Time for maximum inrush current ms 3.3 3.1 3.5 3.7
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 46) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

30 0198441113755 09/2017
 Technical Data

Data for Single-Phase Devices at 230 Vac

LXM32•... U45M2 U90M2 D18M2 D30M2

Nominal voltage (single-phase) Vac 230 230 230 230
Inrush current limitation A 3.5 6.9 16 33
Maximum fuse to be connected A 25 25 25 25
upstream(1)
Continuous output current Arms 1.5 3 6 10
Peak output current Arms 4.5 9 18 30
Minimum inductance motor mH 5.5 3 1.4 0.8
(phase/phase)
Values without mains reactor(2)
Nominal power kW 0.3 0.5 1.0 1.6
Input current (3) Arms 2.9 4.5 8.4 12.7

THD (total harmonic distortion)(4) % 181 166 148 135

Power dissipation(5) W 10 18 34 38

Maximum inrush current(6) A 142 197 240 270

Time for maximum inrush current ms 1.1 1.5 1.8 2.1
Values with mains reactor
Mains reactor mH 5 2 2 2
Nominal power kW 0.5 0.9 1.6 2.2
Input current (3) Arms 3.4 6.3 10.6 14.1

THD (total harmonic distortion)(4) % 100 107 93 86

Power dissipation(5) W 11 20 38 42

Maximum inrush current(6) A 42 90 106 116

Time for maximum inrush current ms 3.5 3.2 3.6 4.0
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 46) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

0198441113755 09/2017 31
Technical Data

Data for Three-Phase Devices at 208 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

Nominal voltage (three-phase) Vac 208 208 208 208 208
Inrush current limitation A 2.2 4.9 10 10 29
Maximum fuse to be connected A 32 32 32 32 32
upstream(1)
Continuous output current Arms 1.5 3 6 10 24
Peak output current Arms 6 12 18 30 72
Minimum inductance motor mH 8.5 4.5 3 1.7 0.7
(phase/phase)
Values without mains reactor(2)
Nominal power kW 0.35 0.7 1.2 2.0 5
Input current (3) Arms 1.8 3.6 6.2 9.8 21.9

THD (total harmonic distortion)(4) % 132 136 140 128 106

Power dissipation(5) W 13 26 48 81 204

Maximum inrush current(6) A 60 180 276 341 500

Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.5
Values with mains reactor
Mains reactor mH 2 2 1 1 1
Nominal power kW 0.4 0.8 1.5 2.6 6.5
Input current (3) Arms 1.7 3.1 6.0 9.2 21.1

THD (total harmonic distortion)(4) % 97 79 78 59 34

Power dissipation(5) W 13 27 51 86 218

Maximum inrush current(6) A 19 55 104 126 155

Time for maximum inrush current ms 1.9 2.6 2.6 3.0 3.6
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 46) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

32 0198441113755 09/2017
 Technical Data

Data for Three-Phase Devices at 400 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

Nominal voltage (three-phase) Vac 400 400 400 400 400
Inrush current limitation A 4.3 9.4 19 19 57
Maximum fuse to be connected A 32 32 32 32 32
upstream(1)
Continuous output current Arms 1.5 3 6 10 24
Peak output current Arms 6 12 18 30 72
Minimum inductance motor mH 8.5 4.5 3 1.7 0.7
(phase/phase)
Values without mains reactor(2)
Nominal power kW 0.4 0.9 1.8 3.0 7
Input current (3) Arms 1.4 2.9 5.2 8.3 17.3

THD (total harmonic distortion)(4) % 191 177 161 148 126

Power dissipation(5) W 17 37 68 115 283

Maximum inrush current(6) A 90 131 201 248 359

Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.4
Values with mains reactor
Mains reactor mH 2 2 1 1 1
Nominal power kW 0.8 1.6 3.3 5.6 13
Input current (3) Arms 1.8 3.4 6.9 11.1 22.5

THD (total harmonic distortion)(4) % 108 90 90 77 45

Power dissipation(5) W 19 40 74 125 308

Maximum inrush current(6) A 28 36 75 87 112

Time for maximum inrush current ms 1.9 2.3 2.3 2.6 3.0
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 46) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

0198441113755 09/2017 33
Technical Data

Data for Three-Phase Devices at 480 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

Nominal voltage (three-phase) Vac 480 480 480 480 480
Inrush current limitation A 5.1 11.3 23 23 68
Maximum fuse to be connected A 32 32 32 32 32
upstream(1)
Continuous output current Arms 1.5 3 6 10 24
Peak output current Arms 6 12 18 30 72
Minimum inductance motor mH 8.5 4.5 3 1.7 0.7
(phase/phase)
Values without mains reactor(2)
Nominal power kW 0.4 0.9 1.8 3.0 7
Input current (3) Arms 1.2 2.4 4.5 7.0 14.6

THD (total harmonic distortion)(4) % 201 182 165 152 129

Power dissipation(5) W 20 42 76 129 315

Maximum inrush current(6) A 129 188 286 350 504

Time for maximum inrush current ms 0.6 0.7 1.0 1.2 1.6
Values with mains reactor
Mains reactor mH 2 2 1 1 1
Nominal power kW 0.8 1.6 3.3 5.6 13
Input current (3) Arms 1.6 2.9 6.0 9.6 19.5

THD (total harmonic distortion)(4) % 116 98 98 85 55

Power dissipation(5) W 21 44 82 137 341

Maximum inrush current(6) A 43 57 116 137 177

Time for maximum inrush current ms 1.9 2.4 2.4 2.7 3.2
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 46) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

34 0198441113755 09/2017
 Technical Data

Peak Output Currents

The device can provide the peak output current for a limited period of time. If the peak output current flows
when the motor is at a standstill, the higher load on a single semiconductor switch causes the current
limitation to become active earlier than when the motor moves.
The period of time for which the peak output current can be provided depends on the hardware version.
Peak output current with hardware version ≥RS03: 5 seconds

Peak output current with hardware version <RS03: 1 second

0198441113755 09/2017 35
Technical Data

DC Bus Data

DC Bus Data for Single-Phase Devices

LXM32•... U45M2 U90M2 D18M2 D30M2

Nominal voltage V 115 230 115 230 115 230 115 230
Nominal voltage DC V 163 325 163 325 163 325 163 325
bus
Undervoltage limit V 55 130 55 130 55 130 55 130
Voltage limit: V 60 140 60 140 60 140 60 140
activation of Quick
Stop
Overvoltage limit V 260(1) / 450 450 260(1) / 450 450 260(1) / 450 450 260(1) / 450 450
Maximum kW 0.2 0.5 0.4 0.9 0.8 1.6 0.8 2.2
continuous power
via DC bus
Maximum A 1.5 1.5 3.2 3.2 6.0 6.0 10.0 10.0
continuous current
via DC bus
(1) Can be set via parameter MON_DCbusVdcThresh.

DC Bus Data for Three-Phase Devices

LXM32•... U60N4 D12N4 D18N4

Nominal voltage V 208 400 480 208 400 480 208 400 480
Nominal voltage DC bus V 294 566 679 294 566 679 294 566 679
Undervoltage limit V 150 350 350 150 350 350 150 350 350
Voltage limit: activation of V 160 360 360 160 360 360 160 360 360
Quick Stop
Overvoltage limit V 450(1) / 820 820 450(1) / 820 820 450(1) / 820 820
820 820 820
Maximum continuous power kW 0.4 0.8 0.8 0.8 1.6 1.6 1.7 3.3 3.3
via DC bus
Maximum continuous current A 1.5 1.5 1.5 3.2 3.2 3.2 6.0 6.0 6.0
via DC bus
(1) Can be set via parameter MON_DCbusVdcThresh.

LXM32•... D30N4 D72N4

Nominal voltage V 208 400 480 208 400 480
Nominal voltage DC bus V 294 566 679 294 566 679
Undervoltage limit V 150 350 350 150 350 350
Voltage limit: activation of Quick V 160 360 360 160 360 360
Stop
Overvoltage limit V 450(1) / 820 820 450(1) / 820 820
820 820
Maximum continuous power via DC kW 2.8 5.6 5.6 6.5 13.0 13.0
bus
Maximum continuous current via DC A 10.0 10.0 10.0 22.0 22.0 22.0
bus
(1) Can be set via parameter MON_DCbusVdcThresh.

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 Technical Data

Controller Supply Voltage 24V

24V Supply
The +24VDC controller supply must meet the requirements of IEC 61131-2 (PELV standard power supply
unit):

Input voltage Vdc 24 (-15/+20 %)(1)

Input current (without load) A ≤1(2)
Residual ripple % <5
Inrush current Charging current for capacitor C= 1.8 mF
(1) For connection of motors without holding brake; see figure below for motors with holding
brake
(2) Input current: holding brake not considered.

Controller Supply in the Case of Motor with Holding Brake

If a motor with holding brake is connected, the 24 Vdc controller supply must be adjusted according to the
connected motor type, the motor cable length and the cross section of the wires for the holding brake. The
following diagram applies to the motor cables available as accessories, see chapter Accessories and
Spare Parts (see page 475). See the diagram for the voltage that must be available at CN2 for releasing
the holding brake. The voltage tolerance is ±5 %.
Controller supply in the case of motor with holding brake: the voltage depends on the motor type, the motor
cable length and the conductor cross section.

1 Maximum voltage of controller supply

0198441113755 09/2017 37
Technical Data

Signals

Logic Type
The digital inputs and outputs of this product can be wired for positive logic or negative logic.

Logic type Active state

(1) Positive logic Output supplies current (source output)
Current flows to the input (sink input)
(2) Negative logic Output draws current (sink output)
Current flows from the input (source input)

Signal inputs are protected against reverse polarity, outputs are short-circuit protected. The inputs and
outputs are functionally isolated.

Digital Input Signals 24 V

When wired as positive logic, the levels of the digital inputs comply with IEC 61131-2, type 1. The electrical
characteristics are also valid when wired as negative logic unless otherwise indicated.

Input voltage - positive logic

Level 0 Vdc -3 ... 5
Level 1 Vdc 15 ... 30
Input voltage - negative logic (at 24 Vdc)
Level 0 Vdc >19
Level 1 Vdc <9
Input current (at 24 Vdc) mA 5
Debounce time (software)(1)(2) ms 1.5 (default value)
Hardware switching time
Rising edge (level 0 -> 1) µs 15
Falling edge (level 1 -> 0) µs 150
Jitter (capture inputs) µs <2
(1) Adjustable via parameter (sampling period 250µs)
(2) If the capture inputs are used for capture then the debounce time is not applied.

Digital Output Signals 24 V

When wired as positive logic, the levels of the digital outputs comply with IEC 61131-2. The electrical
characteristics are also valid when wired as negative logic unless otherwise indicated.

Nominal supply voltage Vdc 24

Voltage range for supply voltage Vdc 19.2 ... 30
Nominal output voltage - positive logic Vdc 24
Nominal output voltage - negative logic Vdc 0
Voltage drop at 100 mA load Vdc ≤3
Maximum current per output mA 100

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 Technical Data

Input Signals Safety Function STO

The inputs for the safety function STO (inputs STO_A and STO_B) can only be wired for positive logic.
Observe the information provided in chapter Safety function STO ("Safe Torque Off") (see page 76).

Input voltage - positive logic

Level 0 Vdc -3 ... 5
Level 1 Vdc 15 ... 30
Input current (at 24 Vdc) mA 5
Debounce time STO_A and STO_B ms >1
Detection of signal differences between STO_A s >1
and STO_B
Response time of safety function STO ms ≤10

Holding Brake Output CN11

The 24 Vdc holding brake of the BMH motor or the BSH motor can be connected to the output CN11. Data
of output CN11:

Output voltage(1) V Voltage at controller supply CN2 minus 0.8 V

Maximum switching current A 1.7
Energy inductive load (2) Ws 1.5
(1) See chapter Controller Supply Voltage 24V (see page 37)
(2) Time between switch off procedures: > 1 s

CAN Bus Signals

The CAN bus signals comply with the CAN standard and are short-circuit protected.

Encoder Signals
The encoder signals comply with the Stegmann Hiperface specification.

Output voltage for encoder V 10

Output current for encoder mA 100
SIN/COS input signal voltage range 1 Vpp with 2.5 V offset,
0.5 Vpp at 100 kHz
Input resistance Ω 120

The output voltage is short-circuit protected and overload protected. Transmission via RS485,
asynchronous, half-duplex

0198441113755 09/2017 39
Technical Data

Braking Resistor

Internal Braking Resistor

The drive has an internal braking resistor. If the internal braking resistor is insufficient for the dynamics of
the application, one or more external braking resistors must be used.
The resistance values for external braking resistors must not be below the specified minimum resistance.
If an external braking resistor is activated by means of the appropriate parameter, the internal braking
resistor is deactivated.

LXM32•... U45M2 U90M2 D18M2 D30M2

Resistance value of internal braking Ω 94 47 20 10
resistor
Continuous power internal braking W 10 20 40 60
resistor PPR
Peak energy ECR Ws 82 166 330 550
External braking resistor minimum Ω 68 36 20 10
External braking resistor maximum (1) Ω 110 55 27 16
Maximum continuous power external W 200 400 600 800
braking resistor
Capacitance of internal capacitor μF 390 780 1170 1560
Parameter DCbus_compat = 0 (default value)
Switch-on voltage of braking resistor at V 236 236 236 236
nominal voltage 115 V
Switch-on voltage of braking resistor at V 430 430 430 430
nominal voltage 200 V and 230 V
Energy absorption of internal capacitors Ws 5 9 14 18
Evar at nominal voltage 115 V +10%
Energy absorption of internal capacitors Ws 17 34 52 69
Evar at nominal voltage 200 V +10%
Energy absorption of internal capacitors Ws 11 22 33 44
Evar at nominal voltage 230 V +10%
Parameter DCbus_compat = 1 (reduced switch-on voltage)
Switch-on voltage of braking resistor V 395 395 395 395
Energy absorption of internal capacitors Ws 24 48 73 97
Evar at nominal voltage 115 V +10%
Energy absorption of internal capacitors Ws 12 23 35 46
Evar at nominal voltage 200 V +10%
Energy absorption of internal capacitors Ws 5 11 16 22
Evar at nominal voltage 230 V +10%
(1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application,
it is possible to use a higher ohm resistor.

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

Resistance value of internal braking Ω 132 60 30 30 10
resistor
Continuous power internal braking W 20 40 60 100 150
resistor PPR
Peak energy ECR Ws 200 400 600 1000 2400
External braking resistor minimum Ω 70 47 25 15 8
External braking resistor maximum (1) Ω 145 73 50 30 12

Maximum continuous power external W 200 500 800 1500 3000

braking resistor
(1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application,
it is possible to use a higher ohm resistor.
(2) Parameter DCbus_compat has no effect in the case of three-phase devices

40 0198441113755 09/2017
 Technical Data

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

Capacitance of internal capacitor μF 110 195 390 560 1120
Parameter DCbus_compat(2)
Switch-on voltage of braking resistor at V 430 430 430 430 430
nominal voltage 208 V
Switch-on voltage of braking resistor at V 780 780 780 780 780
nominal voltage 380 V, 400 V and 480 V
Energy absorption of internal capacitors Ws 4 8 16 22 45
Evar at nominal voltage 208 V +10%
Energy absorption of internal capacitors Ws 14 25 50 73 145
Evar at nominal voltage 380 V +10%
Energy absorption of internal capacitors Ws 12 22 43 62 124
Evar at nominal voltage 400 V +10%
Energy absorption of internal capacitors Ws 3 5 10 14 28
Evar at nominal voltage 480 V +10%
(1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application,
it is possible to use a higher ohm resistor.
(2) Parameter DCbus_compat has no effect in the case of three-phase devices

External Braking Resistors (Accessories)

VW3A760... 1Rxx 2Rxx 3Rxx 4Rxx 5Rxx 6Rxx 7Rxx 8Rxx

Resistance Ω 10 27 27 27 72 72 72 100
Continuous power W 400 100 200 400 100 200 400 100
Maximum time in s 3 1.8 4.2 10.8 6.36 16.8 42 10.8
braking at 115 V
Peak power at 115 V kW 5.6 2.1 2.1 2.1 0.8 0.8 0.8 0.6
Maximum peak kWs 16.7 3.7 8.7 22.3 4.9 13 32.5 6
energy at 115 V
Maximum time in s 0.72 0.55 1.08 2.64 1.44 3.72 9.6 2.4
braking at 230 V
Peak power at 230 V kW 18.5 6.8 6.8 6.8 2.6 2.6 2.6 1.8
Maximum peak kWs 13.3 3.8 7.4 18.1 3.7 9.6 24.7 4.4
energy at 230 V
Maximum time in s 0.12 0.084 0.216 0.504 0.3 0.78 1.92 0.48
braking at 400 V and
480 V
Peak power at 400 V kW 60.8 22.5 22.5 22.5 8.5 8.5 8.5 6.1
and 480 V
Maximum peak kWs 7.3 1.9 4.9 11.4 2.5 6.6 16.2 2.9
energy at 400 V and
480 V
Degree of protection IP65 IP65 IP65 IP65 IP65 IP65 IP65 IP65
UL approval (file no.) - E233422 E233422 - E233422 E233422 - E233422

VW3A77... 04 05
Resistance Ω 15 10
Continuous power W 1000 1000
Maximum time in braking at 115 V s 19 10
Peak power at 115 V kW 3.7 5.6
Maximum peak energy at 115 V kWs 70 59
Maximum time in braking at 230 V s 3.5 1.98
Peak power at 230 V kW 12.3 18.5
Maximum peak energy at 230 V kWs 43.1 36.5
Maximum time in braking at 400 V and 480 V s 0.65 0.37

0198441113755 09/2017 41
Technical Data

VW3A77... 04 05
Peak power at 400 V and 480 V kW 40.6 60.8
Maximum peak energy at 400 V and 480 V kWs 26.5 22.5
Degree of protection IP20 IP20
UL approval (file no.) E226619 E226619

42 0198441113755 09/2017
 Technical Data

Electromagnetic Emission

Overview
The products described in the present manual meet the EMC requirements as per IEC 61800-3 if the EMC
measures described in the present manual are implemented.

WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device operation in accordance with
the standard IEC 61800-3.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the overall configuration (drive, mains filter, cables, additional accessories as well as all EMC mitigation
measures implemented) does not meet the requirements of category C1 as per IEC 61800-3, this may
cause radio interference in domestic electrical networks.

WARNING
RADIO INTERFERENCE
 Verify compliance with all applicable EMC standards, and, in particular, but not limited to, IEC 61800-
3.
 Do not operate this equipment with a configuration of category C3 or C4 in a first environment as
defined in IEC 61800-3.
 Implement all required radio interference suppression measures, as described in this document, and
verify their effectiveness.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The following information as per IEC 61800-3 applies if you operate this equipment with a
configuration which does not meet the limits of category C1:
“In a domestic environment this product may cause radio interference in which case supplementary
mitigation measures may be required.”
As a machine designer or system integrator, you may need to include this information in the documentation
to your customer.

EMC Categories
The following categories for emission as per IEC 61800-3 are reached if the EMC measures described in
the present manual are implemented.

Emission type Category Category

LXM32••••M2 LXM32••••N4
Conducted emission
Motor cable length ≤10 m (≤32.81 ft) Category C2 Category C3
Motor cable length 10 ... ≤20 m (32.81 ... ≤65.62 ft) Category C3 Category C3
Radiated emission
Motor cable length ≤20 m (65.62 ft) Category C3 Category C3

EMC Categories With External Mains Filter

The following categories for emission as per IEC 61800-3 are reached if the EMC measures described in
the present manual are implemented and if the external mains filters offered as accessories are used.

Emission type Category Category

LXM32••••M2 LXM32••••N4
Conducted emission
Motor cable length ≤20 m (65.62 ft) Category C1 Category C1
Motor cable length >20 ... ≤50 m (>65.62 ... ≤164.00 ft) Category C2 Category C2
Motor cable length >50 ... ≤100 m (>164.00 ... ≤328.01 ft Category C3 Category C3
Radiated emission
Motor cable length ≤100 m (328.01 ft) Category C3 Category C3

0198441113755 09/2017 43
Technical Data

Assignment of External Mains Filters

Single-phase drives Mains filter reference

LXM32•U45M2 (230 V, 1,5 A) VW3A4420 (9 A)
LXM32•U90M2 (230 V, 3 A) VW3A4420 (9 A)
LXM32•D18M2 (230 V, 6 A) VW3A4421 (16 A)
LXM32•D30M2 (230 V, 10 A) VW3A4421 (16 A)

Three-phase drives Mains filter reference

LXM32•U60N4 (480 V, 1,5 A) VW3A4422 (15 A)
LXM32•D12N4 (480 V, 3 A) VW3A4422 (15 A)
LXM32•D18N4 (480 V, 6 A) VW3A4422 (15 A)
LXM32•D30N4 (480 V, 10 A) VW3A4422 (15 A)
LXM32•D72N4 (480 V, 24 A) VW3A4423 (25 A)

Several devices can be connected to a common external mains filter.

Prerequisites:
 Single-phase devices may only be connected to single-phase mains filters; three-phase devices may
only be connected to three-phase devices.
 The total input current of the connected devices must be smaller than or equal to the permissible
nominal current of the mains filter.

44 0198441113755 09/2017
 Technical Data

Non-Volatile Memory and Memory Card

Non-Volatile Memory
The following table shows characteristics for the non-volatile memory:

Characteristic Value
Minimum number of writing cycles 100000
Type EEPROM

Memory Card
The following table shows characteristics for the memory card:

Characteristic Value
Minimum number of writing cycles 100000
Minimum number of plug-in cycles 1000

Memory Card Holder

The following table shows characteristics for the memory card holder:

Characteristic Value
Minimum number of plug-in cycles 5000

0198441113755 09/2017 45
Technical Data

Conditions for UL 508C and CSA

If the product is used to comply with UL 508C or CSA, the following conditions must also be met:

Ambient Temperature During Operation

Surrounding air temperature °C 0 ... 50

(°F) (32 ... 122)

Fuses
Use fuses as per UL 248.

LXM32•... •••M2 •••N4

Maximum fuse rating of fuse to A 25 30
be connected upstream
Class CC or J CC or J

Short-Circuit Current Rating (SCCR)

LXM32•... •••M2 •••N4

Short-circuit current rating kA 12 12
(SCCR)

Wiring
Use at least 60/75 °C (140/167 °F) copper conductors.

400/480 V Three-Phase Devices

400/480 V three-phase devices may only be operated via mains up to 480Y/277Vac.

Overvoltage Category
"Use only in overvoltage category III or where the maximum available Rated Impulse Withstand Voltage
Peak is equal or less than 4000 Volts.", or equivalent.

Motor Overload Protection

This equipment provides Solid State Motor Overload Protection at 200 % of maximum FLA (Full Load
Ampacity).

46 0198441113755 09/2017
 Technical Data

Certifications

Product certifications:

Certified by Assigned number

TÜV Nord SAS-192/2008TB-1
UL E116875
CSA 2320425
CiA (Can in Automation) CiA200906-301V402/20-0104

0198441113755 09/2017 47
Technical Data

48 0198441113755 09/2017
 Lexium 32A
Engineering
0198441113755 09/2017

Chapter 3
Engineering

Engineering

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
3.1 Electromagnetic Compatibility (EMC) 50
3.2 Cables and Signals 56
3.3 Mains Supply 66
3.4 Rating the Braking Resistor 70
3.5 Functional Safety 76

0198441113755 09/2017 49
Engineering

Section 3.1
Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

What Is in This Section?

This section contains the following topics:
Topic Page
General 51
Deactivating the Y Capacitors 55

50 0198441113755 09/2017
 Engineering

General

EMC-Compliant Wiring
This product meets the EMC requirements according to the standard IEC 61800-3 if the measures
described in this manual are implemented during installation.
Signal interference can cause unexpected responses of the drive system and of other equipment in the
vicinity of the drive system.

WARNING
SIGNAL AND EQUIPMENT INTERFERENCE
 Install the wiring in accordance with the EMC requirements described in the present document.
 Verify compliance with the EMC requirements described in the present document.
 Verify compliance with all EMC regulations and requirements applicable in the country in which the
product is to be operated and with all EMC regulations and requirements applicable at the installation
site.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device operation in accordance with
the standard IEC 61800-3.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

See chapter Electromagnetic Emission (see page 43) for the EMC categories.

0198441113755 09/2017 51
Engineering

Overview of wiring with EMC details

52 0198441113755 09/2017
 Engineering

EMC Requirements for the Control Cabinet

EMC measures Objective

Use mounting plates with good electrical conductivity, connect large Good conductivity due to large
surface areas of metal parts, remove paint from contact areas. surface contact.
Ground the control cabinet, the control cabinet door and the Reduces emissions.
mounting plate with ground straps or ground wires. The conductor
cross section must be at least 10 mm2 (AWG 6).
Install switching devices such as power contactors, relays or Reduces mutual interference
solenoid valves with interference suppression units or arc
suppressors (for example, diodes, varistors, RC circuits).
Do not install power components and control components adjacent Reduces mutual interference
to one another.

Shielded Cables

EMC measures Objective

Connect large surface areas of cable shields, use cable Reduces emissions.
clamps and ground straps.
Use cable clamps to connect a large surface area of the Reduces emissions.
shields of all shielded cables to the mounting plate at the
control cabinet entry.
Ground shields of digital signal wires at both ends by Reduces interference
connecting them to a large surface area or via affecting the signal wires,
conductive connector housings. reduces emissions
Ground the shields of analog signal wires directly at the Reduces ground loops
device (signal input); insulate the shield at the other due to low-frequency
cable end or ground it via a capacitor (for example, interference.
10 nF).
Use only shielded motor cables with copper braid and a Diverts interference
coverage of at least 85%, ground a large surface area of currents in a controlled
the shield at both ends. way, reduces emissions.

Cable Installation

EMC measures Objective

Do not route fieldbus cables and signal wires in a single Reduces mutual
cable duct together with lines with DC and AC voltages interference
of more than 60 V. (Fieldbus cables, signal lines and
analog lines may be in the same cable duct)
Use separate cable ducts at least 20 cm (7.87 in) apart.
Keep cables as short as possible. Do not install Reduces capacitive and
unnecessary cable loops, use short cables from the inductive interference.
central grounding point in the control cabinet to the
external ground connection.
Use equipotential bonding conductors in the following Reduces current in the
cases: wide-area installations, different voltage cable shield, reduces
supplies and installation across several buildings. emissions.
Use fine stranded equipotential bonding conductors. Diverts high-frequency
interference currents.
If motor and machine are not conductively connected, Reduces emissions,
for example by an insulated flange or a connection increases immunity.
without surface contact, you must ground the motor
with a ground strap or a ground wire. The conductor
cross section must be at least 10 mm2 (AWG 6).
Use twisted pair for the DC supply. Reduces interference
affecting the signal
cables, reduces
emissions.

0198441113755 09/2017 53
Engineering

Power Supply

EMC measures Objective

Operate product on mains with grounded neutral Enables effectiveness
point. of mains filter.
Surge arrester if there is a risk of overvoltage. Reduces the risk of
damage caused by
overvoltage.

Motor and Encoder Cables

Motor and encoder cables require particular attention in terms of EMC. Use only pre-assembled cables
(see chapter Accessories and Spare Parts (see page 475)) or cables that comply with the specifications
(see chapter Cables and Signals (see page 56)) and implement the EMC measures described below.

EMC measures Objective

Do not install switching elements in motor cables Reduces interference.
or encoder cables.
Route the motor cable at a distance of at least Reduces mutual
20 cm (7.87 in) from the signal cable or use interference
shielding plates between the motor cable and
signal cable.
For long lines, use equipotential bonding Reduces current in the
conductors. cable shield.
Route the motor cable and encoder cable without Reduces emission.
cutting them.(1)
(1) If a cable has to be cut for the installation, it has to be connected with
shield connections and a metal housing at the point of the cut.

Additional Measures for EMC Improvement

Depending on the application, the following measures can improve the EMC-dependent values:

EMC measures Objective

Use mains reactors Reduces mains
harmonics, prolongs
product service life.
Use external mains filters Improves the EMC limit
values.
Install in a closed control cabinet with increased Improves the EMC limit
shielding. values.

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Deactivating the Y Capacitors

The ground connections of the internal Y capacitors can be disconnected (deactivation). Usually, it is not
required to deactivate the ground connection of the Y capacitors.

To deactivate the Y capacitors, remove the screw. Keep this screw so you can re-activate the Y capacitors,
if required.
The drive no longer complies with the EMC limit values specified if the Y capacitors are deactivated.

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Section 3.2
Cables and Signals

Cables and Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Cables - General 57
Overview of the Required Cables 59
Cable Specifications 60
Logic Type 64
Configurable Inputs and Outputs 65

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Cables - General

Suitability of the Cables

Cables must not be twisted, stretched, crushed or bent. Use only cables that comply with the cable
specification. Consider the following in determining suitability of the cables:
 Suitable for drag chain applications
 Temperature range
 Chemical resistance
 Outdoor installation
 Underground installation

Connecting Shields
Shield connection possibilities:
 Motor cable: The motor cable shield is fastened in the shield clamp at the bottom of the device.
 Other cables: The shields are connected to the shield connection at the bottom of the device.
 Alternative: Connect the shield via shield clamps and rail, for example.

Equipotential Bonding Conductors

Potential differences can result in excessive currents on the cable shields. Use equipotential bonding
conductors to reduce currents on the cable shields. The equipotential bonding conductor must be rated for
the maximum current.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point. 1)
 Route communications and I/O cables separately from power cables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1)Multipoint grounding is permissible if connections are made to an equipotential ground plane

dimensioned to help avoid cable shield damage in the event of power system short-circuit currents.

Conductor Cross Sections According to Method of Installation

The following sections describe the conductor cross sections for two methods of installation:
 Method of installation B2:
Cables in conduits or cable trunking systems
 Method of installation E:
Cables on open cable trays

Cross section in mm2 Current-carrying capacity with method of Current carrying capacity with method of
(AWG) installation B2 in A(1) installation E in A(1)
0.75 (18) 8.5 10.4
1 (16) 10.1 12.4
1.5 (14) 13.1 16.1
2.5 (12) 17.4 22
4 (10) 23 30
6 (8) 30 37
10 (6) 40 52
16 (4) 54 70
25 (2) 70 88
(1) Values as per IEC 60204-1 for continuous operation, copper conductors and ambient air temperature 40 °C
(104 °F). See IEC 60204-1 for additional information. The table is an excerpt from this standard and also shows
cable cross-sections that are not applicable with regard to the product.

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Note the derating factors for grouping of cables and correction factors for other ambient conditions (IEC
60204-1).
The conductors must have a sufficiently large cross section so that the upstream fuse can trip.
In the case of longer cables, it may be necessary to use a greater conductor cross section to reduce the
energy losses.

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Overview of the Required Cables

The properties of the required cables are listed in the table below. Use pre-assembled cables to reduce
the risk of wiring errors. Pre-assembled cables can be found in chapter Accessories and Spare Parts
(see page 475). If the product is used to comply with the requirements as per UL 508C, the conditions
specified in chapter Conditions for UL 508C and CSA (see page 46) must be met.

Maximum length: Minimum cross section Shielded, both Twisted PELV

ends grounded pair
Controller supply − 0.75 mm2 (AWG 18) Required

Safety function STO(1) − 0.75 mm2 (AWG 18) (1) Required

Power stage supply − −(2)

Motor phases −(3) −(4) Required
External braking resistor 3 m (9.84 ft) As power stage supply Required
Motor encoder 100 m (328.01 ft) 2
6 * 0.14 mm and Required Required Required
2 * 0.34 mm2
(6 * AWG 24 and
2 * AWG 20)
Fieldbus CAN − 0.14 mm2 (AWG 24) Required Required Required
Digital inputs / outputs 30 m (98.43 ft) 2
0.14 mm (AWG 24) Required
PC, commissioning 20 m (65.62 ft) 2
0.14 mm (AWG 24) Required Required Required
interface
(1) Note the installation requirements (protected cable installation), see chapter Safety function STO ("Safe Torque
Off") (see page 76).
(2) See Connection Power Stage Supply (CN1) (see page 104)
(3) Length depends on the required limit values for conducted interference.
(4) See Connection Motor Phases and Holding Brake (CN10 and CN11) (see page 97)

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Cable Specifications

Using pre-assembled cables helps to reduce the possibility of wiring errors. See chapter Accessories and
Spare Parts (see page 475).
The genuine accessories have the following properties:

Motor Cable With Connector

VW3... M5100R••• M5101R••• M5102R••• M5103R••• M5105R••• M5104R•••

Cable jacket, PUR orange PUR orange (RAL 2003), polypropylene (PP)
insulation (RAL 2003),
TPM
Capacitance
power wires pF/m 80 80 80 90 85 100
Wire/wire pF/m 145 135 150 150 150 160
Wire/shield
Number of (4 x 1 mm2 + (4 x 1.5 mm2 (4 x 2.5 mm2 (4 x 4 mm2 + (4 x 6 mm2 + (4 x 10 mm2
contacts (shielded) 2 x (2 x + + (2 x 1 mm2)) (2 x 1 mm2)) +
0.75 mm2)) (2 x 1 mm2)) (2 x 1 mm2)) (2 x 1 mm2))
Connector motor 8-pin circular 8-pin circular M23 8-pin circular M40
side Y-TEC
Connector drive Open
side
Cable diameter mm 11 ± 0.3 12 ± 0.2 14.3 ± 0.3 16.3 ± 0.3 18.8 ± 0.4 23.5 ± 0.6
(in) (0.43 ± 0.01) (0.47 ± 0.01) (0.55 ± 0.01) (0.64 ± 0.01) (0.74 ± 0.02) (0.93 ± 0.02)
Minimum bend 10 times the 5 times the cable diameter
radius with fixed cable
installation diameter
Minimum bend 10 times the 7.5 times the cable diameter 10 times the cable diameter
radius with moving cable
installation diameter
Nominal voltage
Motor phases V 1000 600
Holding brake V 1000 300
Maximum m (ft) 25 (82) 75 (246)
orderable length
Permissible °C (°F) -40 ... 80 (-40 ... 176)
temperature range
during operation
with fixed
installation
Permissible °C (°F) -20 ... 60 -20 ... 80 (-4 ... 176)
temperature range (-4 ... 140)
during operation
with moving
installation
Certifications / CE, DESINA
declaration of
conformity

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Motor Cable Without Connector

VW3... M5300R••• M5301R••• M5302R••• M5303R••• M5305R••• M5304R•••

Cable jacket, PUR orange PUR orange (RAL 2003), polypropylene (PP)
insulation (RAL 2003),
TPM
Capacitance power
wires pF/m 80 80 80 90 85 100
Wire/wire pF/m 145 135 150 150 150 160
Wire/shield
Number of contacts (4 x 1 mm2 + (4 x 1.5 mm2 (4 x 2.5 mm2 (4 x 4 mm2 + (4 x 6 mm2 + (4 x 10 mm2
(shielded) 2 x (2 x + + (2 x 1 mm2)) (2 x 1 mm2)) +
0.75 mm2)) (2 x 1 mm2)) (2 x 1 mm2)) (2 x 1 mm2))
Connector motor Open
side
Connector drive side Open
Cable diameter mm 11 ± 0.3 12 ± 0.2 14.3 ± 0.3 16.3 ± 0.3 18.8 ± 0.4 23.5 ± 0.6
(in) (0.43 ± 0.01) (0.47 ± 0.01) (0.55 ± 0.01) (0.64 ± 0.01) (0.74 ± 0.02) (0.93 ± 0.02)
Minimum bend 10 times the 5 times the cable diameter
radius with fixed cable
installation diameter
Minimum bend 10 times the 7.5 times the cable diameter 10 times the cable diameter
radius with moving cable
installation diameter
Nominal voltage V
Motor phases 1000 600
Holding brake 1000 300
Maximum orderable m (ft) 100 (328)
length
Permissible °C (°F) -40 ... 80 (-40 ... 176)
temperature range
during operation
with fixed installation
Permissible °C (°F) -20 ... 60 -20 ... 80 (-4 ... 176)
temperature range (-4 ... 140)
during operation
with moving
installation
Certifications / CE, c-UR-us, DESINA
declaration of
conformity

Encoder Cable With and Without Connectors

VW3... M8100R••• M8102R••• M8222R•••

Cable jacket, insulation PUR green (RAL 6018), polypropylene (PP)
Capacitance pF/m Approx. 135 (wire/wire)
Number of contacts (shielded) (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2)
Connector motor side 12-pin circular Y-TEC 12-pin circular M23 Open
Connector drive side 10-pin RJ45 10-pin RJ45 Open
Cable diameter mm 6.8 ± 0.2
(in) (0.27 ± 0.1)
Minimum bend radius mm 68
(in) (2.68)
Nominal voltage V 300
Maximum orderable length m 25 75 100
(ft) (82) (246) (328)
Permissible temperature range °C (°F) -40 ... 80 (-40 ... 176)
during operation with fixed
installation

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VW3... M8100R••• M8102R••• M8222R•••

Permissible temperature range °C (°F) -20 ... 80 (-4 ... 176)
during operation with moving
installation
Certifications / declaration of DESINA c-UR-us, DESINA
conformity

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Clearance For Connectors

Straight connectors Angular connectors

Dimensions Motor connectors Encoder connector

straight straight
M23 M40 M23
D mm (in) 28 (1.1) 46 (1.81) 26 (1.02)
LS mm (in) 76 (2.99) 100 (3.94) 51 (2.01)
LR mm (in) 117 (4.61) 155 (6.1) 76 (2.99)
LC mm (in) 100 (3.94) 145 (5.71) 60 (2.36)
LM mm (in) 40 (1.57) 54 (2.13) 23 (0.91)

Dimensions Motor connectors Encoder connector

angular angular
Y-TEC M23 M40 Y-TEC M23
D mm (in) 18.7 (0.74) 28 (1.1) 46 (1.81) 18.7 (0.74) 26 (1.02)
LS mm (in) 42 (1.65) 76 (2.99) 100 (3.94) 42 (1.65) 51 (2.01)
LR mm (in) 100 (3.94) 132 (5.2) 191 (7.52) 100 (3.94) 105 (4.13)
LC mm (in) 89 (3.50) 114 (4.49) 170 (6.69) 89 (3.50) 89 (3.5)
LM mm (in) 58 (2.28) 55 (2.17) 91 (3.58) 58 (2.28) 52 (2.05)

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Logic Type

Overview
The digital inputs and outputs of this product can be wired for positive logic or negative logic.

Logic type Active state

(1) Positive logic Output supplies current (source output)
Current flows to the input (sink input)
(2) Negative logic Output draws current (sink output)
Current flows from the input (source input)

Signal inputs are protected against reverse polarity, outputs are short-circuit protected. The inputs and
outputs are functionally isolated.
If negative logic is used, a ground fault of a signal is detected as an On state.

WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that a short-circuit of a signal cannot cause unintended equipment operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Selection of the Logic Type

The logic type is determined by the wiring of DI_COM and DQ_COM. The logic type affects wiring and control
of the sensors; therefore, you must determine the required value in the engineering phase in view of the
application.

Special Case: Safety Function STO

The inputs for the safety function STO (inputs STO_A and STO_B) can only be wired for positive logic.

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Configurable Inputs and Outputs

This product has digital inputs and outputs that can be configured for specific functional assignments. The
inputs and outputs have a defined standard assignment depending on the operating mode. This
assignment can be adapted to the requirements of the customer's installation. See chapter Digital Inputs
and Outputs (see page 200) for additional information.

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Section 3.3
Mains Supply

Mains Supply

What Is in This Section?

This section contains the following topics:
Topic Page
Residual Current Device 67
Common DC Bus 68
Mains Reactor 69

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Residual Current Device

Direct current can be introduced in the protective ground conductor of this drive. If a residual current device
(RCD / GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact,
the following specific types must be used:

WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
 Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-
phase drives connected to a phase and to the neutral conductor.
 Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has
approval for use with frequency inverters and is sensitive to all types of current for three-phase devices
and for single-phase devices not connected to a phase and the neutral conductor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Further conditions for use of a residual current device:

 The drive has an increased leakage current at the moment power is applied. Use a residual current
device (RCD / GFCI) or a residual current monitor (RCM) with a response delay.
 High-frequency currents must be filtered.

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Common DC Bus

Function Principle
The DC buses of several devices can be connected so that energy can be used efficiently. If on device
decelerates, a different device connected to the common DC bus can use the generated braking energy.
Without a common DC bus, the braking energy would be converted to heat by the braking resistor while
the other device would have to be supplied with energy from mains.
Another advantage of having a common DC bus is that several devices can share one external braking
resistor. The number of the individual external braking resistors can be reduced to a single braking resistor
if the braking resistor is properly rated.
This and other important information can be found in the Common DC bus Application Note for the drive.
If you wish to take advantage of DC bus sharing, you must first consult the Common DC bus Application
Note for important safety-related information.

Requirements for Use

The requirements and limit values for parallel connection of multiple devices via the DC bus are described
in the Common DC bus Application Note for the drive that can be found on http://www.schneider-
electric.com. If there are any issues or questions related to obtaining the Common DC bus Application
Note, consult your local Schneider-Electric representative.

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Mains Reactor

A mains reactor must be used under the following conditions:

 Operation via supply mains with low impedance (short-circuit current of supply mains greater than
specified in chapter Technical Data (see page 23).
 If the nominal power of the drive is insufficient without mains reactor.
 In the case of operation with supply mains with reactive power compensation systems.
 For improvement of the power factor at the mains input and for reduction of mains harmonics.
A single mains reactor can be used for multiple devices. Use a mains reactor with a properly rated current.
Low-impedance supply mains cause high harmonic currents at the mains input. High harmonic currents
result in considerable load on the DC bus capacitors. The load on the DC bus capacitors has a decisive
impact on the service life of the devices.

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Section 3.4
Rating the Braking Resistor

Rating the Braking Resistor

What Is in This Section?

This section contains the following topics:
Topic Page
Internal Braking Resistor 71
External Braking Resistor 72
Rating Information 73

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Internal Braking Resistor

The drive is equipped with a internal braking resistor to absorb braking energy.
Braking resistors are required for dynamic applications. During deceleration, the kinetic energy is
transformed into electrical energy in the motor. The electrical energy increases the DC bus voltage. The
braking resistor is activated when the defined threshold value is exceeded. The braking resistor transforms
electrical energy into heat. If highly dynamic deceleration is required, the braking resistor must be well
adapted to the system.
An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus
causes the power stage to be disabled. The motor is no longer actively decelerated.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the braking resistor has a sufficient rating by performing a test run under maximum load
conditions.
 Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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External Braking Resistor

An external braking resistor is required for applications in which the motor must be decelerated quickly and
the internal braking resistor cannot absorb the excess braking energy.
The temperature of the braking resistor may exceed 250 °C (482 °F) during operation.

WARNING
HOT SURFACES
 Ensure that it is not possible to make any contact with a hot braking resistor.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of the braking resistor.
 Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Monitoring
The device monitors the power of the braking resistor. The load on the braking resistor can be read out.
The output for the external braking resistor is short-circuit protected. The drive does not monitor for ground
faults of the braking resistor.

Selection of the External Braking Resistor

The rating of an external braking resistor depends on the required peak power and continuous power.
The resistance R is derived from the required peak power and the DC bus voltage.

R = Resistance in Ω
U = Switching threshold for braking resistor V
Pmax = Required peak power in W
If 2 or more braking resistors are connected to one drive, note the following criteria:
 The total resistance of all connected regenerative resistors must comply with the approved resistance.
 The braking resistors can be connected in parallel or in series. Only connect braking resistors with
identical resistance in parallel in order to evenly distribute the load to the braking resistors.
 The total continuous power of all connected braking resistors result must be greater than or equal to the
required continuous power.
Use only resistors that are specified as braking resistors. For suitable braking resistors, see chapter
Accessories and Spare Parts (see page 475).

Mounting and Commissioning of an External Braking Resistor

A parameter is used to switch between the internal braking resistor and an external braking resistor.
The external braking resistors listed in the Accessories chapter are shipped with an information sheet that
provides details on installation.

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Rating Information

To rate the braking resistor, calculate the proportion contributing to absorbing braking energy.
An external braking resistor is required if the kinetic energy that must be absorbed exceeds the possible
total internal energy absorption.

Internal Energy Absorption

Braking energy is absorbed internally by:
 DC bus capacitor Evar
 Internal braking resistor EI
 Electrical losses of the drive Eel
 Mechanical losses of the drive Emech
Values for the energy absorption Evar can be found in chapter Braking Resistor (see page 40).

Internal Braking Resistor

Two characteristic values determine the energy absorption of the standard braking resistor.
 The continuous power PPR is the amount of energy that can be continuously absorbed without
overloading the braking resistor.
 The maximum energy ECR limits the maximum short-term power that can be absorbed.
If the continuous power was exceeded for a specific time, the braking resistor must remain without load for
a corresponding period.
The characteristic values PPR and ECR of the internal braking resistor can be found in chapter Braking
Resistor (see page 40).

Electrical Losses Eel

The electrical losses Eel of the drive system can be estimated on the basis of the peak power of the drive.
The maximum power dissipation is approximately 10% of the peak power at a typical efficiency of 90%. If
the current during deceleration is lower, the power dissipation is reduced accordingly.

Mechanical Losses Emech

The mechanical losses result from friction during operation of the system. Mechanical losses are negligible
if the time required by the system to coast to a stop without a driving force is considerably longer than the
time required to decelerate the system. The mechanical losses can be calculated from the load torque and
the velocity from which the motor is to stop.

Example
Deceleration of a rotary motor with the following data:
 Initial speed of rotation: n = 4000 min-1
 Rotor inertia: JR = 4 kgcm2
 Load inertia: JL = 6 kgcm2
 Drive: Evar = 23 Ws, ECR = 80 Ws, PPR = 10 W
Calculation of the energy to be absorbed:

to EB = 88 Ws. Electrical and mechanical losses are ignored.

In this example, the DC bus capacitors absorb Evar = 23 Ws (the value depends on the device type).
The internal braking resistor must absorb the remaining 65 Ws. It can absorb a pulse of ECR = 80 Ws. If
the load is decelerated once, the internal braking resistor is sufficient.

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If the deceleration is repeated cyclically, the continuous power must be taken into account. If the cycle time
is longer than the ratio of the energy to be absorbed EB and the continuous power PPR, the internal braking
resistor is sufficient. If the system decelerates more frequently, the internal braking resistor is not sufficient.
In this example, the ratio of EB/PPR is 8.8 s. An external braking resistor is required if the cycle time is
shorter.

Rating the External Braking Resistor

Characteristic curves for rating the braking resistor

These two characteristics are also used for the rating the motor. The segments of the characteristic curves
to be considered are designated by Di (D1 ... D3).
The total inertia Jt must be known for the calculation of the energy at constant deceleration..
Jt = Jm + Jc
Jm: Motor inertia (with holding brake)
Jc: Load inertia
The energy for each deceleration segment is calculated as follows:

Calculation for the segments (D1) … (D3):

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Units: Ei in Ws (wattseconds), Jt in kgm2, ω in rad and ni in min-1.

See the technical data for the energy absorption Evar of the devices (without consideration of a braking
resistor).
In the next calculation steps, only consider those segments Di, whose energy Ei exceeds the energy
absorption of the device. These excess energies EDi must be diverted by means of the braking resistor.
EDi is calculated using the following formula:
EDi = Ei - Evar (in Ws)
The continuous power Pc is calculated for each machine cycle:

Units: Pc in W, EDi in Ws and cycle time T in s

The selection is made in two steps:
 If the following conditions are met, the internal braking resistor is sufficient.
 The maximum energy during deceleration must be less than the peak energy that the braking resistor
can absorb: (EDi)<(ECr).
 The continuous power of the internal braking resistor must not be exceeded: (PC)<(PPr).

 If the conditions are not met, you must use an external braking resistor that meets the conditions.
For order data for the external braking resistors, see chapter Accessories and Spare Parts (see page 475).

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Section 3.5
Functional Safety

Functional Safety

What Is in This Section?

This section contains the following topics:
Topic Page
Basics 77
Definitions 80
Function 81
Requirements for Using the Safety Function 82
Application Examples STO 84

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Basics

Functional Safety
Automation and safety engineering are closely related. Engineering, installation and operation of complex
automation solutions are greatly simplified by integrated safety-related functions and modules.
Usually, the safety engineering requirements depend on the application. The level of the requirements
results from, among other things, the risk and the hazard potential arising from the specific application and
from the applicable standards and regulations.
The goal of designing machines safely is to protect people. The risk associated with machines with
electrically controlled drives comes chiefly from moving machine parts and electricity itself.
Only you, the user, machine builder, or system integrator can be aware of all the conditions and factors
realized in the design of your application for the machine. Therefore, only you can determine the
automation equipment and the related safeties and interlocks which can be properly used, and validate
such usage.

WARNING
NON-CONFORMANCE TO SAFETY FUNCTION REQUIREMENTS
 Specify the requirements and/or measures to be implemented in the risk analysis you perform.
 Verify that your safety-related application complies to applicable safety regulations and standards.
 Make certain that appropriate procedures and measures (according to applicable sector standards)
have been established to help avoid hazardous situations when operating the machine.
 Use appropriate safety interlocks where personnel and/or equipment hazards exist.
 Validate the overall safety-related function and thoroughly test the application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Hazard and Risk Analysis

The standard IEC 61508 "Functional safety of electrical/electronic/programmable electronic safety-related
systems" defines the safety-related aspects of systems. Instead of a single functional unit of a safety-
related system, the standard treats all elements of a function chain as a unit. These elements must meet
the requirements of the specific safety integrity level as a whole.
The standard IEC 61800-5-2 "Adjustable speed electrical power drive systems – Safety requirements –
Functional" is a product standard that defines the safety-related requirements regarding drives. Among
other things, this standard defines the safety-related functions for drives.
Based on the system configuration and utilization, a hazard and risk analysis must be carried out for the
system (for example, according to EN ISO 12100 or EN ISO 13849-1). The results of this analysis must be
considered when designing the machine, and subsequently applying safety-related equipment and safety-
related functions. The results of your analysis may deviate from any application examples contained in the
present or related documentation. For example, additional safety components may be required. In
principle, the results from the hazard and risk analysis have priority.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Perform a hazard and risk analysis to determine the appropriate safety integrity level, and any other
safety requirements, for your specific application based on all the applicable standards.
 Ensure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100
during the design of your machine.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems - Part 1: General
Principles for Design describes an iterative process for the selection and design of safety-related parts of
controllers to reduce the risk to the machine to a reasonable degree.
To perform risk assessment and risk minimization according to EN ISO 12100, proceed as follows:
1. Defining the boundary of the machine.
2. Identifying risks associated with the machine.
3. Assessing risks.
4. Evaluating risks.

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5. Minimizing risks by:

 Intrinsically safe design
 Protective devices
 User information (see EN ISO 12100)

6. Designing safety-related controller parts (SRP/CS, Safety-Related Parts of the Control System) in an
interactive process.
To design the safety-related controller parts in an interactive process, proceed as follows:

Step Action
1 Identify necessary safety functions that are executed via SRP/CS (Safety-Related Parts of the
Control System).
2 Determine required properties for each safety function.
3 Determine the required performance level PLr.
4 Identify safety-related parts executing the safety function.
5 Determine the performance level PL of the afore-mentioned safety-related parts.
6 Verify the performance level PL for the safety function (PL ≥ PLr).
7 Verify if all requirements have been met (validation).

Additional information is available on www.schneider-electric.com.

Safety Integrity Level (SIL)

The standard IEC 61508 defines 4 safety integrity levels (Safety Integrity Level (SIL)). Safety integrity level
SIL1 is the lowest level, safety integrity level SIL4 is the highest level. The safety integrity level required for
a given application is determined on the basis of the hazard potential resulting from the hazard and risk
analysis. This is used to decide whether the relevant function chain is to be considered as a safety-related
function chain and which hazard potential it must cover.

Average Frequency of a Dangerous Failure per Hour (PFH)

To maintain the function of the safety-related system, the IEC 61508 standard requires various levels of
measures for avoiding and controlling faults, depending on the required safety integrity level (Safety
Integrity Level (SIL)). All components must be subjected to a probability assessment to evaluate the
effectiveness of the measures implemented for controlling faults. This assessment determines the
probability of a dangerous failure per hour PFH (Average Frequency of a Dangerous Failure per Hour
(PFH)) for a safety-related system. This is the frequency per hour with which a safety-related system fails
in a hazardous manner so that it can no longer perform its function correctly. Depending on the SIL, the
average frequency of a dangerous failure per hour must not exceed certain values for the entire safety-
related system. The individual PFH values of a function chain are added. The result must not exceed the
maximum value specified in the standard.

SIL PFH at high demand or continuous demand

4 ≥10-9 ... <10-8
3 ≥10-8 ... <10-7
2 ≥10-7 ... <10-6
1 ≥10-6 ... <10-5

Hardware Fault Tolerance (HFT) and Safe Failure Fraction (SFF)

Depending on the safety integrity level (Safety Integrity Level (SIL)) for the safety-related system, the IEC
61508 standard requires a specific hardware fault tolerance (Hardware Fault Tolerance (HFT)) in
connection with a specific safe failure fraction (Safe Failure Fraction (SFF)). The hardware fault tolerance
is the ability of a safety-related system to execute the required function even if one or more hardware faults
are present. The safe failure fraction of a safety-related system is defined as the ratio of the rate of safe
failures to the total failure rate of the safety-related system. As per IEC 61508, the maximum achievable
safety integrity level of a safety-related system is partly determined by the hardware fault tolerance and the
safe failure fraction of the safety-related system.

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IEC 61800-5-2 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types
are specified on the basis of criteria which the standard defines for the safety-related components.

SFF HFT type A subsystem HFT type B subsystem

0 1 2 0 1 2
<60 % SIL1 SIL2 SIL3 --- SIL1 SIL2
60 ... <90 % SIL2 SIL3 SIL4 SIL1 SIL2 SIL3
90 ... <99 % SIL3 SIL4 SIL4 SIL2 SIL3 SIL4
≥99 % SIL3 SIL4 SIL4 SIL3 SIL4 SIL4

Fault Avoidance Measures

Systematic errors in the specifications, in the hardware and the software, incorrect usage and maintenance
of the safety-related system must be avoided to the maximum degree possible. To meet these
requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented
depending on the required safety integrity level (Safety Integrity Level (SIL)). These measures for fault
avoidance must cover the entire life cycle of the safety-related system, i.e. from design to decommissioning
of the system.

Data for Maintenance Plan and the Calculations for Functional Safety
The safety function must be tested at regular intervals. The interval depends on the hazard and risk
analysis of the total system. The minimum interval is 1 year (high demand mode as per IEC 61508).
Use the following data of the safety function STO for your maintenance plan and for the calculations for
functional safety:

Lifetime of the safety function STO Years 20

(IEC 61508)(1)
SFF (IEC 61508) % 90
Safe Failure Fraction
HFT (IEC 61508) 1
Hardware Fault Tolerance
Type A subsystem
Safety integrity level
IEC 61508 SIL3
IEC 62061 SILCL3
PFH (IEC 61508) 1/h 1*10-9
Probability of Dangerous Hardware Failure per (FIT) (1)
Hour
PL (ISO 13849-1) e (category 3)
Performance Level
MTTFd (ISO 13849-1) Years >100
Mean Time to Dangerous Failure
DC (ISO 13849-1) % 90
Diagnostic Coverage
(1) See chapter Lifetime Safety Function STO (see page 495).

Contact your local Schneider Electric representative for additional data, if required.

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Definitions

Integrated Safety Function "Safe Torque Off" STO

The integrated safety function STO (IEC 61800-5-2) allows for a category 0 stop as per IEC 60204-1
without external power contactors. It is not necessary to interrupt the supply voltage for a category 0 stop.
This reduces the system costs and the response times.

Category 0 Stop (IEC 60204-1)

In stop category 0 (Safe Torque Off, STO), the drive coasts to a stop (provided there are no external forces
operating to the contrary). The STO safety-related function is intended to help prevent an unintended start-
up, not stop a motor, and therefore corresponds to an unassisted stop in accordance with IEC 60204-1.
In circumstances where external influences are present, the coast down time depends on physical
properties of the components used (such as weight, torque, friction, etc.), and additional measures such
as mechanical brakes may be necessary to help prevent any hazard from materializing. That is to say, if
this means a hazard to your personnel or equipment, you must take appropriate measures.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Make certain that no hazards can arise for persons or material during the coast down period of the
axis/machine.
 Do not enter the zone of operation during the coast down period.
 Ensure that no other persons can access the zone of operation during the coast down period.
 Use appropriate safety interlocks where personnel and/or equipment hazards exist.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Category 1 Stop (IEC 60204-1)

For stops of category 1 (Safe Stop 1, SS1), you can initiate a controlled stop via the control system, or
through the use of specific functional safety-related devices. A Category 1 Stop is a controlled stop with
power available to the machine actuators to achieve the stop.
The controlled stop by the control/safety-related system is not safety-relevant, nor monitored, and does not
perform as defined in the case of a power outage or if an error is detected. This has to be implemented by
means of an external safety-related switching device with safety-related delay.

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Function

The safety function STO integrated into the product can be used to implement an "EMERGENCY STOP"
(IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay
module, it is also possible to implement category 1 stops.

Function Principle
The safety function STO is triggered via two redundant signal inputs. The wiring of the two signal inputs
must be separate.
The safety function STO is triggered if the level at one of the two signal inputs is 0. The power stage is
disabled. The motor can no longer generate torque and coasts down without braking. An error of error class
3 is detected.
If, within one second, the level of the other output also becomes 0, the error class remains 3. If, within one
second, the level of the other output does not become 0, the error class changes to 4.

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Requirements for Using the Safety Function

The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.

DANGER
ELECTRIC SHOCK
 Do not use the safety function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety function STO, to disconnect the
drive from the mains power.
Failure to follow these instructions will result in death or serious injury.

After the safety function STO is triggered, the motor can no longer generate torque and coasts down
without braking.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Logic Type
The inputs for the safety function STO (inputs STO_A and STO_B) can only be wired for positive logic.

Holding Brake and Safety Function STO

When the safety function STO is triggered, the power stage is immediately disabled. Applying the holding
brake requires a certain amount of time. In the case of vertical axes or external forces acting on the load,
you may have to take additional measures to bring the load to a standstill and to keep it at a standstill when
the safety function STO is used, for example, by using a service brake.

WARNING
FALLING LOAD
Ensure that all loads come to a secure standstill when the safety function STO is used.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the suspension of hanging / pulling loads is a safety objective for the machine, then you can only achieve
this objective by using an appropriate external brake as a safety-related measure.

WARNING
UNINTENDED AXIS MOVEMENT
 Do not use the internal holding brake as a safety-related measure.
 Only use certified external brakes as safety-related measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The drive does not provide its own safety-related output to connect an external brake to use as a
safety-related measure.

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Unintended Restart
To help avoid unintended restart of the motor after restoration of power (for example, after power outage),
the parameter IO_AutoEnable must be set to "off".
Also verify that a master controller will not trigger an unintended restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
Set parameter IO_AutoEnable to "off" if the automatic enabling of the power stage presents hazards
in your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Degree of Protection when the Safety Function is Used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive
substances may cause the safety function to become inoperative.

WARNING
INOPERABLE SAFETY FUNCTION
Ensure that conductive substances (water, contaminated or impregnated oils, metal shavings, etc.)
cannot get into the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Protected Cable Installation

If short circuits and other wiring errors such as a cross fault between the signals of the safety function STO
can be expected in connection with safety-related signals, and if these short circuits and cross faults are
not detected by upstream devices, protected cable installation as per ISO 13849-2 is required.
In the case of an unprotected cable installation, the two signals (both channels) of a safety function may
be connected to external voltage if a cable is damaged. If the two channels are connected to external
voltage, the safety function is no longer operative.
ISO 13849-2 describes protected cable installation for cables for safety-related signals. The cables for the
safety function STO must be protected against external voltage. A shield with ground connection helps to
keep external voltage away from the cables for the signals of the safety function STO.
Ground loops can cause problems in machines. A shield connected at one end only is sufficient for
grounding and does not create a ground loop.
 Use shielded cables for the signals of the safety function STO.
 Do not use the cable for the signals of the safety function STO for other signals.
 Connect one end of the shield.

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Application Examples STO

Example of Category 0 stop

Use without EMERGENCY STOP safety relay module, category 0 stop.
Example of category 0 stop

In this example, when an EMERGENCY STOP is activated, it leads to a category 0 stop.

The safety function STO is triggered via a simultaneous 0-level at both inputs (time offset of less than 1 s).
The power stage is disabled and an error of error class 3 is detected. The motor can no longer generate
torque.
If the motor is not already at a standstill when the STO is triggered, it decelerates under the salient physical
forces (gravity, friction, etc.) active at the time until presumably coasting to a standstill.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external brake may also be required. See Holding Brake and Safety Function STO
(see page 82).

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Example of Category 1 stop

Use with EMERGENCY STOP safety relay module, category 1 stop.
Example of category 1 stop with external Preventa XPS-AV EMERGENCY STOP safety relay module

In this example, when an EMERGENCY STOP is activated, it leads to a category 1 stop.

The EMERGENCY STOP safety relay module requests an immediate stop (undelayed) of the drive, for
example by means of the function "Halt". After the time delay set in the EMERGENCY STOP safety relay
module has elapsed, the EMERGENCY STOP safety relay triggers the safety function STO.
The safety function STO is triggered via a simultaneous 0-level at both inputs (time offset of less than 1 s).
The power stage is disabled and an error of error class 3 is detected. The motor can no longer generate
torque.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external brake may also be required. See Holding Brake and Safety Function STO
(see page 82).

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Installation
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Chapter 4
Installation

Installation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Mechanical Installation 88
4.2 Electrical Installation 93
4.3 Verifying Installation 116

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Section 4.1
Mechanical Installation

Mechanical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Before Mounting 89
Mounting the Drive 91

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Before Mounting

An engineering phase is mandatory prior to mechanical and electrical installation. See chapter Engineering
(see page 49) for basic information.

DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of the entire drive system.
 Ground the drive system before applying voltage.
 Do not use conduits as protective ground conductors; use a protective ground conductor inside the
conduit.
 The cross section of the protective ground conductor must comply with the applicable standards.
 Do not consider cable shields to be protective ground conductors.
Failure to follow these instructions will result in death or serious injury.

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
 Keep foreign objects from getting into the product.
 Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits
and humidity.
Failure to follow these instructions will result in death or serious injury.

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths and,
for certain critical control functions, provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop and overtravel stop, power outage
and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Conductive foreign objects, dust or liquids may cause safety functions to become inoperative.

WARNING
LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Protect the system against contamination by conductive substances.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The metal surfaces of the product may exceed 70 °C (158 °F) during operation.

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CAUTION
HOT SURFACES
 Avoid unprotected contact with hot surfaces.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces.
 Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions can result in injury or equipment damage.

CAUTION
INOPERABLE EQUIPMENT DUE TO INCORRECT MAINS VOLTAGE CONNECTION
 Verify that you use the correct mains voltage; install a transformer, if necessary.
 Do not connect mains voltage to the output terminals (U, V, W).
Failure to follow these instructions can result in injury or equipment damage.

Inspecting the Product

 Verify the product version by means of the Type Code (see page 21) on the Nameplate (see page 20).
 Prior to mounting, inspect the product for visible damage.
Damaged products may cause electric shock or unintended equipment operation.

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
 Do not use damaged products.
 Keep foreign objects (such as chips, screws or wire clippings) from getting into the product.
Failure to follow these instructions will result in death or serious injury.

Contact your local Schneider Electric representative if you detect any damage whatsoever to the products.
For information concerning the mounting of the motor, see the individual user guide for your particular
motor.

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Mounting the Drive

Attaching a Hazard Label with Safety Instructions

Included in the packaging of the drive are adhesive hazard labels in German, French, Italian, Spanish and
Chinese. The English version is affixed to the front of the drive by the factory. If the country to which your
final machine or process is to be delivered is other than English speaking:
 Select the label suitable for the target country.
Observe the safety regulations in the target country.
 Attach the label to the front of the drive so that it is clearly visible.

Control Cabinet
The control cabinet (enclosure) must have a sufficient size so that all devices and components can be
permanently installed and wired in compliance with the EMC requirements.
The ventilation of the control cabinet must be sufficient to comply with the specified ambient conditions for
the devices and components operated in the control cabinet.
Install and operate this equipment in a control cabinet rated for its intended environment and secured by
a keyed or tooled locking mechanism.

Mounting Distances, Ventilation

When selecting the position of the device in the control cabinet, note the following:
 Mount the device in a vertical position (±10°). This is required for cooling the device.
 Adhere to the minimum installation distances for required cooling. Avoid heat accumulations.
 Do not mount the device close to heat sources.
 Do not mount the device on or near flammable materials.
 The heated airflow from other devices and components must not heat up the air used for cooling the
device.
 If the thermal limits are exceeded during operation, the power stage of the drive is disabled
(overtemperature).
The connection cables of the devices are routed to the top and to the bottom. The minimum distances must
be adhered to for air circulation and cable installation.
Mounting distances and air circulation

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Free space a mm ≥100

(in) (≥3.94)
Free space b mm ≥100
(in) (≥3.94)
Free space c mm ≥60
(in) (≥2.36)
Free space d mm ≥0
(in) (≥0)

Mounting the Device

See chapter Dimensions (see page 26) for the dimensions of the mounting holes.
Painted surfaces may create electrical resistance or isolation. Before mounting the device to a painted
mounting plate, remove all paint across a large area of the mounting points.

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Section 4.2
Electrical Installation

Electrical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Procedure 94
Connection Overview 95
Connection Grounding Screw 96
Connection Motor Phases and Holding Brake (CN10 and CN11) 97
Connection DC Bus (CN9, DC Bus) 101
Connection Braking Resistor (CN8, Braking Resistor) 102
Connection Power Stage Supply (CN1) 104
Connection Motor Encoder (CN3) 107
Connection Controller Supply and STO (CN2, DC Supply and STO) 109
Connection Digital Inputs and Outputs (CN6) 111
Connection PC with Commissioning Software (CN7) 112
Connection CAN (CN4 and CN5) 113

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Overview of Procedure

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
 Keep foreign objects from getting into the product.
 Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits
and humidity.
Failure to follow these instructions will result in death or serious injury.

DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of the entire drive system.
 Ground the drive system before applying voltage.
 Do not use conduits as protective ground conductors; use a protective ground conductor inside the
conduit.
 The cross section of the protective ground conductor must comply with the applicable standards.
 Do not consider cable shields to be protective ground conductors.
Failure to follow these instructions will result in death or serious injury.

Direct current can be introduced in the protective ground conductor of this drive. If a residual current device
(RCD / GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact,
the following specific types must be used:

WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
 Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-
phase drives connected to a phase and to the neutral conductor.
 Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has
approval for use with frequency inverters and is sensitive to all types of current for three-phase devices
and for single-phase devices not connected to a phase and the neutral conductor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The entire installation procedure must be performed without voltage present.

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Connection Overview

Connection Assignment
CN1 Power stage supply
CN2 24 controller supply and safety function STO
CN3 Motor encoder (encoder 1)
CN4 Fieldbus CANopen
CN5 Fieldbus CANopen
CN6 Digital inputs/outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus connection for parallel operation
CN10 Motor phases
CN11 Holding brake

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Connection Grounding Screw

This product has a leakage current greater than 3.5 mA. If the protective ground connection is interrupted,
a hazardous touch current may flow if the housing is touched.

DANGER
INSUFFICIENT GROUNDING
 Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors
with the cross section of the conductors supplying the power terminals.
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of all equipment.
 Ground the drive system before applying voltage.
 Do not use conduits as protective ground conductors; use a protective ground conductor inside the
conduit.
 Do not use cable shields as protective ground conductors.
Failure to follow these instructions will result in death or serious injury.

The central grounding screw of the product is located at the bottom of the front side.

 Connect the ground connection of the device to the central grounding point of the system.

LXM32•... U45, U60, U90, D12, D18, D30, D72

Tightening torque of grounding Nm 3.5
screw (lb.in) (31)

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Connection Motor Phases and Holding Brake (CN10 and CN11)

The motor is designed for operation via a drive. Connecting the motor directly to AC voltage will damage
the motor and can cause fires and initiate an explosion.

DANGER
POTENTIAL FOR EXPLOSION
Only connect the motor to a matching, approved drive in the way described in the present documentation.
Failure to follow these instructions will result in death or serious injury.

High voltages may be present at the motor connection. The motor itself generates voltage when the motor
shaft is rotated. AC voltage can couple voltage to unused conductors in the motor cable.

DANGER
ELECTRIC SHOCK
 Verify that no voltage is present prior to performing any type of work on the drive system.
 Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
 Insulate both ends of unused conductors of the motor cable.
 Supplement the motor cable grounding conductor with an additional protective ground conductor to
the motor housing if the protective ground conductor of the motor cable is insufficient.
 Only touch the motor shaft or the mounted output components if all power has been disconnected.
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of all equipment.
Failure to follow these instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations of drive and motor are
used. Though the connectors for motor connection and encoder connection may match mechanically, this
does not imply that the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

See chapter Approved Motors (see page 28) for additional information.
Route the cables from the motor and the encoder to the device (starting from the motor). Due to the pre-
assembled connectors, this direction is often faster and easier.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -
PELV: The wires for the holding brake must be PELV-
compliant.
Cable composition: 3 wires for motor phases
2 wires for holding brake
The conductors must have a sufficiently large cross
section so that the fuse at the mains connection can
trip if required.
Maximum cable length: Depends on the required limit values for conducted
interference, see chapter Electromagnetic Emission
(see page 43).

