LXM05C

AC servo drive
Product manual
V1.00, 12.2006
0198441113363, V1.00, 12.2006

www.schneider-electric.com
 LXM05C

Important information
The drive systems described here are products for general use that con-
form to the state of the art in technology and are designed to prevent any
dangers. However, drives and drive controllers that are not specifically
designed for safety functions are not approved for applications where
the functioning of the drive could endanger persons. The possibility of
unexpected or unbraked movements can never be totally excluded wit-
hout additional safety equipment. For this reason personnel must never
be in the danger zone of the drives unless additional suitable safety
equipment prevents any personal danger. This applies to operation of
the machine during production and also to all service and maintenance
work on drives and the machine. The machine design must ensure per-
sonal safety. Suitable measures for prevention of property damage are
also required.

See safety section for additional critical instructions.

Not all product variants are available in all countries.

Please consult the current catalogue for information on the availability of
product variants.
We reserve the right to make changes during the course of technical de-
velopments.
0198441113363, V1.00, 12.2006

All details provided are technical data and not promised characteristics.
In general, product names must be considered to be trademarks of the
respective owners, even if not specifically identified as such.

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Table of Contents
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -2

Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -3

Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . -9

1 Introduction
1.1 Unit overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Components and interfaces . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4 Documentation and literature references . . . . . . . . . . 1-3
1.5 Directives and standards. . . . . . . . . . . . . . . . . . . . . . . 1-3
1.6 Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . 1-5

2 Safety
2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.3 Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.4 General safety instructions . . . . . . . . . . . . . . . . . . . . . 2-3
2.5 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

3 Technical Data
3.1 Environmental conditions . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Degree of protection . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2.1 Dimensional drawings. . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3.1 Performance data for power amplifier . . . . . . . . . . . 3-3
3.3.2 24VDC controller power supply . . . . . . . . . . . . . . . 3-5
3.3.3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.4 Braking resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3.5 Internal mains filter . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.4 Technical Data accessories. . . . . . . . . . . . . . . . . . . . . 3-8
3.4.1 External braking resistors . . . . . . . . . . . . . . . . . . . . 3-8
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3.4.2 Line reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3.4.3 External mains filter . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.4.4 Holding brake controller HBC . . . . . . . . . . . . . . . . . 3-9
3.4.5 Reference value adapter RVA. . . . . . . . . . . . . . . . . 3-9
3.4.6 Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

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4 Engineering
4.1 Logic type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Configurable inputs and outputs . . . . . . . . . . . . . . . . . . 4-2

5 Installation
5.1 Electromagnetic compatibility, EMC . . . . . . . . . . . . . . . 5-1
5.1.1 Operation in an IT mains . . . . . . . . . . . . . . . . . . . . . 5-5
5.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.1 Installing the device . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.2.2 Installing mains filter, mains reactor and
braking resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.3.1 Overview of procedure. . . . . . . . . . . . . . . . . . . . . . 5-13
5.3.2 Overview of all connections . . . . . . . . . . . . . . . . . . 5-14
5.3.3 Reference value signals. . . . . . . . . . . . . . . . . . . . . 5-16
5.3.4 Motor phase connections. . . . . . . . . . . . . . . . . . . . 5-16
5.3.5 Connection of braking resistor . . . . . . . . . . . . . . . . 5-19
5.3.6 Connection of power amplifier supply voltage . . . . 5-24
5.3.7 Connection for parallel operation . . . . . . . . . . . . . . 5-27
5.3.8 Connection of motor encoder (CN2) . . . . . . . . . . . 5-27
5.3.9 Connection of holding brake controller (HBC) . . . . 5-30
5.3.10 Connection of controller supply voltage
(24V at CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.3.11 Connection of encoder simulation (CN5) . . . . . . . . 5-34
5.3.12 Connection of analogue inputs (CN1) . . . . . . . . . . 5-35
5.3.13 Connection of digital inputs/outputs (CN1) . . . . . . 5-36
5.3.14 CW/CCW connection (CN1) . . . . . . . . . . . . . . . . . 5-37
5.3.15 Connection of pulse/direction PD (CN1) . . . . . . . . 5-39
5.3.16 Connecting encoder signals A, B (CN1) . . . . . . . . 5-42
5.3.17 Connection to PC or remote terminal (CN4) . . . . . 5-44
5.3.18 Reference value adapter . . . . . . . . . . . . . . . . . . . . 5-45
5.4 Checking installation. . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

6 Commissioning
6.1 General safety instructions . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3 Tools for commissioning . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3.2 HMI: Human-Machine Interface . . . . . . . . . . . . . . . . 6-5
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6.3.3 Commissioning software (PowerSuite) . . . . . . . . . 6-10

6.4 Commissioning procedure . . . . . . . . . . . . . . . . . . . . . 6-11
6.4.1 "First Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.4.2 Operating status (status diagram) . . . . . . . . . . . . . 6-14
6.4.3 Setting basic parameters and limit values . . . . . . . 6-15
6.4.4 Analogue inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.4.5 Digital inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.4.6 Setting configurable digital inputs/outputs . . . . . . . 6-19

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6.4.7 Checking holding brake . . . . . . . . . . . . . . . . . . . . 6-20

6.4.8 Check direction of rotation . . . . . . . . . . . . . . . . . . 6-21
6.4.9 Check signals of position switch . . . . . . . . . . . . . . 6-22
6.4.10 Setting parameters for encoder simulation . . . . . . 6-23
6.4.11 Setting parameters for encoder . . . . . . . . . . . . . . 6-24
6.4.12 Setting parameters for braking resistor. . . . . . . . . 6-26
6.4.13 Run autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.4.14 Extended settings for autotuning . . . . . . . . . . . . . 6-30
6.5 Controller optimisation with step response . . . . . . . . 6-32
6.5.1 Controller structure . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.5.2 Optimisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.5.3 Optimising the speed controller . . . . . . . . . . . . . . 6-34
6.5.4 Checking and optimising default settings . . . . . . . 6-38
6.5.5 Optimising the position controller . . . . . . . . . . . . . 6-39

7 Operation
7.1 Overview of operating modes . . . . . . . . . . . . . . . . . . . 7-1
7.2 Access monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.1 via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.2 via commissioning software . . . . . . . . . . . . . . . . . . 7-1
7.2.3 via hardware input signals . . . . . . . . . . . . . . . . . . . 7-2
7.3 Operating states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3.1 Status diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3.2 Changing operating status . . . . . . . . . . . . . . . . . . . 7-4
7.3.3 Displaying the operating states. . . . . . . . . . . . . . . . 7-5
7.4 Starting and changing operating modes . . . . . . . . . . . 7-5
7.4.1 Start operating mode . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4.2 Change operating mode . . . . . . . . . . . . . . . . . . . . . 7-6
7.5 Operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5.1 Operating mode Jog . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5.2 Operating mode Current control . . . . . . . . . . . . . . . 7-8
7.5.3 Operating mode Speed control. . . . . . . . . . . . . . . . 7-9
7.5.4 Operating mode Pulse control . . . . . . . . . . . . . . . 7-10
7.6 Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
7.6.1 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . 7-14
7.6.2 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
7.6.3 Movement profile . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
7.6.4 Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.6.5 Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
7.6.6 Braking function with HBC . . . . . . . . . . . . . . . . . . 7-29
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7.6.7 Configurable inputs and outputs . . . . . . . . . . . . . . 7-31

7.6.8 Reversal of direction of rotation . . . . . . . . . . . . . . 7-40
7.6.9 Restoring default values . . . . . . . . . . . . . . . . . . . . 7-41

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8 Examples
8.1 Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Settings as examples . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

9 Diagnostics and troubleshooting

9.1 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Error responses and error classes . . . . . . . . . . . . . . . . 9-2
9.3 Error display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.3.1 State diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.3.2 Error display on HMI . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.3.3 Error display with commissioning software . . . . . . . 9-6
9.4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.4.1 Resolution of malfunctions. . . . . . . . . . . . . . . . . . . . 9-7
9.4.2 Error resolution sorted by error bit . . . . . . . . . . . . . . 9-8
9.5 Table of error numbers . . . . . . . . . . . . . . . . . . . . . . . . . 9-9

10 Parameters
10.1 Representation of the parameters . . . . . . . . . . . . . . . 10-1
10.2 List of all parameters . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

11 Accessories and spare parts

11.1 Optional accessories . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 External braking resistors . . . . . . . . . . . . . . . . . . . . . . 11-1
11.3 Motor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.4 Encoder cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.5 Crimping tool and connector / contacts . . . . . . . . . . . 11-3
11.6 RS 422: pulse/direction, ESIM and A/B . . . . . . . . . . . 11-3
11.7 Mains filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.8 Mains reactor s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.9 Installation material. . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4

12 Service, maintenance and disposal

12.1 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
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12.3 Replacing units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12.4 Changing the motor . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
12.5 Shipping, storage, disposal. . . . . . . . . . . . . . . . . . . . . 12-4

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13 Glossary
13.1 Units and conversion tables . . . . . . . . . . . . . . . . . . . 13-1
13.1.1 Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.2 Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.3 Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.4 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.5 Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.1.6 Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.1.7 Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.1.8 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.1.9 Conductor cross section . . . . . . . . . . . . . . . . . . . . 13-2
13.2 Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . 13-3
13.3 Product name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4

14 Extract
14.1 Electromagnetic compatibility, EMC . . . . . . . . . . . . . 14-1
14.2 Compact installation . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.3 Compact commissioning . . . . . . . . . . . . . . . . . . . . . . 14-3
14.3.1 HMI menu structure . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.3.2 "First Setup" (FSU) via HMI . . . . . . . . . . . . . . . . . 14-5
14.3.3 Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
14.3.4 Duplicate existing device settings . . . . . . . . . . . . . 14-7

15 Index
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AC servo drive
LXM05C

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Writing conventions and symbols

Work steps If work steps must be carried out in sequence, they are shown as fol-
lows:
쮿 Special prerequisites for the following work steps
왘 Step 1
컅 Important response to this work step
왘 Step 2

If a response to a work step is specified, this will inform you that the step
has been carried out correctly.
Unless otherwise stated, the individual instruction steps must be carried
in the given sequence.

Lists Lists can be sorted alphanumerically or by priority. Lists are structured

as follows:
• Point 1
• Point 2
– Subpoint to 2
– Subpoint to 2
• Point 3

Making work easier Information on making work easier can be found at this symbol:
This offers supplementary information on making work
easier.
See the chapter on safety for an explanation of the safety
instructions.

Parameter display The parameters are shown in the text with parameter name and HMI
code, e.g. POSdirOfRotat (PROT). The tabular view is explained in the
chapter on Parameters on page 11-1. The parameter list is alphabeti-
cally arranged by parameter name.
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AC servo drive
LXM05C

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 LXM05C Introduction

1 Introduction

1.1 Unit overview

Drive system The LXM05C is an AC servo drive that can be used anywhere.
Reference values are normally specified and monitored by a higher-le-
vel PLC, e.g. Premium.
It offers a very compact and powerful drive system in combination with
selected servomotorsSchneider Electric.
The front panel includes an input panel (HMI, HumanMachineInterface)
with display and keypad for setting parameters.
Reference value default The setpoint value can be specified via:
• Inputs: CW/CCW, pulse/direction signals or A/B encoder signals
• ±10 V analogue signals for torque control or speed control. Position
feedback of the actual motor position is accomplished by A/B enco-
der signals
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Introduction LXM05C

1.2 Components and interfaces

1
3
4
5
2
6
7

(1) CN1, I/O signal connection (spring loaded terminals)

• One analogue reference input ±10V in speed control and
current control modes (torque control)
• Nine digital inputs/outputs. The assignment depends on
the selected operating mode
• Five RS422 inputs for CW/CCW, pulse/direction signals or
A/B encoder signals
(2) 12-pin CN2 female connector for motor encoder (SinCos Hi-
perface® sensor)
(3) CN3, connection for 24 V power supply
(4) CN4, RJ45 female connector for connection
• PC with PowerSuite commissioning software
• Remote terminal
(5) 10-pin CN5 female connector for
• Output of actual motor position via A/B encoder signals for
position feedback for a higher level position controller (e.g.
PLC with motion-control card).
(6) Screw terminals for connecting the mains power
(7) Screw terminals for connecting the motor and external brake
resistors
(8) Bracket for EMC mounting plate
(9) Heat sink
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 LXM05C Introduction

1.3 Type code

LXM 05 C D10 M2 (•••)
Product designation
LXM - Lexium

Product type
05 - AC servo drive for one axis

Interfaces
C - pulse direction

Peak current (crest value Î) [Apk]

U70 - 7Apk
D10 - 10Apk
D14 - 14Apk
D17 - 17Apk
D22 - 22Apk
D28 - 28Apk
D34 - 34Apk
D57 - 57Apk

Power amplifier supply voltage [VAC]

M2 - 1~, 230VAC
N4 - 3~, 400VAC

Other options

1.4 Documentation and literature references

The following User's manuals are supplied with this drive system:
• Product manual, describes the technical data, installation, com-
missioning and all operating modes and operating functions.
• Motor manual, describes the technical properties of the motors,
including correct installation and commissioning.
The user's manuals can also be found in the Internet at
http://www.telemecanique.com.
Additional literature We recommend the following literature for more in-depth information:
• Ellis, George: Control System Design Guide. Academic Press
• Kuo, Benjamin; Golnaraghi, Farid: Automatic Control Systems. John
Wiley & Sons
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1.5 Directives and standards

CE mark With the declaration of conformity and the CE mark on the product the
manufacturer certifies that the product complies with the requirements
of all relevant EC directives.

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Introduction LXM05C

EC Machine Directive The drive systems described here are not machines as defined by the
EC Machine Directive (98/37/EEC) but components for installation in
machines. They do not have moving parts designed for specific purpo-
ses. However, they can be components of a machine or system.
The manufacturer must certify that the complete system conforms to the
machine directive with the CE mark.
EC EMC Directive The EC Electromagnetic Compatibility Directives (89/336/EEC) applies
to products that cause electromagnetic interference or whose operation
may be be adversely affected by electromagnetic interference.
Conformity with the EMC Directive can only be expected of drive sys-
tems after correct installation in the machine. The information on ensu-
ring electromagnetic compatibility given in the chapter on "Installation"
must be followed to ensure that the drive system in the machine or sys-
tem is EMC-compatible and that the product can legally be operated.
EC Low-Voltage Directive The EC Low-Voltage Directive (73/23/EEC) lays down safety require-
ments for "electrical apparatus" as protection against the risks that can
originate in such devices and can be created in response to external in-
fluences.
The drive systems described here comply with the EN 50178 Standard
as per the Low-Voltage Directive.
Declaration of conformity The declaration of conformity certifies that the drive system complies
with the specific EC directive.
Standards for safe operation IEC 60204-1: Electrical equipment of machines, General requirements
IEC 60529: IP degrees of protection
Standards for compliance with EMC IEC 61800-3: Variable-speed electrical drives
limit values

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 LXM05C Introduction

1.6 Declaration of conformity

The following declaration of conformity is applicable when the product is
used under the specified general conditions and with the cables listed in
the accessories.

EC Declaration of Conformity
Year 2006

according to EC Directive Low Voltage 73/23/EEC; changed by CE Marking Directive 93/68/EEC

according to EC Directive on Machinery 98/37/EEC
according to EC Directive EMC 2004/108/EEC

We declare that the products listed below meet the requirements of the mentioned EC
Directives with respect to design, construction and version distributed by us. This
declaration becomes invalid with any modification on the products not authorized by us.

Designation: AC Servo Drive

Type: LXM05Cxxxxxx

Product number: 01637x1741xxx

Applied EN 50178:1998
harmonized EN 61800-3:2001, second environment according to Berger Lahr
standards, EMC test conditions
especially:

Applied UL 508C
national standards Berger Lahr EMC test conditions 200.47-01 EN
and technical Product documentation
specifications,
especially:

Company stamp:
0198441113363, V1.00, 12.2006

Date/ Signature: 29 October 2006

Name/ Department: Wolfgang Brandstätter/R & D

AC servo drive 1-5

Introduction LXM05C

0198441113363, V1.00, 12.2006

1-6 AC servo drive

 LXM05C Safety

2 Safety

2.1 Qualification of personnel

Only technicians who are familiar with and understand the contents of
this manual and the other relevant manuals are authorised to work on
and with this drive system. The technicians must be able to detect po-
tential dangers that may be caused by setting parameters, changing pa-
rameter values and generally by the mechanical, electrical and
electronic equipment.
The technicians must have sufficient technical training, knowledge and
experience to recognise and avoid dangers.
The technicians must be familiar with the relevant standards, regulations
and safety regulations that must be observed when working on the drive
system.

2.2 Intended use

The drive systems described here are products for general use that con-
form to the state of the art in technology and are designed to prevent any
dangers. However, drives and drive controllers that are not specifically
designed for safety functions are not approved for applications where
the functioning of the drive could endanger persons. The possibility of
unexpected or unbraked movements can never be totally excluded wit-
hout additional safety equipment. For this reason personnel must never
be in the danger zone of the drives unless additional suitable safety
equipment prevents any personal danger. This applies to operation of
the machine during production and also to all service and maintenance
work on drives and the machine. The machine design must ensure per-
sonal safety. Suitable measures for prevention of property damage are
also required.
In the system configuration described the drive systems must be used in
industrial applications only and must have a fixed connection only.
In all cases the applicable safety regulations and the specified operating
conditions, such as environmental conditions and specified technical
data, must be observed.
The drive system must not be commissioned and operated until com-
pletion of installation in accordance with the EMC regulations and the
specifications in this manual.
To prevent personal injury and damage to property damaged drive sys-
tems must not be installed or operated.
0198441113363, V1.00, 12.2006

Changes and modifications of the drive systems are not permitted and
if made all no warranty and liability will be accepted.
The drive system must be operated only with the specified wiring and
approved accessories. In general, use only original accessories and
spare parts.
The drive systems must not be operated in an environment subject to
explosion hazard (ex area).

AC servo drive 2-1

Safety LXM05C

2.3 Hazard categories

Safety notes and general information are indicated by hazard messages
in the manual. In addition there are symbols and instructions affixed to
the product that warn of possible hazards and help to operate the pro-
duct safely.
Depending on the seriousness of the hazard, the messages are divided
into three hazard categories.

$ DANGER
DANGER indicates an imminently hazardous situation, which, if
not avoided, will result in death, serious injury, or equipment da-
mage.

@ WARNING
WARNING indicates a potentially hazardous situation, which, if not
avoided, can result in death, serious injury, or equipment damage.

@ CAUTION
CAUTION indicates a potentially hazardous situation, which, if not
avoided, can result in injury or equipment damage.

0198441113363, V1.00, 12.2006

2-2 AC servo drive

 LXM05C Safety

2.4 General safety instructions

$ DANGER
Electric shock, fire or explosion
• Only qualified personnel who are familiar with and understand
the contents of this manual are authorised to work on and with
this drive system.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
• Many components, including printed wiring boards, operate at
mains voltage. Do not touch. Do not touch unshielded com-
ponents or screws of the terminals with voltage present.
• Install all covers and close the housing doors before applying
power.
• The motor generates voltage when the shaft is rotated. Lock
the shaft of the motor to prevent rotation before starting work
on the drive system.
• Before working on the drive system:
– Switch off power to all terminals.
– Place a sign "DO NOT SWITCH ON" on the switch and lock
to prevent switching on.
– Wait 6 minutes (for discharge of DC bus capacitors). Do
not short-circuit DC bus
– Measure voltage at DC bus and check for <45V. (The DC
bus LED is not a safe indication for absence of the DC bus
voltage).
Failure to follow these instructions will result in death or se-
rious injury.

@ WARNING
Unexpected movement
Drives may execute unexpected movements because of incorrect
wiring, incorrect settings, incorrect data or other errors.
Malfunctions (EMC) may cause unpredictable responses in the
system.
• Install the wiring carefully in accordance with the EMC require-
ments.
• Do not operate a drive system with unknown settings or data.
0198441113363, V1.00, 12.2006

• Carry out a comprehensive commissioning test.

Failure to follow these instructions can result in death or se-
rious injury.

AC servo drive 2-3

Safety LXM05C

@ WARNING
Loss of control over controller
• Observe the accident prevention regulations. (For USA see
also NEMA ICS1.1 and NEMA ICS7.1)
• The system manufacturer must take the potential error possibi-
lities of the signals and the critical functions into account to
ensure a safe status during and after errors. Some examples
are: emergency stop, final position limitation, power failure and
restart.
• The assessment of error possibilities must also include unex-
pected delays and the failure of signals or functions.
• Suitable redundant control paths must be in place for dange-
rous functions.
• Check that measures taken are effective.
Failure to follow these instructions can result in death or se-
rious injury.

2.5 Monitoring functions

The monitoring functions in the product protect the system and reduce
the risks involved in a system malfunction. These monitoring functions
are not sufficient for personal protection.
The following errors and limit values can be monitored:

Monitoring Task Protective function

Motor overload Monitoring for excessively high current in the motor phases Functional safety and
device protection
Overvoltage and Monitoring for overvoltage and undervoltage of the power supply Functional safety and
undervoltage device protection
Overtemperature Monitoring device for overtemperature Device protection

Table 2.1 Monitoring functions

For the description of the monitoring function see 7.6.1 “Monitoring func-
tions“ from page 7-14.
0198441113363, V1.00, 12.2006

2-4 AC servo drive

 LXM05C Technical Data

3 Technical Data
This chapter contains information on the required environmental condi-
tions and on the mechanical and electrical properties of the unit family
and the accessories.

3.1 Environmental conditions

When considering the ambient temperature a distinction is made bet-
ween the permissible temperatures during operation and the permis-
sible storage and transport temperature.
ambient operating temperature The maximum permissible ambient air temperature during operation de-
pends on the clearance between the units and the required output. The
relevant requirements in the chapter on installation are also very impor-
tant.

Temperature 1) [°C] 0 ... +50

1) no icing

Ambient climate for transport and The environment during transport and storage must be dry and dust-
storage free. The maximum oscillation and shock stress must be within the spe-
cified limits. The bearing and transport temperature must remain within
the specified range.

Temperature [°C] -25 ... +70

Pollution degree
Pollution degree 2

Relative humidity The relative humidity is allowed as follows:

rel. air humidity conforming to IEC60721-3-3,

Class 3K3,
5% ... 85%, no condensation per-
mitted

Installation height
Installation height above mean sea [m] <1000
level for 100% power
Max. ambient temperature 40°C, [m] <2000m
no protective foil and side distance
>50 mm
0198441113363, V1.00, 12.2006

Vibration and shock loading The strength during oscillation stress on the units corresponds to
EN 50178 Section 9.4.3.2 and IEC 61131-2 Section 6.3.5.1.

Oscillation and vibration Conforming to IEC/EN 60068-2-6:

1.5 mm peak to peak from 3 ... 13
Hz, 1 gn from 13 ... 150 Hz
Shock loading 15 gn for 11 ms conforming to IEC/
EN 60068-2-27

AC servo drive 3-1

Technical Data LXM05C

Wiring Use copper wiring resistant to at least 60°C or 75°C.

3.1.1 Degree of protection

The devices have the degree of protection IP20. The degree of protec-
tion IP40 is met for the top of the housing if the protective cover on top
of the device has not been removed. The safety cover may need to be
removed because of the ambient temperature or the device clearances,
see chapter 5.2.1 “Installing the device“ page 5-7.

3.2 Mechanical data

3.2.1 Dimensional drawings

J
2xØ5
M4

H
b

K
= G =
c a
Figure 3.1 Dimensional drawing

J
4xØ5
M4
H
b

= G =
c a

Figure 3.2 Dimensional drawing

0198441113363, V1.00, 12.2006

3-2 AC servo drive

 LXM05C Technical Data

LXM05•... U70••• D14•• D2••• D5•••

D10••• D17••• D3•••
Figure Figure Figure Figure Figure
3.1 3.1 3.2 3.2
a mm 72 107 142 180
b mm 145 143 184 232
c mm 140 150 150 170
G mm 60 93 126 160
H mm 121.5 121.5 157 210
J mm 5 5 6.5 5
K mm 18.5 16.5 20.5 17
Weight kg 1.1 1.4 2 4.8
Type of cooling Convec- Fan Fan Fan
tion 1)
Top-hat rail installation 77.5 2) 105 2) - -
1) >1 m/s
2) Width of adapter plate

3.3 Electrical Data

3.3.1 Performance data for power amplifier
Mains voltage: range and tolerance
115VAC [VAC] 100 -15% ... 120 +10%
230VAC [VAC] 200 -15% ... 240 +10%
400VAC [VAC] 380 -15% ... 480 +10%
Frequency [Hz] 50 -5% ... 60 +5%

transient overvoltages overvoltage category III

Inrush current and leakage current

Inrush current [A] <60
Leakage current (as per [mA] <30 1)
IEC 60990, Figure 3)
1) measured on mains with earthed neutral point, with no external mains filter. When
using residual-current devices make sure that a 30 mA residual-current device can
trigger at 15 mA. A high-frequency leakage current also flows, which is not consi-
dered in the measurement. Residual current devices respond differently to this.

Power consumption and impedance The specified power consumption refers to a mains with the specified re-
of mains supply ference voltage and the assumed short-circuit impedance at nominal
0198441113363, V1.00, 12.2006

power output. The power consumption depends strongly on the impe-

dance of the supply mains. This is specified by a possible short-circuit
current. If the actual mains deviates from this, mains reactors must be in-
stalled upstream.
Monitoring the continuous output The continuous output current at 4kHz and 8kHz is monitored by the de-
current vice. If the value is continuously exceeded, the output current is reduced
by the device. The internal overtemperature monitoring does not re-
spond at the specified values so long as the ambient temperature re-

AC servo drive 3-3

Technical Data LXM05C

mains below 40°C and no heat is generated at the internal braking

resistor.
Peak output current for 3 seconds The peak output current at 4kHz and 8kHz can be output by the device
for 3 seconds. If the peak current flows at motor standstill, the higher
heat build-up enables the current limiting of the device earlier that when
the motor is rotating.
Continuous and peak currents are lower at 8kHz because of higher los-
ses. This is particularly clear in devices with higher DC bus voltage.
Voltage against PE The insulation of the devices is designed for a nominal voltage corres-
ponding to the value of the reference voltage. The voltage against earth
must not exceed these values.
Approved motors For an overview of the approved motor series (BRH, BSH) that can be
attached to this device series see the product catalogue. When making
the selection consider the type and amount of the mains voltage.

LXM05•... U70M2 D10M2 D17M2 D28M2 D14N4 D22N4 D34N4 D57N4

Nominal voltage [V] 230 230 230 230 400 400 400 400
(1~) (1~) (1~) (1~) (3~) (3~) (3~) (3~)
Current consumption at nominal voltage [Arms] 4.2 7 11 20 4 6 9.2 16.8
nominal power (device power output) [kW] 0.4 0.75 1.2 2.5 1.4 2.0 3.0 6.0
max. permissible short circuit current of [kA] 1 1 1 1 5 5 5 22
mains
power loss 1) [W] 38 48 74 142 65 90 147 240
continuous output current at 4kHz [Arms] 3 4 8 15 6 9 15 25
[Apk] 4.24 5.66 11.31 21.21 8.49 12.73 21.21 35.36
peak output current at 4kHz [Arms] 5 7 12 20 10 16 24 40
[Apk] 7.07 9.90 16.97 28.28 14.14 22.63 33.94 56.57
continuous output current at 8kHz [Arms] 2.4 3.2 7 13 5 7 11 20
[Apk] 3.39 4.53 9.90 18.38 7.07 9.90 15.56 28.28
peak output current at 8kHz [Arms] 4.3 6 11 20 7.5 14 18 30
[Apk] 6.08 8.49 15.56 28.28 10.61 19.80 25.46 42.43
Primary fuse 2) [A] 10 10 15/16 25 10 15/16 15/16 25
1) condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power
2) Fuses: fusible links of class CC or J as per UL 248-4, alternatively miniature circuit-breakers with B or C characteristic. 15/16A
specification: circuit breakers are available with 16A nominal current, UL fuses with 15A.
0198441113363, V1.00, 12.2006

3-4 AC servo drive

 LXM05C Technical Data

3.3.2 24VDC controller power supply

Spring loaded terminals The spring loaded terminals have a maximum cross-section of 0.75mm2
and a maximum current loading capacity of 2A.
24V power supply The 24V supply voltage must meet the requirements of IEC 61131-2
(PELV standard power supply):

Input voltage [V] 24V -15% / +20%

Power consumption (without load) [A] ≤1
Ripple voltage <5%

3.3.3 Signals
Signal inputs are reverse polarity protected, outputs are resistant to
short-circuit. There is an electrical connection to 0VDC.
24V input signals The levels of the inputs correspond when configured as "source" in
EN 61131-2, Type 1

Logical 1 (Vhigh) [V] +15 ... +30

Logical 0 (Vlow) [V] -3 ... +5
Input current (typical) [mA] 10
Debouncing time [ms] 1 ... 1.5

24V output signals The 24V output signals correspond to IEC 61131-2.

Output voltage [V] ≤30

max. switching current [mA] ≤50
voltage drop at 50 mA load [V] ≤1

Analogue input signals

Differential input voltage range [V] -10 - +10
Input resistance [kΩ] ≥10
Resolution ANA1 [Bit] 14
Sampling time ANA1 [ms] 0.25

Position input signals The CW/CCW, pulse/direction and A/B signals conform to the RS422 in-
terface specifications

Symmetrical conforming to RS422

Input resistance [kΩ] 5
CW/CCW input frequency [kHz] ≤400
0198441113363, V1.00, 12.2006

Input frequency, pulse/direction [kHz] ≤400

Input frequency, A/B [kHz] ≤400

Encoder simulation output signal The encoder simulation output signal complies with the RS422 interface
specifications

AC servo drive 3-5

Technical Data LXM05C

Logic level conforming to RS422

Output frequency per signal [kHz] ≤400
Motor increments per seconds [Inc/s] ≤1,6

Sensor signals
Output voltage for encoder +10V / 100mA
SIN/COS input signalVoltage 1Vpp with 2.5V offset,
range 0.5Vpp at 100kHz
Input resistance [Ω] 120

The output voltage is short-circuit protected and overload resistant. The

transmission protocol is asynchronous half-duplex in compliance with
RS485.

3.3.4 Braking resistor

The device has an internal braking resistor. If this is insufficient, it will be
necessary to use one or more external braking resistors, see chapter
5.3.5 “Connection of braking resistor“ page 5-19. For an overview of the
available external braking resistors see the chapter on accessories on
page 11-1.
The following minimum resistance values are required for the use of one
or more external braking resistors. The internal resistance must be
disabled, see also Commissioning, page 5-20.
The continuous output of the connected external braking resistors must
not exceed the nominal power of the device.

LXM05•... U70M2 D10M2 D17M2 D28M2 D14N4 D22N4 D34N4 D57N4

Energy consumption of internal capaci- [Ws] 17.7 17.7 26.6 43.0 26.0 1) 52.0 2) 52.0 104.0 3)
tors Evar
resistance internal [Ω] 40 40 40 20 40 30 30 20
Continuous output PPR [W] 20 20 40 60 40 60 60 100
Peak energy ECR [Ws] 900 900 900 1600 1000 1600 1600 2000
Making voltage [V] 430 430 430 430 770 770 770 760
External braking resistor min [Ω] 50 50 27 16 60 25 25 10
External braking resistor max [Ω] 75 75 45 27 80 36 36 21
1) at 480V: 6.0Ws
2) at 480V: 12.0Ws
3) at 480V: 10.0Ws
0198441113363, V1.00, 12.2006

3-6 AC servo drive

 LXM05C Technical Data

3.3.5 Internal mains filter

The EMC standards differentiate between various application cases:

EN 61800-3:2001-02; IEC 61800-3, Ed.2 Description

first environment, general availability; category C1 operation in living areas, e.g. sale by hardware supplier
first environment, restricted availability; category C2 operation in living areas, sale through dealers only
second environment; category C3 operation in industrial mains

This drive system meets the EMC requirements for the second environ-
ment under the IEC 61800-3 standard if the measures described for the
installation are taken into account. When operating outside this applica-
tion area note the following:

@ WARNING
High-frequency interference
In a domestic environment this product may cause high-frequency
interference that may require action to suppress interference.

Better values can be achieved depending on the unit and the application
and also the structure, e.g. on installation in an enclosed switch cabinet.
If the limit values for the first environment (public networks, category C2)
are required, external line filters must be connected in series.
The following limit values for wiring-related interference quantities are
met by EMC-compliant construction and by using the cables offered in
the accessories:

Devices with internal mains filter second environment (industrial environment, category C3), device installed in
an enclosed control cabinet with 15 dB attenuation: up to 10m motor cable
length

An external line filter is required when using a unit without an integrated

line filter or with long motor lines. The operator must ensure that the
EMC directives are observed in this case. For order data for external line
filters see the chapter on accessories on page 11-4.
0198441113363, V1.00, 12.2006

AC servo drive 3-7

Technical Data LXM05C

3.4 Technical Data accessories

3.4.1 External braking resistors

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

Resistance value [Ω] 10 27 27 27 72 72 72
Continuous output [W] 400 100 200 400 100 200 400
max. make time at 115V [s] 3 1.8 4.2 10.8 6.36 16.8 42
max. make time at 230V [s] 0.72 0.552 1.08 2.64 1.44 3.72 9.6
max. make time at 400V [s] 0.12 0.084 0.216 0.504 0.3 0.78 1.92
Peak output at 115V [kW] 6.3 2.3 2.3 2.3 0.9 0.9 0.9
Peak output at 230V [kW] 18.5 6.8 6.8 6.8 2.6 2.6 2.6
Peak output at 400V [kW] 60.8 22.5 22.5 22.5 8.5 8.5 8.5
max. peak energy at 115V [Ws] 18800 4200 9700 25000 5500 14600 36500
max. peak energy at 230V [Ws] 13300 3800 7400 18100 3700 9600 24700
max. peak energy at 400V [Ws] 7300 1900 4900 11400 2500 6600 16200

3.4.2 Line reactor

Line reactor If the mains power does not correspond to the requirements described
for impedance, line reactors may need to be installed, see also the chap-
ter on installation. For order data see the chapter on accessories on
page 11-4.