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Note the following information:

 You may only connect the original motor cable (with two wires for the holding brake).
 The wires for the holding brake must also be connected to the device at connection CN11 in the case
of motors without holding brakes. At the motor end, connect the wires to the appropriate pins for the
holding brake; the cable can then be used for motors with or without holding brake. If you do not connect
the wires at the motor end, you must isolate each wire individually (inductive voltages).
 Observe the polarity of the holding brake voltage.
 The voltage for the holding brake depends on the controller supply (PELV). Observe the tolerance for
the controller supply and the specified voltage for the holding brake, see chapter Controller Supply
Voltage 24V (see page 37).
 Use pre-assembled cables to reduce the risk of wiring errors, see chapter Accessories and Spare Parts
(see page 475).
The optional holding brake of a motor is connected to connection CN11. The integrated holding brake
controller releases the holding brake when the power stage is enabled. When the power stage is disabled,
the holding brake is re-applied.

Properties of the Connection Terminals CN10

The terminals are approved for stranded conductors and solid conductors. Use wire cable ends (ferrules),
if possible.

LXM32•... U45, U60, U90, D12, D72

D18, D30
Connection cross section mm2 0.75 ... 5.3 0.75 ... 10
(AWG) (18 ... 10) (18 ... 8)
Tightening torque for terminal screws Nm 0.68 1.81
(lb.in) (6.0) (16.0)
Stripping length mm 6 ... 7 8 ... 9
(in) (0.24 ... 0.28) (0.31 ... 0.35)

Properties of the Connection Terminals CN11

The terminals are approved for stranded conductors and solid conductors. Use wire cable ends (ferrules),
if possible.

LXM32•... U45, U60, U90, D12, D18, D30, D72

Maximum terminal current A 1.7
Connection cross section mm2 0.75 ... 2.5
(AWG) (18 ... 14)
Stripping length mm 12 ... 13
(in) (0.47 ... 0.51)

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Assembling Cables
Note the dimensions specified when assembling cables.
Steps for assembling the motor cable

1 Strip the cable jacket, length A.

2 Slide the shielding braid back over the cable jacket.
3 Secure the shielding braid with a heat shrink tube. The shield must have at least length D. Verify that a large surface
area of the shielding braid is connected to the EMC shield clamp. Shorten the wires for the holding brake to length B
and the three wires for the motor phases to length C. The protective ground conductor has length A. Connect the
wires for the holding brake to the device even in the case of motors without a holding brake (inductive voltage).

A mm (in) 140 (5.51)

B mm (in) 135 (5.32)
C mm (in) 130 (5.12)
D mm (in) 50 (1.97)

Observe the maximum permissible connection cross section. Take into account the fact that wire cable
ends (ferrules) increase the conductor cross section.

Monitoring
The device monitors the motor phases for:
 Short circuit between the motor phases
 Short circuit between the motor phases and ground
Short circuits between the motor phases and the DC bus, the braking resistor or the holding brake wires
are not detected.

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Wiring Diagram Motor and Holding Brake

Wiring diagram motor with holding brake

Connection Meaning Color

U Motor phase Black L1 (BK)
V Motor phase Black L2 (BK)
W Motor phase Black L3 (BK)
PE Protective ground conductor Green/yellow (GN/YE)
BR+ Holding brake + White (WH) or black 5 (BK)
BR- Holding brake - Gray (GR) or black 6 (BK)

Connecting the Motor Cable

 Connect the motor phases and protective ground conductor to CN10. Verify that the connections U, V,
W and PE (ground) match at the motor and the device.
 Note the tightening torque specified for the terminal screws.
 Connect the white wire or the black wire with the label 5 to connection BR+ of CN11.
Connect the gray wire or the black wire with the label 6 to connection BR- of CN11.
 Verify that the connector locks snap in properly.
 Connect the cable shield to the shield clamp (large surface area contact).
Shield clamp motor cable

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Connection DC Bus (CN9, DC Bus)

Incorrect use of the DC bus may permanently damage the drives either immediately or over time.

WARNING
INOPERABLE SYSTEM COMPONENTS AND LOSS OF CONTROL
Verify that all requirements for using the DC bus are met.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

This and other important information can be found in the "LXM32 - Common DC bus - Application note". If
you wish to take advantage of DC bus sharing, you must first read the "LXM32 - Common DC bus -
Application note".

Requirements for Use

The requirements and limit values for parallel connection via the DC bus can be found on
http://www.schneider-electric.com in the form of an application note. If there are any issues or questions
related to obtaining the Common DC bus Application Note, consult your local Schneider-Electric
representative.

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Connection Braking Resistor (CN8, Braking Resistor)

An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus
causes the power stage to be disabled. The motor is no longer actively decelerated.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the braking resistor has a sufficient rating by performing a test run under maximum load
conditions.
 Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Internal Braking Resistor

A braking resistor is integrated in the device to absorb braking energy. The device is shipped with the
internal braking resistor active.

External Braking Resistor

An external braking resistor is required for applications in which the motor must be decelerated quickly and
the internal braking resistor cannot absorb the excess braking energy.
Selection and rating of the external braking resistor are described in chapter Rating the Braking Resistor
(see page 70). For suitable braking resistors, see chapter Accessories and Spare Parts (see page 475).

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -
PELV: -
Cable composition: Minimum conductor cross section:
Same cross section as power stage
supply, see chapter Connection
Power Stage Supply (CN1)
(see page 104).
The conductors must have a
sufficiently large cross section so
that the fuse at the mains connection
can trip if required.
Maximum cable length: 3 m (9.84 ft)

Properties of the Connection Terminals CN8

LXM32•... U45, U60, U90, D12, D18,

D30, D72
Connection cross section mm2 0.75 ... 3.3
(AWG) (18 ... 12)
Tightening torque for terminal Nm 0.51
screws (lb.in) (4.5)
Stripping length mm 10 ... 11
(in) (0.39 ... 0.43)

The terminals are approved for fine-stranded conductors and solid conductors. Observe the maximum
permissible connection cross section. Take into account the fact that wire cable ends (ferrules) increase
the conductor cross section.
If you use wire cable ends (ferrules), use only wire cable ends (ferrules) with collars for these terminals.

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Wiring Diagram

Connecting the External Braking Resistor

 Verify that no voltages are present.
 Remove the cover from the connection.
 Ground the ground connection (PE) of the braking resistor.
 Connect the external braking resistor to the device. Note the tightening torque specified for the terminal
screws.
 Connect the cable shield to the shield connection at the bottom of the device (large surface area
contact).
The parameter RESint_ext is used to switch between the internal and an external braking resistor. See
chapter Setting the Braking Resistor Parameters (see page 154) for the parameter settings for the braking
resistor. Verify correct operation of the braking resistor during commissioning.

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Connection Power Stage Supply (CN1)

This product has a leakage current greater than 3.5 mA. If the protective ground connection is interrupted,
a hazardous touch current may flow if the housing is touched.

DANGER
INSUFFICIENT GROUNDING
 Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors
with the cross section of the conductors supplying the power terminals.
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of all equipment.
 Ground the drive system before applying voltage.
 Do not use conduits as protective ground conductors; use a protective ground conductor inside the
conduit.
 Do not use cable shields as protective ground conductors.
Failure to follow these instructions will result in death or serious injury.

WARNING
INSUFFICIENT PROTECTION AGAINST OVERCURRENT
 Use the external fuses specified in "Technical data".
 Do not connect the product to a supply mains whose short-circuit current rating (SCCR) exceeds the
value specified in the chapter "Technical Data".
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
INCORRECT MAINS VOLTAGE
Verify that the product is approved for the mains voltage before applying power and configuring the
product.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The products are intended for industrial use and may only be operated with a permanently installed
connection.
Prior to connecting the device, verify the approved mains types, see chapter Power Stage Data - General
(see page 28).

Cable Specifications

Shield: -
Twisted Pair: -
PELV: -
Cable composition: The conductors must have a
sufficiently large cross section so
that the fuse at the mains connection
can trip if required.
Maximum cable length: -

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Properties of Connection Terminals CN1

LXM32•... U45, U60, D72

U90, D12,
D18, D30
Connection cross section mm2 0.75 ... 5.3 0.75 ... 10
(AWG) (18 ... 10) (18 ... 8)
Tightening torque for terminal Nm 0.68 1.81
screws (lb.in) (6.0) (16.0)
Stripping length mm 6 ... 7 8 ... 9
(in) (0.24 ... 0.28) (0.31 ... 0.35)

The terminals are approved for stranded conductors and solid conductors. Use wire cable ends (ferrules),
if possible.

Prerequisites for Connecting the Power Stage Supply

Note the following information:
 Three-phase devices may only be connected and operated via three phases.
 Use upstream mains fuses.
 If you use an external mains filter, the mains cable must be shielded and grounded at both ends if the
length between the external mains filter and the device exceeds 200 mm (7.87 in).
 See page Conditions for UL 508C and CSA (see page 46) for a UL-compliant design.

Power Stage Supply Single-Phase Device

The illustration shows an overview for wiring the power stage supply for a single-phase device. The
illustration also shows an external mains filter and a mains reactor which are available as accessories.
Overview power stage supply for single-phase device

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive

Wiring diagram power stage supply for single-phase device.

 Verify the type of mains. See chapter Power Stage Data - General (see page 28) for the approved types
of mains.
 Connect the mains cable. Note the tightening torque specified for the terminal screws.
 Verify that the connector locks snap in properly.

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Power Stage Supply Three-Phase Device

The illustration shows an overview for wiring the power stage supply for a three-phase device. The
illustration also shows an external mains filter and a mains reactor which are available as accessories.
Wiring diagram, power stage supply for three-phase device.

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive

Wiring diagram power stage supply for three-phase device.

 Verify the type of mains. See chapter Power Stage Data - General (see page 28) for the approved types
of mains.
 Connect the mains cable. Note the tightening torque specified for the terminal screws.
 Verify that the connector locks snap in properly.

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Connection Motor Encoder (CN3)

Function and Encoder Type

The motor encoder is a Hiperface encoder integrated in the motor. It provides the device with information
on the motor position (analog and digital).

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Cable composition: 6 * 0.14 mm2 + 2 * 0.34 mm2
(6 * AWG 24 + 2 * AWG 20)
Maximum cable length: 100 m (328.08 ft)

Use pre-assembled cables to reduce the risk of wiring errors, see chapter Accessories and Spare Parts
(see page 475).

Wiring Diagram

Pin Signal Motor, pin Pair Meaning I/O

1 COS+ 9 2 Cosine signal I
2 REFCOS 5 2 Reference for cosine signal I
3 SIN+ 8 3 Sine signal I
6 REFSIN 4 3 Reference for sine signal I
4 Data 6 1 Receive data, transmit data I/O
5 Data 7 1 Receive data and transmit data, inverted I/O
7 ... - 4 Reserved
8
A ENC+10V_OUT 10 5 Encoder supply O
B ENC_0V 11 5 Reference potential for encoder supply
SHLD Shield

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections designated as No
Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Connecting the Motor Encoder

 Verify that wiring, cables and connected interfaces meet the PELV requirements.
 Connect the connector to CN3 Encoder-1.
 Verify that the connector locks snap in properly.
Route the cables from the motor and the encoder to the device (starting from the motor). Due to the pre-
assembled connectors, this direction is often faster and easier.

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Connection Controller Supply and STO (CN2, DC Supply and STO)

The +24VDC supply voltage is connected with many exposed signal connections in the drive system.

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
 Use a power supply unit that meets the PELV (Protective Extra Low Voltage) requirements.
 Connect the negative output of the power supply unit to PE (ground).
Failure to follow these instructions will result in death or serious injury.

The connection for the controller supply at the product does not have an inrush current limitation. If the
voltage is applied by means of switching of contacts, damage to the contacts or contact welding may result.

NOTICE
PERMANENT DAMAGE TO CONTACTS
 Switch the power input of the power supply unit.
 Do not switch the output voltage.
Failure to follow these instructions can result in equipment damage.

Safety Function STO

Information on the signals of the safety function STO can be found in chapter Safety function STO ("Safe
Torque Off") (see page 76). If the safety function is not required, the inputs STO_A and STO_B must be
connected to +24VDC.

Cable Specifications CN2

Shield: -(1)
Twisted Pair: -
PELV: Required
Minimum conductor cross section: 0.75 mm2 (AWG 18)
Maximum cable length: 100 m (328 ft)
(1) See chapter Safety function STO ("Safe Torque Off") (see page 76)

Properties of Connection Terminals CN2

LXM32•...
Maximum terminal current A 16(1)
Connection cross section mm2 0.5 ... 2.5
(AWG) (20 ... 14)
Stripping length mm 12 ... 13
(in) (0.47 ... 0.51)
(1) Note the maximum permissible terminal current when connecting
several devices.

The terminals are approved for stranded conductors and solid conductors. Use wire cable ends (ferrules),
if possible.

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Permissible Terminal Current of Controller Supply

 Connection CN2, pins 3 and 7 as well as pins 4 and 8 can be used as 24V/0V connections for additional
consumers.
In the connector, the following pins are connected: pin 1 to pin 5, pin 2 to pin 6, pin 3 to pin 7 and pin 4
to pin 8.
 The voltage at the holding brake output depends on the controller supply. Note that the current of the
holding brake also flows via this terminal.

Wiring Diagram

Pin Signal Meaning

1, 5 STO_A Safety function STO: Dual-channel connection, connection A
2, 6 STO_B Safety function STO: Dual-channel connection, connection B
3, 7 +24 VDC 24 V controller supply
4, 8 0VDC Reference potential for 24 V controller supply; Reference potential for STO

Connecting the Safety Function STO

 Verify that wiring, cables and connected interfaces meet the PELV requirements.
 Connect the safety function in accordance with the specifications in chapter Safety function STO ("Safe
Torque Off") (see page 76).

Connecting the Controller Supply

 Verify that wiring, cables and connected interfaces meet the PELV requirements.
 Route the controller supply from a power supply unit (PELV) to the device.
 Ground the negative output at the power supply unit.
 Note the maximum permissible terminal current when connecting several devices.
 Verify that the connector locks snap in properly at the housing.

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Connection Digital Inputs and Outputs (CN6)

The device has configurable inputs and configurable outputs. The standard assignment and the
configurable assignment depend on the selected operating mode. For more information, see chapter
Digital Inputs and Outputs (see page 200).

Cable Specifications

Shield: -
Twisted Pair: -
PELV: Required
Cable composition: 0.25 mm2, (AWG 22)
Maximum cable length: 30 m (98.4 ft)

Properties of Connection Terminals CN6

LXM32•...
Connection cross section mm2 0.2 ... 1.0
(AWG) (24 ... 16)
Stripping length mm 10
(in) (0.39)

Wiring Diagram

Signal Meaning
DQ_COM Reference potential to DQ0 ... DQ4
DQ0 Digital output 0
DQ1 Digital output 1
DI_COM Reference potential to DI0 ... DI5
DI0/CAP1 Digital input 0 / Capture input 1

DI1/CAP2(1) Digital input 1 / Capture input 2(1)

DI2 Digital input 2
DI3 Digital input 3
(1) Available with hardware version ≥RS03

The connectors are coded. Verify correct assignment when connecting them.
The configuration and the standard assignment of the inputs and outputs are described in chapter Digital
Inputs and Outputs (see page 200).

Connecting the Digital Inputs/Outputs

 Wire the digital connections to CN6.
 Verify that the connector locks snap in properly.

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Connection PC with Commissioning Software (CN7)

A PC with the commissioning software Lexium DTM Library can be connected for commissioning. The PC
is connected via a bidirectional USB/RS485 converter, see chapter Accessories and Spare Parts
(see page 475).
If the commissioning interface at the product is directly connected to an Ethernet interface at the PC, the
PC interface may be damaged and rendered inoperable.

NOTICE
DAMAGE TO PC
Do not directly connect an Ethernet interface to the commissioning interface of this product.
Failure to follow these instructions can result in equipment damage.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Cable composition: 8 * 0.25 mm2 (8 * AWG 22)
Maximum cable length: 100 m (328 ft)

Wiring Diagram

Pin Signal Meaning

1 ... 3 - Reserved
4 MOD_D1 RS485, Bidirectional transmit/receive signal
5 MOD_D0 RS485, Bidirectional transmit/receive signal, inverted
6 - Reserved
7 MOD+10V_OUT 10 V supply, maximum 100 mA
8 MOD_0V Reference potential to MOD+10V_OUT

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections designated as No
Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or equipment damage.

 Verify that the connector locks snap in properly.

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Connection CAN (CN4 and CN5)

Function
The device is suitable for connection to CANopen and CANmotion.
A CAN bus connects multiple devices via a bus cable. Each network device can transmit and receive
messages. Data between network devices is transmitted serially.
Each network device must be configured before it can be operated on the network. The device is assigned
a unique 7-bit node address (node ID) between 1 (01h) and 127 (7Fh). The address is set during
commissioning.
The baud rate must be the same for all devices in the fieldbus. For further information on the fieldbus, see
the fieldbus manual.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Cable composition for cables with 8 * 0.14 mm2 (AWG 24)
RJ45 connectors(1):
Cable composition with D-SUB 2 * 0.25 mm2, 2 * 0.20 mm2
connectors: (2 * AWG 22, 2 * AWG 24)
Cross section 0.20 mm2 (AWG 24)
for CAN level, cross section
0.25 mm2 (AWG 22) for reference
potential.
(1) Cables with RJ45 connectors may only be used inside of control
cabinets.

Use pre-assembled cables to reduce the risk of wiring errors, see chapter Accessories and Spare Parts
(see page 475).

Connectors D-SUB and RJ45

Usually, a cable with D-Sub connectors is used for CAN fieldbus connection in the field. Inside control
cabinets, connections with RJ45 cables have the benefit of easier and faster wiring. In the case of CAN
cables with RJ45 connectors, the maximum permissible bus length is reduced by 50%.
Multiple-port taps can be used to connect an RJ45 system inside the control cabinet to a D-Sub system in
the field, see the figure below. The trunk line is connected to the multiple-port tap by means of screw
terminals; the devices are connected by means of pre-assembled cables.
Connection of RJ45 CAN in the control cabinet to the field

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1 Devices with RJ45 CAN connection in the control cabinet

2 CANopen cables with RJ45 connectors
3 Connection cables between device and tap, for example TCSCCN4F3M3T for tap TSXCANTDM4
4 Tap in the control cabinet, for example TSXCANTDM4 as D-SUB four-port tap or VW3CANTAP2 as RJ45 tap
5 Fieldbus cable (trunk line) to the bus devices outside of the control cabinet, connected to the tap by means of screw
terminals. Cross section 0.20 mm2 (AWG 24) for CAN level, cross section 0.25 mm2 (AWG 22) for reference
potential.
6 Terminating resistor 120 Ω RJ45 (TCSCAR013M120)

Maximum Bus Length CAN

The maximum bus length depends on the selected baud rate. The following table shows the maximum
overall length of the CAN bus in the case of cables with D-SUB connectors.

Baud rate Maximum bus length

50 kbit/s 1000 m (3281 ft)
125 kbit/s 500 m (1640 ft)
250 kbit/s 250 m (820 ft)
500 kbit/s 100 m (328 ft)
1000 kbit/s 20 m (65.6 ft)(1)
(1) According to the CANopen specification, the maximum bus length is 4 m
(13.2 ft). However, in practice, 20 m (65.6 ft) have been possible in most
cases. External interference may reduce this length.

If you use cables with RJ45 connectors, the maximum bus length is reduced by 50%.
At a baud rate of 1 Mbit/s, the drop lines are limited to 0.3 m (0.98 ft).

Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ω terminating resistor between CAN_L and CAN_H
is used for this purpose.
Connectors with integrated terminating resistors are available as accessories, see chapter Accessories
and Spare Parts (see page 475).

Wiring Diagram
Wiring diagram, CANopen at CN4 and CN5

Pin Signal Meaning

1 CAN_H CAN interface
2 CAN_L CAN interface
3 CAN_0V Reference potential CAN
4 ... 8 - Reserved

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections designated as No
Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Connecting CAN
 Connect the CAN cable to CN4 (pins 1, 2 and 3) with an RJ45 connector.
 Verify that the connector locks snap in properly.

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Section 4.3
Verifying Installation

Verifying Installation

Verifying Installation

Verify proper installation:

 Verify the mechanical installation of the entire drive system:
 Does the installation meet the specified distance requirements?
 Did you tighten all fastening screws with the specified tightening torque?
 Verify the electrical connections and the cabling:
 Did you connect all protective ground conductors?
 Do all fuses have the correct rating; are the fuses of the specified type?
 Did you connect all wires of the cables or insulate them?
 Did you properly connect and install all cables and connectors?
 Are the mechanical locks of the connectors correct and effective?
 Did you properly connect the signal wires?
 Are the required shield connections EMC-compliant?
 Did you take all measures for EMC compliance?
 Does the drive installation conform to all local, regional, and national electrical safety codes for the
eventual placement of the equipment?
 Verify that all covers and seals have been properly installed to achieve the required degree of
protection.

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Commissioning
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Chapter 5
Commissioning

Commissioning

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Overview 118
5.2 Integrated HMI 122
5.3 External graphic display terminal 132
5.4 Commissioning Procedure 137
5.5 Controller Optimization with Step Response 161
5.6 Parameter Management 172

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Section 5.1
Overview

Overview

What Is in This Section?

This section contains the following topics:
Topic Page
General 119
Preparation 121

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General

The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.

DANGER
ELECTRIC SHOCK
 Do not use the safety function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety function STO, to disconnect the
drive from the mains power.
Failure to follow these instructions will result in death or serious injury.

External driving forces acting on the motor can cause high currents to be regenerated and supplied back
to the drive.

DANGER
FIRE DUE TO EXTERNAL DRIVING FORCES ACTING ON MOTOR
Verify that no external forces can act on the motor in the case of errors of error classes 3 or 4.
Failure to follow these instructions will result in death or serious injury.

Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only start the system if there are no persons or obstructions in the zone of operation.
 Do not operate the drive system with undetermined parameter values or data.
 Never modify a parameter value unless you fully understand the parameter and all effects of the
modification.
 Restart the drive and verify the saved operational data and/or parameter values after modifications.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
 Verify the functions after replacing the product and also after making modifications to the parameter
values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions,
the motor is no longer decelerated in a controlled way.

WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that movements without braking effect cannot cause injuries or equipment damage.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Applying the holding brake while the motor is running will cause excessive wear and degradation of the
braking torque.

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WARNING
LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE
 Do not use the holding brake as a service brake.
 Do not exceed the maximum number of brake applications and the kinetic energy during braking of
moving loads.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

When the product is operated for the first time, there is a risk of unanticipated movements caused by, for
example, incorrect wiring or unsuitable parameter settings. Releasing the holding brake can cause an
unintended movement, like for example, a falling load in the case of vertical axes.

WARNING
UNINTENDED MOVEMENT
 Verify that there are no persons or obstructions in the zone of operation when operating the system.
 Take appropriate measures to avoid hazards caused by falling or lowering loads or other unintended
movements.
 Run initial tests without coupled loads.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in running
tests.
 Anticipate movements in unintended directions or oscillations of the motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The metal surfaces of the product may exceed 70 °C (158 °F) during operation.

CAUTION
HOT SURFACES
 Avoid unprotected contact with hot surfaces.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces.
 Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions can result in injury or equipment damage.

The product can be accessed via different types of access channels. Simultaneous access via multiple
access channels or the use of exclusive access may cause unintended equipment operation.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that simultaneous access via multiple access channels cannot cause unintended triggering or
blocking of commands.
 Verify that the use of exclusive access cannot cause unintended triggering or blocking of commands.
 Verify that the required access channels are available.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the drive was not connected to mains for an extended period of time, the capacitors must be restored to
their full performance before the motor is started.

NOTICE
REDUCED CAPACITOR PERFORMANCE
 If the drive has not been connected to mains for a period of more than 24 months, apply mains voltage
to the drive for at least one hour before enabling the power stage for the first time.
 If the drive is commissioned for the first time, verify the date of manufacture and run the procedure
specified above if the date of manufacture is more than 24 months in the past.
Failure to follow these instructions can result in equipment damage.

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Preparation

Required Components
The following is required for commissioning:
 Commissioning software “Lexium DTM Library”
http://www.schneider-electric.com/en/download/document/Lexium_DTM_Library/
 Fieldbus converter for the commissioning software for connection via the commissioning interface

Interfaces
The following interfaces can be used for commissioning, parameterization and diagnostics:

1 Integrated HMI
2 External graphic display terminal
3 PC with commissioning software “Lexium DTM Library”
4 Fieldbus

Device settings can be duplicated. Stored device settings can be transferred to a device of the same type.
Duplicating the device settings can be used if multiple devices are to have the same settings, for example,
when devices are replaced.

Commissioning Software
The commissioning software “Lexium DTM Library” has a graphic user interface and is used for
commissioning, diagnostics and testing settings.
 Tuning of the control loop parameters via a graphical user interface
 Comprehensive set of diagnostics tools for optimization and maintenance
 Long-term trace for evaluation of the performance
 Testing the input and output signals
 Tracking signals on the screen
 Archiving of device settings and recordings with export function for further processing in other
applications

Connecting a PC
A PC with commissioning software can be connected for commissioning. The PC is connected to a
bidirectional USB/RS485 converter, see chapter Accessories and Spare Parts (see page 475).

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Section 5.2
Integrated HMI

Integrated HMI

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Integrated HMI 123
Menu Structure 126
Making Settings 131

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Overview of Integrated HMI

The device allows you to edit parameters, start the operating mode Jog or perform autotuning via the
integrated Human-Machine Interface (HMI). Diagnostics information (such as parameter values or error
codes) can also be displayed. The individual sections on commissioning and operation include information
on whether a function can be carried out via the integrated HMI or whether the commissioning software
must be used.

Overview

1 Status LEDs
2 7-segment display
3 ESC key
4 Navigation button
5 Red LED on: Voltage present at DC bus

Status LEDs and a 4-digit 7-segment display indicate the device status, menu designation, parameter
codes, status codes and error codes. By turning the navigation button, you can select menu levels and
parameters and increment or decrement values. To confirm a selection, press the navigation button.
The ESC (Escape) button allows you to exit parameters and menus. If values are displayed, the ESC
button lets you return to the last saved value.

Character Set on the HMI

The following table shows the assignment of the characters to the symbols displayed by the 4-digit 7-
segment display.

A B C D E F G H I J K L M N O P Q R
A B cC D E F G H i J K L M N o P Q R

S T U V W X Y Z 1 2 3 4 5 6 7 8 9 0
S T u V W X Y Z 1 2 3 4 5 6 7 8 9 0

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Indication of the Device Status

1 Four status LEDs

2 Three status LEDS for identification of the menu levels
3 Flashing dots indicate an error of error class 0

1: Four status LEDs are located above the 7-segment display:

Fault Edit Value Unit Meaning

Lights red Operating state Fault
Lights yellow Lights yellow Parameter value can be edited
Lights yellow Value of the parameter
Lights yellow Unit of the selected parameter

2: Three status LEDS for identification of the menu levels:

LED Meaning
Op Operation
Mon Status information
Conf Configuration

3: Flashing dots indicate an error of error class 0, for example, if a limit value has been exceeded.

Display of Values
The HMI can directly display values up to 999.
Values greater than 999 are displayed in ranges of 1000. Turn the navigation button to select one of the
ranges.
Example: Value 1234567890

Navigation Button
The navigation button can be turned and pressed. There are two types of pressing: brief pressing (≤1 s)
and long pressing (≥3 s).
Turn the navigation button to do the following:
 Go to the next or previous menu
 Go to the next or previous parameter
 Increment or decrement values
 Switch between ranges in the case of values greater than 999
Briefly press the navigation button to do the following:
 Call the selected menu
 Call the selected parameter
 Save the value to the EEPROM

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Hold down the navigation button to do the following:

 Display a description of the selected parameter
 Display the unit of the selected parameter

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Menu Structure

Overview
The integrated HMI is menu-driven. The following illustration shows the top level of the menu structure.

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The level below the top level contains the parameters belonging to the respective menu items. To facilitate
access, the parameter tables also specify the menu path, for example op→jog-.

HMI menu FSU- Description

FSU- First setup (First Setup)
COAD CANopen address (node number)
Cobd CANopen baud rate

HMI menu op Description

op Operating mode (Operation)
Jog- Operating mode Jog
tun- Autotuning
hom- Operating mode Homing

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HMI menu Jog- Description

JOG- Operating mode Jog
jgst Start operating mode Jog
jghi Velocity for fast movement
jglo Velocity for slow movement

HMI menu tun- Description

tun- Autotuning
tust Start autotuning
gain Global gain factor (affects parameter set 1)
stin Direction of movement for Autotuning

HMI menu hom- Description

hom- Operating mode Homing
hmst Start operating mode Homing
meth Preferred homing method
hmn Target velocity for searching the switch

HMI menu Mon Description

Mon Monitoring (Monitoring)
Supu HMI display when motor moves
nact Actual speed of rotation
Vact Actual velocity
nref Reference speed of rotation
Vref Reference velocity
Qref Reference motor current (q component, generating torque)
qact Actual motor current (q component, generating torque)
iact Total motor current
dimo Status of digital inputs
domo Status of digital outputs
sto Status of the inputs for the safety function STO
udca Voltage at DC bus
udcr Degree of utilization of DC bus voltage
ldfp Load of power stage
ldfm Load of motor
ldfb Load of braking resistor
tdeV Device temperature
tps Temperature of power stage
oph Operating hours counter
Polo Number of power on cycles
lwrn Detected error not causing a stop (error class 0)
wrns Detected error of error class 0, bit-coded (parameter _WarnLatched)
lflt Detected error causing a stop (error classes 1 to 4)
sigs Saved status of monitoring signals

HMI menu Conf Description

Conf Configuration (Configuration)
inf- Information/Identification (INFormation / Identification)

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HMI menu Conf Description

acg- Axis configuration (Axis Configuration)
drc- Device configuration (DRive Configuration)
i-o- Configurable inputs/outputs (In Out)
flt- Indication of detected error
Com- Communication (COMmunication)
fcs- Restore factory settings (default values) (Factory Settings)

HMI menu INF- Description

Inf- Information/Identification (INFormation / Identification)
prn Firmware number
Pru Firmware Version
prr Firmware Revision
refd product name
Mnam Type
unam User application name
pino Nominal current of power stage
pina Maximum current of power stage
ntyp Motor type
sens Encoder type of motor
mino Nominal current of motor
mima Maximum motor current
mnma Maximum permissible speed of rotation/velocity of motor

HMI menu acg- Description

acg- Axis configuration (Axis Configuration)
atyp Activation of Modulo
ioae Enabling the power stage at PowerOn
inmo Inversion of direction of movement
qabs Simulation of absolute position at power cycling
nrmp Maximum velocity of the motion profile for velocity
hcur Current value for Halt
htyp Halt option code
Sdty Behavior for disabling the power stage during movement
eibr Selection of internal or external braking resistor
tbr Maximum permissible activation duration of external braking resistor
rbr Resistance value of external braking resistor
pobr Nominal power of external braking resistor
Card Memory card management

HMI menu DRC- Description

drC- Device configuration (DRive Configuration)
nmax Velocity limitation
imax Current limitation
jer Jerk limitation of the motion profile for velocity
pp1 Position controller P gain
pp2 Position controller P gain
pn1 Velocity controller P gain
pn2 Velocity controller P gain

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HMI menu DRC- Description

tin1 Velocity controller integral action time
tin2 Velocity controller integral action time
tau1 Filter time constant of the reference velocity value filter
tau2 Filter time constant of the reference velocity value filter
fpp1 Feed-forward control Velocity
fpp2 Feed-forward control Velocity

HMI menu I-O- Description

i-o- Configurable inputs/outputs (In Out)
di0 Function Input DI0
di1 Function Input DI1
di2 Function Input DI2
di3 Function Input DI3
do0 Function Output DQ0
do1 Function Output DQ1
ithr Monitoring of current threshold
tthr Monitoring of time window
ilin Current limitation via input

HMI menu FLT- Description

FLt- Indication of detected error
qtyp Quick Stop option code
qcur Current value for Quick Stop

HMI menu Com- Description

Com- Communication (COMmunication)
mbad Modbus address
mbbd Modbus baud rate
Coad CANopen address (node number)
Cobd CANopen baud rate

HMI menu fcs- Description

fcs- Restore factory settings (default values) (Factory Settings)
resc Reset control loop parameters
resu Resetting the user parameters
rstf Restore factory settings (default values)

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Making Settings

Displaying and Setting Parameters

The figure below shows an example of displaying a parameter (second level) and entering or selecting a
parameter value (third level).

 Go to the parameter imax (iMax).

 Press the navigation button for a longer period of time to display a parameter description.
The parameter description is displayed in the form of horizontally scrolling text.
 Briefly press the navigation button to display the value of the selected parameter.
The LED Value lights up and the parameter value is displayed.
 Press the navigation button for a longer period of time to display the unit of the parameter value.
As long as the navigation button is held down, the status LEDs Value and Unit light. The unit of the
parameter value is displayed. Once you release the navigation button, the parameter value is displayed
again.
 Press the navigation button to modify the value of the parameter.
The status LEDs Edit and Value light and the parameter value is displayed.
 Turn the navigation button to modify the value of the parameter. The increments and the limit value for
each parameter are pre-defined.
 Briefly press the navigation button to save the modified parameter value.
If you do not want to save the modified parameter value, press the ESC button to cancel. The display
returns to the original value of the parameter.
The displayed modified value of parameter value flashes once and is written to the EEPROM.
 Press ESC to return to the menu

Setting the 7-segment Display

By default, the operating state is displayed by the 4-digit 7-segment display,
You can set the following via the menu item drc- / supv:
 stat displays the operating state, default
 vact displays the actual velocity of the motor, default
 iact displays the actual torque of the motor, default
A change only becomes active when the power stage is disabled.

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Section 5.3
External graphic display terminal

External graphic display terminal

What Is in This Section?

This section contains the following topics:
Topic Page
Display and Controls 133
Connecting the external graphic display terminal to LXM32 135
Using the external graphic display terminal 136

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Display and Controls

The external graphic display terminal is only designed for commissioning drives.

1 Display field
2 Navigation button
3 STOP/RESET key
4 RUN key
5 FWD/REV key
6 ESC key
7 Function keys F1 ... F4

Depending on the firmware version of the external graphic display terminal, the information may be
represented differently. Use the most up to date firmware version.

Display Field (1)

The display is subdivided into 5 areas.
Display of the graphic display terminal (example shows English language)

1.1 Status information of the drive

1.2 Menu bar
1.3 Data field
1.4 Function bar
1.5 Navigation

Status Information of the Drive (1.1)

This line displays the operating state, the actual velocity and the actual current of the motor. If an error has
been detected, the error code is displayed.

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Menu Bar (1.2)

The menu bar displays the name of the menu.

Data Field (1.3)

The following information can be displayed and values entered in the data field:
 Submenus
 Operating Mode
 Parameters and parameter values
 State of movement
 Error messages

Function Bar (1.4)

The function bar displays the name of the function that is triggered when you press the corresponding
function key. Example: Pressing the F1 function key displays the "Code". If you press F1, the HMI name
of the displayed parameter is shown.

Navigation (1.5)
Arrows indicate that additional information is available that can be displayed by scrolling.

Navigation Button (2)

By turning the navigation button, you can select menu levels and parameters and increment or decrement
values. To confirm a selection, press the navigation button.

Key STOP/RESET (3)

The key STOP/RESET terminates a movement by means of a Quick Stop.

Key RUN (4)

The key RUN allows you to start a movement.

Key FWD/REV (5)

The key FWD/REV allows you to reverse the direction of movement.

Key ESC (6)

The ESC (Escape) button allows you to exit parameters and menus or cancel a movement. If values are
displayed, the ESC key lets you return to the last saved value.

Function Keys F1 ... F4 (7)

The function bar displays the name of the function triggered when the corresponding function key is
pressed.

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Connecting the external graphic display terminal to LXM32

The external graphic display terminal is an accessory for the drive, see chapter Accessories and Spare
Parts (see page 475). The external graphic display terminal is connected to CN7 (commissioning
interface). Only use the cable shipped with the external graphic display terminal to connect it. If the external
graphic display terminal is connected to LXM32, the integrated HMI is deactivated. The integrated HMI
shows disp (Display).

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Using the external graphic display terminal

The following example shows how to use the external graphic display terminal.

Example 'Setting the Language'

In this example, you set the desired language for the external graphic display terminal. The installation of
the drive must have been completed and the controller supply voltage must be on.
 Go to the main menu.
 Rotate the navigation button until item 5 (LANGUAGE) is highlighted.
 Press the navigation button to confirm the selection.
The menu bar shows the selected function 5 (LANGUAGE). The data field displays the selected value,
in this case the selected language.
 Press the navigation button to change the value.
The menu bar displays the selected function "Language". The supported languages are shown in the
data field.
 Turn the navigation button to select the desired language.
The currently active language is highlighted by a check.
 Press the navigation button to confirm the selected value.
The menu bar displays the selected function "Language". The selected language is shown in the data
field.
 Press ESC to return to the main menu.
The main menu is displayed in the selected language.

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Section 5.4
Commissioning Procedure

Commissioning Procedure

What Is in This Section?

This section contains the following topics:
Topic Page
Powering on the Device for the First Time 138
Setting Limit Values 140
Digital Inputs and Outputs 142
Verifying the Signals of the Limit Switches 144
Verifying the Safety Function STO 145
Holding Brake (Option) 146
Verifying the Direction of Movement 150
Setting Parameters for Encoder 151
Setting the Braking Resistor Parameters 154
Autotuning 156
Enhanced Settings for Autotuning 159

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Powering on the Device for the First Time

Performing a "First Setup"

A "First Setup" is required when the controller supply is powered on for the first time or after the factory
settings have been restored.

Automatic Reading of the Motor Data Record

When the device is powered on and if an encoder is connected to CN3, the device automatically reads the
electronic nameplate from the Hiperface encoder. The data record is verified and written to the EEPROM.
The data record contains technical information on the motor such as nominal torque and peak torque,
nominal current, nominal velocity and number of pole pairs. The data record cannot be modified by the
user.

Preparation
If the device is not to be commissioned exclusively via the HMI, a PC with the commissioning software must
be connected.

Powering On the Device

 Verify that the power stage supply and the controller supply are powered off.
 Disconnect the product from the fieldbus during commissioning in order to help avoid conflicts by
simultaneous access.
 Power on the controller supply.
The device goes through an initialization routine. The segments of the 7-segment display and the status
LEDs light up.
If a memory card is in the slot of the device, the message CARD is displayed by the 7-segment display
for a short period of time. This indicates that a memory card has been detected. If the message CARD is
permanently displayed by the 7-segment display, there are differences between the content of the memory
card and the parameter values stored in the device. See chapter Memory Card (see page 173) for
additional information.

CANopen Interface
After the initialization, the CAN interface must be configured. You must assign a unique network address
(node address) to each device. The transmission rate (baud rate) must be the same for all devices in the
network.
 Enter the network address. The network address is stored in the parameter CANaddress (COAD).
 Set the transmission rate in the parameter CANbaud (Cobd) to meet the requirements of your
network.
The settings are valid for CANopen and for CANmotion.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CANaddress CANopen address (node number) - UINT16 CANopen 3041:2h
ConF → Changed settings become active the next 1 R/W Modbus 16644
CoM- time the product is powered on. - per.
ConF → 127 -
FSu-
CoAd
CANbaud CANopen baud rate - UINT16 CANopen 3041:3h
ConF → 50 kBaud / 50: 50 kBaud 50 R/W Modbus 16646
CoM- 125 kBaud / 125: 125 kBaud 250 per.
ConF → 250 kBaud / 250: 250 kBaud 1000 -
FSu- 500 kBaud / 500: 500 kBaud
Cobd 1 MBaud / 1000: 1 MBaud
Changed settings become active the next
time the product is powered on.

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Restarting the Device

A restart of the device is required for the changes to become effective. After the restart, the device is ready
for operation.

Further Steps
 Attach a label to the device that contains information for servicing the device such as fieldbus type and
device address.
 Make the settings described below for commissioning.
NOTE: For more information on the presentation of parameters and a list of all operational parameters of
the drive, see chapter Parameters (see page 389).

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Setting Limit Values

Setting Limit Values

Suitable limit values must be determined and calculated on the basis of the system and motor data. As
long as the motor is operated without loads, the default settings do not need to be changed.

Current Limitation
The maximum motor current can be set with the parameter CTRL_I_max.
The maximum current for the "Quick Stop" function can be limited with the parameter LIM_I_maxQSTP
and for the "Halt" function with the parameter LIM_I_maxHalt.
 Use the parameter CTRL_I_max to set the maximum motor current.
 Use the parameter LIM_I_maxQSTP to set the maximum motor current for the "Quick Stop" function.
 Use the parameter LIM_I_maxHalt to set the maximum motor current for the "Halt" function.
The motor can be decelerated via a deceleration ramp or the maximum current for the functions "Quick
Stop" and "Halt".
The device limits the maximum permissible current on the basis of the motor data and the device data.
Even if the value entered for the maximum current in the parameter CTRL_I_max is too high, the value is
limited.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_I_max Current limitation Arms UINT16 CANopen 3011:Ch
ConF → During operation, the current limit is one of 0.00 R/W Modbus 4376
drC- the following values (whichever is lowest): - per.
iMAX - CTRL_I_max 463.00 -
- _M_I_max
- _PS_I_max
- Current limitation via digital input
Limitations caused by I2t monitoring are
also taken into account.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.
LIM_I_maxQSTP Current for Quick Stop Arms UINT16 CANopen 3011:Dh
ConF → This value is only limited by the - R/W Modbus 4378
FLt- minimum/maximum value range (no - per.
qcur limitation of this value by motor/power - -
stage).

In the case of a Quick Stop, the current limit

(_Imax_act) is one of the following values
(whichever is lowest):
- LIM_I_maxQSTP
- _M_I_max
- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account
during a Quick Stop.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_I_maxHalt Current for Halt Arms UINT16 CANopen 3011:Eh
ConF → This value is only limited by the - R/W Modbus 4380
ACG- minimum/maximum value range (no - per.
hcur limitation of this value by motor/power - -
stage).

In the case of a Halt, the current limit

(_Imax_act) is one of the following values
(whichever is lowest):
- LIM_I_maxHalt
- _M_I_max
- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account
during a Halt.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

Velocity Limitation
The parameter CTRL_v_max can be used to limit the maximum velocity.
 Use the parameter CTRL_v_max to set the maximum velocity of the motor.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_v_max Velocity limitation usr_v UINT32 CANopen
ConF → During operation, the velocity limit is one of 1 R/W 3011:10h
drC- the following values (whichever is lowest): 13200 per. Modbus 4384
nMAX - CTRL_v_max 2147483647 -
- M_n_max
- Velocity limitation via digital input
Changed settings become active
immediately.

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Digital Inputs and Outputs

The device has configurable inputs and configurable outputs. See chapter Digital Inputs and Outputs
(see page 200) for additional information.
The signal states of the digital inputs and digital outputs can be displayed on the HMI and via the fieldbus.

Integrated HMI
The signal states can be displayed on the integrated HMI, but they cannot be modified.

Inputs (parameter _IO_DI_act):

 Open the menu item -MON → dimo.
The digital inputs are displayed in a bit-coded way.

Bit Signal
0 DI0
1 DI1
2 DI2
3 DI3
4 ... 7 -

The parameter _IO_DI_act does not display the states of the inputs of the safety function STO. Use the
parameter _IO_STO_act to visualize the states of the inputs of the safety function STO.
Outputs (parameter _IO_DQ_act):
 Open the menu item -MON → domo.
The digital outputs are displayed in a bit-coded way.

Bit Signal
0 DQ0
1 DQ1
2 .. 7 -

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Fieldbus
The signal states are contained in the parameter _IO_act in a bit-coded way. The values "1" and "0"
correspond to the signal state of the input or output.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_IO_act Physical status of the digital inputs and - UINT16 CANopen 3008:1h
Mon outputs - R/- Modbus 2050
ioAC Low byte: - -
Bit 0: DI0 - -
Bit 1: DI1
Bit 2: DI2
Bit 3: DI3

High byte:
Bit 8: DQ0
Bit 9: DQ1
_IO_DI_act Status of digital inputs - UINT16 CANopen 3008:Fh
Mon Bit assignments: - R/- Modbus 2078
diMo Bit 0: DI0 - -
Bit 1: DI1 - -
Bit 2: DI2
Bit 3: DI3
_IO_DQ_act Status of digital outputs - UINT16 CANopen
Mon Bit assignments: - R/- 3008:10h
doMo Bit 0: DQ0 - - Modbus 2080
Bit 1: DQ1 - -
_IO_STO_act Status of the inputs for the safety function - UINT16 CANopen
Mon STO - R/- 3008:26h
Sto Coding of the individual signals: - - Modbus 2124
Bit 0: STO_A - -
Bit 1: STO_B

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Verifying the Signals of the Limit Switches

The use of limit switches can provide some protection against hazards (for example, collision with
mechanical stop caused by incorrect reference values).

WARNING
LOSS OF CONTROL
 Ensure that limit switches are installed as determined by your risk assessment.
 Verify correct connection of the limit switches.
 Verify that the limit switches are sufficiently distant from the mechanical stop to allow an adequate
stopping distance.
 Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

 Set up the limit switches in such a way as to keep the motor from overtraveling the limit switches.
 Trigger the limit switches manually.
If an error message is indicated, the limit switches were triggered.
Parameters can be used to release the limit switches and to set them up as normally closed contacts or
normally open contacts, see chapter Limit Switches (see page 305).

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Verifying the Safety Function STO

Operation with Safety Function STO

If you want to use the safety function STO, carry out the following steps:
 To help avoid unintended restart after restoration of power, the parameter IO_AutoEnable must be
set to "off". Verify that the parameter IO_AutoEnable is set to "off".
HMI: conf→acg→ioae.
Power off the power stage supply and the controller supply:
 Verify that the signal wires at the inputs (STO_A) and (STO_B) are isolated from each other. The two
signal wires must not be electrically connected.
Power on the power stage supply and the controller supply:
 Enable the power stage without starting a motor movement.
 Trigger the safety function STO.
If the power stage is now disabled and the error message 1300 is indicated, the safety function STO
was triggered.
If a different error message is indicated, the safety function STO was not triggered.
 Document all tests of the safety function in your acceptance protocol.

Operation without Safety Function STO

If you do not want to use the safety function STO:
 Verify that the inputs STO_A and STO_B are connected to +24VDC.

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Holding Brake (Option)

Holding Brake
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety function and not a service brake.

WARNING
UNINTENDED AXIS MOVEMENT
 Do not use the internal holding brake as a safety-related measure.
 Only use certified external brakes as safety-related measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Releasing the Holding Brake

When the power stage is enabled, current is applied to the motor. When current is applied to the motor,
the holding brake is automatically released.
Releasing the holding brake requires a certain amount of time. This time is contained in the electronic
nameplate of the motor. Transition to the operating state 6 Operation Enabled is only possible after this
time delay has elapsed.
An additional time delay can be set via parameters, see chapter Additional Time Delay for Releasing the
Holding Brake (see page 146).

Applying the Holding Brake

When the power stage is disabled, the holding brake is automatically applied.
However, applying the holding brake requires a certain amount of time. This time is contained in the
electronic nameplate of the motor. Current remains to be applied to the motor during this time delay.
See chapter Safety function STO ("Safe Torque Off") (see page 76) for additional information on the
behavior of the holding brake when the safety function STO is triggered.
An additional time delay can be set via parameters, see chapter Additional Time Delay for Applying the
Holding Brake (see page 147).

Additional Time Delay for Releasing the Holding Brake

An additional time delay can be set via the parameter BRK_AddT_release.
Transition to the operating state 6 Operation Enabled is only possible after the entire time delay has
elapsed.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BRK_AddT_release Additional time delay for releasing the ms INT16 CANopen 3005:7h
ConF → ACG- holding brake 0 R/W Modbus 1294
btrE The overall time delay for releasing the 0 per.
holding brake is the time delay from the 400 -
electronic nameplate of the motor and
the additional time delay in this
parameter.
Setting can only be changed if power
stage is disabled.
Changed settings become active the
next time the power stage is enabled.

Additional Time Delay for Applying the Holding Brake

An additional time delay can be set via the parameter BRK_AddT_apply.
Current continues to be applied to the motor until the entire time delay has passed.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BRK_AddT_apply Additional time delay for applying the ms INT16 CANopen 3005:8h
ConF → holding brake 0 R/W Modbus 1296
ACG- The overall time delay for applying the 0 per.
btCL holding brake is the time delay from the 1000 -
electronic nameplate of the motor and the
additional time delay in this parameter.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

Verifying the Function of the Holding Brake

The device is in the operating state "Ready to switch on".
 Start the operating mode Jog (HMI: op→JOg→JGST).
The power stage is enabled and the holding brake released. The HMI displays JG-.
 If the holding brake has been released, hold down the navigation button. Then press ESC.
As long as the navigation button is held down, the motor moves. When you press ESC, the holding
brake is applied again and the power stage is disabled.
 If the holding brake is not released, press ESC.
When you press ESC, the power stage is disabled.
 Verify the wiring if the behavior of the holding brake is not correct.

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Releasing the Holding Brake Manually

Mechanical adjustments may require you to manually rotate the motor shaft.
Manual release of the holding brake is only possible in the operating states 3 Switch On Disabled,
4 Ready To Switch On or 9 Fault.
When the product is operated for the first time, there is a risk of unanticipated movements caused by, for
example, incorrect wiring or unsuitable parameter settings. Releasing the holding brake can cause an
unintended movement, like for example, a falling load in the case of vertical axes.

WARNING
UNINTENDED MOVEMENT
 Verify that there are no persons or obstructions in the zone of operation when operating the system.
 Take appropriate measures to avoid hazards caused by falling or lowering loads or other unintended
movements.
 Run initial tests without coupled loads.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in running
tests.
 Anticipate movements in unintended directions or oscillations of the motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

As of firmware version ≥V01.12, you can manually release the holding brake.

Applying the Holding Brake Manually

For testing the holding brake, you may want to manually apply the holding brake.
You can only apply the holding brake manually when the motor is at a standstill.
If you enable the power stage after the holding brake has been applied manually, the holding brake
remains applied.
Manual application of the holding brake has priority over automatic and manual release of the holding
brake.
If a movement is started after the holding brake has been applied manually, this can cause wear.

NOTICE
BRAKE WEAR AND LOSS OF BRAKING TORQUE
 Verify that the generated motor torque is not greater than the holding torque of the holding brake if you
have applied the holding brake manually.
 Only apply the holding brake manually for the purpose of testing the holding brake.
Failure to follow these instructions can result in equipment damage.

As of firmware version ≥V01.20, you can manually apply the holding brake.

Releasing the Holding Brake Manually via a Signal Input

In order to release the holding brake via a signal input, you must first parameterize the signal input function
"Release Holding Brake", see chapter Digital Inputs and Outputs (see page 200).

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Releasing or Applying the Holding Brake Manually via the Fieldbus

The parameter BRK_release can be used to release the holding brake via the fieldbus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BRK_release Manual operation of the holding brake - UINT16 CANopen 3008:Ah
0 / Automatic: Automatic processing 0 R/W Modbus 2068
1 / Manual Release: Manual release of 0 -
holding brake 2 -
2 / Manual Application: Manual applying of
holding brake
You can apply or release the holding brake
manually.

The holding brake can only be manually

released in the operating states 'Switch On
Disabled', 'Ready To Switch On' or 'Fault'.

If you have applied the holding brake

manually and then want to release it
manually, you must first set this parameter
to Automatic and then to Manual Release.
Changed settings become active
immediately.
Available with firmware version ≥V01.12.

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Verifying the Direction of Movement

Definition of Direction of Movement

In the case of a rotary motors, direction of movement is defined in accordance with IEC 61800-7-204:
Positive direction is when the motor shaft rotates clockwise as you look at the end of the protruding motor
shaft.
It is important to maintain the IEC 61800-7-204 directional standard within your application because many
motion-related function blocks, programming conventions, and, safety-related and conventional devices
expect this underlying assumption within their logic and operational methodologies.

WARNING
UNINTENDED MOVEMENT CAUSED BY INTERCHANGED MOTOR PHASES
Do not interchange the motor phases.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If your application requires an inversion of the direction of movement, you can parameterize the direction
of movement.
The direction of movement can be verified by starting a movement.

Verifying the Direction of Movement

Power supply has been powered on.
 Start the operating mode Jog. (HMI: op → JOg → JGST)
The HMI displays JG-.
Movement in positive direction:
 Press the navigation button and hold it down.
A movement is made in positive direction.
Movement in negative direction:
 Turn the navigation button until the HMI displays -JG.
 Press the navigation button and hold it down.
A movement is made in negative direction.

Changing the Direction of Movement

You can invert the direction of movement.
 Inversion of direction of movement is off:
Movements are made in positive direction with positive target values.
 Inversion of direction of movement is on:
Movements are made in positive direction with negative target values.
The parameter InvertDirOfMove allows you to invert the direction of movement.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
InvertDirOfMove Inversion of direction of movement - UINT16 CANopen 3006:Ch
ConF → ACG- 0 / Inversion Off / oFF: Inversion of 0 R/W Modbus 1560
inMo direction of movement is off 0 per.
1 / Inversion On / on: Inversion of 1 -
direction of movement is on
The limit switch which is reached with a
movement in positive direction must be
connected to the positive limit switch input
and vice versa.
Setting can only be changed if power
stage is disabled.
Changed settings become active the next
time the product is powered on.

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Setting Parameters for Encoder

When starting up, the device reads the absolute position of the motor from the encoder. The absolute
position can be read with the parameter _p_absENC.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_absENC Absolute position with reference to the usr_p UINT32 CANopen 301E:Fh
Mon encoder range - R/- Modbus 7710
PAMu This value corresponds to the modulo - -
position of the absolute encoder range. - -
The value is no longer valid if the gear ratio
of machine encoder and motor encoder is
changed. A restart is required in such a
case.

Working Range of the Encoder

The working range of the singleturn encoder is 131072 increments per turn.
The working range of the multiturn encoder is 4096 turns with 131072 increments per turn.

Underrun of Absolute Position

If a rotary motor performs a movement from 0 into negative direction, there is an underrun of the absolute
position of the encoder. However, the actual position keeps counting forward and delivers a negative
position value. After a power cycle, the actual position no longer corresponds to the negative position
value, but to the absolute position of the encoder.
The following options are available to adjust the absolute position of the encoder:
 Adjustment of the absolute position
 Shifting the working range

Adjustment of the Absolute Position

When the motor is at a standstill, the new absolute position of the motor can be set to the current
mechanical motor position the with the parameter ENC1_adjustment.
Adjusting the absolute position also shifts the position of the index pulse.
 Set the absolute position at the negative mechanical limit to a position value greater than 0. This way,
the movements remain within the continuous range of the encoder.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ENC1_adjustment Adjustment of absolute position of usr_p INT32 CANopen
encoder 1 - R/W 3005:16h
The value range depends on the - - Modbus 1324
encoder type. - -

Singleturn encoder:
0 ... x-1

Multiturn encoder:
0 ... (4096*x)-1

Singleturn encoder (shifted with

parameter ShiftEncWorkRang):
-(x/2) ... (x/2)-1

Multiturn encoder (shifted with

parameter ShiftEncWorkRang):
-(2048*x) ... (2048*x)-1

Definition of 'x': Maximum position for

one encoder turn in user-defined units.
This value is 16384 with the default
scaling.

If processing is to be performed with

inversion of the direction of movement,
this must be set before the encoder
position is adjusted.
After the write access, a wait time of at
least 1 second is required before the
drive can be powered off.
Changed settings become active the
next time the product is powered on.

Shifting the Working Range

The parameter ShiftEncWorkRang lets you shift the working range.
The working range without shift comprises:

Singleturn encoder 0 ... 131071 increments

Multiturn encoder 0 ... 4095 revolutions

The working range with shift comprises:

Singleturn encoder -65536 ... 65535 increments

Multiturn encoder -2048 ... 2047 revolutions

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ShiftEncWorkRang Shifting of the encoder working range - UINT16 CANopen
0 / Off: Shifting off 0 R/W 3005:21h
1 / On: Shifting on 0 per. Modbus 1346
After activating the shifting function, the 1 -
position range of a multiturn encoder is
shifted by one half of the range.
Example for the position range of a
multiturn encoder with 4096 revolutions:
Value 0:
Position values are between 0 ... 4096
revolutions.
Value 1:
Position values are between -2048 ...
2048 revolutions.
Changed settings become active the
next time the product is powered on.

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Setting the Braking Resistor Parameters

An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus
causes the power stage to be disabled. The motor is no longer actively decelerated.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the braking resistor has a sufficient rating by performing a test run under maximum load
conditions.
 Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The temperature of the braking resistor may exceed 250 °C (482 °F) during operation.

WARNING
HOT SURFACES
 Ensure that it is not possible to make any contact with a hot braking resistor.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of the braking resistor.
 Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If you use an external braking resistor, perform the following steps:

 Set the parameter RESint_ext to "External Braking Resistor".
 Set the parameters RESext_P, RESext_R and RESext_ton.
See chapter Rating the Braking Resistor (see page 70) for additional information.
If the regenerated power becomes greater than the power that can be absorbed by the braking resistor, an
error message is generated and the power stage is disabled.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RESint_ext Selection of type of braking resistor - UINT16 CANopen 3005:9h
ConF → 0 / Internal Braking Resistor / int: 0 R/W Modbus 1298
ACG- Internal braking resistor 0 per.
Eibr 1 / External Braking Resistor / Eht: 2 -
External braking resistor
2 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
RESext_P Nominal power of external braking resistor W UINT16 CANopen
ConF → Setting can only be changed if power stage 1 R/W 3005:12h
ACG- is disabled. 10 per. Modbus 1316
Pobr Changed settings become active the next 32767 -
time the power stage is enabled.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RESext_R Resistance value of external braking Ω UINT16 CANopen
ConF → resistor 0.00 R/W 3005:13h
ACG- The minimum value depends on the power 100.00 per. Modbus 1318
rbr stage. 327.67 -
In increments of 0.01 Ω.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
RESext_ton Maximum permissible switch-on time of ms UINT16 CANopen
ConF → external braking resistor 1 R/W 3005:11h
ACG- Setting can only be changed if power stage 1 per. Modbus 1314
tbr is disabled. 30000 -
Changed settings become active the next
time the power stage is enabled.

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Autotuning

Autotuning moves the motor in order to tune the control loops. Incorrect parameters may cause unintended
movements or the loss of monitoring functions.

WARNING
UNINTENDED MOVEMENT
 Only start the system if there are no persons or obstructions in the zone of operation.
 Verify that the values for the parameters AT_dir and AT_dis_usr (AT_dis) do not exceed the
available movement range.
 Verify that the parameterized movement ranges are available, free and clear for the mechanical
movement defined by your application logic.
 Include in your calculations when determining the available movement range, the additional distance
for the deceleration ramp in the case of an emergency stop.
 Verify that the parameter settings for a Quick Stop are correct.
 Verify correct operation of the limit switches.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in all
phases of machine operation and maintenance involving this equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Autotuning
Autotuning determines the friction torque as a constantly acting load torque and considers it in the
calculation of the moment of inertia of the entire system.
External factors such as a load at the motor are considered. Autotuning optimizes the settings of the control
loop parameters; see chapter Controller Optimization with Step Response (see page 161).
Autotuning also supports vertical axes.

Methods
There are three ways of tuning the drive control loops:
 Easy Tuning: Automatic - autotuning without user intervention. For most applications, autotuning yields
good, highly dynamic results.
 Comfort Tuning: Semi-automatic - autotuning with user intervention. Parameters for direction and
parameters for damping can be set by the user.
 Manual: The user can set and tune the control loop parameters manually. Expert mode.

Function
During autotuning, the motor is activated and small movements are made. Noise development and
mechanical oscillations of the system are normal.
If you want to perform Easy Tuning, no additional parameters need to be adjusted. To perform Comfort
Tuning, the parameters AT_dir, AT_dis_usr (AT_dis) and AT_mechanics are available to be
adjusted to meet the requirements of your application.
The parameter AT_Start is used to start Easy Tuning or Comfort Tuning.
 Start autotuning via the commissioning software.
It is also possible to start autotuning via the HMI.
HMI: op → tun → tust
 Save the new settings to the EEPROM via the commissioning software.
If you have started autotuning via the HMI, press the navigation button to save the new values to the
EEPROM.
The product features 2 control loop parameter sets that can be parameterized separately. The values
for the control loop parameters determined during autotuning are stored in control loop parameter set 1.

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If autotuning cancels with an error message, the default values are used. Change the mechanical position
and restart autotuning. If you want to verify the plausibility of the calculated values, you can have them
displayed; see chapter Enhanced Settings for Autotuning (see page 159).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_dir Direction of movement for Autotuning - UINT16 CANopen 302F:4h
oP → tun- 1 / Positive Negative Home / Pnh: 1 R/W Modbus 12040
StiM Positive direction first, then negative 1 -
direction with return to initial position 6 -
2 / Negative Positive Home / nPh:
Negative direction first, then positive
direction with return to initial position
3 / Positive Home / P-h: Positive
direction only with return to initial position
4 / Positive / P--: Positive direction only
without return to initial position
5 / Negative Home / n-h: Negative
direction only with return to initial position
6 / Negative / n--: Negative direction
only without return to initial position
Changed settings become active the next
time the motor moves.
AT_dis_usr Movement range for Autotuning usr_p INT32 CANopen
oP → tun- Movement range within which the control 1 R/W 302F:12h
diSu parameters are automatically optimized. 32768 - Modbus 12068
The movement range is entered with 2147483647 -
reference to the actual position.
In the case of "Movement in one direction
only" (Parameter AT_dir), the specified
range is used for each optimization step.
The movement typically corresponds to 20
times the value, but it is not limited.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.05.
AT_dis Movement range for Autotuning revolution UINT32 CANopen 302F:3h
oP → tun- Movement range within which the control 1.0 R/W Modbus 12038
diSt parameters are automatically optimized. 2.0 -
The movement range is entered with 999.9 -
reference to the actual position.
In the case of "Movement in one direction
only" (Parameter AT_dir), the specified
movement range is used for each
optimization step. The movement typically
corresponds to 20 times the value, but it is
not limited.

The parameter AT_dis_usr allows you to

enter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the next
time the motor moves.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_mechanical Type of coupling of the system - UINT16 CANopen 302F:Eh
oP → tun- 1 / Direct Coupling: Direct coupling 1 R/W Modbus 12060
MECh 2 / Belt Axis: Belt axis 2 -
3 / Spindle Axis: Spindle axis 3 -
Changed settings become active the next
time the motor moves.
AT_start Autotuning start - UINT16 CANopen 302F:1h
Value 0: Terminate 0 R/W Modbus 12034
Value 1: Activate EasyTuning - -
Value 2: Activate ComfortTuning 2 -
Changed settings become active
immediately.

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Enhanced Settings for Autotuning

The following parameters allow you to monitor and influence autotuning.

The parameters AT_state and AT_progress allow you to monitor the progress and status of autotuning.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AT_state Autotuning status - UINT16 CANopen 302F:2h
Bit assignments: - R/- Modbus 12036
Bits 0 ... 10: Last processing step - -
Bit 13: auto_tune_process - -
Bit 14: auto_tune_end
Bit 15: auto_tune_err
_AT_progress Progress of Autotuning % UINT16 CANopen 302F:Bh
0 R/- Modbus 12054
0 -
100 -

If, in a test run, you want to determine the effects of harder or softer settings of the control loop parameters
on your system, you can write the parameter CTRL_GlobGain to modify the settings determined during
autotuning. The parameter _AT_J allows you to read the moment of inertia of the entire system calculated
during autotuning.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_GlobGain Global gain factor (affects control loop % UINT16 CANopen
oP → tun- parameter set 1) 5.0 R/W 3011:15h
GAin The global gain factor affects the following 100.0 per. Modbus 4394
parameters of control loop parameter set 1: 1000.0 -
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref

The global gain factor is set to 100%

- if the control loop parameters are set to
default
- at the end of the Autotuning process
- if control loop parameter set 2 is copied to
set 1 via the parameter CTRL_ParSetCopy

If a full configuration is transmitted via the

fieldbus, the value for CTRL_GlobGain
must be transmitted prior to the values of
the control loop parameters CTRL_KPn,
CTRL_TNn, CTRL_KPp and
CTRL_TAUnref. If CTRL_GlobGain is
changed during a configuration
transmission, CTRL_KPn, CTRL_TNn,
CTRL_KPp and CTRL_TAUnref must also
be part of the configuration.
In increments of 0.1 %.
Changed settings become active
immediately.
_AT_M_friction Friction torque of the system Arms UINT16 CANopen 302F:7h
Is determined during Autotuning. - R/- Modbus 12046
In increments of 0.01 Arms. - -
- -

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AT_M_load Constant load torque Arms INT16 CANopen 302F:8h
Is determined during Autotuning. - R/- Modbus 12048
In increments of 0.01 Arms. - -
- -
_AT_J Moment of inertia of the entire system kg cm2 UINT16 CANopen 302F:Ch
Is automatically calculated during 0.1 R/- Modbus 12056
Autotuning. 0.1 per.
In increments of 0.1 kg cm2. 6553.5 -

The parameter AT_wait lets you set a waiting time between the individual autotuning steps. Setting a
waiting time is only useful in the case of a low-rigidity coupling, in particular so if the next autotuning step
(changing the hardness) is already performed while the system is still settling.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_wait Waiting time between Autotuning steps ms UINT16 CANopen 302F:9h
oP → tun- Changed settings become active the next 300 R/W Modbus 12050
WAit time the motor moves. 500 -
10000 -

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Section 5.5
Controller Optimization with Step Response

Controller Optimization with Step Response

What Is in This Section?

This section contains the following topics:
Topic Page
Controller Structure 162
Optimization 164
Optimizing the Velocity Controller 165
Verifying and Optimizing the P Gain 169
Optimizing the Position Controller 170

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Controller Structure

The controller structure corresponds to the classical cascaded closed loop with current controller, velocity
controller and position controller. In addition, the reference value of the velocity controller can be smoothed
via a filter.
The controllers are tuned one after the other from the "inside" to the "outside" in the following sequence:
current control, velocity control, position control. The superimposed control loop remains off.

1 Position controller
2 Velocity Loop Controller
3 Current controller
4 Encoder evaluation

See chapter Overview of the Controller Structure (see page 211) for a detailed description of the controller
structure.

Current Controller
The current controller determines the torque of the motor. The current controller is automatically optimally
tuned with the stored motor data.

Velocity Controller
The velocity controller controls the motor velocity by varying the motor current depending on the load
situation. The velocity controller has a decisive influence on the dynamic response of the drive. The
dynamics of the velocity controller depend on:
 Moment of inertia of the drive and the controlled system
 Power of the motor
 Stiffness and elasticity of the elements in the flow of forces
 Backlash of the drive elements
 Friction

Position Controller
The position controller reduces the difference between the reference position and the actual position of the
motor (position deviation) to a minimum. When the motor is at a standstill, the position deviation is close
to zero in the case of a well-tuned position controller.
An optimized velocity control loop is a prerequisite for good amplification of the position controller.

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Control Loop Parameters

This device allows you to use two control loop parameter sets. It is possible to switch form one set of control
loop parameter sets to the other during operation. The active control loop parameter set is selected with
the parameter CTRL_SelParSet.
The corresponding parameters are CTRL1_xx for the first control loop parameter set and CTRL2_xx for
the second control loop parameter set. The following descriptions use the notation CTRL1_xx (CTRL2_xx)
if there are no functional differences between the two control loop parameter sets.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_SelParSet Selection of control loop parameter set - UINT16 CANopen
(non-persistent) 0 R/W 3011:19h
Coding see parameter: 1 - Modbus 4402
CTRL_PwrUpParSet 2 -
Changed settings become active
immediately.
_CTRL_ActParSet Active control loop parameter set - UINT16 CANopen
Value 1: Control loop parameter set 1 is - R/- 3011:17h
active - - Modbus 4398
Value 2: Control loop parameter set 2 is - -
active

A control loop parameter set is active

after the time for the parameter switching
(CTRL_ParChgTime) has elapsed.
CTRL_ParChgTime Period of time for control loop parameter ms UINT16 CANopen
set switching 0 R/W 3011:14h
In the case of control loop parameter set 0 per. Modbus 4392
switching, the values of the following 2000 -
parameters are changed gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

Such a switching can be caused by

- change of the active control loop
parameter set
- change of the global gain
- change of any of the parameters listed
above
- deactivating the integral term of the
velocity controller
Changed settings become active
immediately.

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Optimization

The drive optimization function matches the device to the application conditions. The following options are
available:
 Selecting control loops. Upstream control loops are automatically deactivated.
 Defining reference value signals: signal type, amplitude, frequency and starting point
 Testing control performance with the signal generator.
 Recording the control performance on screen and evaluating it with the commissioning software.

Setting Reference Value Signals

Start controller optimization with the commissioning software.
Set the following values for the reference value signal:
 Signal type: Step "positive"
 Amplitude: 100 min-1
 Cycle duration: 100 ms
 Number of repetitions: 1
 Start the trace.
Only the signal types "Step" and "Square" allow you to determine the entire dynamic behavior of a control
loop. The manual shows signal paths for the signal type "Step".

Entering Values for Optimization

The optimization steps described on the following pages require you to enter control loop parameters and
test their effect by triggering a step function.
A step function is triggered as soon as you start a trace in the commissioning software.

Control Loop Parameters

This device allows you to use two control loop parameter sets. It is possible to switch form one set of control
loop parameter sets to the other during operation. The active control loop parameter set is selected with
the parameter CTRL_SelParSet.
The corresponding parameters are CTRL1_xx for the first control loop parameter set and CTRL2_xx for
the second control loop parameter set. The following descriptions use the notation CTRL1_xx (CTRL2_xx)
if there are no functional differences between the two control loop parameter sets.
For details see chapter Switching Between Control Loop Parameter Sets (see page 210).

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Optimizing the Velocity Controller

Optimizing complex mechanical control systems require hands-on experience with controller tuning. This
includes the ability to calculate control loop parameters and to apply identification procedures.
Less complex mechanical systems can often be optimized by means of experimental adjustment using the
aperiodic limit method. The following parameters are used for this:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KPn Velocity controller P gain A/rpm UINT16 CANopen 3012:1h
ConF → The default value is calculated on the basis 0.0001 R/W Modbus 4610
drC- of the motor parameters. - per.
Pn1 2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL2_KPn Velocity controller P gain A/rpm UINT16 CANopen 3013:1h
ConF → The default value is calculated on the basis 0.0001 R/W Modbus 4866
drC- of the motor parameters. - per.
Pn2 2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL1_TNn Velocity controller integral action time ms UINT16 CANopen 3012:2h
ConF → The default value is calculated. 0.00 R/W Modbus 4612
drC- - per.
tin1 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action time ms UINT16 CANopen 3013:2h
ConF → The default value is calculated. 0.00 R/W Modbus 4868
drC- - per.
tin2 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.

Verify and optimize the calculated values in a second step, see chapter Verifying and Optimizing the P
Gain (see page 169).

Reference Value Filter of the Velocity Controller

The reference value filter of the velocity controller allows you to improve the transient response at
optimized velocity control. The reference value filter must be deactivated for the first setup of the velocity
controller.
 Deactivate the reference value filter of the velocity controller. Set the parameter CTRL1_TAUnref
(CTRL2_TAUnref) to the lower limit value "0".

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_TAUnref Filter time constant of the reference ms UINT16 CANopen 3012:4h
ConF → velocity value filter 0.00 R/W Modbus 4616
drC- In the case of switching between the two 9.00 per.
tAu1 control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUnref Filter time constant of the reference ms UINT16 CANopen 3013:4h
ConF → velocity value filter 0.00 R/W Modbus 4872
drC- In the case of switching between the two 9.00 per.
tAu2 control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.

Determining the Type of Mechanical System

To assess and optimize the transient response behavior of your system, group its mechanical system into
one of the following two categories.
 System with rigid mechanical system
 System with a less rigid mechanical system
Rigid and less rigid mechanical systems

Determining Values for Rigid Mechanical Systems

In the case of a rigid mechanical system, adjusting the control performance on the basis of the table is
possible if:
 the moment of inertia of the load and of the motor are known and
 the moment of inertia of the load and of the motor are constant
The P gain CTRL_KPn and the integral action time CTRL_TNn depend on:
 JL: Moment of inertia of the load
 JM: Moment of inertia of the motor

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 Determine the values on the basis of the following table:

J L= J M JL= 5 * JM JL= 10 * JM
JL KPn TNn KPn TNn KPn TNn

1 kgcm2 0.0125 8 0.008 12 0.007 16

2 kgcm2 0.0250 8 0.015 12 0.014 16

5 kgcm2 0.0625 8 0.038 12 0.034 16

10 kgcm2 0.125 8 0.075 12 0.069 16

20 kgcm2 0.250 8 0.150 12 0.138 16

Determining Values for Less Rigid Mechanical Systems

For optimization purposes, determine the P gain of the velocity controller at which the controller adjusts
velocity _v_act as quickly as possible without overshooting.
 Set the integral action time CTRL1_TNn (CTRL2_TNn) to infinite (= 327.67 ms).
If a load torque acts on the motor when the motor is at a standstill, the integral action time must not exceed
a value that causes unwanted changes of the motor position.
If the motor is subject to loads when it is at a standstill, setting the integral action time to "infinite" may cause
position deviations (for example, in the case of vertical axes). Reduce the integral action time if the position
deviation is unacceptable in your application. However, reducing the integral action time can adversely
affect optimization results.

WARNING
UNINTENDED MOVEMENT
 Only start the system if there are no persons or obstructions in the zone of operation.
 Verify that the values for the velocity and the time do not exceed the available movement range.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in the
operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

 Trigger a step function.

 After the first test, verify the maximum amplitude for the reference value for the current _Iq_ref.
Set the amplitude of the reference value just high enough so the reference value for the current _Iq_ref
remains below the maximum value CTRL_I_max. On the other hand, the value selected should not be too
low, otherwise friction effects of the mechanical system will determine the performance of the control loop.
 Trigger another step function if you had to modify _v_ref and verify the amplitude of _Iq_ref.
 Increase or decrease the P gain in small increments until _v_act is obtained as fast as possible. The
following diagram shows the required transient response on the left. Overshooting - as shown on the
right - is reduced by reducing CTRL1_KPn (CTRL2_KPn).
Differences between _v_ref and _v_act result from setting CTRL1_TNn (CTRL2_TNn) to "Infinite".
Determining "TNn" for the aperiodic limit

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In the case of drive systems in which oscillations occur before the aperiodic limit is reached, the P gain
"KPn" must be reduced until oscillations can no longer be detected. This occurs frequently in the case of
linear axes with a toothed belt drive.

Graphic Determination of the 63% Value

Graphically determine the point at which the actual velocity _v_act reaches 63% of the final value. The
integral action time CTRL1_TNn (CTRL2_TNn) then results as a value on the time axis. The commissioning
software supports you with the evaluation:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_TNn Velocity controller integral action time ms UINT16 CANopen 3012:2h
ConF → The default value is calculated. 0.00 R/W Modbus 4612
drC- - per.
tin1 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action time ms UINT16 CANopen 3013:2h
ConF → The default value is calculated. 0.00 R/W Modbus 4868
drC- - per.
tin2 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.

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Verifying and Optimizing the P Gain

Step responses with good control performance

The controller is properly set when the step response is approximately identical to the signal shown. Good
control performance is characterized by
 Fast transient response
 Overshooting up to a maximum of 40%, 20%.
If the control performance does not correspond to the curve shown, change CTRL_KPn in increments of
about 10% and then trigger another step function:
 If the control is too slow: Use a higher CTRL1_KPn (CTRL2_KPn) value.
 If the control tends to oscillate: Use a lower CTRL1_KPn (CTRL2_KPn) value.
Oscillation ringing is characterized by continuous acceleration and deceleration of the motor.
Optimizing insufficient velocity controller settings

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Optimizing the Position Controller

An optimized velocity controller is a prerequisite for optimization of the position controller.

When tuning the position controller, you must optimize the P gain CTRL1_KPp (CTRL2_KPp):
 CTRL1_KPp (CTRL2_KPp) too high: Overshooting, instability
 CTRL1_KPp (CTRL2_KPp) too low: High position deviation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KPp Position controller P gain 1/s UINT16 CANopen 3012:3h
ConF → The default value is calculated. 2.0 R/W Modbus 4614
drC- - per.
PP1 In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL2_KPp Position controller P gain 1/s UINT16 CANopen 3013:3h
ConF → The default value is calculated. 2.0 R/W Modbus 4870
drC- - per.
PP2 In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.

The step function moves the motor at constant velocity until the specified time has expired.

WARNING
UNINTENDED MOVEMENT
 Only start the system if there are no persons or obstructions in the zone of operation.
 Verify that the values for the velocity and the time do not exceed the available movement range.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in the
operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Setting the Reference Value Signal

 Select Position Controller as the reference value in the commissioning software.
 Set the reference value signal:
 Signal type: "Step"
 For rotary motors: Set the amplitude to approx. 1/10 motor revolution.
The amplitude is entered in user-defined units. With the default scaling, the resolution is 16384 user-
defined units per motor revolution.

Selecting the Trace Signals

 Select the values in the box General Trace Parameters:
 Reference position of position controller _p_refusr (_p_ref)
 Actual position of position controller _p_actusr (_p_act)
 Actual velocity _v_act
 Reference value current _Iq_ref

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Optimizing the Position Controller Value

 Trigger a step function with the default controller values.
 After the first test, verify the values achieved for _v_act and _Iq_ref for current control and velocity
control. The values must not reach the current and velocity limitation range.
Step responses of a position controller with good control performance

The p gain setting CTRL1_KPp (CTRL2_KPp) is optimal if the reference value is reached rapidly and with
little or no overshooting.
If the control performance does not correspond to the curve shown, change the P gain CTRL1_KPp
(CTRL2_KPp) in increments of approximately 10% and trigger another step function.
 If the control tends to oscillate: Use a lower KPp value.
 If the actual value is too slow reaching the reference value: Use a higher KPp value.
Optimizing inadequate position controller settings

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Section 5.6
Parameter Management

Parameter Management

What Is in This Section?

This section contains the following topics:
Topic Page
Memory Card 173
Duplicating Existing Parameter Values 176
Resetting the User Parameters 177
Restoring Factory Settings 178

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Memory Card

The devices features a card holder for a memory card. The parameters stored on the memory card can be
transferred to other devices. If a device is replaced, a new device of the same type can be operated with
identical parameters.
The contents of the memory card is compared to the parameters stored in the device when the device is
powered on.
When the parameters are written to the EEPROM, they are also saved to the memory card.

Note the following:

 Use only genuine accessory memory cards.
 Do not touch the gold contacts.
 The insert/remove cycles of the memory card are limited.
 The memory card can remain in the device.
 The memory card can only be removed from the device by pulling (not by pushing).

Inserting a Memory Card

 Controller supply has been powered off.
 Insert the memory card into the device with the gold contacts face down; the slanted corner must be
face to the mounting plate.
 Power on the controller supply.
 Observe the 7-segment display during the initialization of the device.

Card is Displayed for a Short Period of Time

The device has detected a memory card. User intervention is not required.
The parameter values stored in the device and the contents of the memory card are identical. The data on
the memory card originates from the device into which the memory card is plugged in.

Card is Displayed Permanently

The device has detected a memory card. User intervention is required.

Cause Options
The memory card is new. The device data can be transferred
to the memory card.
The data on the memory card does The device data can be transferred
not match the device (different to the memory card.
device type, different motor type,
different firmware version).
The data on the memory card The device data can be transferred
matches the device, but the to the memory card.
parameter values are different. The data on the memory card can be
transferred to the device. If the
memory card is to remain in the
device, the device data must be
transferred to the memory card.

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Card is Not Displayed

The device has not detected a memory card. Power off the controller supply. Verify that the memory card
has been properly inserted (contacts, slanted corner).

Data Exchange with the Memory Card

If there are differences between the parameters on the memory card and the parameters stored in the
device, the device stops after initialization and displays CARD.

Copying Data or Ignoring the Memory Card (Cardignr, ctod, dtoc)

If the 7-segment display shows Card:
 Press the navigation button.
The 7-segment display shows the last setting, for example ignr.
 Briefly press the navigation button to activate the Edit mode.
The 7-segment display continues to display the last setting, the Edit LED lights.
 Select with the navigation button:
ignr ignores the memory card.
ctod transfers the data from the memory card to the device.
dtoc transfers the data from the device to the memory card.
The device switches to operating state 4 Ready To Switch On.

1 Data on the memory card and in the device are different: The device displays card and waits for user
intervention.
2 Transition to operating state 4 Ready To Switch On (memory card is ignored).
3 Transfer of data (ctod = card to device, dtoc = device to card) and transition to operating state
4 Ready To Switch On.

Memory Card has Been Removed (CARDmiss)

If you removed the memory card, the device displays CARD after initialization. If you confirm this, the
display shows miss. If you confirm again, the product transitions to the operating state
.4 Ready To Switch On.

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Write Protection for Memory Card (CARD, ENPR, dipr, prot)

It is possible to write-protect the memory card for LXM 32 (prot). For example, you may want to write-
protect memory cards used for regular duplication of device data.
To write-protect the memory card, select CONF - ACG-CARD on the HMI.

Selection Meaning
ENPR Write protection on (prot)
dipr Write protection off

Memory cards can also be write-protected via the commissioning software.

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Duplicating Existing Parameter Values

Application
Multiple devices are to have the same settings, for example, when devices are replaced.

Prerequisites
 Device type, motor type and firmware version must be identical.
 Tools for duplication:
 Memory card
 Commissioning software

 The controller supply must be powered on.

Duplication Using a Memory Card

Device settings can be stored on a memory card (accessories).
The stored device settings can be copied to a device of the same type. Note that the fieldbus address and
the settings for the monitoring functions are copied along with this information.

Duplication Using the Commissioning Software

The commissioning software can save the settings of a device in the form of a configuration file. The stored
device settings can be copied to a device of the same type. Note that the fieldbus address and the settings
for the monitoring functions are copied along with this information.
See the manual for the commissioning software for additional information.

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Resetting the User Parameters

The user parameters are reset by means of the parameter PARuserReset.

 Disconnect the drive from the fieldbus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PARuserReset Reset user parameters - UINT16 CANopen 3004:8h
ConF → 0 / No / no: No 0 R/W Modbus 1040
FCS- 65535 / Yes / yES: Yes - -
rESu Bit 0: Set persistent user and control loop 65535 -
parameters to default values
Bits 1 … 15: Reserved

The parameters are reset with the

exception of:
- Communication parameters
- Inversion of direction of movement
- Functions of digital inputs and outputs

The new settings are not saved to the

EEPROM.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

Resetting via the HMI

Use the menu items CONF -> FCS- -> rESu of the HMI to reset the user parameters. Confirm the
selection with yes.
The new settings are not saved to the EEPROM.
If the device transitions to the operating state "2 Not Ready To Switch On" after the user parameters are
reset, the new settings only become active until after the device is powered off and on again.

Resetting via the Commissioning Software

Use the menu items "Device -> User Functions -> Reset User Parameters" in the commissioning software
to reset the user parameters.
If the device transitions to the operating state "2 Not Ready To Switch On" after the user parameters are
reset, the new settings only become active until after the device is powered off and on again.

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Restoring Factory Settings

The parameter values, both active and those saved in non-volatile memory, are lost in this process.

NOTICE
LOSS OF DATA
Perform a backup of the drive parameters prior to restoring factory settings (factory established
parameter values).
Failure to follow these instructions can result in equipment damage.

The commissioning software allows you to save the parameter values set for a device as a configuration
file. For information on saving the existing parameters in the drive, see chapter Parameter Management
(see page 172).
The factory settings are restored by means of the parameter PARfactorySet.
 Disconnect the drive from the fieldbus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PARfactorySet Restore factory settings (default values) - UINT16 CANopen 3004:2h
ConF → No / no: No 0 R/W Modbus 1028
FCS- Yes / yES: Yes - -
rStF The parameters are reset to the factory 1 -
settings and subsequently saved to the
EEPROM.
The factory settings can be restored via the
HMI or the commissioning software.
The saving process is complete when the
parameter is read and 0 is returned.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

Factory Settings via HMI

Use the menu items CONF -> FCS- -> rStF of the HMI to restore the factory settings. Confirm the selection
with yes.
The new settings only become active until after the device is powered off and on again.

Factory Settings via Commissioning Software

Use the menu items "Device -> User Functions -> Restore factory Settings" in the commissioning software
to restore the factory settings.
The new settings only become active until after the device is powered off and on again.

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Operation
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Chapter 6
Operation

Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Access Channels 180
6.2 Movement Range 182
6.3 Modulo Range 187
6.4 Scaling 195
6.5 Digital Inputs and Outputs 200
6.6 Switching Between Control Loop Parameter Sets 210

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Section 6.1
Access Channels

Access Channels

Access Channels

The product can be accessed via different types of access channels. Simultaneous access via multiple
access channels or the use of exclusive access may cause unintended equipment operation.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that simultaneous access via multiple access channels cannot cause unintended triggering or
blocking of commands.
 Verify that the use of exclusive access cannot cause unintended triggering or blocking of commands.
 Verify that the required access channels are available.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The product can be addressed via different access channels. Access channels are:
 Integrated HMI
 External graphic display terminal
 Fieldbus
 Commissioning software
 Digital signal inputs
Only one access channel can have exclusive access to the product. An exclusive access can be provided
via different access channels:
 Via the integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI.
 Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access channels with the parameter
AccessLock.
 Via the commissioning software:
The commissioning software receives exclusive access via the switch "Exclusive access" in position
"On".
When the product is powered on, there is no exclusive access via an access channel.

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The signal input functions "Halt", "Fault Reset", "Enable", "Positive Limit Switch (LIMP)", "Negative Limit
Switch (LIMN)" and "Reference Switch (REF)" as well as the signals of the safety function STO (STO_A
and STO_B) are always effective during exclusive access.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AccessLock Locking other access channels - UINT16 CANopen 3001:Eh
Value 0: Allow control via other access 0 R/W Modbus 284
channels 0 -
Value 1: Lock control via other access 1 -
channels

Example:
The access channel is used by the fieldbus.
In this case, control via the commissioning
software or the HMI is not possible.

The access channel can only be locked

after the currently active operating mode
has terminated.
Changed settings become active
immediately.
HMIlocked Lock HMI - UINT16 CANopen 303A:1h
0 / Not Locked / nLoc: HMI not locked 0 R/W Modbus 14850
1 / Locked / Loc: HMI locked 0 per.
The following functions can no longer be 1 -
started when the HMI is locked:
- Parameter change
- Jog
- Autotuning
- Fault Reset
Changed settings become active
immediately.

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Section 6.2
Movement Range

Movement Range

What Is in This Section?

This section contains the following topics:
Topic Page
Size of the Movement Range 183
Movement Beyond the Movement Range 184
Setting a Modulo Range 186

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Size of the Movement Range

The movement range is the maximum possible range within which a movement can be made to any
position.
The actual position of the motor is the position in the movement range.
The figure below shows the movement range in user-defined units with the factory scaling.

A -268435456 user-defined units (usr_p)

B 268435455 user-defined units (usr_p)

Availability
The movement range is relevant in the following operating modes:
 Jog
 Profile Position
 Homing

Zero Point of the Movement Range

The zero point is the point of reference for absolute movements in the operating mode Profile Position.

Valid Zero Point

The zero point of the movement range is set by means of a reference movement or by position setting.
A reference movement and position setting can be performed in the operating mode Homing.
In the case of a movement beyond the movement range (for example, a relative movement), the zero point
becomes invalid.

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Movement Beyond the Movement Range

The behavior in the case of a movement beyond the movement range depends on the operating mode and
the type of movement.
The following behavior is possible:
 In the case of a movement beyond the movement range, the movement range restarts.
 In the case of a movement with a target position outside of the movement range, position setting to 0 is
performed before the movement is started.
As of firmware version ≥V01.06, you can use the parameter PP_ModeRangeLim to set the behavior.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PP_ModeRangeLim Absolute movement beyond movement - UINT16 CANopen 3023:7h
range 0 R/W Modbus 8974
0 / NoAbsMoveAllowed: Absolute 0 per.
movement beyond movement range is 1 -
not possible
1 / AbsMoveAllowed: Absolute
movement beyond movement range is
possible
Setting can only be changed if power
stage is disabled.
Changed settings become active the
next time the power stage is enabled.
Available with firmware version ≥
V01.06.

Behavior for Operating Mode Jog (Continuous Movement)

Behavior for continuous movement beyond the movement range:
 The movement range restarts.

Behavior for Operating Mode Jog (Step Movement)

Behavior for step movement beyond the movement range:
 With firmware version ≥V01.06 and setting via parameter PP_ModeRangeLim = 1:
The movement range restarts.
 With firmware version <V01.06:
Internal position setting to 0.

Behavior for Operating Mode Profile Position (Relative Movement)

Behavior for relative movement beyond the movement range:
 With firmware version ≥V01.06 and setting via parameter PP_ModeRangeLim = 1:
The movement range restarts.
A relative movement is possible when the motor is at a standstill and during movements
 With firmware version <V01.06:
Internal position setting to 0.
A relative movement is only possible when the motor is at a standstill.

Behavior for Operating Mode Profile Position (Absolute Movement)

Behavior for absolute movement:
 With firmware version ≥V01.06 and setting via parameter PP_ModeRangeLim = 1:
A relative movement beyond the movement range is possible.
 With firmware version <V01.06:
An absolute movement is made within the movement range. A relative movement beyond the
movement range is not possible.

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Example:
Actual position: 268435000 user-defined units (usr_p)
Target position absolute: -268435000 user-defined units (usr_p)

A -268435456 user-defined units (usr_p)

B 268435455 user-defined units (usr_p)
1 Actual position: 268435000 user-defined units
2 Absolute movement to -268435000 user-defined units with parameter PP_ModeRangeLim = 1
3 Absolute movement to -268435000 user-defined units with parameter PP_ModeRangeLim = 0

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Setting a Modulo Range

Description
The modulo range supports applications with repeating arrangements of target positions (such as rotary
indexing tables). The target positions are mapped to a parameterizable movement range.
For details see chapter Setting a Modulo Range (see page 188).

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Section 6.3
Modulo Range

Modulo Range

What Is in This Section?

This section contains the following topics:
Topic Page
Setting a Modulo Range 188
Parameterization 189
Examples with Relative Movements 191
Examples with Absolute Movements and "Shortest Distance" 192
Examples with Absolute Movements and "Positive Direction" 193
Examples with Absolute Movements and "Negative Direction" 194

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Setting a Modulo Range

Availability
Available with firmware version ≥V01.03.

Description
The modulo range supports applications with repeating arrangements of target positions (such as rotary
indexing tables). The target positions are mapped to a parameterizable movement range.

Direction of Movement
The direction of movement for absolute target positions can be adjusted to meet the requirements of the
application.
 Shortest distance
 Positive direction of movement only
 Negative direction of movement only

Multiple Modulo Range

In addition, it is possible to set a multiple modulo range for absolute target positions. A movement with an
absolute target position beyond the modulo range is performed in a way as if several modulo ranges had
been arranged one after the other.
Example:
 Modulo range
 Minimum position: 0 usr_p
 Maximum position: 3600 usr_p

 Actual position: 700 usr_p

 Target positions absolute: 5000 usr_p
 Left: Without multiple modulo range
Right: With multiple modulo range
Multiple modulo range

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Parameterization

Overview
Overview of parameters

Scaling
Using a modulo range requires the scaling to be adapted. The scaling of the motor must be adapted to the
requirements of the application, see chapter Scaling (see page 195).

Activation
The modulo range is activated with the parameter MOD_Enable.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_Enable Activation of Modulo - UINT16 CANopen
ConF → 0 / Modulo Off / oFF: Modulo is off 0 R/W 3006:38h
ACG- 1 / Modulo On / on: Modulo is on 0 per. Modbus 1648
AtyP Setting can only be changed if power stage 1 -
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.

Modulo Range
The parameters MOD_Min and MOD_Max can be used to set the modulo range.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_Min Minimum position of modulo range usr_p INT32 CANopen
The minimum position value of the modulo - R/W 3006:39h
range must be less than the maximum 0 per. Modbus 1650
position value of the modulo range. - -
The value must not exceed the maximum
possible value of position scaling
_ScalePOSmax.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_Max Maximum position of modulo range usr_p INT32 CANopen
The maximum position value of the modulo - R/W 3006:3Ah
range must be greater than the minimum 3600 per. Modbus 1652
position value of the modulo range. - -
The value must not exceed the maximum
possible value of position scaling
_ScalePOSmax.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.

Direction for Absolute Movements

The parameter MOD_AbsDirection lets you set the direction of movement for absolute movements.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_AbsDirection Direction of absolute movement with - UINT16 CANopen
Modulo 0 R/W 3006:3Bh
0 / Shortest Distance: Movement with 0 per. Modbus 1654
shortest distance 2 -
1 / Positive Direction: Movement only
in positive direction
2 / Negative Direction: Movement only
in negative direction
If the parameter is set to 0, the drive
calculates the shortest way to the new
target position and starts the
movement in the corresponding
direction. If the distance to the target
position is identical in positive and
negative directions, the movement
takes place in positive direction.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.

Multiple Modulo Range for Absolute Movements

The parameter MOD_AbsMultiRng lets you set a multiple modulo range for absolute movements.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_AbsMultiRng Multiple ranges for absolute movement - UINT16 CANopen
with Modulo 0 R/W 3006:3Ch
0 / Multiple Ranges Off: Absolute 0 per. Modbus 1656
movement in one modulo range 1 -
1 / Multiple Ranges On: Absolute
movement in multiple modulo ranges
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.

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Examples with Relative Movements

Assumptions
The settings below are assumed for the examples.
 Rotary motor
 Position scaling
 Numerator: 1
 Denominator: 3600

 Modulo range
 Minimum position: 0 usr_p
 Maximum position: 3600 usr_p

 Actual position: 700 usr_p

Example 1
Target positions relative: 500 usr_p and 3300 usr_p

Example 2
Target positions relative: -500 usr_p and -3300 usr_p

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Examples with Absolute Movements and "Shortest Distance"

Assumptions
The settings below are assumed for the examples.
 Rotary motor
 Position scaling
 Numerator: 1
 Denominator: 3600

 Modulo range
 Minimum position: 0 usr_p
 Maximum position: 3600 usr_p

 Actual position: 700 usr_p

Example 1
Target positions absolute: 1500 usr_p and 5000 usr_p

Example 2
Target positions absolute: 2500 usr_p and 2900 usr_p

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Examples with Absolute Movements and "Positive Direction"

Assumptions
The settings below are assumed for the examples.
 Rotary motor
 Position scaling
 Numerator: 1
 Denominator: 3600

 Modulo range
 Minimum position: 0 usr_p
 Maximum position: 3600 usr_p

 Actual position: 700 usr_p

Parameter MOD_AbsDirection: Positive Direction

Example 1
Parameter MOD_AbsMultiRng: Off
Target positions absolute: 1500 usr_p and 5000 usr_p

Example 2
Parameter MOD_AbsMultiRng: On
Target positions absolute: 1500 usr_p and 5000 usr_p

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Examples with Absolute Movements and "Negative Direction"

Assumptions
The settings below are assumed for the examples.
 Rotary motor
 Position scaling
 Numerator: 1
 Denominator: 3600

 Modulo range
 Minimum position: 0 usr_p
 Maximum position: 3600 usr_p

 Actual position: 700 usr_p

Parameter MOD_AbsDirection: Negative Direction

Example 1
Parameter MOD_AbsMultiRng: Off
Target positions absolute: 1500 usr_p and -5000 usr_p

Example 2
Parameter MOD_AbsMultiRng: On
Target positions absolute: 1500 usr_p and -5000 usr_p

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Section 6.4
Scaling

Scaling

What Is in This Section?

This section contains the following topics:
Topic Page
General 196
Configuration of position scaling 197
Configuration of Velocity Scaling 198
Configuration of Ramp Scaling 199

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General

Scaling converts user-defined units into internal units of the device, and vice versa.

User-Defined Units
Values for positions, velocities, acceleration and deceleration are specified in the following user-defined
unit:
 usr_p for positions
 usr_v for velocities
 usr_a for acceleration and deceleration
Modifying the scaling modifies the ratio between user-defined units and internal units. After a modification
to the scaling, one and the same value of a parameter specified in a user-defined unit causes a different
movement than before the modification. A modification of the scaling affects all parameters whose values
are specified in user-defined units.

WARNING
UNINTENDED MOVEMENT
 Verify all parameters with user-defined units before modifying the scaling factor.
 Verify that a modification of the scaling factor cannot cause unintended movements.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Scaling Factor
The scaling factor is the relationship between the motor movement and the required user-defined units.

Commissioning Software
As of firmware version ≥V01.06, you can adjust the scaling via the commissioning software. The
parameters with user-defined units are automatically checked and adjusted.

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Configuration of position scaling

Position scaling is the relationship between the number of motor revolutions and the required user-defined
units (usr_p).

Scaling Factor
Position scaling is specified by means of scaling factor:
In the case of a rotary motor, the scaling factor is calculated as shown below:

A new scaling factor is activated when you specify the numerator value.
With a scaling factor of < 1 / 131072, it is not possible to perform a movement outside of the movement
range.

Factory Setting
The following factory settings are used:
 1 motor revolution corresponds to 16384 user-defined units

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ScalePOSnum Position scaling: Numerator revolution INT32 CANopen 3006:8h
Specification of the scaling factor: 1 R/W Modbus 1552
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr_p]

A new scaling is activated when the

numerator value is supplied.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
ScalePOSdenom Position scaling: Denominator usr_p INT32 CANopen 3006:7h
Refer to numerator (ScalePOSnum) for a 1 R/W Modbus 1550
description. 16384 per.
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.

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Configuration of Velocity Scaling

Velocity scaling is the relationship between the number of motor revolutions per minute and the required
user-defined units (usr_v).

Scaling Factor
Velocity scaling is specified by means of scaling factor:
In the case of a rotary motor, the scaling factor is calculated as shown below:

Factory Setting
The following factory settings are used:
 1 motor revolution per minute corresponds to 1 user-defined unit

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ScaleVELnum Velocity scaling: Numerator rpm INT32 CANopen
Specification of the scaling factor: 1 R/W 3006:22h
1 per. Modbus 1604
Speed of rotation of motor [min-1] 2147483647 -
--------------------------------------------------
User-defined units [usr_v]

A new scaling is activated when the

numerator value is supplied.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
ScaleVELdenom Velocity scaling: Denominator usr_v INT32 CANopen
See numerator (ScaleVELnum) for a 1 R/W 3006:21h
description. 1 per. Modbus 1602
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.

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Configuration of Ramp Scaling

Ramp scaling is the relationship between the change in velocity and the required user-defined units
(usr_a).

Scaling Factor
Ramp scaling is specified by means of scaling factor:

Factory Setting
The following factory settings are used:
 A change of 1 motor revolution per minute per second corresponds to 1 user-defined unit.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ScaleRAMPnum Ramp scaling: Numerator rpm/s INT32 CANopen
Setting can only be changed if power stage 1 R/W 3006:31h
is disabled. 1 per. Modbus 1634
Changed settings become active 2147483647 -
immediately.
ScaleRAMPdenom Ramp scaling: Denominator usr_a INT32 CANopen
See numerator (ScaleRAMPnum) for a 1 R/W 3006:30h
description. 1 per. Modbus 1632
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.

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Section 6.5
Digital Inputs and Outputs

Digital Inputs and Outputs

What Is in This Section?

This section contains the following topics:
Topic Page
Parameterization of the Signal Input Functions 201
Parameterization of the Signal Output Functions 206
Parameterization of Software Debouncing 209

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Parameterization of the Signal Input Functions

Signal Input Function

Various signal input functions can be assigned to the digital signal inputs.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the wiring is appropriate for the settings.
 Only start the system if there are no persons or obstructions in the zone of operation.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Factory Settings
The table below shows the factory settings of the digital signal inputs:

Signal Signal input function

DI0 Freely Available
DI1 Reference Switch (REF)
DI2 Positive Limit Switch (LIMP)
DI3 Negative Limit Switch (LIMN)

Parameterization
The table below provides an overview of the possible signal input functions:

Signal input function Description in chapter

Freely Available Setting a Signal Output via
Parameter (see page 290)
Fault Reset Changing the Operating State via
Signal Inputs (see page 236)
Enable Changing the Operating State via
Signal Inputs (see page 236)
Halt Stop Movement with Halt
(see page 284)
Start Profile Positioning Starting and Changing an
Operating Mode (see page 238)
Current Limitation Limitation of the Current via
Signal Inputs (see page 288)
Zero Clamp Zero Clamp (see page 289)
Velocity Limitation Limitation of the Velocity via
Signal Inputs (see page 287)
Reference Switch (REF) Reference Switch
(see page 306)
Positive Limit Switch (LIMP) Limit Switches (see page 305)
Negative Limit Switch (LIMN) Limit Switches (see page 305)
Switch Controller Parameter Set Switching Between Control Loop
Parameter Sets (see page 210)
Velocity Controller Integral Off Switching Between Control Loop
Parameter Sets (see page 210)
Start Signal Of RMAC Relative Movement After Capture
(RMAC) (see page 299)
Activate RMAC Relative Movement After Capture
(RMAC) (see page 299)
Release Holding Brake Releasing the Holding Brake
Manually (see page 148)

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The following parameters can be used to parameterize the digital signal inputs:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI0 Function Input DI0 - UINT16 CANopen 3007:1h
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1794
o- required - per.
di0 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning / SPtP: Start
request for movement
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI1 Function Input DI1 - UINT16 CANopen 3007:2h
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1796
o- required - per.
di1 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning / SPtP: Start
request for movement
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI2 Function Input DI2 - UINT16 CANopen 3007:3h
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1798
o- required - per.
di2 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning / SPtP: Start
request for movement
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI3 Function Input DI3 - UINT16 CANopen 3007:4h
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1800
o- required - per.
di3 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning / SPtP: Start
request for movement
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameterization of the Signal Output Functions

Signal Function
Various signal output functions can be assigned to the digital signal outputs.
In the case of a detected error the state of the signal outputs remains active according to assigned signal
output function.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the wiring is appropriate for the settings.
 Only start the system if there are no persons or obstructions in the zone of operation.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Factory Settings
The table below shows the factory settings of the digital signal outputs:

Signal Signal output function

DQ0 No Fault
DQ1 Active

Parameterization
The table below provides an overview of the possible signal output functions:

Signal output function Description in chapter

Freely Available Setting a Signal Output via
Parameter (see page 290)
No Fault Indication of the Operating State
via Signal Inputs (see page 233)
Active Indication of the Operating State
via Signal Inputs (see page 233)
RMAC Active Or Finished Relative Movement After Capture
(RMAC) (see page 299)
In Position Deviation Window Position Deviation Window
(see page 324)
In Velocity Deviation Window Velocity Deviation Window
(see page 326)
Velocity Below Threshold Velocity Threshold Value
(see page 328)
Current Below Threshold Current Threshold Value
(see page 330)
Halt Acknowledge Stop Movement with Halt
(see page 284)
Motor Standstill Motor Standstill and Direction of
Movement (see page 314)
Selected Error Indicating Error Messages
(see page 354)
Drive Referenced (ref_ok) Operating Mode Homing
(see page 265)
Selected Warning Indicating Error Messages
(see page 354)
Position Register Channel 1 Position Register (see page 319)
Position Register Channel 2 Position Register (see page 319)
Position Register Channel 3 Position Register (see page 319)
Position Register Channel 4 Position Register (see page 319)

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Signal output function Description in chapter

Motor Moves Positive Motor Standstill and Direction of
Movement (see page 314)
Motor Moves Negative Motor Standstill and Direction of
Movement (see page 314)

The following parameters can be used to parameterize the digital signal outputs:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ0 Function Output DQ0 - UINT16 CANopen 3007:9h
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1810
o- required - per.
do0 2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
15 / Valid Reference (ref_ok) / rEFo:
Zero point is valid (ref_ok)
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
18 / Position Register Channel 1 / PrC1:
Position register channel 1
19 / Position Register Channel 2 / PrC2:
Position register channel 2
20 / Position Register Channel 3 / PrC3:
Position register channel 3
21 / Position Register Channel 4 / PrC4:
Position register channel 4
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ1 Function Output DQ1 - UINT16 CANopen 3007:Ah
ConF → i- 1 / Freely Available / nonE: Available as - R/W Modbus 1812
o- required - per.
do1 2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
15 / Valid Reference (ref_ok) / rEFo:
Zero point is valid (ref_ok)
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
18 / Position Register Channel 1 / PrC1:
Position register channel 1
19 / Position Register Channel 2 / PrC2:
Position register channel 2
20 / Position Register Channel 3 / PrC3:
Position register channel 3
21 / Position Register Channel 4 / PrC4:
Position register channel 4
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

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Parameterization of Software Debouncing

Debounce Time
Signal input debouncing comprises hardware debouncing and software debouncing.
Hardware debounce time is permanently set, see chapter Signals (see page 38).
When a set signal function is changed and when the product is powered off and on again, software
debouncing is reset to the factory setting.
The software debounce time can be set via the following parameters.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DI_0_Debounce Debounce time of DI0 - UINT16 CANopen
ConF → i- 0 / No: No software debouncing 0 R/W 3008:20h
o- 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2112
tdi0 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_1_Debounce Debounce time of DI1 - UINT16 CANopen
ConF → i- 0 / No: No software debouncing 0 R/W 3008:21h
o- 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2114
tdi1 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_2_Debounce Debounce time of DI2 - UINT16 CANopen
ConF → i- 0 / No: No software debouncing 0 R/W 3008:22h
o- 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2116
tdi2 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_3_Debounce Debounce time of DI3 - UINT16 CANopen
ConF → i- 0 / No: No software debouncing 0 R/W 3008:23h
o- 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2118
tdi3 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.

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Section 6.6
Switching Between Control Loop Parameter Sets

Switching Between Control Loop Parameter Sets

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of the Controller Structure 211
Overview of Position Controller 212
Overview of Velocity Controller 213
Overview of Current Controller 214
Parameterizable Control Loop Parameters 215
Selecting a Control Loop Parameter Set 216
Automatically Switching Between Control Loop Parameter Sets 217
Copying a Control Loop Parameter Set 220
Deactivating the Integral Term 221
Control Loop Parameter Set 1 222
Control Loop Parameter Set 2 224

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Overview of the Controller Structure

The illustration below provides an overview of the controller structure.

1 Position controller
2 Velocity controller
3 Current controller
4 Encoder evaluation

Position Controller
The position controller reduces the difference between the reference position and the actual position of the
motor (position deviation) to a minimum. When the motor is at a standstill, the position deviation is close
to zero in the case of a well-tuned position controller.
An optimized velocity control loop is a prerequisite for good amplification of the position controller.

Velocity Controller
The velocity controller controls the motor velocity by varying the motor current depending on the load
situation. The velocity controller has a decisive influence on the dynamic response of the drive. The
dynamics of the velocity controller depend on:
 Moment of inertia of the drive and the controlled system
 Power of the motor
 Stiffness and elasticity of the elements in the flow of forces
 Backlash of the drive elements
 Friction

Current Controller
The current controller determines the torque of the motor. The current controller is automatically optimally
tuned with the stored motor data.

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Overview of Position Controller

The illustration below provides an overview of the position controller.

1 Target values for the operating modes Jog, Profile Position and Homing
2 Motion profile for the velocity
3 Velocity feed-forward control
4 Position controller

Sampling Period
The sampling period of the position controller is 250 µs.

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Overview of Velocity Controller

The illustration below provides an overview of the velocity controller.

1 Target values for the operating mode Profile Velocity

2 Motion profile for the velocity
3 Velocity limitation
4 Overshoot suppression filter (parameter accessible in Expert mode)
5 Filter time constant of the reference velocity value filter
6 Acceleration feed forward control (parameter accessible in Expert mode)
7 Friction compensation (parameter accessible in Expert mode)
8 Velocity Loop Controller

Sampling Period
The sampling period of the velocity controller is 62.5 µs.

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Overview of Current Controller

The illustration below provides an overview of the current controller.

1 Target values for the operating mode Profile Torque

2 Motion profile for the torque
3 Current limitation
4 Notch filter (parameter accessible in Expert mode)
5 Filter time constant of the reference current value filter
6 Current controller
7 Power stage

Sampling Period
The sampling period of the current controller is 62.5 µs.

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Parameterizable Control Loop Parameters

Control Loop Parameter Set

The product features 2 control loop parameter sets that can be parameterized separately. The values for
the control loop parameters determined during autotuning are stored in control loop parameter set 1.
A control loop parameter set consists of freely accessible parameters and parameters which are only
accessible in Expert mode.

Control loop parameter set 1 Control loop parameter set 2

Freely accessible parameters: Freely accessible parameters:
CTRL1_KPn CTRL2_KPn
CTRL1_TNn CTRL2_TNn
CTRL1_KPp CTRL2_KPp
CTRL1_TAUiref CTRL2_TAUiref
CTRL1_TAUnref CTRL2_TAUnref
CTRL1_KFPp CTRL2_KFPp
Parameters only accessible in expert Parameters only accessible in expert
mode: mode:
CTRL1_Nf1damp CTRL2_Nf1damp
CTRL1_Nf1freq CTRL2_Nf1freq
CTRL1_Nf1bandw CTRL2_Nf1bandw
CTRL1_Nf2damp CTRL2_Nf2damp
CTRL1_Nf2freq CTRL2_Nf2freq
CTRL1_Nf2bandw CTRL2_Nf2bandw
CTRL1_Osupdamp CTRL2_Osupdamp
CTRL1_Osupdelay CTRL2_Osupdelay
CTRL1_Kfric CTRL2_Kfric

See chapters Control Loop Parameter Set 1 (see page 222) and Control Loop Parameter Set 2
(see page 224).

Parameterization
 Selecting a control loop parameter set
Select a control loop parameter set after switching on.
See chapter Selecting a Control Loop Parameter Set (see page 216).
 Automatically switching between control loop parameter sets
It is possible to switch between the two control loop parameter sets.
See chapter Automatically Switching Between Control Loop Parameter Sets (see page 217).
 Copying a control loop parameter set
The values of control loop parameter set 1 can be copied to control loop parameter set 2.
See chapter Copying a Control Loop Parameter Set (see page 220).
 Deactivating the integral term
The integral term and, by implication, the integral action time, can be deactivated via a digital signal
input.
See chapter Deactivating the Integral Term (see page 221).

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Selecting a Control Loop Parameter Set

The active control loop parameter set is indicated via the parameter _CTRL_ActParSet.
The parameter CTRL_PwrUpParSet allows you to set the control loop parameter set to be activated after
powering on. Alternatively, you can set whether or not the product is to switch automatically between the
two control loop parameter sets.
The parameter CTRL_SelParSet allows you to switch between the two control loop parameter sets
during operation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_CTRL_ActParSet Active control loop parameter set - UINT16 CANopen
Value 1: Control loop parameter set 1 is - R/- 3011:17h
active - - Modbus 4398
Value 2: Control loop parameter set 2 is - -
active

A control loop parameter set is active

after the time for the parameter
switching (CTRL_ParChgTime) has
elapsed.
CTRL_PwrUpParSet Selection of control loop parameter set - UINT16 CANopen
at power up 0 R/W 3011:18h
0 / Switching Condition: The switching 1 per. Modbus 4400
condition is used for control loop 2 -
parameter set switching
1 / Parameter Set 1: Control loop
parameter set 1 is used
2 / Parameter Set 2: Control loop
parameter set 2 is used
The selected value is also written to
CTRL_SelParSet (non-persistent).
Changed settings become active
immediately.
CTRL_SelParSet Selection of control loop parameter set - UINT16 CANopen
(non-persistent) 0 R/W 3011:19h
Coding see parameter: 1 - Modbus 4402
CTRL_PwrUpParSet 2 -
Changed settings become active
immediately.

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Automatically Switching Between Control Loop Parameter Sets

It is possible to automatically switch between the two control loop parameter sets.
The following criteria can be set for switching between the control loop parameter sets:
 Digital signal input
 Position deviation window
 Target velocity below parameterizable value
 Actual velocity below parameterizable value

Settings
The illustration below provides an overview of switching between the parameter sets.

Time Chart
The freely accessible parameters are changed linearly. This linear change of the values of control loop
parameter set 1 to the values of control loop parameter set 2 takes place during the parameterizable time
CTRL_ParChgTime.
The parameters only accessible in Expert mode are directly changed to the values of the other control loop
parameter set after the parameterizable time CTRL_ParChgTime has passed.
The figure below shows the time chart for switching the control loop parameters.
Time chart for switching the control loop parameter sets

1 Freely accessible parameters are changed linearly over time

2 Parameters which are only accessible in Expert mode are switched over directly

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CLSET_ParSwiCond Condition for parameter set switching - UINT16 CANopen
0 / None Or Digital Input: None or digital 0 R/W 3011:1Ah
input function selected 0 per. Modbus 4404
1 / Inside Position Deviation: Inside 4 -
position deviation (value definition in
parameter CLSET_p_DiffWin)
2 / Below Reference Velocity: Below
reference velocity (value definition in
parameter CLSET_v_Threshol)
3 / Below Actual Velocity: Below actual
velocity (value definition in parameter
CLSET_v_Threshol)
4 / Reserved: Reserved
In the case of parameter set switching,
the values of the following parameters
are changed gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

The following parameters are changed

immediately after the time for parameter
set switching (CTRL_ParChgTime):
- CTRL_Nf1damp
- CTRL_Nf1freq
- CTRL_Nf1bandw
- CTRL_Nf2damp
- CTRL_Nf2freq
- CTRL_Nf2bandw
- CTRL_Osupdamp
- CTRL_Osupdelay
- CTRL_Kfric
Changed settings become active
immediately.
CLSET_p_DiffWin_ Position deviation for control loop usr_p INT32 CANopen
usr parameter set switching 0 R/W 3011:25h
If the position deviation of the position 164 per. Modbus 4426
controller is less than the value of this 2147483647 -
parameter, control loop parameter set 2
is used. Otherwise, control loop
parameter set 1 is used.

The minimum value, the factory setting

and the maximum value depend on the
scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CLSET_p_DiffWin Position deviation for control loop revolution UINT16 CANopen
parameter set switching 0.0000 R/W 3011:1Ch
If the position deviation of the position 0.0100 per. Modbus 4408
controller is less than the value of this 2.0000 -
parameter, control loop parameter set 2
is used. Otherwise, control loop
parameter set 1 is used.

The parameter CLSET_p_DiffWin_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
CLSET_v_Threshol Velocity threshold for control loop usr_v UINT32 CANopen
parameter set switching 0 R/W 3011:1Dh
If the reference velocity or the actual 50 per. Modbus 4410
velocity are less than the value of this 2147483647 -
parameter, control loop parameter set 2
is used. Otherwise, control loop
parameter set 1 is used.
Changed settings become active
immediately.
CLSET_winTime Time window for parameter set ms UINT16 CANopen
switching 0 R/W 3011:1Bh
Value 0: Window monitoring 0 per. Modbus 4406
deactivated. 1000 -
Value >0: Window time for the
parameters CLSET_v_Threshol and
CLSET_p_DiffWin.
Changed settings become active
immediately.
CTRL_ParChgTime Period of time for control loop parameter ms UINT16 CANopen
set switching 0 R/W 3011:14h
In the case of control loop parameter set 0 per. Modbus 4392
switching, the values of the following 2000 -
parameters are changed gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

Such a switching can be caused by

- change of the active control loop
parameter set
- change of the global gain
- change of any of the parameters listed
above
- deactivating the integral term of the
velocity controller
Changed settings become active
immediately.

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Copying a Control Loop Parameter Set

The parameter CTRL_ParSetCopy allows you to copy the values of control loop parameter set 1 to control
loop parameter set 2 or the values of control loop parameter set 2 to control loop parameter set 1.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_ParSetCopy Control loop parameter set copying - UINT16 CANopen
Value 1: Copy control loop parameter set 0.0 R/W 3011:16h
1 to set 2 - - Modbus 4396
Value 2: Copy control loop parameter set 0.2 -
2 to set 1

If control loop parameter set 2 is copied

to control loop parameter set 1, the
parameter CTRL_GlobGain is set to
100%.
Changed settings become active
immediately.

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Deactivating the Integral Term

The integral term of the velocity controller can be deactivated via the signal input function "Velocity
Controller Integral Off". If the integral term is deactivated, the integral action time of the velocity controller
(CTRL1_TNn and CTRL2_TNn) is implicitly and gradually reduced to zero. The time it takes to reduce the
value to zero depends on the parameter CTRL_ParChgTime. In the case of vertical axes, the integral term
is needed to reduce position deviations during standstill.

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Control Loop Parameter Set 1

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KPn Velocity controller P gain A/rpm UINT16 CANopen 3012:1h
ConF → drC- The default value is calculated on the 0.0001 R/W Modbus 4610
Pn1 basis of the motor parameters. - per.
2.5400 -
In the case of switching between the two
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL1_TNn Velocity controller integral action time ms UINT16 CANopen 3012:2h
ConF → drC- The default value is calculated. 0.00 R/W Modbus 4612
tin1 - per.
In the case of switching between the two 327.67 -
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_KPp Position controller P gain 1/s UINT16 CANopen 3012:3h
ConF → drC- The default value is calculated. 2.0 R/W Modbus 4614
PP1 - per.
In the case of switching between the two 900.0 -
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL1_TAUiref Filter time constant of the reference ms UINT16 CANopen 3012:5h
current value filter 0.00 R/W Modbus 4618
In the case of switching between the two 0.50 per.
control loop parameter sets, the values 4.00 -
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TAUnref Filter time constant of the reference ms UINT16 CANopen 3012:4h
ConF → drC- velocity value filter 0.00 R/W Modbus 4616
tAu1 In the case of switching between the two 9.00 per.
control loop parameter sets, the values 327.67 -
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KFPp Velocity feed-forward control % UINT16 CANopen 3012:6h
ConF → drC- In the case of switching between the two 0.0 R/W Modbus 4620
FPP1 control loop parameter sets, the values 0.0 per.
are changed linearly over the time 200.0 -
defined in the parameter
CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL1_Nf1damp Notch filter 1: Damping % UINT16 CANopen 3012:8h
In increments of 0.1 %. 55.0 R/W Modbus 4624
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf1freq Notch filter 1: Frequency Hz UINT16 CANopen 3012:9h
The filter is deactivated at a value of 50.0 R/W Modbus 4626
15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL1_Nf1bandw Notch filter 1: Bandwidth % UINT16 CANopen 3012:Ah
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4628
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf2damp Notch filter 2: Damping % UINT16 CANopen 3012:Bh
In increments of 0.1 %. 55.0 R/W Modbus 4630
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf2freq Notch filter 2: Frequency Hz UINT16 CANopen 3012:Ch
The filter is deactivated at a value of 50.0 R/W Modbus 4632
15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL1_Nf2bandw Notch filter 2: Bandwidth % UINT16 CANopen 3012:Dh
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4634
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Osupdamp Overshoot suppression filter: Damping % UINT16 CANopen 3012:Eh
The filter is deactivated at a value of 0. 0.0 R/W Modbus 4636
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL1_Osupdelay Overshoot suppression filter: Time delay ms UINT16 CANopen 3012:Fh
The filter is deactivated at a value of 0. 0.00 R/W Modbus 4638
In increments of 0.01 ms. 0.00 per.
Changed settings become active 75.00 expert
immediately.
CTRL1_Kfric Friction compensation: Gain Arms UINT16 CANopen
In increments of 0.01 Arms. 0.00 R/W 3012:10h
Changed settings become active 0.00 per. Modbus 4640
immediately. 10.00 expert

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Control Loop Parameter Set 2

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_KPn Velocity controller P gain A/rpm UINT16 CANopen 3013:1h
ConF → drC- The default value is calculated on the 0.0001 R/W Modbus 4866
Pn2 basis of the motor parameters. - per.
2.5400 -
In the case of switching between the two
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action time ms UINT16 CANopen 3013:2h
ConF → drC- The default value is calculated. 0.00 R/W Modbus 4868
tin2 - per.
In the case of switching between the two 327.67 -
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_KPp Position controller P gain 1/s UINT16 CANopen 3013:3h
ConF → drC- The default value is calculated. 2.0 R/W Modbus 4870
PP2 - per.
In the case of switching between the two 900.0 -
control loop parameter sets, the values
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL2_TAUiref Filter time constant of the reference ms UINT16 CANopen 3013:5h
current value filter 0.00 R/W Modbus 4874
In the case of switching between the two 0.50 per.
control loop parameter sets, the values 4.00 -
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUnref Filter time constant of the reference ms UINT16 CANopen 3013:4h
ConF → drC- velocity value filter 0.00 R/W Modbus 4872
tAu2 In the case of switching between the two 9.00 per.
control loop parameter sets, the values 327.67 -
are changed linearly over the time
defined in the parameter
CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_KFPp Velocity feed-forward control % UINT16 CANopen 3013:6h
ConF → drC- In the case of switching between the two 0.0 R/W Modbus 4876
FPP2 control loop parameter sets, the values 0.0 per.
are changed linearly over the time 200.0 -
defined in the parameter
CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL2_Nf1damp Notch filter 1: Damping % UINT16 CANopen 3013:8h
In increments of 0.1 %. 55.0 R/W Modbus 4880
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf1freq Notch filter 1: Frequency Hz UINT16 CANopen 3013:9h
The filter is deactivated at a value of 50.0 R/W Modbus 4882
15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL2_Nf1bandw Notch filter 1: Bandwidth % UINT16 CANopen 3013:Ah
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4884
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf2damp Notch filter 2: Damping % UINT16 CANopen 3013:Bh
In increments of 0.1 %. 55.0 R/W Modbus 4886
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf2freq Notch filter 2: Frequency Hz UINT16 CANopen 3013:Ch
The filter is deactivated at a value of 50.0 R/W Modbus 4888
15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL2_Nf2bandw Notch filter 2: Bandwidth % UINT16 CANopen 3013:Dh
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4890
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Osupdamp Overshoot suppression filter: Damping % UINT16 CANopen 3013:Eh
The filter is deactivated at a value of 0. 0.0 R/W Modbus 4892
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL2_Osupdelay Overshoot suppression filter: Time ms UINT16 CANopen 3013:Fh
delay 0.00 R/W Modbus 4894
The filter is deactivated at a value of 0. 0.00 per.
In increments of 0.01 ms. 75.00 expert
Changed settings become active
immediately.
CTRL2_Kfric Friction compensation: Gain Arms UINT16 CANopen
In increments of 0.01 Arms. 0.00 R/W 3013:10h
Changed settings become active 0.00 per. Modbus 4896
immediately. 10.00 expert

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 Lexium 32A
Operating States and Operating Modes
0198441113755 09/2017

Chapter 7
Operating States and Operating Modes

Operating States and Operating Modes

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
7.1 Operating States 228
7.2 Operating Modes 238
7.3 Operating Mode Jog 239
7.4 Operating Mode Profile Torque 245
7.5 Operating Mode Profile Velocity 250
7.6 Operating Mode Profile Position 254
7.7 Operating Mode Interpolated Position 259
7.8 Operating Mode Homing 265

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Operating States and Operating Modes

Section 7.1
Operating States

Operating States

What Is in This Section?

This section contains the following topics:
Topic Page
State Diagram and State Transitions 229
Indication of the Operating State via HMI 232
Indication of the Operating State via Signal Outputs 233
Indication of the Operating State via Fieldbus 234
Changing the Operating State via HMI 235
Changing the Operating State via Signal Inputs 236
Changing the Operating State via Fieldbus 237

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 Operating States and Operating Modes

State Diagram and State Transitions

State Diagram
When the product is powered on and when an operating mode is started, the product goes through a
number of operating states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions.
The operating states are internally monitored and influenced by monitoring functions.

Operating States

Operating state Description

1 Start Electronics are initialized
2 Not Ready To Switch On The power stage is not ready to switch on
3 Switch On Disabled Impossible to enable the power stage
4 Ready To Switch On The power stage is ready to switch on.
5 Switched On Power stage is switched on
6 Operation Enabled Power stage is enabled
Selected operating mode is active
7 Quick Stop Active "Quick Stop" is being executed
8 Fault Reaction Active Error response is active
9 Fault Error response terminated
Power stage is disabled

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Operating States and Operating Modes

Error Class
The errors are classified according to the following error classes:

Error class State transition Error response Resetting an error message

0 - No interruption of the movement Function "Fault Reset"
1 T11 Stop movement with "Quick Stop" Function "Fault Reset"
2 T13, T14 Stop movement with "Quick Stop" and disable Function "Fault Reset"
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function "Fault Reset"
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first

Error Response
The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence
signals an error to which the device must react.

Error class Response

2 Movement is stopped with "Quick Stop"
Holding brake is applied
Power stage is disabled
3, 4 or Safety function Power stage is immediately disabled
STO

An error can be triggered by a temperature sensor, for example. The product cancels the current
movement and triggers an error response. Subsequently, the operating state changes to 9 Fault.

Resetting an Error Message

A "Fault Reset" resets an error message.
In the event of a "Quick Stop" triggered by a detected error of class 1 (operating state 7 Quick Stop Active),
a "Fault Reset" causes a direct transition to operating state 6 Operation Enabled.

State Transitions
State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring
function.

State Operating Condition / event(1) Response

transition state
T0 1-> 2  Device electronics successfully initialized

T1 2-> 3  Parameter successfully initialized

T2 3 -> 4  No undervoltage
Encoder successfully checked
Actual velocity: <1000 rpm
STO signals = +24V
Fieldbus command: Shutdown(2)
T3 4 -> 5  Request for enabling the power stage
 Fieldbus command: Switch On or Enable
Operation
T4 5 -> 6  Automatic transition Power stage is enabled.
 Fieldbus command: Enable Operation User parameters are checked.
Holding brake is released (if available).
T5 6 -> 5  Fieldbus command: Disable Operation Movement is canceled with "Halt".
Holding brake is applied (if available).
Power stage is disabled.
(1) In order to trigger a state transition it is sufficient if one condition is met
(2) Only required with parameter DS402compatib = 1
(3) Possible only if operating state was triggered via the fieldbus

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 Operating States and Operating Modes

State Operating Condition / event(1) Response

transition state
T6 5 -> 4  Fieldbus command: Shutdown

T7 4 -> 3  Undervoltage -
 STO signals = 0V
 Actual velocity: >1000 rpm (for example by
external driving force)
 Fieldbus command: Disable Voltage

T8 6 -> 4  Fieldbus command: Shutdown Movement is canceled with "Halt" or

power stage is immediately disabled.
Can be set via parameter
DSM_ShutDownOption.
T9 6 -> 3  Request for disabling the power stage Movement is canceled with "Halt" or
 Fieldbus command: Disable Voltage power stage is immediately disabled.
Can be set via parameter
DSM_ShutDownOption.
For “Fieldbus command: Disable
Voltage”: Power stage is disabled
immediately.
T10 5 -> 3  Request for disabling the power stage
 Fieldbus command: Disable Voltage

T11 6 -> 7  Error of error class 1 Movement is canceled with "Quick

 Fieldbus command: Quick Stop Stop".
T12 7 -> 3  Request for disabling the power stage Power stage is disabled immediately,
 Fieldbus command: Disable Voltage even if "Quick Stop" is still active.
T13 x -> 8  Error of error classes 2, 3 or 4 Error response is carried out, see "Error
Response".
T14 8 -> 9  Error response terminated (error class 2)
 Error of error classes 3 or 4

T15 9 -> 3  Function: "Fault Reset" Error is reset (cause of error must have
been corrected).
T16 7 -> 6  Function: "Fault Reset" In the event of a "Quick Stop" triggered
 Fieldbus command: Enable Operation(3) by a detected error of class 1, a "Fault
Reset" causes a direct transition to the
operating state 6 Operation Enabled.
(1) In order to trigger a state transition it is sufficient if one condition is met
(2) Only required with parameter DS402compatib = 1
(3) Possible only if operating state was triggered via the fieldbus

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DSM_ShutDown Behavior for disabling the power stage - INT16 CANopen 605B:0h
Option during movement 0 R/W Modbus 1684
ConF → 0 / Disable Immediately / diSi: Disable 0 per.
ACG- power stage immediately 1 -
Sdty 1 / Disable After Halt / diSh: Disable
power stage after deceleration to standstill
This parameter specifies the response to a
power stage disable request.
Halt is used for deceleration to standstill.
Changed settings become active
immediately.
Available with firmware version ≥V01.26.

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Indication of the Operating State via HMI

The operating state is displayed by the HMI. The table below provides an overview:

Operating state HMI

1 Start Init
2 Not Ready To Switch On nrdy
3 Switch On Disabled dis
4 Ready To Switch On rdy
5 Switched On Son
6 Operation Enabled run
7 Quick Stop Active Stop
8 Fault Reaction Active FLt
9 Fault FLt

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Indication of the Operating State via Signal Outputs

Information on the operating state is available via the signal outputs. The table below provides an overview:

Operating state Signal output function "No fault"(1) Signal output function "Active"(2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0
(1) The signal output function is factory setting for DQ0
(2) The signal output function is the factory setting for DQ1

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Indication of the Operating State via Fieldbus

Descriptions of how to indicate the operating states via a fieldbus can be found in the fieldbus manual.

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Changing the Operating State via HMI

An error message can be reset via the HMI.

In the case of a detected error of error class 1, resetting the error message causes a transition from
operating state 7 Quick Stop Active back to operating state 6 Operation Enabled.
In the case of a detected error of error classes 2 or 3, resetting the error message causes a transition from
operating state 9 Fault back to operating state 3 Switch On Disable.

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Changing the Operating State via Signal Inputs

It is possible to switch between operating states via the signal inputs.

 Signal input function "Enable"
 Signal input function "Fault Reset"

Signal Input Function "Enable"

The power stage is enabled by means of the signal input function "Enable".

"Enable" State transition

Rising edge Enable power stage (T3)
Falling edge Disabling the power stage (T9 and T12)

In order to enable the power stage via the signal input, you must first parameterize the signal input function
"Enable", see chapter Digital Inputs and Outputs (see page 200).
As of firmware version ≥V01.12, it is possible to also reset an error message with a rising or a falling edge
at the signal input.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_FaultResOnEnaInp Additional 'Fault Reset' for the signal - UINT16 CANopen
ConF → ACG- input function 'Enable' 0 R/W 3005:34h
iEFr 0 / Off / oFF: No additional 'Fault 0 per. Modbus 1384
Reset' 2 -
1 / OnFallingEdge / FALL:
Additional 'Fault Reset' with falling
edge
2 / OnRisingEdge / riSE: Additional
'Fault Reset' with rising edge
Changed settings become active the
next time the power stage is enabled.
Available with firmware version ≥
V01.12.

Signal Input Function "Fault Reset"

The signal input function "Fault Reset" is used to reset an error message.

"Fault Reset" State transition

Rising edge Resetting an error message (T15 and
T16)

In order to reset an error message via the signal input, you must first parameterize the signal input function
"Fault Reset", see chapter Digital Inputs and Outputs (see page 200).

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Changing the Operating State via Fieldbus

Descriptions of how to change the operating states via a fieldbus can be found in the fieldbus manual.

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Section 7.2
Operating Modes

Operating Modes

Starting and Changing an Operating Mode

Starting the Operating Mode

Descriptions of how to start and change operating modes via the fieldbus can be found in the fieldbus
manual.

Changing the Operating Mode

The operating mode can be changed after the active operating mode has been terminated.
In addition, it is also possible to change the operating mode during a running movement; however, this is
only possible in certain operating modes.

Changing the Operating Mode During a Movement

You can switch between the following operating modes during a running movement.
 Jog
 Profile Torque
 Profile Velocity
 Profile Position
The operating mode can be changed while the motor is at a standstill or while the motor is not at a standstill,
depending on the new operating mode.

Operating mode to be changed to Motor standstill

Jog With motor standstill
Profile Torque Without motor standstill
Profile Velocity Without motor standstill
Profile Position Drive profile Drive Profile Lexium:
With firmware version ≥V01.06 Adjustable via parameter PP_OpmChgType
Drive profile DS402:
With motor standstill(1)
Profile Position With motor standstill
With firmware version <V01.06
(1) Parameter PP_OpmChgType must be set to the value 0.

The motor is decelerated to a standstill via the ramp set in the parameter LIM_HaltReaction, see
chapter Stop Movement with Halt (see page 284).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PP_OpmChgType Change to operating mode Profile Position - UINT16 CANopen 3023:9h
during movements 0 R/W Modbus 8978
0 / WithStandStill: Change with standstill 0 per.
1 / OnTheFly: Change without standstill 1 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.06.

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Section 7.3
Operating Mode Jog

Operating Mode Jog

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 240
Parameterization 242
Additional Settings 244

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Overview

Description
In the operating mode Jog, a movement is made from the actual motor position in the specified direction.
A movement can be made using one of 2 methods:
 Continuous movement
 Step movement
In addition, the product features 2 parameterizable velocities.

Continuous Movement
As long as the signal for the direction is available, a continuous movement is made in the desired direction.
The illustration below provides an overview of continuous movement:

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction

Step Movement
If the signal for the direction is available for a short period of time, a movement with a parameterizable
number of user-defined units is made in the desired direction.
If the signal for the direction is available continuously, a movement with a parameterizable number of user-
defined units is made in the desired direction. After this movement, the motor stops for a defined period of
time. Then a continuous movement is made in the desired direction.
The illustration provides an overview of step movement:

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstep
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction

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Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Integrated HMI
It is also possible to start the operating mode via the HMI. Calling →OP→jog-→JGST enables
the power stage and starts the operating mode.
The method Continuous Movement is controlled via the HMI.
Turn the navigation button to select one of 4 types of movement:
 JG- : slow movement in positive direction
 JG= : fast movement in positive direction
 -JG : slow movement in negative direction
 =JG : fast movement in negative direction
Press the navigation button to start the movement.

Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Velocities
Two parameterizable velocities are available.
 Set the desired values with the parameters JOGv_slow and JOGv_fast.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
JOGv_slow Velocity for slow movement usr_v UINT32 CANopen 3029:4h
oP → JoG- The adjustable value is internally limited to 1 R/W Modbus 10504
JGLo the parameter setting in RAMP_v_max. 60 per.
Changed settings become active 2147483647 -
immediately.
JOGv_fast Velocity for fast movement usr_v UINT32 CANopen 3029:5h
oP → JoG- The adjustable value is internally limited to 1 R/W Modbus 10506
JGhi the parameter setting in RAMP_v_max. 180 per.
Changed settings become active 2147483647 -
immediately.

Selection of the Method

The parameter JOGmethod lets you set the method.
 Set the desired method with the parameter JOGmethod.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
JOGmethod Selection of jog method - UINT16 CANopen 3029:3h
0 / Continuous Movement / coMo: Jog 0 R/W Modbus 10502
with continuous movement 1 -
1 / Step Movement / StMo: Jog with step 1 -
movement
Changed settings become active
immediately.

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Setting the Step Movement

The parameters JOGstep and JOGtime are used to set the parameterizable number of user-defined units
and the time for which the motor is stopped.
 Set the desired values with the parameters JOGstep and JOGtime.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
JOGstep Distance for step movement usr_p INT32 CANopen 3029:7h
Changed settings become active the next 1 R/W Modbus 10510
time the motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement ms UINT16 CANopen 3029:8h
Changed settings become active the next 1 R/W Modbus 10512
time the motor moves. 500 per.
32767 -

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 281).

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Additional Settings

The following functions can be used for target value processing:

 Chapter Jerk Limitation (see page 283)
 Chapter Stop Movement with Halt (see page 284)
 Chapter Stop Movement with Quick Stop (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 287)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Setting a Signal Output via Parameter (see page 290)
 Chapter Position Capture via Signal Input
 Chapter Relative Movement After Capture (RMAC) (see page 299)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 305)
 Chapter Software Limit Switches (see page 307)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 309)
 Chapter Motor Standstill and Direction of Movement (see page 314)
 Chapter Standstill Window (see page 317)
This function is only available for a step movement.
 Chapter Position Register (see page 319)
 Chapter Position Deviation Window (see page 324)
 Chapter Velocity Deviation Window (see page 326)
 Chapter Velocity Threshold Value (see page 328)
 Chapter Current Threshold Value (see page 330)

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Section 7.4
Operating Mode Profile Torque

Operating Mode Profile Torque

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 246
Parameterization 247
Additional Settings 249

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Overview

Description
In the operating mode Profile Torque, a movement is made with a specified target torque.
Without a proper limit value, the motor can reach an unintentionally high velocity in this operating mode.

WARNING
UNINTENTIONALLY HIGH VELOCITY
Verify that the parameterized velocity limitation is appropriate for the motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Setting the Target Torque

The target torque is set by means of the parameter PTtq_target.
 Set the desired target torque with the parameter PTtq_target.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PTtq_target Target torque for operating mode Profile % INT16 CANopen 6071:0h
Torque -3000.0 R/W Modbus 6944
100.0 % correspond to the continuous stall 0.0 -
torque _M_M_0. 3000.0 -
In increments of 0.1 %.
Changed settings become active
immediately.

Changing the Motion Profile for the Torque

It is possible to change the parameterization of the motion profile for the torque.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_tq_enable Activation of the motion profile for torque - UINT16 CANopen
0 / Profile Off: Profile off 0 R/W 3006:2Ch
1 / Profile On: Profile on 1 per. Modbus 1624
In the operating mode Profile Torque, the 1 -
motion profile for torque can be activated or
deactivated.
In the other operating modes, the motion
profile for torque is inactive.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_tq_slope Slope setting of the motion profile for %/s UINT32 CANopen 6087:0h
torque 0.1 R/W Modbus 1620
100.00 % of the torque setting correspond 10000.0 per.
to the continuous stall torque _M_M_0. 3000000.0 -

Example:
A ramp setting of 10000.00 %/s results in a
torque change of 100.0% of _M_M_0 in
0.01s.
In increments of 0.1 %/s.
Changed settings become active
immediately.