3.4.3 External mains filter

The EMC standards differentiate between various application cases;
see Chapter 3.3.5 “Internal mains filter“, page 3-7.
Better values can be achieved depending on the unit and the application
and also the structure, e.g. on installation in an enclosed switch cabinet.
If the limit values for the first environment (public networks, category C2)
are required, external line filters must be connected in series.
The following limit values for wiring-related interference quantities are
met by EMC-compliant construction and by using the cables offered in
the accessories:

All devices with an external mains filter first environment, restricted availability (public mains, category C2), device
installed in an enclosed control cabinet with 15 dB attenuation. up to 20m
motor cable length
second environment (industrial environment, category C3), device installed in
an enclosed control cabinet with 15 dB attenuation: up to 40m motor cable
length (100m at 8kHz switching frequency)
0198441113363, V1.00, 12.2006

An external line filter is required when using a unit without an integrated

line filter or with long motor lines. The operator must ensure that the
EMC directives are observed in this case. For order data for external line
filters see the chapter on accessories on page 11-4.

3-8 AC servo drive

 LXM05C Technical Data

3.4.4 Holding brake controller HBC

For motors with holding brake we recommend appropriate control logic
(HBC) that releases the brake when the motor is powered and locks the
motor axis at the correct moment before the power amplifier supply vol-
tage is switched off and optionally reduces the braking voltage.
Dimensions HBC
Dimensions (H * B * D) [mm] 99 * 22.5 * 114.5
Installation on top-hat rail

Power supply
Nominal voltage [V] 24
Voltage range [V] 19.2 ... 30
Current consumption [A] 0.5 + braking current

Signal input
Voltage range [V] 19.2 ... 30
Input current at 24V [mA] <10

Holding brake output

Voltage before voltage reduction [V] 23 ... 25
Voltage with voltage reduction [V] 17 ... 19
Maximum output current [A] 1.6
Time to voltage reduction [ms] 1000

The holding brake controller has a safe electrical isolation of the holding
brake output.

3.4.5 Reference value adapter RVA

Dimensions
Dimensions (H * B * D) [mm] 77 * 135 * 37
Installation on top-hat rail

Electrical data
Input
Supply voltage [V] 19,2 ... 30
Current consumption [mA] 50
(5VSE unloaded)
Current consumption [mA] 150
(5VSE 300mA)
Output, Encoder
0198441113363, V1.00, 12.2006

5VSE [V] 4,75 ... 5,25

Maximum output current [mA] 300
sense-controlled,
short-circuit and overload-proof

AC servo drive 3-9

Technical Data LXM05C

3.4.6 Cable
Overview of cables required

max. length [m] min. cross section corr. PELV shielded, twisted pair
[mm2] earthed
both ends
Controller supply voltage − 0.75 X
Power amplifier supply voltage − − 1)
Motor phases − 2) − 3) X
Cable for HBC ⇒ motor 4) − 2)
, max. 0.12 − 3) 5)
X
see motor phases unshielded
Cable for HBC ⇒ device max. 0.12 unshiel- 0.75 5) X
ded
ext. braking resistor 3 as in power ampli- X
fier supply voltage
Motor encoder 100 10*0.25 mm² and X X X
2*0.5 mm²
Encoder signals A/B/I 100 0.25 X X X
PULSE/DIR 100 0.14 X X X
CW/CCW 100 0.14 X X X
ESIM 100 0.14 X X X
Analogue inputs 10 0.14 - 1.5 X X 6) X
Digital inputs/outputs 15 0.14 X
PC, decentralised control terminal 400 0.14 X X X
1) see 5.3.6 “Connection of power amplifier supply voltage“
2) Length depends on required limit values for line interference, see 3.3.5 “Internal mains filter“ and 3.4.3 “External mains filter“.
3) see 5.3.4 “Motor phase connections“
4) For BRS motors see motor manual
5) Temperature range: up to 105°C
6) Earth shield of analogue signal lines directly on device (signal input). At the other end of the cable insulate the shield or if inter-
ference occurs earth via a capacitor (e.g. 10nF).

Table 3.1 Cable specifications

Motor and encoder cable Motor cable1 and encoder cable 1. are usable as trailing cable and avai-
lable in different lengths. For the corresponding types see the accesso-
ries section on page 11-4.

Permissible voltage [VAC] 600 (UL and CSA)

Shield Shield braiding
Sheath Oil-resistant PUR
Temperature range [°C] -40 ... +90 (fixed)
0198441113363, V1.00, 12.2006

-20 ... +80 (movable)

Minimum bending radius 4 x diameter (fixed)
7.5 x diameter (moving)

1. All details refer to BSH motor; for BRH motor see motor manual

3-10 AC servo drive

 LXM05C Engineering

4 Engineering
This chapter contains basic information on options for use of the pro-
duct, which are essential for the engineering.

4.1 Logic type

This product can switch the 24V inputs and outputs as follows (DRC-
iolt).

Logic type active status

"Source" Output supplies current
current flows to the input
"Sink" Output draws current
current flows from the input

@ WARNING
Unmonitored operation
When using the "Sink" setting logic type the earth fault of a signal
is detected as an On status.
• Use great care with wiring to prevent the possibility of an earth
fault.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

1 2

+24V +24V

ENABLE ENABLE

NO_FAULT_OUT NO_FAULT_OUT

0V 0V

Figure 4.1 Logic type

0198441113363, V1.00, 12.2006

(1) "Source"
(2) "Sink"
It is specified at "First setup" with the parameter IOLogicType. This
setting affects the wiring and the control of sensors and must be tho-
roughly clarified during engineering with regard to the application.

AC servo drive 4-1

Engineering LXM05C

4.2 Configurable inputs and outputs

This product has digital inputs and outputs that can be configured. The
inputs and outputs have a defined standard assignment depending on
the start-up operating mode. This assignment can be adapted to the re-
quirements of the customer's installation. For more information see
chapter 7.6.7 “Configurable inputs and outputs“.

0198441113363, V1.00, 12.2006

4-2 AC servo drive

 LXM05C Installation

5 Installation

@ WARNING
Loss of control over controller
• Observe the accident prevention regulations. (For USA see
also NEMA ICS1.1 and NEMA ICS7.1)
• The system manufacturer must take the potential error possibi-
lities of the signals and the critical functions into account to
ensure a safe status during and after errors. Some examples
are: emergency stop, final position limitation, power failure and
restart.
• The assessment of error possibilities must also include unex-
pected delays and the failure of signals or functions.
• Suitable redundant control paths must be in place for dange-
rous functions.
• Check that measures taken are effective.
Failure to follow these instructions can result in death or se-
rious injury.

The chapter on engineering contains basic information that

you should know before starting the installation.

5.1 Electromagnetic compatibility, EMC

@ WARNING
Interference with signals and devices
Distorted signals can cause unpredictable device responses.
• Install the wiring in accordance with the EMC requirements.
• Check compliance with the EMC requirements, particularly in
an environment subject to strong interference.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

This drive system meets the EMC requirements for the second environ-
ment under the IEC 61800-3 standard if the measures described for the
installation are taken into account. When operating outside this applica-
tion area note the following:
0198441113363, V1.00, 12.2006

@ WARNING
High-frequency interference
In a domestic environment this product may cause high-frequency
interference that may require action to suppress interference.

AC servo drive 5-1

Installation LXM05C

An EMC-compliant design is required to maintain the specified limit va-

lues. Depending in the case better results can be achieved with the fol-
lowing measures:
• Upstream mains reactors. Information on current distortions can be
obtained on request.
• Upstream external mains filters, particularly to maintain limit values
for the first environment (living area, category C2)
• Particularly EMC-compliant design, e.g. in an enclosed switch cabi-
net with 15dB damping of radiated interference
EMC and accessories Information on the EMC kit (comprising EMC plate and earth clamps)
and the pre-assembled cables can be found from page 11-2.
Switching cabinet setup
EMC measures Effect
Use EMC plate or galvanised or chrome-plated Good conductivity due
mounting plates, make large contact surface con- to two-dimensional con-
nections for metal parts, remove paint from contact tacts
surfaces
Earth the control cabinet, door and EMC plate with Reduction of emissions.
metal tapes or cables with a cross section area gre-
ater than 10 mm2.
Fit switching devices such as contactors, relays or Reduction of mutual
solenoids with interference suppressors or spark interference
suppressors (e.g.diodes, varistors, RC elements)
Install power and control components separately. Reduction of mutual
interference

Cabling
EMC measures Effect
Keep wiring as short as possible. Do not install Avoidance of capacitive
"safety loops", short cables from the star point in the and inductive interfe-
switch cabinet to outlying earth connection. rence injection
Use cable clamps to connect a large surface area of Reduction of emissions.
the shield of all shielded cables to the mounting
plate at the control cabinet entry.
Fieldbus lines and signal lines must not be laid in Prevention of mutual
the same conduit with lines for DC and AC voltage interference
over 60 V. (Fieldbus lines can be laid in the same
conduit with signal and analogue lines)
Recommendation: lay in separate conduits at least
20 cm apart.
Connect large surface areas of cable shields, use Reduction of emissions.
cable clamps and tapes
Earth shields on digital signal lines over a wide area Preventing interference
at both ends or via conductive plug housing. on control cables, reduc-
tion of emissions
0198441113363, V1.00, 12.2006

Use bonding conductors in system with Protection of wiring,

– wide-area installation reduction of emissions.
– different voltage infeed
– networking between different buildings
Use fine-core bonding conductors Deflect even high-fre-
quency interference cur-
rents

5-2 AC servo drive

 LXM05C Installation

EMC measures Effect

Earth shield on analogue signal lines directly at the Preventing ripple loops
device (signal input), and insulate the shield at the due to low-frequency
other end of the cable or earth via a capacitor if interference
interference occurs, e.g. 10 NF.
Use only shielded motor cables with copper brai- Controlled discharge of
ding and at least 85% covering, ground a large sur- interference currents,
face area of the shield at each end. reduction of emissions
If motor and machine are not conductively connec- Reduction of emissions,
ted, e.g. by an insulated flange or a non-flat connec- increase in resistance to
tion, earth the motor with an earth wire >10 mm2 interference
(>6 AWG) or ground strap.
Lay connections of the 24VDC supply voltage as Preventing interference
“twisted pair”. on control cables, reduc-
tion of emissions

Power supply
EMC measures Effect
Operate drive system on mains with earthed neutral Mains filter is only effec-
point (not IT mains). tive on systems with an
earthed star point.
Connect the negative output of the PELV power Reduction of EMC emis-
supply unit to PE. sions, safety
Circuit breaker if there is danger of overvoltage or Protection against
lightning strike damage by overvoltage

EMC requirement: motor and motor Motor leads and motor sensor cables are especially critical signal lines.
encoder cables Use the cables recommended by your local representative. They must
be tested for EMC safety and must be suitable for trailing cables.
The motor cable and the motor encoder cable on the drive solution must
be laid out over a wide area with low resistance on the device, the switch
cabinet output and on the motor.
왘 Lay out motor and motor encoder cables without interruption (do not
install switch components) from the motor and encoder to the
device.
If a line has to be interrupted, shielded connections and metal
casing must be used to prevent interference.
왘 Lay the motor cable at least 20 cm from the signal cable.
If the distance is less than this, the motor cable and signal cables
must be separated by grounded screening plates.
왘 For long lines bonding conductors with a suitable cross section
must be used

Equipotential bonding conductors The shields are connected at both ends for fault protection. Potential dif-
ferences can result in excessive currents on the shield and must be pre-
0198441113363, V1.00, 12.2006

vented by equipotential bonding conductor cables.

If lines over 100 m are approved, the following applies: up to 200 m
length a cable cross section of 16 mm2 is sufficient, for greater lengths
a cable cross section of 20 mm2 is required.

AC servo drive 5-3

Installation LXM05C

Earthing to Control cabinet

star point
Mains filter
Shield on (optional)
mounting plate

System earth Star point

for earthing
HBC

Machine bed

optional

Earth motor
to machine bed

Braking resistor
Motor cable

M~

Encoder cable

Reference
signal Position

Figure 5.1 EMC measures

0198441113363, V1.00, 12.2006

5-4 AC servo drive

 LXM05C Installation

5.1.1 Operation in an IT mains

An IT mains is characterised by a neutral conductor that is insulated or
earthed through a high impedance . If you use a permanent insulation
monitor, it must be suited for non-linear loads (e.g. Type XM200 from
Merlin Gerin). If, despite perfect wiring, a fault is indicated, you can, in
the case of products with integrated mains filters, disconnect the earth
connection to the Y- capacitors (deactivate the Y- capacitors).
With all other networks except for IT mains the earth connection via the
Y- capacitors must be maintained.
If the earth connection to the Y- capacitors is removed, the specifications
for the transmission of electromagnetic interference will no longer be
maintained (specific categories see chapter 3.3.5 “Internal mains filter“
page 3-7)! Separate measures are required to comply with national re-
gulations and standards.
CAUTION: the motor must be designed for operation in the IT mains.

1a 2a

PE
1b

2b

Devices with switch beside power terminals (1) Devices with jumpers (2)
LXM05•... U7••• D1••• D2••• D3••• D4••• LXM05•... D5•••
(1a): Y-capacitors of the internal filter effective (stan- (2a): Y-capacitors of the internal filter effective (stan-
dard) dard)
(1b): Y-capacitors of the internal filter disabled (IT (2b): Y-capacitors of the internal filter disabled (IT
mains) mains)
0198441113363, V1.00, 12.2006

AC servo drive 5-5

Installation LXM05C

5.2 Mechanical installation

$ DANGER
Electric shock from foreign bodies or damage.
Conductive foreign bodies in the product or serious damage can
cause voltage spread.
• Do not use damaged products.
• Prevent foreign bodies such as chips, screws or wire clippings
from entering the product.
• Do not use products that contain foreign bodies.
Failure to follow these instructions will result in death or se-
rious injury.

@ CAUTION
Hot surfaces
The heat sink on the product may heat up to over 100°C (212°F)
depending on the operating mode.
• Prevent contact with the hot heat sink.
• Do not install flammable or heat-sensitive components in the
immediate vicinity.
• Follow the actions described for heat dissipation.
Failure to follow these instructions can result in injury or
equipment damage.

0198441113363, V1.00, 12.2006

5-6 AC servo drive

 LXM05C Installation

5.2.1 Installing the device

Switching cabinet The switching cabinet must be dimensioned so all devices and acces-
sories can be fixed in place and wired to meet EMC standards. The com-
ponents include a holding brake controller or braking resistors.
The switching cabinet ventilation must be capable of extracting the heat
generated by all devices and components installed in the switch cabinet.
Installation spacing;ventilation When selecting the position of the device in the switching cabinet, note
the following instructions:
• Adequate cooling of the device must be ensured by complying with
the minimum installation distances. Prevent heat accumulation.
• The device must not be installed close to heat sources or mounted
on flammable materials.
• The warm airflow from other devices and components must not
heat the air used for cooling the device.
• The drive will switch off as a result of overtemperature when opera-
ted above the thermal limits.

d d

Figure 5.2 Installation spacing and air circulation

Temperature Distance 1) Measures without protective foil 2) Measures with protective foil in place
0 °C ... +40 °C d > 50 mm None None
(32 °F ... 104 °F) (d > 1.97 in.)
d < 50 mm None d > 10 mm
(d < 1.97 in.) (d > 0.39 in.)
+40 °C ... +50 °C d > 50 mm None Reduce nominal current and continuous
(104 °F ... 122 °F) (d > 1.97 in.) current 3)
d < 50 mm Reduce nominal current and continuous Operation not possible
(d < 1.97 in.) current 3)
0198441113363, V1.00, 12.2006

1) Distance in front of the device: 10 mm (0.39 in.), above: 50 mm (1.97 in.), below: 200 mm (7.87 in.)
2) Recommendation: remove protective foil on completion of the installation
3) by 2.2 % per °C above 40 °C (by 1.22 % per °F above 104 °F)

At least 10mm of free space is required in front of the device. Make sure
that the operator elements are accessible.
At least 50 mm of free space is required above the device.
The connector cables come out of the bottom of the housing. At least

AC servo drive 5-7

Installation LXM05C

200mm free space under the device is required to ensure that wiring can
be installed without excessive bending.
Installing the device For the dimensions of the fastening holes see 3.2.1 “Dimensional dra-
wings“ from page 3-2.
왘 Install the device in a vertical position (±10°). This is particularly
important for cooling the device.
왘 Attach the EMC plate at the bottom of the device, see also Figure
5.1, or use alternative attaching elements (comb bars, shield
clamps, busbars).

Attach plate with safety instructions 왘 Attach the plate with safety instructions included with the device in a
visible position on the front panel as specified by the national regu-
lations.

An alternative to fastening the unit directly to the control cabinet moun-

ting plate is adapter plates for mounting to top-hat rails, see chapter
3.2.1 “Dimensional drawings“
In this case mains filters cannot be attached directly beside or behind
the device.
Painted surfaces have an insulating effect. Remove the
paint from the attachment points over a wide area (bright
metal) before attaching the unit to a painted mounting
plate.

Remove the protective foil

Figure 5.3 Removing protective foil

Remove the protective foil only after completion of all installation work.
The protective foil must be removed if required by the thermal conditi-
ons.
0198441113363, V1.00, 12.2006

5-8 AC servo drive

 LXM05C Installation

5.2.2 Installing mains filter, mains reactor and braking resistor

External line filter You can check whether the your unit has an integrated line filter by the
type code and the specifications (see page 3-1).
An external line filter is required when using a unit without an integrated
line filter or with long motor lines. The operator must ensure that the
EMC directives are observed in this case.
For specifications of external mains filters see page 3-7.
For directions on electrical installation see mains supply from page 5-24.

Figure 5.4 Installing mains filters

왘 Install the mains filter at the rear or the left side of the device.

If the line filter is mounted behind the unit, the line filter
terminals will not be accessible after installation of the
EMC plate.

If you are using the top-hat rail mounting plates, the line
filter cannot be mounted directly beside or behind the unit.

Mains reactor A mains reactor must be used under the following conditions:
• operation on power supply mains with low impedance (maximum
possible short circuit current of the mains greater than specified in
the Technical Data), see Technical Data from page 3-3
• at high average output power that is greater than half the nominal
power
• where there are special requirements for the service life of the
0198441113363, V1.00, 12.2006

device (24h operation)

• operation on mains with reactive-current compensation systems
• for improvement of the power factor at the mains input and to
reduce the mains feedback
• if overvoltages greater than overvoltage category III could occur
Multiple devices can be operated with one mains reactor. The rated cur-
rent of the reactor must be considered.

AC servo drive 5-9

Installation LXM05C

In the case of a mains impedance that allows a short-circuit current gre-

ater than 1kA the inductance of the reactor must be greater than 0.8mH.
Current harmonic waves place a heavy load on the internal DC bus ca-
pacitors. This has a significant influence on the service life of the device.
For suitable mains reactors see accessories from page 11-4.
The information sheet included with the mains reactor
contains additional information on mounting. For directions
on electrical installation see power supply from page 5-24.

External braking resistor

@ WARNING
Hot Surfaces
The braking resistor may heat up to over 250°C depending on the
operating mode.
• Prevent contact with the hot braking resistor.
• Do not place flammable or heat-sensitive components in the
immediate vicinity of the braking resistor.
• Ensure good heat dissipation.
• Check the temperature of the braking resistor by conducting a
test run under the most critical conditions.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

The braking resistors recommended in accessories from page 11-1

comply with degree of protection IP65. They can be installed outside a
switching cabinet in an environment with this degree of protection.
The information sheet included with the external braking resistor con-
tains additional information for the mounting.
For information on the function and the electrical installation see page
5-19.
0198441113363, V1.00, 12.2006

5-10 AC servo drive

 LXM05C Installation

5.3 Electrical installation

$ DANGER
Electric shock, fire or explosion
• Only qualified personnel who are familiar with and understand
the contents of this manual are authorised to work on and with
this drive system.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
• Many components, including printed wiring boards, operate at
mains voltage. Do not touch. Do not touch unshielded com-
ponents or screws of the terminals with voltage present.
• Install all covers and close the housing doors before applying
power.
• The motor generates voltage when the shaft is rotated. Lock
the shaft of the motor to prevent rotation before starting work
on the drive system.
• Before working on the drive system:
– Switch off power to all terminals.
– Place a sign "DO NOT SWITCH ON" on the switch and lock
to prevent switching on.
– Wait 6 minutes (for discharge of DC bus capacitors). Do
not short-circuit DC bus
– Measure voltage at DC bus and check for <45V. (The DC
bus LED is not a safe indication for absence of the DC bus
voltage).
Failure to follow these instructions will result in death or se-
rious injury.

$ DANGER
Electric shock from foreign bodies or damage.
Conductive foreign bodies in the product or serious damage can
cause voltage spread.
• Do not use damaged products.
• Prevent foreign bodies such as chips, screws or wire clippings
from entering the product.
• Do not use products that contain foreign bodies.
0198441113363, V1.00, 12.2006

Failure to follow these instructions will result in death or se-

rious injury.

AC servo drive 5-11

Installation LXM05C

$ DANGER
Electric shock because of insufficient earthing
With insufficent earthing these is hazard of electric shock.
• Earth the drive system before applying power.
• Do not use metallic conduits as a earth conductor. Use a con-
ductor housed within the conduit as the earth conductor.
• Use cross-sections of the protective earth conductor that com-
ply with the applicable codes.
• Earth the cable shields on both ends, but do not regard the
shields as protective earth.
Failure to follow these instructions will result in death or se-
rious injury.

@ WARNING
This product may cause direct current in the protective con-
ductor
If a residual current device (RCD) is installed, general conditions
must be observed.
Failure to follow these instructions can result in death or se-
rious injury.

Peripheral conditions for the use of If the installation regulations foresee upstream protection in the form of
a residual-current-operated a residual-current-operated protective device (FI protection switch,
protective device RCD) then a residual-current-operated protective device "Type A" can
be used for a single-phase drive booster with a connection between N
and L. A "Type B" device must be used in all other cases.
The following properties should be taken into account:
• Filtering high frequency currents.
• Delay which prevents triggering due to possible charged fault capa-
cities when switching on. This delay is not possible for 30 mA
devices. In this case you should select devices which are not prone
to unintentional triggering, for example a residual-current-operated
protective device with increased interference resistance of the type
s.i (super-immunised) (trademark Merlin Gerin).
If the plant consists of a number of drive boosters then a residual-cur-
rent-operated protective device must be used for each drive booster.
Suitability of wiring Cables must not be twisted, stretched, crushed or kinked. Use only ca-
bles that comply with the cable specification. For example, make sure
0198441113363, V1.00, 12.2006

that it is suitable for:

• Use as a trailing cable
• Temperature range
• Chemical resistance
• Layout outdoors
• Layout underground

5-12 AC servo drive

 LXM05C Installation

5.3.1 Overview of procedure

왘 Observe the basic settings described in chapter 4 “Engineering“.
The selected settings influence the complete installation:

왘 Unlock the front panel of the device and open it.

왘 Connect the earth terminal of the device or the EMC plate to the
earthing star point of the system.
왘 Connect the required terminal corresponding to the sequence of
Table 5.1. If a different connection sequence is followed, terminals
may be covered by other lines.
Follow the EMC requirements, see page 5-1.
왘 Then lock the front panel.

Connection from Connection to from page

Motor phases 5-16
External braking resistor 5-19
Mains supply 5-24
Motor rotary encoder CN2 5-27
Holding brake controller (HBC) CN1 and CN3 5-30
24V controller supply voltage CN3 5-32
Encoder simulation ESIM CN5 5-34
Analogue inputs CN1 5-35
Digital inputs/outputs CN1 5-36
Pulse CW/CCW CN1 5-37
Pulse/direction PD CN1 5-39
Encoder signals A, B CN1 5-42
PC or remote terminal CN4 5-44

Table 5.1 Installation overview

0198441113363, V1.00, 12.2006

AC servo drive 5-13

Installation LXM05C

5.3.2 Overview of all connections

Power connections
Power connections device
LXM05•...

R/L1 S/L2
U70M2 (T1)
T1
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D10F1 (T1)
D10M2 (T1)
R/L1 S/L2 T/L3 D10M3X (T2)
T2
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D14N4 (T4)
D17F1 (T3)
R/L1 S/L2 D17M2 (T3)
T3
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3
D17M3X (T4)
D22N4 (T4)
R/L1 S/L2 T/L3
T4 D28F1 (T3)
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3
D28M2 (T3)
D34N4 (T4)
T5 R/L1 S/L2 T/L3 PA/+ PBi PBe PC/- U/T1V/T2W/T3 D42M3X (T4)
D57N4 (T5)

Table 5.2 Designations of the power connections

Power connections Description

PE Earth connection (protective earth)
R/L1, S/L2/N Mains connection, single phase devices
R/L1, S/L2, T/L3 Mains connection, 3-phase devices
PA/+ DC bus
PBi Braking resistor internal
PBe Braking resistor external
PC/- DC bus
U/T1,V/T2, W/T3 Motor connections

Table 5.3 Designations of the power connections

0198441113363, V1.00, 12.2006

5-14 AC servo drive

 LXM05C Installation

Signal connections

CN1
11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

CN3
41 42 43 44
CN2

CN4
CN5

Figure 5.5 Overview of the signal connections

Connection/ Assignments
switch
CN1 Analogue inputs ±10V, pin 11 and 12
Digital inputs/outputs, pin 31-39
CW/CCW, pulse/direction PD, A/B encoder signals, pin 51 ...
55
CN2 Motor encoder (Hiperface Sensor)
CN3 24V PELV controller supply voltage
CN4 PC, remote terminal; (RJ45)
CN5 ESIM (A/B/I out)

Table 5.4 Assignment of the signal connections

0198441113363, V1.00, 12.2006

AC servo drive 5-15

Installation LXM05C

5.3.3 Reference value signals

Operation is controlled by reference value signals. shows the assign-
ment options depending on the operating modes.

Operating mode Reference value Connection

Current control ANA_IN1 (current) CN1, Pin 11, 12
Speed control ANA_IN1 (speed of CN1, Pin 11, 12
rotation)
Pulse control CW/CCW signals CN1, Pin 51-55
Pulse/direction PD sig- CN1, Pin 51-55
nals
A/B signals CN1, Pin 51-55
Jog generated

Table 5.5 Reference value signals

5.3.4 Motor phase connections

$ DANGER
Electric shock
High voltages at the motor connection may occur unexpectedly.
• The motor generates voltage when the shaft is rotated. Lock
the motor shaft to prevent rotation before starting work on the
drive system.
• AC voltages may jump over unused wires in the motor cable.
Isolate unused wires at both ends of the motor cable.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
Extend the earth through the motor cable with an additional
earth at the motor housing.
Failure to follow these instructions will result in death or se-
rious injury.

Cable specifications • Shielded cable

• Minimum cross section of wires: see table.
• Earthing of the shield at both ends
• Maximum cable length: depends on required limit values for line-
related interference, see chapter 3.3.5 “Internal mains filter“ page
3-7 and chapter 3.4.3 “External mains filter“ page 3-8.
0198441113363, V1.00, 12.2006

• for more information, see 3.4.6 “Cable“ on page 3-10.1

1. For BRH motors see motor manual

5-16 AC servo drive

 LXM05C Installation

LXM05•... U70••• D14•• D5•••

D10••• D17•••
D2•••
D3•••
D4••••
Connection cross section mm2 0.75 ... 1.5 1.5 ... 4 3.3 ... 16 1)
AWG 14 ... 20 10 ... 16 6 ... 12 1)
Tightening torque Nm 0.5 ... 0.6 1.2 ... 1.5 2.2 ... 2.8
1) Wire end ferrules or fork-type cable lugs are required with a cross section of 2.5
mm2 (AWG 14).

The wiring must have a sufficiently large cross section to ensure that the
fuse at the mains connection can be tripped in the event of a fault.
왘 Use prefabricated cables to minimise the risk of a wiring error (from
page 11-2).

Preparing cables Note the dimensions specified when fabricating cables.

BK L1
BK L2
2 BK L3
GN/YE
WH
GR

3a C 3b C
BK L1 BK L2 BK L3 BK L1 BK L2 BK L3

GN/YE GN/YE
WH
GR
WH

B GR

A A
0198441113363, V1.00, 12.2006

Figure 5.6 Steps (1-3) for fabrication of the motor cable

LXM05•... U70••• D14•• D2•••

D10•• D17••• D3•••
D4••••
D5•••
A mm 130 130 130
B mm 120 120 120
C mm 75 85 90

AC servo drive 5-17

Installation LXM05C

왘 (1) Remove the cable sheath, length A depends on the device, see
table.
왘 (2) Slide the shield braiding back over the cable sheath and store
the shield braiding. Note that during installation the shield braiding
must be positioned flat on the EMC plate.
왘 (3)Shorten the wires for the holding brake to length B for BRH
motors (see motor manual) and the three motor lines to length C.
The protective conductor has length A.1
(3a) The two brake connection lines must have length B for motors
with holding brake.
(3b) The two brake connection lines must be separately insulated
for motors without a holding brake.

Use fork-type cable lugs or wire end ferrules. The lead must fill the
sleeve for its entire length to ensure maximum current carrying capacity
and vibration resistance.
Monitoring The motor lines are monitored for:
• short circuit between the motor phases
• short circuit between the motor phases and PE
A short circuit between the motor phases and the DC bus, the braking
resistor or the holding brake wiring is not monitored.
Connecting the motor cable 왘 Follow the EMC requirements for motor cables, see page 5-3.
왘 Insulate unused wires at both ends and individually, see Figure 5.7,
Pos 1.
왘 Connect the motor leads and protective conductor to terminals U/
T1, V/T2, W/T3 and PE. The cable assignment at the motor and
device sides must match.
왘 Fix the cable shielding flat on the EMC plate.

Wiring diagram

U/T1 M
V/T2 3~
W/T3
0198441113363, V1.00, 12.2006

Figure 5.7 Motor wiring diagram, here without holding brake

1. For BRH motors see motor manual

5-18 AC servo drive

 LXM05C Installation

Connection Description Colour

U/T1 Motor line black L1 (BK)
V/T2 Motor line black L2 (BK)
W/T3 Motor line black L3 (BK)
PE Protective conductor green/yellow (GN/YE)
(1) Holding brake connector white (WH), grey (GR)
cable 1)
For motors with holding brake
see page 5-30
1) For BRH motors see motor manual

5.3.5 Connection of braking resistor

@ WARNING
Unbraked motor
An insufficient braking resistor causes overvoltage on the DC bus
and switches off the power amplifier. The motor is no longer ac-
tively braked.
• Make sure that the braking resistor is sufficiently dimensioned.
• Check the setting of the parameter for the braking resistor.
• Check the temperature of the braking resistor by conducting a
test run under the most critical conditions.
• During the test make sure that at higher mains voltage there is
less reserve in the capacitors on the DC bus.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

5.3.5.1 Internal braking resistor

A braking resistor is integrated in the device to absorb braking energy. If

the DC bus voltage exceeds a specified value, this braking resistor is
switched on. The returned energy is converted to heat by the resistance.
See also dimensioning aid, page 5-21.
The internal braking resistor is connected on delivery.
The internal braking resistor is at the back of the device.

5.3.5.2 External braking resistor

An external braking resistor is required for applications in which the mo-

0198441113363, V1.00, 12.2006

tor must be heavily braked and the internal braking resistor cannot dis-
sipate the excess braking energy.
Monitoring The device monitors the power of the braking resistor. The load on the
resistance can be read out.
The connection of the external resistance is protected against short cir-
cuit.

AC servo drive 5-19

Installation LXM05C

Selection of the external braking The size of an external braking resistor is specified by the required
resistor peaks and the continuous output at which the braking resistor can be
operated.
The resistance value R [Ω] is derived from the required peak power and
the DC bus voltage.

R = U2 / Pmax U: Switching threshold [V]

Pmax : Peek power [W]
R: Resistance [Ohm]

Figure 5.8 Calculating the resistance R of an external braking resistor

It two or more resistances are connected, not the following criteria:

• The resistors must be wired in parallel or in series so the required
resistance is reached.
• The resistance value of the external resistance must not fall below a
bottom limit, see chapter 3.3.4 “Braking resistor“.
• The total continuous output of the individual resistors must yield the
required continuous output.
For suitable braking resistors, see accessories on page 11-1.
Cable specifications • Shielded wires
• minimum cross-section: as with mains power, see page 5-24. The
wiring must have a sufficiently large cross section to ensure that the
fuse at the mains connection can be triggered in the event of a fault.
• Earthing of the shield at both ends
• Maximum cable length: 3m
The braking resistors recommended in accessories have a 3-wire, tem-
perature-resistant cable with a length of 0.75 m to 3 m.
Use fork-type cable lugs or wire end ferrules. The lead must fill the
sleeve for its entire length to ensure maximum current carrying capacity
and vibration resistance.
Connecting external braking 왘 Observe the safety instructions for the electrical installation.
resistor
왘 Before opening the device disconnect it from the supply voltage.
왘 Remove the jumper, see Figure 5.9.
If the jumper is not removed, the internal braking resistor may be
destroyed during operation.
왘 Earth the PE connection of the braking resistor.
왘 Connect the braking resistor to the device, see Figure 5.9.
0198441113363, V1.00, 12.2006

왘 Spread the shielding of the cables out flat on the EMC plate.

Test the function of the braking resistor under realistic conditions during
commissioning (page 6-15).

5-20 AC servo drive

 LXM05C Installation

Wiring diagram

PA/+ PBi PBe PC/- U/T1 V/T2 W/T3

Bridge to internal braking resistor

(delivery status)

External braking resistor

Figure 5.9 Wiring diagram, braking resistor

5.3.5.3 Dimensioning aid

The elements contributing towards the absorption of braking energy are

calculated to assist in specification. This is used to calculate the size of
the braking resistor.
An external braking resistor is required if the kinetic energy that must be
absorbed exceeds the total of internal components, including the inter-
nal braking resistor.
Internal energy absorption Braking energy is absorbed internally by the following mechanisms:
• DC bus capacitor WZW
• Internal braking resistor WIN
• Electrical losses in the drive WE
• Mechanical losses in the drive WM
The energy WZW depends in a square-law function on the difference
between the voltage before the braking operation and the response
threshold.
The voltage before the braking operation depends on the line voltage.
The energy absorption by the DC bus capacitors is lowest when the line
voltage is highest. Use the values for the highest line voltage.
Energy absorption of the internal Two characteristic values relating to the internal braking resistor deter-
braking resistor mine its energy absorption.
• The continuous output PAV shows how much energy can be conti-
nuously dissipated without overloading the braking resistor.
• The maximum energy Wpeak limits the higher heat loss which can
be dissipated in the short term.
If the continuous output is exceeded for a specified time, the braking re-
0198441113363, V1.00, 12.2006

sistors remain unloaded for a correspondingly period. This ensures that

the braking resistor is not destroyed.
The characteristic values PAV and Wpeak of the internal braking resistor
can be found from page 3-6.
Electrical losses WE The electrical losses WE in the drive can be estimated from the peak po-
wer of the drive. The maximum power loss is around 10% of peak power
for a typical efficiency factor of 90%. If the current on braking is lower, the
power loss will be reduced accordingly.

AC servo drive 5-21

Installation LXM05C

Mechanical losses WM The mechanical losses result from absorption by friction, which occurs
when the system is running. Mechanical losses can be ignored if the
system requires a much longer time to coast to a stop than the time re-
quired to stop the system under braking. The mechanical losses can be
calculated from the load torque and the speed from which the motor is
to stop.
Example Braking of a motor with the following data (AC IN equal to 400VAC):
• Starting speed: n = 4000 min-1
• Rotor inertia: JR= 4 kgcm2
• Load inertia: JL= 6 kgcm2
The energy to be absorbed is given by:
WB = 1/2 * J * (2*π*n)2
to 88 Ws
Electrical and mechanical losses are ignored.
23 Ws are absorbed in the DC bus capacitors at a power supply of 400 V.
The internal braking resistor must absorb the residual 65 Ws. It can ab-
sorb a pulse of 80 Ws. The internal braking resistor is sufficient if the
load is stopped once under braking.
If the braking process is repeated cyclically, the continuous output must
be considered. If the cycle time is longer than the ratio of the energy to
be absorbed WB and the continuous power PAV, the internal braking re-
sistor is sufficient. If braking takes place more frequently, the internal
braking resistor will not be sufficient.
In the example the ratio WB/PAV is 1.3 s. An external braking resistor is
required with a shorter cycle time.
Ratings the external braking
resistor

Motor speed

n3
D1
n2
D2 D3
n1

0 t

n4 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 t12

Cycle time
Torque required
M3

M2

M1

0 t
0198441113363, V1.00, 12.2006

M4

M5

Figure 5.10 Characteristics for rating the braking resistor

These two characteristics are also used for the rating the motor. The
segments of the characteristic under consideration in which the motor
brakes are identified by (Di)
Calculation of the energy at constant runout:

5-22 AC servo drive

 LXM05C Installation

The total inertia (Jt) must be known.

Jt is given by:
Jt = Jm + Jc
Jm: Motor inertia with and without brake
Jc: Load inertia
The energy for each runout segment is calculated as follows:

2
1 1 2πni
Ei = J ωi2 = Jt
2 t 2 60

The following is derived for the segments (D1) … (D3):

2
1 2π(n3 - n1 )
E1 = J
2 t 60

2
1 2πn1
E2 = J
2 t 60

Units: Ei in joules, Jt in kg/m², w in rad and ni in rpm.

The table shown below gives the energy uptake capacity, Evar, for the in-
dividual drive regulators (without regard to an internal or external bra-
king resistor).
When continuing with the calculation, take into account only those seg-
ments Di whose energy Ei exceeds the uptake capacity shown in the ta-
ble. These excess energies EDi should be removed via the braking
resistors (internal or external).
The calculation of EDi is accomplished using the formula:
EDi = Ei - Evar (in Joules)
The continuous power Pc is calculated for each machine cycle

Pc = ΣE Di

Cycletime

Units: Pc in [W], EDi in [J] and cycle time T in [s]

Selection takes place in two steps:
0198441113363, V1.00, 12.2006

• The maximum energy during the braking process must be less than
the peak energy that the braking resistor can accommodate:
(EDi)<(ECr) . In addition the continuous output of the internal braking
resistor must not be exceeded: (PC)<(PPr). If these conditions are
met, then the internal braking resistor is adequate.
• If any one of the conditions is not met, it is necessary to use an
external braking resistor. The resistance should be chosen such
that the conditions are met. The value of the resistance must be
between the specified minimum and maximum values, since other-

AC servo drive 5-23

Installation LXM05C

wise the load can no longer be safely braked or the product could
be destroyed.
For the order data for the external braking resistors see the accessories
section from page 11-4.

LXM05•... U70M2 D10M2 D17M2 D28M2 D14N4 D22N4 D34N4 D57N4

Energy consumption of internal capaci- [Ws] 17.7 17.7 26.6 43.0 26.0 1) 52.0 2) 52.0 104.0 3)
tors Evar
resistance internal [Ω] 40 40 40 20 40 30 30 20
Continuous output PPR [W] 20 20 40 60 40 60 60 100
Peak energy ECR [Ws] 900 900 900 1600 1000 1600 1600 2000
Making voltage [V] 430 430 430 430 770 770 770 760
External braking resistor min [Ω] 50 50 27 16 60 25 25 10
External braking resistor max [Ω] 75 75 45 27 80 36 36 21
1) at 480V: 6.0Ws
2) at 480V: 12.0Ws
3) at 480V: 10.0Ws

5.3.6 Connection of power amplifier supply voltage

$ DANGER
Electric shock because of insufficient earthing
This drive system has an increased leakage current > 3.5mA.
• Use a protective conductor at least 10 mm² (AWG 6) or two
protective conductors with the cross section of the conductor
for the power supply of the power terminals. Observe the local
regulations for earthing.
Failure to follow these instructions will result in death or se-
rious injury.

@ WARNING
Insufficient protection against overcurrents
• Use the external fuses specified in "Technical Data".
• Do not connect the product to a power supply in which the
short-circuit capacity exceeds the maximum short-circuit cur-
rent approved in "Technical Data".
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.
0198441113363, V1.00, 12.2006

5-24 AC servo drive

 LXM05C Installation

CAUTION
Destruction by incorrect mains voltage
The incorrect mains voltage may destroy the product.
• Before switching on and configuring the product, make sure
that the type is approved for the mains voltage.
Failure to follow these instructions can result in equipment
damage.

Cable specifications The wiring must have a sufficiently large cross section to ensure that the
fuse at the mains connection can be tripped in the event of a fault.
When connecting the device in an IT mains follow the directions in 5.1.1
“Operation in an IT mains“.
In addition, note the suitability of the wiring, see page 5-12 and the EMC-
compliant connection, see page 5-2.

LXM05•... U70••• D14•• D5•••

D10••• D17•••
D2•••
D3•••
D4••••
Connection cross section mm2 0.75 ... 1.5 1.5 ... 4 3.3 ... 16 1)
AWG 14 ... 20 10 ... 16 6 ... 12 1)
Tightening torque Nm 0.5 ... 0.6 1.2 ... 1.5 2.2 ... 2.8
1) Wire end ferrules or fork-type cable lugs are required with a cross section of 2.5
2mm² (AWG 14).

Preparing cables Use fork-type cable lugs or wire end ferrules. The lead must fill the
sleeve for its entire length to ensure maximum current carrying capacity
and vibration resistance.
Connecting mains power Observe the following instructions at all times:
• 3-phase devices must only be connected and operated on 3-phase.
• For devices with external mains filter the power cable must be shiel-
ded from 200 mm length between the external mains filter and the
device and earthed at both ends.
• Observe the EMC requirements. If necessary, use overvoltage
arrestors, mains filters and mains reactors, see page 5-9.
• Follow the requirements for design of corresponding UL, see page
3-1.
• The PE connection on the case must be connected to the mounting
plate because of the high leakage currents.
0198441113363, V1.00, 12.2006

Wiring diagram of 1-phase device Figure 5.11 shows the connection of the mains power supply for a single
phase device. The diagram also shows the wiring of the optional exter-
nal mains filter and mains reactor .
CAUTION: in three-phase systems the neutral conductor N must gene-
rally be used instead of L2.

AC servo drive 5-25

Installation LXM05C

PE 1 2 3

E1 S1
R/L1
L1 R/L1

S/L2
L2 S/L2

Figure 5.11 Wiring diagram:mains power for a single phase device

(1) Mains reactor (optional)

(2) Mains filter (optional)
(3) Product
If neutral conductor N is used instead of L2, a fuse is only required with
L1.
왘 Connect the power cables. Note the exact terminal assignment of
your device, see chapter 5.3.2 “Overview of all connections“.

Wiring diagram of 3-phase device Figure 5.12 shows the connection of the mains power supply for a 3-
phase device. The diagram also shows the wiring of the optional exter-
nal mains filter and mains reactor .

PE 1 2 3

E1 S1
R/L1
L1 R/L1
E2 S2
S/L2
L2 S/L2
E3 S3
T/L3
L3 T/L3

Figure 5.12 Wiring diagram:mains power for 3-phase device

(1) Mains reactor (optional)

(2) Mains filter (optional)
0198441113363, V1.00, 12.2006

(3) Product
왘 Connect the power cables. Note the exact terminal assignment of
your device, see chapter 5.3.2 “Overview of all connections“.

5-26 AC servo drive

 LXM05C Installation

5.3.7 Connection for parallel operation

CAUTION
Incorrect parallel connection
Operation with a non-approved parallel connection on the DC bus
may destroy the drive systems immediately or after a delay.
• Find out the general conditions and requirements for parallel
connections on the DC bus from your local representative.
Failure to follow these instructions can result in equipment
damage.

5.3.8 Connection of motor encoder (CN2)

Function and sensor type The motor sensor is a Hiperface sensor (SinCos sensor) integrated into
the motor. It captures the rotor position of the motor and sends the motor
position to the unit both analogue and digitally.
Cable specifications • Shielded cable
• Twisted pair lines
• Minimum cross section of signal wires: 10*0.25 mm2 + 2*0.5 mm2
• Earthing of the shield at both ends
• maximum cable length 100m
• for further information see 3.4.6 “Cable“ on page 3-101
Preparing cables 왘 Use prefabricated cables to minimise the risk of a wiring error (from
page 11-2). Step 5 in Figure 5.13 must be carried out even with pre-
fabricated cable. The dimensions for positioning the shield on the
housing are applicable when the included EMC plate is used.
왘 If you are not using prefabricated wiring, follow the procedure and
the dimensions in Figure 5.13.
0198441113363, V1.00, 12.2006

1. For BRH motors see motor manual

AC servo drive 5-27

Installation LXM05C

1 3

2 5

B C

Figure 5.13 Steps (1-5) for fabrication of the sensor cable

LXM05•... U70••• D14•• D2••• D5•••

D10• D17••• D3•••
D4•••
A mm 25 25 25 25
B mm 90 100 130 120
C mm 15 15 15 15

왘 (1) Remove the cable sheath, length A depends on the device, see
table.
왘 (2) Shorten the shield braiding. The shield braided filler wire is
required as the connection.
왘 (3) The red and the violet braided wire is not required and can be
cut off. Isolate the shield lead with shrink wrap.
왘 (4) Crimp the plug contacts on the remaining braided wires and on
the isolated shield wire. Isolate the shield braiding with shrink wrap.
Plug the crimp contacts into the connector shell; for the pin assign-
ment see .
For the order number of the crimping pliers and the extraction tool
see
왘 (5) Sheath the cable to length C on the position shown, the cable is
0198441113363, V1.00, 12.2006

fastened there at the EMC plate with a clamp (shield-earth connec-

tion).

5-28 AC servo drive

 LXM05C Installation

Wiring diagram

SHLD 1
12
6
A 11
12 11 10 9 8 7 5
8
CN2 2
9
6 5 4 3 2 1 4
3
A NC
10
NC

Figure 5.14 Wiring diagram of motor encoder

Pin Signal Motor, pin Colour 1) Pair Description I/O

1 SHLD Shielding braid
12 SIN 8 white 1 Sine signal I
6 REFSIN 4 brown 1 Reference for sine signal, 2.5 V O
11 COS 9 green 2 Cosine signal I
5 REFCOS 5 yellow 2 Reference for cosine signal, 2.5V O
8 Data 6 grey 3 Receive and transmit data I/O
2 Data 7 pink 3 Receive and transmit data, inverted I/O
10 ENC_0V 11 blue 4 Encoder reference potential (encoder) O
(0.5mm2)
red 4 not connected (0.5mm2)
3 T_MOT_0V 1 black 5 Reference potential to T_MOT
purple 5 not connected
9 T_MOT 2 grey/pink 6 temperature sensor PTC I
4 ENC+10V_OUT 10 red/blue 6 10 VDC power supply for encoder, max. O
150 mA
7 n.c. not connected
1) Colour data is based on the prefabricated cables

Connecting motor sensor 왘 Make sure that the wiring, the cables and the connected interfaces
meet the requirements for PELV.
왘 Note the EMC specification for motor sensor wiring from page 5-3,
and ensure the equipotential bonding over equipotential bonding
conductors.
왘 Connect the plug to CN2.
0198441113363, V1.00, 12.2006

왘 Fasten the cable to the EMC plate and make sure that the cable
shielding is spread over a wide area.

AC servo drive 5-29

Installation LXM05C

5.3.9 Connection of holding brake controller (HBC)

$ DANGER
Electric shock because of voltage spread
The wiring to the brake in the motor cable generally does not cor-
respond to the PELV requirements.
• Use a holding brake controller.
• Do not connect the brake to the controller voltage.
Failure to follow these instructions will result in death or se-
rious injury.

$ DANGER
Electric shock
High voltages at the motor connection may occur unexpectedly.
• The motor generates voltage when the shaft is rotated. Lock
the motor shaft to prevent rotation before starting work on the
drive system.
• AC voltages may jump over unused wires in the motor cable.
Isolate unused wires at both ends of the motor cable.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
Extend the earth through the motor cable with an additional
earth at the motor housing.
Failure to follow these instructions will result in death or se-
rious injury.

Selection and dimensioning For a motor with holding brake, we recommend an appropriate start-up
logic (HBC) which releases the brake when current is supplied to the
motor and which fixes the motor axle quickly when the motor is stopped.
Delay times for the release and the application of the brake can be set
by parameters on the device, see page 7-29. For order data for the HBC
see accessories from page .
Note the power requirement of the HBC. It depends on the switching cur-
rent for the holding brake and is calculated from:
Input current HBC [A] = 0.5 A + switching current [A]
Under certain conditions you can omit a holding brake controller. Howe-
ver, it is imperative that the following points are taken into account:
• A separate power supply is required. This must correspond to the
0198441113363, V1.00, 12.2006

specified brake tolerances.

• The controller supply voltage and the power supply for the brake
must be safely electrically isolated.
• The drive power of many motors is reduced if the current reduction
to the brake is omitted.
• The unshielded section of the brake wire must not exceed 12 cm
because of possible EMC interference.

5-30 AC servo drive

 LXM05C Installation

Wiring diagram HBC

HBC
+RELEASE_BRAKE
CN1.32 13/23
-RELEASE_BRAKE
14/24
0VDC
CN3.42 12/22
+24VDC
CN3.44 11/21

+BRAKE_OUT
32
-BRAKE_OUT
34

U/T1 M
V/T2 3~
W/T3

Figure 5.15 Wiring diagram, motor with holding brake and HBC. A separate
brake line is required for BRH motors.

HBC terminal HBC connection Description Colour

32 +BRAKE_OUT Brake wire white
(WH)
34 -BRAKE_OUT Brake wire grey
(GR)
13/23 +RELEASE_BRAKE Brake output from servo
amplifier
14/24 -RELEASE_BRAKE Reference potential for
servo amplifier brake out-
put
11/21 +24VDC Supply voltage
12/22 0VDC Reference potential for
supply voltage

A maximum motor cable length of 50m is permitted for the BSH motors
when using the holding brake controller.
If a greater length is required, a cable with a larger cross section of the
brake wires (>1mm2) is permitted.
Connecting HBC 왘 Attach the holding brake controller to the right of the device, see
0198441113363, V1.00, 12.2006

Figure 5.1.
왘 Insulate unused leads individually.

The power supply to the holding brake must be insulated from that of the
PELV circuit of the device. The insulation is internal in the HBC descri-
bed in the accessories chapter.
For further information on HBC see page 3-9, 6-20, 11-1.

AC servo drive 5-31

Installation LXM05C

5.3.10 Connection of controller supply voltage (24V at CN3)

The controller power supply (+24VDC) must be connected
for all operating modes.

$ DANGER
Electric shock from incorrect power supply unit
The +24VDC supply voltage is connected with many accessible si-
gnals in the drive system.
• Use a power supply unit that meets the requirements for PELV
(Protective Extra Low Voltage)
• Connect the negative output of the power supply unit to PE.
Failure to follow these instructions will result in death or se-
rious injury.

CAUTION
Destruction of contacts
The connection for the controller power supply at the drive system
does not have a make current limit. If the voltage is switched on by
switching contacts, the contacts may be destroyed or welded shut.
• Use a power supply that limits the peak value of the output
current to a value permissible for the contact.
• Switch the line input of the power supply instead of the output
voltage.
Failure to follow these instructions can result in equipment
damage.

@ CAUTION
Destruction of system components and loss of control moni-
toring
Excessive currents can be created at the signal connections if the
negative connection to the controller supply voltage is interrupted.
• Do not interrupt the negative connection between power sup-
ply unit and load with a fuse or switch
• Check for correct connection before switching on.
0198441113363, V1.00, 12.2006

• Never connect the controller supply voltage or change its

wiring while there is supply voltage present.
Failure to follow these instructions can result in injury or
equipment damage.

5-32 AC servo drive

 LXM05C Installation

Wiring diagram

41 42 43 44

CN3 24V = 0V

~ +24V

HBC

Figure 5.16 Controller supply voltage wiring diagram

Pin Signal Description

41 0VDC Reference potential for 24V voltage
42 0VDC Reference potential for 24V voltage
43 +24VDC 24V controller supply voltage
44 +24VDC 24V controller supply voltage

Connecting the controller supply 왘 Make sure that the cables, the wiring and the connected interfaces
voltage meet the requirements for PELV.
왘 Feed the controller supply voltage from a power supply unit (PELV)
to the device.
왘 Earth the negative output at the power supply

Rating • Terminal CN3, pin 42 and 44 (see ) can be used as a 0V/24V termi-
nal for additional consumers. Note the maximum terminal current,
see Technical Data, from page 3-1.
• As long as the controller supply voltage is switched on, the position
of the motor will remain the same, even if the power amplifier supply
voltage is switched off.
0198441113363, V1.00, 12.2006

AC servo drive 5-33

Installation LXM05C

5.3.11 Connection of encoder simulation (CN5)

Function The device is suitable for encoder simulation (ESIM). Signals for output
of the actual position can be led out at CN5. They are two phase-shifted
signals A and B. The A/B signals are generated by the motor encoder si-
gnal.
Resolution The basic resolution of the encoder simulation at 4x resolution is 4096
increments per revolution.

+ -
1
A
0
1
B
0

..7 8 9 ... 12 13 14 15 14 13 ... 9 8..

1
I
0

Figure 5.17 Timing diagram with A, B and index pulse signal, counting for-
wards and backwards

Cable specification • Shielded cable

• Twisted-pair conductors
• Minimum cross section of the signal wires 0.14 mm2
• Earthing of the screen at both ends
• Maximum length 100 m
왘 Use equipotential bonding conductors, see page 5-3.
왘 Use prefabricated cables to minimise the risk of a wiring error (from
page ).

Connecting ESIM 왘 Connect the plug to CN5. If you are not using prefabricated wiring,
make sure the pin assignment is correct.
왘 Make the appropriate settings during commissioning. See "First
Setup", page 6-11

For the order number of the crimping pliers and the extraction tool see
0198441113363, V1.00, 12.2006

5-34 AC servo drive

 LXM05C Installation

Wiring diagram

SHLD 5
A 1
6
10 9 8 7 6
2
7
3
5 4 3 2 1 8
4
CN5
9

A
Figure 5.18 ESIM wiring diagram

Pin Signal Colour 1) Description I/O

1 ESIM_A white Channel A RS422 output signal
6 ESIM_A brown Channel A, inverted RS422 output signal
2 ESIM_B green Channel B RS422 output signal
7 ESIM_B yellow Channel B, inverted RS422 output signal
3 ESIM_I grey Index pulse RS422 output signal
8 ESIM_I pink index pulse, inverted RS422 output signal
4 LO4_OUT red Digital output 4 Open collector
9 ESIM_0V blue Reference potential -
5 SHLD Shield
10 nc not connected
1) Information on colour refers to the cables available as accessories.

5.3.12 Connection of analogue inputs (CN1)

Cable specifications • Shielded cable
• Twisted pair lines
• Minimum cross section of signal wires 0.14 mm2, max. cross sec-
tion 1.5 mm2
• maximum length 10 m
Connecting analogue inputs 왘 Attach the cable to the EMC plate, the shield must be attached to
the earth potential over a wide area.
0198441113363, V1.00, 12.2006

AC servo drive 5-35

Installation LXM05C

Wiring diagram

CN1

11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

Figure 5.19 Wiring diagram, analogue inputs

Pin Signal Description I/O

11 ANA1+ ±10V, e.g. for current reference value or speed reference value I
12 ANA1- Reference potential for ANA1+, pin 11 I

Reference values and limits The ±10V scaling of the analogue reference value can be specified for
operation, see page .

5.3.13 Connection of digital inputs/outputs (CN1)

Cable specifications • minimum cross-section 0.14 mm2, max. cross-section 1.5 mm2
• Maximum length at minimum cross section 15 m..
Connecting digital inputs/outputs 왘 Wire the digital connections to CN1.
왘 Earth the shield with low resistance and over a wide area at both
ends of the cable.

Wiring diagram The signal assignment depends on the start-up operating mode. The
configuration and the standard assignment of the inputs and outputs are
described in 7.6.7 “Configurable inputs and outputs“.

CN1

11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55
0198441113363, V1.00, 12.2006

Figure 5.20 Wiring diagram, digital inputs/outputs

5-36 AC servo drive

 LXM05C Installation

Pin Signal assignment Description I/O

31 NO_FAULT_OUT/LO1_OUT Digital output 1 / error output 24V, O
32 BRAKE_OUT/LO2_OUT Digital output 2 / control signal for holding brake controller HBC: 24V, O
0 motor has no current 1 motor has current
33 LO3_OUT Digital output 3 24V, I
34 JOG_N/LI1 Digital input 1 / standard assignment depends on start-up ope- 24V, I
rating mode
35 FAULT_RESET / JOG_P / LI2 Digital input 2 / standard assignment depends on start-up ope- 24V, I
rating mode
36 ENABLE Enable power amplifier 24V, I
37 HALT / JOG_FS / LI4 Digital input 4 / standard assignment depends on start-up ope- 24V, I
rating mode
38 LI5 Digital input 5 24V, I
39 LI6 Digital input 6 24V, I

5.3.14 CW/CCW connection (CN1)

@ WARNING
Unexpected movement
Incorrect or faulty signals as reference position can trigger unex-
pected movements.
• Use shielded cables with twisted-pair.
• Operate the interface with push-pull signals.
• Do not use signals without push-pull in critical applications or
in an environment subject to interference.
• Do not use signals without push-pull with cable lengths over 3
m and limit the frequency to 50 kHz
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

@ CAUTION
Destruction of the product and loss of control
The PULSE, DIR, CW/CCW and A/B inputs at this connection are
only designed for 5V. Excessive voltage can cause destruction of
the product either immediately or at a later time.
• Check the correct connection before switching on.
Failure to follow these instructions can result in injury or
0198441113363, V1.00, 12.2006

equipment damage.

Function The device is suitable for reference value default via externally fed CW/
CCW signals. For example, this is required for the Pulse control opera-
ting mode.
"CW/CCW" interface mode The motor executes a clockwise motor step with the rising edge of the
CW signal. The motor executes an counterclockwise motor step with the
rising edge of the CCW signal.

AC servo drive 5-37

Installation LXM05C

1 >1,25µs >1,25µs
CW
0

1 >1,25µs >1,25µs
CCW
0

+ + - -

Figure 5.21 "CW/CCW" interface mode

Pin Signal Value Function

52/53 CW 0 -> 1 clockwise motor step
54/55 CCW 0 -> 1 counterclockwise motor
step

The maximum frequency is 400 kHz.

Circuit of the signal inputs

+5V +5V

10kΩ 10kΩ
RS422 CN1
+

-
4.7k Ω

+5V +5V

10kΩ 10kΩ
CN1
+
Open collector -
4.7k Ω

Figure 5.22 Circuit of the signal inputs

Cable specifications • Shielded cable

0198441113363, V1.00, 12.2006

• Twisted pair lines

• Minimum cross section of the signal wires 0.14 mm2
• Earthing of the shield at both ends
• Maximum length 100 m

5-38 AC servo drive

 LXM05C Installation

왘 Use equipotential bonding conductors, see page 5-3.

왘 Use prefabricated cables to minimise the risk of a wiring error (from
page 11-2).

Connecting CW/CCW 왘 Connect the signals to CN1. Observe the correct pin assignment.
왘 Make the appropriate settings during commissioning. See "First
Setup", page 6-11

Wiring diagram

CN1

11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

Figure 5.23 Wiring diagram PULSE

Pin Signal Colour 1) Description I/O

51 POS_0V blue Reference potential -
52 CW white Motor step in clockwise rotation (+) RS422 input signal
53 CW brown Motor step in clockwise rotation, inverted RS422 input signal
(-)
54 CCW green Motor step in counterclockwise rotation RS422 input signal
(+)
55 CCW yellow Motor step in counterclockwise rotation, RS422 input signal
inverted (-)
1) Information on colour refers to the cables available as accessories.

5.3.15 Connection of pulse/direction PD (CN1)

@ WARNING
Unexpected movement
Incorrect or faulty signals as reference position can trigger unex-
pected movements.
• Use shielded cables with twisted-pair.
• Operate the interface with push-pull signals.
0198441113363, V1.00, 12.2006

• Do not use signals without push-pull in critical applications or

in an environment subject to interference.
• Do not use signals without push-pull with cable lengths over 3
m and limit the frequency to 50 kHz
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

AC servo drive 5-39

Installation LXM05C

@ CAUTION
Destruction of the product and loss of control
The PULSE, DIR, CW/CCW and A/B inputs at this connection are
only designed for 5V. Excessive voltage can cause destruction of
the product either immediately or at a later time.
• Check the correct connection before switching on.
Failure to follow these instructions can result in injury or
equipment damage.

Function The device is suitable for reference value default via externally fed pulse/
direction signals PD. For example, this is required for the Pulse control-
operating mode.
The signal interface is used for positioning the motor. Operation readi-
ness of the drive and a possible breakdown are reported.
Pulse/direction PD The motor executes an angular step on the rising edge of the PULSE si-
gnal. The direction of rotation is controlled by the DIR signal.

1
PULSE >0,0µs
0

1 >1,25µs >1,25µs >1,25µs

DIR
0

+ + - +

Figure 5.24 Pulse direction signal

Pin Signal Value Function

52/53 PULSE 0 -> 1 Motor step
54/55 DIR 0 / open Clockwise rotation
0198441113363, V1.00, 12.2006

5-40 AC servo drive

 LXM05C Installation

Circuit of the signal inputs

+5V +5V

10kΩ 10kΩ
RS422 CN1
+

-
4.7k Ω

+5V +5V

10kΩ 10kΩ
CN1
+
Open collector -
4.7k Ω

Figure 5.25 Circuit of the PULSE, DIR and ENABLE signal inputs

Cable specifications • Shielded cable

• Twisted pair lines
• Minimum cross section of the signal wires 0.14 mm2
• Earthing of the shield at both ends
• Maximum length 100 m
왘 Use equipotential bonding conductors, see page 5-3.
왘 Use prefabricated cables to minimise the risk of a wiring error (from
page 11-2).

Connecting pulse/direction PD 왘 Connect the signals to CN1. Observe the correct pin assignment.
왘 Make the appropriate settings during commissioning. See "First
Setup", page 6-11
0198441113363, V1.00, 12.2006

AC servo drive 5-41

Installation LXM05C

Wiring diagram

CN1

11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

Figure 5.26 Wiring diagram PULSE

Pin Signal Colour 1) Description I/O

51 POS_0V blue Reference potential -
52 PULSE white Motor step "Pulse" RS422 input signal
53 PULSE brown Motor step "Pulse", inverted RS422 input signal
54 DIR green direction of rotation "DIR" RS422 input signal
55 DIR yellow direction of rotation "Dir", inverted RS422 input signal
1) Information on colour refers to the cables available as accessories.

5.3.16 Connecting encoder signals A, B (CN1)

@ CAUTION
Destruction of the product and loss of control
The PULSE, DIR, CW/CCW and A/B inputs at this connection are
only designed for 5V. Excessive voltage can cause destruction of
the product either immediately or at a later time.
• Check the correct connection before switching on.
Failure to follow these instructions can result in injury or
equipment damage.

Function At CN1 the reference value preset can be made via externally fed A/B si-
gnals in Pulse control operating mode.
The maximum frequency for A/B signals is 400 kHz.
0198441113363, V1.00, 12.2006

5-42 AC servo drive

 LXM05C Installation

+ -
1
A
0
1
B
0

..7 8 9 ... 12 13 14 15 14 13 ... 9 8..

Figure 5.27 Timing diagram with A/B signal, counting forwards and back-
wards

Cable specifications • Shielded cable

• Twisted pair lines
• Minimum cross section of the signal wires 0.25 mm2
• Earthing of the shield at both ends
• Maximum cable length 100m
왘 Use equipotential bonding conductors, see page 5-3.
왘 Use prefabricated cables to minimise the risk of a wiring error (from
page 11-1).

Connect the encoder 왘 Connect the signals to CN1. Observe the correct pin assignment.
왘 Make the appropriate settings during commissioning. See "First
Setup", page 6-11

Wiring diagram

CN1

11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

Figure 5.28 Wiring diagram, Encoder to CN5

Pin Signal Colour 1) Description I/O

0198441113363, V1.00, 12.2006

51 POS_0V blue Reference potential

52 ENC_A white Encoder signal channel A RS422 input signal
53 ENC_A brown Channel A, inverted RS422 input signal
54 ENC_B green Encoder signal channel B RS422 input signal
55 ENC_B yellow Channel B, inverted RS422 input signal
1) Information on colour refers to the cables available as accessories.

AC servo drive 5-43

Installation LXM05C

5.3.17 Connection to PC or remote terminal (CN4)

CAUTION
Damage to PC
If the interface connector on the product is directly connected to a
Gigabit Ethernet plug on the PC, the interface on the PC may be
destroyed.
• Never connect an Ethernet interface directly to this product.
Failure to follow these instructions can result in equipment
damage.

Function of the control terminal The remote terminal with LCD display and keypad can be connected di-
rectly to CN4 with the supplied RJ-45 cable, see accessories from page
11-1. This allows the device to be operated at a distance from the sys-
tem. The functions and display of the control terminal are identical to
those of the HMI.
Cable specifications • Shielded cable
• Twisted pair lines
• Minimum cross section of the signal wires 0.14 mm2
• Earthing of the shield at both ends
• maximum length 400 m
PC connection An RS485 to RS232 converter is required for the PC, see accessories
from page 11-1. The converter is powered by the device.
Wiring diagram

VW3A31101
ESC

ENT
stop
reset

FWO
RUN
REV

CN4 8 1
RS 485

VW3A8106
RS 232
A

Figure 5.29 Wiring diagram of PC or remote terminal

0198441113363, V1.00, 12.2006

Pin Signal Description I/O

4 MOD_D1 Bidirectional send/receive signal RS485 level
5 MOD_D0 Bidirectional send/receive signal, inverted RS485 level
7 MOD+10V_OUT 10 V power supply, max. 150 mA) O
8 MOD_0V Reference potential to MOD+10V_OUT O

5-44 AC servo drive

 LXM05C Installation

5.3.18 Reference value adapter

Reference value adapter RVA Reference signals of a master device can be sent simultaneously to up
to five devices using the RVA (Reference Value Adapter). This adapter
also supplies the supply voltage (5V, monitored with sense wires) for the
encoder. The correct power supply is shown by a "5VSE" LED.
An external rotary encoder (A/B signals) or an encoder simulation
(ESIM) can be used as a master device. Pulse/direction signals can also
be sent from a master controller.
Connecting RVA reference value 왘 Make sure that the wiring, the cables and the connected interfaces
adapter meet the requirements for PELV.