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Additional Settings

The following functions can be used for target value processing:

 Chapter Stop Movement with Halt (see page 284)
 Chapter Stop Movement with Quick Stop (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 287)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Setting a Signal Output via Parameter (see page 290)
 Chapter Position Capture via Signal Input
 Chapter Relative Movement After Capture (RMAC) (see page 299)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 305)
 Chapter Software Limit Switches (see page 307)
 Chapter Motor Standstill and Direction of Movement (see page 314)
 Chapter Torque Window (see page 315)
 Chapter Position Register (see page 319)
 Chapter Velocity Threshold Value (see page 328)
 Chapter Current Threshold Value (see page 330)

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Section 7.5
Operating Mode Profile Velocity

Operating Mode Profile Velocity

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 251
Parameterization 252
Additional Settings 253

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Overview

Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Setting the Target Velocity

The parameter PVv_target allows you to set the target velocity.
 Set the target velocity with the parameter PVv_target.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PVv_target Target velocity for operating mode Profile usr_v INT32 CANopen 60FF:0h
Velocity - R/W Modbus 6938
The target velocity is limited to the setting in 0 -
CTRL_v_max and RAMP_v_max. - -
Changed settings become active
immediately.

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 281).

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Additional Settings

The following functions can be used for target value processing:

 Chapter Stop Movement with Halt (see page 284)
 Chapter Stop Movement with Quick Stop (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 287)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Zero Clamp (see page 289)
 Chapter Setting a Signal Output via Parameter (see page 290)
 Chapter Position Capture via Signal Input
 Chapter Relative Movement After Capture (RMAC) (see page 299)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 305)
 Chapter Software Limit Switches (see page 307)
 Chapter Motor Standstill and Direction of Movement (see page 314)
 Chapter Velocity Window (see page 316)
 Chapter Position Register (see page 319)
 Chapter Velocity Deviation Window (see page 326)
 Chapter Velocity Threshold Value (see page 328)
 Chapter Current Threshold Value (see page 330)

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Section 7.6
Operating Mode Profile Position

Operating Mode Profile Position

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 255
Parameterization 256
Additional Settings 258

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Overview

Description
In the operating mode Profile Position, a movement to a desired target position is performed.
A movement can be made using one of 2 methods:
 Relative movement
 Absolute movement

Relative Movement
In the case of a relative movement, the movement is relative with reference to the previous target position
or the actual position of the motor.

Absolute Movement
In the case of an absolute movement, the movement is absolute with reference to the zero point.

A zero point must be defined with the operating mode Homing prior to the first absolute movement.

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Target position reached
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.
Overview of adjustable parameters

Target Position
The parameter PPp_target allows you to enter the target position.
 Set the desired target position with the parameter PPp_target.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PPp_target Target position for operating mode Profile usr_p INT32 CANopen 607A:0h
Position - R/W Modbus 6940
Minimum/maximum values depend on: - -
- Scaling factor - -
- Software limit switches (if they are
activated)
Changed settings become active
immediately.

Target Velocity
The parameter PPv_target allows you to set the target velocity.
 Set the target velocity with the parameter PPv_target.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PPv_target Target velocity for operating mode Profile usr_v UINT32 CANopen 6081:0h
Position 1 R/W Modbus 6942
The target velocity is limited to the setting in 60 -
CTRL_v_max and RAMP_v_max. 4294967295 -
Changed settings become active the next
time the motor moves.

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Selection of the Method

The parameter PPoption allows you to set the method for a relative movement.
 Set the desired method for a relative movement with the parameter PPoption.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PPoption Options for operating mode Profile Position - UINT16 CANopen 60F2:0h
Determines the reference position for 0 R/W Modbus 6960
relative positioning: 0 -
0: Relative with reference to the previous 2 -
target position of the profile generator
1: Not supported
2: Relative with reference to the actual
position of the motor
Changed settings become active the next
time the motor moves.

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 281).

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Additional Settings

The following functions can be used for target value processing:

 Chapter Jerk Limitation (see page 283)
 Chapter Stop Movement with Halt (see page 284)
 Chapter Stop Movement with Quick Stop (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 287)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Setting a Signal Output via Parameter (see page 290)
 Chapter Starting a Movement via a Signal Input (see page 291)
 Chapter Position Capture via Signal Input
 Chapter Relative Movement After Capture (RMAC) (see page 299)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 305)
 Chapter Software Limit Switches (see page 307)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 309)
 Chapter Motor Standstill and Direction of Movement (see page 314)
 Chapter Standstill Window (see page 317)
 Chapter Position Register (see page 319)
 Chapter Position Deviation Window (see page 324)
 Chapter Velocity Deviation Window (see page 326)
 Chapter Velocity Threshold Value (see page 328)
 Chapter Current Threshold Value (see page 330)

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Section 7.7
Operating Mode Interpolated Position

Operating Mode Interpolated Position

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 260
Parameterization 262

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Operating States and Operating Modes

Overview

Availability
Available with firmware version ≥V01.08.

Description
In the operating mode Interpolated Position, movements are made to cyclically set reference positions.
The monitoring functions Heartbeat and Node Guarding cannot be used in this operating mode.
 Check cyclical reception of PDOs at the PLC in order to detect an interruption of the connection.
The reference positions are transmitted synchronously with each cycle. The cycle time of a cycle can be
set from 1 ... 20 ms.
The movement to the reference positions starts with the SYNC signal.
The drive performs an internal fine interpolation with a raster of 250 µs.
The illustration below provides an overview:

1 Transmission of first reference position (example)

2 Movement to first reference position
3 Transmission of second reference position (example)
4 Movement to second reference position
5 Transmission of next reference position (example)

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Terminating the Operating Mode

The operating mode is terminated via the fieldbus. See the fieldbus manual for a description.

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Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

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Parameterization

Synchronization Mechanism
The synchronization mechanism must be activated for the operating mode Interpolated Position.
The synchronization mechanism is activated via the parameter SyncMechStart = 2.
The parameter SyncMechTol is used to set a synchronization tolerance. The value of the parameter
SyncMechTol is internally multiplied by 250 μs. For example, a value of 4 corresponds to a tolerance of
1 ms.
The status of the synchronizations mechanism can be read by means of the parameter SyncMechStatus.
 Activate the synchronization mechanism by means of the parameter SyncMechStart.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
SyncMechStart Activation of synchronization mechanism - UINT16 CANopen 3022:5h
Value 0: Deactivate synchronization 0 R/W Modbus 8714
mechanism 0 -
Value 1: Activate synchronization 2 -
mechanism (CANmotion).
Value 2: Activate synchronization
mechanism, standard CANopen
mechanism.

The cycle time of the synchronization

signal is derived from the parameters
intTimPerVal and intTimInd.
Changed settings become active
immediately.
SyncMechTol Synchronization tolerance - UINT16 CANopen 3022:4h
The value is applied when the 1 R/W Modbus 8712
synchronization mechanism is activated 1 -
via the parameter SyncMechStart. 20 -
Changed settings become active
immediately.
Available with firmware version ≥V01.08.
SyncMechStatus Status of synchronization mechanism - UINT16 CANopen 3022:6h
Status of synchronization mechanism: - R/- Modbus 8716
Value 1: Synchronization mechanism of - -
drive is inactive. - -
Value 32: Drive is synchronizing with
external sync signal.
Value 64: Drive is synchronized with
external sync signal.
Available with firmware version ≥V01.08.

Cycle Time
The cycle time is set via the parameters IP_IntTimPerVal and IP_IntTimInd.
The cycle time depends on the following factors:
 Number of drives
 Baud rate
 Time of the minimum data packets per cycle:
 SYNC
 R_PDO2, T_PDO2
 EMCY (This time must be reserved.)

 Optionally the time of the additional data packets per cycle:

 R_SDO and T_SDO
The PLC must make sure that the number of requests (R_SDO) and the cycle time match. The
response (T_SDO) is transmitted with the next cycle.
 nPDO - additional R_PDO and T_PDO:
R_PDO1, T_PDO1, R_PDO3, T_PDO3, R_PDO4 and T_PDO4

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The table below shows the typical values for the individual data packets, depending on the baud rate:

Data packets Size in bytes 1 Mbit 500 kbit 250 kbit

R_PDO2 6 0.114 ms 0.228 ms 0.456 ms
T_PDO2 6 0.114 ms 0.228 ms 0.456 ms
SYNC 0 0.067 ms 0.134 ms 0.268 ms
EMCY 8 0.130 ms 0.260 ms 0.520 ms
R_PDOx 8 0.130 ms 0.260 ms 0.520 ms
T_PDOx 8 0.130 ms 0.260 ms 0.520 ms
R_SDO and T_SDO 16 0.260 ms 0.520 ms 1.040 ms

In the case of one drive, the minimum cycle time is calculated as follows: tcycle= SYNC + R_PDO2+
T_PDO2 + EMCY + SDO +nPDO
The following table shows tcycle depending on the baud rate and the number of additional PDOs nPDO,
based on one drive:

Number of additional Minimum cycle Minimum cycle Minimum cycle

PDOs (nPDO) time at 1 Mbit time at 500 kbit time at 250 kbit
0 1 ms 2 ms 3 ms
1 1 ms 2 ms 3 ms
2 1 ms 2 ms 4 ms
3 2 ms 2 ms 4 ms
4 2 ms 3 ms 5 ms
5 2 ms 3 ms 5 ms
6 2 ms 3 ms 6 ms

Cycle time in seconds: IP_IntTimPerVal * 10 IP_IntTimInd

 Set the desired cycle time with the parameters IP_IntTimPerVal and IP_IntTimInd.
Valid cycle times are 1 ... 20 ms in increments of 1 ms.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IP_IntTimPerVal Interpolation time period value s UINT16* CANopen 60C2:1h
Available with firmware version ≥ 0 R/W Modbus 7000
V01.08. 1 -
* Datatype for CANopen: UINT8 255 -
IP_IntTimInd Interpolation time index - INT16* CANopen 60C2:2h
Available with firmware version ≥ -128 R/W Modbus 7002
V01.08. -3 -
* Datatype for CANopen: INT8 63 -

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Position Comparison
The drive cyclically processes the reference position as soon as bit 4 of the control word is set to 1. If the
difference between reference position and actual position is too great, this results in a following error. To
help avoid such an error, the actual position must be read via the parameter _p_act before the operating
mode is activated or continued. New reference positions must correspond to the actual position in the first
cycle.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_act Actual position usr_p INT32 CANopen 6064:0h
Mon - R/- Modbus 7706
PACu - -
- -

Reference Position
The parameter IPp_target cyclically transmits a reference value.
 Set the desired reference value with the parameter IPp_target.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IPp_target Position reference value for operating - INT32 CANopen 60C1:1h
mode Interpolated Position -2147483648 R/W Modbus 7004
Available with firmware version ≥V01.08. - -
2147483647 -

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Section 7.8
Operating Mode Homing

Operating Mode Homing

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 266
Parameterization 268
Reference Movement to a Limit Switch 273
Reference Movement to the Reference Switch in Positive Direction 274
Reference Movement to the Reference Switch in Negative Direction 275
Reference Movement to the Index Pulse 276
Position Setting 277
Additional Settings 278

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Overview

Description
Description In the operating mode Homing, a reference is generated between a mechanical position and
the actual position of the motor.
A reference between a mechanical position and the actual position of the motor is generated by means of
a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the zero point becomes valid.
The zero point is the point of reference for absolute movements in the operating mode Profile Position.

Methods
A movement can be made using different methods:
 Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the negative limit switch or the
positive limit switch is performed.
When the limit switch is reached, the motor is stopped and a movement is made back to the switching
point of the limit switch.
From the switching point of the limit switch, a movement is made to the next index pulse of the motor or
to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to the reference switch is
performed.
When the reference switch is reached, the motor is stopped and a movement is made back to the
switching point of the reference switch.
From the switching point of the reference switch, a movement is made to the next index pulse of the
motor or to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made from the actual position
to the next index pulse. The position of the index pulse is the reference point.
 Position setting
In the case of position setting, the actual position of the motor is set to a desired position value.
A reference movement must be terminated without interruption for the new zero point to be valid. If the
reference movement is interrupted, it must be started again.
Motors with multiturn encoder deliver a valid zero point after they are powered on.

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus manual for a description.

Status Messages
Information on the operating state and the ongoing movement is available via the fieldbus and the signal
outputs.
Descriptions on obtaining information on the operating state and the ongoing movement can be found in
the fieldbus manual.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,
5 Switched On and 6 Operation Enabled
DQ1 "Active"
Signals the operating state 6 Operation Enabled

It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs
(see page 200).

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Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Homing successful
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.
Overview of adjustable parameters

Setting Limit Switches and Reference Switches

The limit switches and reference switches must be set to meet the requirements, see chapter Limit
Switches (see page 305) and chapter Reference Switch (see page 306).

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Selection of the Method

The operating mode Homing establishes an absolute position reference between the motor position and a
defined axis position. There are various Homing methods which can be selected via the parameter
HMmethod.
The HMprefmethod parameter is used to save the preferred method to the EEPROM (persistent). When
the preferred method has been set in this parameter, the method is performed during homing even after
the device is powered off and on. The value to be entered corresponds to the value in the HMmethod
parameter.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMmethod Homing method - INT16* CANopen 6098:0h
1: LIMN with index pulse 1 R/W Modbus 6936
2: LIMP with index pulse 18 -
7: REF+ with index pulse, inv., outside 35 -
8: REF+ with index pulse, inv., inside
9: REF+ with index pulse, not inv., inside
10: REF+ with index pulse, not inv., outside
11: REF- with index pulse, inv., outside
12: REF- with index pulse, inv., inside
13: REF- with index pulse, not inv., inside
14: REF- with index pulse, not inv., outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in pos. direction
REF-: Search movement in neg. direction
inv.: Invert direction in switch
not inv.: Direction not inverted in switch
outside: Index pulse / distance outside
switch
inside: Index pulse / distance inside switch
Changed settings become active
immediately.
* Datatype for CANopen: INT8
HMprefmethod Preferred homing method - INT16 CANopen 3028:Ah
oP → hoM- Changed settings become active 1 R/W Modbus 10260
MEth immediately. 18 per.
35 -

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Setting the Distance From the Switching Point

A distance to the switching point of the limit switch or the reference switch must be parameterized for a
reference movement with index pulse. The parameter HMdis lets you set the distance to the switching limit
switch or the reference switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMdis Distance from switching point usr_p INT32 CANopen 3028:7h
The distance from the switching point is 1 R/W Modbus 10254
defined as the reference point. 200 per.
2147483647 -
The parameter is only effective during a
reference movement without index pulse.
Changed settings become active the next
time the motor moves.

Defining the Zero Point

The parameter HMp_home is used to specify a desired position value, which is set at the reference point
after a successful reference movement. The desired position value at the reference point defines the zero
point.
If the value 0 is used, the zero point corresponds to the reference point.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMp_home Position at reference point usr_p INT32 CANopen 3028:Bh
After a successful reference movement, -2147483648 R/W Modbus 10262
this position is automatically set at the 0 per.
reference point. 2147483647 -
Changed settings become active the next
time the motor moves.

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Setting Monitoring
The parameters HMoutdis and HMsrchdis allow you to activate monitoring of the limit switches and the
reference switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMoutdis Maximum distance for search for switching usr_p INT32 CANopen 3028:6h
point 0 R/W Modbus 10252
0: Monitoring of distance inactive 0 per.
>0: Maximum distance 2147483647 -

After detection of the switch, the drive

starts to search for the defined switching
point. If the defined switching point is not
found within the distance defined here, the
reference movement is canceled and an
error is detected.
Changed settings become active the next
time the motor moves.
HMsrchdis Maximum search distance after overtravel usr_p INT32 CANopen 3028:Dh
of switch 0 R/W Modbus 10266
0: Search distance monitoring disabled 0 per.
>0: Search distance 2147483647 -

The switch must be activated again within

this search distance, otherwise the
reference movement is canceled.
Changed settings become active the next
time the motor moves.

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Reading out the Position Distance

The position distance between the switching point and index pulse can be read out with the following
parameters.
The distance between the switching point and the index pulse must be >0.05 revolutions for reproducible
reference movements with index pulse.
If the index pulse is too close to the switching point, the limit switch or reference switch can be moved
mechanically.
Otherwise the position of the index pulse can be moved with the parameter ENC_pabsusr, see Chapter
Setting Parameters for Encoder (see page 151).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_HMdisREFtoIDX Distance from switching point to index usr_p INT32 CANopen 3028:Fh
_usr pulse -2147483648 R/- Modbus 10270
Allows you to verify the distance between - -
the index pulse and the switching point and 2147483647 -
serves as a criterion for determining
whether the reference movement with
index pulse can be reproduced.
Available with firmware version ≥V01.05.
_HMdisREFtoIDX Distance from switching point to index revolution INT32 CANopen 3028:Ch
pulse - R/- Modbus 10264
Allows you to verify the distance between - -
the index pulse and the switching point and - -
serves as a criterion for determining
whether the reference movement with
index pulse can be reproduced.

The parameter _HMdisREFtoIDX_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.

Setting Velocities
The parameters HMv and HMv_out are used to set the velocities for searching the switch and for moving
away from the switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMv Target velocity for searching the switch usr_v UINT32 CANopen 6099:1h
oP → hoM- The adjustable value is internally limited to 1 R/W Modbus 10248
hMn the parameter setting in RAMP_v_max. 60 per.
Changed settings become active the next 2147483647 -
time the motor moves.
HMv_out Target velocity for moving away from usr_v UINT32 CANopen 6099:2h
switch 1 R/W Modbus 10250
The adjustable value is internally limited to 6 per.
the parameter setting in RAMP_v_max. 2147483647 -
Changed settings become active the next
time the motor moves.

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 281).

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Reference Movement to a Limit Switch

The illustration below shows a reference movement to a limit switch

Reference movement to a limit switch

1 Movement to limit switch at velocity HMv

2 Movement to the switching point of the limit switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMv_out

Type A
Method 1: Movement to the index pulse.
Method 17: Movement to distance from switching point.

Type B
Method 2: Movement to the index pulse.
Method 18: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Positive Direction

The illustration below shows a reference movement to the reference switch in positive direction
Reference movement to the reference switch in positive direction

1 Movement to reference switch at velocity HMv

2 Movement to the switching point of the reference switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMv_out

Type A
Method 7: Movement to the index pulse.
Method 23: Movement to distance from switching point.

Type B
Method 8: Movement to the index pulse.
Method 24: Movement to distance from switching point.

Type C
Method 9: Movement to the index pulse.
Method 25: Movement to distance from switching point.

Type D
Method 10: Movement to the index pulse.
Method 26: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Negative Direction

The illustration below shows a reference movement to the reference switch in negative direction
Reference movement to the reference switch in negative direction

1 Movement to reference switch at velocity HMv

2 Movement to the switching point of the reference switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMv_out

Type A
Method 11: Movement to the index pulse.
Method 27: Movement to distance from switching point.

Type B
Method 12: Movement to the index pulse.
Method 28: Movement to distance from switching point.

Type C
Method 13: Movement to the index pulse.
Method 29: Movement to distance from switching point.

Type D
Method 14: Movement to the index pulse.
Method 30: Movement to distance from switching point.

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Reference Movement to the Index Pulse

The illustration below shows a reference movement to the index pulse

Reference movement to the index pulse

1 Movement to index pulse at velocity HMv_out

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Position Setting

Description
By means of position setting, the actual position of the motor is set to the position value in parameter
HMp_setP. This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active position deviation remains
active and can still be compensated for by the position controller after position setting.

Setting the Position for Position Setting

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMp_setP Position for Position Setting usr_p INT32 CANopen
Position for operating mode Homing, - R/W 301B:16h
method 35. 0 - Modbus 6956
Changed settings become active - -
immediately.

Example
Movement by 4000 user-defined units with position setting

1 The motor is positioned by 2000 user-defined units.

2 By means of position setting to 0, the actual position of the motor is set to position value 0 which, at the same time,
defines a new zero point.
3 When a new movement by 2000 user-defined units is triggered, the new target position is 2000 user-defined units.

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Additional Settings

The following functions can be used for target value processing:

 Chapter Jerk Limitation (see page 283)
 Chapter Stop Movement with Halt (see page 284)
 Chapter Stop Movement with Quick Stop (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 287)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Setting a Signal Output via Parameter (see page 290)
 Chapter Position Capture via Signal Input
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 305)
 Chapter Reference Switch (see page 306)
 Chapter Software Limit Switches (see page 307)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 309)
 Chapter Motor Standstill and Direction of Movement (see page 314)
 Chapter Standstill Window (see page 317)
 Chapter Position Register (see page 319)
 Chapter Position Deviation Window (see page 324)
 Chapter Velocity Deviation Window (see page 326)
 Chapter Velocity Threshold Value (see page 328)
 Chapter Current Threshold Value (see page 330)

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Functions for Operation
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Chapter 8
Functions for Operation

Functions for Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
8.1 Functions for Target Value Processing 280
8.2 Functions for Monitoring Movements 304
8.3 Functions for Monitoring Internal Device Signals 335

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Section 8.1
Functions for Target Value Processing

Functions for Target Value Processing

What Is in This Section?

This section contains the following topics:
Topic Page
Motion Profile for the Velocity 281
Jerk Limitation 283
Stop Movement with Halt 284
Stop Movement with Quick Stop 285
Limitation of the Velocity via Signal Inputs 287
Limitation of the Current via Signal Inputs 288
Zero Clamp 289
Setting a Signal Output via Parameter 290
Starting a Movement via a Signal Input 291
Position Capture via Signal Input (Vendor-Specific Profile) 292
Position Capture via Signal Input (DS402 Profile) 295
Relative Movement After Capture (RMAC) 299
Backlash Compensation 302

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Motion Profile for the Velocity

Target position and target velocity are input values specified by the user. A motion profile for the velocity
is calculated on the basis of these input values.
The motion profile for the velocity consists of an acceleration, a deceleration and a maximum velocity.
A linear ramp for both directions of movement is available.

Availability
The availability of the motion profile for the velocity depends on the operating mode.
In the following operating modes, the motion profile for the velocity is permanently active:
 Jog
 Profile Position
 Homing

In the following operating modes, the motion profile for the velocity can be activated and deactivated:
 Profile Velocity

In the following operating modes, the motion profile for the velocity is unavailable:
 Profile Torque
 Interpolated Position

Ramp Slope
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can be set for
acceleration and deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_enable Activation of the motion profile for velocity - UINT16 CANopen
0 / Profile Off: Profile off 0 R/W 3006:2Bh
1 / Profile On: Profile on 1 per. Modbus 1622
Setting can only be changed if power stage 1 -
is disabled.
Changed settings become active
immediately.
RAMP_v_max Maximum velocity of the motion profile for usr_v UINT32 CANopen 607F:0h
ConF → velocity 1 R/W Modbus 1554
ACG- If a greater reference velocity is set in one 13200 per.
nrMP of these operating modes, it is 2147483647 -
automatically limited to RAMP_v_max.
This way, commissioning at limited velocity
is easier to perform.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the motor moves.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_acc Acceleration of the motion profile for usr_a UINT32 CANopen 6083:0h
velocity 1 R/W Modbus 1556
Writing the value 0 has no effect on the 600 per.
parameter. 2147483647 -
Changed settings become active the next
time the motor moves.
RAMP_v_dec Deceleration of the motion profile for usr_a UINT32 CANopen 6084:0h
velocity 1 R/W Modbus 1558
The minimum value depends on the 600 per.
operating mode: 2147483647 -

Operating modes with minimum value 1:

Profile Velocity

Operating modes with minimum value 120:

Jog
Profile Position
Homing

Writing the value 0 has no effect on the

parameter.
Changed settings become active the next
time the motor moves.

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Jerk Limitation

Description
Jerk limitation smoothes sudden acceleration changes to allow for smooth transitions with almost no
jerking.

Availability
Jerk limitation is available in the following operating modes.
 Jog
 Profile Position
 Homing

Settings
Jerk limitation is activated and set via the parameter RAMP_v_jerk.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_jerk Jerk limitation of the motion profile for ms UINT16 CANopen 3006:Dh
ConF → velocity 0 R/W Modbus 1562
drC- 0 / Off / oFF: Off 0 per.
JEr 1 / 1 / 1: 1 ms 128 -
2 / 2 / 2: 2 ms
4 / 4 / 4: 4 ms
8 / 8 / 8: 8 ms
16 / 16 / 16: 16 ms
32 / 32 / 32: 32 ms
64 / 64 / 64: 64 ms
128 / 128 / 128: 128 ms
Adjustments can only be made if the
operating mode is inactive (x_end=1).
Changed settings become active the next
time the motor moves.

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Stop Movement with Halt

With a Halt, the ongoing movement is interrupted; it can be resumed.

A Halt can be triggered via a digital signal input or a fieldbus command.
In order to interrupt a movement via a signal input, you must first parameterize the signal input function
“Halt”, see chapter Digital Inputs and Outputs (see page 200).
The movement can be interrupted with 2 different deceleration types.
 Deceleration via deceleration ramp
 Deceleration via torque ramp

Setting the Type of Deceleration

The parameter LIM_HaltReaction lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_HaltReacti Halt option code - INT16 CANopen 605D:0h
on 1 / Deceleration Ramp / dEcE: 1 R/W Modbus 1582
ConF → Deceleration ramp 1 per.
ACG- 3 / Torque Ramp / torq: Torque ramp 3 -
htyP Type of deceleration for Halt.
Setting of deceleration ramp with
parameter RAMP_v_dec.
Setting of torque ramp with parameter
LIM_I_maxHalt.
If a deceleration ramp is already active, the
parameter cannot be written.
Changed settings become active
immediately.

Setting the Deceleration Ramp

The deceleration ramp is set with the parameter Ramp_v_dec via the Motion Profile for the Velocity
(see page 281).

Setting the Torque Ramp

The parameter LIM_I_maxHalt lets you set the torque ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_I_maxHalt Current for Halt Arms UINT16 CANopen 3011:Eh
ConF → This value is only limited by the - R/W Modbus 4380
ACG- minimum/maximum value range (no - per.
hcur limitation of this value by motor/power - -
stage).
In the case of a Halt, the current limit
(_Imax_act) is one of the following values
(whichever is lowest):
- LIM_I_maxHalt
- _M_I_max
- _PS_I_max
Further current limitations caused by I2t
monitoring are also taken into account
during a Halt.
Default: _PS_I_max at 8 kHz PWM
frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

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Stop Movement with Quick Stop

With a Quick Stop, the ongoing movement is stopped.

A Quick Stop can be triggered by a detected error of error classes 1 or 2 or via a fieldbus command.
The movement can be stopped with 2 different deceleration types.
 Deceleration via deceleration ramp
 Deceleration via torque ramp
In addition, you can set the operating state to switch to after the deceleration.
 Transition to operating state 9 Fault
 Transition to operating state 7 Quick Stop Active

Setting the Type of Deceleration

The parameter LIM_QStopReact lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_QStopReact Quick Stop option code - INT16 CANopen
ConF → -2 / Torque ramp (Fault): Use torque ramp -2 R/W 3006:18h
FLt- and transit to operating state 9 Fault 6 per. Modbus 1584
qtyP -1 / Deceleration Ramp (Fault): Use 7 -
deceleration ramp and transit to operating
state 9 Fault
6 / Deceleration ramp (Quick Stop): Use
deceleration ramp and remain in operating
state 7 Quick Stop
7 / Torque ramp (Quick Stop): Use torque
ramp and remain in operating state 7 Quick
Stop
Type of deceleration for Quick Stop.

Setting of deceleration ramp with

parameter RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

If a deceleration ramp is already active, the

parameter cannot be written.
Changed settings become active
immediately.

Setting the Deceleration Ramp

The parameter RAMPquickstop lets you set the deceleration ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMPquickstop Deceleration ramp for Quick Stop usr_a UINT32 CANopen
Deceleration ramp for a software stop or an 1 R/W 3006:12h
error with error class 1 or 2. 6000 per. Modbus 1572
Changed settings become active the next 2147483647 -
time the motor moves.

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Setting the Torque Ramp

The parameter LIM_I_maxQSTP lets you set the torque ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_I_maxQSTP Current for Quick Stop Arms UINT16 CANopen 3011:Dh
ConF → This value is only limited by the - R/W Modbus 4378
FLt- minimum/maximum value range (no - per.
qcur limitation of this value by motor/power - -
stage).
In the case of a Quick Stop, the current limit
(_Imax_act) is one of the following values
(whichever is lowest):
- LIM_I_maxQSTP
- _M_I_max
- _PS_I_max
Further current limitations caused by I2t
monitoring are also taken into account
during a Quick Stop.
Default: _PS_I_max at 8 kHz PWM
frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

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Limitation of the Velocity via Signal Inputs

Limitation via Digital Signal Input

The velocity can be limited to a specific value via a digital signal input.
The parameter IO_v_limit lets you set the velocity limitation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_v_limit Velocity limitation via input usr_v UINT32 CANopen
ConF → i-o- A velocity limitation can be activated via 0 R/W 3006:1Eh
nLiM a digital input. 10 per. Modbus 1596
In operating mode Profile Torque, the 2147483647 -
minimum velocity is internally limited to
100 min-1.
Changed settings become active
immediately.

In order to limit the velocity via a digital signal input, you must first parameterize the signal input function
“Velocity Limitation”, see chapter Digital Inputs and Outputs (see page 200).

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Limitation of the Current via Signal Inputs

Limitation via Digital Signal Input

The current can be limited to a specific value via a digital signal input.
The parameter IO_I_limit lets you set the current limitation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_I_limit Current limitation via input Arms UINT16 CANopen
ConF → i- A current limit can be activated via a digital 0.00 R/W 3006:27h
o- input. 0.20 per. Modbus 1614
iLiM In increments of 0.01 Arms. 300.00 -
Changed settings become active
immediately.

In order to limit the current via a digital signal input, you must first parameterize the signal input function
“Current Limitation”, see chapter Digital Inputs and Outputs (see page 200).

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Zero Clamp

Description
The motor can be stopped via a digital signal input. The velocity of the motor must be below a parameter-
izable velocity value.

Availability
The signal input function “Zero Clamp” is available in the following operating mode:
 Profile Velocity

Settings
Target velocities below the parameterized velocity value are interpreted as "zero".
The signal input function “Zero Clamp” has a hysteresis of 20 %.
The parameter MON_v_zeroclamp lets you set the velocity value.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_zeroclam Velocity limit for Zero Clamp usr_v UINT32 CANopen
p A Zero Clamp operation is only possible if 0 R/W 3006:28h
ConF → i- the reference velocity is below the Zero 10 per. Modbus 1616
o- Clamp velocity limit. 2147483647 -
ScLP Changed settings become active
immediately.

In order to stop the motor via a digital signal input, you must first parameterize the signal input function
“Zero Clamp”, see chapter Digital Inputs and Outputs (see page 200).

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Setting a Signal Output via Parameter

The digital signal outputs can be set as required via the fieldbus.
In order to set a digital signal output via the parameter, you must first parameterize the signal input function
“Freely Available”, see chapter Digital Inputs and Outputs (see page 200).
The parameter IO_DQ_set lets you set the digital signal outputs.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_DQ_set Setting the digital outputs directly - UINT16 CANopen
Digital outputs can only be set directly if the - R/W 3008:11h
signal output function has been set to - - Modbus 2082
'Available as required'. - -

Bit assignments:
Bit 0: DQ0
Bit 1: DQ1

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Starting a Movement via a Signal Input

The signal input function “Start Profile Positioning” sets the start signal for the movement in the operating
mode Profile Position. The positioning movement is then executed when the edge at the digital input rises.

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Position Capture via Signal Input (Vendor-Specific Profile)

The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

The number of Capture inputs depends on the hardware version.
 With hardware version ≥RS03:
2 Capture inputs: DI0/CAP1 and DI1/CAP2
 With hardware version <RS03:
1 Capture input: DI0/CAP1

Selection of the Method

The motor position can be captured in 2 different ways:
 One-time position capture
One-time capture means that the position is captured at the first edge.
 Continuous motor position capture
Continuous capture means that the motor position is captured anew at every edge. The previously
captured value is lost.
The motor position can be captured when the edge at the Capture input rises or falls.

Accuracy
A jitter of 2 µs results in an inaccuracy of the captured position of approximately 1.6 user-defined units at
a velocity of 3000 min-1.
(3000 min-1 = (3000*16384)/(60*106) = 0.8 usr_p/µs)
If the factory settings for scaling are used, 1.6 user-defined units correspond to 0.035 °.
The captured motor position is less accurate during the acceleration phase and the deceleration phase.

Setting the Edge

The following parameters let you set the edge for position capture.
 Set the desired edge with the parameters Cap1Config and Cap2Config.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
Cap1Config Capture input 1 configuration - UINT16 CANopen 300A:2h
0 / Falling Edge: Position capture at falling 0 R/W Modbus 2564
edge 0 -
1 / Rising Edge: Position capture at rising 2 -
edge
2 / Both Edges: Position capture at both
edges
Changed settings become active
immediately.
Cap2Config Capture input 2 configuration - UINT16 CANopen 300A:3h
0 / Falling Edge: Position capture at falling 0 R/W Modbus 2566
edge 0 -
1 / Rising Edge: Position capture at rising 1 -
edge
Available with hardware version ≥RS03.
Changed settings become active
immediately.

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Starting Position Capture

The following parameters let you start position capture.
 Set the desired method with the parameters Cap1Activate and Cap2Activate.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
Cap1Activate Capture input 1 start/stop - UINT16 CANopen 300A:4h
0 / Capture Stop: Cancel capture function 0 R/W Modbus 2568
1 / Capture Once: Start one-time capture - -
2 / Capture Continuous: Start continuous 4 -
capture
3 / Reserved: Reserved
4 / Reserved: Reserved
In the case of one-time capture, the
function is terminated when the first value
is captured.
In the case of continuous capture, the
function continues to run.
Changed settings become active
immediately.
Cap2Activate Capture input 2 start/stop - UINT16 CANopen 300A:5h
0 / Capture Stop: Cancel capture function 0 R/W Modbus 2570
1 / Capture Once: Start one-time capture - -
2 / Capture Continuous: Start continuous 4 -
capture
3 / Reserved: Reserved
4 / Reserved: Reserved
In the case of one-time capture, the
function is terminated when the first value
is captured.
In the case of continuous capture, the
function continues to run.

Available with hardware version ≥RS03.

Changed settings become active
immediately.

Status Messages
The parameter _CapStatus indicates the capture status.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_CapStatus Status of the capture inputs - UINT16 CANopen 300A:1h
Read access: - R/- Modbus 2562
Bit 0: Position captured via input CAP1 - -
Bit 1: Position captured via input CAP2 - -

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Captured Position
The captured position can be read via the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_Cap1PosCons Capture input 1 captured position usr_p INT32 CANopen
(consistent) - R/- 300A:18h
Captured position at the time of the - - Modbus 2608
"capture signal". - -
The captured position is re-calculated after
"Position Setting" or "Reference
Movement".
By reading the parameter
"_Cap1CountCons", this parameter is
updated and locked so it cannot be
changed. Both parameter values remain
consistent.
Available with firmware version ≥V01.12.
_Cap1CountCons Capture input 1 event counter (consistent) - UINT16 CANopen
Counts the capture events. - R/- 300A:17h
The event counter is reset when capture - - Modbus 2606
input 1 is activated. - -
By reading this parameter, the parameter
"_Cap1PosCons" is updated and locked so
it cannot be changed. Both parameter
values remain consistent.
Available with firmware version ≥V01.12.
_Cap2PosCons Capture input 2 captured position usr_p INT32 CANopen
(consistent) - R/- 300A:1Ah
Captured position at the time of the - - Modbus 2612
"capture signal". - -
The captured position is re-calculated after
"Position Setting" or "Reference
Movement".
By reading the parameter
"_Cap2CountCons", this parameter is
updated and locked so it cannot be
changed. Both parameter values remain
consistent.

Available with hardware version ≥RS03.

Available with firmware version ≥V01.12.
_Cap2CountCons Capture input 2 event counter (consistent) - UINT16 CANopen
Counts the capture events. - R/- 300A:19h
The event counter is reset when capture - - Modbus 2610
input 2 is activated. - -
By reading this parameter, the parameter
"_Cap2PosCons" is updated and locked so
it cannot be changed. Both parameter
values remain consistent.

Available with hardware version ≥RS03.

Available with firmware version ≥V01.12.

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Position Capture via Signal Input (DS402 Profile)

The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

The number of Capture inputs depends on the hardware version.
 With hardware version ≥RS03:
2 Capture inputs: DI0/CAP1 and DI1/CAP2
 With hardware version <RS03:
1 Capture input: DI0/CAP1

Selection of the Method

The motor position can be captured in 2 different ways:
 One-time position capture
One-time capture means that the position is captured at the first edge.
 Continuous motor position capture
Continuous capture means that the motor position is captured anew at every edge. The previously
captured value is lost.
The motor position can be captured when the edge at the Capture input rises or falls.

Accuracy
A jitter of 2 µs results in an inaccuracy of the captured position of approximately 1.6 user-defined units at
a velocity of 3000 min-1.
(3000 min-1 = (3000*16384)/(60*106) = 0.8 usr_p/µs)
If the factory settings for scaling are used, 1.6 user-defined units correspond to 0.035 °.
The captured motor position is less accurate during the acceleration phase and the deceleration phase.

Adjusting and Starting Position Capture

The following parameter let you adjust and start position capture.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
TouchProbeFct Touch Probe function - UINT16 CANopen 60B8:0h
Changed settings become active - R/W Modbus 7028
immediately. - -
Available with firmware version ≥V01.16. - -

Bit Value 0 Value 1

0 Deactivate Capture input 1 Activate Capture input 1
1 One-time capture Continuous capture
2 ... 3 Reserved (must be 0) -
4 Disabling capture with rising Enabling capture with rising
edge edge
5 Disabling capture with falling Enabling capture with falling
edge edge
6 ... 7 Reserved (must be 0) -
8 Deactivate Capture input 2 Activate Capture input 2
9 One-time capture Continuous capture
10 ... 11 Reserved (must be 0) -
12 Disabling capture with rising Enabling capture with rising
edge edge

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Bit Value 0 Value 1

13 Disabling capture with falling Enabling capture with falling
edge edge
14 ... 15 Reserved (must be 0) -

NOTE: With Capture input 2 the motor position can only be captured with either a rising edge or with a
falling edge. Capturing with both edges is not possible.

Status Messages
The following parameter lets you indicate the capture status.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_TouchProbeStat Touch Probe status - UINT16 CANopen 60B9:0h
Changed settings become active - R/- Modbus 7030
immediately. - -
Available with firmware version ≥V01.16. - -

Bit Value 0 Value 1

0 Capture input 1 deactivated Capture input 1 activated
1 Capture input 1 no value Capture input 1 value captured
captured for rising edge for rising edge
2 Capture input 1 no value Capture input 1 value captured
captured for falling edge for falling edge
3 ... 7 Reserved -
8 Capture input 2 deactivated Capture input 2 activated
9 Capture input 2 no value Capture input 2 value captured
captured for rising edge for rising edge
10 Capture input 2 no value Capture input 2 value captured
captured for falling edge for falling edge
11 ... 15 Reserved -

Captured Position
The captured position can be read via the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum R/W address via
HMI name value Persistent fieldbus
Factory setting Expert
Maximum
value
_Cap1PosRisEdge Capture input 1 captured position at rising usr_p INT32 CANopen 60BA:0h
edge - R/- Modbus 2634
This parameter contains the position - -
captured at the point in time a rising edge - -
was detected.
The captured position is recalculated
after "Position Setting" or "Reference
Movement".
Available with firmware version ≥
V01.16.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum R/W address via
HMI name value Persistent fieldbus
Factory setting Expert
Maximum
value
_Cap1CntRise Capture input 1 event counter at rising - UINT16 CANopen
edges - R/- 300A:2Bh
Counts the capture events at rising - - Modbus 2646
edges. - -
The event counter is reset when capture
input 1 is activated.
Available with firmware version ≥
V01.16.
_Cap1PosFallEdge Capture input 1 captured position at usr_p INT32 CANopen 60BB:0h
falling edge - R/- Modbus 2636
This parameter contains the position - -
captured at the point in time a falling edge - -
was detected.
The captured position is recalculated
after "Position Setting" or "Reference
Movement".
Available with firmware version ≥
V01.16.
_Cap1CntFall Capture input 1 event counter at falling - UINT16 CANopen
edges - R/- 300A:2Ch
Counts the capture events at falling - - Modbus 2648
edges. - -
The event counter is reset when capture
input 1 is activated.
Available with firmware version ≥
V01.16.
_Cap2PosRisEdge Capture input 2 captured position at rising usr_p INT32 CANopen 60BC:0h
edge - R/- Modbus 2638
This parameter contains the position - -
captured at the point in time a rising edge - -
was detected.
The captured position is recalculated
after "Position Setting" or "Reference
Movement".
Available with firmware version ≥
V01.16.
_Cap2CntRise Capture input 2 event counter at rising - UINT16 CANopen
edges - R/- 300A:2Dh
Counts the capture events at rising - - Modbus 2650
edges. - -
The event counter is reset when capture
input 2 is activated.
Available with firmware version ≥
V01.16.
_Cap2PosFallEdge Capture input 2 captured position at usr_p INT32 CANopen 60BD:0h
falling edge - R/- Modbus 2640
This parameter contains the position - -
captured at the point in time a falling edge - -
was detected.
The captured position is recalculated
after "Position Setting" or "Reference
Movement".
Available with firmware version ≥
V01.16.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum R/W address via
HMI name value Persistent fieldbus
Factory setting Expert
Maximum
value
_Cap2CntFall Capture input 2 event counter at falling - UINT16 CANopen
edges - R/- 300A:2Eh
Counts the capture events at falling - - Modbus 2652
edges. - -
The event counter is reset when capture
input 2 is activated.
Available with firmware version ≥
V01.16.
_CapEventCounters Capture inputs 1 and 2 summary of event - UINT16 CANopen
counters - R/- 300A:2Fh
This parameter contains the counted - - Modbus 2654
capture events. - -

Bits 0 ... 3: _Cap1CntRise (lowest 4 bits)

Bits 4 ... 7: _Cap1CntFall (lowest 4 bits)
Bits 8 ... 11: _Cap2CntRise (lowest 4 bits)
Bits 12 ... 15: _Cap2CntFall (lowest 4 bits)
Available with firmware version ≥
V01.16.

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Relative Movement After Capture (RMAC)

Description
Relative Movement After Capture (RMAC) starts a relative movement via a signal input while another
movement is running.
The target position and the velocity can be parameterized.

1 Movement with set operating mode (for example operating mode Profile Velocity)
2 Start of the relative movement after capture with the signal input function Start Signal Of RMAC
3a Relative movement after capture is performed with unchanged velocity
3b Relative movement after capture is performed with parameterized velocity
4 Target position reached

Availability
A Relative Movement After Capture (RMAC) can be started in the following operating modes:
 Jog
 Profile Torque
 Profile Velocity
 Profile Position
Available with hardware version ≥RS03.

Signal Input Functions

The signal input function “Start Signal Of RMAC” is required to start the relative movement.
The signal input function must have been parameterized, see chapter Digital Inputs and Outputs
(see page 200).

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the signal output function “RMAC
Active Or Finished”, see chapter Digital Inputs and Outputs (see page 200).
In order to read the status via the fieldbus, you must set the status bits of the status parameters, see
chapter Adjustable Bits of the Status Parameters (see page 332).
In addition, the status is available via the parameters _RMAC_Status and _RMAC_DetailStatus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_RMAC_Status Status of relative movement after - UINT16 CANopen
capture 0 R/- 3023:11h
0 / Not Active: Not active - - Modbus 8994
1 / Active Or Finished: Relative 1 -
movement after capture is active or
finished
Available with firmware version ≥
V01.10.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_RMAC_DetailStatus Detailed status of relative movement - UINT16 CANopen
after capture (RMAC) - R/- 3023:12h
0 / Not Activated: Not activated - - Modbus 8996
1 / Waiting: Waiting for capture signal - -
2 / Moving: Relative movement after
capture running
3 / Interrupted: Relative movement
after capture interrupted
4 / Finished: Relative movement after
capture terminated
Available with firmware version ≥
V01.16.

Activates Relative Movement After Capture

Relative Movement After Capture (RMAC) must be activated before it can be started.
Relative Movement After Capture (RMAC) is activated via the following parameter:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Activate Activation of relative movement after - UINT16 CANopen 3023:Ch
capture 0 R/W Modbus 8984
0 / Off: Off 0 -
1 / On: On 1 -
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

It is also possible to activate relative Movement After Capture (RMAC) via the signal input function
“Activate RMAC”.

Target Values
The target position and the velocity for the relative movement are set via the following parameters.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Position Target position of relative movement after usr_p INT32 CANopen 3023:Dh
capture - R/W Modbus 8986
Minimum/maximum values depend on: 0 per.
- Scaling factor - -
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.
RMAC_Velocity Velocity of relative movement after capture usr_v UINT32 CANopen 3023:Eh
Value 0: Use actual motor velocity 0 R/W Modbus 8988
Value >0: Value is the target velocity 0 per.
2147483647 -
The adjustable value is internally limited to
the setting in RAMP_v_max.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.

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Edge for the Start Signal

The edge which is to trigger the relative movement is set via the following parameter.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Edge Edge of capture signal for relative - UINT16 CANopen
movement after capture 0 R/W 3023:10h
0 / Falling edge: Falling edge 0 per. Modbus 8992
1 / Rising edge: Rising edge 1 -
Available with firmware version ≥V01.10.

Response to Overtravelling of the Target Position

Depending on the set velocity, target position and deceleration ramp, the target position may be
overtravelled.
The response to overtravelling of the target position is set via the following parameter.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Response Response if target postion is overtraveld - UINT16 CANopen 3023:Fh
0 / Error Class 1: Error class 1 0 R/W Modbus 8990
1 / No Movement To Target Position: No 0 per.
movement to target position 2 -
2 / Movement To Target Position:
Movement to target position
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

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Backlash Compensation

By setting backlash compensation, you can compensate for mechanical backlash.

Example of mechanical backlash

1 Example of low mechanical backlash

2 Example of high mechanical backlash

When backlash compensation is activated, the drive automatically compensates for the mechanical
backlash during each movement.

Availability
Available with firmware version ≥V01.14.
Backlash compensation is possible in the following operating modes:
 Jog
 Profile Position
 Interpolated Position
 Homing

Parameterization
To use backlash compensation, you must set the amount of backlash.
The parameter BLSH_Position lets you set the amount of backlash in user-defined units.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Position Position value for backlash compensation usr_p INT32 CANopen
Setting can only be changed if power stage is 0 R/W 3006:42h
disabled. 0 per. Modbus 1668
Changed settings become active the next time 2147483647 -
the power stage is enabled.
Available with firmware version ≥V01.14.

In addition, you can set a processing time. The processing time specifies the period of time during which
the mechanical backlash is to be compensated for.
The parameter BLSH_Time lets you set the processing time in ms.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Time Processing time for backlash compensation ms UINT16 CANopen
Value 0: Immediate backlash compensation 0 R/W 3006:44h
Value >0: Processing time for backlash 0 per. Modbus 1672
compensation 16383 -
Setting can only be changed if power stage is
disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.14.

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Activating Backlash Compensation

Before you can activate backlash compensation, there must be a movement in positive or negative
direction. Backlash compensation is activated with the parameter BLSH_Mode.
 Start a movement in positive direction or in negative direction. This movement must last as long as it
takes to move the mechanical system connected to the motor.
 If the movement was in positive direction (positive target values), activate backlash compensation with
the value "OnAfterPositiveMovement".
 If the movement was in negative direction (negative target values), activate backlash compensation with
the value "OnAfterNegativeMovement".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Mode Processing mode of backlash - UINT16 CANopen
compensation 0 R/W 3006:41h
0 / Off: Backlash compensation is off 0 per. Modbus 1666
1 / OnAfterPositiveMovement: Backlash 2 -
compensation is on, last movement was in
positive direction
2 / OnAfterNegativeMovement: Backlash
compensation is on, last movement was in
negative direction
Changed settings become active
immediately.
Available with firmware version ≥V01.14.

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Section 8.2
Functions for Monitoring Movements

Functions for Monitoring Movements

What Is in This Section?

This section contains the following topics:
Topic Page
Limit Switches 305
Reference Switch 306
Software Limit Switches 307
Load-Dependent Position Deviation (Following Error) 309
Load-Dependent Velocity Deviation 312
Motor Standstill and Direction of Movement 314
Torque Window 315
Velocity Window 316
Standstill Window 317
Position Register 319
Position Deviation Window 324
Velocity Deviation Window 326
Velocity Threshold Value 328
Current Threshold Value 330
Adjustable Bits of the Status Parameters 332

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Limit Switches

The use of limit switches can provide some protection against hazards (for example, collision with
mechanical stop caused by incorrect reference values).

WARNING
LOSS OF CONTROL
 Ensure that limit switches are installed as determined by your risk assessment.
 Verify correct connection of the limit switches.
 Verify that the limit switches are sufficiently distant from the mechanical stop to allow an adequate
stopping distance.
 Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Limit Switches
Movements can be monitored using limit switches. A positive limit switch and a negative limit switch can
be used for monitoring.
If the positive or negative limit switch are tripped, the movement stops. An error message is generated and
the operating state switches to 7 Quick Stop Active.
The error message can be reset by means of a “Fault Reset”. The operating state switches back to
6 Operation Enabled.
The movement can continue, however, only in the opposite direction. For example, if the positive limit
switch was triggered, further movement is only possible in negative direction. In the case of further
movement in positive direction, a new error message is generated and the operating state switches back
to 7 Quick Stop Active.
The parameters IOsigLIMP and IOsigLIMN are used to set the type of limit switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigLIMP Signal evaluation for positive limit switch - UINT16 CANopen
0 / Inactive: Inactive 0 R/W 3006:10h
1 / Normally Closed: Normally closed NC 1 per. Modbus 1568
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
IOsigLIMN Signal evaluation for negative limit switch - UINT16 CANopen 3006:Fh
0 / Inactive: Inactive 0 R/W Modbus 1566
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

The signal input functions “Positive Limit Switch (LIMP)” and “Negative Limit Switch (LIMN)” must have
been parameterized, see chapter Digital Inputs and Outputs (see page 200).

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Reference Switch

The reference switch is only active in the operating mode Homing.

The parameter IOsigREF lets you set the type of reference switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigREF Signal evaluation for reference switch - UINT16 CANopen 3006:Eh
1 / Normally Closed: Normally closed NC 1 R/W Modbus 1564
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a 2 -
reference movement to the reference
switch is processed.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

The signal input function “Reference Switch (REF)” must have been parameterized, see chapter Digital
Inputs and Outputs (see page 200).

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Software Limit Switches

Description
Movements can be monitored using software limit switches. A positive position limit and a negative position
limit can be set for monitoring.
If the positive or negative position limit switch are reached, the movement stops. An error message is
generated and the operating state switches to 7 Quick Stop Active.
The error message can be reset by means of a “Fault Reset”. The operating state switches back to
6 Operation Enabled.
The movement can continue, however, only in the opposite direction of the position limit. For example, if
the positive position limit was reached, further movement is only possible in negative direction. In the case
of further movement in positive direction, a new error message is generated and the operating state
switches back to 7 Quick Stop Active.

Prerequisite
Software limit switch monitoring only works with a valid zero point, see chapter Size of the Movement
Range (see page 183).

Behavior in Operating Modes with Target Positions

In the case of operating modes with target positions, the target position is compared to the position limits
before the movement is started. The movement is started normally, even if the target position is greater
than the positive position limit or less than the negative position limit. However, the movement is stopped
before the position limit is exceeded.
In the following operating modes, the target position is verified prior to the start of a movement.
 Jog (step movement)
 Profile Position

Behavior in Operating Modes Without Target Positions

In operating modes without target position, a Quick Stop is triggered at the position limit.
In the following operating modes, a Quick Stop is triggered at the position limit.
 Jog (continuous movement)
 Profile Torque
 Profile Velocity
As of firmware version ≥V01.16, you can use the parameter MON_SWLimMode to set the behavior for
reaching a position limit.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_SWLimMode Behavior when position limit is reached - UINT16 CANopen
0 / Standstill Behind Position Limit: Quick 0 R/W 3006:47h
Stop is triggered at position limit and 0 per. Modbus 1678
standstill is reached behind position limit 1 -
1 / Standstill At Position Limit: Quick Stop is
triggered in front of position limit and
standstill is reached at position limit
Changed settings become active
immediately.
Available with firmware version ≥V01.16.

Standstill at the position limit in operating modes without target position requires the parameter
LIM_QStopReact to be set to "Deceleration ramp (Quick Stop)", see chapter Stop Movement with Quick
Stop (see page 285). If the parameter LIM_QStopReact is set to "Torque ramp (Quick Stop)", the
movement may come to a standstill in front of or behind the position limit due to different loads.

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Activation
The software limit switches are activated via the parameter MON_SW_Limits.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_SW_Limits Activation of software limit switches - UINT16 CANopen 3006:3h
0 / None: Deactivated 0 R/W Modbus 1542
1 / SWLIMP: Activation of software limit 0 per.
switches positive direction 3 -
2 / SWLIMN: Activation of software limit
switches negative direction
3 / SWLIMP+SWLIMN: Activation of
software limit switches both directions
Software limit switches can only be
activated if the zero point is valid.
Changed settings become active
immediately.

Setting Position Limits

The software limit switches are set via the parameters MON_swLimP and MON_swLimN.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_swLimP Positive position limit for software limit usr_p INT32 CANopen 607D:2h
switch - R/W Modbus 1544
If a user-defined value entered is outside of 2147483647 per.
the permissible range, the limit switch limits - -
are automatically set to the maximum user-
defined value.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
MON_swLimN Negative position limit for software limit usr_p INT32 CANopen 607D:1h
switch - R/W Modbus 1546
See description 'MON_swLimP'. -2147483648 per.
Setting can only be changed if power stage - -
is disabled.
Changed settings become active the next
time the power stage is enabled.

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Load-Dependent Position Deviation (Following Error)

Description
The load-dependent position deviation is the difference between the reference position and the actual
position caused by the load.
Parameters are available to read the load-dependent position deviation during operation and the maximum
position deviation reached so far.
The maximum permissible load-dependent position deviation can be parameterized. In addition, you can
set the error class.

Availability
Monitoring of the load-dependent position deviation is available in the following operating modes:
 Jog
 Profile Position
 Homing

Reading the Position Deviation

The following parameters let you read the load-dependent position deviation in user-defined units or
revolutions.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_usr Load-dependent position deviation usr_p INT32 CANopen
between reference and actual positions -2147483648 R/- 301E:16h
The load-dependent position deviation is - - Modbus 7724
the difference between the reference 2147483647 -
position and the actual position caused
by the load. This value is used for
following error monitoring.
Available with firmware version ≥
V01.05.
_p_dif_load Load-dependent position deviation revolution INT32 CANopen
between reference and actual positions -214748.3648 R/- 301E:1Ch
The load-dependent position deviation is - - Modbus 7736
the difference between the reference 214748.3647 -
position and the actual position caused
by the load. This value is used for
following error monitoring.

The parameter _p_dif_load_usr allows

you to enter the value in user-defined
units.
In increments of 0.0001 revolution.

The following parameters let you read the maximum value of the load-dependent position deviation
reached so far in user-defined units or revolutions.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_peak Maximum value of the load-dependent usr_p INT32 CANopen
_usr position deviation 0 R/W 301E:15h
This parameter contains the maximum - - Modbus 7722
load-dependent position deviation 2147483647 -
reached so far. A write access resets
this value.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_peak Maximum value of the load-dependent revolution UINT32 CANopen
position deviation 0.0000 R/W 301E:1Bh
This parameter contains the maximum - - Modbus 7734
load-dependent position deviation 429496.7295 -
reached so far. A write access resets
this value.

The parameter _p_dif_load_peak_usr

allows you to enter the value in user-
defined units..
In increments of 0.0001 revolution.
Changed settings become active
immediately.

Setting the Position Deviation

The following parameter lets you set the threshold for the maximum load-dependent position deviation that
is to trigger an error of error class 0.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_warn Maximum load-dependent position % UINT16 CANopen
deviation (error class 0) 0 R/W 3006:29h
100.0 % correspond to the maximum 75 per. Modbus 1618
position deviation (following error) as 100 -
specified by means of parameter
MON_p_dif_load.
Changed settings become active
immediately.

The following parameters let you set the maximum load-dependent position deviation at which a movement
is canceled with an error of error classes 1, 2, or 3.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_load Maximum load-dependent position usr_p INT32 CANopen
_usr deviation 1 R/W 3006:3Eh
The load-dependent position deviation is 16384 per. Modbus 1660
the difference between the reference 2147483647 -
position and the actual position caused by
the load.
The minimum value, the factory setting and
the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
MON_p_dif_load Maximum load-dependent position revolution UINT32 CANopen 6065:0h
deviation 0.0001 R/W Modbus 1606
The load-dependent position deviation is 1.0000 per.
the difference between the reference 200.0000 -
position and the actual position caused by
the load.
The parameter MON_p_dif_load_usr
allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.

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Setting the Error Class

The following parameter lets you set the error class for an excessively high load-dependent position
deviation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_p_dif Error response to excessivly high load- - UINT16 CANopen 3005:Bh
dependent position deviation 1 R/W Modbus 1302
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power
stage is disabled.
Changed settings become active the
next time the power stage is enabled.

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Load-Dependent Velocity Deviation

Description
The load-dependent velocity deviation is the difference between the reference velocity and the actual
velocity caused by the load.
The maximum permissible load-dependent velocity deviation can be parameterized. In addition, you can
set the error class.

Availability
Monitoring of the load-dependent velocity deviation is available in the following operating modes:
 Profile Velocity

Reading the Velocity Deviation

The following parameters let you read the load-dependent velocity deviation in user-defined units.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_v_dif_usr Current load-dependent velocity deviation usr_v INT32 CANopen
The load-dependent velocity deviation is -2147483648 R/- 301E:2Ch
the difference between reference velocity - - Modbus 7768
and actual velocity. 2147483647 -
Available with firmware version ≥V01.26.

Setting the Velocity Deviation

The following parameters let you specify the size of the window for the maximum load-dependent velocity
deviation at which a movement is canceled.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_VelDiff Maximum load-dependent velocity usr_v UINT32 CANopen
deviation 0 R/W 3006:4Bh
Value 0: Monitoring deactivated. 0 per. Modbus 1686
Value >0: Maximum value 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.
MON_VelDiff_Time Time window for maximum load- ms UINT16 CANopen
dependent velocity deviation 0 R/W 3006:4Ch
Value 0: Monitoring deactivated. 10 per. Modbus 1688
Value >0: Time window for maximum - -
value
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.

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Setting the Error Class

The following parameter lets you set the error class for an excessively high load-dependent velocity
deviation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_v_dif Error response to excessivly high load- - UINT16 CANopen
dependent velocity deviation 1 R/W 3005:3Ch
1 / Error Class 1: Error class 1 3 per. Modbus 1400
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power
stage is disabled.
Changed settings become active the
next time the power stage is enabled.
Available with firmware version ≥
V01.26.

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Motor Standstill and Direction of Movement

Availability
Monitoring depends on the firmware version
 Motor standstill: Available with firmware version ≥V01.00.
 Direction of movement: Available with firmware version ≥V01.14.

Description
The status of a movement can be monitored. You can read out whether the motor is at a standstill or
whether it moves in a specific direction.
A velocity of <10 rpm is interpreted as standstill.

The status is available via signal outputs. In order to read the status, you must first parameterize the signal
output functions “Motor Standstill”, “Motor Moves Positive” or “Motor Moves Negative”, see chapter Digital
Inputs and Outputs (see page 200).

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Torque Window

Description
The torque window allows you to monitor whether the motor has reached the target torque.
If the difference between the target torque and the actual torque remains in the torque window for the time
MON_tq_winTime, the target torque is considered to have been reached.

Availability
The torque window is available in the following operating modes.
 Profile Torque

Setings

1 Target torque
2 Target torque reached (the actual torque did not exceed the permissible deviation MON_tq_win during time
MON_tq_winTime).

The parameters MON_tq_win and MON_tq_winTime specify the size of the window.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_tq_win Torque window, permissible deviation % UINT16 CANopen
The torque window can only be activated in 0.0 R/W 3006:2Dh
operating mode Profile Torque. 3.0 per. Modbus 1626
In increments of 0.1 %. 3000.0 -
Changed settings become active
immediately.
MON_tq_winTime Torque window, time ms UINT16 CANopen
Value 0: Torque window monitoring 0 R/W 3006:2Eh
deactivated 0 per. Modbus 1628
16383 -
Changing the value causes a restart of
torque monitoring.

Torque window is only used in operating

mode Profile Torque.
Changed settings become active
immediately.

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Velocity Window

Description
The velocity window allows you to monitor whether the motor has reached the target velocity.
If the difference between the target velocity and the actual velocity remains in the velocity window for the
time MON_v_winTime, the target velocity is considered to have been reached.

Availability
The velocity window is available in the following operating modes.
 Profile Velocity

Settings

1 Target velocity
2 Target velocity reached (the target velocity did not exceed the permissible deviation MON_v_win during time
MON_v_winTime).

The parameters MON_v_win and MON_v_winTime specify the size of the window.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_win Velocity window, permissible deviation usr_v UINT32* CANopen 606D:0h
Changed settings become active 1 R/W Modbus 1576
immediately. 10 per.
* Datatype for CANopen: UINT16 2147483647 -
MON_v_winTime Velocity window, time ms UINT16 CANopen 606E:0h
Value 0: Velocity window monitoring 0 R/W Modbus 1578
deactivated 0 per.
16383 -
Changing the value causes a restart of
velocity monitoring.
Changed settings become active
immediately.

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Standstill Window

Description
The standstill window allows you to monitor whether the motor has reached the target position.
If the difference between the target position and the actual position remains in the standstill window for the
time MON_p_winTime, the target position is considered to have been reached.

Availability
The standstill window is available in the following operating modes.
 Jog (step movement)
 Profile Position
 Homing

Settings

1 Target position reached (the actual position did not exceed the permissible deviation MON_p_win_usr during time
MON_p_winTime).

The parameters MON_p_win_usr(MON_p_win) and MON_p_winTime specify the size of the window.
The parameter MON_p_winTout can be used to set the period of time after which a detected error is
signaled if the standstill window was not reached.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_win_usr Standstill window, permissible control usr_p INT32 CANopen
deviation 0 R/W 3006:40h
The control deviation for the standstill 16 per. Modbus 1664
window time must be within this range for a 2147483647 -
standstill of the drive to be detected.

Processing of the standstill window must

be activated via the parameter
MON_p_winTime.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_win Standstill window, permissible control revolution UINT16* CANopen 6067:0h
deviation 0.0000 R/W Modbus 1608
The control deviation for the standstill 0.0010 per.
window time must be within this range for a 3.2767 -
standstill of the drive to be detected.

Processing of the standstill window must

be activated via the parameter
MON_p_winTime.

The parameter MON_p_win_usr allows you

to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
* Datatype for CANopen: UINT32
MON_p_winTime Standstill window, time ms UINT16 CANopen 6068:0h
Value 0: Monitoring of standstill window 0 R/W Modbus 1610
deactivated 0 per.
Value >0: Time in ms during which the 32767 -
control deviation must be in the standstill
window
Changed settings become active
immediately.
MON_p_winTout Timeout time for standstill window ms UINT16 CANopen
monitoring 0 R/W 3006:26h
Value 0: Timeout monitoring deactivated 0 per. Modbus 1612
Value >0: Timeout time in ms 16000 -

Standstill window processing values are

set via MON_p_win and MON_p_winTime.

Time monitoring starts when the target

position (reference position of position
controller) is reached or when the profile
generator has finished processing.
Changed settings become active
immediately.

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Position Register

Description
The position register allows you to monitor whether the motor is within a parameterizable position range.
A movement can be monitored using one of 4 methods:
 The motor position is greater than or equal to comparison value A.
 The motor position is less than or equal to comparison value A.
 The motor position is within the range between comparison value A and comparison value B.
 The motor position is outside the range between comparison value A and comparison value B.
Separate channels are available for monitoring.

Number of Channels
The number of channels depends on the firmware version:
 4 channels (with firmware version ≥V01.06)
 2 channels (with firmware version <V01.06)

Status Messages
The status of the position register is available via the parameter _PosRegStatus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PosRegStatus Status of the position register channels - UINT16 CANopen 300B:1h
Signal state: - R/- Modbus 2818
0: Comparison criterion not met - -
1: Comparison criterion met - -

Bit assignments:
Bit 0: State of position register channel 1
Bit 1: State of position register channel 2
Bit 2: State of position register channel 3
Bit 3: State of position register channel 4

In addition, the status is available via signal outputs. In order to read the status via the signal outputs, you
must first parameterize the signal output function “Position Register Channel 1”,“Position Register Channel
2”, “Position Register Channel 3” and “Position Register Channel 4”, see chapter Digital Inputs and Outputs
(see page 200).

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Starting the Position Registers

The channels of the position registers are started via the following parameters.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg1Start Start/stop of position register channel 1 - UINT16 CANopen 300B:2h
0 / Off (keep last state): Position 0 R/W Modbus 2820
Register channel 1 is off and status bit 0 -
keeps last state 3 -
1 / On: Position Register channel 1 is on
2 / Off (set state 0): Position Register
channel 1 is off and status bit is set to 0
3 / Off (set state 1): Position Register
channel 1 is off and status bit is set to 1
Changed settings become active
immediately.
PosReg2Start Start/stop of position register channel 2 - UINT16 CANopen 300B:3h
0 / Off (keep last state): Position 0 R/W Modbus 2822
Register channel 2 is off and status bit 0 -
keeps last state 3 -
1 / On: Position Register channel 2 is on
2 / Off (set state 0): Position Register
channel 2 is off and status bit is set to 0
3 / Off (set state 1): Position Register
channel 2 is off and status bit is set to 1
Changed settings become active
immediately.
PosReg3Start Start/stop of position register channel 3 - UINT16 CANopen 300B:Ch
0 / Off (keep last state): Position 0 R/W Modbus 2840
Register channel 3 is off and status bit 0 -
keeps last state 3 -
1 / On: Position Register channel 3 is on
2 / Off (set state 0): Position Register
channel 3 is off and status bit is set to 0
3 / Off (set state 1): Position Register
channel 3 is off and status bit is set to 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.
PosReg4Start Start/stop of position register channel 4 - UINT16 CANopen 300B:Dh
0 / Off (keep last state): Position 0 R/W Modbus 2842
Register channel 4 is off and status bit 0 -
keeps last state 3 -
1 / On: Position Register channel 4 is on
2 / Off (set state 0): Position Register
channel 4 is off and status bit is set to 0
3 / Off (set state 1): Position Register
channel 4 is off and status bit is set to 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosRegGroupStart Start/stop of position register channels - UINT16 CANopen
0 / No Channel: No channel activated 0 R/W 300B:16h
1 / Channel 1: Channel 1 activated 0 per. Modbus 2860
2 / Channel 2: Channel 2 activated 15 -
3 / Channel 1 & 2: Channels 1 and 2
activated
4 / Channel 3: Channel 3 activated
5 / Channel 1 & 3: Channels 1 and 3
activated
6 / Channel 2 & 3: Channels 2 and 3
activated
7 / Channel 1 & 2 & 3: Channels 1, 2 and
3 activated
8 / Channel 4: Channel 4 activated
9 / Channel 1 & 4: Channels 1 and 4
activated
10 / Channel 2 & 4: Channels 2 and 4
activated
11 / Channel 1 & 2 & 4: Channels 1, 2
and 4 activated
12 / Channel 3 & 4: Channels 3 and 4
activated
13 / Channel 1 & 3 & 4: Channels 1, 3
and 4 activated
14 / Channel 2 & 3 & 4: Channels 2, 3
and 4 activated
15 / Channel 1 & 2 & 3 & 4: Channels 1,
2, 3 and 4 activated
Changed settings become active
immediately.
Available with firmware version ≥
V01.14.

Setting the Comparison Criterion

The comparison criterion is set via the following parameters.
In the case of the comparison criteria “Pact in” and “Pact out”, there is a difference between “basic” and
“extended”.
 Basic: The movement to be performed remains within the movement range.
 Extended: The movement to be performed can extend beyond the movement range.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
PosReg1Mode Selection of comparison criterion for position - UINT16 CANopen 300B:4h
register channel 1 0 R/W Modbus 2824
0 / Pact greater equal A: Actual position is 0 per.
greater than or equal to comparison value A 5 -
for position register channel 1
1 / Pact less equal A: Actual position is less
than or equal to comparison value A for
position register channel 1
2 / Pact in [A-B] (basic): Actual position is in
the range A-B including limits (basic)
3 / Pact out [A-B] (basic): Actual position is
out of the range A-B excluding limits (basic)
4 / Pact in [A-B] (extended): Actual position
is in the range A-B including limits (extended)
5 / Pact out [A-B] (extended): Actual position
is out of the range A-B excluding limits
(extended)
Changed settings become active
immediately.