The RVA reference value adapter is powered by 24 V at the CN9 termi-

nals. A master controller (pulse/direction) can be connected to CN6. An
external rotary encoder or an ESIM signal can be applied to CN7.
Up to five devices that evaluate the specified reference signals can be
connected to CN1 to CN5.
The evaluation of the ACTIVE2_OUT signal is set with switch S1. The
ACTIVE2_OUT ready signal is evaluated by the device if the correspon-
dingly assigned switch is set to off. If the readiness comes from all de-
vices, the LED ACTIVE CN1-CN5 lights.

Connection CN1..5 Switch setting S1

connected devices on CN1-CN5 corresponding switch 1-5 at "off", ACTIVE2_OUT signal of the corresponding
device is evaluated
unconnected devices CN1-CN5 corresponding switches 1-5 at "on", ACTIVE2_OUT signal is simulated

M3

8 15 1 9 8 15 8 15 8 15 8 15 8 15

1 9 8 15 1 9 1 9 1 9 1 9 1 9

CN6 CN7 CN1 CN2 CN3 CN4 CN5

5VSE
ACTIVE (CN1...CN5)
CN8
0198441113363, V1.00, 12.2006

24VDC 0VDC 12345

OFF
CN9 S1

The following table shows the terminal assignment of CN1 - CN5:

AC servo drive 5-45

Installation LXM05C

Pin Signal Description I/O

1 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse+, channel A, ESIM_A O
9 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse-, channel A inverted, ESIM_A inverted O
2 DIR_OUT / B_OUT / ESIM_B_OUT Direction+, channel B, ESIM_B O
10 DIR_OUT / B_OUT / ESIM_B_OUT Direction, channel B inverted, ESIM_B inverted O
3 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE+, index pulse, ESIM_I O
11 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE-, index pulse inverted, ESIM_I inverted O
8 ACTIVE_2/READY Drive ready I
15 POS_0V Reference potential
4 - 7, 12 - 14 nc not connected

The following table shows the terminal assignment of CN6:

Pin Signal Description I/O

1 PULSE / A / ESIM_A Pulse+, channel A, ESIM_A I
9 PULSE / A / ESIM_A Pulse-, channel A inverted, ESIM_A inverted I
2 DIR / B / ESIM_B Direction+, channel B, ESIM_B I
10 DIR / B / ESIM_B Direction, channel B inverted, ESIM_B inverted I
3 ENABLE / I / ESIM_I ENABLE+, index pulse, ESIM_I I
11 ENABLE / I / ESIM_I ENABLE-, index pulse inverted, ESIM_I inverted I
8 ACTIVE2_OUT/READY_OUT Drive ready O
15 POS_0V Reference potential
4...7, 12...14 nc not connected

The following table shows the terminal assignment of CN7:

Pin Signal Description I/O

1 A Channel A I
9 A Channel A inverted I
12 B Channel B I
5 B Channel B inverted I
13 I Index pulse I
6 I index pulse inverted I
10 SENSE+ Monitoring motor encoder power supply I
11 SENSE- Reference potential to motor encoder monitor I
2 5VDC_OUT 5V motor encoder power supply O
3 POS_0V Reference potential to 5VDC_OUT
0198441113363, V1.00, 12.2006

4, 7, 8, 14, nc not connected

15

There are prefabricated cables for the Reference Value Adapter, see
chapter 11 “Accessories and spare parts“.

5-46 AC servo drive

 LXM05C Installation

CN6 CN7 CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN1 CN2 CN3 CN4 CN5
5VSE 5VSE
ACTIVE (CN1...CN5) ACTIVE (CN1...CN5)
CN8 CN9 CN8 CN9
S1 S1

24VDC 24VDC

Figure 5.30 Wiring example: encoder signals A/B/I (at CN7) are forwarded to
six devices through two cascaded Reference Value Adapters

Pulse direction

CN6 CN7 CN1 CN2 CN3 CN4 CN5

5VSE
ACTIVE (CN1...CN5)
CN8 CN9
S1

1 2 3 4 5
0198441113363, V1.00, 12.2006

24VDC
OFF

OFF

OFF

ON

ON

Figure 5.31 Wiring example: pulse direction signals (to CN6) are forwarded to
three devices.

AC servo drive 5-47

Installation LXM05C

5.4 Checking installation

After completion of all steps we recommend checking the installation to
prevent any errors before operation of the system.
왘 Make sure the drive system is correctly installed and wired up.
Check in particular basic connections such as mains power and
24V power supply.
왘 Check in detail:

• Are all protective conductors connected?

• Are all fuses correct?
• Are any live cable ends exposed?
• Are all cables and connectors safely installed and connected?
• Are the control lines connected correctly?
• Have all EMC measures been taken?
왘 Remove the protective foil as required in accordance with the speci-
fications on page 5-7.

0198441113363, V1.00, 12.2006

5-48 AC servo drive

 LXM05C Commissioning

6 Commissioning
For an overview of all parameters can be found
alphabetically sorted in the "parameters" section. The
application and the function of some parameters are
explained in more detail in this section.

6.1 General safety instructions

$ DANGER
Electric shock, fire or explosion
• Only qualified personnel who are familiar with and understand
the contents of this manual are authorised to work on and with
this drive system.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
• Many components, including printed wiring boards, operate at
mains voltage. Do not touch. Do not touch unshielded com-
ponents or screws of the terminals with voltage present.
• Install all covers and close the housing doors before applying
power.
• The motor generates voltage when the shaft is rotated. Lock
the shaft of the motor to prevent rotation before starting work
on the drive system.
• Before working on the drive system:
– Switch off power to all terminals.
– Place a sign "DO NOT SWITCH ON" on the switch and lock
to prevent switching on.
– Wait 6 minutes (for discharge of DC bus capacitors). Do
not short-circuit DC bus
– Measure voltage at DC bus and check for <45V. (The DC
bus LED is not a safe indication for absence of the DC bus
voltage).
Failure to follow these instructions will result in death or se-
rious injury.
0198441113363, V1.00, 12.2006

AC servo drive 6-1

Commissioning LXM05C

$ DANGER
Motor out of view
When the system is started the drives are generally out of the ope-
rator's view and cannot be visually monitored.
• Only start the system if there are no persons in the operating
zone of the moving components and the system can be opera-
ted safely.
Failure to follow these instructions will result in death or se-
rious injury.

@ WARNING
Unexpected behaviour
The behaviour of the drive system is governed by numerous stored
data or settings. Unsuitable settings or data may trigger unexpec-
ted movements or reactions to signals and disable monitoring func-
tions.
• Do not operate a drive system with unknown settings or data.
• Check the stored data or settings.
• When commissioning carefully run tests for all operating statu-
ses and fault cases.
• Check the functions after replacing the product and also after
making changes to the settings or data.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

@ WARNING
Unbraked motor
In the case of power failure and faults which cause the power am-
plifier to be switched off, the motor is no longer controlled by the
brake and increases its speed even more until it comes to a me-
chanical stop.
• Check the mechanical situation.
• If necessary, use a cushioned mechanical stop or a suitable
brake.
0198441113363, V1.00, 12.2006

Failure to follow these instructions can result in death, se-

rious injury or equipment damage.

6-2 AC servo drive

 LXM05C Commissioning

@ WARNING
Unexpected movement
When the drive is operated for the first time there is a high risk of
unexpected movement because of possible wiring errors or unsu-
itable parameters.
• If possible, run the first test movement without coupled loads.
• Make sure that a functioning button for EMERGENCY STOP is
within reach.
• Also anticipate a movement in the incorrect direction or oscilla-
tion of the drive.
• Make sure that the system is free and ready for the movement
before starting the function.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

@ CAUTION
Hot surfaces
The heat sink on the product may heat up to over 100°C (212°F)
depending on the operating mode.
• Prevent contact with the hot heat sink.
• Do not install flammable or heat-sensitive components in the
immediate vicinity.
• Follow the actions described for heat dissipation.
Failure to follow these instructions can result in injury or
equipment damage.
0198441113363, V1.00, 12.2006

AC servo drive 6-3

Commissioning LXM05C

6.2 Overview
The following commissioning steps are also required if you
are using a configured unit under changed operating
conditions.

What must be done

What you need to do... Info
Checking installation Page 5-48
Making "First Setup" Page 6-11
Check and set critical device parameters Page 6-15
Define ESIM resolution, if used Page 6-23
Setting, scaling, testing analogue signals Page 6-17
Set, test digital signals Page 6-19
Configurable inputs/outputs Page 6-19
Check the functioning of the holding brake controller if it is Page 6-20
wired for that
Checking motor direction of rotation Page 6-21
Run autotuning Page 6-28
Optimise controller settings manually Page 6-33
- speed controller Page 6-34
- position controller Page 6-39

6.3 Tools for commissioning

6.3.1 Overview
Commissioning and setting parameters and also diagnostic tasks can
be carried out with the following tools:
• Integrated HMI
• Remote terminal
• Commissioning software
Access to the complete list of parameters is only possible
with the commissioning software.

Integrated HMI PC with commissioning software Peripherical

Control terminal
0198441113363, V1.00, 12.2006

ESC

ENT
stop
reset

FWO
RUN
REV

Figure 6.1 Commissioning tools

6-4 AC servo drive

 LXM05C Commissioning

6.3.2 HMI: Human-Machine Interface

Function The unit has the option of editing parameters with the integrated control
panel (HMI). Displays for diagnosis are also possible. The sections on
commissioning and operation include information on whether a function
can be carried out with the HMI or whether the commissioning software
must be used.
A brief introduction to the HMI structure and the operation is given be-
low.
Control panel The following figure shows the HMI (left) and the remote terminal (right).

7 7

6 1

8.8.8.8
RUN

8.8.8.8 BUS

ERR

5 ESC 2
5 ESC 2
ENT

ENT

4 3 xxxx STOP
4 xxxx
RUN RESET 3

10 9 8

Figure 6.2 HMI and remote terminal

(1) LEDs
(2) ESC:
- exit a menu or parameter
- return from the displayed to the last saved value
(3) ENT:
- call a menu or parameter
- save the displayed value to EEPROM
(4) Down arrow:
- switch to next menu or parameter
- reduce the displayed value
(5) Up arrow:
- switch to previous menu or parameter
- increase the displayed value
(6) Red LED on: DC bus under power
0198441113363, V1.00, 12.2006

(7) Status display

(8) Quick Stop (Software Stop)
(9) No function
(10) No function
Font on HMI display Table 6.1 shows the assignment of the letters and numbers on the HMI
display for the parameter display. Upper and lower case are only distin-
guished for the letter "C".

AC servo drive 6-5

Commissioning LXM05C

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

Table 6.1 HMI, available letters and numbers

Calling parameters via HMI The parameters belonging to a specific menu item are in the first level
below the top menu level for that item. In order to give a better orienta-
tion, the table of parameters also shows the overall menu path, e.g. SET-
/ nmax.
The following figure shows an example of calling a parameter (second
level) and input or selection of a parameter value (third level).

Parameter Value
Menu

ENT ENT

Set- IMAX 8. 49 ESC

ESC ESC

ENT
NMAX 8. 48 8. 48 ESC

Store
(flashing)
(next parameter)

Figure 6.3 HMI, example of parameter setting

The two arrow keys allow setting of the numerical values within the per-
mitted range of values, alphanumeric values are selected from lists.
When you press ENT, the selected value is accepted. Confirmation is in-
dicated by the display flashing once. The modified value is saved in the
EEPROM immediately.
If you press ESC, the display jumps back to the original value.
Menu structure The HMI is menu-driven. Figure 6.4 shows the highest level of the menu
structure.
0198441113363, V1.00, 12.2006

6-6 AC servo drive

 LXM05C Commissioning

Power On: ENT

- First Setup
not done FSU- First Setup
ESC

Save ENT

- First Setup
done rdy
ENT

ENT
ESC

SEt- Settings
ESC

ENT
ESC

drC- Drive Configuration

ESC

ENT
ESC

I-o- Configuration I/O

ESC

ENT
ESC

tUn- Autotuning
ESC

ENT
ESC
Menus JoG- JOG Mode
ESC

ENT
ESC

(Om- Communication
ESC

ENT
ESC

FLt- Fault
ESC

ENT
ESC

InF- Information / Identification

ESC

ENT
ESC

STA- Status Information

ESC

Figure 6.4 HMI menu structure

Status displays such as RDY- (Ready) can be found from page 6-14.

HMI menu Description

FSU- FSU- First setup (First SetUp),
ioPi Signal selection position interface ("fieldbus" control mode only)
io-M Start-up operating mode for "local control mode"
ioLt Logic type of the digital inputs/outputs
SET- Set- device settings (SETtings)
A1oF Offset at analogue input ANA1
A1iS Setpoint current in speed control operating mode at 10V on analogue input
ANA1
A1wn Zero-voltage window on analogue input ANA1
0198441113363, V1.00, 12.2006

n1NS Setpoint speed in speed control operating mode at 10V on ANA1

in-P Monitoring of position deviation
in-n Monitoring of speed of rotation deviation
GFAC Selection of special gear ratios
ntHr Monitoring of speed of rotation value
itHr Monitoring of current value
WINT Monitoring of time window

AC servo drive 6-7

Commissioning LXM05C

HMI menu Description

iMAX Current limiting
NLIM Speed limitation via input
NMAX Speed limiter
LiQS Current limiting for "Quick Stop"
LihA Current limiting for "Halt"
DRC- drC- device configuration (DRive Configuration)
ioLt Logic type of the digital inputs/outputs
io-M Start-up operating mode
ioPi Signal selection position interface
ioGM Pulse control processing mode
ioAE Auto. enable at PowerOn if ENABLE input active
ESSC Encoder simulation - setting the resolution
PRoT Definition of direction of rotation
FCS Restore factory settings (default values)
BTCL Time delay when closing the brake
I-O- i-o- Configurable inputs/outputs(In Out)
Li1 Function digital input LI1
Li2 Function digital input LI2
Li4 Function digital input LI4
Li5 Function digital input LI5
Li6 Function digital input LI6
Lo1 Function digital output LO_OUT1
Lo2 Function digital output LO_OUT2
Lo3 Function digital output LO_OUT3
Lo4 Function digital output LO_OUT4
TUN- tun- Autotuning (AutoTUNing)
strt Start Autotuning
GAiN Adapting controller parameters (tighter/looser)
DiST Movement range autotuning
DiR Direction of rotation autotuning
MECh System coupling type
NREF Speed when autotuning
WAit Waiting time between autotuning steps
RES Reset controller parameter
0198441113363, V1.00, 12.2006

JOG- Jog- Jog (JOG Mode)

STrt Start jog
NSLW Speed for slow jog
NFST Speed for fast jog
COM- COm- Communication(COMmunication)
MBAD Modbus address (commissioning software)

6-8 AC servo drive

 LXM05C Commissioning

HMI menu Description

MBBD Modbus baud rate (commissioning software)
MBFo Modbus data format (commissioning software)
MBWo Modbus word sequence for double words (32 bit values) (commissioning soft-
ware)
FLT- FLt- Error display(FauLT)
STPF Error number of the last interruption cause
INF- Inf- Information/identification (INFormation / Identification)
dev[ Current selection of control mode
_nAM product name
_PNR Firmware program number
_PVR Firmware version
PoWo Number of turn-on processes
PiNo Nominal current of power amplifier
PiMA Maximum current of power amplifier
MiNo Motor nominal current
MiMA Motor maximum current
STA- StA- Observation/monitoring of device, motor and travel data (STAtus Information)
ioAC Status of digital inputs and outputs
A1AC Voltage value analogue input ANA1
NACT Actual speed of the motor
PACU Actual position of the motor in user-defined units
PDiF Current control deviation of the position controller
iACT Total motor current (vector sum of d and q components
iQRF Set motor current q component (torque-creating)
uDCA DC bus voltage of the power amplifier supply voltage
TDEV device temperature
TPA Temperature of the power amplifier
WRNS Stored warnings bit-coded
SiGS Stored state of the monitoring signals
oPh Operating hours counter
i2Tr Load factor braking resistor
i2TP Loading factor power amplifier
i2TM Loading factor motor

Status display The status display in its default setting shows the current operating sta-
0198441113363, V1.00, 12.2006

tus, see page 7-2. You can specify the following with the menu item drc-
/ supv:
• stat shows the current operating status by default
• nact shows the current motor speed by default
• iact shows the current motor current by default
A change is only imported with the power amplifier disabled.

AC servo drive 6-9

Commissioning LXM05C

6.3.3 Commissioning software (PowerSuite)

Features The Windows-based commissioning software simplifies commissioning,
setting parameters, simulation and diagnosis.
Compared to the HMI the commissioning software offers further options
such as:
• Setting the controller parameters in a graphic interface
• Extensive diagnostic tools for optimisation and maintenance
• Long-term recording as an aid to assessing operating behaviour
• Testing input and output signals
• Tracking signal sequences on the monitor
• Interactive optimisation of controller behaviour
• Archiving all device settings and recordings with export functions for
data processing
System requirements You will need a PC or laptop with a free serial port and an operating sys-
tem with Windows 2000 or newer.
To connect the PC to the device see page 5-44.
Online help The commissioning software offers comprehensive help functions,
which can be accessed via "? - Help Topics" or by pressing F1.

0198441113363, V1.00, 12.2006

6-10 AC servo drive

 LXM05C Commissioning

6.4 Commissioning procedure

@ WARNING
Unsuitable parameter values
If unsuitable parameter values are used, safety functions may fail,
unexpected movements or responses to signals may occur.
• Prepare a list with the parameters required for the functions in
use.
• Check the parameters before operation.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

6.4.1 "First Setup"

"First Setup" must be made when the controller supply voltage is swit-
ched on for the first time or when the factory settings have been loaded.
Preparation 쮿 A PC with the commissioning software must be connected to the
device unless the commissioning is conducted exclusively through
the HMI.
왘 Switch on the controller power supply.

If no changes to the factory settings are made, they must still be backed
up in the commissioning software by saving to the EEPROM.
Automatic read-in of the motor data When the unit is switched on for the first time with the motor connected,
set the unit reads the motor data set automatically from the Hiperface sen-
sor (motor sensor). The data set is checked for completeness and saved
in the EEPROM.
The motor data set contains technical information about the motor such
as the nominal and peak torque, the nominal current and speed and the
pole-pair number. It cannot be modified by the user. The unit cannot be
switched ready for operation without this information
"First Setup" via HMI The following diagram shows the sequence using HMI.
0198441113363, V1.00, 12.2006

AC servo drive 6-11

Commissioning LXM05C

FSU-

ENT

ENT ENT

IOPI Ab
ESC
Pd
CWCC

ENT ENT

IO-M none
ESC
Curr
Sped
Puls
jog

ENT ENT

IOLT SOU
ESC
SIN

SaVe
ENT

Figure 6.5 "First Setup" via HMI

Function of the RS422 interface 왘 Set the assignment for the RS422 interface with the
IOposInterfac (IOPI) parameter.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOposInterfac Signal selection at position interface(6-11) - UINT16 Modbus 1284
0 R/W
0198441113363, V1.00, 12.2006

IOPI RS422 IO interface (Pos) as: 3 per.

0 / ABinput / AB: input ENC_A, ENC_B, 3 -
DRC-ioPi ENC_I (index pulse) 4x evaluation
1 / PDinput /PD: input PULSE, DIR,
ENABLE2

3 / CW-CCW / CWCC: CW-CCW

IMPORTANT: A change of the setting is not

activated until the unit is switched on again.

6-12 AC servo drive

 LXM05C Commissioning

Start-up operating mode 쮿 DEVcmdinerf= IODevice

(DEVC = IO)
왘 Set the parameter IOdefaultMode (IO-M) to set the operating
mode that is to enable the device every time it is started.

The operating modes are described from section 7-5.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOdefaultMode Start-up of operating mode (6-11) - UINT16 Modbus 1286
0 R/W
IO-M 0 / none / none : none 3 per.
1 / CurrentControl / Curr: Current control 5 -
DRC-io-M (reference value from ANA1)
2 / SpeedControl / Sped: Speed control
(reference value of ANA1)
3 / PulseControl / Puls: Pulse control
5 / JOG mode / JoG: Jog

IMPORTANT: The operating mode is auto-

matically enabled when the drive switches to
the 'OperationEnable' status and "IODevice /
IO" is set in DEVcmdinterf.

Select logic type 왘 Specify the logic type with the parameter IOLogicType (IOLT).
For more information see chapter 4.1 “Logic type“.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOLogicType Logic type of the digital inputs/outputs() - UINT16 Modbus 1288
0 R/W
IOLT 0 / source / sou: for current supply outputs 0 per.
(default) 1 -
DRC-ioLT 1 / sink / sin: for outputs drawing current

IMPORTANT: A change of the setting is not

activated until the device is switched on
again.

Data back-up 왘 Back up all inputs on completion.

HMI: Save your settings with save
Commissioning software: Save your settings with the menu path
"Configuration - Save in EEPROM"
컅 The device saves all set values in the EEPROM and displays the
status nRDY, RDY or DIs on the HMI.
A restart of the device is required to allow the changes to be accepted.
0198441113363, V1.00, 12.2006

Further steps 왘 Stick a label on the unit with all important information required in
case of service,e.g. fieldbus type, address and baud rate.
왘 Make the settings described below for commissioning.

Note that you can only return to the "Initial Setup" by restoring the factory
settings, see 7.6.9.2 “Restore factory settings“ page 7-41.

AC servo drive 6-13

Commissioning LXM05C

6.4.2 Operating status (status diagram)

After switching on and at the start of an operating mode, a sequence of
operating states is progressed through.
The relationship between the operating states and the state transitions
is shown in the state diagram (state machine).
The operating states are internally monitored and influenced by monito-
ring and system functions, such as temperature and current monitoring
Graphic representation The status diagram is shown graphically as a flow chart.

Motor without current

Switching on

1
INIT Start
T0
2
nrdy Not ready to
switch on

T1

Switch on 3
dis disabled T15

T9 T2 T7
T12

Ready to 4
rdy switch on
T10

Fault 9
T3

5 fLt 8888
Son Switched on Display flashes

T14
8
T4
fLt Fault Reaction
active
6 Quick-Stop active 7
rUn Operation T16 T13
HALT enable Stop 8888
HaLt Display flashes

T11 Fault Fault

Class1 Class2, 3, (4)

Motor under current

Operating state State transition Operating fault

Figure 6.6 Status diagram

Operating states and mode For detailed information on operating states and mode transitions see
0198441113363, V1.00, 12.2006

transitions page 7-2.

6-14 AC servo drive

 LXM05C Commissioning

6.4.3 Setting basic parameters and limit values

@ WARNING
Unexpected behaviour
The behaviour of the drive system is governed by numerous stored
data or settings. Unsuitable settings or data may trigger unexpec-
ted movements or reactions to signals and disable monitoring func-
tions.
• Do not operate a drive system with unknown settings or data.
• Check the stored data or settings.
• When commissioning carefully run tests for all operating statu-
ses and fault cases.
• Check the functions after replacing the product and also after
making changes to the settings or data.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Prepare a list with the parameters required for the functions

in use.

Setting thresholds Suitable thresholds must be calculated from the system configuration
and motor characteristics. So long as the motor is operated without ex-
ternal loads you will not need to change the default settings.
The maximum motor current must for example be reduced as a deter-
mining factor of the torque if the permissible torque of a system compo-
nent will otherwise be exceeded.
Current limiting To protect the drive system, the maximum current flowing can be modi-
fied with the parameter CTRL_I_max. The maximum current for the
"Quick Stop" operating function can be limited with the parameter
LIM_I_maxQSTP and for the "Halt" operating function with the parame-
ter LIM_I_maxHalt.
왘 Set the parameter CTRL_I_max to set the maximum motor current.
왘 Set the parameter LIM_I_maxQSTP to set the maximum current for
"Quick Stop".
왘 Set the parameter LIM_I_maxHalt to set the maximum current for
"Halt".
0198441113363, V1.00, 12.2006

AC servo drive 6-15

Commissioning LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_I_max Current limiting(6-15) Apk UINT16 Modbus 4610
0.00 R/W
IMAX Value must not exceed max. permissible cur- - per.
rent of motor or power amplifier. 299.99 -
SET-iMAX
Default is the smallest value of M_I_max and Fieldbus
PA_I_max 0

29999
LIM_I_maxQSTP Current limiting for Quick Stop(7-27) Apk UINT16 Modbus 4362
- R/W
LIQS Max. current during braking via torque ramp - per.
resulting from an error with error class 1 or 2, - -
SET-LiQS and when a software stop is triggered

Maximum and default value setting depend

on motor and power amplifier

in 0.01Apk steps
LIM_I_maxHalt Current limiting for Halt(7-28) Apk UINT16 Modbus 4364
- R/W
LIHA Max. current during braking after Halt or ter- - per.
mination of an operating mode. - -
SET-LihA
Maximum and default value settings depend
on motor and power amplifier

in 0.01Apk steps

Speed limitation The maximum speed can be limited with the parameter CTRL_n_max to
protect the drive system.
왘 Specify the maximum motor speed with the parameter
CTRL_n_max.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_n_max Speed limiter(6-15) 1/min UINT16 Modbus 4612
0 R/W
NMAX Setting value must not exceed max. speed of - per.
rotation of motor 13200 -
SET-NMAX
Default is max. speed of motor (see
M_n_max)
0198441113363, V1.00, 12.2006

6-16 AC servo drive

 LXM05C Commissioning

6.4.4 Analogue inputs

Analog inputs The analogue inputs allow analogue input voltages between -10V and
+10V to be read in. The current voltage value on ANA1+ can be read
using the parameter ANA1_act
쮿 Power amplifier supply voltage is switched off.
Controller supply voltage is switched on.
왘 Apply a voltage to the analogue input ANA1 in the range of ±10VDC.
왘 Check the applied voltage with the parameter ANA1_act.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
ANA1_act Voltage value analogue input ANA1() mV INT16 Modbus 2306
-10000 R/-
A1AC - -
STA-A1AC 10000 -

Reference value An input voltage at ANA1 can be used as a reference value for the ope-
rating mode current control or speed control. The reference value for a
voltage of +10V can be set over the parameter ANA1_I_scale or
ANA1_n_scale.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
ANA1_I_scale Setpoint current in current control operating Apk INT16 Modbus 8198
mode at 10V on ANA1() -300.00 R/W
A1IS 3.00 per.
An inversion of the evaluation of the ana- 300.00 -
SET-A1iS logue signal can be run with a neg. advance
sign Fieldbus
-30000
300
30000
ANA1_n_scale Setpoint speed in speed control operating 1/min INT16 Modbus 8454
mode at 10V on ANA1() -30000 R/W
A1NS 3000 per.
The internal maximum speed is limited to the 30000 -
SET-A1NS current setting in CTRL_n_max

A negative advance sign can be used to

effect an inversion of the evaluation of the
analogue signal

Offset and the zero voltage window An offset can be parameterized for the input voltage at ANA1 over the pa-
0198441113363, V1.00, 12.2006

rameter ANA1_offset and a zero voltage window can be parameteri-

zed over the parameter ANA1_win.
This corrected input voltage gives the voltage for the operating modes
current control and speed control as well as the reading value for para-
meters ANA1_act.

AC servo drive 6-17

Commissioning LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
ANA1_offset Offset at analogue input ANA1() mV INT16 Modbus 2326
-5000 R/W
A1OF The ANA1 analogue input is corrected/relo- 0 per.
cated by the offset. A defined zero-voltage 5000 -
SET-A1oF window acts in the range of the zero cros-
sing of the corrected ANA1 analogue input.
ANA1_win Zero voltage window on analogue input mV UINT16 Modbus 2322
ANA1() 0 R/W
A1WN 0 per.
Value up to which an input voltage is inter- 1000 -
SET-A1WN preted as 0V
Example: Setting 20mV
->range from -20 .. +20mV is interpreted as
0mV
ANA1_Tau Analog1: filter time constant() ms UINT16 Modbus 2308
0.00 R/W
Low-pass filter first order (PT1) filter time 0.00 per.
constant. Filter affects analogue input ANA1. 327.67 -
- (sampling time PT1 filter: 250µsec)
Fieldbus
0
0
32767

2
10 V 3
4

1
-10 V 10 V

-10 V

Figure 6.7 Offset and zero-voltage window

(1) Input voltage at ANA1

(2) Voltage value for current control and speed control operating
0198441113363, V1.00, 12.2006

modes sand the read value of the parameter ANA1_act

(3) Input voltage without processing
(4) Input voltage with offset
(5) Input voltage with offset and zero-voltage window

6-18 AC servo drive

 LXM05C Commissioning

6.4.5 Digital inputs/outputs

The switching states of the digital inputs and outputs can be displayed
on the HMI and displayed and modified using the commissioning soft-
ware or the fieldbus.
HMI The signal states can be displayed with the HMI, but they cannot be mo-
dified.
왘 Call up the menu point sta / ioac.
컅 You will see the digital inputs (Bit 0-7) bit-coded.
왘 Press the "up arrow".
컅 You will see the digital inputs (Bit 8, 9) bit-coded.

Bit = 1

Bit = 0

7 6 5 4 3 2 1/9 0/8
Figure 6.8 HMI, status display of the digital inputs/outputs

Bit Local control mode I/O

0 LI1 I
1 FAULT_RES/LI2 I
2 ENABLE I
3 HALT/LI4 I
4 LI5 I
5 LI6 I
6 - I
7 - I
8 NO_FAULT_OUT/LO1_OUT O
9 BRAKE_OUT/LO2_OUT O
10 LO3_OUT O
11 LO4_OUT O
0198441113363, V1.00, 12.2006

6.4.6 Setting configurable digital inputs/outputs

The device has configurable inputs (LI1...) and configurable outputs
(LO1_OUT...). The standard assignment and the configurable assign-
ment depends on the specified start-up operating mode. For more infor-
mation see chapter 7.6.7 “Configurable inputs and outputs“.

AC servo drive 6-19

Commissioning LXM05C

6.4.7 Checking holding brake

@ WARNING
Unexpected movement
For example, if the brake is released with vertical axes an unexpec-
ted movement may be triggered in the system.
• Make sure that no damage will be caused by the load drop-
ping.
• Run the test only if there are no persons or materials in the
danger zone of the moving system components.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Testing from HBC to holding brake 쮿 Supply voltage at HBC on, LED "24V on" on.
왘 Switch the power amplifier supply voltage off to prevent the motor
from starting accidentally.
컅 The drive switches to operating status "Switch on disabled"
왘 Press the "Release brake" button on the HBC several times to
release and close the holding brake alternately.
컅 The LED "Brake released" on the HBC flashes if there is voltage
present at the holding brake output and the brake is released by the
button.
왘 Test that the axis can be moved manually with the brake released.
(note gearbox if applicable).

Testing from device to HBC 쮿 The device is in operating status "Ready to switch on" and the para-
meters for the holding brake must be set, see chapter 7.6.6 “Bra-
king function with HBC“ page 7-29.
왘 Start jog operating mode
(HMI: Jog_ / Strt)
컅 The HMI displays JG. The brake is released. The LED "Brake
released" on the HBC is lit up if there is brake voltage present and
the brake is released.
For more information on the HBC see page 3-9, 5-30 and 11-1.
0198441113363, V1.00, 12.2006

6-20 AC servo drive

 LXM05C Commissioning

6.4.8 Check direction of rotation

Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation.
A positive direction of rotation is defined as the motor shaft rotating clo-
ckwise as the observer faces the end of the protruding shaft.
The initial setting of the controller parameters may result in
an unstable closed-loop control at inertia ratios of "J ext" to
"J motor" >10.

왘 Start jog operating mode

(HMI: Jog_ / Strt)
컅 The HMI displays JG.
왘 Start a movement in clockwise rotation
(HMI: "up arrow")
컅 The motor rotates in clockwise rotation.
The HMI shows JG-
왘 Start a movement in the counterclockwise rotation
(HMI: "down arrow")
컅 The motor rotates in counterclockwise rotation.
The HMI shows -JG

@ WARNING
Unexpected movement if motor phases are reversed
Reversal of the motor phases can cause unexpected movements
at high acceleration.
• Use the parameter POSdirOfRotat to reverse the direction
of rotation, if required.
• Do not reverse the motor phases.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

왘 If arrow and direction of rotation do not match, correct it with the

parameter POSdirOfRotat, see 7.6.8 “Reversal of direction of
rotation“ page 7-40.
0198441113363, V1.00, 12.2006

AC servo drive 6-21

Commissioning LXM05C

6.4.9 Check signals of position switch

Description Position switches (NC contacts) are required for the functions "Enable
positive motor move" und "Enable negative motor move", see Chapter
7.6.7 “Configurable inputs and outputs“.

@ CAUTION
Loss of control over controller
The position switches can only trigger a stop when used correctly.
• Note that this function is only available with "Enable positive
motor move" and "Enable negative motor move".
• Note that this function must be enabled via the corresponding
parameter.
• Check the installation and correct operation (direction-depen-
dent).
• Start the system only if there are no persons or material in the
danger zone of the moving system components and the sys-
tem can be operated safely.
Failure to follow these instructions can result in injury or
equipment damage.