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Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
PosReg2Mode Selection of comparison criterion for position - UINT16 CANopen 300B:5h
register channel 2 0 R/W Modbus 2826
0 / Pact greater equal A: Actual position is 0 per.
greater than or equal to comparison value A 5 -
for position register channel 2
1 / Pact less equal A: Actual position is less
than or equal to comparison value A for
position register channel 2
2 / Pact in [A-B] (basic): Actual position is in
the range A-B including limits (basic)
3 / Pact out [A-B] (basic): Actual position is
out of the range A-B excluding limits (basic)
4 / Pact in [A-B] (extended): Actual position
is in the range A-B including limits (extended)
5 / Pact out [A-B] (extended): Actual position
is out of the range A-B excluding limits
(extended)
Changed settings become active
immediately.
PosReg3Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Eh
register channel 3 0 R/W Modbus 2844
0 / Pact greater equal A: Actual position is 0 per.
greater than or equal to comparison value A 5 -
for position register channel 3
1 / Pact less equal A: Actual position is less
than or equal to comparison value A for
position register channel 3
2 / Pact in [A-B] (basic): Actual position is in
the range A-B including limits (basic)
3 / Pact out [A-B] (basic): Actual position is
out of the range A-B excluding limits (basic)
4 / Pact in [A-B] (extended): Actual position
is in the range A-B including limits (extended)
5 / Pact out [A-B] (extended): Actual position
is out of the range A-B excluding limits
(extended)
Changed settings become active
immediately.
Available with firmware version ≥V01.06.
PosReg4Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Fh
register channel 4 0 R/W Modbus 2846
0 / Pact greater equal A: Actual position is 0 per.
greater than or equal to comparison value A 5 -
for position register channel 4
1 / Pact less equal A: Actual position is less
than or equal to comparison value A for
position register channel 4
2 / Pact in [A-B] (basic): Actual position is in
the range A-B including limits (basic)
3 / Pact out [A-B] (basic): Actual position is
out of the range A-B excluding limits (basic)
4 / Pact in [A-B] (extended): Actual position
is in the range A-B including limits (extended)
5 / Pact out [A-B] (extended): Actual position
is out of the range A-B excluding limits
(extended)
Changed settings become active
immediately.
Available with firmware version ≥V01.06.

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Setting Comparison Values

The comparison values are set via the following parameters.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg1ValueA Comparison value A for position register usr_p INT32 CANopen 300B:8h
channel 1 - R/W Modbus 2832
0 per.
- -
PosReg1ValueB Comparison value B for position register usr_p INT32 CANopen 300B:9h
channel 1 - R/W Modbus 2834
0 per.
- -
PosReg2ValueA Comparison value A for position register usr_p INT32 CANopen 300B:Ah
channel 2 - R/W Modbus 2836
0 per.
- -
PosReg2ValueB Comparison value B for position register usr_p INT32 CANopen 300B:Bh
channel 2 - R/W Modbus 2838
0 per.
- -
PosReg3ValueA Comparison value A for position register usr_p INT32 CANopen
channel 3 - R/W 300B:12h
Available with firmware version ≥V01.06. 0 per. Modbus 2852
- -
PosReg3ValueB Comparison value B for position register usr_p INT32 CANopen
channel 3 - R/W 300B:13h
Available with firmware version ≥V01.06. 0 per. Modbus 2854
- -
PosReg4ValueA Comparison value A for position register usr_p INT32 CANopen
channel 4 - R/W 300B:14h
Available with firmware version ≥V01.06. 0 per. Modbus 2856
- -
PosReg4ValueB Comparison value B for position register usr_p INT32 CANopen
channel 4 - R/W 300B:15h
Available with firmware version ≥V01.06. 0 per. Modbus 2858
- -

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Position Deviation Window

Description
The position deviation window allows you to monitor whether the motor is within a parameterizable position
deviation.
The position deviation is the difference between reference position and actual position.
The position deviation window comprises position deviation and monitoring time.

Availability
The position deviation window is available in the following operating modes.
 Jog
 Profile Position
 Homing

Settings

The parameters MON_p_DiffWin_usr (MON_p_DiffWin) and MON_ChkTime specify the size of the
window.

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Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the signal output function “In
Position Deviation Window”, see chapter Digital Inputs and Outputs (see page 200).
In order to read the status via the fieldbus, you must set the status bits of the status parameters, see
chapter Adjustable Bits of the Status Parameters (see page 332).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_DiffWin_usr Monitoring of position deviation usr_p INT32 CANopen
ConF → ACG- The system checks whether the drive 0 R/W 3006:3Fh
in-P is within the defined deviation during 16 per. Modbus 1662
the period set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
MON_p_DiffWin Monitoring of position deviation revolution UINT16 CANopen
ConF → ACG- The system monitors whether the 0.0000 R/W 3006:19h
in-P drive is within the defined deviation 0.0010 per. Modbus 1586
during the period set with 0.9999 -
MON_ChkTime.
The status can be output via a
parameterizable output.

The parameter MON_p_DiffWin_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 CANopen
ConF → i-o- Adjustment of a time for monitoring of 0 R/W 3006:1Dh
tthr position deviation, velocity deviation, 0 per. Modbus 1594
velocity value and current value. If the 9999 -
monitored value is in the permissible
range during the adjusted time, the
monitoring function delivers a positive
result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

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Velocity Deviation Window

Description
The velocity deviation window allows you to monitor whether the motor is within a parameterizable velocity
deviation.
The velocity deviation is the difference between the reference velocity and the actual velocity.
The velocity deviation window comprises velocity deviation and monitoring time.

Availability
The velocity deviation window is available in the following operating modes.
 Jog
 Profile Velocity
 Profile Position
 Homing

Settings

The parameters MON_v_DiffWin and MON_ChkTime specify the size of the window.

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Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the signal output function "In
Velocity Deviation Window", see chapter Digital Inputs and Outputs (see page 200).
In order to read the status via the fieldbus, you must set the status bits of the status parameters, see
chapter Adjustable Bits of the Status Parameters (see page 332).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_DiffWin Monitoring of velocity deviation usr_v UINT32 CANopen
ConF → i- The system monitors whether the drive is 1 R/W 3006:1Ah
o- within the defined deviation during the 10 per. Modbus 1588
in-n period set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 CANopen
ConF → i- Adjustment of a time for monitoring of 0 R/W 3006:1Dh
o- position deviation, velocity deviation, 0 per. Modbus 1594
tthr velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

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Velocity Threshold Value

Description
The velocity threshold value allows you to monitor whether the actual velocity is below a parameterizable
velocity value.
The velocity threshold value comprises the velocity and the monitoring time.

Settings

The parameters MON_v_Threshold and MON_ChkTime specify the size of the window.

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the signal output function
"Velocity Below Threshold", see chapter Digital Inputs and Outputs (see page 200).
In order to read the status via the fieldbus, you must set the status bits of the status parameters, see
chapter Adjustable Bits of the Status Parameters (see page 332).

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The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),

MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_Threshold Monitoring of velocity threshold usr_v UINT32 CANopen
ConF → i-o- The system monitors whether the drive is 1 R/W 3006:1Bh
nthr below the defined value during the period 10 per. Modbus 1590
set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 CANopen
ConF → i-o- Adjustment of a time for monitoring of 0 R/W 3006:1Dh
tthr position deviation, velocity deviation, 0 per. Modbus 1594
velocity value and current value. If the 9999 -
monitored value is in the permissible
range during the adjusted time, the
monitoring function delivers a positive
result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

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Current Threshold Value

The current threshold value allows you to monitor whether the actual current is below a parameterizable
current value.
The current threshold value comprises the current value and the monitoring time.

Settings

The parameters MON_I_Threshold and MON_ChkTime specify the size of the window.

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the signal output function
"Current Below Threshold", see chapter Digital Inputs and Outputs (see page 200).
In order to read the status via the fieldbus, you must set the status bits of the status parameters, see
chapter Adjustable Bits of the Status Parameters (see page 332).

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The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),

MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_I_Threshold Monitoring of current threshold Arms UINT16 CANopen
ConF → i-o- The system monitors whether the drive is 0.00 R/W 3006:1Ch
ithr below the defined value during the period 0.20 per. Modbus 1592
set with MON_ChkTime. 300.00 -
The status can be output via a
parameterizable output.
The parameter _Iq_act_rms is used as
comparison value.
In increments of 0.01 Arms.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 CANopen
ConF → i-o- Adjustment of a time for monitoring of 0 R/W 3006:1Dh
tthr position deviation, velocity deviation, 0 per. Modbus 1594
velocity value and current value. If the 9999 -
monitored value is in the permissible
range during the adjusted time, the
monitoring function delivers a positive
result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

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Adjustable Bits of the Status Parameters

Overview
The status bits of the following parameters can be adjusted:
 Parameter _actionStatus
 Setting of bit 9 via parameter DPL_intLim
 Setting of bit 10 via parameter DS402intLim

 Parameter _DPL_motionStat
 Setting of bit 9 via parameter DPL_intLim
 Setting of bit 10 via parameter DS402intLim

 Parameter _DCOMstatus
 Setting of bit 11 via parameter DS402intLim

Status Parameter

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_actionStatus Action word - UINT16 CANopen
Signal state: - R/- 301C:4h
0: Not activated - - Modbus 7176
1: Activated - -

Bit assignments:
Bit 0: Error class 0
Bit 1: Error class 1
Bit 2: Error class 2
Bit 3: Error class 3
Bit 4: Error class 4
Bit 5: Reserved
Bit 6: Motor is at a standstill (_n_act < 9)
Bit 7: Motor movement in positive
direction
Bit 8: Motor movement in negative
direction
Bit 9: Assignment can be set via
parameter DPL_intLim
Bit 10: Assignment can be set via
parameter DS402intLim
Bit 11: Profile generator idle (reference
velocity is 0)
Bit 12: Profile generator decelerates
Bit 13: Profile generator accelerates
Bit 14: Profile generator moves at
constant speed
Bit 15: Reserved

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_DCOMstatus DriveCom status word - UINT16 CANopen 6041:0h
Bit assignments: - R/- Modbus 6916
Bit 0: Operating state Ready To Switch - -
On - -
Bit 1: Operating state Switched On
Bit 2: Operating state Operation Enabled
Bit 3: Operating state Fault
Bit 4: Voltage Enabled
Bit 5: Operating state Quick Stop
Bit 6: Operating state Switch On Disabled
Bit 7: Error of error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Target Reached
Bit 11: Internal Limit Active
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok
_DPL_motionStat Drive Profile Lexium motionStat - UINT16 CANopen
- R/- 301B:27h
- - Modbus 6990
- -

Parameter for Setting the Status Bits

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DPL_intLim Setting for bit 9 of _DPL_motionStat and - UINT16 CANopen
_actionStatus 0 R/W 301B:35h
0 / None: Not used (reserved) 11 per. Modbus 7018
1 / Current Below Threshold: Current 11 -
threshold value
2 / Velocity Below Threshold: Velocity
threshold value
3 / In Position Deviation Window: Position
deviation window
4 / In Velocity Deviation Window: Velocity
deviation window
5 / Position Register Channel 1: Position
register channel 1
6 / Position Register Channel 2: Position
register channel 2
7 / Position Register Channel 3: Position
register channel 3
8 / Position Register Channel 4: Position
register channel 4
9 / Hardware Limit Switch: Hardware limit
switch
10 / RMAC active or finished: Relative
movement after capture is active or
finished
11 / Position Window: Position window
Setting for:
Bit 9 of the parameter _actionStatus
Bit 9 of the parameter _DPL_motionStat
Changed settings become active
immediately.
Available with firmware version ≥V01.08.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DS402intLim DS402 status word: Setting for bit 11 - UINT16 CANopen
(internal limit) 0 R/W 301B:1Eh
0 / None: Not used (reserved) 0 per. Modbus 6972
1 / Current Below Threshold: Current 11 -
threshold value
2 / Velocity Below Threshold: Velocity
threshold value
3 / In Position Deviation Window: Position
deviation window
4 / In Velocity Deviation Window: Velocity
deviation window
5 / Position Register Channel 1: Position
register channel 1
6 / Position Register Channel 2: Position
register channel 2
7 / Position Register Channel 3: Position
register channel 3
8 / Position Register Channel 4: Position
register channel 4
9 / Hardware Limit Switch: Hardware limit
switch
10 / RMAC active or finished: Relative
movement after capture is active or
finished
11 / Position Window: Position window
Setting for:
Bit 11 of the parameter _DCOMstatus
Bit 10 of the parameter _actionStatus
Bit 10 of the parameter _DPL_motionStat
Changed settings become active
immediately.

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Section 8.3
Functions for Monitoring Internal Device Signals

Functions for Monitoring Internal Device Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Temperature Monitoring 336
Monitoring Load and Overload (I2T Monitoring) 337
Commutation Monitoring 339
Monitoring of Mains Phases 340
Ground Fault Monitoring 342

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Functions for Operation

Temperature Monitoring

The power stage temperature and the motor temperature are monitored.

Temperature of Power Stage

The parameter _PS_T_current indicates the temperature of the power stage.
The parameter _PS_T_warn contains the threshold value for an error of error class 0. The parameter
_PS_T_max indicates the maximum power stage temperature.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_T_current Temperature of power stage °C INT16 CANopen
Mon - R/- 301C:10h
tPS - - Modbus 7200
- -
_PS_T_warn Maximum temperature of power stage °C INT16 CANopen 3010:6h
(error class 0) - R/- Modbus 4108
- per.
- -
_PS_T_max Maximum temperature of power stage °C INT16 CANopen 3010:7h
- R/- Modbus 4110
- per.
- -

Temperature of Motor
The parameter _M_T_current indicates the motor temperature.
The parameter _M_T_max indicates the maximum motor temperature.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_T_current Temperature of motor °C INT16 CANopen
Mon - R/- 301C:11h
tMot - - Modbus 7202
- -
_M_T_max Maximum temperature of motor °C INT16 CANopen
- R/- 300D:10h
- - Modbus 3360
- -

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Monitoring Load and Overload (I2T Monitoring)

Description
The load is the thermal load on the power stage, the motor and the braking resistor.
Load and overload on the individual components are monitored internally; the values can be read by
means of parameters.
Overload starts at a load value of 100 %.

1 Load
2 Overload

Load Monitoring
The load can be read using the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_load Load of power stage % INT16 CANopen
Mon - R/- 301C:17h
LdFP - - Modbus 7214
- -
_M_load Load of motor % INT16 CANopen
Mon - R/- 301C:1Ah
LdFM - - Modbus 7220
- -
_RES_load Load of braking resistor % INT16 CANopen
Mon The braking resistor set via parameter - R/- 301C:14h
LdFb RESint_ext is monitored. - - Modbus 7208
- -

Overload Monitoring
In the case of 100 % overload of the power stage or the motor), the current is limited internally. In the case
of 100 % overload of the braking resistor, the braking resistor is deactivated.
The overload and the peak value can be read using the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_overload Overload of power stage % INT16 CANopen
Mon - R/- 301C:24h
oVLP - - Modbus 7240
- -
_PS_maxoverload Maximum value of overload of power % INT16 CANopen
stage - R/- 301C:18h
Maximum overload of power stage - - Modbus 7216
during the last 10 seconds. - -
_M_overload Overload of motor (I2t) % INT16 CANopen
Mon - R/- 301C:19h
Mi2t - - Modbus 7218
- -

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Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_maxoverload Maximum value of overload of motor % INT16 CANopen
Maximum overload of motor during the - R/- 301C:1Bh
last 10 seconds. - - Modbus 7222
- -
_RES_overload Overload of braking resistor (I2t) % INT16 CANopen
The braking resistor set via parameter - R/- 301C:13h
RESint_ext is monitored. - - Modbus 7206
- -
_RES_maxoverload Maximum value of overload of braking % INT16 CANopen
resistor - R/- 301C:15h
Maximum overload of braking resistor - - Modbus 7210
during the last 10 seconds. - -
The braking resistor set via parameter
RESint_ext is monitored.

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Commutation Monitoring

Commutation monitoring verifies the plausibility of acceleration and effective motor torque.
If the motor accelerates though the drive control decelerates the motor with the maximum current, an error
is detected.
Deactivating commutation monitoring can cause unintended movements.

WARNING
UNINTENDED MOVEMENT
 Only deactivate commutation monitoring during commissioning and only for test purposes.
 Verify that the commutation monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The parameter MON_commutat lets you deactivate commutation monitoring.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_commutat Commutation monitoring - UINT16 CANopen 3005:5h
0 / Off: Commutation monitoring off 0 R/W Modbus 1290
1 / On (OpState6): Commutation 1 per.
monitoring on in operating state 6 2 -
2 / On (OpState6+7): Commutation
monitoring on in operating states 6 and 7
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

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Monitoring of Mains Phases

If a three-phase drive is missing a mains phase and mains phase monitoring is not correctly set, this can
cause overload of the product.

NOTICE
INOPERABLE EQUIPMENT DUE TO MISSING MAINS PHASE
 Verify that mains phase monitoring is set to "Automatic Mains Detection" or to "Mains ..." with the
correct voltage value if the drive is supplied via the mains phases.
 Verify that mains phase monitoring is set to "DC bus only ..." with the correct voltage value if the drive
is supplied via the DC bus.
Failure to follow these instructions can result in equipment damage.

The parameter ErrorResp_Flt_AC lets you set the error response to a missing mains phase for three-
phase devices.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_Flt_ Error response to missing mains phase - UINT16 CANopen 3005:Ah
AC 0 / Error Class 0: Error Class 0 0 R/W Modbus 1300
1 / Error Class 1: Error class 1 2 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

If the product is supplied via the DC bus, mains phase monitoring must be set to "DC bus only ..." with the
correct voltage value.
Mains phase monitoring is set by means of the parameter MON_MainsVolt.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_MainsVolt Detection and monitoring of mains phases - UINT16 CANopen 3005:Fh
0 / Automatic Mains Detection: Automatic 0 R/W Modbus 1310
detection and monitoring of mains voltage 0 per.
1 / DC-Bus Only (Mains 1~230 V / 3~480 5 expert
V): DC bus supply only, corresponding to
mains voltage 230 V (single-phase) or 480
V (three phases)
2 / DC-Bus Only (Mains 1~115 V / 3~208
V): DC bus supply only, corresponding to
mains voltage 115 V (single-phase) or 208
V (three phases)
3 / Mains 1~230 V / 3~480 V: Mains voltage
230 V (single-phase) or 480 V (three
phases)
4 / Mains 1~115 V / 3~208 V: Mains voltage
115 V (single-phase) or 208 V (three
phases)
5 / Reserved: Reserved
Value 0: As soon as mains voltage
detected, the device automatically verifies
whether the mains voltage is 115 V or 230
V in the case of single-phase devices or
208 V or 400/480 V in the case of three-
phase devices.

Values 1 … 2: If the device is supplied only

via the DC bus, the parameter has to be set
to the voltage value corresponding to the
mains voltage of the supplying device.
There is no mains voltage monitoring.

Values 3 … 4: If the mains voltage is not

detected properly during start-up, the
mains voltage to be used can be selected
manually.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

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Ground Fault Monitoring

When the power stage is enabled, the device monitors the motor phases for ground faults. A ground fault
occurs when one or more motor phases are short-circuited to the ground (earth) of the application.
A ground fault of one or more motor phases is detected. A ground fault of the DC bus or the braking resistor
is not detected.
If the ground fault monitoring is deactivated, the drive may be rendered inoperable by a ground fault.

NOTICE
INOPERABLE EQUIPMENT DUE TO GROUND FAULTS
 Only deactivate ground fault monitoring during commissioning and only for test purposes.
 Verify that the ground fault monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in equipment damage.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_GroundFault Ground fault monitoring - UINT16 CANopen
0 / Off: Ground fault monitoring off 0 R/W 3005:10h
1 / On: Ground fault monitoring on 1 per. Modbus 1312
Changed settings become active the 1 expert
next time the product is powered on.

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Examples
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Chapter 9
Examples

Examples

Examples

General Information
The examples show some typical applications of the product. The examples are intended to provide an
overview; they are not exhaustive wiring plans.
The examples described here are intended for learning purposes only. In general, they are intended to help
you understand how to develop, test, commission, and integrate application logic and/or the device wiring
of the equipment associated with your own design in your control systems. The examples are not intended
to be used directly on products that are part of a machine or process.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include any wiring information, programming or configuration logic, or parameterization values
from the Examples in your machine or process without thoroughly testing your entire application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Using the safety function STO integrated in this product requires careful planning. See chapter Safety
function STO ("Safe Torque Off") (see page 76) for additional information.

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Examples

Example of Operation via Fieldbus

The product is controlled via CANopen.
Wiring example

1 EMERGENCY STOP
2 PLC
3 Commissioning accessories
4 External braking resistor
5 CANopen bus device

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 Lexium 32A
Diagnostics and Troubleshooting
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Chapter 10
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
10.1 Diagnostics via HMI 346
10.2 Diagnostics via Signal Outputs 352
10.3 Diagnostics via the Fieldbus 355
10.4 Error Messages 363

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Section 10.1
Diagnostics via HMI

Diagnostics via HMI

What Is in This Section?

This section contains the following topics:
Topic Page
Diagnostics via the Integrated HMI 347
Fieldbus Status LEDs 348
Acknowledging a Motor Change 349
Displaying error messages via the HMI 350

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Diagnostics via the Integrated HMI

Overview
The 7-segment display provides the user with information.

With the factory setting, the 7-segment display shows the operating states. The operating states are
described in chapter Operating States (see page 228).

Message Description
INIT Operating state 1 Start
nrdy Operating state 2 Not Ready To Switch On
dis Operating state 3 Switch On Disabled
rdy Operating state 4 Ready To Switch On
son Operating state 5 Switched On
run and Operating state 6 Operation Enabled
halt
stop Operating state 7 Quick Stop Active
flt Operating state 8 Fault Reaction Active and 9 Fault

Additional Messages
The table below provides an overview of the messages that can additionally be displayed on the integrated
HMI.

Message Description
Card Data on the memory card differs from data in the product.
See chapter Memory Card (see page 173) for information
on how to proceed.
disp An external HMI is connected. The integrated HMI has no
function.
fsu Perform a First Setup. See chapter Powering on the
Device for the First Time (see page 138).
mot A new motor was detected. See chapter Acknowledging a
Motor Change (see page 349) for replacing a motor.
prot Parts of the integrated HMI were locked with the
parameter HMIlocked.
ulow Controller supply during initialization not high enough.
wdog Unknown system error. Contact technical support.
8888 Undervoltage controller supply.

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Fieldbus Status LEDs

General
The fieldbus status LEDs indicate the status of the fieldbus.

The illustration below shows the fieldbus communication states.

Signals of the CAN bus status LEDs (Run=GN; Err=RD)

1 NMT state PRE-OPERATIONAL

2 NMT state STOPPED
3 NMT state OPERATIONAL
4 Incorrect settings, for example, invalid node address
5 Limit reached, for example after 16 incorrect transmission attempts
6 Monitoring event (Node Guarding)
7 CAN is BUS-OFF, for example after 32 incorrect transmission attempts.
8 Fieldbus communication without error message.

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Acknowledging a Motor Change

Procedure for confirming a motor change via the integrated HMI.

If the 7-segment display shows mot:
 Press the navigation button.
The 7-segment display shows save.
 Press the navigation button to save the new motor parameters to the EEPROM.
The product switches to operating state 4 Ready To Switch On.
Confirming a motor change via the integrated HMI

1 HMI displays that a replacement of a motor has been detected.

2 Canceling the saving process
3 Saving switching to operating state 4 Ready To Switch On.

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Displaying error messages via the HMI

Resetting Errors of Error Class 0

If there are errors of error class 0, the two dots to the right of the 7-segment display (2) flash. The error
code is not directly displayed on the 7-segment display, but must be explicitly queried by the user.
Procedure for displaying and resetting:
 Remedy the cause.
 Press the navigation button and hold it down.
The 7-segment display shows the error code.
 Release the navigation button.
The 7-segment display shows fres.
 Press the navigation button to reset the error message.
The 7-segment display returns to the initial state.

1 HMI shows an error of error class 0

2 Indication of error code
3 Resetting an error message
4 Canceling (the error code remains in the memory)

See chapter Error Messages (see page 363) for the meaning of the error codes.

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Reading and Acknowledging Errors of Error Classes 1 ...4

In the case of a detected error of error class 1, the error code and stop are alternately shown on the 7
segment display.
In the case of a detected error of error class 2 ... 4, the error code and flt are alternately shown on the
7 segment display.
Procedure for displaying and resetting:
 Remedy the cause.
 Press the navigation button.
The 7-segment display shows fres.
 Press the navigation button to reset the error message.
The product switches to operating state 4 Ready To Switch On.

1 HMI shows and error message with an error code

See chapter Error Messages (see page 363) for the meaning of the error codes.

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Section 10.2
Diagnostics via Signal Outputs

Diagnostics via Signal Outputs

What Is in This Section?

This section contains the following topics:
Topic Page
Indicating the Operating State 353
Indicating Error Messages 354

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Indicating the Operating State

Information on the operating state is available via the signal outputs.

The table below provides an overview.

Signal output function

Operating state “No fault”(1) “Active”(2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0
(1) The signal output function is factory setting for signal output DQ0
(2) The signal output function is the factory setting for signal output DQ1

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Indicating Error Messages

Selected error messages can be output via the signal outputs.

In order to output an error message via a signal output, you must first parameterizes the signal output
functions “Selected Warning” or “Selected Error”, see chapter Digital Inputs and Outputs (see page 200).
The parameters MON_IO_SelWar1 and MON_IO_SelWar2 are used to specify error codes with the error
class 0.
The parameters MON_IO_SelErr1 and MON_IO_SelErr2 are used to specify error codes with the error
classes 1 ... 4.
If an error specified in one of these parameters is detected, the corresponding signal output is to be set.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 363).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_IO_SelWar1 First error code for the signal output - UINT16 CANopen 303B:8h
function Selected Warning 0 R/W Modbus 15120
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.
MON_IO_SelWar2 Second error code for the signal output - UINT16 CANopen 303B:9h
function Selected Warning 0 R/W Modbus 15122
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.
MON_IO_SelErr1 First error code for the signal output - UINT16 CANopen 303B:6h
function Selected Error 0 R/W Modbus 15116
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.
MON_IO_SelErr2 Second error code for the signal output - UINT16 CANopen 303B:7h
function Selected Error 0 R/W Modbus 15118
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.

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Section 10.3
Diagnostics via the Fieldbus

Diagnostics via the Fieldbus

What Is in This Section?

This section contains the following topics:
Topic Page
Fieldbus Communication Error Diagnostics 356
Most Recent Detected Error - Status Bits 357
Most Recent Detected Error - Error Code 360
Error Memory 361

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Fieldbus Communication Error Diagnostics

Checking Connections
A properly operating fieldbus is essential for evaluating status and error messages.
If the product cannot be addressed via the fieldbus, first check the connections.
Check the following connections:
 System power supply
 Supply connections
 Fieldbus cables and wiring
 Fieldbus connection

Fieldbus Function Test

If the connections are correct, verify that you can address the product on the fieldbus.

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Most Recent Detected Error - Status Bits

Parameter DCOMstatus
The parameter DCOMstatus is a part of the process data communication. The parameter DCOMstatus is
transmitted asynchronously and in an event-driven way whenever the status information changes.
In the case of an error of error class 0, bit 7 is set in the parameter DCOMstatus.
In the case of an error of error class 1, 2, 3 or 4, bit 13 is set in the parameter DCOMstatus.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_DCOMstatus DriveCom status word - UINT16 CANopen 6041:0h
Bit assignments: - R/- Modbus 6916
Bit 0: Operating state Ready To Switch On - -
Bit 1: Operating state Switched On - -
Bit 2: Operating state Operation Enabled
Bit 3: Operating state Fault
Bit 4: Voltage Enabled
Bit 5: Operating state Quick Stop
Bit 6: Operating state Switch On Disabled
Bit 7: Error of error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Target Reached
Bit 11: Internal Limit Active
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok

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Error Bits
The parameters _WarnLatched and _SigLatched contain information on errors of error class 0 and
errors of error classes 1 ... 4.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_WarnLatched Saved errors of error class 0, bit-coded - UINT32 CANopen 301C:Ch
Mon The bits are set to 0 in the case of a Fault - R/- Modbus 7192
WrnS Reset. - -
Bits 10 and 13 are set to 0 automatically. - -

Bit assignments:
Bit 0: General
Bit 1: Reserved
Bit 2: Out of range (software limit switches,
tuning)
Bit 3: Reserved
Bit 4: Active operating mode
Bit 5: Commissioning interface (RS485)
Bit 6: Integrated fieldbus
Bit 7: Reserved
Bit 8: Following error
Bit 9: Reserved
Bit 10: Inputs STO_A and/or STO_B
Bits 11 ... 12: Reserved
Bit 13: Low voltage DC bus or mains phase
missing
Bits 14 ... 15: Reserved
Bit 16: Integrated encoder interface
Bit 17: Temperature of motor high
Bit 18: Temperature of power stage high
Bit 19: Reserved
Bit 20: Memory card
Bit 21: Fieldbus module
Bit 22: Encoder module
Bit 23: Safety module eSM or module IOM1
Bits 24 … 27: Reserved
Bit 28: Transistor for braking resistor
overload (I2t)
Bit 29: Braking resistor overload (I2t)
Bit 30: Power stage overload (I2t)
Bit 31: Motor overload (I2t)

Monitoring functions are product-

dependent.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_SigLatched Saved status of monitoring signals - UINT32 CANopen 301C:8h
Mon - R/- Modbus 7184
SiGS Bit assignments: - -
Bit 0: General error - -
Bit 1: Hardware limit switches
(LIMP/LIMN/REF)
Bit 2: Out of range (software limit switches,
tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Error in active operating mode
Bit 5: Commissioning interface (RS485)
Bit 6: Integrated fieldbus
Bit 7: Reserved
Bit 8: Following error
Bit 9: Reserved
Bit 10: Inputs STO are 0
Bit 11: Inputs STO different
Bit 12: Reserved
Bit 13: DC bus voltage low
Bit 14: DC bus voltage high
Bit 15: Mains phase missing
Bit 16: Integrated encoder interface
Bit 17: Overtemperature motor
Bit 18: Overtemperature power stage
Bit 19: Reserved
Bit 20: Memory card
Bit 21: Fieldbus module
Bit 22: Encoder module
Bit 23: Safety module eSM or module IOM1
Bit 24: Reserved
Bit 25: Reserved
Bit 26: Motor connection
Bit 27: Motor overcurrent/short circuit
Bit 28: Frequency of reference signal too
high
Bit 29: EEPROM error detected
Bit 30: System start-up (hardware or
parameter)
Bit 31: System error detected (for example,
watchdog, internal hardware interface)

Monitoring functions are product-

dependent.

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Most Recent Detected Error - Error Code

If the master controller receives information concerning a detected error via the process data
communication, the following parameters can be used to read the error code.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 363).

Most Recent Detected Error with Error Class 0

The parameter _LastWarning allows you to read the error number of the last detected error with error
class 0.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_LastWarning Code of most recent error of error class 0 - UINT16 CANopen 301C:9h
Mon If the error is no longer active, the code is - R/- Modbus 7186
LWrn stored until the next Fault Reset. - -
Value 0: No error of error class 0 - -

Most Recent Detected Error with Error Class 1 ... 4

The parameter _LastError allows you to read the error number of the last detected error with error class
1 ... 4.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_LastError Detected error causing a stop (error - UINT16 CANopen 603F:0h
Mon classes 1 to 4) - R/- Modbus 7178
LFLt Error code of the most recent detected - -
error. Consecutive detected errors do not - -
overwrite this error code.

Example: If an error response to a detected

limit switch error causes overvoltage, this
parameter contains the code of the
detected limit switch error.

Exception: Detected errors of error class 4

overwrite existing entries.

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Error Memory

General
The error memory is an error history of the last 10 error messages. It is not cleared even if the product is
powered off. The error memory allows you to read and evaluate past events.
The following information on the events is stored:
 Error class
 Error code
 Motor current
 Number of power on cycles
 Additional error information (for example, parameter numbers)
 Product temperature
 Power stage temperature
 Time the error was detected (with reference to operating hours counter)
 DC Bus Voltage
 Velocity
 Number of Enable cycles after powering on
 Time from Enable until detection of the error
The stored information relates to the situation at the point in time the error was detected.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 363).

Reading the Error Memory

The error memory can only be read sequentially. The parameter ERR_reset must be used to reset the
read pointer. Then the first error entry can be read. The read pointer is automatically set to the next entry.
A new read access delivers the next error entry. If the error code 0 is returned, there is no additional error
entry.

Position of the entry Meaning

1 First error message (oldest message).
2 Second error message (later message).
... ...
10 Tenth error message. In the case of ten error
messages, the most recent error message is
contained here.

An error entry consists of several pieces of information which can be read using different parameters.
When you read an error entry, the error code must be read first with the parameter _ERR_number.
The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_ERR_class Error class - UINT16 CANopen 303C:2h
Value 0: Error class 0 0 R/- Modbus 15364
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
_ERR_number Error code - UINT16 CANopen 303C:1h
Reading this parameter copies the entire 0 R/- Modbus 15362
entry for the detected error (error class, - -
time of detection of error, …) to an 65535 -
intermediate memory from which the
elements of the detected error can then be
read.

In addition, the read pointer of the error

memory is automatically set to the next
error entry.

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Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_ERR_motor_I Motor current at the time the error was Arms UINT16 CANopen 303C:9h
detected - R/- Modbus 15378
In increments of 0.01 Arms. - -
- -
_ERR_powerOn Number of power on cycles - UINT32 CANopen 303B:2h
Mon 0 R/- Modbus 15108
PoWo - -
4294967295 -
_ERR_qual Additional information on detected error - UINT16 CANopen 303C:4h
This entry contains additional information 0 R/- Modbus 15368
on the detected error, depending on the - -
error number. 65535 -
Example: a parameter address
_ERR_temp_dev Temperature of device at the time the error °C INT16 CANopen 303C:Bh
was detected - R/- Modbus 15382
- -
- -
_ERR_temp_ps Temperature of power stage at the time the °C INT16 CANopen 303C:Ah
error was detected - R/- Modbus 15380
- -
- -
_ERR_time Time of detection of error s UINT32 CANopen 303C:3h
With reference to operating hours counter 0 R/- Modbus 15366
- -
536870911 -
_ERR_DCbus DC bus voltage at the time the error was V UINT16 CANopen 303C:7h
detected - R/- Modbus 15374
In increments of 0.1 V. - -
- -
_ERR_motor_v Motor velocity at the time the error was usr_v INT32 CANopen 303C:8h
detected - R/- Modbus 15376
- -
- -
_ERR_enable_ Number of cycles of enabling the power - UINT16 CANopen 303C:5h
cycl stage at error time - R/- Modbus 15370
Number of cycles of enabling the power - -
stage from the time the control voltage was - -
applied to the time the error was detected.
_ERR_enable_ Time between enabling of power stage and s UINT16 CANopen 303C:6h
time detection of the error - R/- Modbus 15372
- -
- -
ERR_reset Reset error memory read pointer - UINT16 CANopen 303B:5h
Value 1: Set error memory read pointer to 0 R/W Modbus 15114
oldest error entry. - -
Changed settings become active 1 -
immediately.
ERR_clear Clear error memory - UINT16 CANopen 303B:4h
Value 1: Delete entries in the error memory 0 R/W Modbus 15112
- -
The clearing process is completed if a 0 is 1 -
returned after a read access.
Changed settings become active
immediately.

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Section 10.4
Error Messages

Error Messages

What Is in This Section?

This section contains the following topics:
Topic Page
Description of Error Messages 364
Table of Error Messages 365

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Description of Error Messages

Description
If monitoring functions of the drive detect an error, the drive generates an error message. Each error
message is identified by an error code.
The following information is available for each error message:
 Error code
 Error class
 Description of error
 Possible causes
 Possible remedies

Range of Error Messages

The table below summarizes the error codes classified by range.

Error code Range

E 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage
E 4xxx Temperature
E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring
E 8xxx Fieldbus
E Axxx Motor movement
E Bxxx Communication

Error Class of Error Messages

The error messages are classified according to the following error classes:

Error class State transition1) Error response Resetting the error message
0 - No interruption of the movement Function “Fault Reset”
1 T11 Stop movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop movement with “Quick Stop” and disable Function “Fault Reset”
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function “Fault Reset”
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first
(1) See chapter Operating State (see page 228)

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Table of Error Messages

List of the Error Messages Sorted by Error Code

Error Error Description Cause Correctives

code class
E 1100 0 Parameter out of permissible value The value entered was The entered value must be
range outside of the permissible within the permissible value
value range for this range.
parameter.
E 1101 0 Parameter does not exist Error detected by parameter Select a different parameter
management: Parameter (index).
(index) does not exist.
E 1102 0 Parameter does not exist Error detected by parameter Select a different parameter
management: Parameter (subindex).
(subindex) does not exist.
E 1103 0 Parameter write not permissible Write access to read only Write only to parameters
(READ only) parameter. that are not read-only.
E 1104 0 Write access denied (no access Parameter only accessible at The write access level
authorization) expert level. expert is required.
E 1105 0 Block Upload/Download not
initialized
E 1106 0 Command not permissible while Command not permissible Disable the power stage
power stage is active while the power stage is and repeat the command.
enabled (operating state
Operation Enabled or Quick
Stop Active).
E 1107 0 Access via other interface blocked Access occupied by another Verify the channel that
channel (for example: blocks access.
Commissioning software is
active and fieldbus access
was tried at the same time).
E 1108 0 File cannot be uploaded: Incorrect
file ID
E 1109 1 Data stored after a power outage is
invalid
E 110A 0 System error detected: No
bootloader available
E 110B 3 Configuration error detected Error detected during Value in additional error
(additional info=Modbus register parameter check (for information shows the
address) example, reference velocity Modbus register address of
Parameter _SigLatched Bit 30 value for operating mode the parameter where the
Profile Position is greater initialization error was
than maximum permissible detected.
velocity of drive).
E 110D 1 Basic configuration of drive The "First Setup" (FSU) was Perform a First Setup.
required after factory setting not run at all or not
completed.
E 110E 0 Parameter changed that requires a Only displayed by the Restart the drive to activate
restart of the drive commissioning software. the parameter functionality.
A parameter modification See the chapter
requires the drive to be Parameters for the
powered off and on. parameter that requires a
restart of the drive.
E 110F 0 Function not available in this type of The specific type of device Verify that you have the
device does not support this function correct device type, in
or this parameter value. particular type of motor,
type of encoder, holding
brake.
E 1110 0 Incorrect file ID for upload or The specific type of device Verify that you have the
download does not support this kind of correct device type or the
file. correct configuration file.

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Error Error Description Cause Correctives

code class
E 1111 0 File transfer not correctly initialized A previous file transfer has
been aborted.
E 1112 0 Locking of configuration denied An external tool has tried to
lock the configuration of the
drive for upload or download.
This may not work because
another tool had already
locked the configuration of
the drive or the drive is in an
operating state that does not
allow locking.
E 1113 0 System not locked for configuration An external tool has tried to
transfer transfer the configuration
without locking the drive.
E 1114 4 Configuration download aborted During a configuration Power the drive off/on and
Parameter _SigLatched Bit 5 download, a communication retry to download the
error or an error in the configuration or restore the
external tool was detected. factory settings.
The configuration was only
partially transferred to the
drive and might be
inconsistent now.
E 1115 0 Incorrect configuration file format An external tool has
Parameter _WarnLatched Bit 5 downloaded a configuration
which has an incorrect
format.
E 1116 0 Request is processed
asynchronously
E 1117 0 Asynchronous request blocked Request to a module is
blocked because the module
is currently processing
another request.
E 1118 0 Configuration data incompatible The configuration data Verify device type including
with device contains data from a different type of power stage.
device.
E 1119 0 Incorrect data length, too many
bytes
E 111A 0 Incorrect data length, insufficient
number of bytes
E 111B 4 Configuration download error During a configuration Verify that the configuration
detected (additional info=Modbus download, one or more file is valid and matches the
register address) configuration values were not type and version of the
accepted by the drive. drive. The value in the
additional error info shows
the Modbus register
address of the parameter
where the initialization error
was detected.
E 111C 1 Not possible to initialize A parameter could not be The address of the
recalculation for scaling initialized. parameter that caused the
detected error can be read
via the parameter
_PAR_ScalingError.
E 111D 3 Original state of a parameter cannot The drive contained an invalid Power the drive off and on
be restored after an error was configuration before the again. This may help you to
detected during recalculation of recalculation was started. An identify the affected
parameters with user-defined units. error was detected during the parameter(s). Change the
recalculation. parameters as required.
Verify that the parameter
configuration is valid before
starting the recalculation
procedure.

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Error Error Description Cause Correctives

code class
E 111F 1 Recalculation not possible. Invalid scaling factor. Verify that you really want
the selected scaling factor.
Try a different scaling
factor. Before triggering
scaling, reset the
parameters with user-
defined units.
E 1120 1 Recalculation for scaling not A parameter could not be The address of the
possible recalculated. parameter that caused this
condition can be read via
the parameter
_PAR_ScalingError.
E 1121 0 Incorrect sequence of steps for The recalculation has been The recalculation must be
scaling (fieldbus) started prior to the started after the
initialization. initialization.
E 1122 0 Recalculation for scaling not Recalculation for scaling is Wait for the running
possible already running. recalculation for scaling to
finish.
E 1123 0 Parameter cannot be changed Recalculation for scaling is Wait for the running
running. recalculation for scaling to
finish.
E 1124 1 Timeout during recalculation for The time between the Recalculation must be
scaling initialization of the started within 30 seconds
recalculation and the start of after initialization.
the recalculation has been
exceeded (30 seconds).
E 1125 1 Scaling not possible The scaling factors for Retry with different scaling
position, velocity or factors.
acceleration/deceleration are
beyond internal calculation
limits.
E 1126 0 Configuration is blocked by another Close other access channel
access channel (for example, other instance
of commissioning software).
E 1127 0 Invalid key received
E 1128 0 Special login is required for
Manufacturing Test Firmware
E 1129 0 Test step not yet started
E 112D 0 Configuration of edges is not The selected capture input Set the edge to either
supported does not support rising and "rising" or "falling".
falling edge at the same time.
E 112F 0 Time filter settings cannot be Position capture is already Deactivate position capture.
changed active with a time filter. The
filter settings cannot be
changed.
E 1300 3 Safety function STO activated The safety function STO was Verify correct wiring of the
(STO_A, STO_B) activated in the operating inputs of the safety function
Parameter _SigLatched Bit 10 state Operation Enabled. STO and perform a Fault
Reset.
E 1301 4 STO_A and STO_B different level The levels of the inputs Verify correct wiring of the
Parameter _SigLatched Bit 11 STO_A and STO_B were inputs of the safety function
different for more than 1 STO.
second.
E 1302 0 Safety function STO activated Safety function STO was Verify correct wiring of the
(STO_A, STO_B) activated while the power inputs of the safety function
Parameter _WarnLatched Bit 10 stage was disabled. STO.
E 1311 0 The selected signal input function The selected signal input Select another function or
or signal output function cannot be function or signal output change the operating mode.
configured function cannot be used in the
selected operating mode.

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Error Error Description Cause Correctives

code class
E 1312 0 Limit switch or reference switch Reference movements Assign the signal input
signal not defined for signal input require limit switches. These functions Positive Limit
function limit switches are not Switch, Negative Limit
assigned to inputs. Switch and Reference
Switch.
E 1313 0 Configured debounce time not The signal input function does Set the debounce time to a
possible for this signal input not support the selected valid value.
function debounce time.
E 1314 4 At least two inputs have the same The same signal input Reconfigure the inputs.
signal input function. function has been assigned to
at least two inputs.
E 1316 1 Position capture via signal input Position capture is already
currently not possible being used.
Parameter _SigLatched Bit 28
E 1501 4 System error detected: DriveCom
state machine indeterminable state
E 1502 4 System error detected: HWL low-
level state machine indeterminable
state
E 1503 1 Quick Stop triggered via fieldbus A Quick Stop has been
triggered via the fieldbus. The
Quick Stop option code has
been set to -1 or -2 which
causes the drive to transition
to the operating state 9 Fault
instead of the operating state
7 Quick Stop Active.
E 1600 0 Oscilloscope: No additional data
available
E 1601 0 Oscilloscope: Parameterization
incomplete
E 1602 0 Oscilloscope: Trigger variable not
defined
E 1606 0 Logging still active
E 1607 0 Logging: No trigger defined
E 1608 0 Logging: Invalid trigger option
E 1609 0 Logging: No channel selected
E 160A 0 Logging: No data available
E 160B 0 Parameter cannot be logged
E 160C 1 Autotuning: Moment of inertia The load inertia is too high. Verify that the system can
outside permissible range easily be moved.
Verify the load.
Use a differently rated drive.
E 160E 1 Autotuning: Test movement could
not be started
E 160F 1 Autotuning: Power stage cannot be Autotuning was not started in Start Autotuning when the
enabled the operating state Ready To drive is in the operating
Switch On. state Ready To Switch On.
E 1610 1 Autotuning: Processing stopped Autotuning stopped by user Remove the cause of the
command or by detected stop and restart Autotuning.
error (see additional error
message in error memory, for
example, DC bus
undervoltage, limit switches
triggered)
E 1611 1 System error detected: Parameter
could not be written during
Autotuning (additional info=Modbus
register address)

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Error Error Description Cause Correctives

code class
E 1612 1 System error detected: Parameter
could not be read during Autotuning
E 1613 1 Autotuning: Maximum permissible The movement exceeded the Increase the movement
movement range exceeded adjusted movement range range value or disable
Parameter _SigLatched Bit 2 during Autotuning. movement range
monitoring by setting
AT_DIS = 0.
E 1614 0 Autotuning: Already active Autotuning has been started Wait for Autotuning to finish
twice simultaneously or an before restarting
Autotuning parameter is Autotuning.
modified during Autotuning
(parameter AT_dis and
AT_dir).
E 1615 0 Autotuning: This parameter cannot Parameter AT_gain or AT_J Wait for Autotuning to finish
be changed while Autotuning is are written during Autotuning. before changing the
active parameter.
E 1617 1 Autotuning: Friction torque or load The current limit has been Verify that the system can
torque too great reached (parameter easily be moved.
CTRL_I_max). Verify the load.
Use a differently rated drive.
E 1618 1 Autotuning: Optimization aborted The internal Autotuning See the additional
sequence has not been information provided in the
finished, there may have error memory.
been a following error.
E 1619 0 Autotuning: Velocity jump in Parameter AT_n_ref < 2 * Modify the parameter
parameter AT_n_ref is not sufficient AT_n_tolerance. AT_n_ref or AT_n_tolerance
The drive only checks this for to meet the required
the first velocity jump. condition.
E 1620 1 Autotuning: Load torque too high Product rating is not suitable Reduce load, verify rating.
for the machine load.
Detected machine inertia is
too high compared to the
inertia of the motor.
E 1621 1 System error detected: Calculation
error
E 1622 0 Autotuning: Not possible to perform Autotuning can only be Terminate the active
Autotuning performed if no operating operating mode or disable
mode is active. the power stage.
E 1623 1 Autotuning: HALT request has Autotuning can only be Terminate the active
stopped the autotuning process performed if no operating operating mode or disable
mode is active. the power stage.
E 1A00 0 System error detected: FIFO
memory overflow
E 1A01 3 Motor has been changed (different Detected motor type is Confirm the change.
type of motor) different from previously
Parameter _SigLatched Bit 16 detected motor.
E 1A03 4 System error detected: Hardware
and firmware do not match
E 1B00 3 System error detected: Incorrect Incorrect manufacturer Replace device.
parameters for motor and power parameter value (data) non-
stage volatile memory of device.
Parameter _SigLatched Bit 30
E 1B02 3 Target value too high.
Parameter _SigLatched Bit 30
E 1B05 2 Error detected during parameter
switching
Parameter _SigLatched Bit 30
E 1B0C 3 Motor velocity too high.

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Error Error Description Cause Correctives

code class
E 1B0D 3 Velocity value determined by Incorrect system inertia for Change the velocity
velocity observer is incorrect velocity observer observer dynamics via the
calculations. parameter
Incorrect velocity observer CTRL_SpdObsDyn.
dynamics. Change the system inertia
System inertia changes used for velocity observer
during operation. In this case, calculations via the
operation with velocity parameter
observer is not possible and CTRL_SpdObsInert.
the velocity observer must be If the detected error
deactivated. persists, deactivate the
velocity observer.
E 1B0F 3 Velocity deviation too high
E 2300 3 Power stage overcurrent Motor short circuit and Verify the motor power
Parameter _SigLatched Bit 27 disabling of the power stage. connection.
Motor phases are inverted.
E 2301 3 Braking resistor overcurrent Braking resistor short circuit. If you use the internal
Parameter _SigLatched Bit 27 braking resistor, contact
Technical Support.
If you use an external
braking resistor, verify
correct wiring and rating of
the braking resistor.
E 3100 par. Missing mains supply, Missing phase(s) for more Verify that the values of the
undervoltage mains supply or than 50 ms. mains power supply
overvoltage mains supply Mains voltage is out of range. network comply with the
Parameter _SigLatched Bit 15 Mains frequency is out of technical data.
range.
E 3200 3 DC bus overvoltage Excessive regeneration Verify correct deceleration
Parameter _SigLatched Bit 14 during deceleration. ramp, rating of drive and
braking resistor.
E 3201 3 DC bus undervoltage (shutdown Power supply outage, Verify mains supply.
threshold) insufficient power supply.
Parameter _SigLatched Bit 13
E 3202 2 DC bus undervoltage (Quick Stop Power supply outage, Verify mains supply.
threshold) insufficient power supply.
Parameter _SigLatched Bit 13
E 3206 0 Undervoltage DC bus, missing Missing phase(s) for more Verify that the values of the
mains supply, undervoltage mains than 50 ms. mains power supply
supply or overvoltage mains supply Mains voltage is out of range. network comply with the
Parameter _WarnLatched Bit 13 Mains frequency is out of technical data.
range. Verify the settings of the
Mains voltage and setting of parameter for reduced
parameter MON_MainsVolt mains voltage.
do not match (for example,
mains voltage is 230 V and
MON_MainsVolt is set to 115
V).
E 3300 0 The winding voltage of the motor is If the winding voltage of the Verify the motor
lower than the nominal supply motor is lower than the temperature. In the case of
voltage of the drive nominal supply voltage of the overtemperature, use a
drive, this may result in motor motor with a higher winding
overtemperature due to high voltage or use a drive with a
current ripple. lower nominal supply
voltage.
E 4100 3 Power stage overtemperature Transistors overtemperature: Verify the fan, improve the
Parameter _SigLatched Bit 18 Ambient temperature is too heat dissipation in the
high, fan is inoperative, dust. cabinet.
E 4101 0 Power stage overtemperature Transistors overtemperature: Verify the fan, improve the
Parameter _WarnLatched Bit 18 Ambient temperature is too heat dissipation in the
high, fan is inoperative, dust. cabinet.
E 4102 0 Power stage overload (I2t) The current has exceeded the Verify rating, reduce cycle
Parameter _WarnLatched Bit 30 nominal value for an time.
extended period of time.

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Error Error Description Cause Correctives

code class
E 4200 3 Device overtemperature Excessively high ambient Improve heat dissipation in
Parameter _SigLatched Bit 18 temperature due to, for the control cabinet.
example, dust. If a fan is installed, verify
correct operation of the fan.
Install a fan in the control
cabinet.
Improve heat transfer from
the rear wall of the device to
the control cabinet.
E 4300 2 Motor overtemperature Ambient temperature is too Verify motor installation:
Parameter _SigLatched Bit 17 high. The heat must be dissipated
Duty cycle is too high. via the mounting surface.
Motor not properly mounted Reduce ambient
(thermal isolation). temperature.
Motor overload. Provide ventilation.
E 4301 0 Motor overtemperature Ambient temperature is too Verify motor installation:
Parameter _WarnLatched Bit 17 high. The heat must be dissipated
Duty cycle is too high. via the mounting surface.
Motor not properly mounted Reduce ambient
(thermal isolation). temperature.
Motor overload. Provide ventilation.
E 4302 0 Motor overload (I2t) The current has exceeded the Verify that the system can
Parameter _WarnLatched Bit 31 nominal value for an easily be moved.
extended period of time. Verify the load.
Use a differently sized
motor, if necessary.
E 4303 0 No motor temperature monitoring The temperature parameters Contact Technical Support.
(in electronic nameplate of Replace motor.
motor, non-volatile memory of
encoder) are unavailable or
invalid; parameter A12 is
equal to 0.
E 4304 0 The encoder does not support
motor temperature monitoring.
E 4402 0 Braking resistor overload (I2t > Regeneration energy too Reduce load, velocity,
75%) high. deceleration.
Parameter _WarnLatched Bit 29 External loads too high. Verify correct braking
Motor velocity too high. resistor rating.
Deceleration too fast.
Insufficient braking resistor.
E 4403 par. Braking resistor overload (I2t > Regeneration energy too Reduce load, velocity,
100%) high. deceleration.
External loads too high. Verify correct braking
Motor velocity too high. resistor rating.
Deceleration too fast.
Insufficient braking resistor.
E 4404 0 Overload of transistor for braking Regeneration energy too Reduce load and/or
resistor high. deceleration.
Parameter _WarnLatched Bit 28 External loads too high.
Deceleration too fast.
E 5101 0 Modbus power supply missing
E 5102 4 Motor encoder supply voltage Encoder power supply is not Replace the device.
Parameter _SigLatched Bit 16 within permissible range of 8 Contact Technical Support.
V to 12 V.
E 5200 4 Error detected at connection to Incorrect encoder cable or Verify the cable connection
motor encoder cable not connected, EMC. and the cable shield.
Parameter _SigLatched Bit 16
E 5201 4 Error detected in motor encoder Verify the cable connection
communication and the cable shield.
Parameter _SigLatched Bit 16
E 5202 4 Motor encoder is not supported Incompatible encoder Verify that a correct encoder
Parameter _SigLatched Bit 16 connected. is used.

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Error Error Description Cause Correctives

code class
E 5203 4 Error detected in connection motor
encoder
Parameter _SigLatched Bit 16
E 5204 3 Connection to motor encoder lost Encoder cable Verify the cable connection.
Parameter _SigLatched Bit 16 (communication has been
interrupted).
E 5206 0 Communication error detected in Communication disturbed, Verify cable specifications,
encoder EMC. cable shield connection and
Parameter _WarnLatched Bit 16 EMC.
E 5207 1 Function is not supported The hardware revision does
not support the function.
E 5302 4 The motor requires a PWM The connected motor only Use a motor that works with
frequency (16kHz) which the power works with a PWM frequency a PWM frequency of 8 kHz.
stage does not support. of 16 kHz (motor nameplate
entry). However, the power
stage does not support this
PWM frequency.
E 5430 4 System error detected: EEPROM
read error
Parameter _SigLatched Bit 29
E 5431 3 System error: EEPROM write error
Parameter _SigLatched Bit 29
E 5432 3 System error: EEPROM state
machine
Parameter _SigLatched Bit 29
E 5433 3 System error: EEPROM address
error
Parameter _SigLatched Bit 29
E 5434 3 System error: EEPROM incorrect
data length
Parameter _SigLatched Bit 29
E 5435 4 System error: EEPROM not
formatted
Parameter _SigLatched Bit 29
E 5436 4 System error: EEPROM
incompatible structure
Parameter _SigLatched Bit 29
E 5437 4 System error detected: EEPROM
checksum error (manufacturer
data)
Parameter _SigLatched Bit 29
E 5438 3 System error detected: EEPROM
checksum error (user parameters)
Parameter _SigLatched Bit 29
E 5439 3 System error detected: EEPROM
checksum error (fieldbus
parameters)
Parameter _SigLatched Bit 29
E 543B 4 System error detected: No valid
manufacturer data
Parameter _SigLatched Bit 29
E 543E 3 System error detected: EEPROM
checksum error (NoInit parameter)
Parameter _SigLatched Bit 29
E 543F 3 System error detected: EEPROM
checksum error (motor parameters)
Parameter _SigLatched Bit 29

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Error Error Description Cause Correctives

code class
E 5441 4 System error detected: EEPROM
checksum error (global control loop
parameter set)
Parameter _SigLatched Bit 29
E 5442 4 System error detected: EEPROM
checksum error (control loop
parameter set 1)
Parameter _SigLatched Bit 29
E 5443 4 System error detected: EEPROM
checksum error (control loop
parameter set 2)
Parameter _SigLatched Bit 29
E 5444 4 System error detected: EEPROM
checksum error (NoReset
parameter)
Parameter _SigLatched Bit 29
E 5445 4 System error detected: EEPROM
checksum error (hardware
information)
Parameter _SigLatched Bit 29
E 5446 4 System error detected: EEPROM Internal EEPROM not Restart the drive. If the
checksum error (for power outage operative. detected error persists,
data) contact Technical Support.
Parameter _SigLatched Bit 29
E 5448 2 System error detected:
Communication with memory card
Parameter _SigLatched Bit 20
E 5449 2 System error detected: Memory
card bus is busy
Parameter _SigLatched Bit 20
E 544A 4 System error detected: EEPROM
checksum error (administration
data)
Parameter _SigLatched Bit 29
E 544C 4 System error detected: EEPROM is
write-protected
Parameter _SigLatched Bit 29
E 544D 2 System error detected: Memory The last saving procedure Retry saving the data.
card may not have been Replace the memory card.
Parameter _SigLatched Bit 20 successful; the memory card
may be inoperative.
E 544E 2 System error detected: Memory The last saving procedure Retry saving the data.
card may not have been Replace the memory card.
Parameter _SigLatched Bit 20 successful; the memory card
may be inoperative.
E 544F 2 System error detected: Memory The last saving procedure Retry saving the data.
card may not have been Replace the memory card.
Parameter _SigLatched Bit 20 successful; the memory card
may be inoperative.
E 5451 0 System error detected: No memory
card available
Parameter _WarnLatched Bit 20
E 5452 2 System error detected: Data on Different type of device.
memory card and device do not Different type of power stage.
match Data on memory card does
Parameter _SigLatched Bit 20 not match firmware version of
device.
E 5453 2 System error detected:
Incompatible data on the memory
card
Parameter _SigLatched Bit 20

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Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 5454 2 System error detected: Capacity of
detected memory card insufficient
Parameter _SigLatched Bit 20
E 5455 2 System error detected: Memory Update memory card via
card not formatted HMI command "dtoc" (drive-
Parameter _SigLatched Bit 20 to-card).
E 5456 1 System error detected: Memory The memory card has been Remove memory card or
card is write-protected write-protected. disable write protection via
Parameter _SigLatched Bit 20 HMI.
E 5457 2 System error detected: Memory card capacity is Replace memory card
Incompatible memory card insufficient.
Parameter _SigLatched Bit 20
E 5462 0 Memory card implicitly written by The content of the memory
the device card and the content of the
Parameter _WarnLatched Bit 20 EEPROM are not identical.
E 546C 0 EEPROM file not available
E 5600 3 Motor connection phase error Missing motor phase. Verify connection of motor
detected phases.
Parameter _SigLatched Bit 26
E 5603 3 Commutation error detected Incorrect wiring of motor Verify motor phases, verify
Parameter _SigLatched Bit 26 cable. encoder wiring.
Encoder signals are lost or Improve EMC, verify
subject to interference. grounding and shield
The load torque is greater connection.
than the motor torque. Use a differently sized
The encoder EEPROM motor that can withstand the
contains incorrect data load torque.
(encoder phase offset is Verify the motor data.
incorrect). Contact Technical Support.
Motor is not adjusted.
E 6102 4 System error detected: Internal
software error
Parameter _SigLatched Bit 30
E 6103 4 System error detected: System
stack overflow
Parameter _SigLatched Bit 31
E 6104 0 System error detected: Division by
zero (internal)
E 6105 0 System error detected: Overflow
during 32 bit calculation (internal)
E 6106 4 System error detected: Size of data
interface does not match
Parameter _SigLatched Bit 30
E 6107 0 Parameter outside of value range
(calculation error detected)
E 6108 0 Function not available
E 6109 0 System error detected: Internal
range exceeded
E 610A 2 System error detected: Calculated
value cannot be represented as a
32 bit value
E 610D 0 Error detected in selection Incorrect parameter value Verify the value to be
parameter selected. written.
E 610E 4 System error detected: 24 VDC
below undervoltage threshold for
shutdown
E 610F 4 System error detected: Internal
timer basis missing (Timer0)
Parameter _SigLatched Bit 30

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 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 6111 2 System error detected: Memory
area locked
Parameter _SigLatched Bit 30
E 6112 2 System error detected: Out of
memory
Parameter _SigLatched Bit 30
E 6113 1 System error detected: Calculated
value cannot be represented as a
16 bit value
E 6114 4 System error detected: Incorrect programming
Impermissible function call from
interrupt service routine
E 6117 0 Holding brake cannot be released The holding brake cannot be First, switch from applying
manually. relased manually because it the holding brake manually
is still applied manually. to Automatic, then to
releasing the holding brake
manually.
E 7100 4 System error detected: Invalid Error detected in power stage Contact Technical Support
power stage data data stored in device or replace the device.
Parameter _SigLatched Bit 30 (incorrect CRC), error
detected in internal memory
data.
E 7110 2 System error detected: Internal Internal braking resistor is Contact Technical Support.
braking resistor inoperative or not connected.
E 7111 0 Parameter cannot be changed An attempt is made to change Verify that the external
because the external braking one of the parameters braking resistor is not active
resistor is active. RESext_ton, RESext_P or if one of the parameters
RESext_R even though the RESext_ton, RESext_P or
external braking resistor is RESext_R has to be
active. changed.
E 7112 2 No external braking resistor External braking resistor Verify wiring of the external
connected activated (Parameter braking resistor. Verify
RESint_ext), but no external correct resistance.
resistor is detected.
E 7120 4 Invalid motor data Motor data is incorrect Contact Technical Support
Parameter _SigLatched Bit 16 (incorrect CRC). or replace the motor.
E 7121 2 System error detected: Error in EMC, detailed information Contact Technical Support.
motor encoder communication can be found in the error
Parameter _SigLatched Bit 16 memory that contains the
error code of the encoder.
E 7122 4 Invalid motor data Error detected in motor data Contact Technical Support
Parameter _SigLatched Bit 30 stored in motor encoder, error or replace the motor.
detected in internal memory
data.
E 7124 4 System error detected: Motor Contact Technical Support
encoder inoperative or replace the motor.
Parameter _SigLatched Bit 16
E 7125 4 System error detected: Length
specification for user data too great
Parameter _SigLatched Bit 16
E 7129 0 System error detected: Motor
encoder
Parameter _WarnLatched Bit 16
E 712C 0 System error detected:
Communication with encoder not
possible
Parameter _WarnLatched Bit 16

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Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 712D 4 Electronic motor nameplate not Incorrect motor data Contact Technical Support
found (incorrect CRC). or replace the motor.
Parameter _SigLatched Bit 16 Motor without electronic
motor nameplate (for
example, SER motor)
E 712F 0 No data segment of the electronic
motor nameplate
E 7132 0 System error detected: Motor
configuration cannot be written
E 7134 4 Incomplete motor configuration
Parameter _SigLatched Bit 16
E 7135 4 Format is not supported
Parameter _SigLatched Bit 16
E 7136 4 Incorrect encoder type selected
with parameter MotEnctype
Parameter _SigLatched Bit 16
E 7137 4 Error detected during the internal
conversion of the motor
configuration
Parameter _SigLatched Bit 16
E 7138 4 Parameter of the motor
configuration out of permissible
range
Parameter _SigLatched Bit 16
E 7139 0 Encoder offset: Data segment in
encoder is incorrect.
E 713A 3 Adjustment value of the encoder of
the third party motor has not yet
been determined.
Parameter _SigLatched Bit 16
E 7200 4 System error detected: Calibration
analog/digital converter during
manufacturing / incorrect BLE file
Parameter _SigLatched Bit 30
E 7320 4 System error detected: Invalid Communication channel Contact Technical Support.
encoder parameter (Hiperface) to encoder is
Parameter _SigLatched Bit 16 subject to interference, motor
encoder has not been factory-
parameterized.
E 7321 3 Timeout reading the absolute Communication channel Verify wiring and shield
position from the encoder (Hiperface) to encoder is connection of encoder
Parameter _SigLatched Bit 16 subject to interference or cable or replace motor.
motor encoder is inoperative.
E 7327 0 Error bit set in Hiperface answer Insufficient EMC. Verify wiring (shield).
Parameter _WarnLatched Bit 16
E 7328 4 Motor encoder: Position evaluation Encoder has detected Contact Technical Support
error detected incorrect position evaluation. or replace the motor.
Parameter _SigLatched Bit 16
E 7329 0 Motor encoder Warn signal EMC. Contact Technical Support
Parameter _WarnLatched Bit 16 or replace the motor.
E 7330 4 System error detected: Motor Verify wiring and shield
encoder (Hiperface) connection of encoder
Parameter _SigLatched Bit 16 cable.
Contact Technical Support.
E 7331 4 System error detected: Motor Verify wiring and shield
encoder initialization connection of encoder
Parameter _SigLatched Bit 30 cable.
Contact Technical Support.

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Error Error Description Cause Correctives

code class
E 7335 0 Communication with motor encoder Command is being processed Verify wiring and shield
active or communication may be connection of encoder
Parameter _WarnLatched Bit 16 disturbed (EMC). cable.
Contact Technical Support.
E 733F 4 Amplitude of encoder analog Incorrect encoder wiring.
signals too low Encoder not connected.
Parameter _SigLatched Bit 16 Encoder signals subject to
EMC interference (shield
connection, cabling, etc.).
E 7340 3 Reading of absolute position Communication channel Verify wiring and shield
aborted (Hiperface) to encoder is connection of encoder
Parameter _SigLatched Bit 16 subject to interference. cable, replace motor.
Encoder (in motor) is
inoperative.
E 7341 0 Encoder overtemperature The maximum permissible Reduce the duty cycle, for
Parameter _WarnLatched Bit 16 duty cycle is exceeded. example, reduce
The motor was not mounted acceleration.
properly, for example, it is Supply additional cooling,
thermally isolated. for example, use a fan.
The motor is blocked so that Mount the motor in such a
more current is used than way as to increase thermal
under normal conditions. conductivity.
The ambient temperature is Use a differently rated drive
too high. or motor.
Replace the motor.
E 7342 2 Encoder overtemperature The maximum permissible Reduce the duty cycle, for
Parameter _SigLatched Bit 16 duty cycle is exceeded. example, reduce
The motor was not mounted acceleration.
properly, for example, it is Supply additional cooling,
thermally isolated. for example, use a fan.
The motor is blocked so that Mount the motor in such a
more current is used than way as to increase thermal
under normal conditions. conductivity.
The ambient temperature is Use a differently rated drive
too high. or motor.
Replace the motor.
E 7343 0 Absolute position is different from - Encoder is subject to EMC Verify wiring and shield
incremental position interference. connection of encoder
Parameter _WarnLatched Bit 16 - Motor encoder is cable, replace motor.
inoperative.
E 7344 3 Absolute position is different from - Encoder is subject to EMC Verify wiring and shield
incremental position interference. connection of encoder
Parameter _SigLatched Bit 16 - Motor encoder is cable, replace motor.
inoperative.
E 7345 0 Amplitude of analog signals too Encoder signals subject to Verify wiring and shield
high, limit of AD conversion EMC interference (shield connection.
exceeded connection, wiring, etc.). Replace encoder.
Encoder inoperative.
E 7346 4 System error detected: Encoder not Verify wiring and shield
ready connection of encoder
Parameter _SigLatched Bit 16 cable.
Contact Technical Support.
E 7347 0 System error detected: Position Analog and digital encoder Reduce encoder signal
initialization not possible signals subject to massive interference, verify shield
interference. connection.
Contact Technical Support.
E 7348 3 Timeout reading encoder Encoder without temperature Verify wiring and shield
temperature sensor, incorrect encoder connection of encoder
Parameter _SigLatched Bit 16 connection. cable.
Contact Technical Support.