쮿 The direction of rotation must be checked and corrected if neces-

sary, see Chapter 6.4.8 “Check direction of rotation“.
왘 Set the position switches so the drive cannot accidentally travel past
a position switch.
왘 Start jog mode
(HMI: Jog_ / Strt)
컅 The HMI displays JG.
Check the function "Enable positive 왘 Start a positive movement (HMI: "arrow up") until the positive posi-
motor move" tion switch is tripped to test the function "Enable positive motor
move".
컅 The motor executes a positive movement until it reaches the posi-
tive position switch. The motor must stop. It can only leave the posi-
tive position switch by moving in the negative direction.
Check the function "Enable 왘 Start a negative movement (HMI: "arrow down") until the negative
negative motor move" position switch is tripped to test the function "Enable negative motor
move".
컅 The motor executes a negative movement until is reaches the nega-
tive position switch. The motor must stop. It can only leave the
negative position switch by moving in the positive direction.
If a reference value is pending and the motor is at a position switch, the
0198441113363, V1.00, 12.2006

function "Motor move disable" is active.

6-22 AC servo drive

 LXM05C Commissioning

6.4.10 Setting parameters for encoder simulation

Defining resolution for encoder The resolution for the encoder simulation can be scaled with the para-
simulation meter ESIMscale.
왘 Set the parameter ESIMscale to set the resolution.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
ESIMscale Encoder simulation - setting the resolution() Inc UINT16 Modbus 1322
8 R/W
ESSC 4096 per.
the complete value range is available for the 65535 -
DRC-ESSC resolution.

For resolutions that can be divided by 4 the

index pulse must be at A=high and B=high.

IMPORTANT: A change of the setting is not

activated until the device is switched on
again. After the write access a wait of at
least 1 second is required until the controller
is switched off.

The index pulse can be defined by setting the absolute position encoder,
see chapter 6.4.11 “Setting parameters for encoder“.
0198441113363, V1.00, 12.2006

AC servo drive 6-23

Commissioning LXM05C

6.4.11 Setting parameters for encoder

Setting an encoder absolute When starting up the device reads the absolute position of the motor
position from the encoder. The current absolute position can be shown with the
parameter _p_absENCusr.
At motor standstill the new absolute position of the motor can be defined
at the current mechanical motor position with the parameter
ENC_pabsusr. The value can be transferred with the power amplifier
active and inactive. Setting the absolute position also shifts the position
of the index pulse of the encoder and the index pulse of the encoder si-
mulation.
In the commissioning software you will find the parameter via the menu
"Display - Specific panels".

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_p_absENCusr Absolute position based on motor encoder usr UINT32 Modbus 7710
work stroke in user-defined units(6-24) R/-
- -
Value range is set by encoder type -
- With Singleturn motor encoders the value is
set with reference to one motor revolution,
with Multiturn motor encoders with reference
to the total work stroke of the encoder (e.g.
4096 revs)
IMPORTANT: Position is only valid after
determination of the motor absolute position.
With invalid motor absolute position:
_WarnLatched
_WarnActive
Bit 13=1: absolute position of motor not yet
detected
ENC_pabsusr Setting position of the motor encoder usr UINT32 Modbus 1324
directly(6-24) 0 R/W
- -
Value range depends on the encoder type. 2147483647 -
-

SEK52 (Singleturn):
0..max_pos_usr/rev. - 1

max_pos_usr/rev.: maximum user position

for one motor revolution, with default position
scaling this value is 16384.

IMPORTANT:
* If the process is to be conducted with
direction inversion function, it must be set
0198441113363, V1.00, 12.2006

before setting the motor encoder position

* The setting value will only be active when
the controller is switched on the next time.
After the write access a wait of at least 1
second is required until the controller is swit-
ched off.
* Changing the value also changes the posi-
tion of the virtual index pulse and the index
pulse displaced at ESIM function.

6-24 AC servo drive

 LXM05C Commissioning

If the device or the motor is replaced, a new alignment will

be required.

Singleturn encoder With the Singleturn encoder the position of the index pulse of the enco-
der can be moved by setting a new absolute position. At position value
0 the index pulse is defined at the current mechanical motor position.
This also changes the position of the index pulse of the encoder simu-
lation.
Multiturn encoder With the Multiturn encoder the mechanical work stroke of the motor can
be shifted to the continuous range of the sensor by setting a new abso-
lute position.
If the motor is moved counterclockwise from the absolute position 0, the
SinCos multiturn receives an underrun of its absolute position. In cont-
rast, the internal actual position counts mathematically forward and
sends a negative position value. After switching off and on the internal
actual position would no longer show the counterclockwise position va-
lue but the absolute position of the encoder.
An overflow or underrun are discontinuous positions in the area of travel.
To prevent these jumps the absolute position in the sensor must be set
so the mechanical limits are within the continuous range of the encoder.

Position values

4096 rev

discontinuous continuous discontinuous

- 4096 rev 0 rev

U 4096 rev Mechanical
revolutions

actual position controller

absolute position encoder

- 4096 rev

Figure 6.9 Position values of multiturn encoder

0198441113363, V1.00, 12.2006

왘 When setting the absolute position at the mechanical limit set a

position value >0. This ensures that when the drive is moved within
the mechanical limits of the system the resulting encoder position is
always within the continuous range of the encoder.

AC servo drive 6-25

Commissioning LXM05C

6.4.12 Setting parameters for braking resistor

@ WARNING
Unbraked motor
An insufficient braking resistor causes overvoltage on the DC bus
and switches off the power amplifier. The motor is no longer ac-
tively braked.
• Make sure that the braking resistor is sufficiently dimensioned.
• Check the setting of the parameter for the braking resistor.
• Check the temperature of the braking resistor by conducting a
test run under the most critical conditions.
• During the test make sure that at higher mains voltage there is
less reserve in the capacitors on the DC bus.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

If an external braking resistor is connected, the parameter RESint_ext

must be set to "external".
The values of the external braking resistor must be set in the parameters
RESext_P, RESext_R and RESext_ton, see chapter 3.4.1 “External
braking resistors“ page 3-8.
If the actual brake output exceeds the maximum allowable brake output,
the device will output an error message and the power amplifier will be
switched off.

@ WARNING
Hot Surfaces
The braking resistor may heat up to over 250°C depending on the
operating mode.
• Prevent contact with the hot braking resistor.
• Do not place flammable or heat-sensitive components in the
immediate vicinity of the braking resistor.
• Ensure good heat dissipation.
• Check the temperature of the braking resistor by conducting a
test run under the most critical conditions.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.
0198441113363, V1.00, 12.2006

왘 Test the function of the braking resistor under realistic conditions.

6-26 AC servo drive

 LXM05C Commissioning

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
RESint_ext Control of braking resistor(6-15) - UINT16 Modbus 1298
0 R/W
0 / internal: internal braking resistor 0 per.
1 / external: external braking resistor 1 -
-
RESext_P Nominal power of external braking resis- W UINT16 Modbus 1316
tor(6-15) 1 R/W
10 per.
- 32767 -

RESext_R Resistance value of external braking resis- Ω UINT16 Modbus 1318

tor(6-15) 0.01 R/W
100.00 per.
- 327.67 -
Fieldbus
1
10000
32767
RESext_ton max. permissible switch-in time for external ms UINT16 Modbus 1314
braking resistor(6-15) 1 R/W
1 per.
- 30000 -
0198441113363, V1.00, 12.2006

AC servo drive 6-27

Commissioning LXM05C

6.4.13 Run autotuning

Autotuning determines the friction torque, an ever present load torque,
and considers it in the calculation of the mass moment of inertia of the
total system.
External factors, such as a load on the motor, are taken into account. Au-
totuning optimises the parameters for the controller settings see chapter
6.5 “Controller optimisation with step response“.
Autotuning also supports typical vertical axes.
Autotuning is not suitable for inertia ratios of "J ext" to "J motor" >10.

@ WARNING
Unexpected movement
Autotuning moves the motor to set the drive controller. If incorrect
parameters are input unexpected movements may occur or moni-
toring functions may be disabled.
• Check the parameters AT_dir and AT_dismax. The travel for
the braking ramp in cases of error must also be taken into
account.
• Check that the parameter LIM_I_maxQSTP is correctly set for
Quick Stop.
• Make sure that a functioning button for EMERGENCY STOP is
within reach.
• Make sure that the system is free and ready for the movement
before starting the function.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

왘 Select the setting for the parameter AT_mechanics depending on

your mechanical components. If in doubt, select a softer coupling
(less rigid mechanism, see Figure 6.11).
왘 Start the Autotuning with the commissioning software with the menu
path "Operating Mode - Automatic optimisation". Also note additio-
nal settings in the "Display - Specific Displays" menu.
Autotuning can also be started from the HMI (TUN- / STRT).

The calculated values are accepted immediately without an additional

save.
If the Autotuning is interrupted with an error message, the default values
are imported. Change the mechanical position and start the Autotuning
again. If you want to check the plausibility of the calculated values, they
0198441113363, V1.00, 12.2006

can be displayed, see also 6.4.14 “Extended settings for autotuning“

from page 6-30.

6-28 AC servo drive

 LXM05C Commissioning

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
AT_dir Direction of rotation autotuning(6-28) - UINT16 Modbus 12040
1 R/W
DIR 1 / pos-neg-home / pnh: first positive direc- 1 -
tion, then negative direction with return to ini- 6 -
TUN-DiR tial position2 / neg-pos-home / nph: first
negative direction, then positive direction
with return to initial position
3 / pos-home / p-h: only positive direction
with return to initial position
4 / pos / p--: only positive direction without
return to initial position
5 / neg-home / n-h: only negative direction
with return to initial position
6 / neg / n--: only negative direction without
return to initial position
AT_dis Movement range autotuning(6-28) revolution UINT32 Modbus 12038
1.0 R/W
DIST Range in which the automatic optimisation 1.0 -
processes of the controller parameters are 999.9 -
TUN-DiST run. The range is input relative to the current
position. Fieldbus
IMPORTANT: with "movement in only one 10
direction" (parameter AT_dir) the specified 10
range is used for every optimisation step. 9999
The actual movement typically corresponds
to 20 times the value, but is not limited.
AT_mechanics System coupling type(6-28) - UINT16 Modbus 12060
1 R/W
MECH 1: direct coupling (J ext. to J motor <3:1) 1 -
2: medium coupling () 5 -
TUN-MECh 3: medium coupling (short toothed belt)
4: medium coupling ()
5: soft coupling (J ext. to J motor between
5:1 and 10:1, linear axis)
AT_start Start Autotuning(6-28) - UINT16 Modbus 12034
0 R/W
0: End - -
1: Activate 1 -
-
0198441113363, V1.00, 12.2006

AC servo drive 6-29

Commissioning LXM05C

6.4.14 Extended settings for autotuning

For most applications the procedure described is sufficient for autotu-
ning. The following parameters can be used to monitor or even influence
the autotuning.
The parameters AT_state and AT_progress can be used to monitor
the percentage progress and the status of the autotuning.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
AT_state Autotuning status(6-30) - UINT16 Modbus 12036
R/-
Bit15: auto_tune_err - -
Bit14: auto_tune_end -
- Bit13: auto_tune_process

Bit 10..0: last processing step

AT_progress Autotuning progress(6-30) % UINT16 Modbus 12054
0 R/-
0 -
- 100 -

If you are conducting a test operation and want to check how a harder or
softer setting affects the control parameters on your system, you can
write to the parameter AT_gain, which changes the settings found du-
ring the autotuning. A value of 100% is generally not possible, because
this value is at the stability limit. The available value is typically 70%-
80%.
The parameter AT_J can be used to read out the moment of inertia of
the entire system calculated during the autotuning.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
AT_gain Adapting controller parameters (tighter/loo- % UINT16 Modbus 12052
ser)(6-30) R/W
GAIN - -
Measure of the degree of tightness of the -
TUN-GAiN regulation. The value 100 represents the
theoretical optimum. Values larger than 100
mean that the regulation is tighter and smal-
ler values mean that the regulation is looser.
AT_J Inertia of the entire system(6-30) kg cm2 UINT16 Modbus 12056
0.1 R/W
is automatically calculated during the autotu- 0.1 per.
ning process 6553.5 -
-
0198441113363, V1.00, 12.2006

in 0.1 kgcm^2 steps Fieldbus

1
1
65535

The parameter AT_wait can be modified to set a wait time between the
individual steps during the autotuning process. It only makes sense to
set a wait time if a very flexible coupling is used, and particularly if the

6-30 AC servo drive

 LXM05C Commissioning

next automatic autotuning step (change of hardness) is carried out while

the system is still oscillating.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
AT_wait Waiting time between autotuning steps(6-30) ms UINT16 Modbus 12050
300 R/W
WAIT 1200 -
TUN-WAit 10000 -

Malfunctions during optimisation High-frequency resonances in mechanical components may interfere

with controller optimisation. The values for CTRL_KPn and CTRL_TNn
cannot be set satisfactorily if this occurs.
The reference value filter of the current controller suppresses high-fre-
quency resonance (>500Hz). However, if high-frequency resonance
does interfere with controller optimisation, it may be necessary to incre-
ase the time constant with the parameter CTRL_TAUiref.
In most cases the default setting suppresses the high-frequency reso-
nance.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_TAUiref Filter time constant reference value filter of ms UINT16 Modbus 4640
the reference current value() 0.00 R/W
1.20 per.
- 4.00 -
Fieldbus
0
120
400
0198441113363, V1.00, 12.2006

AC servo drive 6-31

Commissioning LXM05C

6.5 Controller optimisation with step response

6.5.1 Controller structure
The controller structure corresponds to the classical cascade control of
a closed positioning loop with current controller, speed controller and
position controller. The reference value of the speed controller can also
be smoothed by an upstream filter.
The controllers are set from "inside" to "outside" in the sequence cur-
rent, speed and position controller. The higher-level control loop in each
case stays switched out.

Speed
feed-forward Reference value at Reference value at
_n_pref
operating mode _n_ref operating mode
_p_tarRAMPusr _p_actRAMPusr "Speed control" Reference-
_n_targetRAMP _n_actRAMP "Current control"
_p_refusr value filter
_p_ref CTRL_KFPp
Profile Speed Speed
generator Jerk limit _p_dif controller controller

CTRL_KPp CTRL_n_max CTRL_TAUref CTRL_KPn CTRL_I_max

CTRL_TNn
_p_actPosintf
_v_act_Posintf _p_addGEAR

Reference- _iq_ref POSdirOfrotat

value filter
M Current Current Power
+ controller controller amplifier
GEARratio GEARdir_enabl 0
GEARnum
GEARdenum
1
CTRL_TAUref
_id_act, _idq_act, _iq_act

Encoder evaluation M
3~
_n_act
Actual value
- Speed E
_p_act, _p_actusr, _p_absmodulo, _p_absENCusr - Position

Figure 6.10 Controller structure for encoder evaluation via CN2

Current controller The motor's drive torque is determined by the current controller. The cur-
rent controller has been optimised automatically using the stored motor
data.
0198441113363, V1.00, 12.2006

Speed controller The speed controller maintains the required motor speed by varying the
output motor torque depending on the load situation. It exerts a decisive
influence on the speed with which the drive reacts. The dynamics of the
speed controller depend on
• the moments of inertia of the drive and the control distance
• the torque of the motor
• the stiffness and elasticity of the components in the power flow

6-32 AC servo drive

 LXM05C Commissioning

• the backlash of the mechanical drive components

• the friction
Position controller The position controller reduces the difference between setpoint and ac-
tual motor position (tracking error) to a minimum. At motor standstill the
tracking error is virtually zero with a well-adjusted position controller. In
movement mode a speed-dependent tracking error occurs. The setpoint
position for the closed positioning loop is generated by the internal travel
profile generator during the profile position, profile velocity, homing and
jog operating modes. In the Pulse control operating mode the setpoint
position for the closed positioning loop is generated by external A/B or
pulse/direction input signals.
A requirement for good amplification of the position controller is an op-
timised speed control loop.

6.5.2 Optimisation
The drive optimisation function matches the unit to the operating condi-
tions. The following options are available:
• Selecting control loops. Higher level control loops are automatically
disconnected.
• Defining reference signal: signal form, height, frequency and star-
ting point
• Testing control response with the signal generator.
• Recording and assessing the control behaviour on the monitor with
the commissioning software.
Setting reference signals 왘 Start the controller optimisation with the commissioning software
with the menu path "Command - Manual tuning".
왘 Set the following values for the reference signal:

• Signal form: 'Positive jump'

• Amplitude: 100 1/min
• Period duration: 100 ms
• Number of repetitions: 1
왘 Highlight the field "Autoscope".
왘 Also note additional settings in the menu "Display - Specific
panels".

The total dynamic behaviour of a control loop can be only

understood with the signal forms 'Jump' and 'Square wave'.
Refer to the manual for all signal paths for the signal form
'Jump'.
0198441113363, V1.00, 12.2006

Inputting controller values Control parameters must also be input for the individual optimisation
steps described over the following pages. These parameters must be
tested by initiating a jump function.
A jump function is triggered as soon as a recording is started in the com-
missioning software tool bar with the “Start” button (arrow icon).
You can enter controller values for optimisation in the parameters win-
dow in the "Control" group.

AC servo drive 6-33

Commissioning LXM05C

6.5.3 Optimising the speed controller

The optimum setting for complex mechanical control systems requires
practical experience with setting and adjustment procedures for control
equipment. This includes the ability to calculate control parameters and
to apply identification procedures.
Less complex mechanical systems can generally be successfully opti-
mised with the experimental adjustment procedure using the aperiodic
limiting case method. Here the following two parameters are set:

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_KPn Speed controller P-factor(6-34) A/(1/min) UINT16 Modbus 4614
0.0001 R/W
Default value is calculated from motor para- - per.
meters 1.2700 -
-
Fieldbus
1

12700
CTRL_TNn Speed controller correction time(6-34) ms UINT16 Modbus 4616
0.00 R/W
9.00 per.
- 327.67 -
Fieldbus
0
900
32767

Check and optimise the calculated values in a second step, as descri-

bed from page 6-38.
Determining the mechanics of the Decide which one of the following two systems fits the mechanics of your
system set-up to assess and optimise its transient response behaviour.
• System with rigid mechanism
• System with less rigid mechanism
0198441113363, V1.00, 12.2006

6-34 AC servo drive

 LXM05C Commissioning

Rigid mechanism Less rigid mechanism

low elasticity higher elasticity

high
low backlash backlash

e. g. Direct drive e. g. Belt drive

Rigid coupling Weak drive shaft
Elastic coupling

Figure 6.11 Mechanical systems with rigid and less rigid mechanisms

왘 Connect the motor to your system's mechanism.

왘 Test the limit switch function after installing the motor if limit swit-
ches are used.

Switch off reference value filter of With the reference variable filter you can improve the response beha-
speed controller viour under optimised speed control. The reference value filter must be
switched off when setting the speed controller for the first time.
왘 Disable the reference value filter of the speed controller. Set the
parameter CTRL_TAUnref to the bottom limit value "0".

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_TAUnref Filter time constant reference value filter of ms UINT16 Modbus 4626
the reference speed value(6-34) 0.00 R/W
9.00 per.
- 327.67 -
Fieldbus
0
900
32767

The procedure for optimisation of the settings described is

only a suggested setting. It is responsibility of the user to
0198441113363, V1.00, 12.2006

decide whether the method is suitable for the actual

application.

Determining controller values with Requirements for setting the control behaviour as per the table are:
rigid mechanics
• a known and constant inertia of load and motor
• a rigid mechanism

AC servo drive 6-35

Commissioning LXM05C

The P-factor CTRL_KPn and the correction time CTRL_TNn depend on:
• JL: Mass moment of inertia of the load
• JM Mass moment of inertia of the motor
왘 Determine the controller values based on Table 6.2:

JL=JM JL=5 * JM JL=10 * JM

2
JL[kgcm ] KPn TNn KPn TNn KPn TNn
1 0.0125 8 0.008 12 0.007 16
2 0.0250 8 0.015 12 0.014 16
5 0.0625 8 0.038 12 0.034 16
10 0.125 8 0.075 12 0.069 16
20 0.250 8 0.150 12 0.138 16

Table 6.2 Determining controller values

Determining controller values with For optimisation purposes the P-factor of the speed controller at which
less rigid mechanics the controller adjusts the speed _n_act as quickly as possible without
overshooting is determined.
왘 Set the correction time CTRL_TNn to infinite.
CTRL_TNn = 327.67 ms.
If a load torque is acting on the stationary motor, the correction time
must be set just high enough to prevent an uncontrolled change of
the motor position.

In drive systems in which the motor is loaded while

stationary, e.g. with vertical axis operation, the correction
time "infinite" may result in unwanted position deviations,
thereby requiring the value to be reduced. However, this
can adversely affect optimisation results.

@ WARNING
Unexpected movement
The step function moves the motor in speed mode at constant
speed until the specified time has expired.
• Check that the selected values for speed and time do not
exceed the available travel.
• If possible, use limit switches or stop as well.
• Make sure that a functioning button for EMERGENCY STOP is
within reach.
0198441113363, V1.00, 12.2006

• Make sure that the system is free and ready for the movement
before starting the function.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

왘 Initiate a jump function.

왘 After the first test check the maximum amplitude for the current set-
point _Iq_ref.

6-36 AC servo drive

 LXM05C Commissioning

Set the amplitude of the reference value – default was 100 rpm – just
high enough so the current setpoint _Iq_ref remains below the maxi-
mum value CTRL_I_max. On the other hand, the value selected should
not be too low, otherwise friction effects of the mechanism will determine
control loop response.
왘 Trigger a jump function again if you need to modify _n_ref and
check the amplitude of _Iq_ref.
왘 Increase or decrease the P-factor in small steps until _n_act
adjusts as fast as possible. The following diagram shows the adjus-
tment response required on the left. Overshooting - as shown on
the right - is reduced by reducing CTRL_KPn.

Deviations from _n_ref and _n_act result from setting CTRL_TNn to

"infinite".

Amplitude n_ref n_ref

100% 100%
n_act n_act
63%

Improve with
KPn

0% 0%
TNn t t

Figure 6.12 Determining 'TNn' in the aperiodic limiting case

For drive systems in which oscillations occur before the

aperiodic limiting case is reached, the P-factor "KPn" must
be reduced to the exact point where oscillations can no
longer be detected. This occurs frequently with linear axes
with a toothed belt drive.

Graphic determination of the 63% Determine graphically the point at which the actual speed _n_act will
value reach 63% of the end value. The correction time CTRL_TNn is then
shown as a value on the time axis. The commissioning software will help
you with the evaluation:
Malfunctions during optimisation High-frequency resonances in mechanical components may interfere
with controller optimisation. The values for CTRL_KPn and CTRL_TNn
cannot be set satisfactorily if this occurs.
The reference value filter of the current controller suppresses high-fre-
quency resonance (>500Hz). However, if high-frequency resonance
does interfere with controller optimisation, it may be necessary to incre-
0198441113363, V1.00, 12.2006

ase the time constant with the parameter CTRL_TAUiref.

In most cases the default setting suppresses the high-frequency reso-
nance.

AC servo drive 6-37

Commissioning LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_TAUiref Filter time constant reference value filter of ms UINT16 Modbus 4640
the reference current value() 0.00 R/W
1.20 per.
- 4.00 -
Fieldbus
0
120
400

6.5.4 Checking and optimising default settings

100% 100%
n_act n_act

n_ref n_ref
Amplitude

Amplitude

Rigid Less rigid

mechanism mechanism
0% 0%
t t

Figure 6.13 Step responses with good control behaviour

The controller is properly set when the jump response is approximately

identical to the signal path shown. Good control response can be recog-
nised by
• Fast adjustment
• Overshooting up to a maximum of 40% - 20% is recommended.
If the control response does not correspond to the curve shown, change
CTRL_KPn´ in steps of about 10% and then initiate a jump function once
again:
• If the controller is too slow: select CTRL_KPn greater.
• If the controller tends to oscillate: select CTRL_KPn smaller.
You can recognise an oscillation by the motor continuously accelerating
and decelerating.
0198441113363, V1.00, 12.2006

6-38 AC servo drive

 LXM05C Commissioning

100% 100%
Control too slow n_act Control oscillating
Amplitude

Amplitude
n_ref
n_ref

n_act Improve with Improve with

KPn KPn

0% 0%
t t

Figure 6.14 Optimise inadequate settings of the speed controller

If you cannot achieve sufficiently satisfactory controller

properties in spite of optimisation, contact your local
dealer.

6.5.5 Optimising the position controller

Optimisation requires a good control response in the lower-ranking
speed control circuit.
When setting the position control the P-factor of the position controller
CTRL_KPp must be optimised in two limits:
• CTRL_KPp too great: overshooting of the mechanism, instability of
the controller
• CTRL_KPp too small: Large following error

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_KPp Position controller P-factor(6-39) 1/s UINT16 Modbus 4620
2.0 R/W
Default value is calculated - per.
- 495.0 -
Fieldbus
20

4950
0198441113363, V1.00, 12.2006

AC servo drive 6-39

Commissioning LXM05C

@ WARNING
Unexpected movement
The step function moves the motor in speed mode at constant
speed until the specified time has expired.
• Check that the selected values for speed and time do not
exceed the available travel.
• If possible, use limit switches or stop as well.
• Make sure that a functioning button for EMERGENCY STOP is
within reach.
• Make sure that the system is free and ready for the movement
before starting the function.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Setting the reference signal 왘 Select the position controller reference value in the commissioning
software.
왘 Set the reference signal:

• Signal form: 'Jump'

• Set amplitude for about 1/10 motor revolution.
The amplitude is input in user-defined units. At default scaling the reso-
lution is 16384 usr per motor revolution.
Selecting recording signals 왘 Select the values in General Recording Parameters:

• Setpoint of the position controller _p_refusr (_p_ref)

• Actual position of the position controller _p_actusr (_p_act)
• actual speed _n_act
• current motor current _Iq_ref
Controller values for the position controller can be changed in the same
parameter group used for the speed controller.
Optimising the position control 왘 Start a jump function with the default controller values.
value
왘 After the first test check the achieved values _n_act and _Iq_ref
for current and speed control. The values must not cross into the
range of current and speed limiting.
0198441113363, V1.00, 12.2006

6-40 AC servo drive

 LXM05C Commissioning

100% 100%
Amplitude

Amplitude
p_ref p_ref

p_act p_act
Rigid Less rigid
mechanism mechanism
0% 0%
t t

Figure 6.15 Step responses of a position controller with a good control beha-
viour

The proportional factor CTRL_KPp is at its optimum setting when the

motor reaches its target position rapidly and with little or no overshoo-
ting.
If the control behaviour does not correspond to the curve shown, change
the P-factor CTRL_KPp in steps of about 10% and then initiate a jump
function once again.
• If the closed-loop control tends to oscillate: select CTRL_KPp smal-
ler.
• If the actual value is too slow following the reference value: select
CTRL_KPp larger.

100% 100%
Control too slow Control oscillating
Amplitude
Amplitude

p_ref
p_ref

Improve Improve
p_act p_act
with KPp with KPp

0% 0%
t t

Figure 6.16 Optimising improper settings of the position controller

0198441113363, V1.00, 12.2006

AC servo drive 6-41

Commissioning LXM05C

0198441113363, V1.00, 12.2006

6-42 AC servo drive

 LXM05C Operation

7 Operation
The "Operation" section describes the basic operating states, operating
modes and functions of the device.
For an overview of all parameters can be found
alphabetically sorted in the "parameters" section. The
application and the function of some parameters are
explained in more detail in this section.

7.1 Overview of operating modes

The following table is an overview of the operating modes and the type
of reference value preselection.

Operating mode Reference value default Control loop Description

Jog HMI or digital input Position controller Page 7-6
Current control analogue input Current controller Page 7-8
Speed control analogue input Speed controller Page 7-9
Pulse control P/D, A/B or CW/CCW Position controller Page 7-10

7.2 Access monitor

7.2.1 via HMI

The HMI receives the access monitoring when starting the jog operating
mode or when starting Autotuning. Control by a different access chan-
nel, such as the commissioning software, is not possible in this case.
In addition, the HMI can be locked using the parameter HMIlocked.
This means that control via the HMI is no longer possible.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
HMIlocked Block HMI(7-1) - UINT16 Modbus 14850
0 R/W
0: HMI not blocked 0 per.
1: HMI blocked 1 -
-
When the HMI is blocked the following
actions are no longer possible:
- Change parameters
0198441113363, V1.00, 12.2006

- Manual mode (Jog)

- Autotuning
- FaultReset

7.2.2 via commissioning software

The commissioning software must have exclusive access control. Con-
trol by a different access channel, such as the HMI, is not possible in this
case.

AC servo drive 7-1

Operation LXM05C

7.2.3 via hardware input signals

The functions "Halt", "Fault reset" and "Enable" are always effective,
even if the HMI or the commissioning software control the access.

7.3 Operating states

7.3.1 Status diagram
After switching on and at the start of an operating mode, a sequence of
operating states is progressed through.
The relationship between the operating states and the state transitions
is shown in the state diagram (state machine).
The operating states are internally monitored and influenced by monito-
ring and system functions, such as temperature and current monitoring
Graphic representation The status diagram is shown graphically as a flow chart.

Motor without current

Switching on

1
INIT Start
T0
2
nrdy Not ready to
switch on

T1

Switch on 3
dis disabled T15

T9 T2 T7
T12

Ready to 4
rdy switch on
T10

Fault 9
T3

5 fLt 8888
Son Switched on Display flashes

T14
8
T4
fLt Fault Reaction
active
6 Quick-Stop active 7
rUn Operation T16 T13
HALT enable Stop 8888
HaLt Display flashes
0198441113363, V1.00, 12.2006

T11 Fault Fault

Class1 Class2, 3, (4)

Motor under current

Operating state State transition Operating fault

Figure 7.1 Status diagram

7-2 AC servo drive

 LXM05C Operation

Operating states The operating states are displayed as standard by the HMI and the com-
missioning software.

Display Status State description

Init 1 Start Controller supply voltage, electronics is initialised
nrdy 2 Not ready to switch on The power amplifier is not ready to switch on 1)
dis 3 Switch on disabled Switching on the power amplifier is disabled
rdy 4 Ready to switch on The power amplifier is ready to switch on
Son 5 Switched on Motor not under current
Power amplifier ready
No operating mode active
run 6 Operation enable RUN: device running in the selected operating mode
HALT HALT: The motor is stopped with active power amplifier
Stop 7 Quick Stop active "Quick Stop" is executed
FLt 8 Fault Reaction active Error detected, error response is enabled
FLt 9 Fault device is in fault condition
1) The device must be switched off and switched on again

Error response The status transition T13 initiates an error response as soon as an in-
ternal occurrence indicates a breakdown to which the device must react.
The description of the error class can be seen in the diagnostics chapter.

Error class Statusfrom - Response

> to
2 x -> 8 Braking with "Quick Stop"
Brake is closed
Power amplifier is switched off
3.4 or "Power x -> 8 -> 9 Power amplifier is switched off immedia-
Removal" tely, even if "Quick Stop" is still active

A breakdown can be indicated by, for example, a temperature sensor.

The device interrupts the travel command and carries out an error re-
sponse e.g. braking and stopping with "Quick Stop" or switching off the
power amplifier. Subsequently the operating status changes to "Fault".
To leave the "Fault" operating status the cause of the error must be cor-
rected and a "Fault Reset" must be executed.
Reset error message The FAULT_RESET input signal is used to run a "Fault Reset". An error
message is reset by running a "Fault Reset".
In the case of a "Quick Stop" triggered by errors of class 1
(operating status 7), a "Fault Reset" triggers a direct return
to the operating status 6.
0198441113363, V1.00, 12.2006

AC servo drive 7-3

Operation LXM05C

Status transitions Status transitions are triggered by an input signal or as a response to a

monitoring signal.

Transi- Operating Condition / result 1) Response

tion status
T0 1 -> 2 • Motor speed below switch-on limit Check motor encoder

• device electronics successfully initialised

T1 2 -> 3 • First commissioning is completed -
T2 3 -> 4 • Motor encoder check successful, -
DC bus voltage active,
actual speed: <1000 1/min
T3 4 -> 5 • Input signal ENABLE0 -> 1
T4 5 -> 6 • Automatic transition if input signal ENABLE Activate power amplifier
still set motor phases, earth, user parameters are che-
cked
release brake
T7 4 -> 3 • DC bus undervoltage -

• Actual speed: >1000 1/min (e.g. by auxiliary

drive)
T9 6 -> 3 • Input signal ENABLE1 -> 0 Deactivate power amplifier immediately
T10 5 -> 3 • Input signal ENABLE1 -> 0
T11 6 -> 7 • Class 1 error Interrupt travel command with "Quick Stop"
T12 7 -> 3 • Input signal ENABLE1 -> 0 Deactivate power amplifier immediately, even if
"Quick Stop" still active
T13 x -> 8 • Errors Class 2, 3 or 4 Error response is carried out, see "error
response"
T14 8 -> 9 • Error response completed

• Errors Class , 3 or 4
T15 9 -> 3 • Function:"Fault Reset" Error is reset (cause of error must be corrected).
T16 7 -> 6 • Function:"Fault Reset" Specified operating mode is automatically conti-
nued (cause of error must be corrected).
1) It is sufficient to fulfil one point to trigger the status transition

7.3.2 Changing operating status

A change of operating status takes place either via the commissioning
software, the signal inputs or automatically.

Status transi-
Input signal tions Change of status to
ENABLE 0 -> 1 T3, T4 6: Operation enable
0198441113363, V1.00, 12.2006

ENABLE 1 -> 0 T5, T6 4: Ready to switch on

FAULT_RESET 0 -> 1 T15 4: Ready to switch on
T16 6: Operation enable

7-4 AC servo drive

 LXM05C Operation

7.3.3 Displaying the operating states

The display of operating status takes place via the signal outputs, the
HMI or the commissioning software.

Status "No fault" "Brake "Active"

release"
2: Not ready to switch on 0 0 0
3: Switch on disabled 0 0 0
4: Ready to switch on 1 0 0
5: Switched on 1 0 0
6: Operation enable 1 1 1
7: Quick Stop activ 0 1 0
8: Fault Reaction active 0 1 0
9: Fault 0 0 0

7.4 Starting and changing operating modes

@ WARNING
Unintended operation
• Note that inputs to these parameters are executed by the drive
controller immediately on receipt of the data set.
• Make sure that the system is free and ready for movement
before changing these parameters
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Requirements To start an operating mode the unit must be ready to start and correctly
initialised.
An operating mode cannot be carried out in parallel with another opera-
ting mode. If an operating mode is active, then you can only change to
a different operating mode if the current operating mode is completed or
is discontinued.
An operating mode is completed if the drive is at a standstill, e.g. if the
target position of a positioning process is reached or if the drive is stop-
ped by a "Quick Stop" or "Halt". If a fault occurs during the process which
leads to the discontinuation of a current operating mode, then, after the
cause of the fault has been removed, the traverse operation can be re-
sumed, or you can change to a different operating mode.
Changing the operating states and enabling the operating modes must
0198441113363, V1.00, 12.2006

be executed separately. An operating mode can generally only be enab-

led if the operating status is already "operation enable".

AC servo drive 7-5

Operation LXM05C

7.4.1 Start operating mode

After start-up the device switches to the operating mode specified in the
parameter IOdefaultMode.
The motor is placed under current by setting the input signal ENABLE
and the set operating mode is started.
In addition, a "jog" or "Autotuning" can be started with the HMI.

7.4.2 Change operating mode

At drive standstill the default operating mode can be changed in the pa-
rameter IOdefaultMode. The operating modes cannot be changed
while the operating mode is running. The new settings only become ef-
fective after switching off and switching on the device again.

7.5 Operating modes

7.5.1 Operating mode Jog

@ WARNING
Unintended operation
• Note that inputs to these parameters are executed by the drive
controller immediately on receipt of the data set.
• Make sure that the system is free and ready for movement
before changing these parameters
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Overview of jog The motor traverses by one traverse unit or at constant speed in conti-
nuous operation. The length of the traverse unit, the speed levels and
the wait time before continuous operation can be adjusted.
The current axis position is the start position for the jog operating mode.
Position and speed values are input in user-defined units.
Start operating mode The operating mode can be started via the HMI. The power amplifier be-
comes active and the motor is under current by calling up the jog- /
strt. The motor runs by pushing the "up arrow" or "down arrow" but-
tons. You can change between slow and fast movement by simultane-
ously pushing the ENT-button.
Otherwise the operating mode can also be started as a start-up opera-
ting mode, see 6.4.1 “"First Setup"“. Here the corresponding functions
are preassigned to the signal inputs, see 7.6.7 “Configurable inputs and
0198441113363, V1.00, 12.2006

outputs“.
At the start signal for jog the motor first moves over a defined path
JOGstepusr. If the start signal is still pending after a specific wait time
JOGtime, the device switches to continuous operation until the start si-
gnal is reset.
The graph below shows an overview.

7-6 AC servo drive

 LXM05C Operation

1
"Jog positive"
0

1
"Jog fast/slow"
0

JOGn_fast
M
JOGn_slow

햲 햳 햲 햴 햵

Figure 7.2 Jog, slow and fast

(1) Traverse unit

(2) t < wait time
(3) t > wait time
(4) Continuous operation
The traverse unit, wait time and speed levels can be set. If the traverse
unit is zero, jog starts directly with continuous operation irrespective of
the wait time.
The following parameters can be set via the commissioning software.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
JOGn_slow Speed for slow jog(7-6) 1/min UINT16 Modbus 10504
1 R/W
NSLW The setting value is internally limited to the 60 per.
current parameter setting in RAMPn_max. 13200 -
JOG-NSLW
JOGn_fast Speed for fast jog(7-6) 1/min UINT16 Modbus 10506
1 R/W
NFST The setting value is internally limited to the 180 per.
current parameter setting in RAMPn_max. 13200 -
JOG-NFST
JOGstepusr Inching movement before continuous opera- usr INT32 Modbus 10510
tion(7-6) 0 R/W
20 per.
0: direct activation of continuous operation -
- >0: positioning section per inching cycle
JOGtime Waiting time before continuous opera- ms UINT16 Modbus 10512
tion(7-6) 1 R/W
500 per.
Time is only effective if an inching distance 32767 -
- not equal to 0 has been set, otherwise direct
transition to continuous operation.

End operating mode Jog is finished when the motor has stopped and
0198441113363, V1.00, 12.2006

• the direction signal is inactive.

• the operating mode has been interrupted by "Halt" or an error
Further possibilities For further setting possibilities and functions for the operating mode see
from page 7-14.

AC servo drive 7-7

Operation LXM05C

7.5.2 Operating mode Current control

Overview of current control In the current control operating mode the reference value for the motor
current is preset.
The following overview shows the effectivity of the parameters which
can be set for the operating mode.

ANA1_offset CTRL_I_max
ANA1_win CTRL_n_max
ANA1_I_scale

ANA_IN1 Signal
Controller
(±10V) Processing

M
3~

ESIM Signal
Processing

ESIMscale

Figure 7.3 Current control mode.

Start operating mode The operating mode must be set in the parameter IOdefaultMode.
The power amplifier becomes active, the motor receives current and the
analogue input is evaluated in accordance with the setting by setting the
input signal ENABLE.

@ WARNING
Unexpectedly high speed of rotation
The motor in current control mode can reach extreme speeds
when operated without limits or load.
• Check the configured speed limiter.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CUR_I_target Setpoint current in current control operating Apk INT16 Modbus 8200
mode(7-8) -300.00 R/W
0.00 -
0198441113363, V1.00, 12.2006

- 300.00 -
Fieldbus
-30000
0
30000

7-8 AC servo drive

 LXM05C Operation

Reference value at +10V input The progress of the reference value in relation to the ±10V input value
signal can be altered:
• Setting the reference value at +10V
• Setting parameters for a zero voltage window
• Setting parameters for a voltage offset
For setting options for the analogue inputs see .
The device calculates a current value, with which the motor accelerates
to a speed which is limited by the load torque, from the ±10 V analogue
value preset. Without a load the motor therefore accelerates to the va-
riable speed limit.
End operating mode The processing in the operating mode is completed if the operating
mode has been "deactivated" and the drive is at a standstill, or if the mo-
tor speed has taken the value = 0 as a result of a fault.

7.5.3 Operating mode Speed control

Overview of speed control In the speed control operating mode the reference value for the motor
speed is preset.
Transitions between two speeds take place in relation to the set control
parameters.
The following overview shows the effectivity of the parameters which
can be set for the operating mode.

ANA1_offset CTRL_I_max
ANA1_win CTRL_n_max
ANA1_n_scale

ANA_IN1 Signal
Controller
(±10V) Processing

M
3~

ESIM Signal
Processing

ESIMscale

Figure 7.4 Speed control operating mode

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
0198441113363, V1.00, 12.2006

Maximum value Expert

SPEEDn_target Setpoint speed in speed control mode(7-9) 1/min INT16 Modbus 8456
-30000 R/W
The internal maximum speed is limited by 0 -
the current setting in CTRL_n_max 30000 -
-

AC servo drive 7-9

Operation LXM05C

Reference value at +10V input The progress of the reference value in relation to the ±10V input value
signal can be altered:
• Setting the reference value at +10V
• Setting parameters for a zero voltage window
• Setting parameters for a voltage offset
For setting options for the analogue inputs see .
End operating mode The processing in the operating mode is completed if the operating
mode has been "deactivated" and the drive is at a standstill, or if the mo-
tor speed has taken the value = 0 as a result of a fault.

7.5.4 Operating mode Pulse control

@ WARNING
Unintended operation
• Note that inputs to these parameters are executed by the drive
controller immediately on receipt of the data set.
• Make sure that the system is free and ready for movement
before changing these parameters
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Description In the operating mode Pulse control reference signals are fed in as A/B
signals, pulse/direction signals or CW/CCW signals. They are offset to
a new position preset with an adjustable gear ratio.
The parameter IOposInterfac specifies the type of reference sig-
nals.
Example An NC control provides reference signals to two units. The motors exe-
cute different, proportional positioning movements in accordance with
the gear ratios.

900 1/min
3 M
Setpoint 2 3~
CN1
(PULSE) E

600 1/min CN2

Actual motor position

NC
450 1/min
0198441113363, V1.00, 12.2006

3 M
4 3~
CN1
(PULSE) E

CN2
Actual motor position

Figure 7.5 Preset default via NC controller

7-10 AC servo drive

 LXM05C Operation

Start operating mode The operating mode must be set in the parameter IOdefaultMode.
The power amplifier becomes active, the motor receives current and the
inputs are evaluated in accordance with the setting by setting the input
signal ENABLE.
The type of synchronisation is set by the parameter IO_GearMode. If
positioning changes are fed to the reference signals, then the device
computes these with the gear ratio and positions the motor to the new
setpoint position.
Position values are given in internal units. The device performs the chan-
ges immediately.
End operating mode The process is ended by:
• disabling the operating mode and motor at standstill
• motor standstill by "Halt" or by an error

7.5.4.1 Parameterisation

Overview The following overview shows the mode of action of the parameters
which can be set for the operating mode Pulse control.

CTRL_I_max
CTRL_n_max
GEARratio
GearNum
GearDenom
Controller

Reference signals AB M
M 3~
PD

E
IOposInterfac GEARdir_enabl

Figure 7.6 Effect of settable parameters

The resulting positioning movement is dependent upon the current mo-

tor resolution. It amounts to 131072 motor increments per revolution.
The setting values, independent of the type of synchronisation, are:
• Gear factor (predefined value or intrinsic gear factor)
• size of following error
• Release of the direction of rotation
Setting thresholds For setting current limiting and speed limiting see 6-15.
Synchronisation The device operates synchronously interconnected, e.g. with other
drives. If the device leaves the processing for a short period of time, then
the synchronous run with other drives is lost. However, position changes
0198441113363, V1.00, 12.2006

that occur at the reference signals are internally counted during the in-
terruption.
The parameter IO_GearMode can be used to set whether these posi-
tioning changes are to be processed or ignored when the processing is
resumed.

AC servo drive 7-11

Operation LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IO_GearMode Processing mode electr. gearing () - UINT16 Modbus 1326
1 R/W
IOGM 1: Real-time synchronisation 1 per.
2: synchronisation with compensation move- 2 -
DRC-ioGM ment

Gear ratio The gear ratio is the relationship between the motor increments and the
externally inputted guide increments for the movement of the motor.

Motor increments Gear factor numerator

Gear factor = =
Reference increments Gear factor denominator

The parameter GEARratio serves to set the predefined gear ratio. Al-
ternatively, an intrinsic gear ratio can be selected.
The intrinsic gear ratio is determined with the parameters count and
name. A negative numerator value reverses the motor's direction of ro-
tation. The gear ratio is preset to 1:1.
Example At a setting of 1000 reference increments the motor should rotate 2000
motor increments. This yields a gear ratio of 2.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
GEARratio Selection of special gear ratios() - UINT16 Modbus 9740
0 R/W
GFAC 0: Use of the specified gear ratio from 0 per.
GEARnum/GEARdenom 11 -
SET-GFAC 1: 200
2: 400
3: 500
4: 1000
5: 2000
6: 4000
7: 5000
8: 10000
9: 4096
10: 8192
11: 16384

Changing the reference variable by the sta-

ted value results in one motor rotation.
GEARnum Gear ratio numerator() - INT32 Modbus 9736
0198441113363, V1.00, 12.2006

-2147483648 R/W
GEARnum 1 per.
Gear ratio= --------------------- 2147483647 -
- GEARdenom

The new gear ratio is enabled when the

numerator value is transferred.

7-12 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
GEARdenom Gear ratio denominator() - INT32 Modbus 9734
1 R/W
see description GEARnum 1 per.
- 2147483647 -

Direction enabling The direction enabling allows restriction of the movement to positive or
negative direction of rotation. Direction enabling is set with the parame-
ter GEARdir_enabl.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
GEARdir_enabl Enabled direction of motion of the gear pro- - UINT16 Modbus 9738
cessing() 1 R/W
3 per.
1 / positive : pos. direction 3 -
- 2 / negative: neg. direction
3 / both: both directions (default)

This can be used to enable a return motion

lock.

Further possibilities For further setting possibilities and functions for the operating mode see
from page 7-14.
0198441113363, V1.00, 12.2006

AC servo drive 7-13

Operation LXM05C

7.6 Functions
7.6.1 Monitoring functions
7.6.1.1 Status monitoring in movement mode

Speed
feed-forward Reference value at Reference value at
_n_pref
operating mode _n_ref operating mode
_p_tarRAMPusr _p_actRAMPusr "Speed control" Reference-
_n_targetRAMP _n_actRAMP "Current control"
_p_refusr value filter
_p_ref CTRL_KFPp
Profile Speed Speed
generator Jerk limit _p_dif controller controller

CTRL_KPp CTRL_n_max CTRL_TAUref CTRL_KPn CTRL_I_max

CTRL_TNn
_p_actPosintf
_v_act_Posintf _p_addGEAR

Reference- _iq_ref POSdirOfrotat

value filter
M Current Current Power
+ controller controller amplifier
GEARratio GEARdir_enabl 0
GEARnum
GEARdenum
1
CTRL_TAUref
_id_act, _idq_act, _iq_act

Encoder evaluation M
3~
_n_act
Actual value
- Speed E
_p_act, _p_actusr, _p_absmodulo, _p_absENCusr - Position

Figure 7.7 Status monitoring of the control loops

7.6.1.2 Monitoring internal signals

Monitoring systems protect the motor, the power amplifier and the bra-
king resistor from overheating and contribute to the functional and ope-
rational safety. A list of all the safety equipment can be seen from page
2-4.
Temperature monitoring Sensors monitor the temperature of motor, power amplifier and braking
resistor. All temperature limits are permanently set. If the temperature of
a component approaches its permissible temperature limit, the device
0198441113363, V1.00, 12.2006

creates a warning signal. If the temperature exceeds the limit value for
more than 5 seconds, then the power amplifier and the regulation swit-
ches off. The device signals a temperature error.

7-14 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_Temp_act_DEV device temperature(7-14) °C INT16 Modbus 7204
R/-
TDEV - -
STA-TDEV -

_Temp_act_M Temperature motor(7-14) °C INT16 Modbus 7202

R/-
reasonable display is not possible for swit- - -
ching temperature sensors (for type of tem- -
- perature sensor see parameter
M_TempType)
_Temp_act_PA Temperature of the power amplifier(7-14) °C INT16 Modbus 7200
R/-
TPA - -
STA-TPA -

M_T_max max. motor temperature(7-14) °C INT16 Modbus 3360

R/-
-
- -

PA_T_max maximum permissible temperature of the °C INT16 Modbus 4110

power amplifier(7-14) R/-
per.
- -

PA_T_warn Temperature limit of the power ampli- °C INT16 Modbus 4108

fier(7-14) R/-
per.
- -

I2t monitoring If the device operates with high peak currents, then temperature moni-
toring with sensors can be too sluggish. With I2t monitoring the closed-
loop control anticipates a rise in temperature in time and if the I2t thres-
hold is exceeded, it reduces the motor, power amplifier or braking resis-
tor current to their nominal value.
If the limit value is not reached, the individual components can be taken
to the output limit again.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_I2tl_act_RES Actual overload braking resistor(7-14) % INT16 Modbus 7206
R/-
- -
- -
0198441113363, V1.00, 12.2006

_I2tl_mean_RES Braking resistor load(7-14) % INT16 Modbus 7208

R/-
I2TR - -
STA-i2TR -

_I2t_peak_RES Overload braking resistor maximum % INT16 Modbus 7210

value(7-14) R/-
- -
Maximum overload braking resistor that has -
- occurred in the last 10 sec.

AC servo drive 7-15

Operation LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_I2t_act_PA Overload power amplifier current(7-14) % INT16 Modbus 7212
R/-
- -
- -

_I2t_mean_PA Power amplifier load(7-14) % INT16 Modbus 7214

R/-
I2TP - -
STA-i2TP -

_I2t_peak_PA Overload power amplifier maximum % INT16 Modbus 7216

value(7-14) R/-
- -
Maximum overload power amplifier that has -
- occurred in the last 10 sec.
_I2t_act_M Overload motor current(7-14) % INT16 Modbus 7218
R/-
- -
- -

_I2t_mean_M Motor load(7-14) % INT16 Modbus 7220

R/-
I2TM - -
STA-i2TM -

_I2t_peak_M Overload motor maximum value(7-14) % INT16 Modbus 7222

R/-
Maximum overload motor that has occurred - -
in the last 10 sec. -
-

Tracking error monitoring The drive monitors the following error at 1ms intervals. The tracking er-
ror is the difference between the current setpoint and the actual position.
If the difference exceeds the limit value set by the parameter
SPV_P_maxDiff, it will immediately cause an interruption of movement
(tracking error) with configurable error class.
Select the limit value in parameter SPV_P_maxDiff significantly higher
than the maximum possible following error in error-free operation. This
will ensure that a shutdown as a result of tracking error will only occur in
case of error, e.g. with illegally increased external load torque, faulty po-
sition encoder etc.
The maximum control deviation occurring during operation can be de-
termined with the parameter _p_DifPeakand compared with the ma-
ximum permissible following error. This allows the actual distance to the
shut-off limit to be detected.
The error class for a tracking error can also be changed, see also7.6.1
“Monitoring functions“.
0198441113363, V1.00, 12.2006

Calculating the tracking error The tracking error monitoring considers the dynamic tracking error and
tracking error reduced by the speed pilot control (KFPp). Only the tra-
cking error actually required for generating torque is compared with the
specified tracking error limit. The lower limit value at which the tracking
error must be set as a minimum is derived with the following formula.
The change of P-intervals is calculated without considering the dynamic
I-intervals and D-intervals from the tracking error to the current refe-

7-16 AC servo drive

 LXM05C Operation

rence value input. The current limit Imax is used as the current reference
value.
Because the units of KPn[A/(rpm)] and p_dif[10000usr/rev] are not SI
units, a conversion factor of 10000(usr/rev)/(60(s/min)) must be used.

usr
CTRL_I_max 10000 U
_p_dif =
CTRL_KPp CTRL_KPn 60s/min

Example of a tracking error The following values are used in the example:
calculation Imax=10A, KPp=100/s, KPn=0.04A (rpm)

This yields the following:

usr
10A 10000 U
_p_dif = 1 min
= 416usr
100 0,04A 60s/min
s U

The calculated value is the actual tracking error that immediately results
in a tracking error with shutdown. Enter five times the calculated value in
the parameter SPV_P_maxDiff to give an appropriate safety distance;
for the example it would be 2080 usr.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_p_DifPeak Value of max. reached tracking errors of the revolution UINT32 Modbus 4382
position controller(7-14) 0.0000 R/W
- -
The tracking error is the current position 429496.7295 -
- regulation offset minus the speed-dependent
position regulation offset. Fieldbus
Further information see SPV_p_maxDiff. 0
A write operation resets the value again.
4294967295
_p_dif Current variation between reference and revolution INT32 Modbus 7716
actual position(7-14) -214748.3648 R/-
PDIF - -
Corresponds to the current control deviation 214748.3647 -
STA-PDiF of the position controller without considera-
tion of any dynamic components. Fieldbus
Note: difference from SPV_p_maxDiff -2147483648

2147483647
SPV_p_maxDiff Max. permissible tracking error of position revolution UINT32 Modbus 4636
0198441113363, V1.00, 12.2006

controller(7-14) 0.0001 R/W

1.0000 per.
The tracking error is the current position 200.0000 -
- regulation offset minus the speed-dependent
position regulation offset. Actually, only the Fieldbus
position offset caused by the moment 1
requirements is still referred to for tracking 10000
error monitoring. 2000000

AC servo drive 7-17

Operation LXM05C

Monitoring parameters The unit and operating status can be monitored with various objects.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_SigActive Current state of the monitoring signals(7-14) - UINT32 Modbus 7182
R/-
Meaning see _SigLatched - -
- -

_SigLatched Stored state of the monitoring signals(7-14) - UINT32 Modbus 7184

R/-
SIGS Signal state: - -
0: not activated -
STA-SiGS 1: activated

Bit assignment
Bit0: general error
Bit1: limit switch (LIMP/LIMN/REF)
Bit2: range exceeded (software limit switch,
tuning)
Bit3: Quick Stop via fieldbus
Bit4: inputs PWRR are 0
Bit6: error RS485
Bit7: error CAN
Bit9: frequency of reference signal too high
Bit10: error current operating mode
Bit12: Profibus error
Bit14: undervoltage DC bus
Bit15: overvoltage DC bus
Bit16: no mains phase
Bit17: connection to motor faulty
Bit18. motor overcurrent/short circuit
Bit19. error in motor encoder
Bit20: undervoltage 24VDC
Bit21: overtemperature (power amplifier,
motor)
Bit22: tracking error
Bit23: max. speed exceeded
Bit24: PWRR inputs different
Bit29: error in EEPROM
Bit30: system run-up (hardware or parame-
ter fault)
Bit31: System error (e.g. Watchdog)

monitoring depends on the product.

_WarnActive Active warnings bit-coded(7-14) - UINT16 Modbus 7190
R/-
Meaning of Bits see _WarnLatched - -
- -
0198441113363, V1.00, 12.2006

7-18 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_WarnLatched Stored warnings bit-coded(7-14) - UINT16 Modbus 7192
R/-
WRNS Stored warning bits are erased in the event - -
of a FaultReset. -
STA-WRNS Bits 10,11,13 are automatically deleted.

Signal state:
0: not activated
1: activated

Bit assignment
Bit 0: general warning (see _LastWarning)
Bit 1: power amplifier temperature high
Bit 2: motor temperature high
Bit 3: reserved
Bit 4: overload (I²t) power amplifier
Bit 5: overload (I²t) motor
Bit 6: overload (I²t) braking resistor
Bit 7: CAN warning
Bit 8: Motor Encoder warning
Bit 9: RS485 protocol warning
Bit 10: PWRR_A and/or PWRR_B
Bit 11: DC bus undervoltage, faulty mains
phase
Bit 12: Profibus warning
Bit 13: Position not yet valid (position detec-
tion continuing)
Bit 14: reserved
Bit 15: reserved

monitoring is product-dependent
_actionStatus Action word(7-14) - UINT16 Modbus 7176
R/-
Signal state: - -
0: not activated -
- 1: activated

Bit0: Class 0 error

Bit1 Class 1 error
Bit2: Class 2 error
Bit3 Class 3 error
Bit4 Class 4 error
Bit5 reserved
Bit6: drive stopped
(actual speed _n_act [1/min] < 9 )
Bit7: drive rotates in positive direction
Bit8: drive rotates in negative direction
Bit9: drive within position window (pwin)
Bit10: reserved
Bit11: Profile generator stopped
(setpoint speed is 0)
0198441113363, V1.00, 12.2006

Bit12: Profile generator decelerating

Bit13: Profile generator accelerating
Bit14: Profile generator moves in constant
mode
Bit15: reserved
_StopFault Fault number of the last interruption - UINT16 Modbus 7178
cause(7-14) R/-
STPF - -
FLT-STPF -

AC servo drive 7-19

Operation LXM05C

Set fault response The response of the unit to a fault is classified into error classes, and can
be set for certain monitoring functions. This allows the error response of
the unit to be matched to the operational requirements.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPV_Flt_pDiff Error response to tracking error(7-14) - UINT16 Modbus 1302
1 R/W
1 / ErrorClass1error class 1 3 per.
2 / ErrorClass2: error class 2 3 -
- 3 / ErrorClass3: error class 3
SPV_Flt_AC Error response to failure of a mains phase - UINT16 Modbus 1300
with 3-phase devices(7-14) 1 R/W
2 per.
1 / ErrorClass1error class 1 3 -
- 2 / ErrorClass2: error class 2
3 / ErrorClass3: error class 3

7.6.1.3 Commutation monitoring

Functional principle The unit continuously checks the plausibility of motor acceleration and
effective motor moment, in order to recognise uncontrolled motor move-
ments and to stop them if required. The monitoring function is referred
to as commutation monitoring.
If the motor accelerates for a time period of more than 5 to 10ms, the
commutation monitoring signals an uncontrolled motor movement, even
though the drive regulation delays the motor with the set current value.
The unit shows flashing on HMI 5603 (error class 4)
Causes of error Uncontrolled motor movements can be traced back to the following cau-
ses:
• The motor phases U, V, W are connected to the unit incorrectly, i.e.
each offset by 120° , e.g. U with V, V with W, W with U.
• Faulty or interfered evaluation of the rotor position by a faulty posi-
tion encoder on the motor, interfered sensor signals or defective
position acquisition in the unit.
In addition, the unit can recognise a commutation error in the following
cases, since the above-mentioned plausibility conditions could equally
apply:
• The motor receives an external torque that is greater than the speci-
fied maximum torque. The external force causes it to accelerate.
• The motor is manually moved either in the direction of the motor
moment or in the opposite direction, while the drive regulation is
active.
0198441113363, V1.00, 12.2006

• The motor is moved to a mechanical stop.

• Speed and position control loop are set to be extremely unstable.

7-20 AC servo drive

 LXM05C Operation

Parameterisation
@ WARNING
Unexpected movement
The risk of unexpected movement is increased when the monito-
ring functions are disabled.
• Use the monitoring functions.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPVcommutat Monitoring commutation(7-20) - UINT16 Modbus 1290
0 R/W
0 / off: off 1 per.
1 / on: on (default) 1 -
-

7.6.1.4 Earth fault monitoring

Functional principle The device continuously checks the motor phases for earth fault with the
power amplifier enabled. An earth fault of one or more motor phases is
detected. An earth fault of the DC bus or the braking resistor is not de-
tected.
Parameterisation
@ WARNING
Unexpected movement
The risk of unexpected movement is increased when the monito-
ring functions are disabled.
• Use the monitoring functions.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPV_EarthFlt Earth fault monitoring(7-21) - UINT16 Modbus 1312
0 R/W
0 / off: Off 1 per.
1 / on: On (default) 1 expert
-
In exceptional cases deactivation may be
0198441113363, V1.00, 12.2006

required, e.g.:
- parallel connection of multiple devices
- operation on an IT mains
- long motor lines
Disable the monitoring only if it responds
when not wanted

AC servo drive 7-21

Operation LXM05C

7.6.1.5 Mains phase monitoring

Functional principle With three-phase devices the mains phases are monitored for failure of
a mains phase. An error response can be set in the parameter
SPV_Flt_AC. The parameter SPV_MainsVolt.
The parameters SPV_Flt_AC and SPV_MainsVolt have no function
with single-phase devices.
Parameterisation
@ WARNING
Unexpected movement
The risk of unexpected movement is increased when the monito-
ring functions are disabled.
• Use the monitoring functions.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPV_Flt_AC Error response to failure of a mains phase - UINT16 Modbus 1300
with 3-phase devices(7-14) 1 R/W
2 per.
1 / ErrorClass1error class 1 3 -
- 2 / ErrorClass2: error class 2
3 / ErrorClass3: error class 3
SPV_MainsVolt Monitoring mains phases with 3-phase - UINT16 Modbus 1310
devices(7-22) 0 R/W
1 per.
0 / off: Off 1 expert
- 1 / on: On (default)

3-phase devices must only be connected

and operated on 3-phase mains. In exceptio-
nal cases it may be necessary to disable it,
e.g.:
- supply via the DC bus
0198441113363, V1.00, 12.2006

7-22 AC servo drive

 LXM05C Operation

7.6.2 Scaling
Availability This function is only active on jog operating mode.
Description Scaling translates user units to internal units of the device, and vice
versa. The device saves position values in user-defined units.

User defined Scaling Internal

units units
_p_refusr _p_ref
Position
Operating
Scaling- mode M
3~
factor in
_p_actusr _p_act Internal
Motor units E
position

Figure 7.8 Scaling

Scaling factor The scaling factor creates the relationship between the number of motor
rotations and the required user units [usr] needed for this. It is specified
in [rev/usr].

Motor revolution [rev]

Scaling factor =
Change of the user position [usr]

Figure 7.9 Calculation of the scaling factor

Default scaling A value of 16384 user-defined units per motor revolution is set as the de-
fault scaling.

@ WARNING
Unexpected movement by changing the scaling
Changing the scaling changes the effect of the values in user-de-
fined units. The same travel commands can therefore cause diffe-
rent movements.
• Note that the scaling affects all relationships between the
defaults and the drive movement.
• Check the corresponding usr parameters and defaults of the
system in user-defined units.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.
0198441113363, V1.00, 12.2006

The scaling factor is set using the parameters POSscaleNum and

POSscaleDenom. A new scaling factor is activated by transfer of the nu-
merator value.
When quoting the scaling factor, take care that the relationship can be
completely represented by a fraction.

AC servo drive 7-23

Operation LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
POSscaleNum Numerator of the position scaling fac- revolution INT32 Modbus 1552
tor(7-23) 1 R/W
1 per.
:Definition of scaling factor 2147483647 -
-
Motor revolutions[U]
----------------------------------------------------------
Change in user position [usr]

Acceptance of a new scaling factor takes

place on the entry of the numerator

User limits can be reduced when internal

system factors are taken into account
POSscaleDenom Denominator of the position scaling fac-usr INT32 Modbus 1550
tor(7-23) 1 R/W
16384 per.
Description see numerator (POSscaleNum) 2147483647 -
-
Acceptance of a new scaling factor is by
transfer of the numerator

If the existing unit is replaced by this unit, and if the same

positioning orders are to be used, then the scaling is to be
set in accordance with the settings used previously.

Value change of the scaling factor is only possible with inactive power
amplifier. Values in user-defined units are converted to internal units
with the power amplifier active.
Examples There are 3 cases for the setting of the user-defined units.
• Scaling corresponds to the default scaling
1 motor revolution = 16384 user-defined units
=> every 8th motor position can be approached.

• Scaling corresponds to the motor resolution (minimum scaling)

1 motor revolution = 131072 user-defined units
=> every motor position can be approached.

• Scaling is less than the default scaling

1 motor resolution = 4096 user-defined units
=> every 32nd motor position can be approached.

Example 1 Positioning of 1111 user-defined units is to correspond to 3 motor revo-

0198441113363, V1.00, 12.2006

lutions. This gives:

3 rev
Scaling factor =
1111 usr

7-24 AC servo drive

 LXM05C Operation

If you carry out a relative positioning operation of 900 user-defined units

now, the motor will move 900 usr * 3/1111 rev/usr = 2.4302 motor revo-
lutions.
Example 2 Calculation of the scaling factor in length units: 1 motor revolution cor-
responds to a path of 100 mm. Every user-defined unit [usr] should cor-
respond to one 0.01 mm step.
This gives: 1 usr = 0.01 mm * 1 rev/100 mm = 1/10000 rev.

1 rev
Scaling factor =
10000 usr

Example 3 Setting the positioning in 1/1000 rad

1rad = 1 U/(2*π)
π = 3.1416 (rounded)
User value = 1 usr
device value = 1/(2*π*1000) U

1 rev 1 rev 10 rev

Scaling factor = = =
2*3,1416*1000 usr 6283,2 usr 62832 usr
0198441113363, V1.00, 12.2006

AC servo drive 7-25

Operation LXM05C

7.6.3 Movement profile

Availability This function is only active on jog operating mode.
Profile generator Target position and final speed are input values to be entered by the
user. The profile generator uses these values to calculate a motion pro-
file dependent on the selected operating mode.
The initial values of the profile generator and the addable jolt limiting are
transformed into a motor movement by the drive regulator.
The acceleration and deceleration behaviour of the motor can be descri-
bed as a ramp function of the profile generator. The characteristic values
of the ramp function are the ramp shape and the ramp steepness.
Ramp shape A linear ramp for the acceleration and deceleration phases is available
as the ramp shape. The profile settings are valid for both directions of
movement of the drive.
Ramp steepness The steepness of the ramp determines the speed changes of the motor
per unit time. It can be specified for the acceleration ramp via parameter
RAMPacc for the deceleration ramp via RAMPdecel.

v RAMPn_max
_n_actRAMP

RAMPacc RAMPdecel

Figure 7.10 Acceleration and deceleration ramps

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
RAMPacc Profile generator acceleration(7-26) (1/min)/s UINT32 Modbus 1556
30 R/W
600 per.
- 3000000 -

RAMPdecel Profile generator deceleration(7-26) (1/min)/s UINT32 Modbus 1558

750 R/W
750 per.
- 3000000 -
0198441113363, V1.00, 12.2006

7-26 AC servo drive

 LXM05C Operation

7.6.4 Quick Stop

@ WARNING
Unbraked motor
An insufficient braking resistor causes overvoltage on the DC bus
and switches off the power amplifier. The motor is no longer ac-
tively braked.
• Make sure that the braking resistor is sufficiently dimensioned.
• Check the setting of the parameter for the braking resistor.
• Check the temperature of the braking resistor by conducting a
test run under the most critical conditions.
• During the test make sure that at higher mains voltage there is
less reserve in the capacitors on the DC bus.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

"Quick Stop" is a fast braking function which stops the motor as a result
of a fault of error class 1 and 2 or by a software stop.
In the event of a fault category 1 fault response, the power amplifier re-
mains on. In the case of error class 2, the output stage switches off after
the drive is at a standstill.
Maximum current The unit absorbs the excess braking energy. If the DC bus voltage ex-
ceeds the permissible limit the output stage switches off and the unit si-
gnals "DC bus overvoltage". The motor runs down without braking.
The current for the moment ramp should be set so that the drive comes
to a standstill with the required delay.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
LIM_I_maxQSTP Current limiting for Quick Stop(7-27) Apk UINT16 Modbus 4362
- R/W
LIQS Max. current during braking via torque ramp - per.
resulting from an error with error class 1 or 2, - -
SET-LiQS and when a software stop is triggered

Maximum and default value setting depend

on motor and power amplifier

in 0.01Apk steps

If the device switches off frequently with "Quick Stop" with "DC bus over-
0198441113363, V1.00, 12.2006

voltage", then the maximum braking current should be reduced, the

drive load should be reduced or an external braking resistor should be
installed.