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Error Error Description Cause Correctives

code class
E 7349 0 Discrepancy between absolute and Analog encoder signals are Verify wiring and shield
analog encoder phases subject to interference. connection of encoder
Encoder inoperative. cable.
Replace motor.
Contact Technical Support.
E 734A 3 Amplitude of analog signals from Incorrect encoder wiring.
encoder too high, signals are Encoder hardware interface
clipped inoperative.
Parameter _SigLatched Bit 16
E 734B 0 Signal position evaluation of analog Incorrect encoder wiring.
encoder inoperative Encoder hardware interface
Parameter _WarnLatched Bit 16 inoperative.
E 734C par. Error detected with quasi absolute The motor shaft may have If the quasi absolute
position been moved while the drive function is active, only
Parameter _SigLatched Bit 16 was powered down. A quasi power down the drive if the
absolute position has been motor is at a standstill and
detected that is not within the do not move the motor shaft
permissible motor shaft when the drive is off.
deviation range.
E 734D 0 Index pulse is not available for the
encoder
Parameter _WarnLatched Bit 16
E 734E 4 Error in analog signals from Encoder cable not properly Verify wiring and shield
encoder detected connected. connection of encoder
Parameter _SigLatched Bit 16 Encoder signals subject to cable.
EMC interference (shield Contact Technical Support.
connection, wiring, etc.).
Mechanical issue.
E 7500 0 RS485/Modbus: Overrun error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7501 0 RS485/Modbus: Framing error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7502 0 RS485/Modbus: Parity error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7503 0 RS485/Modbus: Receive error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7623 0 Absolute encoder signal is not There is no encoder available Verify wiring, verify
available at the input specified via the encoder. Change the value
Parameter _WarnLatched Bit 22 parameter ENC_abs_source. of the parameter
ENC_abs_source.
E 7625 0 Not possible to set the absolute There is no encoder Connect an encoder to the
position for encoder 1. connected to the input for input for encoder 1 before
Parameter _WarnLatched Bit 22 encoder 1. trying to set the absolute
position directly via
ENC1_abs_pos.
E 7701 4 System error detected: Timeout Contact Technical Support.
during connection to power stage
Parameter _SigLatched Bit 31
E 7702 4 System error detected: Invalid data Contact Technical Support.
received from power stage
Parameter _SigLatched Bit 31
E 7703 4 System error detected: Data Contact Technical Support.
exchange with power stage lost
Parameter _SigLatched Bit 31

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Error Error Description Cause Correctives

code class
E 7704 4 System error detected: Exchange Contact Technical Support.
of identification data from power
stage not successful
Parameter _SigLatched Bit 31
E 7705 4 System error detected: Checksum Contact Technical Support.
identification data from power stage
incorrect
Parameter _SigLatched Bit 31
E 7706 4 System error detected: No Contact Technical Support.
identification frame received from
power stage
Parameter _SigLatched Bit 31
E 7707 4 System error detected: Type of Contact Technical Support.
power stage and manufacture data
do not match
E 7708 4 PIC voltage supply too low Contact Technical Support.
Parameter _SigLatched Bit 31
E 7709 4 System error detected: Invalid Contact Technical Support.
numbers of data received
Parameter _SigLatched Bit 31
E 770A 2 PIC received data with incorrect Contact Technical Support.
parity
Parameter _SigLatched Bit 31
E 8110 0 CANopen: Overflow internal Two short CAN messages
receive queue (message lost) have been sent too fast (at 1
Parameter _WarnLatched Bit 21 Mbits only).
E 8120 0 CANopen: CAN Controller in state Too many error frames have Verify CAN bus installation.
Error Passive been detected.
Parameter _WarnLatched Bit 21
E 8130 2 CANopen: Detected Heartbeat or The bus cycle time of the Verify the CANopen
Life Guard error CANopen master is longer configuration, increase the
Parameter _SigLatched Bit 21 than the programmed heartbeat or node guarding
heartbeat or node guarding time.
time.
E 8131 0 CANopen: Detected Heartbeat or
Life Guard error
Parameter _WarnLatched Bit 21
E 8140 0 CANopen: CAN controller was in
state 'bus-off', communication is
possible again
Parameter _WarnLatched Bit 21
E 8141 2 CANopen: CAN controller is in state Too many error frames have Verify CAN bus installation.
'bus-off' been detected, CAN devices
Parameter _SigLatched Bit 21 with different baud rates.
E 8142 0 CANopen: CAN controller is in state Too many error frames have Verify CAN bus installation.
'bus-off' been detected, CAN devices
Parameter _WarnLatched Bit 21 with different baud rates.
E 8281 0 CANopen: RxPDO1 could not be Error detected while Verify RxPDO1 content
processed processing Receive PDO1: (application).
Parameter _WarnLatched Bit 21 PDO1 contains invalid value.
E 8282 0 CANopen: RxPDO2 could not be Error detected while Verify RxPDO2 content
processed processing Receive PDO2: (application).
Parameter _WarnLatched Bit 21 PDO2 contains invalid value.
E 8283 0 CANopen: RxPDO3 could not be Error detected while Verify RxPDO3 content
processed processing Receive PDO3: (application).
Parameter _WarnLatched Bit 21 PDO3 contains invalid value.
E 8284 0 CANopen: RxPDO4 could not be Error detected while Verify RxPDO4 content
processed processing Receive PDO4: (application)
Parameter _WarnLatched Bit 21 PDO4 contains invalid value.

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Error Error Description Cause Correctives

code class
E 8291 0 CANopen: TxPdo could not be
processed
Parameter _WarnLatched Bit 21
E 8292 0 CANopen: TxPdo could not be
processed
Parameter _WarnLatched Bit 21
E 8293 0 CANopen: TxPdo could not be
processed
Parameter _WarnLatched Bit 21
E 8294 0 CANopen: TxPdo could not be
processed
Parameter _WarnLatched Bit 21
E 82A0 0 CANopen: Initialization CANopen
stack
Parameter _WarnLatched Bit 21
E 82A1 0 CANopen: Overflow internal
transmit queue (message lost)
Parameter _WarnLatched Bit 21
E 82B1 0 CANopen: The data tunneling
protocol is not Modbus RTU
Parameter _WarnLatched Bit 21
E 82B2 0 CANopen: Data frame is still being A new data frame was written Write the data frame again
processed but the previous data frame is later on.
Parameter _WarnLatched Bit 21 still being processed.
E A065 0 Parameters cannot be written A data set is still active. Wait until the currently
Parameter _WarnLatched Bit 4 active data set has been
terminated.
E A300 0 Deceleration after HALT request HALT was removed too soon. Wait for complete stop
still running New command was sent before removing HALT
before motor standstill was signal.
reached after a HALT Wait until motor has come
request. to a complete standstill.
E A301 0 Drive in operating state Quick Stop Error with error class 1
Active detected.
Drive stopped with Quick
Stop.
E A302 1 Stop by positive limit switch The positive limit switch was Verify application.
Parameter _SigLatched Bit 1 activated because movement Verify limit switch function
range was exceeded, and connection.
incorrect operation of limit
switch or signal disturbance.
E A303 1 Stop by negative limit switch The negative limit switch was Verify application.
Parameter _SigLatched Bit 1 activated because movement Verify limit switch function
range was exceeded, and connection.
incorrect operation of limit
switch or signal disturbance.
E A304 1 Stop by reference switch
Parameter _SigLatched Bit 1
E A305 0 Power stage cannot be enabled in Fieldbus: An attempt was Refer to the state diagram.
the operating state Not Ready To made to enable the power
Switch On stage in the operating state
Not Ready To Switch On.
E A306 1 Stop by user-initiated software stop Drive is in operating state Clear break condition with
Parameter _SigLatched Bit 3 Quick Stop Active due to a command Fault Reset.
software stop request. The
activation of a new operating
mode is not possible, the
error code is sent as the
response to the activation
command.

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Error Error Description Cause Correctives

code class
E A307 0 Interruption by internal software In the operating modes Perform a Fault Reset.
stop Homing and Jog, the
movement is internally
interrupted by an internal
software stop. The activation
of a new operating mode is
not possible, the error code is
sent as the response to the
activation command.
E A308 0 Drive is in operating state Fault or Error with error class 2 or Verify the error code (HMI
Fault Reaction Active higher detected. or commissioning
software), remove the
cause and perform a Fault
Reset.
E A309 0 Drive not in operating state A command was sent that Set drive to operating state
Operation Enabled requires the drive to be in the Operation Enabled and
operating state Operation repeat the command.
Enabled (for example, a
command to change the
operating mode).
E A310 0 Power stage not enabled Command cannot be used Set drive to an operating
because the power stage is state in which the power
not enabled (operating state stage is enabled, see state
Operation Enabled or Quick diagram.
Stop Active).
E A311 0 Operating mode change active A start request for an Wait until the operating
operating mode has been mode change has
received while a change of terminated before triggering
the operating mode was a start request for another
active. operating mode.
E A312 0 Profile generation interrupted
E A313 0 Position overflow, zero point is The movement range limits Define a valid zero point by
therefore no longer valid (ref_ok=0) were exceeded and the zero means of the operating
point is no longer valid. An mode Homing.
absolute movement requires
a valid zero point.
E A314 0 No valid zero point Command needs a valid zero Define a valid zero point by
point (ref_ok=1). means of the operating
mode Homing.
E A315 0 Homing active Command cannot be used Wait until reference
while the operating mode movement is finished.
Homing is active.
E A316 0 Overflow during calculation of
acceleration
E A317 0 Motor is not at a standstill Command sent which is not Wait until the motor has
permissible when the motor is come to a standstill (x_end
not at a standstill. = 1).
For example:
- Change of software limit
switches
- Change of handling of
monitoring signals
- Setting of reference point
- Teach in of data set
E A318 0 Operating mode active (x_end=0) Activation of a new operating Wait until the command in
mode is not possible while the operating mode has
another operating mode is finished (x_end=1)
still active. or terminate active
operating mode with HALT
command.
E A319 1 Manual tuning/Autotuning: The movement exceeds the Verify permissible
Movement out of range parameterized maximum movement range value and
Parameter _SigLatched Bit 2 movement range. time interval.

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Error Error Description Cause Correctives

code class
E A31A 0 Manual tuning/Autotuning: Amplitude plus offset for Choose lower amplitude
Amplitude/offset too high tuning exceed internal and offset values.
velocity or current limitation.
E A31B 0 Halt requested Command not permissible Clear Halt request and
while Halt is requested. repeat command.
E A31C 0 Invalid position setting with Value for negative (positive) Set correct position values.
software limit switch software limit switch is
greater (less) than value for
positive (negative) software
limit switch.
E A31D 0 Velocity range exceeded The velocity was set to a If the value of parameter
(parameter CTRL_v_max, value greater than the M_n_max is greater than
M_n_max) maximum permissible the value of parameter
velocity in parameter CTRL_v_max, increase the
CTRL_v_max or M_n_max, value of parameter
whichever is lower. CTRL_v_max or reduce the
velocity value.
E A31E 1 Stop by positive software limit Not possible to execute Return to the permissible
switch command because positive movement range.
Parameter _SigLatched Bit 2 software limit switch was
triggered.
E A31F 1 Stop by negative software limit Not possible to execute Return to the permissible
switch command because negative movement range.
Parameter _SigLatched Bit 2 software limit switch was
triggered.
E A320 par. Permissible position deviation External load or acceleration Reduce external load or
exceeded are too high. acceleration.
Parameter _SigLatched Bit 8 Use a differently rated drive,
if necessary.
Error response can be
adjusted via parameter
ErrorResp_p_dif.
E A321 0 Invalid setting for RS422 position
interface
E A322 0 Error detected in ramp calculation
E A323 3 System error detected: Processing
error detected during generation of
profile
E A324 1 Error detected during homing Homing movement was Possible sub-error codes:
(additional info = detailed error stopped in response to a E A325, E A326, E A327, E
code) detected error, the detailed A328 or E A329.
Parameter _SigLatched Bit 4 reason is indicated by the
additional info in the error
memory.
E A325 1 Limit switch to be approached not Homing to positive limit Enable limit switch via
enabled switch or negative limit switch 'IOsigLimP' or 'IOsigLimN'.
Parameter _SigLatched Bit 4 is disabled.
E A326 1 Reference switch not found Reference switch inoperative Verify the function and
between positive limit switch and or not correctly connected. wiring of the reference
negative limit switch switch.
Parameter _SigLatched Bit 4
E A329 1 More than one signal positive limit Reference switch or limit Verify the wiring and 24
switch/negative limit switch not connected VDC supply voltage.
switch/reference switch active correctly or supply voltage for
Parameter _SigLatched Bit 4 switches too low.
E A32A 1 Positive limit switch triggered with Start reference movement Verify correct connection
negative direction of movement with negative direction (for and function of limit switch.
Parameter _SigLatched Bit 4 example, reference Activate a jog movement
movement to negative limit with negative direction of
switch) and activate the movement (target limit
positive limit switch (switch in switch must be connected
opposite direction of to the negative limit switch).
movement).

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Error Error Description Cause Correctives

code class
E A32B 1 Negative limit switch triggered with Start reference movement Verify correct connection
positive direction of movement with positive direction (for and function of limit switch.
Parameter _SigLatched Bit 4 example, reference Activate a jog movement
movement to positive limit with positive direction of
switch) and activate the movement (target limit
negative limit switch (switch switch must be connected
in opposite direction of to the positive limit switch).
movement).
E A32C 1 Reference switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or Motor subjected to vibration cabling and function of
switch overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response after
stopping and optimize
control loop settings.
E A32D 1 Positive limit switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or Motor subjected to vibration cabling and function of
switch overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response after
stopping and optimize
control loop settings.
E A32E 1 Negative limit switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or Motor subjected to vibration cabling and function of
switch overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response after
stopping and optimize
control loop settings.
E A32F 1 Index pulse not found Index pulse signal not Verify index pulse signal
Parameter _SigLatched Bit 4 connected or not working and connection.
properly.
E A330 0 Reference movement to index The position difference Increase the distance
pulse cannot be reproduced. Index between the index pulse and between the index pulse
pulse is too close to the switch the switching point is and the switching point. If
Parameter _WarnLatched Bit 4 insufficient. possible, the distance
between the index pulse
and the switching point
should be a half motor
revolution.
E A332 1 Jog error detected (additional info = Jog movement was stopped For additional info, verify the
detailed error code) in response to a detected detailed error code in the
Parameter _SigLatched Bit 4 error. error memory.
E A333 3 System error detected: Invalid
internal selection
E A334 2 Timeout Standstill Window Position deviation after Verify load.
monitoring movement greater than Verify settings for standstill
standstill window. This may window (parameter
have been caused by an MON_p_win,
external load. MON_p_winTime and
MON_p_winTout).
Optimize control loop
settings.
E A336 1 System error detected: Jerk
limitation with position offset after
end of movement (additional info =
offset in Inc.)
E A337 0 Operating mode cannot be Continuation of interrupted Restart the operating mode.
continued movement in operating mode
Parameter _WarnLatched Bit 4 Profile Position is not possible
because another operating
mode had been active in the
meantime.
In the operating mode Motion
Sequence, continuation is not
possible if a motion blend was
interrupted.

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Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A338 0 Operating mode unavailable The selected operating mode
Parameter _WarnLatched Bit 4 is not available.
E A339 0 No processing of motor encoder
selected or position capture of
motor index pulse active
Parameter _WarnLatched Bit 4
E A33A 0 No valid zero point (ref_ok=0) No zero point defined by Use operating mode
Parameter _WarnLatched Bit 4 means of operating mode Homing to define a valid
Homing. zero point.
Zero point no longer valid due Use a motor with an
to movement beyond absolute encoder.
permissible movement range.
Motor does not have an
absolute encoder.
E A33C 0 Function not available in this Activation of a function which
operating mode is not available in the active
Parameter _WarnLatched Bit 4 operating mode.
Example: Start of backlash
compensation while
autotuning/manual tuning is
active.
E A33D 0 Motion blend is already active Change of motion blend Wait for the motion blend to
Parameter _WarnLatched Bit 4 during the ongoing motion complete before setting the
blend (end position of motion next position.
blend not yet reached)
E A33E 0 No movement activated Activation of a motion blend Start a movement before
Parameter _WarnLatched Bit 4 without movement. the motion blend is
activated.
E A33F 0 Position of motion blend movement The position of the motion Verify the position of the
not in the range of the ongoing blend is outside of the motion blend and the
movement movement range. movement range.
Parameter _WarnLatched Bit 4
E A341 0 Position of motion blend has The movement has passed
already been passed beyond the position of the
Parameter _WarnLatched Bit 4 motion blend.
E A342 1 Target velocity was not reached at The position of the motion Reduce the ramp velocity
motion blend position. blend was overtraveled, the so that the target velocity is
Parameter _SigLatched Bit 4 target velocity was not reached at the position of
reached. the motion blend.
E A343 0 Processing only possible with linear Motion blend position was set Set a linear ramp.
ramp with a non-linear ramp.
Parameter _WarnLatched Bit 4
E A347 0 Permissible position deviation External load or acceleration Reduce external load or
exceeded are too high. acceleration.
Parameter _WarnLatched Bit 8 Threshold value can be
adjusted via the parameter
MON_p_dif_warn.
E A349 0 Position setting exceeds system Position scaling of Change POSscaleDenom
limits POSscaleDenom and and POSscaleNum in such
POSscaleNum results in a a way as to increase the
scaling factor that is too resulting scaling factor.
small.
E A34A 0 Velocity setting exceeds system The velocity scaling of Change 'VELscaleDenom'
limits 'VELscaleDenom' and and 'VELscaleNum' in such
'VELscaleNum' results in a a way as to increase the
scaling factor that is too resulting scaling factor.
small.
The velocity has been set to a
value greater than the
maximum possible velocity
(the maximum velocity is
13200 rpm).

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Error Error Description Cause Correctives

code class
E A34B 0 Ramp setting exceeds system The ramp scaling of Change of
limits 'RAMPscaleDenom' and 'RAMPscaleDenom' and
'RAMPscaleNum' results in a 'RAMPscaleNum' in such a
scaling factor that is too way as to increase the
small. resulting scaling factor.
E A34C 0 Resolution of scaling too high
(range exceeded)
E A34D 0 Function not available when The function cannot be Deactivate Modulo to use
Modulo is active executed when Modulo is the function.
active.
E A34E 0 Target value for absolute If parameter 'MOD_Absolute' Set a correct target value for
movement not possible with is set to: absolute movement.
defined modulo range and modulo Shortest Distance: Target
handling. value is not in defined modulo
range.
Positive Direction: Target
value is less than parameter
'MOD_Min'.
Negative Direction: Target
value is greater than
parameter 'MOD_Max'.
E A34F 0 Target position outside of modulo The setting of parameter Change the parameter
range. Corresponding movement 'MOD_AbsMultiRng' only 'MOD_AbsMultiRng' to
within range performed instead. allows for a movement within allow for movements
the modulo range. beyond the modulo range.
E A351 1 Function cannot be executed with The positions scaling factor is Use a different position
this position scaling factor set to a value less than scaling factor or deactivate
Parameter _SigLatched Bit 4 1rev/131072usr_p, which is the selected function.
less than the internal
resolution.
In the operating mode Cyclic
Synchronous Position, the
resolution is not set to
1rev/131072usr_p.
E A352 0 Position list active
E A353 0 Position list not sorted
E A354 0 Position list does not match the
configuration of the Modulo range
E A355 1 Error detected during relative Movement was stopped by Verify the error memory.
movement after capture (additional error.
info = detailed error code)
Parameter _SigLatched Bit 4
E A356 0 Function Relative Movement After Assign the function Relative
Capture not assigned to a digital Movement After Capture to
input a digital input.
E A357 0 Deceleration still running Command is not permissible Wait until motor has come
during deceleration. to a complete standstill.
E A358 1 Target position overtraveled with Stopping distance too small Reduce the velocity.
function Relative Movement After or velocity too high at the
Capture point in time of the capture
Parameter _SigLatched Bit 4 event.
E A359 0 Request cannot be processed
since the relative movement after
capture is still active
E A35B 0 Modulo cannot be activated The set operating mode does
Parameter _WarnLatched Bit 4 not support Modulo.
E A35D par. Permissible velocity deviation Load or acceleration too high. Reduce load or
exceeded acceleration.
Parameter _SigLatched Bit 8
E B100 0 RS485/Modbus: Indeterminable Unsupported Modbus service Verify application on the
service was received. Modbus master.
Parameter _WarnLatched Bit 5

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Error Error Description Cause Correctives

code class
E B120 2 Cyclic communication: Incorrect The drive does not support Change the cycle time in the
cycle time the configured cycle time or master controller to a cycle
Parameter _SigLatched Bit 21 the difference between the time supported by the drive
measured cycle time and the or verify synchronization
configured cycle time is too requirements.
great.
E B121 2 Cyclic communication: Two cycles have passed Analyze the
Synchronization signal missing without a synchronization communication.
Parameter _SigLatched Bit 21 signal having been received.
E B122 2 Cyclic communication: Incorrect One signal was missing and Analyze the communication
synchronization the expected second signal or increase the cycle time.
Parameter _SigLatched Bit 21 was received at an incorrect
point in time. The master
controller may be unable to
provide the required
synchronization signals at the
set cycle time, for example,
due to insufficient computing
power.
E B123 2 Cyclic communication: The The cycle time tolerance may Enter a correct value.
selected cycle time tolerance is too not exceed one quarter of the
high set cycle time.
Parameter _SigLatched Bit 21
E B124 0 Cyclic Communication: Drive is not Operating mode has been After having started the
synchronous with master cycle activated but drive is not synchronization
Parameter _WarnLatched Bit 21 synchronized to external mechanism, wait for 120
synchronization signal. cycles before activating the
operating mode.
E B200 0 RS485/Modbus: Protocol error Logical protocol error Verify application on the
detected detected: Incorrect length or Modbus master.
Parameter _WarnLatched Bit 5 unsupported subfunction.
E B201 2 RS485/Modbus: Interruption of the Connection monitoring has Verify all connections and
connection detected an interruption of the cables used for data
Parameter _SigLatched Bit 5 connection. exchange. Verify that the
device is on.
E B202 0 RS485/Modbus: Interruption of the Connection monitoring has Verify all connections and
connection detected an interruption of the cables used for data
Parameter _WarnLatched Bit 5 connection. exchange. Verify that the
device is on.
E B203 0 RS485/Modbus: Incorrect number
of monitor objects
Parameter _WarnLatched Bit 5
E B400 2 CANopen: NMT reset with power NMT Reset command is Disable the power stage
stage enabled received while drive is in before sending a NMT reset
Parameter _SigLatched Bit 21 operating state Operation command.
Enabled.
E B401 2 CANopen: NMT stop with power NMT Stop command is Disable the power stage
stage enabled received while drive is in before sending a NMT Stop
Parameter _SigLatched Bit 21 operating state Operation command.
Enabled.
E B402 0 CAN PLL active An attempt has been made to Deactivate the
Parameter _WarnLatched Bit 21 start the synchronization synchronization
mechanism, but the mechanism.
synchronization mechanism
was already active.
E B403 2 Excessive Sync period deviation The period time of the SYNC The SYNC signals of the
Parameter _SigLatched Bit 21 signals is not stable. The motion controller must be
deviation is more than more accurate.
100 usec.
E B404 2 Sync signal error detected SYNC signal missed more Verify CAN connection,
Parameter _SigLatched Bit 21 than twice. verify motion controller.

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 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E B405 2 Drive could not be adapted to The jitter of the SYNC object Verify the timing
master cycle is too great or the motion bus requirements regarding
Parameter _SigLatched Bit 21 requirements are not taken interpolation time period
into account. and number of devices.
E B406 0 Baud rate is not supported The configured baud rate is Choose one of the following
Parameter _WarnLatched Bit 21 not supported. baud rates: 250 kB, 500 kB,
1000 kB.
E B407 0 Drive is not synchronous with The operating mode 'Cyclic Verify motion controller. To
master cycle Synchronous Mode' cannot be synchronized, the
Parameter _WarnLatched Bit 21 be activated as long as the motion controller must
drive is not synchronized. cyclically send SYNC
signals.
E B700 0 Drive Profile Lexium: On activation dmControl, refA or refB have Map dmControl, refA or
of the profile, no dmControl, refA or not been mapped. refB.
refB has been mapped.
E B702 1 Insufficient velocity resolution due Due to the configured velocity Change the velocity scaling.
to velocity scaling scaling, the velocity
resolution in REFA16 is
insufficient.

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 Lexium 32A
Parameters
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Chapter 11
Parameters

Parameters

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Representation of the Parameters 390
List of Parameters 393

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Parameters

Representation of the Parameters

This chapter provides an overview of the parameters which can be used for operating the product.
In addition, special parameters for communication via the fieldbus are described in the corresponding
fieldbus manual.
Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only start the system if there are no persons or obstructions in the zone of operation.
 Do not operate the drive system with undetermined parameter values or data.
 Never modify a parameter value unless you fully understand the parameter and all effects of the
modification.
 Restart the drive and verify the saved operational data and/or parameter values after modifications.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
 Verify the functions after replacing the product and also after making modifications to the parameter
values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Overview
The way parameters are shown provides information required for unique identification, the default values
and the properties of a parameter.
Structure of the parameter representation:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ABCDE Short description Apk UINT32 Fieldbus 1234
ConF → Selection values 0.00 R/W
inF- 1 / Abc1 / ABC1: Explanation 1 3.00 per.
Prn 2 / Abc2 / ABC2: Explanation 2 300.00 -
Description and details

Field “Parameter Name”

The parameter name uniquely identifies a parameter.

Field “HMI menu” and “HMI name”

HMI menu shows the sequence of menus and commands to access the parameter via the HMI.

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 Parameters

Field “Description”
Short description:
The short description contains information on the parameter and a cross reference to the page that
describes the use of the parameter.
Selection values:
In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus, the
designation of the value for entry via the commissioning software and the designation of the value for entry
via the are specified.
1 = Value for input via fieldbus
Abc1 = Designation for entry via the commissioning software
Abc1 = Designation for entry via the HMI
Description and details:
Provides further information on the parameter.

Field “Unit”
The unit of the value.

Field “Minimum Value”

The minimum value which can be entered.

Field “Factory Settings”

Settings when the product is shipped.

Field “Maximum Value”

The maximum value which can be entered.

Field “Data Type”

If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined
by the data type.

Data type Minumum value Maximum value

INT8 -128 127
UINT8 0 255
INT16 -32768 32767
UINT16 0 65535
INT32 -2147483648 2147483647
UINT32 0 4294967295

Field “R/W”
Indicates read and/or write values
"R/" values can only be read
"R/W" values can be read and written.

Field “Persistent”
“per.” indicates whether the value of the parameter is persistent, i.e. whether it remains in the memory after
the device is powered off.
When a value of a persistent parameter is modified via the HMI, the drive stores the value automatically in
the persistent memory.
When a value of a persistent parameter is modified via the commissioning software or the fieldbus, the user
must explicitly store the modified value in the persistent memory.

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Parameters

Field “Parameter Address”

Each parameter has a unique parameter address. The parameter address is used to access the parameter
via the fieldbus.

Decimal Numbers Entered via the Fieldbus

Please note that parameter values are entered via the fieldbus without a decimal point. All decimal places
must be entered.
Input examples:

Value Commissioning software Fieldbus

20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000

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 Parameters

List of Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AccessInfo Access channel information - UINT16 CANopen 3001:Ch
Low byte: Exclusive access - R/- Modbus 280
Value 0: No - -
Value 1: Yes - -

High byte: Access channel

Value 0: Reserved
Value 1: I/O
Value 2: HMI
Value 3: Modbus RS485
Value 4: Fieldbus main channel
Values 5 … 12: Modbus TCP,
CANopen second SDO or Profibus
master class 2
Values 13 … 28: Ethenet/IP
explicit channels
_actionStatus Action word - UINT16 CANopen 301C:4h
Signal state: - R/- Modbus 7176
0: Not activated - -
1: Activated - -

Bit assignments:
Bit 0: Error class 0
Bit 1: Error class 1
Bit 2: Error class 2
Bit 3: Error class 3
Bit 4: Error class 4
Bit 5: Reserved
Bit 6: Motor is at a standstill (_n_act
< 9)
Bit 7: Motor movement in positive
direction
Bit 8: Motor movement in negative
direction
Bit 9: Assignment can be set via
parameter DPL_intLim
Bit 10: Assignment can be set via
parameter DS402intLim
Bit 11: Profile generator idle
(reference velocity is 0)
Bit 12: Profile generator
decelerates
Bit 13: Profile generator
accelerates
Bit 14: Profile generator moves at
constant speed
Bit 15: Reserved
_AT_J Moment of inertia of the entire kg cm2 UINT16 CANopen 302F:Ch
system 0.1 R/- Modbus 12056
Is automatically calculated during 0.1 per.
Autotuning. 6553.5 -
In increments of 0.1 kg cm2.
_AT_M_friction Friction torque of the system Arms UINT16 CANopen 302F:7h
Is determined during Autotuning. - R/- Modbus 12046
In increments of 0.01 Arms. - -
- -
_AT_M_load Constant load torque Arms INT16 CANopen 302F:8h
Is determined during Autotuning. - R/- Modbus 12048
In increments of 0.01 Arms. - -
- -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AT_progress Progress of Autotuning % UINT16 CANopen 302F:Bh
0 R/- Modbus 12054
0 -
100 -
_AT_state Autotuning status - UINT16 CANopen 302F:2h
Bit assignments: - R/- Modbus 12036
Bits 0 ... 10: Last processing step - -
Bit 13: auto_tune_process - -
Bit 14: auto_tune_end
Bit 15: auto_tune_err
_CanDiag CANopen diagnostics word - UINT16 CANopen 3041:6h
0001h: pms read error for TxPdo - R/- Modbus 16652
0002h: pms write error for RxPdo1 - -
0004h: pms write error for RxPdo2 - -
0008h: pms write error for RxPdo3
0010h: pms write error for RxPdo4
0020h: heartbeat or lifeguard error
(timer expired)
0040h: heartbeat msg with
incorrect state received
0080h: CAN error counter >96
0100h: CAN message lost
0200h: CAN error counter = 256
(bus-off)
0400h: software queue rx/tx
overrun
0800h: error indication from last
detected error
_Cap1CntFall Capture input 1 event counter at - UINT16 CANopen
falling edges - R/- 300A:2Ch
Counts the capture events at - - Modbus 2648
falling edges. - -
The event counter is reset when
capture input 1 is activated.
Available with firmware version ≥
V01.16.
_Cap1CntRise Capture input 1 event counter at - UINT16 CANopen
rising edges - R/- 300A:2Bh
Counts the capture events at rising - - Modbus 2646
edges. - -
The event counter is reset when
capture input 1 is activated.
Available with firmware version ≥
V01.16.
_Cap1Count Capture input 1 event counter - UINT16 CANopen 300A:8h
Counts the capture events. - R/- Modbus 2576
The event counter is reset when - -
capture input 1 is activated. - -
_Cap1CountCons Capture input 1 event counter - UINT16 CANopen
(consistent) - R/- 300A:17h
Counts the capture events. - - Modbus 2606
The event counter is reset when - -
capture input 1 is activated.
By reading this parameter, the
parameter "_Cap1PosCons" is
updated and locked so it cannot be
changed. Both parameter values
remain consistent.
Available with firmware version ≥
V01.12.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_Cap1Pos Capture input 1 captured position usr_p INT32 CANopen 300A:6h
Captured position at the time of the - R/- Modbus 2572
"capture signal". - -
The captured position is re- - -
calculated after "Position Setting"
or "Reference Movement".
_Cap1PosCons Capture input 1 captured position usr_p INT32 CANopen
(consistent) - R/- 300A:18h
Captured position at the time of the - - Modbus 2608
"capture signal". - -
The captured position is re-
calculated after "Position Setting"
or "Reference Movement".
By reading the parameter
"_Cap1CountCons", this
parameter is updated and locked
so it cannot be changed. Both
parameter values remain
consistent.
Available with firmware version ≥
V01.12.
_Cap1PosFallEdge Capture input 1 captured position usr_p INT32 CANopen 60BB:0h
at falling edge - R/- Modbus 2636
This parameter contains the - -
position captured at the point in - -
time a falling edge was detected.
The captured position is
recalculated after "Position
Setting" or "Reference Movement".
Available with firmware version ≥
V01.16.
_Cap1PosRisEdge Capture input 1 captured position usr_p INT32 CANopen 60BA:0h
at rising edge - R/- Modbus 2634
This parameter contains the - -
position captured at the point in - -
time a rising edge was detected.
The captured position is
recalculated after "Position
Setting" or "Reference Movement".
Available with firmware version ≥
V01.16.
_Cap2CntFall Capture input 2 event counter at - UINT16 CANopen
falling edges - R/- 300A:2Eh
Counts the capture events at - - Modbus 2652
falling edges. - -
The event counter is reset when
capture input 2 is activated.
Available with firmware version ≥
V01.16.
_Cap2CntRise Capture input 2 event counter at - UINT16 CANopen
rising edges - R/- 300A:2Dh
Counts the capture events at rising - - Modbus 2650
edges. - -
The event counter is reset when
capture input 2 is activated.
Available with firmware version ≥
V01.16.
_Cap2Count Capture input 2 event counter - UINT16 CANopen 300A:9h
Counts the capture events. - R/- Modbus 2578
The event counter is reset when - -
capture input 2 is activated. - -

Available with hardware version ≥

RS03.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_Cap2CountCons Capture input 2 event counter - UINT16 CANopen
(consistent) - R/- 300A:19h
Counts the capture events. - - Modbus 2610
The event counter is reset when - -
capture input 2 is activated.
By reading this parameter, the
parameter "_Cap2PosCons" is
updated and locked so it cannot be
changed. Both parameter values
remain consistent.

Available with hardware version ≥

RS03.
Available with firmware version ≥
V01.12.
_Cap2Pos Capture input 2 captured position usr_p INT32 CANopen 300A:7h
Captured position at the time of the - R/- Modbus 2574
"capture signal". - -
The captured position is re- - -
calculated after "Position Setting"
or "Reference Movement".

Available with hardware version ≥

RS03.
_Cap2PosCons Capture input 2 captured position usr_p INT32 CANopen
(consistent) - R/- 300A:1Ah
Captured position at the time of the - - Modbus 2612
"capture signal". - -
The captured position is re-
calculated after "Position Setting"
or "Reference Movement".
By reading the parameter
"_Cap2CountCons", this
parameter is updated and locked
so it cannot be changed. Both
parameter values remain
consistent.

Available with hardware version ≥

RS03.
Available with firmware version ≥
V01.12.
_Cap2PosFallEdge Capture input 2 captured position usr_p INT32 CANopen 60BD:0h
at falling edge - R/- Modbus 2640
This parameter contains the - -
position captured at the point in - -
time a falling edge was detected.
The captured position is
recalculated after "Position
Setting" or "Reference Movement".
Available with firmware version ≥
V01.16.
_Cap2PosRisEdge Capture input 2 captured position usr_p INT32 CANopen 60BC:0h
at rising edge - R/- Modbus 2638
This parameter contains the - -
position captured at the point in - -
time a rising edge was detected.
The captured position is
recalculated after "Position
Setting" or "Reference Movement".
Available with firmware version ≥
V01.16.

396 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_CapEventCounters Capture inputs 1 and 2 summary of - UINT16 CANopen
event counters - R/- 300A:2Fh
This parameter contains the - - Modbus 2654
counted capture events. - -

Bits 0 ... 3: _Cap1CntRise (lowest

4 bits)
Bits 4 ... 7: _Cap1CntFall (lowest
4 bits)
Bits 8 ... 11: _Cap2CntRise (lowest
4 bits)
Bits 12 ... 15: _Cap2CntFall (lowest
4 bits)
Available with firmware version ≥
V01.16.
_CapStatus Status of the capture inputs - UINT16 CANopen 300A:1h
Read access: - R/- Modbus 2562
Bit 0: Position captured via input - -
CAP1 - -
Bit 1: Position captured via input
CAP2
_Cond_State4 Conditions for transition to - UINT16 CANopen
operating state Ready To Switch - R/- 301C:26h
On - - Modbus 7244
Signal state: - -
0: Condition not met
1: Condition met

Bit 0: DC bus or mains voltage

Bit 1: Inputs for safety function
Bit 2: No configuration download
ongoing
Bit 3: Velocity greater than limit
value
Bit 4: Absolute position has been
set
Bit 5: Holding brake not manually
released
_CTRL_ActParSet Active control loop parameter set - UINT16 CANopen
Value 1: Control loop parameter - R/- 3011:17h
set 1 is active - - Modbus 4398
Value 2: Control loop parameter - -
set 2 is active

A control loop parameter set is

active after the time for the
parameter switching
(CTRL_ParChgTime) has elapsed.
_CTRL_KPid Current controller d component P V/A UINT16 CANopen 3011:1h
gain 0.5 R/- Modbus 4354
This value is calculated on the - per.
basis of the motor parameters. 1270.0 -
In increments of 0.1 V/A.
Changed settings become active
immediately.
_CTRL_KPiq Current controller q component P V/A UINT16 CANopen 3011:3h
gain 0.5 R/- Modbus 4358
This value is calculated on the - per.
basis of the motor parameters. 1270.0 -
In increments of 0.1 V/A.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_CTRL_TNid Current controller d component ms UINT16 CANopen 3011:2h
integral action time 0.13 R/- Modbus 4356
This value is calculated on the - per.
basis of the motor parameters. 327.67 -
In increments of 0.01 ms.
Changed settings become active
immediately.
_CTRL_TNiq Current controller q component ms UINT16 CANopen 3011:4h
integral action time 0.13 R/- Modbus 4360
This value is calculated on the - per.
basis of the motor parameters. 327.67 -
In increments of 0.01 ms.
Changed settings become active
immediately.
_DataError Error code for detected - UINT16 CANopen
synchronous errors (DE bit) - R/- 301B:1Bh
Drive Profile Lexium: - - Modbus 6966
Manufacturer-specific error code - -
that caused the DataError bit to be
set.
Usually, this is an error that was
detected as a result to changing of
a data value within the process
data. The DataError bit relates to
MT-independent parameters.
_DataErrorInfo Additional error information of a - UINT16 CANopen
detected DataError (DE bit) - R/- 301B:1Dh
Drive Profile Lexium: - - Modbus 6970
Indicates the parameter of the - -
mapping that caused the DE bit to
be set. The DE bit is set if MT-
independent parameters of the
active mapping cause an error in
connection with a write command.

Example:
1 = First mapped parameter
2 = Second mapped parameter
etc.
_DCOMopmd_act Active operating mode - INT16* CANopen 6061:0h
-6 / Manual Tuning / Autotuning: -6 R/- Modbus 6920
Manual Tuning / Autotuning - -
-1 / Jog: Jog 10 -
0 / Reserved: Reserved
1 / Profile Position: Profile Position
3 / Profile Velocity: Profile Velocity
4 / Profile Torque: Profile Torque
6 / Homing: Homing
7 / Interpolated Position:
Interpolated Position
8 / Cyclic Synchronous Position:
Cyclic Synchronous Position
9 / Cyclic Synchronous Velocity:
Cyclic Synchronous Velocity
10 / Cyclic Synchronous Torque:
Cyclic Synchronous Torque
* Datatype for CANopen: INT8

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_DCOMstatus DriveCom status word - UINT16 CANopen 6041:0h
Bit assignments: - R/- Modbus 6916
Bit 0: Operating state Ready To - -
Switch On - -
Bit 1: Operating state Switched On
Bit 2: Operating state Operation
Enabled
Bit 3: Operating state Fault
Bit 4: Voltage Enabled
Bit 5: Operating state Quick Stop
Bit 6: Operating state Switch On
Disabled
Bit 7: Error of error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Target Reached
Bit 11: Internal Limit Active
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok
_DEV_T_current Temperature of device °C INT16 CANopen
Mon - R/- 301C:12h
tdEV - - Modbus 7204
- -
_DPL_BitShiftRefA16 Bit shift for RefA16 for Drive Profile - UINT16 CANopen 301B:5h
Lexium 0 R/- Modbus 6922
Velocity scaling may lead to values 0 -
that cannot be represented as 16 12 -
bit values. If RefA16 is used, this
parameter indicates the number of
bits by which the value is shifted so
that transmission is possible. The
master must take into account this
value prior to transmission and
shift the bits to the right
accordingly. The number of bits is
recalculated each time the power
stage is enabled.
Changed settings become active
immediately.
_DPL_driveInput Drive Profile Lexium driveInput - UINT16 CANopen
- R/- 301B:28h
- - Modbus 6992
- -
_DPL_driveStat Drive Profile Lexium driveStat - UINT16 CANopen
- R/- 301B:25h
- - Modbus 6986
- -
_DPL_mfStat Drive Profile Lexium mfStat - UINT16 CANopen
- R/- 301B:26h
- - Modbus 6988
- -
_DPL_motionStat Drive Profile Lexium motionStat - UINT16 CANopen
- R/- 301B:27h
- - Modbus 6990
- -
_ENC_AmplMax Maximum value of the SinCos mV UINT16 CANopen
amplitude - R/- 303F:60h
This value is only available if - - Modbus 16320
monitoring of the SinCos amplitude - -
has been activated.
Available with firmware version ≥
V01.26.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_ENC_AmplMean Mean value of the SinCos mV UINT16 CANopen
amplitude - R/- 303F:5Eh
This value is only available if - - Modbus 16316
monitoring of the SinCos amplitude - -
has been activated.
Available with firmware version ≥
V01.26.
_ENC_AmplMin Minimum value of the SinCos mV UINT16 CANopen
amplitude - R/- 303F:5Fh
This value is only available if - - Modbus 16318
monitoring of the SinCos amplitude - -
has been activated.
Available with firmware version ≥
V01.26.
_ENC_AmplVal Value of the SinCos amplitude mV UINT16 CANopen
This value is only available if - R/- 303F:5Dh
monitoring of the SinCos amplitude - - Modbus 16314
has been activated. - -
Available with firmware version ≥
V01.26.
_ERR_class Error class - UINT16 CANopen 303C:2h
Value 0: Error class 0 0 R/- Modbus 15364
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
_ERR_DCbus DC bus voltage at the time the V UINT16 CANopen 303C:7h
error was detected - R/- Modbus 15374
In increments of 0.1 V. - -
- -
_ERR_enable_cycl Number of cycles of enabling the - UINT16 CANopen 303C:5h
power stage at error time - R/- Modbus 15370
Number of cycles of enabling the - -
power stage from the time the - -
control voltage was applied to the
time the error was detected.
_ERR_enable_time Time between enabling of power s UINT16 CANopen 303C:6h
stage and detection of the error - R/- Modbus 15372
- -
- -
_ERR_motor_I Motor current at the time the error Arms UINT16 CANopen 303C:9h
was detected - R/- Modbus 15378
In increments of 0.01 Arms. - -
- -
_ERR_motor_v Motor velocity at the time the error usr_v INT32 CANopen 303C:8h
was detected - R/- Modbus 15376
- -
- -
_ERR_number Error code - UINT16 CANopen 303C:1h
Reading this parameter copies the 0 R/- Modbus 15362
entire entry for the detected error - -
(error class, time of detection of 65535 -
error, …) to an intermediate
memory from which the elements
of the detected error can then be
read.

In addition, the read pointer of the

error memory is automatically set
to the next error entry.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_ERR_powerOn Number of power on cycles - UINT32 CANopen 303B:2h
Mon 0 R/- Modbus 15108
PoWo - -
4294967295 -
_ERR_qual Additional information on detected - UINT16 CANopen 303C:4h
error 0 R/- Modbus 15368
This entry contains additional - -
information on the detected error, 65535 -
depending on the error number.
Example: a parameter address
_ERR_temp_dev Temperature of device at the time °C INT16 CANopen 303C:Bh
the error was detected - R/- Modbus 15382
- -
- -
_ERR_temp_ps Temperature of power stage at the °C INT16 CANopen 303C:Ah
time the error was detected - R/- Modbus 15380
- -
- -
_ERR_time Time of detection of error s UINT32 CANopen 303C:3h
With reference to operating hours 0 R/- Modbus 15366
counter - -
536870911 -
_ErrNumFbParSvc Last error code of fieldbus - UINT16 CANopen
parameter services - R/- 3040:43h
Some fieldbusses only provide - - Modbus 16518
general error codes if a request for - -
a parameter service is not
successful. This parameter returns
the vendor-specific error code of
the last unsuccessful service.
_HMdisREFtoIDX Distance from switching point to revolution INT32 CANopen 3028:Ch
index pulse - R/- Modbus 10264
Allows you to verify the distance - -
between the index pulse and the - -
switching point and serves as a
criterion for determining whether
the reference movement with index
pulse can be reproduced.

The parameter
_HMdisREFtoIDX_usr allows you
to enter the value in user-defined
units.
In increments of 0.0001 revolution.
_HMdisREFtoIDX_usr Distance from switching point to usr_p INT32 CANopen 3028:Fh
index pulse -2147483648 R/- Modbus 10270
Allows you to verify the distance - -
between the index pulse and the 2147483647 -
switching point and serves as a
criterion for determining whether
the reference movement with index
pulse can be reproduced.
Available with firmware version ≥
V01.05.
_hwVersCPU Hardware version of control board - UINT16 CANopen
- R/- 3002:12h
- - Modbus 548
- -
_hwVersPS Hardware version of power stage - UINT16 CANopen
- R/- 3002:14h
- - Modbus 552
- -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_I_act Total motor current Arms INT16 CANopen 301E:3h
Mon In increments of 0.01 Arms. - R/- Modbus 7686
iAct - -
- -
_Id_act_rms Actual motor current (d Arms INT16 CANopen 301E:2h
component, field weakening) - R/- Modbus 7684
In increments of 0.01 Arms. - -
- -
_Id_ref_rms Reference motor current (d Arms INT16 CANopen
component, field weakening) - R/- 301E:11h
In increments of 0.01 Arms. - - Modbus 7714
- -
_Imax_act Currently effective current Arms UINT16 CANopen
limitation - R/- 301C:28h
Value of the currently effective - - Modbus 7248
current limitation. This is one of the - -
following values (whichever is
lowest):
- CTRL_I_max (only during normal
operation)
- LIM_I_maxQSTP (only during
Quick Stop)
- LIM_I_maxHalt (only during Halt)
- Current limitation via digital input
- _M_I_max (only if motor is
connected)
- _PS_I_max
Limitations caused by I2t
monitoring are also taken into
account.
In increments of 0.01 Arms.
_Imax_system Current limitation of the system Arms UINT16 CANopen
This parameter specifies the - R/- 301C:27h
maximum system current. This is - - Modbus 7246
the lower value of the maximum - -
motor current and the maximum
power stage current. If no motor is
connected, only the maximum
power stage current is taken into
account in this parameter.
In increments of 0.01 Arms.
_InvalidParam Modbus address of parameter with - UINT16 CANopen 301C:6h
ConF → FLt- invalid value - R/- Modbus 7180
inPA If a configuration error is detected, 0 -
the Modbus address of the - -
parameter with an invalid value is
indicated here.
_IO_act Physical status of the digital inputs - UINT16 CANopen 3008:1h
Mon and outputs - R/- Modbus 2050
ioAC Low byte: - -
Bit 0: DI0 - -
Bit 1: DI1
Bit 2: DI2
Bit 3: DI3

High byte:
Bit 8: DQ0
Bit 9: DQ1

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_IO_DI_act Status of digital inputs - UINT16 CANopen 3008:Fh
Mon Bit assignments: - R/- Modbus 2078
diMo Bit 0: DI0 - -
Bit 1: DI1 - -
Bit 2: DI2
Bit 3: DI3
_IO_DQ_act Status of digital outputs - UINT16 CANopen
Mon Bit assignments: - R/- 3008:10h
doMo Bit 0: DQ0 - - Modbus 2080
Bit 1: DQ1 - -
_IO_STO_act Status of the inputs for the safety - UINT16 CANopen
Mon function STO - R/- 3008:26h
Sto Coding of the individual signals: - - Modbus 2124
Bit 0: STO_A - -
Bit 1: STO_B
_Iq_act_rms Actual motor current (q Arms INT16 CANopen 301E:1h
Mon component, generating torque) - R/- Modbus 7682
qAct In increments of 0.01 Arms. - -
- -
_Iq_ref_rms Reference motor current (q Arms INT16 CANopen
Mon component, generating torque) - R/- 301E:10h
qrEF In increments of 0.01 Arms. - - Modbus 7712
- -
_LastError Detected error causing a stop - UINT16 CANopen 603F:0h
Mon (error classes 1 to 4) - R/- Modbus 7178
LFLt Error code of the most recent - -
detected error. Consecutive - -
detected errors do not overwrite
this error code.

Example: If an error response to a

detected limit switch error causes
overvoltage, this parameter
contains the code of the detected
limit switch error.

Exception: Detected errors of error

class 4 overwrite existing entries.
_LastError_Qual Additional info on most recent error - UINT16 CANopen
This parameter contains additional - R/- 301C:1Fh
information on the most recent 0 - Modbus 7230
detected error, depending on the - -
error code. For example: a
parameter address.
_LastWarning Code of most recent error of error - UINT16 CANopen 301C:9h
Mon class 0 - R/- Modbus 7186
LWrn If the error is no longer active, the - -
code is stored until the next Fault - -
Reset.
Value 0: No error of error class 0
_M_BRK_T_apply Holding brake application time ms UINT16 CANopen
- R/- 300D:21h
- - Modbus 3394
- -
_M_BRK_T_release Holding brake release time ms UINT16 CANopen
- R/- 300D:22h
- - Modbus 3396
- -
_M_Enc_Cosine Voltage of cosine signal of encoder V INT16 CANopen
In increments of 0.001 V. - R/- 301C:2Bh
Available with firmware version ≥ - - Modbus 7254
V01.26. - -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_Enc_Sine Voltage of sine signal of encoder V INT16 CANopen
In increments of 0.001 V. - R/- 301C:2Ch
Available with firmware version ≥ - - Modbus 7256
V01.26. - -
_M_Encoder Type of motor encoder - UINT16 CANopen 300D:3h
ConF → inF- 1 / SinCos With HiFa / SWhi: - R/- Modbus 3334
SEnS SinCos with Hiperface - -
2 / SinCos Without HiFa / SWoh: - -
SinCos without Hiperface
3 / SinCos With Hall / SWhA:
SinCos with Hall
4 / SinCos With EnDat / SWEn:
SinCos with EnDat
5 / EnDat Without SinCos /
EndA: EnDat without SinCos
6 / Resolver / rESo: Resolver
7 / Hall / hALL: Hall (not
supported yet)
8 / BISS / biSS: BISS
High byte:
Value 0: Rotary encoder
Value 1: Linear encoder
_M_HoldingBrake Holding brake identification - UINT16 CANopen
Value 0: Motor without holding - R/- 300D:20h
brake - - Modbus 3392
Value 1: Motor with holding brake - -
_M_I_0 Continuous stall current of motor Arms UINT16 CANopen
In increments of 0.01 Arms. - R/- 300D:13h
- - Modbus 3366
- -
_M_I_max Maximum current of motor Arms UINT16 CANopen 300D:6h
ConF → inF- In increments of 0.01 Arms. - R/- Modbus 3340
MiMA - -
- -
_M_I_nom Nominal current of motor Arms UINT16 CANopen 300D:7h
ConF → inF- In increments of 0.01 Arms. - R/- Modbus 3342
Mino - -
- -
_M_I2t Maximum permissible time for ms UINT16 CANopen
maximum current of motor - R/- 300D:11h
- - Modbus 3362
- -
_M_Jrot Moment of inertia of motor motor_f UINT32 CANopen 300D:Ch
Units: - R/- Modbus 3352
Rotary motors: kgcm2 - -
Linear motors: kg - -
In increments of 0.001 motor_f.
_M_kE Voltage constant kE of motor motor_u UINT32 CANopen 300D:Bh
Voltage constant in Vrms at - R/- Modbus 3350
1000 min-1. - -
- -
Units:
Rotary motors: Vrms/min-1
Linear motors: Vrms/(m/s)
In increments of 0.1 motor_u.
_M_L_d Inductance d component of motor mH UINT16 CANopen 300D:Fh
In increments of 0.01 mH. - R/- Modbus 3358
- -
- -

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_L_q Inductance q component of motor mH UINT16 CANopen 300D:Eh
In increments of 0.01 mH. - R/- Modbus 3356
- -
- -
_M_load Load of motor % INT16 CANopen
Mon - R/- 301C:1Ah
LdFM - - Modbus 7220
- -
_M_M_0 Continuous stall torque of motor motor_m UINT16 CANopen
A value of 100 % in operating - R/- 300D:16h
mode Profile Torque corresponds - - Modbus 3372
to this parameter. - -

Units:
Rotary motors: Ncm
Linear motors: N
_M_M_max Maximum torque of motor Nm UINT16 CANopen 300D:9h
In increments of 0.1 Nm. - R/- Modbus 3346
- -
- -
_M_M_nom Nominal torque/force of motor motor_m UINT16 CANopen 300D:8h
Units: - R/- Modbus 3344
Rotary motors: Ncm - -
Linear motors: N - -
_M_maxoverload Maximum value of overload of % INT16 CANopen
motor - R/- 301C:1Bh
Maximum overload of motor during - - Modbus 7222
the last 10 seconds. - -
_M_n_max Maximum permissible speed of motor_v UINT16 CANopen 300D:4h
ConF → inF- rotation/velocity of motor - R/- Modbus 3336
MnMA Units: - -
Rotary motors: min-1 - -
Linear motors: mm/s
_M_n_nom Nominal speed of rotation/velocity motor_v UINT16 CANopen 300D:5h
of motor - R/- Modbus 3338
Units: - -
Rotary motors: min-1 - -
Linear motors: mm/s
_M_overload Overload of motor (I2t) % INT16 CANopen
Mon - R/- 301C:19h
Mi2t - - Modbus 7218
- -
_M_Polepair Number of pole pairs of motor - UINT16 CANopen
- R/- 300D:14h
- - Modbus 3368
- -
_M_PolePairPitch Pole pair pitch of motor mm UINT16 CANopen
In increments of 0.01 mm. - R/- 300D:23h
Available with firmware version ≥ - - Modbus 3398
V01.03. - -
_M_R_UV Winding resistance of motor Ω UINT16 CANopen 300D:Dh
In increments of 0.01 Ω. - R/- Modbus 3354
- -
- -
_M_T_current Temperature of motor °C INT16 CANopen
Mon - R/- 301C:11h
tMot - - Modbus 7202
- -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_T_max Maximum temperature of motor °C INT16 CANopen
- R/- 300D:10h
- - Modbus 3360
- -
_M_Type Motor type - UINT32 CANopen 300D:2h
ConF → inF- Value 0: No motor selected - R/- Modbus 3332
MtyP Value >0: Connected motor type - -
- -
_M_U_max Maximum voltage of motor V UINT16 CANopen
In increments of 0.1 V. - R/- 300D:19h
- - Modbus 3378
- -
_M_U_nom Nominal voltage of motor V UINT16 CANopen 300D:Ah
In increments of 0.1 V. - R/- Modbus 3348
- -
- -
_ManuSdoAbort CANopen manufacturer-specific - UINT16 CANopen 3041:Ah
SDO abort code - R/- Modbus 16660
Provides more detailed information - -
on a general SDO abort code - -
(0800 0000).
_ModeError Error code for detected - UINT16 CANopen
synchronous errors (ME bit) - R/- 301B:19h
Drive Profile Lexium: - - Modbus 6962
Manufacturer-specific error code - -
that caused the ModeError bit to be
set.
Usually, this is an error that was
detected as a result of the
activation of an operating mode.
The ModeError bit relates to MT-
dependent parameters.
_ModeErrorInfo Additional error information of a - UINT16 CANopen
detected ModeError (ME bit) - R/- 301B:1Ch
Drive Profile Lexium: - - Modbus 6968
Indicates the parameter of the - -
mapping that caused the ME bit to
be set. The ME bit is set if MT-
dependent parameters of the
active mapping cause an error in
connection with a write command.

Example:
1 = First mapped parameter
2 = Second mapped parameter
etc.
_n_act Actual speed of rotation rpm INT16 CANopen 301E:8h
Mon - R/- Modbus 7696
nAct - -
- -
_n_act_ENC1 Actual speed of rotation of encoder rpm INT16 CANopen
1 - R/- 301E:28h
Available with firmware version ≥ - - Modbus 7760
V01.03. - -
_n_ref Reference speed of rotation rpm INT16 CANopen 301E:7h
Mon - R/- Modbus 7694
nrEF - -
- -
_OpHours Operating hours counter s UINT32 CANopen 301C:Ah
Mon - R/- Modbus 7188
oPh - -
- -

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_absENC Absolute position with reference to usr_p UINT32 CANopen 301E:Fh
Mon the encoder range - R/- Modbus 7710
PAMu This value corresponds to the - -
modulo position of the absolute - -
encoder range.
The value is no longer valid if the
gear ratio of machine encoder and
motor encoder is changed. A
restart is required in such a case.
_p_absmodulo Absolute position with reference to Inc UINT32 CANopen 301E:Eh
internal resolution in internal units - R/- Modbus 7708
This value is based on encoder - -
raw position with reference to - -
internal resolution (131072 Inc).
_p_act Actual position usr_p INT32 CANopen 6064:0h
Mon - R/- Modbus 7706
PACu - -
- -
_p_act_ENC1 Actual position of encoder 1 usr_p INT32 CANopen
Available with firmware version ≥ - R/- 301E:27h
V01.03. - - Modbus 7758
- -
_p_act_ENC1_int Actual position of encoder 1 in Inc INT32 CANopen
internal units - R/- 301E:26h
Available with firmware version ≥ - - Modbus 7756
V01.03. - -
_p_act_int Actual position in internal units Inc INT32 CANopen 6063:0h
- R/- Modbus 7700
- -
- -
_p_dif Position deviation including revolution INT32 CANopen 60F4:0h
Mon dynamic position deviation -214748.3648 R/- Modbus 7716
PdiF Position deviation is the difference - -
between reference position and 214748.3647 -
actual position. The position
deviation consists of the load-
dependent position deviation and
the dynamic position deviation.

The parameter _p_dif_usr allows

you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
_p_dif_load Load-dependent position deviation revolution INT32 CANopen
between reference and actual -214748.3648 R/- 301E:1Ch
positions - - Modbus 7736
The load-dependent position 214748.3647 -
deviation is the difference between
the reference position and the
actual position caused by the load.
This value is used for following
error monitoring.

The parameter _p_dif_load_usr

allows you to enter the value in
user-defined units.
In increments of 0.0001 revolution.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_peak Maximum value of the load- revolution UINT32 CANopen
dependent position deviation 0.0000 R/W 301E:1Bh
This parameter contains the - - Modbus 7734
maximum load-dependent position 429496.7295 -
deviation reached so far. A write
access resets this value.

The parameter
_p_dif_load_peak_usr allows you
to enter the value in user-defined
units..
In increments of 0.0001 revolution.
Changed settings become active
immediately.
_p_dif_load_peak_usr Maximum value of the load- usr_p INT32 CANopen
dependent position deviation 0 R/W 301E:15h
This parameter contains the - - Modbus 7722
maximum load-dependent position 2147483647 -
deviation reached so far. A write
access resets this value.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
_p_dif_load_usr Load-dependent position deviation usr_p INT32 CANopen
between reference and actual -2147483648 R/- 301E:16h
positions - - Modbus 7724
The load-dependent position 2147483647 -
deviation is the difference between
the reference position and the
actual position caused by the load.
This value is used for following
error monitoring.
Available with firmware version ≥
V01.05.
_p_dif_usr Position deviation including usr_p INT32 CANopen
Mon dynamic position deviation -2147483648 R/- 301E:14h
PdiF Position deviation is the difference - - Modbus 7720
between reference position and 2147483647 -
actual position. The position
deviation consists of the load-
dependent position deviation and
the dynamic position deviation.
Available with firmware version ≥
V01.05.
_p_ref Reference position usr_p INT32 CANopen 301E:Ch
Value corresponds to the - R/- Modbus 7704
reference position of the position - -
controller. - -
_p_ref_int Reference position in internal units Inc INT32 CANopen 301E:9h
Value corresponds to the - R/- Modbus 7698
reference position of the position - -
controller. - -
_PAR_ScalingError Additional information on error - UINT32 CANopen
detected during recalculation - R/- 3004:16h
Coding: - - Modbus 1068
Bits 0 ... 15: Address of the - -
parameter that caused the error
Bits 16 ... 31: Reserved
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PAR_ScalingState Status of recalculation of the - UINT16 CANopen
parameters with user-defined units 0 R/- 3004:15h
0 / Recalculation Active: 2 - Modbus 1066
Recalculation active 7 -
1 / Reserved (1): Reserved
2 / Recalculation Finished - No
Error: Recalculation finished, no
error
3 / Error During Recalculation:
Error during recalculation
4 / Initialization Successful:
Initialization successful
5 / Reserved (5): Reserved
6 / Reserved (6): Reserved
7 / Reserved (7): Reserved
Status of recalculation of the
parameters with user-defined units
which are recalculated with a
changed scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
_PosRegStatus Status of the position register - UINT16 CANopen 300B:1h
channels - R/- Modbus 2818
Signal state: - -
0: Comparison criterion not met - -
1: Comparison criterion met

Bit assignments:
Bit 0: State of position register
channel 1
Bit 1: State of position register
channel 2
Bit 2: State of position register
channel 3
Bit 3: State of position register
channel 4
_Power_act Output power W INT32 CANopen 301C:Dh
- R/- Modbus 7194
- -
- -
_Power_mean Mean output power W UINT16 CANopen 301C:Eh
Mon - R/- Modbus 7196
PoWM - -
- -
_pref_acc Acceleration of reference value for usr_a INT32 CANopen 301F:9h
acceleration feed-forward control - R/- Modbus 7954
Sign according to the changed - -
velocity value: - -

Increased velocity: Positive sign

Reduced velocity: Negative sign
_pref_v Velocity of reference value for usr_v INT32 CANopen 301F:7h
velocity feed-forward control - R/- Modbus 7950
- -
- -
_prgNoDEV Firmware number of device - UINT32 CANopen 3001:1h
ConF → inF- Example: PR0912.00 - R/- Modbus 258
Prn The value is provided as a decimal - -
value: 91200 - -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_prgRevDEV Firmware revision of device - UINT16 CANopen 3001:4h
ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 264
Prr Part XX.YY is contained in - -
parameter _prgVerDEV. - -
Part ZZ is used for quality evolution
and contained in this parameter.

Example: V01.23.45
The value is provided as a decimal
value: 45
_prgVerDEV Firmware version of device - UINT16 CANopen 3001:2h
ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 260
PrV Part XX.YY is contained in this - -
parameter. - -
Part ZZ is contained in parameter
_prgRevDEV.

Example: V01.23.45
The value is provided as a decimal
value: 123
_PS_I_max Maximum current of power stage Arms UINT16 CANopen 3010:2h
ConF → inF- In increments of 0.01 Arms. - R/- Modbus 4100
PiMA - per.
- -
_PS_I_nom Nominal current of power stage Arms UINT16 CANopen 3010:1h
ConF → inF- In increments of 0.01 Arms. - R/- Modbus 4098
Pino - per.
- -
_PS_load Load of power stage % INT16 CANopen
Mon - R/- 301C:17h
LdFP - - Modbus 7214
- -
_PS_maxoverload Maximum value of overload of % INT16 CANopen
power stage - R/- 301C:18h
Maximum overload of power stage - - Modbus 7216
during the last 10 seconds. - -
_PS_overload Overload of power stage % INT16 CANopen
Mon - R/- 301C:24h
oVLP - - Modbus 7240
- -
_PS_overload_cte Overload of power stage (chip % INT16 CANopen
Mon temperature) - R/- 301C:22h
otCP - - Modbus 7236
- -
_PS_overload_I2t Overload of power stage (I2t) % INT16 CANopen
- R/- 301C:16h
- - Modbus 7212
- -
_PS_overload_psq Overload of power stage (power % INT16 CANopen
Mon squared) - R/- 301C:23h
Po2P - - Modbus 7238
- -
_PS_T_current Temperature of power stage °C INT16 CANopen
Mon - R/- 301C:10h
tPS - - Modbus 7200
- -
_PS_T_max Maximum temperature of power °C INT16 CANopen 3010:7h
stage - R/- Modbus 4110
- per.
- -

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_T_warn Maximum temperature of power °C INT16 CANopen 3010:6h
stage (error class 0) - R/- Modbus 4108
- per.
- -
_PS_U_maxDC Maximum permissible DC bus V UINT16 CANopen 3010:3h
voltage - R/- Modbus 4102
In increments of 0.1 V. - per.
- -
_PS_U_minDC Minimum permissible DC bus V UINT16 CANopen 3010:4h
voltage - R/- Modbus 4104
In increments of 0.1 V. - per.
- -
_PS_U_minStopDC DC bus voltage low threshold for V UINT16 CANopen 3010:Ah
Quick Stop - R/- Modbus 4116
If the threshold is reached, the - per.
drive performs a Quick Stop. - -
In increments of 0.1 V.
_PT_max_val Maximum possible value for % INT16 CANopen
operating mode Profile Torque - R/- 301C:1Eh
100.0 % correspond to the - - Modbus 7228
continuous stall torque _M_M_0. - -
In increments of 0.1 %.
_RAMP_p_act Actual position of profile generator usr_p INT32 CANopen 301F:2h
- R/- Modbus 7940
- -
- -
_RAMP_p_target Target position of profile generator usr_p INT32 CANopen 301F:1h
Absolute position value of the - R/- Modbus 7938
profile generator, calculated on the - -
basis of the relative and absolute - -
position values received.
_RAMP_v_act Actual velocity of profile generator usr_v INT32 CANopen 606B:0h
- R/- Modbus 7948
- -
- -
_RAMP_v_target Target velocity of profile generator usr_v INT32 CANopen 301F:5h
- R/- Modbus 7946
- -
- -
_RES_load Load of braking resistor % INT16 CANopen
Mon The braking resistor set via - R/- 301C:14h
LdFb parameter RESint_ext is - - Modbus 7208
monitored. - -
_RES_maxoverload Maximum value of overload of % INT16 CANopen
braking resistor - R/- 301C:15h
Maximum overload of braking - - Modbus 7210
resistor during the last 10 seconds. - -
The braking resistor set via
parameter RESint_ext is
monitored.
_RES_overload Overload of braking resistor (I2t) % INT16 CANopen
The braking resistor set via - R/- 301C:13h
parameter RESint_ext is - - Modbus 7206
monitored. - -
_RESint_P Nominal power of internal braking W UINT16 CANopen 3010:9h
resistor - R/- Modbus 4114
- per.
- -

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_RESint_R Resistance value of internal Ω UINT16 CANopen 3010:8h
braking resistor - R/- Modbus 4112
In increments of 0.01 Ω. - per.
- -
_RMAC_DetailStatus Detailed status of relative - UINT16 CANopen
movement after capture (RMAC) - R/- 3023:12h
0 / Not Activated: Not activated - - Modbus 8996
1 / Waiting: Waiting for capture - -
signal
2 / Moving: Relative movement
after capture running
3 / Interrupted: Relative movement
after capture interrupted
4 / Finished: Relative movement
after capture terminated
Available with firmware version ≥
V01.16.
_RMAC_Status Status of relative movement after - UINT16 CANopen
capture 0 R/- 3023:11h
0 / Not Active: Not active - - Modbus 8994
1 / Active Or Finished: Relative 1 -
movement after capture is active or
finished
Available with firmware version ≥
V01.10.
_ScalePOSmax Maximum user-defined value for usr_p INT32 CANopen 301F:Ah
positions - R/- Modbus 7956
This value depends on - -
ScalePOSdenom and - -
ScalePOSnum.
_ScaleRAMPmax Maximum user-defined value for usr_a INT32 CANopen 301F:Ch
acceleration and deceleration - R/- Modbus 7960
This value depends on - -
ScaleRAMPdenom and - -
ScaleRAMPnum.
_ScaleVELmax Maximum user-defined value for usr_v INT32 CANopen 301F:Bh
velocity - R/- Modbus 7958
This value depends on - -
ScaleVELdenom and - -
ScaleVELnum.
_SigActive Status of monitoring signals - UINT32 CANopen 301C:7h
See _SigLatched for more details - R/- Modbus 7182
on the bit codes. - -
- -

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_SigLatched Saved status of monitoring signals - UINT32 CANopen 301C:8h
Mon - R/- Modbus 7184
SiGS Bit assignments: - -
Bit 0: General error - -
Bit 1: Hardware limit switches
(LIMP/LIMN/REF)
Bit 2: Out of range (software limit
switches, tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Error in active operating
mode
Bit 5: Commissioning interface
(RS485)
Bit 6: Integrated fieldbus
Bit 7: Reserved
Bit 8: Following error
Bit 9: Reserved
Bit 10: Inputs STO are 0
Bit 11: Inputs STO different
Bit 12: Reserved
Bit 13: DC bus voltage low
Bit 14: DC bus voltage high
Bit 15: Mains phase missing
Bit 16: Integrated encoder
interface
Bit 17: Overtemperature motor
Bit 18: Overtemperature power
stage
Bit 19: Reserved
Bit 20: Memory card
Bit 21: Fieldbus module
Bit 22: Encoder module
Bit 23: Safety module eSM or
module IOM1
Bit 24: Reserved
Bit 25: Reserved
Bit 26: Motor connection
Bit 27: Motor overcurrent/short
circuit
Bit 28: Frequency of reference
signal too high
Bit 29: EEPROM error detected
Bit 30: System start-up (hardware
or parameter)
Bit 31: System error detected (for
example, watchdog, internal
hardware interface)

Monitoring functions are product-

dependent.
_SuppDriveModes Supported operating modes as per - UINT32 CANopen 6502:0h
DSP402 - R/- Modbus 6952
Bit 0: Profile Position - -
Bit 2: Profile Velocity - -
Bit 3: Profile Torque
Bit 5: Homing
Bit 6: Interpolated Position
Bit 7: Cyclic Synchronous Position
Bit 8: Cyclic Synchronous Velocity
Bit 9: Cyclic Synchronous Torque
Bit 16: Jog
Bit 21: Manual Tuning

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_TouchProbeStat Touch Probe status - UINT16 CANopen 60B9:0h
Changed settings become active - R/- Modbus 7030
immediately. - -
Available with firmware version ≥ - -
V01.16.
_tq_act Actual torque % INT16 CANopen 6077:0h
Positive value: Actual torque in - R/- Modbus 7752
positive direction of movement - -
Negative value: Actual torque in - -
negative direction of movement
100.0 % correspond to the
continuous stall torque _M_M_0.
In increments of 0.1 %.
_Ud_ref Reference motor voltage d V INT16 CANopen 301E:5h
component - R/- Modbus 7690
In increments of 0.1 V. - -
- -
_UDC_act Voltage at DC bus V UINT16 CANopen 301C:Fh
Mon In increments of 0.1 V. - R/- Modbus 7198
udcA - -
- -
_Udq_ref Total motor voltage (vector sum d V INT16 CANopen 301E:6h
components and q components) - R/- Modbus 7692
Square root of ( _Uq_ref2 + - -
_Ud_ref2) - -
In increments of 0.1 V.
_Uq_ref Reference motor voltage q V INT16 CANopen 301E:4h
component - R/- Modbus 7688
In increments of 0.1 V. - -
- -
_v_act Actual velocity usr_v INT32 CANopen 606C:0h
Mon - R/- Modbus 7744
VAct - -
- -
_v_act_ENC1 Actual velocity of encoder 1 usr_v INT32 CANopen
Available with firmware version ≥ - R/- 301E:29h
V01.03. - - Modbus 7762
- -
_v_dif_usr Current load-dependent velocity usr_v INT32 CANopen
deviation -2147483648 R/- 301E:2Ch
The load-dependent velocity - - Modbus 7768
deviation is the difference between 2147483647 -
reference velocity and actual
velocity.
Available with firmware version ≥
V01.26.
_v_ref Reference velocity usr_v INT32 CANopen
Mon - R/- 301E:1Fh
VrEF - - Modbus 7742
- -
_Vmax_act Currently effective velocity usr_v UINT32 CANopen
limitation - R/- 301C:29h
Value of the currently effective - - Modbus 7250
velocity limitation. This is one of - -
the following values (whichever is
lowest):
- CTRL_v_max
- M_n_max (only if motor is
connected)
- Velocity limitation via digital input

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_VoltUtil Degree of utilization of DC bus % INT16 CANopen
Mon voltage - R/- 301E:13h
udcr With a value of 100%, the drive - - Modbus 7718
operates at the voltage limit. - -
_WarnActive Active errors of error class 0, bit- - UINT32 CANopen 301C:Bh
coded - R/- Modbus 7190
See parameter _WarnLatched for - -
more details on the bits. - -
_WarnLatched Saved errors of error class 0, bit- - UINT32 CANopen 301C:Ch
Mon coded - R/- Modbus 7192
WrnS The bits are set to 0 in the case of - -
a Fault Reset. - -
Bits 10 and 13 are set to 0
automatically.