AC servo drive 7-27

Operation LXM05C

7.6.5 Halt
The "Halt" function brakes the motor with a moment ramp The parame-
ter LIM_I_maxHalt specifies the current for the moment ramp.
After drive standstill an internal position compensation is run, the posi-
tion control is enabled and the motor is stopped with the power amplifier
active.
After cancellation of all "Halt" requests the interrupted movement is con-
tinued. If the HALT signal is cancelled during the braking procedure, the
drive still runs down to standstill and only then accelerates again.
The "Halt" function can be set from any desired source (such as com-
missioning software or input signal HALT).
Maximum current The unit absorbs the excess braking energy. If the DC bus voltage ex-
ceeds the permissible limit the output stage switches off and the unit si-
gnals "DC bus overvoltage". The motor runs down without braking.
The current for the moment ramp should be set so that the drive comes
to a standstill with the required delay.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
LIM_I_maxHalt Current limiting for Halt(7-28) Apk UINT16 Modbus 4364
- R/W
LIHA Max. current during braking after Halt or ter- - per.
mination of an operating mode. - -
SET-LihA
Maximum and default value settings depend
on motor and power amplifier

in 0.01Apk steps

0198441113363, V1.00, 12.2006

7-28 AC servo drive

 LXM05C Operation

7.6.6 Braking function with HBC

Inadvertent movement of the motor without current is prevented by the
use of motors with a holding brake. The holding brake requires a holding
brake control system HBC, see chapter "Accessories"
Holding brake controller The holding brake controller HBC controls the brake in such a way to al-
low fast switching with a minimum of heat generation. In addition, the
brake connection, which is located in one cable with the wiring connec-
tions to the motor, safely disconnects the signal connections on the de-
vice in the event of a breakdown of the insulation of the motor cable.
The function "Brake release" is used to actuate the holding brake cont-
roller. The function must be configured to a signal output, see 7.6.7
“Configurable inputs and outputs“.
The function of the HBC and the holding brake can be tested, see 6.4.7
“Checking holding brake“ page 6-20.
Settable parameters A time delay for release of the holding brake (BRK_trelease) and set-
ting the holding brake (BRK_tclose) can be configured.
Delayed release When the power amplifier is activated the parameter BRK_trelease
implements a delayed response of the drive against the release (ope-
ning) of the holding brake.
The setting of the parameter BRK_trelease depends on the motor
type and can be found in the motor data sheet.

1
Activate
power amplifier 0

1
Torque
Motor 0
1

Output brake 0

1
Operation
Enable 0

BRK_trelease t

Figure 7.11 Releasing the holding brake

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
0198441113363, V1.00, 12.2006

BRK_trelease Time delay when opening/release of ms UINT16 Modbus 1294

brake(7-29) 0 R/W
BTRE 0 per.
DRC-BTRE 1000 -

Delayed application The holding brake is set when the power amplifier is disabled. The motor
remains under current, however, for the time set on the parameter
BRK_tclose.

AC servo drive 7-29

Operation LXM05C

The setting of the parameter BRK_tclose depends on the motor type

and can be found in the motor data sheet.

1
Activate
power amplifier 0

1
Torque
Motor 0

Output brake 0

1
Operation
Enable 0

t
BRK_tclose

Figure 7.12 Applying the holding brake

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
BRK_tclose Time delay when closing the brake(7-29) ms UINT16 Modbus 1296
0 R/W
BTCL 0 per.
DRC-BTCL 1000 -

Voltage reduction If the voltage reduction on the HBC is activated, the voltage of the hol-
ding brake output is reduced after a delay time. This reduces the power
loss of the holding brake by approx. 44%.
왘 Set the voltage reduction depending on the motor type with the
switch "Voltage reduction".
Follow the instructions in the motor manual.

(On) voltage reduction on, e.g. for motor type BRH

(Off) voltage reduction off, e.g. for motor type BSH
When switching on the supply voltage, the holding brake control and the
function of the HBC button are reset. There is no voltage at the control
terminals of the brake, the LED "Brake released" of the HBC is off.
0198441113363, V1.00, 12.2006

7-30 AC servo drive

 LXM05C Operation

7.6.7 Configurable inputs and outputs

@ WARNING
Unforeseen behaviour of inputs and outputs
The functions of the inputs and outputs depend on the selected
start-up operating mode and the settings of the corresponding pa-
rameters.
• Check that the wiring is appropriate for the settings.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
• When commissioning carefully run tests for all operating statu-
ses and fault cases.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

Description The digital signal inputs and the digital signal outputs can be assigned
to various functions.
The parameters IOfunct_LI1, IOfunct_LI2, IOfunct_LI4,
IOfunct_LI5 and IOfunct_LI6 are available for the signal inputs.
The parameters IOfunct_LO1, IOfunct_LO2, IOfunct_LO3 and
IOfunct_LO4 are available for the signal outputs.
The digital signal inputs and outputs are assigned with functions depen-
ding on the start-up operating mode.
The signal input ENABLE is an exception. This signal input is always as-
signed with the "enable" function, see 7.3 “Operating states“.
Current status The parameters _IO_in_act and _IO_out_act can be used to dis-
play the current status of the digital signal inputs and signal outputs.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_IO_LI_act Status of the digital inputs() - UINT16 Modbus 2078
R/-
Coding of the individual signals: - -
Bit0: LI1 -
- Bit1: LI2
...

_IO_LO_act Status of the digital outputs() - UINT16 Modbus 2080

R/-
Coding of the individual signals: - -
Bit0: LO1_OUT -
-
0198441113363, V1.00, 12.2006

Bit1: LO2_OUT
...

Factory settings The table below shows the factory settings depending on the start-up
operating mode.

AC servo drive 7-31

Operation LXM05C

Pin Jog Pulse control Speed control Current control

Signal
CN1.34 Jog negative No function / free avai- No function / free avai- No function / free avai-
LI1 lable lable lable
CN1.35 Jog positive Fault reset Fault reset Fault reset
LI2
CN1.36 Enable 1) Enable Enable 1) Enable 1)
LI3
CN1.37 Jog fast/slow Halt Halt Halt
LI4
CN1.38 No function / free avai- No function / free avai- No function / free avai- No function / free avai-
LI5 lable lable lable lable
CN1.39 No function / free avai- No function / free avai- No function / free avai- No function / free avai-
LI6 lable lable lable lable
CN1.31 No fault No fault No fault No fault
LO1_OUT
CN1.32 Brake release Brake release Brake release Brake release
LO2_OUT
CN1.33 No function / free avai- No function / free avai- No function / free avai- No function / free avai-
LO3_OUT lable lable lable lable
CN5.4 No function / free avai- No function / free avai- No function / free avai- No function / free avai-
LO4_OUT lable lable lable lable
1) Function cannot be modified.

After modifying the start-up operating mode and switching the device off
and on the signal inputs and signal outputs are preassigned correspon-
ding to the factory settings.

7.6.7.1 Description of functions of the signal inputs

No function / free available The "No function / free available" function does not have an internal-de-
vice function. The parameter _IO_LI_act.
Fault reset An error message is reset with the function, see 7.3 “Operating states“.
Enable The power amplifier is enabled with the function, see 7.3 “Operating sta-
tes“.
Halt A "Halt" is triggered with the function, see 7.6.5 “Halt“.
Enable positive motor move This function releases or blocks positive reference values via a position
switch. When the switching edge of the positive position switch is tra-
versed the positive reference value are blocked and the motor stops.
Only negative reference values are executed until the motor is traversed
back over the switching edge.
The function is available in jog, speed control and Pulse control. The po-
0198441113363, V1.00, 12.2006

sition switches must be correctly wired, see Chapter 6.4.9 “Check sig-
nals of position switch“.
Enable negative motor move This function corresponds to the functioning of "Enable positive motor
move", except that negative reference values are released or blocked
via a position switch.
Speed limitation A speed limitation is enabled with the function. The value for the speed
limitation is set with the parameter SPVn_lim.

7-32 AC servo drive

 LXM05C Operation

Jog positive A jog movement in clockwise rotation is executed with the function, see
7.5.1 “Operating mode Jog“.
Jog negative A jog movement in counterclockwise rotation is executed with the func-
tion, see 7.5.1 “Operating mode Jog“.
Jog fast/slow The device switches between slow and fast jog with the function, see
7.5.1 “Operating mode Jog“.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPVn_lim Speed limitation via input() 1/min UINT16 Modbus 1596
1 R/W
NLIM a speed limitation can be activated via a digi- 10 per.
tal input. 9999 -
SET-nLiM

7.6.7.2 Configuration of signal inputs

The parameters IOfunct_LI1 to IOfunct_LI6 can be used to assign

functions to the digital inputs.
The table below shows an overview of the signal inputs to which a func-
tion can be assigned. The table also shows the dependence on the start-
up operating mode.

Function Jog Pulse control Speed control Current control

No function / free available LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5,
LI6 LI6 LI6 LI6
Fault reset LI2 LI2 LI2 LI2
Enable LI3 1) LI3 1) LI3 1) LI3 1)
Halt LI4 LI4 LI4 LI4
Enable positive motor move LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5,
LI6 LI6 LI6
Enable negative motor move LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5,
LI6 LI6 LI6
Speed limitation LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5, LI1, LI2, LI4, LI5,
LI6 LI6 LI6
Jog positive LI1, LI2, LI4, LI5,
LI6
Jog negative LI1, LI2, LI4, LI5,
LI6
Jog fast/slow LI1, LI2, LI4, LI5,
LI6
1) signal input cannot be configured.
0198441113363, V1.00, 12.2006

AC servo drive 7-33

Operation LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LI1 Function input LI1(7-31) - UINT16 Modbus 1794
- R/W
LI1 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li1 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI2 Function input LI2(7-31) - UINT16 Modbus 1796
- R/W
LI2 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li2 2 / Fault reset / Fres: reset error message
6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI4 Function input LI4(7-31) - UINT16 Modbus 1800
- R/W
LI4 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li4 4 / Halt / HALt: Halt
6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI5 Function input LI5(7-31) - UINT16 Modbus 1802
- R/W
LI5 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li5 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
0198441113363, V1.00, 12.2006

9 / JOG positive / JoGn: jog right

10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :

7-34 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LI6 Function input LI6(7-31) - UINT16 Modbus 1804
- R/W
LI6 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li6 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :

7.6.7.3 Description of functions of the signal outputs

No function / free available The "No function / free available" function has the option of setting an
output directly with the parameter IO_LO_set.
No fault The function shows the error status, see 7.3.3 “Displaying the operating
states“.
Active The function shows the operating status "Operation enable", see 7.3.3
“Displaying the operating states“.
Motor move disable The function shows whether a reference value is preset in a blocked di-
rection of rotation. The function "Enable positive motor move" or "Enable
negative motor move" must be configured for this.
In position window The function monitors whether the motor is within a specific position de-
viation for a specific time. The position deviation determines the varia-
tion between the reference value default and the actual value. The
parameter SPVp_DiffWin is used to define the position deviation. The
parameter SPVChkWinTime is used to define the time.
In speed window The function monitors whether the motor is within a specific speed de-
viation for a specific time. The speed deviation determines the variation
between the reference value default and the actual value. The parame-
ter SPVn_DiffWin is used to define the speed deviation. The parame-
ter SPVChkWinTime is used to define the time.
Speed threshold reached The function shows whether the motor is below a specific speed value
for a specific time. The parameter SPVn_Threshold is used to define
this speed value. The parameter SPVChkWinTime is used to define the
time.
Current threshold reached The function shows whether the motor is below a specific current value
for a specific current value. The parameter SPVi_Threshold is used to
0198441113363, V1.00, 12.2006

set this current value. The parameter SPVChkWinTime is used to define

the time.
Halt acknowledge The function shows that the function "Halt" was triggered and the motor
is at standstill.
Brake release The function offers the option of using the signal as a control signal for
a holding brake controller, see 7.3.3 “Displaying the operating states“.

AC servo drive 7-35

Operation LXM05C

v/I

1
t

In position windows /
In Speed window /
Speed threshold reached /
Current threshold reached

SPVChkWinTime = 0
t

SPVChkWinTime

SPVChkWinTime ≠ 0
t

Figure 7.13 Outpusignals depending on SPVChkWinTime

(1) Position deviation at "In position window"

Speed deviation at "In speed window"
Speed value at "Speed threshold reached"
Current value at "Current threshold reached"
Parameter Name Description Unit Data type Parameter address
Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IO_LO_set Setting digital outputs directly() - UINT16 Modbus 2082
R/W
Write access to output bits is only effective if - -
the signal pin exists as output and the func- -
- tion of the output was set to 'freely available'.

Coding of the individual signals:

Bit0: LO1_OUT
Bit1: LO2_OUT
...

SPVChkWinTime Monitoring of time window() ms UINT16 Modbus 1594

0 R/W
WINT Setting of a time for the monitoring of posi- 0 per.
tion deviation, speed of rotation deviation, 9999 -
SET-Wint speed of rotation value and current value. If
the control value for the set time is within the
monitoring range, then the result of the
monitoring is valid.
The status can be output via a program-
0198441113363, V1.00, 12.2006

mable output.

7-36 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPVp_DiffWin Position deviation for "In position window"()revolution UINT16 Modbus 1586
0.0000 R/W
IN-P It is checked whether the motor is below the 0.0010 per.
deviation defined here for the time program- 0.9999 -
SET-in-P med via 'SPVChkWinTime'.
The status can be output via a program- Fieldbus
mable output. 0
10
9999
SPVn_DiffWin Speed deviation for "In speed window"() 1/min UINT16 Modbus 1588
- R/W
IN-N It is checked whether the motor is below the - per.
deviation defined here for the time program- - -
SET-in-n med via 'SPVChkWinTime'.
The status can be output via a program-
mable output.

SPVn_Threshold Speed value for "Speed threshold reached"() 1/min UINT16 Modbus 1590
- R/W
NTHR It is checked whether the motor is below the - per.
value defined here for the time programmed - -
SET-ntHr via 'SPVChkWinTime'.
The status can be output via a program-
mable output.

SPVi_Threshold Current value for "Current threshold rea- Apk UINT16 Modbus 1592
ched"() 0.00 R/W
ITHR 0.00 per.
It is checked whether the motor is below the 99.99 -
SET-itHr value defined here for the time programmed
via 'SPVChkWinTime'. Fieldbus
The status can be output via a program- 0
mable output. 0
As a comparative value the value from the 9999
parameter '_Idq_act' is used.

7.6.7.4 Configuration of signal outputs

The parameters IOfunct_LO1 to IOfunct_LO4 can be used to assign

functions to the digital outputs.
The table below shows an overview of the functions depending on the
start-up operating mode.
0198441113363, V1.00, 12.2006

AC servo drive 7-37

Operation LXM05C

Function Jog Electronic gear Speed control Current control

No function / free available • • • •
No fault • • • •
Active • • • •
Motor move disable • • •
In position window •
In speed window • • •
Speed threshold reached • • • •
Current threshold reached •
Halt acknowledge • • • •
Brake release • • • •

"•" means that the function is available at LO1_OUT, LO2_OUT,

LO3_OUT and LO4_OUT.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LO1 Function output LO1_OUT() - UINT16 Modbus 1810
- R/W
LO1 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo1 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake
0198441113363, V1.00, 12.2006

7-38 AC servo drive

 LXM05C Operation

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LO2 Function output LO2_OUT() - UINT16 Modbus 1812
- R/W
LO2 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo2 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

IOfunct_LO3 Function output LO3_OUT() - UINT16 Modbus 1814

- R/W
LO3 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo3 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

IOfunct_LO4 Function output LO4_OUT() - UINT16 Modbus 1816

- R/W
LO4 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo4 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
0198441113363, V1.00, 12.2006

tion deviation within window

7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

AC servo drive 7-39

Operation LXM05C

7.6.8 Reversal of direction of rotation

The parameter POSdirOfRotat can be used to change the direction of
rotation of the motor. Note that changing the parameter value will only be
effective after switching the device off and on again.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
POSdirOfRotat Definition of direction of rotation(7-40) - UINT16 Modbus 1560
0 R/W
PROT 0 / clockwise / clw: Clockwise 0 per.
1 / counter clockwise / cclw: Counterclock- 1 -
DRC-PRoT wise

Interpretation:
The drive rotates clockwise with positive
speeds, looking onto the motor shaft at the
flange.

IMPORTANT: A change of the setting is not

activated until the unit is switched on again

If the direction of rotation of the motor must be reversed, all parameter

values can be imported unchanged.
The absolute position of the motor is changed by reversing the direction
of rotation _p_absworkusr,which is read from the encoder, and the ac-
tual position calculated by the device _p_actusr.
The direction of rotation should therefore be set at commissioning to the
state which will be required later for the operation of this motor.

0198441113363, V1.00, 12.2006

7-40 AC servo drive

 LXM05C Operation

7.6.9 Restoring default values

7.6.9.1 Restore status after "First Setup"

The parameter PARuserReset is used to restore the status after "First

setup".

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
PARuserReset Resetting the user parameters(7-41) - UINT16 Modbus 1040
0 R/W
1: Set the user parameters to default values. - -
All parameters are reset, with the exception 1 -
- of:
- communications parameters
- definition of direction of rotation
- signal selection of position interface
- device control
- logic type
- start-up operating mode for 'Local Control
Mode'

- IO functions

IMPORTANT: The new settings are not

backed up to the EEPROM!

All parameter values set by the user are lost during this
process.
It is possible at any time to save all parameter values set for
a device as a configuration using the commissioning
software.

7.6.9.2 Restore factory settings

The parameter PARfactorySetis used to restore the factory settings.

All parameter values are reset to the default values.
왘 Remove the connection to the fieldbus in order to avoid conflicts by
simultaneous access.

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
PARfactorySet Restore factory settings (default - R/W
values)(7-41) 0 -
FCS - -
1: Set all parameters to default values and 3
DRC-FCS
0198441113363, V1.00, 12.2006

back up in the EEPROM.

A factory setting can be triggered by HMI or
commissioning software.
The storing process is complete if a 0 is
returned when reading the parameters.

IMPORTANT: The default state only beco-

mes active at the next start-up.

AC servo drive 7-41

Operation LXM05C

Factory setting via HMI 왘 Set DRC and then FCS on the HMI and confirm your selection with
yes.

All parameter values are reset to the default values. See "First Setup",
page 6-11
The new settings only become effective after switching off and switching
on the device again.
Factory settings via commissioning The factory settings are set via the menu points Configuration => Fac-
software tory Settings. All parameter values are reset to the default values. See
"First Setup", page 6-11
The new settings only become effective after switching off and switching
on the device again.
All parameter values set by the user are lost during this
process.
It is possible at any time to save all parameter values set for
a device as a configuration using the commissioning
software.

7.6.9.3 Duplicate existing device settings

Application and advantage • Multiple devices should have the same settings, e.g. when devices
are replaced.
• "First setup" does not need to be carried out using the HMI.
Requirements Device type, motor type and device firmware must be identical. The tool
is the Windows-based commissioning software. The controller supply
voltage must be switched on at the device.
Export device settings The commissioning software installed on a PC can apply the settings of
a device as configuration.
왘 Load the configuration of the device into the commissioning soft-
ware with "Action - Transfer".
왘 Highlight the configuration and select "File - Export".

Import device settings A stored configuration can be imported into a device of the same type.
Please note that the fieldbus address is also copied with this informa-
tion.
왘 In the commissioning software select the menu item "File - Import"
and load the desired configuration.
왘 Highlight the configuration and select "Action - Configure".
0198441113363, V1.00, 12.2006

7-42 AC servo drive

 LXM05C Examples

8 Examples

8.1 Wiring example

CN1 ANA1+
11 +
12 10V
ANA1- -

CN2
E
NO_FAULT_OUT/
LO1_OUT 31
24V
BRAKE_OUT/LO2_OUT 32

LO3_OUT 33
U/T1
LI1 34
M V/T2
3~ W/T3 FAULT_RESET/LI2 35

ENABLE 36

HALT/LI4 37
1 HBC
LI5 38

R LI6 39
PBi
PA/+
2 POS_0V
51
PBe 52
CW/PULSE/ENC_A CW/CCW
PC/-
53
CW/PULSE/ENC_A A/B
54
CCW/DIR/ENC_B PULSE/DIR
R/L1
55
S/L2 CCW/DIR/ENC_B
T/L3

CN4
RS485
PC
RS232

44 CN3
43
42
41 CN5
+ -
24VDC ESIM
0198441113363, V1.00, 12.2006

L1 L2 L3

Figure 8.1 Wiring example

(1) Optional: Holding brake controller

(2) Optional: external braking resistor

AC servo drive 8-1

Examples LXM05C

8.2 Settings as examples

The following examples show settings for the current control, speed con-
trol and Pulse control modes. The reference value default is set via the
analogue input.
The parameters are set on the HMI in the following examples.
Requirements:
• The motor shaft should not yet be coupled with the system mecha-
nism.
• The analogue inputs are already wired up.
• The "First Setup" and the settings for the basic parameters and limi-
ting values have been carried out during commissioning.
• The power amplifier is ready to switch on, i.e the status display on
the HMI shows rdy.
Example A: Current control 왘 Set the default operating mode to current control. Under DRC- / io-
m select the entry CURR
왘 The set current should be preset to 200 mA at 10V using ANA1+.
Select under set- / a1is the value 0.20.
왘 Start the motor for this (input signal ENABLE). Set ANA1+ to maxi-
mum. Read off the speed value under sta- / naCt.
왘 Check the actual current value. Read off the value under sta- /
iaCt.

Example B: Speed control 왘 Set the default operating mode to speed control. Under DRC- / io-m
select the entry Sped
왘 The motor speed should be preset to 1500 r.p.m. at 10V using
ANA1+. Select under set- / a1ns the value 1500.
왘 Start the motor for this (input signal ENABLE). Set ANA1+ to maxi-
mum. Read off the current value under sta- / iaCt.
왘 Check the current speed. Read off the value under sta- / naCt.

Example C: Pulse control 왘 Set the default operating mode to Pulse control. Under DRC- / io-m
select the entry PULS.
왘 The gear ratio should be selected from a list of presets and should
be 2000. Select under SET- / GFAC the value 2000.
왘 Check the current speed. Input the reference signals (CW/CCW,
pulse/direction or A/B) at the CN1 interface and start the motor
(input signal ENABLE). Read off the value under sta- / naCt.
0198441113363, V1.00, 12.2006

8-2 AC servo drive

 LXM05C Diagnostics and troubleshooting

9 Diagnostics and troubleshooting

$ DANGER
Electric shock, fire or explosion
• Only qualified personnel who are familiar with and understand
the contents of this manual are authorised to work on and with
this drive system.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
• Many components, including printed wiring boards, operate at
mains voltage. Do not touch. Do not touch unshielded com-
ponents or screws of the terminals with voltage present.
• Install all covers and close the housing doors before applying
power.
• The motor generates voltage when the shaft is rotated. Lock
the shaft of the motor to prevent rotation before starting work
on the drive system.
• Before working on the drive system:
– Switch off power to all terminals.
– Place a sign "DO NOT SWITCH ON" on the switch and lock
to prevent switching on.
– Wait 6 minutes (for discharge of DC bus capacitors). Do
not short-circuit DC bus
– Measure voltage at DC bus and check for <45V. (The DC
bus LED is not a safe indication for absence of the DC bus
voltage).
Failure to follow these instructions will result in death or se-
rious injury.

9.1 Service
If you cannot resolve the fault yourself please contact your appointed sa-
les partner. Have the following details available:
• Type, identification number and serial number of the product (type
plate)
• Type of fault (possibly with fault number)
• Previous and concurrent conditions
• Your own ideas regarding the cause of the fault
0198441113363, V1.00, 12.2006

Include this information if you return the product for inspection or repair.

AC servo drive 9-1

Diagnostics and troubleshooting LXM05C

9.2 Error responses and error classes

Error response The product triggers an error response in the event of a fault. Depending
upon the gravity of the fault, the device responds in accordance with one
of the following error classes:

Error Response Description

class
0 Warning Message only, no interruption of movement
mode.
1 Quick Stop Motor stops with "Quick Stop", power amplifier
and controller remain switched on and active.
2 Quick Stop with Motor stops with "Quick Stop", power amplifier
switch-off and controller switch off when at standstill.
3 Fatal error Power amplifier and controller switch off immedi-
ately, without stopping the motor first.
4 Uncontrolled ope- Power amplifier and controller switch off immedi-
ration ately, without stopping the motor first. Error
response can only be reset by switching the
device off.

The occurrence of an event is signalled by the device as follows:

Event Status HMI-display Entry for last inter- Entry in error

ruption cause memory
(_StopFault)
Halt Operation Enabled HALT - -
Error with error class 1, e.g. tra- Quick Stop active STOP A320 E A320 E A320
cking error with error class 1
Error with error class>1, e.g. tra- Fault FLT A320 E A320 E A320
cking error with error class 3

0198441113363, V1.00, 12.2006

9-2 AC servo drive

 LXM05C Diagnostics and troubleshooting

9.3 Error display

The last cause of interruption and the last 10 error messages are stored.
The HMI allows the last cause of interruption to be displayed; the com-
missioning software and the fieldbus allow, in addition to the last cause
of interruption, the last 10 error messages also to be displayed. A de-
scription of all the error numbers can be seen from page 9-9.

9.3.1 State diagram

After switching on and at the start of an operating mode, a sequence of
operating states is progressed through.
The relationship between the operating states and the state transitions
is shown in the state diagram (state machine).
The operating states are internally monitored and influenced by monito-
ring and system functions, such as temperature and current monitoring
Graphic representation The status diagram is shown graphically as a flow chart.

Motor without current

Switching on

1
INIT Start
T0
2
nrdy Not ready to
switch on

T1

Switch on 3
dis disabled T15

T9 T2 T7
T12

Ready to 4
rdy switch on
T10

Fault 9
T3

5 fLt 8888
Son Switched on Display flashes

T14
8
T4
fLt Fault Reaction
active
6 Quick-Stop active 7
rUn Operation T16 T13
HALT enable Stop 8888
HaLt Display flashes
0198441113363, V1.00, 12.2006

T11 Fault Fault

Class1 Class2, 3, (4)

Motor under current

Operating state State transition Operating fault

Figure 9.1 Status diagram

Operating states The operating states are displayed as standard by the HMI and the com-
missioning software.

AC servo drive 9-3

Diagnostics and troubleshooting LXM05C

Display Status State description

Init 1 Start Controller supply voltage, electronics is initialised
nrdy 2 Not ready to switch on The power amplifier is not ready to switch on 1)
dis 3 Switch on disabled Switching on the power amplifier is disabled
rdy 4 Ready to switch on The power amplifier is ready to switch on
Son 5 Switched on Motor not under current
Power amplifier ready
No operating mode active
run 6 Operation enable RUN: device running in the selected operating mode
HALT HALT: The motor is stopped with active power amplifier
Stop 7 Quick Stop active "Quick Stop" is executed
FLt 8 Fault Reaction active Error detected, error response is enabled
FLt 9 Fault device is in fault condition
1) The device must be switched off and switched on again

Status transitions Status transitions are triggered by an input signal or as a response to a

monitoring signal.

Transi- Operating Condition / result 1) Response

tion status
T0 1 -> 2 • Motor speed below switch-on limit Check motor encoder

• device electronics successfully initialised

T1 2 -> 3 • First commissioning is completed -
T2 3 -> 4 • Motor encoder check successful, -
DC bus voltage active,
actual speed: <1000 1/min
T3 4 -> 5 • Input signal ENABLE0 -> 1
T4 5 -> 6 • Automatic transition if input signal ENABLE Activate power amplifier
still set motor phases, earth, user parameters are che-
cked
release brake
T7 4 -> 3 • DC bus undervoltage -

• Actual speed: >1000 1/min (e.g. by auxiliary

drive)
T9 6 -> 3 • Input signal ENABLE1 -> 0 Deactivate power amplifier immediately
T10 5 -> 3 • Input signal ENABLE1 -> 0
T11 6 -> 7 • Class 1 error Interrupt travel command with "Quick Stop"
T12 7 -> 3 • Input signal ENABLE1 -> 0 Deactivate power amplifier immediately, even if
"Quick Stop" still active
T13 x -> 8 • Errors Class 2, 3 or 4 Error response is carried out, see "error
0198441113363, V1.00, 12.2006

response"
T14 8 -> 9 • Error response completed

• Errors Class , 3 or 4
T15 9 -> 3 • Function:"Fault Reset" Error is reset (cause of error must be corrected).
T16 7 -> 6 • Function:"Fault Reset" Specified operating mode is automatically conti-
nued (cause of error must be corrected).
1) It is sufficient to fulfil one point to trigger the status transition

9-4 AC servo drive

 LXM05C Diagnostics and troubleshooting

9.3.2 Error display on HMI

State display Ulow The display shows ULOW (ULOW) when initialised. The voltage of the
control supply is too low .
왘 Check the control supply.

State display nrdy The product persists in switch-on state nrdy (NRDY).
왘 After "First Setup", you need to switch the unit off and switch it on
again.
왘 Check the installation.
If the installation is correct, then there is an internal fault. To diag-
nose, read the error memory using the commissioning software.
If you cannot resolve the fault yourself please contact your local
sales partner.

Status display dis If the product remains in the status dis (DIS), there is no DC bus vol-
tage.
왘 Check the following:

• Check the installation of the analogue and digital signal connec-

tions. Pay particular attention to the minimum assignment, see page
5.3.13 “Connection of digital inputs/outputs (CN1)“.
• Is the mains voltage to the power amplifier switched on and does
the voltage correspond to the details in the technical data?
Status display FLt The display flashes alternately with FLt (FLT) and a 4 digit error number.
The error number can also be found in the error memory list.
왘 Check especially:

• Is a suitable motor connected?

• Is the motor encoder cable correctly wired and connected? The
device cannot correctly start up the motor without a motor encoder
signal.
Status display STOP The HMI displays STOP (STOP) when a "Quick Stop" has been triggered.
This can be caused by a software stop, a hardware limit switch or by an
error of error class 1.
왘 Correct the cause of the error and reset the error message.

State display WDOG The display shows WDOG (WDOG) when initialised. The internal monitor
has sensed a fault by means of the Watchdog.
왘 Contact the Technical Support of your local sales partner. Advise
the peripheral conditions (operating mode, application event) when
the fault occurs:
왘 The error can be reset by switching the unit off and on again.
0198441113363, V1.00, 12.2006

Last cause of interruption 왘 Press the ENT button on the HMI to reset the current error mes-
sage.
왘 Change to the FLT menu. The last cause of interruption (parameter)
_StopFault) is displayed as an error number, see .

AC servo drive 9-5

Diagnostics and troubleshooting LXM05C

9.3.3 Error display with commissioning software

쮿 You will need a PC with the commissioning software and a functio-
nal connection to the product, see 5.3.17 “Connection to PC or
remote terminal (CN4)“ from page 5-44.
왘 Select “Diagnosis error memory“. A dialogue box which displays
the error messages appears.

The commissioning software shows a 4 digit error number in the list of

the error memory with an "E" in front.
Error messages are displayed showing status, error class, time when er-
ror occurred and a short description. Under additional information you
can verify the exact conditions when the "error occurred".
왘 Correct the error and reset the current error message with the
"reset" button in the command bar of the program.
In the case of class 4 errors, you will need to switch off the control-
ler supply voltage and switch it on again.

0198441113363, V1.00, 12.2006

9-6 AC servo drive

 LXM05C Diagnostics and troubleshooting

9.4 Troubleshooting
9.4.1 Resolution of malfunctions

Malfunction Cause Correction

Motor not turning Motor blocked by brake Release holding brake, check wiring
Break in the motor cable Check motor cable and connection. One or more
motor phases are not connected.
No torque Set the parameters for max. current, max. speed to
greater than zero
Incorrect operating mode selected Set the input signal and parameters for the operating
mode you want
Drive system switched off Switch on drive system, generate release signal
Motor phases reversed Correct the sequence of the motor phases
Motor mechanically blocked Check ancillary devices
Current limiting activated () Correct the current limit
The motor jerks Motor phases reversed Check motor cable and connection: connect motor
briefly phases U, V and W in the same way on the motor and
device sides
Motor vibrating Amplification factor KP too high reduce KP (speed controller)
Fault in the motor encoder system Check motor encoder
Motor running too Integration time TNn too high Reduce Tn (speed controller)
soft
Amplification factor KPn too low Increase KPn (speed controller)
Motor running too Integration time TNn too low Increase TNn (speed controller)
rough
Amplification factor KPn too high Reduce KPn (speed controller)
Error message Drive system switched off Switch on the drive system
communication
error
Wiring error Check wiring
Wrong PC interface selected Select correct interface
0198441113363, V1.00, 12.2006

AC servo drive 9-7

Diagnostics and troubleshooting LXM05C

9.4.2 Error resolution sorted by error bit

For an improved overview when troubleshooting, all error numbers are
categorised with so-called error bits. The error bit can be read in the pa-
rameter _SigLatched. The signal state "1" marks an error or warning
message.