Bit assignments:
Bit 0: General
Bit 1: Reserved
Bit 2: Out of range (software limit
switches, tuning)
Bit 3: Reserved
Bit 4: Active operating mode
Bit 5: Commissioning interface
(RS485)
Bit 6: Integrated fieldbus
Bit 7: Reserved
Bit 8: Following error
Bit 9: Reserved
Bit 10: Inputs STO_A and/or
STO_B
Bits 11 ... 12: Reserved
Bit 13: Low voltage DC bus or
mains phase missing
Bits 14 ... 15: Reserved
Bit 16: Integrated encoder
interface
Bit 17: Temperature of motor high
Bit 18: Temperature of power
stage high
Bit 19: Reserved
Bit 20: Memory card
Bit 21: Fieldbus module
Bit 22: Encoder module
Bit 23: Safety module eSM or
module IOM1
Bits 24 … 27: Reserved
Bit 28: Transistor for braking
resistor overload (I2t)
Bit 29: Braking resistor overload
(I2t)
Bit 30: Power stage overload (I2t)
Bit 31: Motor overload (I2t)

Monitoring functions are product-

dependent.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AbsHomeRequest Absolute positioning only after - UINT16 CANopen
homing 0 R/W 3006:16h
0 / No: No 1 per. Modbus 1580
1 / Yes: Yes 1 -
This parameter has no function if
the parameter
'PP_ModeRangeLim' is set to '1'
which allows overtraveling of the
movement range (ref_ok is set to 0
when the range is overtraveled).
Changed settings become active
immediately.
AccessLock Locking other access channels - UINT16 CANopen 3001:Eh
Value 0: Allow control via other 0 R/W Modbus 284
access channels 0 -
Value 1: Lock control via other 1 -
access channels

Example:
The access channel is used by the
fieldbus.
In this case, control via the
commissioning software or the
HMI is not possible.

The access channel can only be

locked after the currently active
operating mode has terminated.
Changed settings become active
immediately.
AT_dir Direction of movement for - UINT16 CANopen 302F:4h
oP → tun- Autotuning 1 R/W Modbus 12040
StiM 1 / Positive Negative Home / 1 -
Pnh: Positive direction first, then 6 -
negative direction with return to
initial position
2 / Negative Positive Home /
nPh: Negative direction first,
then positive direction with return
to initial position
3 / Positive Home / P-h: Positive
direction only with return to initial
position
4 / Positive / P--: Positive
direction only without return to
initial position
5 / Negative Home / n-h:
Negative direction only with return
to initial position
6 / Negative / n--: Negative
direction only without return to
initial position
Changed settings become active
the next time the motor moves.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_dis Movement range for Autotuning revolution UINT32 CANopen 302F:3h
oP → tun- Movement range within which the 1.0 R/W Modbus 12038
diSt control parameters are 2.0 -
automatically optimized. The 999.9 -
movement range is entered with
reference to the actual position.
In the case of "Movement in one
direction only" (Parameter AT_dir),
the specified movement range is
used for each optimization step.
The movement typically
corresponds to 20 times the value,
but it is not limited.

The parameter AT_dis_usr allows

you to enter the value in user-
defined units.
In increments of 0.1 revolution.
Changed settings become active
the next time the motor moves.
AT_dis_usr Movement range for Autotuning usr_p INT32 CANopen
oP → tun- Movement range within which the 1 R/W 302F:12h
diSu control parameters are 32768 - Modbus 12068
automatically optimized. The 2147483647 -
movement range is entered with
reference to the actual position.
In the case of "Movement in one
direction only" (Parameter AT_dir),
the specified range is used for
each optimization step. The
movement typically corresponds to
20 times the value, but it is not
limited.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
the next time the motor moves.
Available with firmware version ≥
V01.05.
AT_mechanical Type of coupling of the system - UINT16 CANopen 302F:Eh
oP → tun- 1 / Direct Coupling: Direct coupling 1 R/W Modbus 12060
MECh 2 / Belt Axis: Belt axis 2 -
3 / Spindle Axis: Spindle axis 3 -
Changed settings become active
the next time the motor moves.
AT_n_ref Velocity jump for Autotuning rpm UINT32 CANopen 302F:6h
oP → tun- The parameter AT_v_ref allows 10 R/W Modbus 12044
nJMP you to enter the value in user- 100 -
defined units. 1000 -
Changed settings become active
the next time the motor moves.
AT_start Autotuning start - UINT16 CANopen 302F:1h
Value 0: Terminate 0 R/W Modbus 12034
Value 1: Activate EasyTuning - -
Value 2: Activate ComfortTuning 2 -
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_v_ref Velocity jump for Autotuning usr_v INT32 CANopen
oP → tun- The minimum value, the factory 1 R/W 302F:13h
nJMu setting and the maximum value 100 - Modbus 12070
depend on the scaling factor. 2147483647 -
Changed settings become active
the next time the motor moves.
Available with firmware version ≥
V01.05.
AT_wait Waiting time between Autotuning ms UINT16 CANopen 302F:9h
oP → tun- steps 300 R/W Modbus 12050
WAit Changed settings become active 500 -
the next time the motor moves. 10000 -
BLSH_Mode Processing mode of backlash - UINT16 CANopen
compensation 0 R/W 3006:41h
0 / Off: Backlash compensation is 0 per. Modbus 1666
off 2 -
1 / OnAfterPositiveMovement:
Backlash compensation is on, last
movement was in positive direction
2 / OnAfterNegativeMovement:
Backlash compensation is on, last
movement was in negative
direction
Changed settings become active
immediately.
Available with firmware version ≥
V01.14.
BLSH_Position Position value for backlash usr_p INT32 CANopen
compensation 0 R/W 3006:42h
Setting can only be changed if 0 per. Modbus 1668
power stage is disabled. 2147483647 -
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.14.
BLSH_Time Processing time for backlash ms UINT16 CANopen
compensation 0 R/W 3006:44h
Value 0: Immediate backlash 0 per. Modbus 1672
compensation 16383 -
Value >0: Processing time for
backlash compensation
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.14.
BRK_AddT_apply Additional time delay for applying ms INT16 CANopen 3005:8h
ConF → ACG- the holding brake 0 R/W Modbus 1296
btCL The overall time delay for applying 0 per.
the holding brake is the time delay 1000 -
from the electronic nameplate of
the motor and the additional time
delay in this parameter.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BRK_AddT_release Additional time delay for releasing ms INT16 CANopen 3005:7h
ConF → ACG- the holding brake 0 R/W Modbus 1294
btrE The overall time delay for releasing 0 per.
the holding brake is the time delay 400 -
from the electronic nameplate of
the motor and the additional time
delay in this parameter.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
BRK_release Manual operation of the holding - UINT16 CANopen 3008:Ah
brake 0 R/W Modbus 2068
0 / Automatic: Automatic 0 -
processing 2 -
1 / Manual Release: Manual
release of holding brake
2 / Manual Application: Manual
applying of holding brake
You can apply or release the
holding brake manually.

The holding brake can only be

manually released in the operating
states 'Switch On Disabled',
'Ready To Switch On' or 'Fault'.

If you have applied the holding

brake manually and then want to
release it manually, you must first
set this parameter to Automatic
and then to Manual Release.
Changed settings become active
immediately.
Available with firmware version ≥
V01.12.
CANaddress CANopen address (node number) - UINT16 CANopen 3041:2h
ConF → CoM- Changed settings become active 1 R/W Modbus 16644
ConF → FSu- the next time the product is - per.
CoAd powered on. 127 -

CANbaud CANopen baud rate - UINT16 CANopen 3041:3h

ConF → CoM- 50 kBaud / 50: 50 kBaud 50 R/W Modbus 16646
ConF → FSu- 125 kBaud / 125: 125 kBaud 250 per.
Cobd 250 kBaud / 250: 250 kBaud 1000 -
500 kBaud / 500: 500 kBaud
1 MBaud / 1000: 1 MBaud
Changed settings become active
the next time the product is
powered on.
CANpdo1Event PDO 1 event mask - UINT16 CANopen 3041:Bh
Changes of values in the object 0 R/W Modbus 16662
trigger an event: 1 -
Bit 0: First PDO object 15 -
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CANpdo2Event PDO 2 event mask - UINT16 CANopen 3041:Ch
Changes of values in the object 0 R/W Modbus 16664
trigger an event: 1 -
Bit 0: First PDO object 15 -
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object
Changed settings become active
immediately.
CANpdo3Event PDO 3 event mask - UINT16 CANopen 3041:Dh
Changes of values in the object 0 R/W Modbus 16666
trigger an event: 1 -
Bit 0: First PDO object 15 -
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object
Changed settings become active
immediately.
CANpdo4Event PDO 4 event mask - UINT16 CANopen 3041:Eh
Changes of values in the object 0 R/W Modbus 16668
trigger an event: 15 -
Bit 0: First PDO object 15 -
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object
Changed settings become active
immediately.
Cap1Activate Capture input 1 start/stop - UINT16 CANopen 300A:4h
0 / Capture Stop: Cancel capture 0 R/W Modbus 2568
function - -
1 / Capture Once: Start one-time 4 -
capture
2 / Capture Continuous: Start
continuous capture
3 / Reserved: Reserved
4 / Reserved: Reserved
In the case of one-time capture,
the function is terminated when the
first value is captured.
In the case of continuous capture,
the function continues to run.
Changed settings become active
immediately.
Cap1Config Capture input 1 configuration - UINT16 CANopen 300A:2h
0 / Falling Edge: Position capture 0 R/W Modbus 2564
at falling edge 0 -
1 / Rising Edge: Position capture at 2 -
rising edge
2 / Both Edges: Position capture at
both edges
Changed settings become active
immediately.
Cap1Source Capture input 1 encoder source - UINT16 CANopen 300A:Ah
0 / Pact Encoder 1: Source for 0 R/W Modbus 2580
capture input 1 is Pact of encoder 1 0 -
Changed settings become active 0 -
immediately.
Available with firmware version ≥
V01.03.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
Cap2Activate Capture input 2 start/stop - UINT16 CANopen 300A:5h
0 / Capture Stop: Cancel capture 0 R/W Modbus 2570
function - -
1 / Capture Once: Start one-time 4 -
capture
2 / Capture Continuous: Start
continuous capture
3 / Reserved: Reserved
4 / Reserved: Reserved
In the case of one-time capture,
the function is terminated when the
first value is captured.
In the case of continuous capture,
the function continues to run.

Available with hardware version ≥

RS03.
Changed settings become active
immediately.
Cap2Config Capture input 2 configuration - UINT16 CANopen 300A:3h
0 / Falling Edge: Position capture 0 R/W Modbus 2566
at falling edge 0 -
1 / Rising Edge: Position capture at 1 -
rising edge
Available with hardware version ≥
RS03.
Changed settings become active
immediately.
Cap2Source Capture input 2 encoder source - UINT16 CANopen 300A:Bh
0 / Pact Encoder 1: Source for 0 R/W Modbus 2582
capture input 2 is Pact of encoder 1 0 -
Changed settings become active 0 -
immediately.
CLSET_p_DiffWin Position deviation for control loop revolution UINT16 CANopen
parameter set switching 0.0000 R/W 3011:1Ch
If the position deviation of the 0.0100 per. Modbus 4408
position controller is less than the 2.0000 -
value of this parameter, control
loop parameter set 2 is used.
Otherwise, control loop parameter
set 1 is used.

The parameter
CLSET_p_DiffWin_usr allows you
to enter the value in user-defined
units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
CLSET_p_DiffWin_usr Position deviation for control loop usr_p INT32 CANopen
parameter set switching 0 R/W 3011:25h
If the position deviation of the 164 per. Modbus 4426
position controller is less than the 2147483647 -
value of this parameter, control
loop parameter set 2 is used.
Otherwise, control loop parameter
set 1 is used.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CLSET_ParSwiCond Condition for parameter set - UINT16 CANopen
switching 0 R/W 3011:1Ah
0 / None Or Digital Input: None or 0 per. Modbus 4404
digital input function selected 4 -
1 / Inside Position Deviation: Inside
position deviation (value definition
in parameter CLSET_p_DiffWin)
2 / Below Reference Velocity:
Below reference velocity (value
definition in parameter
CLSET_v_Threshol)
3 / Below Actual Velocity: Below
actual velocity (value definition in
parameter CLSET_v_Threshol)
4 / Reserved: Reserved
In the case of parameter set
switching, the values of the
following parameters are changed
gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

The following parameters are

changed immediately after the time
for parameter set switching
(CTRL_ParChgTime):
- CTRL_Nf1damp
- CTRL_Nf1freq
- CTRL_Nf1bandw
- CTRL_Nf2damp
- CTRL_Nf2freq
- CTRL_Nf2bandw
- CTRL_Osupdamp
- CTRL_Osupdelay
- CTRL_Kfric
Changed settings become active
immediately.
CLSET_v_Threshol Velocity threshold for control loop usr_v UINT32 CANopen
parameter set switching 0 R/W 3011:1Dh
If the reference velocity or the 50 per. Modbus 4410
actual velocity are less than the 2147483647 -
value of this parameter, control
loop parameter set 2 is used.
Otherwise, control loop parameter
set 1 is used.
Changed settings become active
immediately.
CLSET_winTime Time window for parameter set ms UINT16 CANopen
switching 0 R/W 3011:1Bh
Value 0: Window monitoring 0 per. Modbus 4406
deactivated. 1000 -
Value >0: Window time for the
parameters CLSET_v_Threshol
and CLSET_p_DiffWin.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_GlobGain Global gain factor (affects control % UINT16 CANopen
oP → tun- loop parameter set 1) 5.0 R/W 3011:15h
GAin The global gain factor affects the 100.0 per. Modbus 4394
following parameters of control 1000.0 -
loop parameter set 1:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref

The global gain factor is set to

100%
- if the control loop parameters are
set to default
- at the end of the Autotuning
process
- if control loop parameter set 2 is
copied to set 1 via the parameter
CTRL_ParSetCopy

If a full configuration is transmitted

via the fieldbus, the value for
CTRL_GlobGain must be
transmitted prior to the values of
the control loop parameters
CTRL_KPn, CTRL_TNn,
CTRL_KPp and CTRL_TAUnref. If
CTRL_GlobGain is changed during
a configuration transmission,
CTRL_KPn, CTRL_TNn,
CTRL_KPp and CTRL_TAUnref
must also be part of the
configuration.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL_I_max Current limitation Arms UINT16 CANopen 3011:Ch
ConF → drC- During operation, the current limit 0.00 R/W Modbus 4376
iMAX is one of the following values - per.
(whichever is lowest): 463.00 -
- CTRL_I_max
- _M_I_max
- _PS_I_max
- Current limitation via digital input
Limitations caused by I2t
monitoring are also taken into
account.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains
voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_I_max_fw Maximum current for field Arms UINT16 CANopen 3011:Fh
weakening (d component) 0.00 R/W Modbus 4382
This value is only limited by the 0.00 per.
minimum/maximum parameter 300.00 expert
range (no limitation of this value by
motor/power stage).

The actually effective field

weakening current is the minimum
of CTRL_I_max_fw and one half of
the lower value of the nominal
current of the power stage and the
motor.
In increments of 0.01 Arms.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
CTRL_KFAcc Acceleration feed-forward control % UINT16 CANopen 3011:Ah
In increments of 0.1 %. 0.0 R/W Modbus 4372
Changed settings become active 0.0 per.
immediately. 3000.0 expert
CTRL_ParChgTime Period of time for control loop ms UINT16 CANopen
parameter set switching 0 R/W 3011:14h
In the case of control loop 0 per. Modbus 4392
parameter set switching, the 2000 -
values of the following parameters
are changed gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

Such a switching can be caused by

- change of the active control loop
parameter set
- change of the global gain
- change of any of the parameters
listed above
- deactivating the integral term of
the velocity controller
Changed settings become active
immediately.
CTRL_ParSetCopy Control loop parameter set copying - UINT16 CANopen
Value 1: Copy control loop 0.0 R/W 3011:16h
parameter set 1 to set 2 - - Modbus 4396
Value 2: Copy control loop 0.2 -
parameter set 2 to set 1

If control loop parameter set 2 is

copied to control loop parameter
set 1, the parameter
CTRL_GlobGain is set to 100%.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_PwrUpParSet Selection of control loop parameter - UINT16 CANopen
set at power up 0 R/W 3011:18h
0 / Switching Condition: The 1 per. Modbus 4400
switching condition is used for 2 -
control loop parameter set
switching
1 / Parameter Set 1: Control loop
parameter set 1 is used
2 / Parameter Set 2: Control loop
parameter set 2 is used
The selected value is also written
to CTRL_SelParSet (non-
persistent).
Changed settings become active
immediately.
CTRL_SelParSet Selection of control loop parameter - UINT16 CANopen
set (non-persistent) 0 R/W 3011:19h
Coding see parameter: 1 - Modbus 4402
CTRL_PwrUpParSet 2 -
Changed settings become active
immediately.
CTRL_SmoothCurr Smoothing factor for current % UINT16 CANopen
controller 50 R/W 3011:26h
This parameter decreases the 100 per. Modbus 4428
dynamics of the current control 100 -
loop.
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.
CTRL_SpdFric Speed of rotation up to which the rpm UINT32 CANopen 3011:9h
friction compensation is linear 0 R/W Modbus 4370
Changed settings become active 5 per.
immediately. 20 expert
CTRL_TAUnact Filter time constant to smooth ms UINT16 CANopen 3011:8h
velocity of motor 0.00 R/W Modbus 4368
The default value is calculated on - per.
the basis of the motor data. 30.00 expert
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL_v_max Velocity limitation usr_v UINT32 CANopen
ConF → drC- During operation, the velocity limit 1 R/W 3011:10h
nMAX is one of the following values 13200 per. Modbus 4384
(whichever is lowest): 2147483647 -
- CTRL_v_max
- M_n_max
- Velocity limitation via digital input
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_VelObsActiv Activation of velocity observer - UINT16 CANopen
0 / Velocity Observer Off: Velocity 0 R/W 3011:22h
observer is off 0 per. Modbus 4420
1 / Velocity Observer Passive: 2 expert
Velocity observer is on, but not
used for motor control
2 / Velocity Observer Active:
Velocity observer is on and used
for motor control
Velocity observer control reduces
velocity ripple and enhances
controller bandwidth.
Set the correct dynamics and
inertia values before activation.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
CTRL_VelObsDyn Dynamics of velocity observer ms UINT16 CANopen
The value of this parameter must 0.03 R/W 3011:23h
be less than (for example, between 0.25 per. Modbus 4422
5 % and 20 %) the integral action 200.00 expert
time of the velocity controller
(parameter CTRL1_TNn und
CTRL2_TNn).
In increments of 0.01 ms.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
CTRL_VelObsInert Inertia value for velocity observer g cm2 UINT32 CANopen
System inertia that is used for 1 R/W 3011:24h
velocity observer calculations. - per. Modbus 4424
The default value is the inertia of 2147483648 expert
the mounted motor.
In the case of autotuning, the value
of this parameter can be set equal
to that of _AT_J.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
CTRL_vPIDDPart PID velocity controller: D gain % UINT16 CANopen 3011:6h
ConF → drC- In increments of 0.1 %. 0.0 R/W Modbus 4364
Pdn Changed settings become active 0.0 per.
immediately. 400.0 expert
CTRL_vPIDDTime PID velocity controller: Time ms UINT16 CANopen 3011:5h
ConF → drC- constant of D term smoothing filter 0.01 R/W Modbus 4362
tdn In increments of 0.01 ms. 0.25 per.
Changed settings become active 10.00 expert
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KFPp Velocity feed-forward control % UINT16 CANopen 3012:6h
ConF → drC- In the case of switching between 0.0 R/W Modbus 4620
FPP1 the two control loop parameter 0.0 per.
sets, the values are changed 200.0 -
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL1_Kfric Friction compensation: Gain Arms UINT16 CANopen
In increments of 0.01 Arms. 0.00 R/W 3012:10h
Changed settings become active 0.00 per. Modbus 4640
immediately. 10.00 expert
CTRL1_KPn Velocity controller P gain A/rpm UINT16 CANopen 3012:1h
ConF → drC- The default value is calculated on 0.0001 R/W Modbus 4610
Pn1 the basis of the motor parameters. - per.
2.5400 -
In the case of switching between
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL1_KPp Position controller P gain 1/s UINT16 CANopen 3012:3h
ConF → drC- The default value is calculated. 2.0 R/W Modbus 4614
PP1 - per.
In the case of switching between 900.0 -
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL1_Nf1bandw Notch filter 1: Bandwidth % UINT16 CANopen 3012:Ah
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4628
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf1damp Notch filter 1: Damping % UINT16 CANopen 3012:8h
In increments of 0.1 %. 55.0 R/W Modbus 4624
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf1freq Notch filter 1: Frequency Hz UINT16 CANopen 3012:9h
The filter is deactivated at a value 50.0 R/W Modbus 4626
of 15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL1_Nf2bandw Notch filter 2: Bandwidth % UINT16 CANopen 3012:Dh
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4634
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf2damp Notch filter 2: Damping % UINT16 CANopen 3012:Bh
In increments of 0.1 %. 55.0 R/W Modbus 4630
Changed settings become active 90.0 per.
immediately. 99.0 expert

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_Nf2freq Notch filter 2: Frequency Hz UINT16 CANopen 3012:Ch
The filter is deactivated at a value 50.0 R/W Modbus 4632
of 15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL1_Osupdamp Overshoot suppression filter: % UINT16 CANopen 3012:Eh
Damping 0.0 R/W Modbus 4636
The filter is deactivated at a value 0.0 per.
of 0. 50.0 expert
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL1_Osupdelay Overshoot suppression filter: Time ms UINT16 CANopen 3012:Fh
delay 0.00 R/W Modbus 4638
The filter is deactivated at a value 0.00 per.
of 0. 75.00 expert
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TAUiref Filter time constant of the ms UINT16 CANopen 3012:5h
reference current value filter 0.00 R/W Modbus 4618
In the case of switching between 0.50 per.
the two control loop parameter 4.00 -
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TAUnref Filter time constant of the ms UINT16 CANopen 3012:4h
ConF → drC- reference velocity value filter 0.00 R/W Modbus 4616
tAu1 In the case of switching between 9.00 per.
the two control loop parameter 327.67 -
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TNn Velocity controller integral action ms UINT16 CANopen 3012:2h
ConF → drC- time 0.00 R/W Modbus 4612
tin1 The default value is calculated. - per.
327.67 -
In the case of switching between
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_KFPp Velocity feed-forward control % UINT16 CANopen 3013:6h
ConF → drC- In the case of switching between 0.0 R/W Modbus 4876
FPP2 the two control loop parameter 0.0 per.
sets, the values are changed 200.0 -
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_Kfric Friction compensation: Gain Arms UINT16 CANopen
In increments of 0.01 Arms. 0.00 R/W 3013:10h
Changed settings become active 0.00 per. Modbus 4896
immediately. 10.00 expert
CTRL2_KPn Velocity controller P gain A/rpm UINT16 CANopen 3013:1h
ConF → drC- The default value is calculated on 0.0001 R/W Modbus 4866
Pn2 the basis of the motor parameters. - per.
2.5400 -
In the case of switching between
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL2_KPp Position controller P gain 1/s UINT16 CANopen 3013:3h
ConF → drC- The default value is calculated. 2.0 R/W Modbus 4870
PP2 - per.
In the case of switching between 900.0 -
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL2_Nf1bandw Notch filter 1: Bandwidth % UINT16 CANopen 3013:Ah
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4884
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf1damp Notch filter 1: Damping % UINT16 CANopen 3013:8h
In increments of 0.1 %. 55.0 R/W Modbus 4880
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf1freq Notch filter 1: Frequency Hz UINT16 CANopen 3013:9h
The filter is deactivated at a value 50.0 R/W Modbus 4882
of 15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.
CTRL2_Nf2bandw Notch filter 2: Bandwidth % UINT16 CANopen 3013:Dh
Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4890
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf2damp Notch filter 2: Damping % UINT16 CANopen 3013:Bh
In increments of 0.1 %. 55.0 R/W Modbus 4886
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf2freq Notch filter 2: Frequency Hz UINT16 CANopen 3013:Ch
The filter is deactivated at a value 50.0 R/W Modbus 4888
of 15000. 1500.0 per.
In increments of 0.1 Hz. 1500.0 expert
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_Osupdamp Overshoot suppression filter: % UINT16 CANopen 3013:Eh
Damping 0.0 R/W Modbus 4892
The filter is deactivated at a value 0.0 per.
of 0. 50.0 expert
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL2_Osupdelay Overshoot suppression filter: Time ms UINT16 CANopen 3013:Fh
delay 0.00 R/W Modbus 4894
The filter is deactivated at a value 0.00 per.
of 0. 75.00 expert
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUiref Filter time constant of the ms UINT16 CANopen 3013:5h
reference current value filter 0.00 R/W Modbus 4874
In the case of switching between 0.50 per.
the two control loop parameter 4.00 -
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUnref Filter time constant of the ms UINT16 CANopen 3013:4h
ConF → drC- reference velocity value filter 0.00 R/W Modbus 4872
tAu2 In the case of switching between 9.00 per.
the two control loop parameter 327.67 -
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action ms UINT16 CANopen 3013:2h
ConF → drC- time 0.00 R/W Modbus 4868
tin2 The default value is calculated. - per.
327.67 -
In the case of switching between
the two control loop parameter
sets, the values are changed
linearly over the time defined in the
parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
DCbus_compat DC bus compatibility LXM32 and - UINT16 CANopen
ATV32 0 R/W 3005:26h
0 / No DC bus or LXM32 only: DC 0 per. Modbus 1356
bus not used or only LXM32 1 -
connected via the DC bus
1 / DC bus with LXM32 and
ATV32: LXM32 and ATV32
connected via the DC bus
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.
Available with firmware version ≥
V01.05.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DCOMcontrol DriveCom control word - UINT16 CANopen 6040:0h
See chapter Operation, Operating - R/W Modbus 6914
States, for bit assignment - -
information. - -
Bit 0: Operating state Switch On
Bit 1: Enable Voltage
Bit 2: Operating state Quick Stop
Bit 3: Enable Operation
Bits 4 … 6: Operating mode-
specific
Bit 7: Fault Reset
Bit 8: Halt
Bit 9: Operating mode-specific
Bits 10 … 15: Reserved (must be
0)
Changed settings become active
immediately.
DCOMopmode Operating mode - INT16* CANopen 6060:0h
-6 / Manual Tuning / Autotuning: -6 R/W Modbus 6918
Manual Tuning or Autotuning - -
-1 / Jog: Jog 7 -
0 / Reserved: Reserved
1 / Profile Position: Profile Position
3 / Profile Velocity: Profile Velocity
4 / Profile Torque: Profile Torque
6 / Homing: Homing
7 / Interpolated Position:
Interpolated Position
8 / Cyclic Synchronous Position:
Cyclic Synchronous Position
9 / Cyclic Synchronous Velocity:
Cyclic Synchronous Velocity
10 / Cyclic Synchronous Torque:
Cyclic Synchronous Torque
Changed settings become active
immediately.
* Datatype for CANopen: INT8
DI_0_Debounce Debounce time of DI0 - UINT16 CANopen
ConF → i-o- 0 / No: No software debouncing 0 R/W 3008:20h
tdi0 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2112
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
DI_1_Debounce Debounce time of DI1 - UINT16 CANopen
ConF → i-o- 0 / No: No software debouncing 0 R/W 3008:21h
tdi1 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2114
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DI_2_Debounce Debounce time of DI2 - UINT16 CANopen
ConF → i-o- 0 / No: No software debouncing 0 R/W 3008:22h
tdi2 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2116
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
DI_3_Debounce Debounce time of DI3 - UINT16 CANopen
ConF → i-o- 0 / No: No software debouncing 0 R/W 3008:23h
tdi3 1 / 0.25 ms: 0.25 ms 6 per. Modbus 2118
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
DPL_Activate Activation of Drive Profile Lexium - UINT16 CANopen 301B:8h
Value 0: Deactivate Drive Profile 0 R/W Modbus 6928
Lexium 0 -
Value 1: Activate Drive Profile 1 -
Lexium

The access channel via which the

drive profile has been activated is
the only access channel that can
use the drive profile.
Changed settings become active
immediately.
DPL_dmControl Drive Profile Lexium dmControl - UINT16 CANopen
- R/W 301B:1Fh
- - Modbus 6974
- -

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DPL_intLim Setting for bit 9 of - UINT16 CANopen
_DPL_motionStat and 0 R/W 301B:35h
_actionStatus 11 per. Modbus 7018
0 / None: Not used (reserved) 11 -
1 / Current Below Threshold:
Current threshold value
2 / Velocity Below Threshold:
Velocity threshold value
3 / In Position Deviation Window:
Position deviation window
4 / In Velocity Deviation Window:
Velocity deviation window
5 / Position Register Channel 1:
Position register channel 1
6 / Position Register Channel 2:
Position register channel 2
7 / Position Register Channel 3:
Position register channel 3
8 / Position Register Channel 4:
Position register channel 4
9 / Hardware Limit Switch:
Hardware limit switch
10 / RMAC active or finished:
Relative movement after capture is
active or finished
11 / Position Window: Position
window
Setting for:
Bit 9 of the parameter
_actionStatus
Bit 9 of the parameter
_DPL_motionStat
Changed settings become active
immediately.
Available with firmware version ≥
V01.08.
DPL_RefA16 Drive Profile Lexium RefA16 - INT16 CANopen
- R/W 301B:22h
- - Modbus 6980
- -
DPL_RefB32 Drive Profile Lexium RefB32 - INT32 CANopen
- R/W 301B:21h
- - Modbus 6978
- -
DS402compatib DS402 state machine: State - UINT16 CANopen
transition from 3 to 4 0 R/W 301B:13h
0 / Automatic: Automatic (state 0 per. Modbus 6950
transition is performed 1 -
automatically)
1 / DS402-compliant: DS402-
compliant (state transition must be
controlled via the fieldbus)
Determines the state transition
between the states
SwitchOnDisabled (3) and
ReadyToSwitchOn (4).
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DS402intLim DS402 status word: Setting for bit - UINT16 CANopen
11 (internal limit) 0 R/W 301B:1Eh
0 / None: Not used (reserved) 0 per. Modbus 6972
1 / Current Below Threshold: 11 -
Current threshold value
2 / Velocity Below Threshold:
Velocity threshold value
3 / In Position Deviation Window:
Position deviation window
4 / In Velocity Deviation Window:
Velocity deviation window
5 / Position Register Channel 1:
Position register channel 1
6 / Position Register Channel 2:
Position register channel 2
7 / Position Register Channel 3:
Position register channel 3
8 / Position Register Channel 4:
Position register channel 4
9 / Hardware Limit Switch:
Hardware limit switch
10 / RMAC active or finished:
Relative movement after capture is
active or finished
11 / Position Window: Position
window
Setting for:
Bit 11 of the parameter
_DCOMstatus
Bit 10 of the parameter
_actionStatus
Bit 10 of the parameter
_DPL_motionStat
Changed settings become active
immediately.
DSM_ShutDownOption Behavior for disabling the power - INT16 CANopen 605B:0h
ConF → ACG- stage during movement 0 R/W Modbus 1684
Sdty 0 / Disable Immediately / diSi: 0 per.
Disable power stage immediately 1 -
1 / Disable After Halt / diSh:
Disable power stage after
deceleration to standstill
This parameter specifies the
response to a power stage disable
request.
Halt is used for deceleration to
standstill.
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ENC1_adjustment Adjustment of absolute position of usr_p INT32 CANopen
encoder 1 - R/W 3005:16h
The value range depends on the - - Modbus 1324
encoder type. - -

Singleturn encoder:
0 ... x-1

Multiturn encoder:
0 ... (4096*x)-1

Singleturn encoder (shifted with

parameter ShiftEncWorkRang):
-(x/2) ... (x/2)-1

Multiturn encoder (shifted with

parameter ShiftEncWorkRang):
-(2048*x) ... (2048*x)-1

Definition of 'x': Maximum position

for one encoder turn in user-
defined units. This value is 16384
with the default scaling.

If processing is to be performed
with inversion of the direction of
movement, this must be set before
the encoder position is adjusted.
After the write access, a wait time
of at least 1 second is required
before the drive can be powered
off.
Changed settings become active
the next time the product is
powered on.
ERR_clear Clear error memory - UINT16 CANopen 303B:4h
Value 1: Delete entries in the error 0 R/W Modbus 15112
memory - -
1 -
The clearing process is completed
if a 0 is returned after a read
access.
Changed settings become active
immediately.
ERR_reset Reset error memory read pointer - UINT16 CANopen 303B:5h
Value 1: Set error memory read 0 R/W Modbus 15114
pointer to oldest error entry. - -
Changed settings become active 1 -
immediately.
ErrorResp_bit_DE Error response to detected data - INT16 CANopen 301B:6h
error (DE bit) -1 R/W Modbus 6924
-1 / No Error Response: No error -1 per.
response 3 -
0 / Error Class 0: Error class 0
1 / Error Class 1: Error class 1
2 / Error Class 2: Error class 2
3 / Error Class 3: Error class 3
For the Drive Profile Lexium, the
error response to a detected data
error (DE bit) can be
parameterized.
For EtherCAT RxPDO data error
handling, this parameter is also
used to classify the error response.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_bit_ME Error response to detected mode - INT16 CANopen 301B:7h
error (ME bit) -1 R/W Modbus 6926
-1 / No Error Response: No error -1 per.
response 3 -
0 / Error Class 0: Error class 0
1 / Error Class 1: Error class 1
2 / Error Class 2: Error class 2
3 / Error Class 3: Error class 3
For the Drive Profile Lexium, the
error response to a detected mode
error (ME bit) can be
parameterized.
ErrorResp_Flt_AC Error response to missing mains - UINT16 CANopen 3005:Ah
phase 0 R/W Modbus 1300
0 / Error Class 0: Error Class 0 2 per.
1 / Error Class 1: Error class 1 3 -
2 / Error Class 2: Error class 2
3 / Error Class 3: Error class 3
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
ErrorResp_I2tRES Error response to 100% I2t braking - UINT16 CANopen
resistor 0 R/W 3005:22h
0 / Error Class 0: Error class 0 0 per. Modbus 1348
1 / Error Class 1: Error class 1 2 -
2 / Error Class 2: Error class 2
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
ErrorResp_p_dif Error response to excessivly high - UINT16 CANopen 3005:Bh
load-dependent position deviation 1 R/W Modbus 1302
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
ErrorResp_QuasiAbs Error response to detected error - UINT16 CANopen
with quasi absolute position 3 R/W 3005:3Ah
3 / Error Class 3: Error class 3 3 per. Modbus 1396
4 / Error Class 4: Error class 4 4 -
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.26.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_v_dif Error response to excessivly high - UINT16 CANopen
load-dependent velocity deviation 1 R/W 3005:3Ch
1 / Error Class 1: Error class 1 3 per. Modbus 1400
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.26.
HMdis Distance from switching point usr_p INT32 CANopen 3028:7h
The distance from the switching 1 R/W Modbus 10254
point is defined as the reference 200 per.
point. 2147483647 -

The parameter is only effective

during a reference movement
without index pulse.
Changed settings become active
the next time the motor moves.
HMIDispPara HMI display when motor moves - UINT16 CANopen 303A:2h
Mon 0 / OperatingState / StAt: 0 R/W Modbus 14852
SuPV Operating state 0 per.
1 / v_act / VAct: Actual motor 2 -
velocity
2 / I_act / iAct: Actual motor
current
Changed settings become active
immediately.
HMIlocked Lock HMI - UINT16 CANopen 303A:1h
0 / Not Locked / nLoc: HMI not 0 R/W Modbus 14850
locked 0 per.
1 / Locked / Loc: HMI locked 1 -
The following functions can no
longer be started when the HMI is
locked:
- Parameter change
- Jog
- Autotuning
- Fault Reset
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMmethod Homing method - INT16* CANopen 6098:0h
1: LIMN with index pulse 1 R/W Modbus 6936
2: LIMP with index pulse 18 -
7: REF+ with index pulse, inv., 35 -
outside
8: REF+ with index pulse, inv.,
inside
9: REF+ with index pulse, not inv.,
inside
10: REF+ with index pulse, not inv.,
outside
11: REF- with index pulse, inv.,
outside
12: REF- with index pulse, inv.,
inside
13: REF- with index pulse, not inv.,
inside
14: REF- with index pulse, not inv.,
outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in pos.
direction
REF-: Search movement in neg.
direction
inv.: Invert direction in switch
not inv.: Direction not inverted in
switch
outside: Index pulse / distance
outside switch
inside: Index pulse / distance
inside switch
Changed settings become active
immediately.
* Datatype for CANopen: INT8
HMoutdis Maximum distance for search for usr_p INT32 CANopen 3028:6h
switching point 0 R/W Modbus 10252
0: Monitoring of distance inactive 0 per.
>0: Maximum distance 2147483647 -

After detection of the switch, the

drive starts to search for the
defined switching point. If the
defined switching point is not found
within the distance defined here,
the reference movement is
canceled and an error is detected.
Changed settings become active
the next time the motor moves.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
HMp_home Position at reference point usr_p INT32 CANopen 3028:Bh
After a successful reference -2147483648 R/W Modbus 10262
movement, this position is 0 per.
automatically set at the reference 2147483647 -
point.
Changed settings become active
the next time the motor moves.
HMp_setP Position for Position Setting usr_p INT32 CANopen
Position for operating mode - R/W 301B:16h
Homing, method 35. 0 - Modbus 6956
Changed settings become active - -
immediately.
HMprefmethod Preferred homing method - INT16 CANopen 3028:Ah
oP → hoM- Changed settings become active 1 R/W Modbus 10260
MEth immediately. 18 per.
35 -
HMsrchdis Maximum search distance after usr_p INT32 CANopen 3028:Dh
overtravel of switch 0 R/W Modbus 10266
0: Search distance monitoring 0 per.
disabled 2147483647 -
>0: Search distance

The switch must be activated again

within this search distance,
otherwise the reference movement
is canceled.
Changed settings become active
the next time the motor moves.
HMv Target velocity for searching the usr_v UINT32 CANopen 6099:1h
oP → hoM- switch 1 R/W Modbus 10248
hMn The adjustable value is internally 60 per.
limited to the parameter setting in 2147483647 -
RAMP_v_max.
Changed settings become active
the next time the motor moves.
HMv_out Target velocity for moving away usr_v UINT32 CANopen 6099:2h
from switch 1 R/W Modbus 10250
The adjustable value is internally 6 per.
limited to the parameter setting in 2147483647 -
RAMP_v_max.
Changed settings become active
the next time the motor moves.
InvertDirOfMove Inversion of direction of movement - UINT16 CANopen 3006:Ch
ConF → ACG- 0 / Inversion Off / oFF: Inversion 0 R/W Modbus 1560
inMo of direction of movement is off 0 per.
1 / Inversion On / on: Inversion 1 -
of direction of movement is on
The limit switch which is reached
with a movement in positive
direction must be connected to the
positive limit switch input and vice
versa.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_AutoEnable Enabling the power stage at - UINT16 CANopen 3005:6h
ConF → ACG- PowerOn 0 R/W Modbus 1292
ioAE 0 / RisingEdge / riSE: A rising 0 per.
edge with the signal input function 2 -
"Enable" enables the power stage
1 / HighLevel / LEVL: An active
signal input with signal input
function "Enable" enables the
power stage
2 / AutoOn / Auto: The power
stage is automatically enabled
Changed settings become active
the next time the power stage is
enabled.
IO_AutoEnaConfig Enabling the power stage as set - UINT16 CANopen 3005:4h
ConF → ACG- via IO_AutoEnable even after error 0 R/W Modbus 1288
ioEM 0 / Off / _oFF: Setting in 0 per.
parameter IO_AutoEnable is only 1 -
used after start-up
1 / On / on: Setting in parameter
IO_AutoEnable is used after start-
up and after detected error
Changed settings become active
the next time the power stage is
enabled.
IO_DQ_set Setting the digital outputs directly - UINT16 CANopen
Digital outputs can only be set - R/W 3008:11h
directly if the signal output function - - Modbus 2082
has been set to 'Available as - -
required'.

Bit assignments:
Bit 0: DQ0
Bit 1: DQ1
IO_FaultResOnEnaInp Additional 'Fault Reset' for the - UINT16 CANopen
ConF → ACG- signal input function 'Enable' 0 R/W 3005:34h
iEFr 0 / Off / oFF: No additional 'Fault 0 per. Modbus 1384
Reset' 2 -
1 / OnFallingEdge / FALL:
Additional 'Fault Reset' with falling
edge
2 / OnRisingEdge / riSE:
Additional 'Fault Reset' with rising
edge
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.12.
IO_I_limit Current limitation via input Arms UINT16 CANopen
ConF → i-o- A current limit can be activated via 0.00 R/W 3006:27h
iLiM a digital input. 0.20 per. Modbus 1614
In increments of 0.01 Arms. 300.00 -
Changed settings become active
immediately.
IO_v_limit Velocity limitation via input usr_v UINT32 CANopen
ConF → i-o- A velocity limitation can be 0 R/W 3006:1Eh
nLiM activated via a digital input. 10 per. Modbus 1596
In operating mode Profile Torque, 2147483647 -
the minimum velocity is internally
limited to 100 min-1.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI0 Function Input DI0 - UINT16 CANopen 3007:1h
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1794
di0 Available as required - per.
2 / Fault Reset / FrES: Reset - -
after error
3 / Enable / EnAb: Enables the
power stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning /
SPtP: Start request for
movement
6 / Current Limitation / iLiM:
Limits the current to parameter
value
7 / Zero Clamp / CLMP: Zero
clamping
8 / Velocity Limitation / VLiM:
Limits the velocity to parameter
value
21 / Reference Switch (REF) /
rEF: Reference switch
22 / Positive Limit Switch (LIMP) /
LiMP: Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter
Set / CPAr: Switches control
loop parameter set
28 / Velocity Controller Integral Off
/ tnoF: Switches off velocity
controller integral term
30 / Start Signal Of RMAC /
SrMc: Start signal of relative
movement after capture (RMAC)
31 / Activate RMAC / ArMc:
Activates the relative movement
after capture (RMAC)
40 / Release Holding Brake /
rEhb: Releases the holding
brake
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI1 Function Input DI1 - UINT16 CANopen 3007:2h
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1796
di1 Available as required - per.
2 / Fault Reset / FrES: Reset - -
after error
3 / Enable / EnAb: Enables the
power stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning /
SPtP: Start request for
movement
6 / Current Limitation / iLiM:
Limits the current to parameter
value
7 / Zero Clamp / CLMP: Zero
clamping
8 / Velocity Limitation / VLiM:
Limits the velocity to parameter
value
21 / Reference Switch (REF) /
rEF: Reference switch
22 / Positive Limit Switch (LIMP) /
LiMP: Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter
Set / CPAr: Switches control
loop parameter set
28 / Velocity Controller Integral Off
/ tnoF: Switches off velocity
controller integral term
30 / Start Signal Of RMAC /
SrMc: Start signal of relative
movement after capture (RMAC)
31 / Activate RMAC / ArMc:
Activates the relative movement
after capture (RMAC)
40 / Release Holding Brake /
rEhb: Releases the holding
brake
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI2 Function Input DI2 - UINT16 CANopen 3007:3h
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1798
di2 Available as required - per.
2 / Fault Reset / FrES: Reset - -
after error
3 / Enable / EnAb: Enables the
power stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning /
SPtP: Start request for
movement
6 / Current Limitation / iLiM:
Limits the current to parameter
value
7 / Zero Clamp / CLMP: Zero
clamping
8 / Velocity Limitation / VLiM:
Limits the velocity to parameter
value
21 / Reference Switch (REF) /
rEF: Reference switch
22 / Positive Limit Switch (LIMP) /
LiMP: Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter
Set / CPAr: Switches control
loop parameter set
28 / Velocity Controller Integral Off
/ tnoF: Switches off velocity
controller integral term
30 / Start Signal Of RMAC /
SrMc: Start signal of relative
movement after capture (RMAC)
31 / Activate RMAC / ArMc:
Activates the relative movement
after capture (RMAC)
40 / Release Holding Brake /
rEhb: Releases the holding
brake
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI3 Function Input DI3 - UINT16 CANopen 3007:4h
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1800
di3 Available as required - per.
2 / Fault Reset / FrES: Reset - -
after error
3 / Enable / EnAb: Enables the
power stage
4 / Halt / hALt: Halt
5 / Start Profile Positioning /
SPtP: Start request for
movement
6 / Current Limitation / iLiM:
Limits the current to parameter
value
7 / Zero Clamp / CLMP: Zero
clamping
8 / Velocity Limitation / VLiM:
Limits the velocity to parameter
value
21 / Reference Switch (REF) /
rEF: Reference switch
22 / Positive Limit Switch (LIMP) /
LiMP: Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter
Set / CPAr: Switches control
loop parameter set
28 / Velocity Controller Integral Off
/ tnoF: Switches off velocity
controller integral term
30 / Start Signal Of RMAC /
SrMc: Start signal of relative
movement after capture (RMAC)
31 / Activate RMAC / ArMc:
Activates the relative movement
after capture (RMAC)
40 / Release Holding Brake /
rEhb: Releases the holding
brake
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

444 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ0 Function Output DQ0 - UINT16 CANopen 3007:9h
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1810
do0 Available as required - per.
2 / No Fault / nFLt: Signals - -
operating states Ready To Switch
On, Switched On and Operation
Enabled
3 / Active / Acti: Signals
operating state Operation Enabled
4 / RMAC Active Or Finished /
rMcA: Relative movement after
capture active or finished (RMAC)
5 / In Position Deviation Window /
in-P: Position deviation is
within window
6 / In Velocity Deviation Window /
in-V: Velocity deviation is within
window
7 / Velocity Below Threshold /
Vthr: Motor velocity below
threshold
8 / Current Below Threshold /
ithr: Motor current below
threshold
9 / Halt Acknowledge / hALt:
Halt acknowledgement
13 / Motor Standstill / MStd:
Motor at a standstill
14 / Selected Error / SErr: One
of the specified errors of error
classes 1 … 4 is active
15 / Valid Reference (ref_ok) /
rEFo: Zero point is valid (ref_ok)
16 / Selected Warning / SWrn:
One of the specified errors of error
class 0 is active
18 / Position Register Channel 1 /
PrC1: Position register channel
1
19 / Position Register Channel 2 /
PrC2: Position register channel
2
20 / Position Register Channel 3 /
PrC3: Position register channel
3
21 / Position Register Channel 4 /
PrC4: Position register channel
4
22 / Motor Moves Positive /
MPoS: Motor moves in positive
direction
23 / Motor Moves Negative /
MnEG: Motor moves in negative
direction
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ1 Function Output DQ1 - UINT16 CANopen 3007:Ah
ConF → i-o- 1 / Freely Available / nonE: - R/W Modbus 1812
do1 Available as required - per.
2 / No Fault / nFLt: Signals - -
operating states Ready To Switch
On, Switched On and Operation
Enabled
3 / Active / Acti: Signals
operating state Operation Enabled
4 / RMAC Active Or Finished /
rMcA: Relative movement after
capture active or finished (RMAC)
5 / In Position Deviation Window /
in-P: Position deviation is
within window
6 / In Velocity Deviation Window /
in-V: Velocity deviation is within
window
7 / Velocity Below Threshold /
Vthr: Motor velocity below
threshold
8 / Current Below Threshold /
ithr: Motor current below
threshold
9 / Halt Acknowledge / hALt:
Halt acknowledgement
13 / Motor Standstill / MStd:
Motor at a standstill
14 / Selected Error / SErr: One
of the specified errors of error
classes 1 … 4 is active
15 / Valid Reference (ref_ok) /
rEFo: Zero point is valid (ref_ok)
16 / Selected Warning / SWrn:
One of the specified errors of error
class 0 is active
18 / Position Register Channel 1 /
PrC1: Position register channel
1
19 / Position Register Channel 2 /
PrC2: Position register channel
2
20 / Position Register Channel 3 /
PrC3: Position register channel
3
21 / Position Register Channel 4 /
PrC4: Position register channel
4
22 / Motor Moves Positive /
MPoS: Motor moves in positive
direction
23 / Motor Moves Negative /
MnEG: Motor moves in negative
direction
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigCurrLim Signal evaluation for signal input - UINT16 CANopen
function Current Limitation 1 R/W 3008:28h
1 / Normally Closed: Normally 2 per. Modbus 2128
closed NC 2 -
2 / Normally Open: Normally open
NO
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
IOsigLIMN Signal evaluation for negative limit - UINT16 CANopen 3006:Fh
switch 0 R/W Modbus 1566
0 / Inactive: Inactive 1 per.
1 / Normally Closed: Normally 2 -
closed NC
2 / Normally Open: Normally open
NO
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
IOsigLIMP Signal evaluation for positive limit - UINT16 CANopen
switch 0 R/W 3006:10h
0 / Inactive: Inactive 1 per. Modbus 1568
1 / Normally Closed: Normally 2 -
closed NC
2 / Normally Open: Normally open
NO
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
IOsigREF Signal evaluation for reference - UINT16 CANopen 3006:Eh
switch 1 R/W Modbus 1564
1 / Normally Closed: Normally 1 per.
closed NC 2 -
2 / Normally Open: Normally open
NO
The reference switch is only active
while a reference movement to the
reference switch is processed.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
IOsigRespOfPS Response to active limit switch - UINT16 CANopen 3006:6h
during enabling of power stage 0 R/W Modbus 1548
0 / Error: Active limit switch triggers 0 per.
an error. 1 -
1 / No Error: Active limit switch
does not trigger an error.
Defines the response when the
power stage is enabled while a
hardware limit switch is active.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigVelLim Signal evaluation for signal input - UINT16 CANopen
function Velocity Limitation 1 R/W 3008:27h
1 / Normally Closed: Normally 2 per. Modbus 2126
closed NC 2 -
2 / Normally Open: Normally open
NO
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
IP_IntTimInd Interpolation time index - INT16* CANopen 60C2:2h
Available with firmware version ≥ -128 R/W Modbus 7002
V01.08. -3 -
* Datatype for CANopen: INT8 63 -
IP_IntTimPerVal Interpolation time period value s UINT16* CANopen 60C2:1h
Available with firmware version ≥ 0 R/W Modbus 7000
V01.08. 1 -
* Datatype for CANopen: UINT8 255 -
IPp_target Position reference value for - INT32 CANopen 60C1:1h
operating mode Interpolated -2147483648 R/W Modbus 7004
Position - -
Available with firmware version ≥ 2147483647 -
V01.08.
JOGactivate Activation of operating mode Jog - UINT16 CANopen 301B:9h
Bit 0: Positive direction of 0 R/W Modbus 6930
movement 0 -
Bit 1: Negative direction of 7 -
movement
Bit 2: 0=slow 1=fast
Changed settings become active
immediately.
JOGmethod Selection of jog method - UINT16 CANopen 3029:3h
0 / Continuous Movement / 0 R/W Modbus 10502
coMo: Jog with continuous 1 -
movement 1 -
1 / Step Movement / StMo: Jog
with step movement
Changed settings become active
immediately.
JOGstep Distance for step movement usr_p INT32 CANopen 3029:7h
Changed settings become active 1 R/W Modbus 10510
the next time the motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement ms UINT16 CANopen 3029:8h
Changed settings become active 1 R/W Modbus 10512
the next time the motor moves. 500 per.
32767 -
JOGv_fast Velocity for fast movement usr_v UINT32 CANopen 3029:5h
oP → JoG- The adjustable value is internally 1 R/W Modbus 10506
JGhi limited to the parameter setting in 180 per.
RAMP_v_max. 2147483647 -
Changed settings become active
immediately.
JOGv_slow Velocity for slow movement usr_v UINT32 CANopen 3029:4h
oP → JoG- The adjustable value is internally 1 R/W Modbus 10504
JGLo limited to the parameter setting in 60 per.
RAMP_v_max. 2147483647 -
Changed settings become active
immediately.

448 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_HaltReaction Halt option code - INT16 CANopen 605D:0h
ConF → ACG- 1 / Deceleration Ramp / dEcE: 1 R/W Modbus 1582
htyP Deceleration ramp 1 per.
3 / Torque Ramp / torq: Torque 3 -
ramp
Type of deceleration for Halt.

Setting of deceleration ramp with

parameter RAMP_v_dec.
Setting of torque ramp with
parameter LIM_I_maxHalt.

If a deceleration ramp is already

active, the parameter cannot be
written.
Changed settings become active
immediately.
LIM_I_maxHalt Current for Halt Arms UINT16 CANopen 3011:Eh
ConF → ACG- This value is only limited by the - R/W Modbus 4380
hcur minimum/maximum value range - per.
(no limitation of this value by - -
motor/power stage).

In the case of a Halt, the current

limit (_Imax_act) is one of the
following values (whichever is
lowest):
- LIM_I_maxHalt
- _M_I_max
- _PS_I_max

Further current limitations caused

by I2t monitoring are also taken
into account during a Halt.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains
voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.
LIM_I_maxQSTP Current for Quick Stop Arms UINT16 CANopen 3011:Dh
ConF → FLt- This value is only limited by the - R/W Modbus 4378
qcur minimum/maximum value range - per.
(no limitation of this value by - -
motor/power stage).

In the case of a Quick Stop, the

current limit (_Imax_act) is one of
the following values (whichever is
lowest):
- LIM_I_maxQSTP
- _M_I_max
- _PS_I_max

Further current limitations caused

by I2t monitoring are also taken
into account during a Quick Stop.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains
voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_QStopReact Quick Stop option code - INT16 CANopen
ConF → FLt- -2 / Torque ramp (Fault): Use -2 R/W 3006:18h
qtyP torque ramp and transit to 6 per. Modbus 1584
operating state 9 Fault 7 -
-1 / Deceleration Ramp (Fault):
Use deceleration ramp and transit
to operating state 9 Fault
6 / Deceleration ramp (Quick
Stop): Use deceleration ramp and
remain in operating state 7 Quick
Stop
7 / Torque ramp (Quick Stop): Use
torque ramp and remain in
operating state 7 Quick Stop
Type of deceleration for Quick
Stop.

Setting of deceleration ramp with

parameter RAMPquickstop.
Setting of torque ramp with
parameter LIM_I_maxQSTP.

If a deceleration ramp is already

active, the parameter cannot be
written.
Changed settings become active
immediately.
Mains_reactor Mains reactor - UINT16 CANopen
0 / No: No 0 R/W 3005:20h
1 / Yes: Yes 0 per. Modbus 1344
Value 0: No mains reactor 1 -
connected. The nominal power of
the power stage is reduced.
Value 1: A mains reactor is
connected.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
MBaddress Modbus address - UINT16 CANopen 3016:4h
ConF → CoM- Valid addresses: 1 to 247 1 R/W Modbus 5640
MbAd Changed settings become active 1 per.
the next time the product is 247 -
powered on.
MBbaud Modbus baud rate - UINT32 CANopen 3016:3h
ConF → CoM- 9600 / 9600 Baud / 9.6: 9600 9600 R/W Modbus 5638
Mbbd Baud 19200 per.
19200 / 19200 Baud / 19.2: 38400 -
19200 Baud
38400 / 38400 Baud / 38.4:
38400 Baud
Changed settings become active
the next time the product is
powered on.
Mfb_ResRatio Transformation ratio - UINT16 CANopen
Setting can only be changed if 0.3 R/W 305C:17h
power stage is disabled. - - Modbus 23598
Changed settings become active 1.0 -
the next time the product is
powered on.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_AbsDirection Direction of absolute movement - UINT16 CANopen
with Modulo 0 R/W 3006:3Bh
0 / Shortest Distance: Movement 0 per. Modbus 1654
with shortest distance 2 -
1 / Positive Direction: Movement
only in positive direction
2 / Negative Direction: Movement
only in negative direction
If the parameter is set to 0, the
drive calculates the shortest way to
the new target position and starts
the movement in the
corresponding direction. If the
distance to the target position is
identical in positive and negative
directions, the movement takes
place in positive direction.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
MOD_AbsMultiRng Multiple ranges for absolute - UINT16 CANopen
movement with Modulo 0 R/W 3006:3Ch
0 / Multiple Ranges Off: Absolute 0 per. Modbus 1656
movement in one modulo range 1 -
1 / Multiple Ranges On: Absolute
movement in multiple modulo
ranges
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
MOD_Enable Activation of Modulo - UINT16 CANopen
ConF → ACG- 0 / Modulo Off / oFF: Modulo is 0 R/W 3006:38h
AtyP off 0 per. Modbus 1648
1 / Modulo On / on: Modulo is on 1 -
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
MOD_Max Maximum position of modulo range usr_p INT32 CANopen
The maximum position value of the - R/W 3006:3Ah
modulo range must be greater than 3600 per. Modbus 1652
the minimum position value of the - -
modulo range.
The value must not exceed the
maximum possible value of
position scaling _ScalePOSmax.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MOD_Min Minimum position of modulo range usr_p INT32 CANopen
The minimum position value of the - R/W 3006:39h
modulo range must be less than 0 per. Modbus 1650
the maximum position value of the - -
modulo range.
The value must not exceed the
maximum possible value of
position scaling _ScalePOSmax.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.
MON_ChkTime Monitoring of time window ms UINT16 CANopen
ConF → i-o- Adjustment of a time for monitoring 0 R/W 3006:1Dh
tthr of position deviation, velocity 0 per. Modbus 1594
deviation, velocity value and 9999 -
current value. If the monitored
value is in the permissible range
during the adjusted time, the
monitoring function delivers a
positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_commutat Commutation monitoring - UINT16 CANopen 3005:5h
0 / Off: Commutation monitoring off 0 R/W Modbus 1290
1 / On (OpState6): Commutation 1 per.
monitoring on in operating state 6 2 -
2 / On (OpState6+7): Commutation
monitoring on in operating states 6
and 7
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
MON_ConfModification Configuration modification - UINT16 CANopen
monitoring 0 R/W 3004:1Dh
Value 0: Modification detected for 2 per. Modbus 1082
each write access. 2 -
Value 1: Modification detected for
each write access which modifies a
value.
Value 2: Identical to value 0 if
commissioning software is not
connected. Identical to value 1 if
commissioning software is
connected.

Changed settings become active

immediately.
Available with firmware version ≥
V01.26.

452 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_DCbusVdcThresh DC bus overvoltage monitoring - UINT16 CANopen
threshold 0 R/W 3005:3Dh
This parameter is used to reduce 0 per. Modbus 1402
the threshold for DC bus 1 -
overvoltage monitoring. The
parameter only affects single-
phase devices supplied with 115 V
and three-phase devices supplied
with 208 V.

Value 0:
Single-phase: 450 Vdc
Three-phase: 820 Vdc

Value 1:
Single-phase: 260 Vdc
Three-phase: 450 Vdc
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.26.
MON_ENC_Ampl Activation of monitoring of SinCos - UINT16 CANopen
amplitude 0 R/W 303F:61h
Value 0: Deactivate monitoring 0 - Modbus 16322
Value 1: Activate monitoring 1 -
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.
MON_GroundFault Ground fault monitoring - UINT16 CANopen
0 / Off: Ground fault monitoring off 0 R/W 3005:10h
1 / On: Ground fault monitoring on 1 per. Modbus 1312
Changed settings become active 1 expert
the next time the product is
powered on.
MON_I_Threshold Monitoring of current threshold Arms UINT16 CANopen
ConF → i-o- The system monitors whether the 0.00 R/W 3006:1Ch
ithr drive is below the defined value 0.20 per. Modbus 1592
during the period set with 300.00 -
MON_ChkTime.
The status can be output via a
parameterizable output.
The parameter _Iq_act_rms is
used as comparison value.
In increments of 0.01 Arms.
Changed settings become active
immediately.
MON_IO_SelErr1 First error code for the signal - UINT16 CANopen 303B:6h
output function Selected Error 0 R/W Modbus 15116
This parameter specifies the error 0 per.
code of an error of error classes 1 65535 -
... 4 which is to activate the signal
output function.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_IO_SelErr2 Second error code for the signal - UINT16 CANopen 303B:7h
output function Selected Error 0 R/W Modbus 15118
This parameter specifies the error 0 per.
code of an error of error classes 1 65535 -
... 4 which is to activate the signal
output function.
Changed settings become active
immediately.
MON_IO_SelWar1 First error code for the signal - UINT16 CANopen 303B:8h
output function Selected Warning 0 R/W Modbus 15120
This parameter specifies the error 0 per.
code of an error of error class 0 65535 -
which is to activate the signal
output function.
Changed settings become active
immediately.
MON_IO_SelWar2 Second error code for the signal - UINT16 CANopen 303B:9h
output function Selected Warning 0 R/W Modbus 15122
This parameter specifies the error 0 per.
code of an error of error class 0 65535 -
which is to activate the signal
output function.
Changed settings become active
immediately.

454 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_MainsVolt Detection and monitoring of mains - UINT16 CANopen 3005:Fh
phases 0 R/W Modbus 1310
0 / Automatic Mains Detection: 0 per.
Automatic detection and 5 expert
monitoring of mains voltage
1 / DC-Bus Only (Mains 1~230 V /
3~480 V): DC bus supply only,
corresponding to mains voltage
230 V (single-phase) or 480 V
(three phases)
2 / DC-Bus Only (Mains 1~115 V /
3~208 V): DC bus supply only,
corresponding to mains voltage
115 V (single-phase) or 208 V
(three phases)
3 / Mains 1~230 V / 3~480 V:
Mains voltage 230 V (single-
phase) or 480 V (three phases)
4 / Mains 1~115 V / 3~208 V:
Mains voltage 115 V (single-
phase) or 208 V (three phases)
5 / Reserved: Reserved
Value 0: As soon as mains voltage
detected, the device automatically
verifies whether the mains voltage
is 115 V or 230 V in the case of
single-phase devices or 208 V or
400/480 V in the case of three-
phase devices.

Values 1 … 2: If the device is

supplied only via the DC bus, the
parameter has to be set to the
voltage value corresponding to the
mains voltage of the supplying
device. There is no mains voltage
monitoring.

Values 3 … 4: If the mains voltage

is not detected properly during
start-up, the mains voltage to be
used can be selected manually.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
MON_p_dif_load Maximum load-dependent position revolution UINT32 CANopen 6065:0h
deviation 0.0001 R/W Modbus 1606
The load-dependent position 1.0000 per.
deviation is the difference between 200.0000 -
the reference position and the
actual position caused by the load.

The parameter
MON_p_dif_load_usr allows you to
enter the value in user-defined
units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_load_usr Maximum load-dependent position usr_p INT32 CANopen
deviation 1 R/W 3006:3Eh
The load-dependent position 16384 per. Modbus 1660
deviation is the difference between 2147483647 -
the reference position and the
actual position caused by the load.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
MON_p_dif_warn Maximum load-dependent position % UINT16 CANopen
deviation (error class 0) 0 R/W 3006:29h
100.0 % correspond to the 75 per. Modbus 1618
maximum position deviation 100 -
(following error) as specified by
means of parameter
MON_p_dif_load.
Changed settings become active
immediately.
MON_p_DiffWin Monitoring of position deviation revolution UINT16 CANopen
ConF → ACG- The system monitors whether the 0.0000 R/W 3006:19h
in-P drive is within the defined deviation 0.0010 per. Modbus 1586
during the period set with 0.9999 -
MON_ChkTime.
The status can be output via a
parameterizable output.

The parameter
MON_p_DiffWin_usr allows you to
enter the value in user-defined
units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
MON_p_DiffWin_usr Monitoring of position deviation usr_p INT32 CANopen
ConF → ACG- The system checks whether the 0 R/W 3006:3Fh
in-P drive is within the defined deviation 16 per. Modbus 1662
during the period set with 2147483647 -
MON_ChkTime.
The status can be output via a
parameterizable output.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_win Standstill window, permissible revolution UINT16* CANopen 6067:0h
control deviation 0.0000 R/W Modbus 1608
The control deviation for the 0.0010 per.
standstill window time must be 3.2767 -
within this range for a standstill of
the drive to be detected.

Processing of the standstill window

must be activated via the
parameter MON_p_winTime.

The parameter MON_p_win_usr

allows you to enter the value in
user-defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
* Datatype for CANopen: UINT32
MON_p_win_usr Standstill window, permissible usr_p INT32 CANopen
control deviation 0 R/W 3006:40h
The control deviation for the 16 per. Modbus 1664
standstill window time must be 2147483647 -
within this range for a standstill of
the drive to be detected.

Processing of the standstill window

must be activated via the
parameter MON_p_winTime.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
MON_p_winTime Standstill window, time ms UINT16 CANopen 6068:0h
Value 0: Monitoring of standstill 0 R/W Modbus 1610
window deactivated 0 per.
Value >0: Time in ms during which 32767 -
the control deviation must be in the
standstill window
Changed settings become active
immediately.
MON_p_winTout Timeout time for standstill window ms UINT16 CANopen
monitoring 0 R/W 3006:26h
Value 0: Timeout monitoring 0 per. Modbus 1612
deactivated 16000 -
Value >0: Timeout time in ms

Standstill window processing

values are set via MON_p_win and
MON_p_winTime.

Time monitoring starts when the

target position (reference position
of position controller) is reached or
when the profile generator has
finished processing.
Changed settings become active
immediately.

0198441113755 09/2017 457

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_SW_Limits Activation of software limit - UINT16 CANopen 3006:3h
switches 0 R/W Modbus 1542
0 / None: Deactivated 0 per.
1 / SWLIMP: Activation of software 3 -
limit switches positive direction
2 / SWLIMN: Activation of software
limit switches negative direction
3 / SWLIMP+SWLIMN: Activation
of software limit switches both
directions
Software limit switches can only be
activated if the zero point is valid.
Changed settings become active
immediately.
MON_SWLimMode Behavior when position limit is - UINT16 CANopen
reached 0 R/W 3006:47h
0 / Standstill Behind Position Limit: 0 per. Modbus 1678
Quick Stop is triggered at position 1 -
limit and standstill is reached
behind position limit
1 / Standstill At Position Limit:
Quick Stop is triggered in front of
position limit and standstill is
reached at position limit
Changed settings become active
immediately.
Available with firmware version ≥
V01.16.
MON_swLimN Negative position limit for software usr_p INT32 CANopen 607D:1h
limit switch - R/W Modbus 1546
See description 'MON_swLimP'. -2147483648 per.
Setting can only be changed if - -
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
MON_swLimP Positive position limit for software usr_p INT32 CANopen 607D:2h
limit switch - R/W Modbus 1544
If a user-defined value entered is 2147483647 per.
outside of the permissible range, - -
the limit switch limits are
automatically set to the maximum
user-defined value.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
MON_tq_win Torque window, permissible % UINT16 CANopen
deviation 0.0 R/W 3006:2Dh
The torque window can only be 3.0 per. Modbus 1626
activated in operating mode Profile 3000.0 -
Torque.
In increments of 0.1 %.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_tq_winTime Torque window, time ms UINT16 CANopen
Value 0: Torque window 0 R/W 3006:2Eh
monitoring deactivated 0 per. Modbus 1628
16383 -
Changing the value causes a
restart of torque monitoring.

Torque window is only used in

operating mode Profile Torque.
Changed settings become active
immediately.
MON_v_DiffWin Monitoring of velocity deviation usr_v UINT32 CANopen
ConF → i-o- The system monitors whether the 1 R/W 3006:1Ah
in-n drive is within the defined deviation 10 per. Modbus 1588
during the period set with 2147483647 -
MON_ChkTime.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_v_Threshold Monitoring of velocity threshold usr_v UINT32 CANopen
ConF → i-o- The system monitors whether the 1 R/W 3006:1Bh
nthr drive is below the defined value 10 per. Modbus 1590
during the period set with 2147483647 -
MON_ChkTime.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_v_win Velocity window, permissible usr_v UINT32* CANopen 606D:0h
deviation 1 R/W Modbus 1576
Changed settings become active 10 per.
immediately. 2147483647 -
* Datatype for CANopen: UINT16
MON_v_winTime Velocity window, time ms UINT16 CANopen 606E:0h
Value 0: Velocity window 0 R/W Modbus 1578
monitoring deactivated 0 per.
16383 -
Changing the value causes a
restart of velocity monitoring.
Changed settings become active
immediately.
MON_v_zeroclamp Velocity limit for Zero Clamp usr_v UINT32 CANopen
ConF → i-o- A Zero Clamp operation is only 0 R/W 3006:28h
ScLP possible if the reference velocity is 10 per. Modbus 1616
below the Zero Clamp velocity 2147483647 -
limit.
Changed settings become active
immediately.
MON_VelDiff Maximum load-dependent velocity usr_v UINT32 CANopen
deviation 0 R/W 3006:4Bh
Value 0: Monitoring deactivated. 0 per. Modbus 1686
Value >0: Maximum value 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_VelDiff_Time Time window for maximum load- ms UINT16 CANopen
dependent velocity deviation 0 R/W 3006:4Ch
Value 0: Monitoring deactivated. 10 per. Modbus 1688
Value >0: Time window for - -
maximum value
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.
MT_dismax Maximum permissible distance revolution UINT16 CANopen 302E:3h
If the reference value is active and 0.0 R/W Modbus 11782
the maximum permissible distance 1.0 -
is exceeded, an error of error class 999.9 -
1 is detected.

The value 0 switches off

monitoring.

The parameter MT_dismax_usr

allows you to enter the value in
user-defined units.
In increments of 0.1 revolution.
Changed settings become active
the next time the motor moves.
MT_dismax_usr Maximum permissible distance usr_p INT32 CANopen 302E:Ah
If the reference value is active and 0 R/W Modbus 11796
the maximum permissible distance 16384 -
is exceeded, an error of error class 2147483647 -
1 is detected.

The value 0 switches off

monitoring.

The minimum value, the factory

setting and the maximum value
depend on the scaling factor.
Changed settings become active
the next time the motor moves.
Available with firmware version ≥
V01.05.
PAR_CTRLreset Reset control loop parameters - UINT16 CANopen 3004:7h
ConF → FCS- 0 / No / no: No 0 R/W Modbus 1038
rESC 1 / Yes / yES: Yes 0 -
Reset of the control loop 1 -
parameters. The control loop
parameters are recalculated on the
basis of the motor data of the
connected motor.

Current and velocity limitations are

not reset. Therefore, a user
parameter reset is required.

The new settings are not saved to

the EEPROM.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PAR_ScalingStart Recalculation of parameters with - UINT16 CANopen
user-defined units 0 R/W 3004:14h
The parameters with user-defined 0 - Modbus 1064
units can be recalculated with a 2 -
changed scaling factor.

Value 0: Inactive
Value 1: Initialize recalculation
Value 2: Start recalculation
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.05.
PAReeprSave Save parameter values to - UINT16 CANopen 3004:1h
EEPROM - R/W Modbus 1026
Value 1: Save persistent - -
parameters - -

The currently set parameters are

saved to the non-volatile memory
(EEPROM).
The saving process is complete
when the parameter is read and 0
is returned.
Changed settings become active
immediately.
PARfactorySet Restore factory settings (default - UINT16 CANopen 3004:2h
ConF → FCS- values) 0 R/W Modbus 1028
rStF No / no: No - -
Yes / yES: Yes 1 -
The parameters are reset to the
factory settings and subsequently
saved to the EEPROM.
The factory settings can be
restored via the HMI or the
commissioning software.
The saving process is complete
when the parameter is read and 0
is returned.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the product is
powered on.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PARuserReset Reset user parameters - UINT16 CANopen 3004:8h
ConF → FCS- 0 / No / no: No 0 R/W Modbus 1040
rESu 65535 / Yes / yES: Yes - -
Bit 0: Set persistent user and 65535 -
control loop parameters to default
values
Bits 1 … 15: Reserved

The parameters are reset with the

exception of:
- Communication parameters
- Inversion of direction of
movement
- Functions of digital inputs and
outputs

The new settings are not saved to

the EEPROM.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
PosReg1Mode Selection of comparison criterion - UINT16 CANopen 300B:4h
for position register channel 1 0 R/W Modbus 2824
0 / Pact greater equal A: Actual 0 per.
position is greater than or equal to 5 -
comparison value A for position
register channel 1
1 / Pact less equal A: Actual
position is less than or equal to
comparison value A for position
register channel 1
2 / Pact in [A-B] (basic): Actual
position is in the range A-B
including limits (basic)
3 / Pact out [A-B] (basic): Actual
position is out of the range A-B
excluding limits (basic)
4 / Pact in [A-B] (extended): Actual
position is in the range A-B
including limits (extended)
5 / Pact out [A-B] (extended):
Actual position is out of the range
A-B excluding limits (extended)
Changed settings become active
immediately.
PosReg1Source Selection of source for position - UINT16 CANopen 300B:6h
register channel 1 0 R/W Modbus 2828
0 / Pact Encoder 1: Source for 0 per.
position register channel 1 is Pact 0 -
of encoder 1
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg1Start Start/stop of position register - UINT16 CANopen 300B:2h
channel 1 0 R/W Modbus 2820
0 / Off (keep last state): Position 0 -
Register channel 1 is off and status 3 -
bit keeps last state
1 / On: Position Register channel 1
is on
2 / Off (set state 0): Position
Register channel 1 is off and status
bit is set to 0
3 / Off (set state 1): Position
Register channel 1 is off and status
bit is set to 1
Changed settings become active
immediately.
PosReg1ValueA Comparison value A for position usr_p INT32 CANopen 300B:8h
register channel 1 - R/W Modbus 2832
0 per.
- -
PosReg1ValueB Comparison value B for position usr_p INT32 CANopen 300B:9h
register channel 1 - R/W Modbus 2834
0 per.
- -
PosReg2Mode Selection of comparison criterion - UINT16 CANopen 300B:5h
for position register channel 2 0 R/W Modbus 2826
0 / Pact greater equal A: Actual 0 per.
position is greater than or equal to 5 -
comparison value A for position
register channel 2
1 / Pact less equal A: Actual
position is less than or equal to
comparison value A for position
register channel 2
2 / Pact in [A-B] (basic): Actual
position is in the range A-B
including limits (basic)
3 / Pact out [A-B] (basic): Actual
position is out of the range A-B
excluding limits (basic)
4 / Pact in [A-B] (extended): Actual
position is in the range A-B
including limits (extended)
5 / Pact out [A-B] (extended):
Actual position is out of the range
A-B excluding limits (extended)
Changed settings become active
immediately.
PosReg2Source Selection of source for position - UINT16 CANopen 300B:7h
register channel 2 0 R/W Modbus 2830
0 / Pact Encoder 1: Source for 0 per.
position register channel 2 is Pact 0 -
of encoder 1
Changed settings become active
immediately.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg2Start Start/stop of position register - UINT16 CANopen 300B:3h
channel 2 0 R/W Modbus 2822
0 / Off (keep last state): Position 0 -
Register channel 2 is off and status 3 -
bit keeps last state
1 / On: Position Register channel 2
is on
2 / Off (set state 0): Position
Register channel 2 is off and status
bit is set to 0
3 / Off (set state 1): Position
Register channel 2 is off and status
bit is set to 1
Changed settings become active
immediately.
PosReg2ValueA Comparison value A for position usr_p INT32 CANopen 300B:Ah
register channel 2 - R/W Modbus 2836
0 per.
- -
PosReg2ValueB Comparison value B for position usr_p INT32 CANopen 300B:Bh
register channel 2 - R/W Modbus 2838
0 per.
- -
PosReg3Mode Selection of comparison criterion - UINT16 CANopen 300B:Eh
for position register channel 3 0 R/W Modbus 2844
0 / Pact greater equal A: Actual 0 per.
position is greater than or equal to 5 -
comparison value A for position
register channel 3
1 / Pact less equal A: Actual
position is less than or equal to
comparison value A for position
register channel 3
2 / Pact in [A-B] (basic): Actual
position is in the range A-B
including limits (basic)
3 / Pact out [A-B] (basic): Actual
position is out of the range A-B
excluding limits (basic)
4 / Pact in [A-B] (extended): Actual
position is in the range A-B
including limits (extended)
5 / Pact out [A-B] (extended):
Actual position is out of the range
A-B excluding limits (extended)
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.
PosReg3Source Selection of source for position - UINT16 CANopen
register channel 3 0 R/W 300B:10h
0 / Pact Encoder 1: Source for 0 per. Modbus 2848
position register channel 3 is Pact 0 -
of encoder 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg3Start Start/stop of position register - UINT16 CANopen 300B:Ch
channel 3 0 R/W Modbus 2840
0 / Off (keep last state): Position 0 -
Register channel 3 is off and status 3 -
bit keeps last state
1 / On: Position Register channel 3
is on
2 / Off (set state 0): Position
Register channel 3 is off and status
bit is set to 0
3 / Off (set state 1): Position
Register channel 3 is off and status
bit is set to 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.
PosReg3ValueA Comparison value A for position usr_p INT32 CANopen
register channel 3 - R/W 300B:12h
Available with firmware version ≥ 0 per. Modbus 2852
V01.06. - -
PosReg3ValueB Comparison value B for position usr_p INT32 CANopen
register channel 3 - R/W 300B:13h
Available with firmware version ≥ 0 per. Modbus 2854
V01.06. - -
PosReg4Mode Selection of comparison criterion - UINT16 CANopen 300B:Fh
for position register channel 4 0 R/W Modbus 2846
0 / Pact greater equal A: Actual 0 per.
position is greater than or equal to 5 -
comparison value A for position
register channel 4
1 / Pact less equal A: Actual
position is less than or equal to
comparison value A for position
register channel 4
2 / Pact in [A-B] (basic): Actual
position is in the range A-B
including limits (basic)
3 / Pact out [A-B] (basic): Actual
position is out of the range A-B
excluding limits (basic)
4 / Pact in [A-B] (extended): Actual
position is in the range A-B
including limits (extended)
5 / Pact out [A-B] (extended):
Actual position is out of the range
A-B excluding limits (extended)
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.
PosReg4Source Selection of source for position - UINT16 CANopen
register channel 4 0 R/W 300B:11h
0 / Pact Encoder 1: Source for 0 per. Modbus 2850
position register channel 4 is Pact 0 -
of encoder 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PosReg4Start Start/stop of position register - UINT16 CANopen 300B:Dh
channel 4 0 R/W Modbus 2842
0 / Off (keep last state): Position 0 -
Register channel 4 is off and status 3 -
bit keeps last state
1 / On: Position Register channel 4
is on
2 / Off (set state 0): Position
Register channel 4 is off and status
bit is set to 0
3 / Off (set state 1): Position
Register channel 4 is off and status
bit is set to 1
Changed settings become active
immediately.
Available with firmware version ≥
V01.06.
PosReg4ValueA Comparison value A for position usr_p INT32 CANopen
register channel 4 - R/W 300B:14h
Available with firmware version ≥ 0 per. Modbus 2856
V01.06. - -
PosReg4ValueB Comparison value B for position usr_p INT32 CANopen
register channel 4 - R/W 300B:15h
Available with firmware version ≥ 0 per. Modbus 2858
V01.06. - -
PosRegGroupStart Start/stop of position register - UINT16 CANopen
channels 0 R/W 300B:16h
0 / No Channel: No channel 0 per. Modbus 2860
activated 15 -
1 / Channel 1: Channel 1 activated
2 / Channel 2: Channel 2 activated
3 / Channel 1 & 2: Channels 1 and
2 activated
4 / Channel 3: Channel 3 activated
5 / Channel 1 & 3: Channels 1 and
3 activated
6 / Channel 2 & 3: Channels 2 and
3 activated
7 / Channel 1 & 2 & 3: Channels 1,
2 and 3 activated
8 / Channel 4: Channel 4 activated
9 / Channel 1 & 4: Channels 1 and
4 activated
10 / Channel 2 & 4: Channels 2 and
4 activated
11 / Channel 1 & 2 & 4: Channels
1, 2 and 4 activated
12 / Channel 3 & 4: Channels 3 and
4 activated
13 / Channel 1 & 3 & 4: Channels
1, 3 and 4 activated
14 / Channel 2 & 3 & 4: Channels
2, 3 and 4 activated
15 / Channel 1 & 2 & 3 & 4:
Channels 1, 2, 3 and 4 activated
Changed settings become active
immediately.
Available with firmware version ≥
V01.14.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PP_ModeRangeLim Absolute movement beyond - UINT16 CANopen 3023:7h
movement range 0 R/W Modbus 8974
0 / NoAbsMoveAllowed: Absolute 0 per.
movement beyond movement 1 -
range is not possible
1 / AbsMoveAllowed: Absolute
movement beyond movement
range is possible
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.06.
PP_OpmChgType Change to operating mode Profile - UINT16 CANopen 3023:9h
Position during movements 0 R/W Modbus 8978
0 / WithStandStill: Change with 0 per.
standstill 1 -
1 / OnTheFly: Change without
standstill
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
Available with firmware version ≥
V01.06.
PPoption Options for operating mode Profile - UINT16 CANopen 60F2:0h
Position 0 R/W Modbus 6960
Determines the reference position 0 -
for relative positioning: 2 -
0: Relative with reference to the
previous target position of the
profile generator
1: Not supported
2: Relative with reference to the
actual position of the motor
Changed settings become active
the next time the motor moves.
PPp_target Target position for operating mode usr_p INT32 CANopen 607A:0h
Profile Position - R/W Modbus 6940
Minimum/maximum values - -
depend on: - -
- Scaling factor
- Software limit switches (if they
are activated)
Changed settings become active
immediately.
PPv_target Target velocity for operating mode usr_v UINT32 CANopen 6081:0h
Profile Position 1 R/W Modbus 6942
The target velocity is limited to the 60 -
setting in CTRL_v_max and 4294967295 -
RAMP_v_max.
Changed settings become active
the next time the motor moves.
PTtq_target Target torque for operating mode % INT16 CANopen 6071:0h
Profile Torque -3000.0 R/W Modbus 6944
100.0 % correspond to the 0.0 -
continuous stall torque _M_M_0. 3000.0 -
In increments of 0.1 %.
Changed settings become active
immediately.

0198441113755 09/2017 467

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PVv_target Target velocity for operating mode usr_v INT32 CANopen 60FF:0h
Profile Velocity - R/W Modbus 6938
The target velocity is limited to the 0 -
setting in CTRL_v_max and - -
RAMP_v_max.
Changed settings become active
immediately.
RAMP_tq_enable Activation of the motion profile for - UINT16 CANopen
torque 0 R/W 3006:2Ch
0 / Profile Off: Profile off 1 per. Modbus 1624
1 / Profile On: Profile on 1 -
In the operating mode Profile
Torque, the motion profile for
torque can be activated or
deactivated.
In the other operating modes, the
motion profile for torque is inactive.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
RAMP_tq_slope Slope setting of the motion profile %/s UINT32 CANopen 6087:0h
for torque 0.1 R/W Modbus 1620
100.00 % of the torque setting 10000.0 per.
correspond to the continuous stall 3000000.0 -
torque _M_M_0.

Example:
A ramp setting of 10000.00 %/s
results in a torque change of
100.0% of _M_M_0 in 0.01s.
In increments of 0.1 %/s.
Changed settings become active
immediately.
RAMP_v_acc Acceleration of the motion profile usr_a UINT32 CANopen 6083:0h
for velocity 1 R/W Modbus 1556
Writing the value 0 has no effect on 600 per.
the parameter. 2147483647 -
Changed settings become active
the next time the motor moves.
RAMP_v_dec Deceleration of the motion profile usr_a UINT32 CANopen 6084:0h
for velocity 1 R/W Modbus 1558
The minimum value depends on 600 per.
the operating mode: 2147483647 -

Operating modes with minimum

value 1:
Profile Velocity

Operating modes with minimum

value 120:
Jog
Profile Position
Homing

Writing the value 0 has no effect on

the parameter.
Changed settings become active
the next time the motor moves.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_enable Activation of the motion profile for - UINT16 CANopen
velocity 0 R/W 3006:2Bh
0 / Profile Off: Profile off 1 per. Modbus 1622
1 / Profile On: Profile on 1 -
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
RAMP_v_jerk Jerk limitation of the motion profile ms UINT16 CANopen 3006:Dh
ConF → drC- for velocity 0 R/W Modbus 1562
JEr 0 / Off / oFF: Off 0 per.
1 / 1 / 1: 1 ms 128 -
2 / 2 / 2: 2 ms
4 / 4 / 4: 4 ms
8 / 8 / 8: 8 ms
16 / 16 / 16: 16 ms
32 / 32 / 32: 32 ms
64 / 64 / 64: 64 ms
128 / 128 / 128: 128 ms
Adjustments can only be made if
the operating mode is inactive
(x_end=1).
Changed settings become active
the next time the motor moves.
RAMP_v_max Maximum velocity of the motion usr_v UINT32 CANopen 607F:0h
ConF → ACG- profile for velocity 1 R/W Modbus 1554
nrMP If a greater reference velocity is set 13200 per.
in one of these operating modes, it 2147483647 -
is automatically limited to
RAMP_v_max.
This way, commissioning at limited
velocity is easier to perform.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the motor moves.
RAMP_v_sym Acceleration and deceleration of - UINT16 CANopen 3006:1h
the motion profile for velocity - R/W Modbus 1538
The values are internally multiplied - -
by 10 (example: 1 = 10 min-1/s). - -

Write access changes the values

of RAMP_v_acc and
RAMP_v_dec. The limit values are
verified on the basis of the values
indicated for these parameters.
Read access returns the greater
value from
RAMP_v_acc/RAMP_v_dec.
If the value cannot be represented
as a 16 bit value, the value is set to
65535 (maximum UINT16 value)
Changed settings become active
the next time the motor moves.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMPaccdec Acceleration and deceleration for - UINT32 CANopen 3006:2h
the Drive Profile Lexium - R/W Modbus 1540
High word: Acceleration - -
Low word: Deceleration - -

The values are internally multiplied

by 10 (example: 1 = 10 min-1/s).

Write access changes the values

of RAMP_v_acc and
RAMP_v_dec. The limit values are
verified on the basis of the values
indicated for these parameters.
If the value cannot be represented
as a 16 bit value, the value is set to
65535 (maximum UINT16 value).
Changed settings become active
the next time the motor moves.
RAMPquickstop Deceleration ramp for Quick Stop usr_a UINT32 CANopen
Deceleration ramp for a software 1 R/W 3006:12h
stop or an error with error class 1 or 6000 per. Modbus 1572
2. 2147483647 -
Changed settings become active
the next time the motor moves.
RESext_P Nominal power of external braking W UINT16 CANopen
ConF → ACG- resistor 1 R/W 3005:12h
Pobr Setting can only be changed if 10 per. Modbus 1316
power stage is disabled. 32767 -
Changed settings become active
the next time the power stage is
enabled.
RESext_R Resistance value of external Ω UINT16 CANopen
ConF → ACG- braking resistor 0.00 R/W 3005:13h
rbr The minimum value depends on 100.00 per. Modbus 1318
the power stage. 327.67 -
In increments of 0.01 Ω.
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.
RESext_ton Maximum permissible switch-on ms UINT16 CANopen
ConF → ACG- time of external braking resistor 1 R/W 3005:11h
tbr Setting can only be changed if 1 per. Modbus 1314
power stage is disabled. 30000 -
Changed settings become active
the next time the power stage is
enabled.
RESint_ext Selection of type of braking resistor - UINT16 CANopen 3005:9h
ConF → ACG- 0 / Internal Braking Resistor / 0 R/W Modbus 1298
Eibr int: Internal braking resistor 0 per.
1 / External Braking Resistor / 2 -
Eht: External braking resistor
2 / Reserved / rSVd: Reserved
Setting can only be changed if
power stage is disabled.
Changed settings become active
the next time the power stage is
enabled.

470 0198441113755 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ResWriComNotOpEn Response to write command - UINT16 CANopen
(operating state is not Operation 0 R/W 3006:49h
Enabled) 0 per. Modbus 1682
0 / Emergency Message: An 1 -
Emergency message is sent
1 / Error class 0: An error with error
class 0 is sent
This parameter specifies the
response of the drive to a write
command that cannot be executed
because the operating state is not
Operation Enabled.
Changed settings become active
immediately.
Available with firmware version ≥
V01.26.
RMAC_Activate Activation of relative movement - UINT16 CANopen 3023:Ch
after capture 0 R/W Modbus 8984
0 / Off: Off 0 -
1 / On: On 1 -
Changed settings become active
immediately.
Available with firmware version ≥
V01.10.
RMAC_Edge Edge of capture signal for relative - UINT16 CANopen
movement after capture 0 R/W 3023:10h
0 / Falling edge: Falling edge 0 per. Modbus 8992
1 / Rising edge: Rising edge 1 -
Available with firmware version ≥
V01.10.
RMAC_Position Target position of relative usr_p INT32 CANopen 3023:Dh
movement after capture - R/W Modbus 8986
Minimum/maximum values 0 per.
depend on: - -
- Scaling factor
Changed settings become active
the next time the motor moves.
Available with firmware version ≥
V01.10.
RMAC_Response Response if target postion is - UINT16 CANopen 3023:Fh
overtraveld 0 R/W Modbus 8990
0 / Error Class 1: Error class 1 0 per.
1 / No Movement To Target 2 -
Position: No movement to target
position
2 / Movement To Target Position:
Movement to target position
Changed settings become active
immediately.
Available with firmware version ≥
V01.10.
RMAC_Velocity Velocity of relative movement after usr_v UINT32 CANopen 3023:Eh
capture 0 R/W Modbus 8988
Value 0: Use actual motor velocity 0 per.
Value >0: Value is the target 2147483647 -
velocity

The adjustable value is internally

limited to the setting in
RAMP_v_max.
Changed settings become active
the next time the motor moves.
Available with firmware version ≥
V01.10.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ScalePOSdenom Position scaling: Denominator usr_p INT32 CANopen 3006:7h
Refer to numerator 1 R/W Modbus 1550
(ScalePOSnum) for a description. 16384 per.
2147483647 -
A new scaling is activated when
the numerator value is supplied.
Setting can only be changed if
power stage is disabled.
ScalePOSnum Position scaling: Numerator revolution INT32 CANopen 3006:8h
Specification of the scaling factor: 1 R/W Modbus 1552
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr_p]

A new scaling is activated when

the numerator value is supplied.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.
ScaleRAMPdenom Ramp scaling: Denominator usr_a INT32 CANopen
See numerator (ScaleRAMPnum) 1 R/W 3006:30h
for a description. 1 per. Modbus 1632
2147483647 -
A new scaling is activated when
the numerator value is supplied.
Setting can only be changed if
power stage is disabled.
ScaleRAMPnum Ramp scaling: Numerator rpm/s INT32 CANopen
Setting can only be changed if 1 R/W 3006:31h
power stage is disabled. 1 per. Modbus 1634
Changed settings become active 2147483647 -
immediately.
ScaleVELdenom Velocity scaling: Denominator usr_v INT32 CANopen
See numerator (ScaleVELnum) for 1 R/W 3006:21h
a description. 1 per. Modbus 1602
2147483647 -
A new scaling is activated when
the numerator value is supplied.
Setting can only be changed if
power stage is disabled.
ScaleVELnum Velocity scaling: Numerator rpm INT32 CANopen
Specification of the scaling factor: 1 R/W 3006:22h
1 per. Modbus 1604
Speed of rotation of motor [min-1] 2147483647 -
---------------------------------------------
-----
User-defined units [usr_v]

A new scaling is activated when

the numerator value is supplied.
Setting can only be changed if
power stage is disabled.
Changed settings become active
immediately.

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 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ShiftEncWorkRang Shifting of the encoder working - UINT16 CANopen
range 0 R/W 3005:21h
0 / Off: Shifting off 0 per. Modbus 1346
1 / On: Shifting on 1 -
After activating the shifting
function, the position range of a
multiturn encoder is shifted by one
half of the range.
Example for the position range of a
multiturn encoder with 4096
revolutions:
Value 0:
Position values are between 0 ...
4096 revolutions.
Value 1:
Position values are between -2048
... 2048 revolutions.
Changed settings become active
the next time the product is
powered on.
SimAbsolutePos Simulation of absolute position at - UINT16 CANopen
ConF → ACG- power cycling 0 R/W 3005:23h
qAbS 0 / Simulation Off / oFF: Do not 0 per. Modbus 1350
use the last mechanical position 1 -
after power cycling
1 / Simulation On / on: Use last
mechanical position after power
cycling
This parameter specifies the way
position values are handled over a
power cycle and allows for the
simulation of an absolute position
encoder using singleturn
encoders.

If this function is activated, the

drive saves the pertinent position
data prior to a power removal so
that the drive can restore the
mechanical position the next time it
is powered on.

In the case of singleturn encoders,

the position can be restored if the
motor shaft has not been moved by
more than 0.25 revolutions while
the drive was powered off.

In the case of multiturn encoders,

the permissible shaft movement
while the drive is off can be much
greater, depending on the type of
multiturn encoder.

For this function to work, the drive

may only be powered off while the
motor is at a standstill and the
motor shaft must not be moved
outside of the permissible range
(for example, use a holding brake).
Changed settings become active
immediately.
Available with firmware version ≥
V01.03.

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Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
SyncMechStart Activation of synchronization - UINT16 CANopen 3022:5h
mechanism 0 R/W Modbus 8714
Value 0: Deactivate 0 -
synchronization mechanism 2 -
Value 1: Activate synchronization
mechanism (CANmotion).
Value 2: Activate synchronization
mechanism, standard CANopen
mechanism.

The cycle time of the

synchronization signal is derived
from the parameters intTimPerVal
and intTimInd.
Changed settings become active
immediately.
SyncMechStatus Status of synchronization - UINT16 CANopen 3022:6h
mechanism - R/- Modbus 8716
Status of synchronization - -
mechanism: - -
Value 1: Synchronization
mechanism of drive is inactive.
Value 32: Drive is synchronizing
with external sync signal.
Value 64: Drive is synchronized
with external sync signal.
Available with firmware version ≥
V01.08.
SyncMechTol Synchronization tolerance - UINT16 CANopen 3022:4h
The value is applied when the 1 R/W Modbus 8712
synchronization mechanism is 1 -
activated via the parameter 20 -
SyncMechStart.
Changed settings become active
immediately.
Available with firmware version ≥
V01.08.
TouchProbeFct Touch Probe function - UINT16 CANopen 60B8:0h
Changed settings become active - R/W Modbus 7028
immediately. - -
Available with firmware version ≥ - -
V01.16.
UsrAppDataMem1 User-specific data 1 - UINT32 CANopen
This parameter can be used to - R/W 3001:43h
store user-specific data. - per. Modbus 390
Changed settings become active - -
immediately.
Available with firmware version ≥
V01.20.
UsrAppDataMem2 User-specific data 2 - UINT32 CANopen
This parameter can be used to - R/W 3001:44h
store user-specific data. 0 per. Modbus 392
Changed settings become active - -
immediately.
Available with firmware version ≥
V01.20.

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 Lexium 32A
Accessories and Spare Parts
0198441113755 09/2017

Chapter 12
Accessories and Spare Parts

Accessories and Spare Parts

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Commissioning Tools 476
Memory Cards 477
Application Nameplate 478
CANopen Cable With Connectors 479
CANopen Connectors, Distributors, Terminating Resistors 480
CANopen Cables With Open Cable Ends 481
Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32 482
Motor Cables 483
Encoder Cables 486
Connectors 487
External Braking Resistors 488
DC Bus Accessories 489
Mains Reactors 490
External Mains Filters 491
Spare Parts Connectors, Fans, Cover Plates 492

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Accessories and Spare Parts

Commissioning Tools

Description Reference
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121
Modbus cable, 1 m (3.28 ft), 2 x RJ45 VW3A8306R10
Modbus-Bluetooth adapter VW3A8114
External graphic display terminal VW3A1101

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 Accessories and Spare Parts

Memory Cards

Description Reference
Memory card for copying parameter settings VW3M8705
25 memory cards for copying parameter settings VW3M8704

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Accessories and Spare Parts

Application Nameplate

Description Reference
Application nameplate to be clipped onto the top of the drive, size 38.5 x 13 mm (1.51 x VW3M2501
0.51 in), 50 pieces

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 Accessories and Spare Parts

CANopen Cable With Connectors

Description Reference
CANopen cable, 0.3 m (0.98 ft), 2 x RJ45 VW3CANCARR03
CANopen cable, 1 m (3.28 ft), 2 x RJ45 VW3CANCARR1
CANopen cable, 2 m (6.56 ft), 2 x RJ45, shielded twisted pair cable 490NTW00002
CANopen cable, 5 m (16.4 ft), 2 x RJ45, shielded twisted pair cable 490NTW00005
CANopen cable, 12 m (39.4 ft), 2 x RJ45, shielded twisted pair cable 490NTW00012
CANopen cable, 2 m (6.56 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 490NTW00002U
certification
CANopen cable, 5 m (16.4 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 490NTW00005U
certification
CANopen cable, 12 m (39.4 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 490NTW00012U
certification
CANopen cable, 1 m (3.28 ft), D9-SUB (female) to RJ45 TCSCCN4F3M1T
CANopen cable, 1 m (3.28 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R010
CANopen cable, 3 m (9.84 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R030
CANopen cable, 0.3 m (0.98 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero TSXCANCADD03
halogen, flame-retardant, tested as per IEC 60332-1)
CANopen cable, 1 m (3.28 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero TSXCANCADD1
halogen, flame-retardant, tested as per IEC 60332-1)
CANopen cable, 3 m (9.84 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero TSXCANCADD3
halogen, flame-retardant, tested as per IEC 60332-1)
CANopen cable, 5 m (16.4 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero TSXCANCADD5
halogen, flame-retardant, tested as per IEC 60332-1)
CANopen cable, 0.3 m (0.98 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC TSXCANCBDD03
60332-2, UL certification
CANopen cable, 1 m (3.28 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC TSXCANCBDD1
60332-2, UL certification
CANopen cable, 3 m (9.84 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC TSXCANCBDD3
60332-2, UL certification
CANopen cable, 5 m (16.4 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC TSXCANCBDD5
60332-2, UL certification

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Accessories and Spare Parts

CANopen Connectors, Distributors, Terminating Resistors

Description Reference
CANopen terminating resistor, 120 Ohm, integrated in RJ45 connector TCSCAR013M120
CANopen connector with PC interface, D9-SUB (female), with switchable terminating resistor TSXCANKCDF90TP
and additional D9-SUB (male) to connect a PC to the bus, PC interface straight, bus cable
angled 90°
CANopen connector, D9-SUB (female), with switchable terminating resistor, angled 90° TSXCANKCDF90T
CANopen connector, D9-SUB (female), with switchable terminating resistor, straight TSXCANKCDF180T
Four-port tap, for connection of 4 drop lines to trunk line, 4 x D9-SUB (male) with switchable TSXCANTDM4
terminating resistor
Two-port tap for connection of 2 drop lines to trunk line, with additional commissioning VW3CANTAP2
interface, 3 x RJ45 (female), with switchable terminating resistor
CANopen adapter cable D9-SUB to RJ45, 3 m (9.84 ft) TCSCCN4F3M3T

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 Accessories and Spare Parts

CANopen Cables With Open Cable Ends

Cables with open cable ends are suitable for connection of D-SUB connectors. Observe the cable cross
section and the connection cross section of the required connector.

Description Reference
CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low- TSXCANCA50
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low- TSXCANCA100
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low- TSXCANCA300
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as per TSXCANCB50
IEC 60332-2, UL certification, both cable ends open
CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as TSXCANCB100
per IEC 60332-2, UL certification, both cable ends open
CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as TSXCANCB300
per IEC 60332-2, UL certification, both cable ends open
CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD50
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open
CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD100
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open
CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD300
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open

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Accessories and Spare Parts

Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32

Description Reference
Encoder adapter cable Molex 12-pin (LXM05) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8111R10
Encoder adapter cable D15-SUB (LXM15) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8112R10

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 Accessories and Spare Parts

Motor Cables

Motor cables 1.0 mm2

Description Reference
2
Motor cable 3 m (9.84 ft), (4 x 1.0 mm + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R30
circular connector Y-TEC, other cable end open
Motor cable 5 m (16.4 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R50
circular connector Y-TEC, other cable end open
Motor cable 10 m (32.8 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R100
circular connector Y-TEC, other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R150
circular connector Y-TEC, other cable end open

Motor cable 25 m (82 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular VW3M5100R250
connector Y-TEC, other cable end open
Motor cable 100 m (328 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; both cable ends VW3M5300R1000
open

Motor cables 1.5 mm2

Description Reference
2
Motor cable 1.5 m (4.92 ft), (4 x 1.5 mm + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R15
connector M23, other cable end open
Motor cable 3 m (9.84 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R30
connector M23, other cable end open
Motor cable 5 m (16.4 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R50
connector M23, other cable end open
Motor cable 10 m (32.8 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R100
connector M23, other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R150
connector M23, other cable end open

Motor cable 20 m (65.6 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R200
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R250
connector M23, other cable end open
Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R500
connector M23, other cable end open
Motor cable 75 m (246 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R750
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R250

Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R500

Motor cable 100 m (328 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R1000

Motor cables 2.5 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 2.5 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5102R30
connector M23, other cable end open
Motor cable 5 m (16.4 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R50
connector M23, other cable end open
Motor cable 10 m (32.8 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R100
connector M23, other cable end open
Motor cable 15 m (49.2 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R150
connector M23, other cable end open

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Accessories and Spare Parts

Description Reference
mm2
Motor cable 20 m (65.6 ft), (4 x 2.5 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R200
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R250
connector M23, other cable end open
Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R500
connector M23, other cable end open
Motor cable 75 m (246 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R750
connector M23, other cable end open

Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R250

Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R500

Motor cable 100 m (328 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R1000

Motor cables 4 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 4 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5103R30
connector M40, other cable end open
Motor cable 5 m (16.4 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R50
connector M40, other cable end open
Motor cable 10 m (32.8 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R150
connector M40, other cable end open
Motor cable 20 m (65.6 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R200
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R250
connector M40, other cable end open

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R500
connector M40, other cable end open

Motor cable 75 m (246 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R250

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R500

Motor cable 100 m (328 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R1000

Motor cables 6 mm2

Description Reference
2
Motor cable 3 m (9.84 ft), (4 x 6 mm + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R30
connector M40, other cable end open
Motor cable 5 m (16.4 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R50
connector M40, other cable end open
Motor cable 10 m (32.8 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R150
connector M40, other cable end open

Motor cable 20 m (65.6 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R200
connector M40, other cable end open

Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R250
connector M40, other cable end open
Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R500
connector M40, other cable end open

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Description Reference
Motor cable 75 m (246 ft), (4 x 6mm2+ (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R250

Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R500

Motor cable 100 m (328 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R1000

Motor cables 10 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 10 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5104R30
connector M40, other cable end open

Motor cable 5 m (16.4 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R50
connector M40, other cable end open

Motor cable 10 m (32.8 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R150
connector M40, other cable end open
Motor cable 20 m (65.6 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R200
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R250
connector M40, other cable end open
Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R500
connector M40, other cable end open
Motor cable 75 m (246 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R250

Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R500

Motor cable 100 m (328 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R1000

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Accessories and Spare Parts

Encoder Cables

Description Reference
2
Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm + 2 x 0.34mm2) shielded; motor end 12-pin VW3M8100R30
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R50
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R100
circular connector Y-TEC, device end 10-pin connector RJ45

Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R150
circular connector Y-TEC, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R250
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 1.5 m (4.92 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R15
circular connector M23, device end 10-pin connector RJ45
Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R30
circular connector M23, device end 10-pin connector RJ45
Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R50
circular connector M23, device end 10-pin connector RJ45
Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R100
circular connector M23, device end 10-pin connector RJ45
Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R150
circular connector M23, device end 10-pin connector RJ45
Encoder cable 20 m (65.6 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R200
circular connector M23, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R250
circular connector M23, device end 10-pin connector RJ45

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R500
circular connector M23, device end 10-pin connector RJ45
Encoder cable 75 m (246 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R750
circular connector M23, device end 10-pin connector RJ45
Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends open VW3M8222R250

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends VW3M8222R500
open

Encoder cable 100 m (328 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends VW3M8222R1000
open
D9-SUB (male) connector, for encoder module resolver AEOCON011
2 2
Encoder cable 100 m (328 ft), (5 x 2 x 0.25 mm + 2 x 0.5 mm ) shielded; both cable ends VW3M8221R1000
open
Encoder cable 1 m (3.28 ft), shielded; HD15 D-SUB (male); other cable end open VW3M4701

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Connectors

Description Reference
2,
Connector for motor cable, motor end Y-TEC, 1 mm 5 pieces VW3M8219

Connector for motor cable, motor end M23, 1.5 ... 2.5 mm2, 5 pieces VW3M8215

Connector for motor cable, motor end M40, 4 mm2, 5 pieces VW3M8217

Connector for motor cable, motor end M40, 6...10 mm2, 5 pieces VW3M8218
Connector for encoder cable, motor end Y-TEC, 5 pieces VW3M8220
Connector for encoder cable, motor end M23, 5 pieces VW3M8214
Connector for encoder cable, drive end RJ45 (10 pins), 5 pieces VW3M2208

The tools required for cable assembly can be ordered directly from the manufacturer.
 Crimping tool for power connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
 Crimping tool for power connector M23/M40:
Coninvers SF-Z0025, SF-Z0026
www.coninvers.com
 Crimping tool for encoder connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
 Crimping tool for encoder connector M23:
Coninvers RC-Z2514
www.coninvers.com
 Crimping tools for encoder connector RJ45 10 pins:
Yamaichi Y-ConTool-11, Y-ConTool-20, Y-ConTool-30
www.yamaichi.com

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External Braking Resistors

Description Reference
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7601R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7601R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7601R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7602R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7602R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7602R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7603R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection VW3A7603R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection VW3A7603R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7604R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7604R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7604R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7605R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7605R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7605R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7606R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection VW3A7606R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection VW3A7606R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7607R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7607R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7607R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7608R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7608R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7608R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP20; 15 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7704
Braking resistor IP20; 10 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7705

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DC Bus Accessories

Description Reference
DC bus connection cable, 0.1 m (0.33 ft), 2 * 6 mm (2 * AWG 10), pre-assembled, 5 pieces VW3M7101R01
2

DC bus connection cable, 15 m (49.2 ft), 2 * 6 mm2 (2 * AWG 10), Twisted Pair, shielded VW3M7102R150

DC bus connector kit, connector housing and crimp contacts for 3 ... 6 mm2 (AWG 12 ... 10), VW3M2207
10 pieces

A crimping tool is required for the crimp contacts of the connector kit. Manufacturer:
Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250

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Accessories and Spare Parts

Mains Reactors

Description Reference
Mains reactor single-phase; 50-60 Hz; 7 A; 5 mH; IP00 VZ1L007UM50
Mains reactor single-phase; 50-60 Hz; 18 A; 2 mH; IP00 VZ1L018UM20
Mains reactor three-phase; 50-60 Hz; 16 A; 2 mH; IP00 VW3A4553
Mains reactor three-phase; 50-60 Hz; 30 A; 1 mH; IP00 VW3A4554

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 Accessories and Spare Parts

External Mains Filters

Description Reference
Mains filter single-phase; 9 A; 115/230 Vac VW3A4420
Mains filter single-phase; 16 A; 115/230 Vac VW3A4421
Mains filter three-phase; 15 A; 208/400/480 Vac VW3A4422
Mains filter three-phase; 25 A; 208/400/480 Vac VW3A4423

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Accessories and Spare Parts

Spare Parts Connectors, Fans, Cover Plates

Description Reference
Connector kit LXM32A: 3 x AC power stage supply (230/400 Vac), 1 x control supply, 2 x VW3M2202
digital inputs/outputs (4-pin), 2 x motor (10 A / 24 A), 1 x holding brake
Cooling fan kit 40 x 40 mm (1.57 x 1.57 in), plastic housing, with connection cable VW3M2401
Cooling fan kit 60 x 60 mm (2.36 x 2.36 in), plastic housing, with connection cable VW3M2402
Cooling fan kit 80 x 80 mm (3.15 x 3.15 in), plastic housing, with connection cable VW3M2403

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 Lexium 32A
Service, Maintenance, and Disposal
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Chapter 13
Service, Maintenance, and Disposal

Service, Maintenance, and Disposal

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Service Addresses 494
Maintenance 495
Replacing the Product 496
Replacement of the Motor 497
Shipping, Storage, Disposal 498

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Service, Maintenance, and Disposal

Service Addresses

Schneider Electric Automation GmbH

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 0
Fax: +49 (0) 9391 / 606 - 4000
Email: [email protected]
Internet: http://www.schneider-electric.com

Machine Solutions Service

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 3265
Fax: +49 (0) 9391 / 606 - 3340
Email: [email protected]
Internet: http://www.schneider-electric.com

Additional Contact Addresses

See the homepage for additional contact addresses:
http://www.schneider-electric.com

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 Service, Maintenance, and Disposal

Maintenance

Maintenance Plan
Inspect the product for pollution or damage at regular intervals.
Repairs may only be made by the manufacturer. No warranty or liability is accepted for repairs made by
unauthorized persons.
Prior to any type of work on the drive system, consult the chapters on Installation and Commissioning for
information on the precautions and processes to be observed.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

 Inspect all connection cables and connectors regularly for damage. Replace damaged cables
immediately.
 Verify that all output elements are firmly seated.
 Tighten all mechanical and electrical threaded connections to the specified torque.

Lifetime Safety Function STO

The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety
function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the
nameplate of the product.
 This date must be included in the maintenance plan of the system.
Do not use the safety function after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.16. (31
December 2016). This means: Do not use the safety function after December 31, 2036.

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Service, Maintenance, and Disposal

Replacing the Product

Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only start the system if there are no persons or obstructions in the zone of operation.
 Do not operate the drive system with undetermined parameter values or data.
 Never modify a parameter value unless you fully understand the parameter and all effects of the
modification.
 Restart the drive and verify the saved operational data and/or parameter values after modifications.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
 Verify the functions after replacing the product and also after making modifications to the parameter
values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Follow the procedure below for replacing devices.

 Save all parameter settings. To do so, use a memory card or save the data to a PC using the
commissioning software, see chapter Parameter Management (see page 172).
 Power off all supply voltages. Verify that no voltages are present (safety instructions).
 Label all connections and remove all connection cables (unlock connector locks).
 Uninstall the product.
 Note the identification number and the serial number shown on the product nameplate for later
identification.
 Install the new product as per chapter Installation (see page 87).
 If the product to be installed has previously been used in a different system or application, you must
restore the factory settings before commissioning the product.
 Commission the product as per chapter Commissioning (see page 117).

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 Service, Maintenance, and Disposal

Replacement of the Motor

Drive systems may perform unintended movements if unapproved combinations of drive and motor are
used. Though the connectors for motor connection and encoder connection may match mechanically, this
does not imply that the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

 Power off all supply voltages. Verify that no voltages are present (safety instructions).
 Label all connections and uninstall the product.
 Note the identification number and the serial number shown on the product nameplate for later
identification.
 Install the new product as per chapter Installation (see page 87).
If the connected motor is replaced by another motor, the motor data set is read again. If the device detects
a different motor type, the control loop parameters are recalculated and the HMI displays MOT. See
chapter Acknowledging a Motor Change (see page 349) for additional information.
If the motor is replaced, the encoder parameters must also be re-adjusted, see chapter Setting Parameters
for Encoder (see page 151).

Changing the Motor Type Temporarily

If you want to operate the new motor type only temporarily via the device, press ESC at the HMI.
The newly calculated control loop parameters are not saved to the EEPROM. This way, you can resume
operation with the original motor using the saved control loop parameters.

Changing the Motor Type Permanently

If you want to operate the new motor type permanently via this device, press the navigation button at the
HMI.
The newly calculated control loop parameters are saved to the EEPROM.
See also chapter Acknowledging a Motor Change (see page 349).

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Service, Maintenance, and Disposal

Shipping, Storage, Disposal

Shipping
The product must be protected against shocks during transportation. If possible, use the original packaging
for shipping.

Storage
The product may only be stored in spaces where the specified permissible ambient conditions are met.
Protect the product from dust and dirt.

Disposal
The product consists of various materials that can be recycled. Dispose of the product in accordance with
local regulations.
Visit http://www.schneider-electric.com/green-premium for information and documents on environmental
protection as per ISO 14025 such as:
 EoLi (Product End-of-Life Instructions)
 PEP (Product Environmental Profile)

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 Lexium 32A
Glossary
0198441113755 09/2017

Glossary

A
Actual value
In control engineering, the actual value is the value of the controlled variable at a given instant (for
example, actual velocity, actual torque, actual position). The actual value is an input value (measured
value) used by the control loops to reach the reference value.

C
CCW
Counter Clockwise.
CW
Clockwise.

D
DC bus
Circuit that supplies the power stage with energy (direct voltage).
Degree of protection
The degree of protection is a standardized specification for electrical equipment that describes the
protection against the ingress of foreign objects and water (for example: IP 20).
Direction of movement
In the case of a rotary motors, direction of movement is defined in accordance with IEC 61800-7-204:
Positive direction is when the motor shaft rotates clockwise as you look at the end of the protruding motor
shaft.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example:
31.12.11 corresponds to December 31, 2011
31.12.2011 corresponds to December 31, 2011
Drive system
System consisting of controller, drive and motor.

E
Electronic gear
Calculation of a new output velocity for the motor movement based on the input velocity and the values of
an adjustable gear ratio; calculated by the drive system.
EMC
Electromagnetic compatibility
Encoder
Sensor that converts a measured distance or angle into an electrical signal. This signal is evaluated by the
drive to determine the actual position of a shaft (rotor) or a driving unit.
Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.

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Glossary

F
Factory settings
Settings when the product is shipped.
Fault
Fault is an operating state. If the monitoring functions detect an error, a transition to this operating state is
triggered, depending on the error class. A "Fault Reset" or a power cycle are required to exit this operating
state. Prior to this, the cause of the detected error must be removed. Further information can be found in
the pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault Reset
Function used to exit the operating state Fault. Before the function is used, the cause of the detected error
must be removed.

I
I/O
Inputs/outputs
I2t monitoring
Anticipatory temperature monitoring. The expected temperature rise of components is calculated in
advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current.
Inc
Increments
Index pulse
Signal of an encoder to reference the rotor position in the motor. The encoder returns one index pulse per
revolution.
Internal units
Resolution of the power stage at which the motor can be positioned. Internal units are specified in
increments.

L
Limit switch
Switches that signal overtravel of the permissible range of travel.

M
Monitoring function
Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to
check whether it is within permissible limits. Monitoring functions are used for error detection. Monitoring
functions are not safety functions.

N
NMT
Network Management (NMT), part of the CANopen communication profile; tasks include initialization of the
network and devices, starting, stopping and monitoring of devices
Node guarding
Monitoring of the connection to the slave at an interface for cyclic data traffic.

P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
PELV
Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41
Persistent
Indicates whether the value of the parameter remains in the memory after the device is switched off.

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 Glossary

Power stage
The power stage controls the motor. The power stage generates current for controlling the motor on the
basis of the motion signals from the controller.
Pulse/direction signals
Digital signals with variable pulse frequencies which signal changes in position and direction of movement
via separate signal wires.

Q
Quick Stop
The function can be used for fast deceleration of a movement as a response to a detected error or via a
command.

R
RCD
RCD residual current device.
rms
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)

RS485
Fieldbus interface as per EIA-485 which enables serial data transmission with multiple devices.

S
Safety function
Safety functions are defined in the standard IEC 61800-5-2 (for example, Safe Torque Off (STO), Safe
Operating Stop (SOS) or Safe Stop 1 (SS1)). If the safety functions are wired properly, they meet the
requirements specified in IEC 61800-5-2.
Scaling factor
This factor is the ratio between an internal unit and a user-defined unit.

U
User-defined unit
Unit whose reference to motor movement can be determined by the user via parameters.

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Glossary

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 Lexium 32A
Index
0198441113755 09/2017

Index

A parameter _AT_M_load, 160, 393

parameter _AT_progress, 159, 394
access channels, 180
parameter _AT_state, 159, 394
approved motors, 28
parameter _CanDiag, 394
automatic reading of the motor data record, 138
parameter _Cap1CntFall, 297, 394
parameter _Cap1CntRise, 297, 394
parameter _Cap1Count, 394
B parameter _Cap1CountCons, 294, 394
before you begin parameter _Cap1Pos, 395
safety information, 9 parameter _Cap1PosCons, 294, 395
braking resistor, 40 parameter _Cap1PosFallEdge, 297, 395
Braking resistor:Selection, 72 parameter _Cap1PosRisEdge, 296, 395
parameter _Cap2CntFall, 298, 395
parameter _Cap2CntRise, 297, 395
C parameter _Cap2Count, 395
cable specifications, 60 parameter _Cap2CountCons, 294, 396
certifications, 47 parameter _Cap2Pos, 396
components and interfaces, 19 parameter _Cap2PosCons, 294, 396
controller supply voltage 24V, 37 parameter _Cap2PosFallEdge, 297, 396
parameter _Cap2PosRisEdge, 297, 396
parameter _CapEventCounters, 298, 397
D parameter _CapStatus, 293, 397
device overview, 18 parameter _Cond_State4, 397
disposal, 498, 498 parameter _CTRL_ActParSet, 163, 216, 397
parameter _CTRL_KPid, 397
parameter _CTRL_KPiq, 397
E parameter _CTRL_TNid, 398
emission, 43 parameter _CTRL_TNiq, 398
equipotential bonding conductors, 57 parameter _DataError, 398
error class, 230 parameter _DataErrorInfo, 398
error class of error messages, 364 parameter _DCOMopmd_act, 398
error memory, 361 parameter _DCOMstatus, 333, 357, 399
error messages, 363 parameter _DEV_T_current, 399
error response, 230 parameter _DPL_BitShiftRefA16, 399
external braking resistors (accessories), 41 parameter _DPL_driveInput, 399
parameter _DPL_driveStat, 399
parameter _DPL_mfStat, 399
I parameter _DPL_motionStat, 333, 399
installation site and connection, 24 parameter _ENC_AmplMax, 399
intended use, 10 parameter _ENC_AmplMean, 400
internal braking resistor, 40 parameter _ENC_AmplMin, 400
parameter _ENC_AmplVal, 400
parameter _ERR_class, 361, 400
M parameter _ERR_DCbus, 362, 400
Monitoring:Braking resistor, 72 parameter _ERR_enable_cycl, 362, 400
parameter _ERR_enable_time, 362, 400
parameter _ERR_motor_I, 362, 400
N parameter _ERR_motor_v, 362, 400
nameplate, 20 parameter _ERR_number, 361, 400
parameter _ERR_powerOn, 362, 401
parameter _ERR_qual, 362, 401
O parameter _ERR_temp_dev, 362, 401
operating states, 228 parameter _ERR_temp_ps, 362, 401
parameter _ERR_time, 362, 401
parameter _ErrNumFbParSvc, 401
P parameter _HMdisREFtoIDX, 272, 401
parameter _AccessInfo, 393 parameter _HMdisREFtoIDX_usr, 272, 401
parameter _actionStatus, 332, 393 parameter _hwVersCPU, 401
parameter _AT_J, 160, 393 parameter _hwVersPS, 401
parameter _AT_M_friction, 159, 393 parameter _I_act, 402

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Index

parameter _Id_act_rms, 402 parameter _PAR_ScalingError, 408

parameter _Id_ref_rms, 402 parameter _PAR_ScalingState, 409
parameter _Imax_act, 402 parameter _PosRegStatus, 319, 409
parameter _Imax_system, 402 parameter _Power_act, 409
parameter _InvalidParam, 402 parameter _Power_mean, 409
parameter _IO_act, 143, 402 parameter _pref_acc, 409
parameter _IO_DI_act, 143, 403 parameter _pref_v, 409
parameter _IO_DQ_act, 143, 403 parameter _prgNoDEV, 409
parameter _IO_STO_act, 143, 403 parameter _prgRevDEV, 410
parameter _Iq_act_rms, 403 parameter _prgVerDEV, 410
parameter _Iq_ref_rms, 403 parameter _PS_I_max, 410
parameter _LastError, 360, 403 parameter _PS_I_nom, 410
parameter _LastError_Qual, 403 parameter _PS_load, 337, 410
parameter _LastWarning, 360, 403 parameter _PS_maxoverload, 337, 410
parameter _M_BRK_T_apply, 403 parameter _PS_overload, 337, 410
parameter _M_BRK_T_release, 403 parameter _PS_overload_cte, 410
parameter _M_Enc_Cosine, 403 parameter _PS_overload_I2t, 410
parameter _M_Enc_Sine, 404 parameter _PS_overload_psq, 410
parameter _M_Encoder, 404 parameter _PS_T_current, 336, 410
parameter _M_HoldingBrake, 404 parameter _PS_T_max, 336, 410
parameter _M_I_0, 404 parameter _PS_T_warn, 336, 411
parameter _M_I_max, 404 parameter _PS_U_maxDC, 411
parameter _M_I_nom, 404 parameter _PS_U_minDC, 411
parameter _M_I2t, 404 parameter _PS_U_minStopDC, 411
parameter _M_Jrot, 404 parameter _PT_max_val, 411
parameter _M_kE, 404 parameter _RAMP_p_act, 411
parameter _M_L_d, 404 parameter _RAMP_p_target, 411
parameter _M_L_q, 405 parameter _RAMP_v_act, 411
parameter _M_load, 337, 405 parameter _RAMP_v_target, 411
parameter _M_M_0, 405 parameter _RES_load, 337, 411
parameter _M_M_max, 405 parameter _RES_maxoverload, 338, 411
parameter _M_M_nom, 405 parameter _RES_overload, 338, 411
parameter _M_maxoverload, 338, 405 parameter _RESint_P, 411
parameter _M_n_max, 405 parameter _RESint_R, 412
parameter _M_n_nom, 405 parameter _RMAC_DetailStatus, 300, 412
parameter _M_overload, 337, 405 parameter _RMAC_Status, 299, 412
parameter _M_Polepair, 405 parameter _ScalePOSmax, 412
parameter _M_PolePairPitch, 405 parameter _ScaleRAMPmax, 412
parameter _M_R_UV, 405 parameter _ScaleVELmax, 412
parameter _M_T_current, 336, 405 parameter _SigActive, 412
parameter _M_T_max, 336, 406 parameter _SigLatched, 359, 413
parameter _M_Type, 406 parameter _SuppDriveModes, 413
parameter _M_U_max, 406 parameter _TouchProbeStat, 296, 414
parameter _M_U_nom, 406 parameter _tq_act, 414
parameter _ManuSdoAbort, 406 parameter _Ud_ref, 414
parameter _ModeError, 406 parameter _UDC_act, 414
parameter _ModeErrorInfo, 406 parameter _Udq_ref, 414
parameter _n_act, 406 parameter _Uq_ref, 414
parameter _n_act_ENC1, 406 parameter _v_act, 414
parameter _n_ref, 406 parameter _v_act_ENC1, 414
parameter _OpHours, 406 parameter _v_dif_usr, 312, 414
parameter _p_absENC, 151, 407 parameter _v_ref, 414
parameter _p_absmodulo, 407 parameter _Vmax_act, 414
parameter _p_act, 264, 407 parameter _VoltUtil, 415
parameter _p_act_ENC1, 407 parameter _WarnActive, 415
parameter _p_act_ENC1_int, 407 parameter _WarnLatched, 358, 415
parameter _p_act_int, 407 parameter AbsHomeRequest, 416
parameter _p_dif, 407 parameter AccessLock, 181, 416
parameter _p_dif_load, 309, 407 parameter AT_dir, 157, 416
parameter _p_dif_load_peak, 310, 408 parameter AT_dis, 157, 417
parameter _p_dif_load_peak_usr, 309, 408 parameter AT_dis_usr, 157, 417
parameter _p_dif_load_usr, 309, 408 parameter AT_mechanical, 158, 417
parameter _p_dif_usr, 408 parameter AT_n_ref, 417
parameter _p_ref, 408 parameter AT_start, 158, 417
parameter _p_ref_int, 408 parameter AT_v_ref, 418

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 Index

parameter AT_wait, 160, 418 parameter CTRL2_Nf2freq, 225, 429

parameter BLSH_Mode, 303, 418 parameter CTRL2_Osupdamp, 225, 430
parameter BLSH_Position, 302, 418 parameter CTRL2_Osupdelay, 225, 430
parameter BLSH_Time, 302, 418 parameter CTRL2_TAUiref, 224, 430
parameter BRK_AddT_apply, 147, 418 parameter CTRL2_TAUnref, 166, 224, 430
parameter BRK_AddT_release, 147, 419 parameter CTRL2_TNn, 165, 168, 224, 430
parameter BRK_release, 149, 419 parameter DCbus_compat, 430
parameter CANaddress, 138, 419 parameter DCOMcontrol, 431
parameter CANbaud, 138, 419 parameter DCOMopmode, 431
parameter CANpdo1Event, 419 parameter DI_0_Debounce, 209, 431
parameter CANpdo2Event, 420 parameter DI_1_Debounce, 209, 431
parameter CANpdo3Event, 420 parameter DI_2_Debounce, 209, 432
parameter CANpdo4Event, 420 parameter DI_3_Debounce, 209, 432
parameter Cap1Activate, 293, 420 parameter DPL_Activate, 432
parameter Cap1Config, 292, 420 parameter DPL_dmControl, 432
parameter Cap1Source, 420 parameter DPL_intLim, 333, 433
parameter Cap2Activate, 293, 421 parameter DPL_RefA16, 433
parameter Cap2Config, 292, 421 parameter DPL_RefB32, 433
parameter Cap2Source, 421 parameter DS402compatib, 433
parameter CLSET_p_DiffWin, 219, 421 parameter DS402intLim, 334, 434
parameter CLSET_p_DiffWin_usr, 218, 421 parameter DSM_ShutDownOption, 231, 434
parameter CLSET_ParSwiCond, 218, 422 parameter ENC1_adjustment, 152, 435
parameter CLSET_v_Threshol, 219, 422 parameter ERR_clear, 362, 435
parameter CLSET_winTime, 219, 422 parameter ERR_reset, 362, 435
parameter CTRL_GlobGain, 159, 423 parameter ErrorResp_bit_DE, 435
parameter CTRL_I_max, 140, 423 parameter ErrorResp_bit_ME, 436
parameter CTRL_I_max_fw, 424 parameter ErrorResp_Flt_AC, 340, 436
parameter CTRL_KFAcc, 424 parameter ErrorResp_I2tRES, 436
parameter CTRL_ParChgTime, 163, 219, 424 parameter ErrorResp_p_dif, 311, 436
parameter CTRL_ParSetCopy, 220, 424 parameter ErrorResp_QuasiAbs, 436
parameter CTRL_PwrUpParSet, 216, 425 parameter ErrorResp_v_dif, 313, 437
parameter CTRL_SelParSet, 163, 216, 425 parameter HMdis, 270, 437
parameter CTRL_SmoothCurr, 425 parameter HMIDispPara, 437
parameter CTRL_SpdFric, 425 parameter HMIlocked, 181, 437
parameter CTRL_TAUnact, 425 parameter HMmethod, 269, 438
parameter CTRL_v_max, 141, 425 parameter HMoutdis, 271, 438
parameter CTRL_VelObsActiv, 426 parameter HMp_home, 270, 439
parameter CTRL_VelObsDyn, 426 parameter HMp_setP, 277, 439
parameter CTRL_VelObsInert, 426 parameter HMprefmethod, 269, 439
parameter CTRL_vPIDDPart, 426 parameter HMsrchdis, 271, 439
parameter CTRL_vPIDDTime, 426 parameter HMv, 272, 439
parameter CTRL1_KFPp, 223, 427 parameter HMv_out, 272, 439
parameter CTRL1_Kfric, 223, 427 parameter InvertDirOfMove, 150, 439
parameter CTRL1_KPn, 165, 222, 427 parameter IO_AutoEnable, 440
parameter CTRL1_KPp, 170, 222, 427 parameter IO_AutoEnaConfig, 440
parameter CTRL1_Nf1bandw, 223, 427 parameter IO_DQ_set, 290, 440
parameter CTRL1_Nf1damp, 223, 427 parameter IO_FaultResOnEnaInp, 236, 440
parameter CTRL1_Nf1freq, 223, 427 parameter IO_I_limit, 288, 440
parameter CTRL1_Nf2bandw, 223, 427 parameter IO_v_limit, 287, 440
parameter CTRL1_Nf2damp, 223, 427 parameter IOfunct_DI0, 202, 441
parameter CTRL1_Nf2freq, 223, 428 parameter IOfunct_DI1, 203, 442
parameter CTRL1_Osupdamp, 223, 428 parameter IOfunct_DI2, 204, 443
parameter CTRL1_Osupdelay, 223, 428 parameter IOfunct_DI3, 205, 444
parameter CTRL1_TAUiref, 222, 428 parameter IOfunct_DQ0, 207, 445
parameter CTRL1_TAUnref, 166, 222, 428 parameter IOfunct_DQ1, 208, 446
parameter CTRL1_TNn, 165, 168, 222, 428 parameter IOsigCurrLim, 447
parameter CTRL2_KFPp, 225, 428 parameter IOsigLIMN, 305, 447
parameter CTRL2_Kfric, 225, 429 parameter IOsigLIMP, 305, 447
parameter CTRL2_KPn, 165, 224, 429 parameter IOsigREF, 306, 447
parameter CTRL2_KPp, 170, 224, 429 parameter IOsigRespOfPS, 447
parameter CTRL2_Nf1bandw, 225, 429 parameter IOsigVelLim, 448
parameter CTRL2_Nf1damp, 225, 429 parameter IP_IntTimInd, 263, 448
parameter CTRL2_Nf1freq, 225, 429 parameter IP_IntTimPerVal, 263, 448
parameter CTRL2_Nf2bandw, 225, 429 parameter IPp_target, 264, 448
parameter CTRL2_Nf2damp, 225, 429 parameter JOGactivate, 448

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Index

parameter JOGmethod, 242, 448 parameter PosReg2Source, 463

parameter JOGstep, 243, 448 parameter PosReg2Start, 320, 464
parameter JOGtime, 243, 448 parameter PosReg2ValueA, 323, 464
parameter JOGv_fast, 242, 448 parameter PosReg2ValueB, 323, 464
parameter JOGv_slow, 242, 448 parameter PosReg3Mode, 322, 464
parameter LIM_HaltReaction, 284, 449 parameter PosReg3Source, 464
parameter LIM_I_maxHalt, 141, 284, 449 parameter PosReg3Start, 320, 465
parameter LIM_I_maxQSTP, 140, 286, 449 parameter PosReg3ValueA, 323, 465
parameter LIM_QStopReact, 285, 450 parameter PosReg3ValueB, 323, 465
parameter Mains_reactor, 450 parameter PosReg4Mode, 322, 465
parameter MBaddress, 450 parameter PosReg4Source, 465
parameter MBbaud, 450 parameter PosReg4Start, 320, 466
parameter Mfb_ResRatio, 450 parameter PosReg4ValueA, 323, 466
parameter MOD_AbsDirection, 190, 451 parameter PosReg4ValueB, 323, 466
parameter MOD_AbsMultiRng, 190, 451 parameter PosRegGroupStart, 321, 466
parameter MOD_Enable, 189, 451 parameter PP_ModeRangeLim, 184, 467
parameter MOD_Max, 190, 451 parameter PP_OpmChgType, 238, 467
parameter MOD_Min, 189, 452 parameter PPoption, 257, 467
parameter MON_ChkTime, 325, 327, 329, 331, 452 parameter PPp_target, 256, 467
parameter MON_commutat, 339, 452 parameter PPv_target, 256, 467
parameter MON_ConfModification, 452 parameter PTtq_target, 247, 467
parameter MON_DCbusVdcThresh, 453 parameter PVv_target, 252, 468
parameter MON_ENC_Ampl, 453 parameter RAMP_tq_enable, 247, 468
parameter MON_GroundFault, 342, 453 parameter RAMP_tq_slope, 248, 468
parameter MON_I_Threshold, 331, 453 parameter RAMP_v_acc, 282, 468
parameter MON_IO_SelErr1, 354, 453 parameter RAMP_v_dec, 282, 468
parameter MON_IO_SelErr2, 354, 454 parameter RAMP_v_enable, 281, 469
parameter MON_IO_SelWar1, 354, 454 parameter RAMP_v_jerk, 283, 469
parameter MON_IO_SelWar2, 354, 454 parameter RAMP_v_max, 281, 469
parameter MON_MainsVolt, 341, 455 parameter RAMP_v_sym, 469
parameter MON_p_dif_load, 310, 455 parameter RAMPaccdec, 470
parameter MON_p_dif_load_usr, 310, 456 parameter RAMPquickstop, 285, 470
parameter MON_p_dif_warn, 310, 456 parameter RESext_P, 154, 470
parameter MON_p_DiffWin, 325, 456 parameter RESext_R, 155, 470
parameter MON_p_DiffWin_usr, 325, 456 parameter RESext_ton, 155, 470
parameter MON_p_win, 318, 457 parameter RESint_ext, 154, 470
parameter MON_p_win_usr, 317, 457 parameter ResWriComNotOpEn, 471
parameter MON_p_winTime, 318, 457 parameter RMAC_Activate, 300, 471
parameter MON_p_winTout, 318, 457 parameter RMAC_Edge, 301, 471
parameter MON_SW_Limits, 308, 458 parameter RMAC_Position, 300, 471
parameter MON_SWLimMode, 307, 458 parameter RMAC_Response, 301, 471
parameter MON_swLimN, 308, 458 parameter RMAC_Velocity, 300, 471
parameter MON_swLimP, 308, 458 parameter ScalePOSdenom, 197, 472
parameter MON_tq_win, 315, 458 parameter ScalePOSnum, 197, 472
parameter MON_tq_winTime, 315, 459 parameter ScaleRAMPdenom, 199, 472
parameter MON_v_DiffWin, 327, 459 parameter ScaleRAMPnum, 199, 472
parameter MON_v_Threshold, 329, 459 parameter ScaleVELdenom, 198, 472
parameter MON_v_win, 316, 459 parameter ScaleVELnum, 198, 472
parameter MON_v_winTime, 316, 459 parameter ShiftEncWorkRang, 153, 473
parameter MON_v_zeroclamp, 289, 459 parameter SimAbsolutePos, 473
parameter MON_VelDiff, 312, 459 parameter SyncMechStart, 262, 474
parameter MON_VelDiff_Time, 312, 460 parameter SyncMechStatus, 262, 474
parameter MT_dismax, 460 parameter SyncMechTol, 262, 474
parameter MT_dismax_usr, 460 parameter TouchProbeFct, 295, 474
parameter PAR_CTRLreset, 460 parameter UsrAppDataMem1, 474
parameter PAR_ScalingStart, 461 parameter UsrAppDataMem2, 474
parameter PAReeprSave, 461 pollution degree and degree of protection, 24
parameter PARfactorySet, 178, 461 powering on the device, 138
parameter PARuserReset, 177, 462 PWM frequency power stage, 28
parameter PosReg1Mode, 321, 462
parameter PosReg1Source, 462
parameter PosReg1Start, 320, 463 Q
parameter PosReg1ValueA, 323, 463 qualification of personnel, 9
parameter PosReg1ValueB, 323, 463
parameter PosReg2Mode, 322, 463

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 Index

R
replacing the product, 496
representation of the parameters, 390
restoring factory settings, 178

S
sampling period, 212, 213, 214
scaling factor, 196
service addresses, 494
setting limit values, 140
shipping, 498
state transitions, 230
storage, 498

T
type code, 21

U
user-defined units, 196
usr_a, 196
usr_p, 196
usr_v, 196

0198441113755 09/2017 507

Index

508 0198441113755 09/2017