Error Description Error Cause Troubleshooting

bit class
0 General error 0
2 Area of travel exceeded 1 Motor outside area of travel Check area of travel, re-reference the
(software limit switch, drive
tuning range)
3 "Quick Stop" by fieldbus 1 fieldbus command
5 reserved
6 RS485 error, commissio- Interruption of the communica- Check communication cables
ning software communica- tion, only with RS485 e.g. com-
tion missioning software
8 reserved
9 Reference signals faulty frequency too high, malfunction EMC measures, maintain maximum fre-
(frequency too high) quency (technical data)
10 Error in processing of the 2 Processing error in Pulse control, Detailed information see under additio-
current operating mode reference movement or jog nal information in the error memory
mode.
11 reserved
13 reserved
14 DC bus undervoltage 2 DC bus voltage under threshold Check or increase mains voltage
value for "Quick Stop"
3 DC bus voltage under threshold Check for power failure
value for switch-off of the drive
15 DC bus overvoltage 3 DC bus overvoltage, braking too Extend braking, Apply external brake
fast resistor
16 Power supply faulty (phase par. 1) Short circuit or earth fault Check fuse and installation
fault, earth fault)
Supply voltage connected incor-
rectly (e.g. 1-phase instead of 3-
phase)
17 Connection to motor (motor 3 Short circuit or earth fault in the Check connections, change motor cable
phase interrupted, earth motor wiring or encoder wiring. or encoder cable.
fault, commutation) Motor faulty.
External torque exceeds the Change motor.
motor torque (preset motor cur- Reduce external torque or increase the
rent too low). setting of the motor current.
18 Motor overload (phase cur- 3 I2t monitoring for motor Reduce load, use a motor with a higher
rent too high) nominal power
0198441113363, V1.00, 12.2006

19 Encoder in motor signals 3-4 No signal from the motor enco- Check encoder cable and encoder,
error or connection to der, encoder faulty replace cable
encoder faulty
20 undervoltage from control- Controller supply voltage has fal- Secure controller supply voltage. Check
ler supply voltage len below the minimum value short-term voltage failures during load
changes

9-8 AC servo drive

 LXM05C Diagnostics and troubleshooting

Error Description Error Cause Troubleshooting

bit class
21 Temperature too high 3 The power amplifier is overhea- Fan faulty or blocked, switch on time for
(power amplifier, braking ting peak current, reduce load or peak torque
resistor or motor)
Allow motor to cool down, reduce load,
use motor with greater nominal power,
Motor is overheating temperature sensor faulty, check/change
Temperature sensor not connec- motor and encoder cables
ted
22 Tracking error par. 1) Tracking error Reduce external load or acceleration,
1-3 error response is adjustable via
"Flt_pDiff“
23 Maximum speed exceeded Exceeding the maximum motor Reduce vertical loading
speed during feed operations
25..28 reserved
29 error in EEPROM 3-4 Checksum in EEPROM incorrect "First setup" to be carried out, user para-
meters to be stored in the EEPROM,
consult your local sales partner
30 system run-up faulty (hard- 3-4 Cause of error in accordance Resolution dependent upon error display
ware or parameter fault) with error display
31 Internal system error 4 Internal system error Switch device off and on, replace device
(e.g. Watchdog)
Comply with EMC protective measures,
System error e.g. division by 0 or switch device off and on, contact your
time-out checks, inadequate local service representative
EMC
1) par. = configurable

9.5 Table of error numbers

The cause of error for each error message is stored coded as an error
number in the parameter FLT_err_num. The following table shows all
the error numbers and their meaning If "par." is shown under the error
class, then the error class is can be set as a parameter. Please note that
in the HMI, the error number is shown without the preceding "E".
The error numbers are structured:

Error number Error in range

E 1xxx General error
E 2xxx Excess current error
E 3xxx Voltage error
E 4xxx Temperature error
E 5xxx Hardware error
E 6xxx Software error
0198441113363, V1.00, 12.2006

E 7xxx Interface error, wiring error

E Axxx Drive error, movement error
E Bxxx Communication error

Information on error class can be found on page 9-2.

Information on error bits and measures for correcting errors can be
found on page 9-8.

AC servo drive 9-9

Diagnostics and troubleshooting LXM05C

Error number Class Bit Description

E 1100 0 0 parameter out of permissible range
E 1101 0 0 parameter does not exist
E 1102 0 0 parameter does not exist
E 1103 0 0 parameter write not permissible (READ only)
E 1104 0 0 write access denied (no access authorisations)
E 1106 0 0 Command not allowed while power amplifier is active
E 1107 0 0 Access via other interface blocked
E 1108 0 0 parameter not readable (Block Upload)
E 1109 1 0 Data that are saved following a power failure are invalid
E 110A 0 0 System error: boot loader not present
E 110B 3 30 Initialisation error (additional info=modbus register address)
E 110D 1 0 Basic configuration of controller required after factory setting.
E 110E 0 0 Parameters are changes that are only active after restarting the controller
E 1310 3 9 Reference signal frequency too high
E 1311 0 0 The selected input or output function cannot be configured
E 1312 0 0 Limit or reference switch signal in I/O functions not defined
E 1603 0 0 Capture memory occupied by other function
E 1606 0 0 Recording still active
E 1607 0 0 Recording: no trigger defined
E 1608 0 0 Recording: trigger option not permissible
E 1609 0 0 Recording: no channel defined
E 160A 0 0 Recording: no data present
E 160B 0 0 parameter not recordable
E 160C 1 0 Autotuning: moment of inertia outside permissible range
E 160D 1 0 Autotuning: the value of parameter 'AT_n_tolerance' may be too low for the identified
mechanical system
E 160E 1 0 Autotuning: Test movement could not be started
E 160F 1 0 Autotuning: Power amplifier cannot be enabled
E 1610 1 0 Autotuning: Processing discontinued
E 1611 1 0 System error: Autotuning internal write access
E 1612 1 0 System error: Autotuning internal read access
E 1613 1 0 Autotuning: max. permissible positioning range exceeded
E 1614 0 0 Autotuning: already active
E 1615 0 0 Autotuning: this parameter cannot be changed while autotuning is active
0198441113363, V1.00, 12.2006

E 1616 1 0 Autotuning: static friction for selected speed jump height 'AT_n_ref' too high
E 1617 1 0 Autotuning: Frictional or load moment too great
E 1618 1 0 Autotuning: optimisation aborted
E 1619 0 0 Autotuning: the speed jump height 'AT_n_ref' is too small compared to
'AT_n_tolerance'
E 1620 1 0 Autotuning: load torque too high
E 1A00 0 0 System error: FIFO memory overflow

9-10 AC servo drive

 LXM05C Diagnostics and troubleshooting

Error number Class Bit Description

E 1A01 3 19 motor has been changed
E 1A02 3 19 motor has been changed
E 1B00 4 31 System error: faulty parameter for motor or power amplifier
E 1B01 3 30 User parameter max. speed of rotation too high
E 1B02 3 30 User parameter max. current, holding current or Quick Stop current too high
E 1B03 4 30 Encoder is not supported by current operating system
E 1B04 3 30 ESIM resolution too high with selected n_max
E 2300 3 18 power amplifier overcurrent
E 2301 3 18 braking resistor overcurrent
E 3100 par. 16 mains power supply phase fault
E 3200 3 15 DC bus overvoltage
E 3201 3 14 DC bus undervoltage (switch-off threshold)
E 3202 2 14 DC bus undervoltage (Quick Stop threshold)
E 3203 4 19 Motor encoder supply voltage
E 3206 0 11 DC bus undervoltage, no mains phase (warning)
E 4100 3 21 Power amplifier overtemperature
E 4101 0 1 warning power amplifier overtemperature
E 4102 0 4 Power amplifier overload (I2t) warning
E 4200 3 21 device overtemperature
E 4300 3 21 motor overtemperature
E 4301 0 2 warning motor overtemperature
E 4302 0 5 Motor overload (I2t) warning
E 4402 0 6 Braking resistor overload (I2t) warning
E 5200 4 19 Fault in connection to motor encoder
E 5201 4 19 errors in motor encoder communication
E 5202 4 19 Motor encoder is not supported
E 5203 4 19 Fault in connection to motor encoder
E 5204 3 19 Connection to motor encoder lost
E 5205 4 19 Connected motor (motor family) is not supported
E 5430 4 29 System error: EEPROM read error
E 5431 3 29 System error: EEPROM write error
E 5435 4 29 System error: EEPROM not formatted
E 5437 4 29 System error: EEPROM checksum error in manufacturer data
E 5438 3 29 System error: EEPROM checksum error in user-defined parameter
0198441113363, V1.00, 12.2006

E 543A 4 29 System error: EEPROM hardware info invalid

E 543B 4 29 System error: EEPROM Manufacturer data invalid
E 543D 3 29 System error: EEPROM user parameter invalid
E 543E 3 29 System error: EEPROM checksum error NoInit parameter
E 5450 3 29 System error: error in program transfer to the FPGA
E 5600 3 17 motor connection phase fault

AC servo drive 9-11

Diagnostics and troubleshooting LXM05C

Error number Class Bit Description

E 5601 4 19 Interruption or faulty encoder signals
E 5602 4 19 Interruption or faulty encoder signals
E 5603 4 17 Commutation error
E 6107 0 0 Parameters outside value range (calculation error)
E 6108 0 0 Function not available
E 6109 0 0 System error: internal range overflow
E 610A 2 0 System error: calculation value cannot be shown as 32-bit value
E 610D 0 0 Error in selection parameter
E 610E 4 28 System error: 24VDC has not reached PowerDown threshold
E 610F 4 30 System error: Internal time base failed (Timer0)
E 7120 4 19 Invalid motor data
E 7121 2 19 System error: errors in motor encoder communication
E 7122 4 30 Motor data not acceptable
E 7123 4 30 motor current offset outside permissible range
E 7124 4 19 System error: Motor encoder faulty
E 7126 0 19 No answer has been received yet
E 7200 4 30 System error: calibration of analogue/digital converter
E 7201 4 30 System error: motor encoder initialising (quadrant evaluation)
E 7327 4 19 System error: position sensor not ready
E 7328 4 19 Motor encoder sends: position capture errors
E 7329 0 8 Motor encoder sends: Warning
E 7330 4 19 System error: motor encoder (Hiperface)
E 7331 4 30 System error: Motor encoder initialisation
E 7333 4 30 System error: Discrepancy during calibration of analogue/digital converter
E 7334 0 0 System error: Analogue/digital converter offset too big
E 7335 0 8 Communication to motor encoder occupied
E 7336 3 0 Offset with Sincos drift compensation too high
E 7337 1 8 Offset could not be successfully written
E 7338 0 13 No valid motor absolute position
E 7400 0 31 System error: illegal interrupt (XINT2)
E 7500 0 9 RS485/Modbus: overrun error
E 7501 0 9 RS485/Modbus: framing error
E 7502 0 9 RS485/Modbus: Parity-error
E 7503 0 9 RS485/Modbus: receive error
0198441113363, V1.00, 12.2006

E 7601 4 19 System error encoder type is not supported

E A060 2 10 Calculation error with Pulse control
E A061 2 10 Change in reference value with Pulse control too great
E A300 0 0 Braking procedure after stop request still active
E A301 0 0 Drive in status 'QuickStopActive'
E A305 0 0 Power amplifier cannot be activated in current operating status of status machine

9-12 AC servo drive

 LXM05C Diagnostics and troubleshooting

Error number Class Bit Description

E A306 1 3 Interruption by user initiated software stop
E A307 0 0 Interruption by internal software stop
E A308 0 0 Drive in 'Fault' status
E A309 0 0 Drive not in 'OperationEnable' status
E A310 0 0 Power amplifier not active
E A312 0 0 Profile generating interrupted
E A313 0 0 Position overrun (pos_over=1), reference point is therefore no longer defined
(ref_ok=0)
E A314 0 0 No reference position
E A316 0 0 Overflow on acceleration calculation
E A317 0 0 Drive not at standstill
E A318 0 0 Operating mode active (x_end = 0)
E A319 1 2 Manual/Autotuning: distance range overflow
E A31A 0 0 Manual/Autotuning: amplitude/offset set too high
E A31B 0 0 HALT requested
E A31D 0 0 Speed range overflow (CTRL_n_max)
E A320 par. 22 position tracking error
E A321 0 0 RS422 position interface not defined as input signal
E A322 0 0 error in ramp calculation
E A331 3 0 No run-up operating mode with local control mode selected
E A332 1 10 Error with jog (additional info = detailed error number)
E A334 2 0 Timeout at Standstill window monitor
E A337 0 10 Operating mode cannot be continued
E A338 0 0 mode dies not exist
E B100 0 9 RS485/Modbus: unknown service
E B200 0 9 RS485/Modbus: Protocol error
E B201 2 6 RS485/Modbus: Nodeguard error
E B202 0 9 RS485/Modbus: Nodeguard Warning
E B203 0 9 RS485/Modbus: number of monitor objects incorrect
E B204 0 9 RS485/Modbus: service too long
0198441113363, V1.00, 12.2006

AC servo drive 9-13

Diagnostics and troubleshooting LXM05C

0198441113363, V1.00, 12.2006

9-14 AC servo drive

 LXM05C Parameters

10 Parameters
This chapter provides an overview of the parameters which can be
addressed for the operation of the product.

@ WARNING
Unintentional behaviour due to parameters
The behaviour of the drive system is governed by numerous para-
meters. Improper parameter values can trigger unintentional mo-
vements or signals or deactivate monitoring functions.
• Change only parameters whose meaning you understand.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
• When commissioning carefully run tests for all operating statu-
ses and fault cases.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

10.1 Representation of the parameters

The parameter display contains, on the one hand, information which is
needed for positive identification of a parameter. On the other hand, the
parameter display can also provide information on setting options, pre-
sets and parameter properties.
A parameter display has the following features:

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
Example_Name Example parameter (cross-reference) Apk UINT16 Modbus 1234
0.00 R/W
BSPI Details and selection values 3.00 per.
1 / selection value1 / WRT1: declaration 1 300.00 -
MENUE-BSPI 2 / selection value2 / WRT2: declaration 2
Fieldbus
0
300
30000

The most important terms in the heading line of a parameter table are
explained in the following.
0198441113363, V1.00, 12.2006

Parameter Name The parameter name is displayed with the commissioning software in
the "Designation" column.
Code and HMI Code The Code is represented on a 7 segment display on the HMI (HMI-
Code).
Cross reference If there is more information available for these parameters you can find
this under this cross-reference.

AC servo drive 10-1

Parameters LXM05C

Selection values In the case of parameters which offer a selection of settings, the selec-
tion number via fieldbus and the designation of the values when input-
ting with commissioning software and HMI are quoted.

1 Selection value over the fieldbus

Selection value 1 Commissioning tool display
WRT1 HMI display

Default value Factory settings.

Data type The data type determines the valid range of values, especially when a
parameter does not have explicit minimum and maximum values.

Data type Byte Min value Max value

INT16 2 Byte / 16 Bit -32768 32767
UINT16 2 Byte / 16 Bit 0 65535
INT32 4 Byte / 32 Bit -2147483648 2147483647
UINT32 4 Byte / 32 Bit 0 4294967295

R/W Note on reading and writing the values

"R/-" values are read-only
"R/W" values are read and write.
persistent Designation of whether the value of the parameter is persistent, i.e. after
switching off the unit it is retained in the memory. When changing a value
via commissioning software or fieldbus, the user must explicitly store the
value change in the persistent memory.

0198441113363, V1.00, 12.2006

10-2 AC servo drive

 LXM05C Parameters

10.2 List of all parameters

Parameter Name Description Unit Data type Parameter address
Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_acc_pref Acceleration of setpoint generation() (1/min)/s INT32 Modbus 7954
R/-
Advance sign corresponding to the change - -
of the value for speed: -
-
Increase in speed: pos. advance sign
Reduction in speed: neg. advance sign
_AccessInfo Current access channels for action - UINT16 Modbus 280
objects(7-1) R/-
- -
Low byte: -
- 0: Occupied by the channel in High byte
1: Exclusively occupied by channel in High
byte

High byte: Current assignment of the access

channel
0: reserved
1: IO
2: HMI
3: Modbus
4: CANopen
5: CANopen via second SDO channel
6: Profibus
7: DeviceNet
_actionStatus Action word(7-14) - UINT16 Modbus 7176
R/-
Signal state: - -
0: not activated -
- 1: activated

Bit0: Class 0 error

Bit1 Class 1 error
Bit2: Class 2 error
Bit3 Class 3 error
Bit4 Class 4 error
Bit5 reserved
Bit6: drive stopped
(actual speed _n_act [1/min] < 9 )
Bit7: drive rotates in positive direction
Bit8: drive rotates in negative direction
Bit9: drive within position window (pwin)
Bit10: reserved
Bit11: Profile generator stopped
(setpoint speed is 0)
Bit12: Profile generator decelerating
Bit13: Profile generator accelerating
Bit14: Profile generator moves in constant
mode
0198441113363, V1.00, 12.2006

Bit15: reserved
_I2t_act_M Overload motor current(7-14) % INT16 Modbus 7218
R/-
- -
- -

AC servo drive 10-3

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_I2t_act_PA Overload power amplifier current(7-14) % INT16 Modbus 7212
R/-
- -
- -

_I2t_mean_M Motor load(7-14) % INT16 Modbus 7220

R/-
I2TM - -
STA-i2TM -

_I2t_mean_PA Power amplifier load(7-14) % INT16 Modbus 7214

R/-
I2TP - -
STA-i2TP -

_I2t_peak_RES Overload braking resistor maximum % INT16 Modbus 7210

value(7-14) R/-
- -
Maximum overload braking resistor that has -
- occurred in the last 10 sec.
_I2t_peak_M Overload motor maximum value(7-14) % INT16 Modbus 7222
R/-
Maximum overload motor that has occurred - -
in the last 10 sec. -
-
_I2t_peak_PA Overload power amplifier maximum % INT16 Modbus 7216
value(7-14) R/-
- -
Maximum overload power amplifier that has -
- occurred in the last 10 sec.
_I2tl_act_RES Actual overload braking resistor(7-14) % INT16 Modbus 7206
R/-
- -
- -

_I2tl_mean_RES Braking resistor load(7-14) % INT16 Modbus 7208

R/-
I2TR - -
STA-i2TR -

_Id_act current motor current d components() Apk INT16 Modbus 7684

0.00 R/-
in 0.01 Apk steps - -
- 0.00 -

_Id_ref Set motor current d component (field weake- Apk INT16 Modbus 7714
ning)() 0.00 R/-
- -
in 0.01 Apk steps 0.00 -
-
_Idq_act Total motor current (vector sum of d and q Apk INT16 Modbus 7686
components() 0.00 R/-
IACT
0198441113363, V1.00, 12.2006

- -
in 0.01 Apk steps 0.00 -
STA-iACT

10-4 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_IO_act Physical status of the digital inputs and out- - UINT16 Modbus 2050
puts(6-19) R/-
IOAC - -
Assignment of 24V inputs: -
STA-ioAC Bit 0: JOG_N / LI1
Bit 1: JOG_P / FAULT_RESET / LI2
Bit 2: ENABLE
Bit 3: JOG_F/S / HALT / LI4
Bit 4: LI5
Bit 5: LI6
Bit 6: reserved
Bit 7: reservedassignment of 24V outputs:
Bit 8: NO_FAULT_OUT / LO1
Bit 9: BRAKE_OUT / LO2
Bit10: LO3
Bit11: LO4
_IO_LI_act Status of the digital inputs() - UINT16 Modbus 2078
R/-
Coding of the individual signals: - -
Bit0: LI1 -
- Bit1: LI2
...

_IO_LO_act Status of the digital outputs() - UINT16 Modbus 2080

R/-
Coding of the individual signals: - -
Bit0: LO1_OUT -
- Bit1: LO2_OUT
...

_Iq_act current motor current q components() Apk INT16 Modbus 7682

0.00 R/-
in 0.01 Apk steps - -
- 0.00 -

_Iq_ref Set motor current q component (torque-crea- Apk INT16 Modbus 7712
ting)() 0.00 R/-
IQRF - -
in 0.01 Apk steps 0.00 -
STA-iQRF
_LastWarning Last warning as number() - UINT16 Modbus 7186
R/-
Number of the last warning generated. - -
If the warning becomes inactive again, the -
- number is retained until the next fault reset.
Value 0: No warning generated
_n_act Actual speed of the motor(7-14) 1/min INT16 Modbus 7696
R/-
NACT - -
STA-NACT -
0198441113363, V1.00, 12.2006

_n_actRAMP Actual speed of the travel profile genera- 1/min INT32 Modbus 7948
tor(7-14) R/-
- -
- -

AC servo drive 10-5

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_n_I_act Optimised read access to current values of - INT32 Modbus 7726
speed of rotation and current() R/-
- -
High-Word: Actual speed _n_act [1/min] -
- Low-Word: Actual current [Apk]

_n_pref Speed of setpoint generation() 1/min INT32 Modbus 7950

R/-
- -
- -

_n_ref Setpoint speed of the speed controller() 1/min INT16 Modbus 7694
R/-
- -
- -

_n_targetRAMP Target speed of the travel profile generator() 1/min INT32 Modbus 7946
R/-
- -
- -

_OpHours Operating hours counter() s UINT32 Modbus 7188

R/-
OPH - -
STA-oPh -

_p_absENCusr Absolute position based on motor encoder usr UINT32 Modbus 7710
work stroke in user-defined units(6-24) R/-
- -
Value range is set by encoder type -
- With Singleturn motor encoders the value is
set with reference to one motor revolution,
with Multiturn motor encoders with reference
to the total work stroke of the encoder (e.g.
4096 revs)
IMPORTANT: Position is only valid after
determination of the motor absolute position.
With invalid motor absolute position:
_WarnLatched
_WarnActive
Bit 13=1: absolute position of motor not yet
detected
_p_absmodulo Absolute position based on one motor revo- Inc UINT32 Modbus 7708
lution in internal units() R/-
-
IMPORTANT: Position is only valid after -
- determination of the motor absolute position.
With invalid motor absolute position:
_WarnLatched
_WarnActive
Bit 13=1: absolute position of motor not yet
0198441113363, V1.00, 12.2006

detected

10-6 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_p_act Actual position of motor in internal units() Inc INT32 Modbus 7700
R/-
IMPORTANT: Actual position of motor is only -
valid after determination of the motor abso- -
- lute position.
With invalid motor absolute position:
_WarnLatched
_WarnActive
Bit 13=1: absolute position of motor not yet
detected
_p_actPosintf Actual position at position interface() Inc INT32 Modbus 2058
-2147483648 R/-
Counted position increments at RS422 sig- - -
nal interface CN5 if signal direction is defi- 2147483647 -
- ned as input (see parameter IOposInterface)
_p_actusr Actual position of the motor in user-defined usr INT32 Modbus 7706
units(7-14) R/-
PACU - -
IMPORTANT: Actual position of motor is only -
STA-PACu valid after determination of the motor abso-
lute position.
With invalid motor absolute position:
_WarnLatched
_WarnActive
Bit 13=1: absolute position of motor not yet
detected
_p_actRAMPusr Actual position of the travel profile genera- usr INT32 Modbus 7940
tor(7-14) R/-
- -
in user-defined units -
-
_p_addGEAR Start position of electronic gear() Inc INT32 Modbus 7942
R/-
With an inactive gearing the setpoint position -
can be calculated here at the position cont- -
- roller that was set when the gear was enab-
led with the selection 'Synchronisation with
compensation movement'.
_p_dif Current variation between reference and revolution INT32 Modbus 7716
actual position(7-14) -214748.3648 R/-
PDIF - -
Corresponds to the current control deviation 214748.3647 -
STA-PDiF of the position controller without considera-
tion of any dynamic components. Fieldbus
Note: difference from SPV_p_maxDiff -2147483648

2147483647
_p_DifPeak Value of max. reached tracking errors of the revolution UINT32 Modbus 4382
position controller(7-14) 0.0000 R/W
- -
The tracking error is the current position
0198441113363, V1.00, 12.2006

- 429496.7295 -
regulation offset minus the speed-dependent
position regulation offset. Fieldbus
Further information see SPV_p_maxDiff. 0
A write operation resets the value again.
4294967295
_p_ref Setpoint position in internal units() Inc INT32 Modbus 7698
R/-
Value represents the setpoint position of the -
position controller -
-

AC servo drive 10-7

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_p_refusr Setpoint position in user-defined units() usr INT32 Modbus 7704
R/-
Value represents the setpoint position of the - -
position controller -
-
_p_tarRAMPusr Target position of the travel profile genera- usr INT32 Modbus 7938
tor() R/-
- -
Absolute position value of the profile genera- -
- tor calculated from transferred relative and
absolute position values.

in user-defined units
_Power_act current output power() W INT16 Modbus 7194
R/-
- -
- -

_Power_mean average output power() W INT16 Modbus 7196

R/-
- -
- -

_prgNoDEV Firmware program number() - UINT16 Modbus 258

0.0 R/-
_PNR Example: PR840.1 - -
INF-_PNR 0.0 -
Value is entered decimally as: 8401
_prgVerDEV Firmware version() - UINT16 Modbus 260
- R/-
_PVR Example: V4.201 - -
INF-_PVR - -
Value is entered decimally: 4201
_serialNoDEV device serial number() - UINT32 Modbus 302
0 R/-
Serial number: Unique number for identifica- - per.
tion of the product 4294967295 -
-
_SigActive Current state of the monitoring signals(7-14) - UINT32 Modbus 7182
R/-
Meaning see _SigLatched - -
- -
0198441113363, V1.00, 12.2006

10-8 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_SigLatched Stored state of the monitoring signals(7-14) - UINT32 Modbus 7184
R/-
SIGS Signal state: - -
0: not activated -
STA-SiGS 1: activated

Bit assignment
Bit0: general error
Bit1: limit switch (LIMP/LIMN/REF)
Bit2: range exceeded (software limit switch,
tuning)
Bit3: Quick Stop via fieldbus
Bit4: inputs PWRR are 0
Bit6: error RS485
Bit7: error CAN
Bit9: frequency of reference signal too high
Bit10: error current operating mode
Bit12: Profibus error
Bit14: undervoltage DC bus
Bit15: overvoltage DC bus
Bit16: no mains phase
Bit17: connection to motor faulty
Bit18. motor overcurrent/short circuit
Bit19. error in motor encoder
Bit20: undervoltage 24VDC
Bit21: overtemperature (power amplifier,
motor)
Bit22: tracking error
Bit23: max. speed exceeded
Bit24: PWRR inputs different
Bit29: error in EEPROM
Bit30: system run-up (hardware or parame-
ter fault)
Bit31: System error (e.g. Watchdog)

monitoring depends on the product.

_StopFault Fault number of the last interruption - UINT16 Modbus 7178
cause(7-14) R/-
STPF - -
FLT-STPF -

_Temp_act_DEV device temperature(7-14) °C INT16 Modbus 7204

R/-
TDEV - -
STA-TDEV -

_Temp_act_M Temperature motor(7-14) °C INT16 Modbus 7202

R/-
reasonable display is not possible for swit- - -
ching temperature sensors (for type of tem- -
- perature sensor see parameter
M_TempType)
0198441113363, V1.00, 12.2006

_Temp_act_PA Temperature of the power amplifier(7-14) °C INT16 Modbus 7200

R/-
TPA - -
STA-TPA -

_Ud_ref Set motor voltage d components() V INT16 Modbus 7690

0.0 R/-
in 0.1V steps - -
- 0.0 -

AC servo drive 10-9

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_UDC_act DC bus voltage() V UINT16 Modbus 7198
0.0 R/-
UDCA in 0.1V steps - -
STA-uDCA 0.0 -

_Udq_ref Total motor voltage (vector sum of d and q V INT16 Modbus 7692
components() 0.0 R/-
- -
Root from (_Uq_ref^2 + _Ud_ref^2) 0.0 -
-
in 0.1 V steps
_Uq_ref Set motor voltage q components() V INT16 Modbus 7688
0.0 R/-
in 0.1V steps - -
- 0.0 -

_v_act_Posintf Actual speed at position interface() Inc/s INT32 Modbus 2060

-2147483648 R/-
Calculated pulse frequency at RS422 signal - -
interface CN5 if signal direction is defined as 2147483647 -
- input (see parameter IOposInterface)
_VoltUtil Power/space ratio of DC bus voltage() % INT16 Modbus 7718
R/-
100% means that the drive is at the voltage - -
limit. -
-
_VoltUtil = (_Udq_ref / _Udq_ref) * 100%
_WarnActive Active warnings bit-coded(7-14) - UINT16 Modbus 7190
R/-
Meaning of Bits see _WarnLatched - -
- -

0198441113363, V1.00, 12.2006

10-10 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
_WarnLatched Stored warnings bit-coded(7-14) - UINT16 Modbus 7192
R/-
WRNS Stored warning bits are erased in the event - -
of a FaultReset. -
STA-WRNS Bits 10,11,13 are automatically deleted.

Signal state:
0: not activated
1: activated

Bit assignment
Bit 0: general warning (see _LastWarning)
Bit 1: power amplifier temperature high
Bit 2: motor temperature high
Bit 3: reserved
Bit 4: overload (I²t) power amplifier
Bit 5: overload (I²t) motor
Bit 6: overload (I²t) braking resistor
Bit 7: CAN warning
Bit 8: Motor Encoder warning
Bit 9: RS485 protocol warning
Bit 10: PWRR_A and/or PWRR_B
Bit 11: DC bus undervoltage, faulty mains
phase
Bit 12: Profibus warning
Bit 13: Position not yet valid (position detec-
tion continuing)
Bit 14: reserved
Bit 15: reserved

monitoring is product-dependent
AccessLock Blocking of other access channels(7-1) - UINT16 Modbus 316
0 R/W
0: Other access channels enabled - -
1: Other access channels blocked 1 -
-
This parameter allows the fieldbus to block
active access to the device for the following
access channels:
- commissioning software
- HMI
- a second fieldbus

The processing of the input signals (e.g. Halt

input) cannot be blocked.
ANA1_act Voltage value analogue input ANA1() mV INT16 Modbus 2306
-10000 R/-
A1AC - -
STA-A1AC 10000 -

ANA1_I_scale Setpoint current in current control operating Apk INT16 Modbus 8198
0198441113363, V1.00, 12.2006

mode at 10V on ANA1() -300.00 R/W

A1IS 3.00 per.
An inversion of the evaluation of the ana- 300.00 -
SET-A1iS logue signal can be run with a neg. advance
sign Fieldbus
-30000
300
30000

AC servo drive 10-11

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
ANA1_n_scale Setpoint speed in speed control operating 1/min INT16 Modbus 8454
mode at 10V on ANA1() -30000 R/W
A1NS 3000 per.
The internal maximum speed is limited to the 30000 -
SET-A1NS current setting in CTRL_n_max

A negative advance sign can be used to

effect an inversion of the evaluation of the
analogue signal
ANA1_offset Offset at analogue input ANA1() mV INT16 Modbus 2326
-5000 R/W
A1OF The ANA1 analogue input is corrected/relo- 0 per.
cated by the offset. A defined zero-voltage 5000 -
SET-A1oF window acts in the range of the zero cros-
sing of the corrected ANA1 analogue input.
ANA1_Tau Analog1: filter time constant() ms UINT16 Modbus 2308
0.00 R/W
Low-pass filter first order (PT1) filter time 0.00 per.
constant. Filter affects analogue input ANA1. 327.67 -
- (sampling time PT1 filter: 250µsec)
Fieldbus
0
0
32767
ANA1_win Zero voltage window on analogue input mV UINT16 Modbus 2322
ANA1() 0 R/W
A1WN 0 per.
Value up to which an input voltage is inter- 1000 -
SET-A1WN preted as 0V
Example: Setting 20mV
->range from -20 .. +20mV is interpreted as
0mV
AT_dir Direction of rotation autotuning(6-28) - UINT16 Modbus 12040
1 R/W
DIR 1 / pos-neg-home / pnh: first positive direc- 1 -
tion, then negative direction with return to ini- 6 -
TUN-DiR tial position2 / neg-pos-home / nph: first
negative direction, then positive direction
with return to initial position
3 / pos-home / p-h: only positive direction
with return to initial position
4 / pos / p--: only positive direction without
return to initial position
5 / neg-home / n-h: only negative direction
with return to initial position
6 / neg / n--: only negative direction without
return to initial position
AT_dis Movement range autotuning(6-28) revolution UINT32 Modbus 12038
1.0 R/W
DIST Range in which the automatic optimisation 1.0 -
0198441113363, V1.00, 12.2006

processes of the controller parameters are 999.9 -

TUN-DiST run. The range is input relative to the current
position. Fieldbus
IMPORTANT: with "movement in only one 10
direction" (parameter AT_dir) the specified 10
range is used for every optimisation step. 9999
The actual movement typically corresponds
to 20 times the value, but is not limited.

10-12 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
AT_gain Adapting controller parameters (tighter/loo- % UINT16 Modbus 12052
ser)(6-30) R/W
GAIN - -
Measure of the degree of tightness of the -
TUN-GAiN regulation. The value 100 represents the
theoretical optimum. Values larger than 100
mean that the regulation is tighter and smal-
ler values mean that the regulation is looser.
AT_J Inertia of the entire system(6-30) kg cm2 UINT16 Modbus 12056
0.1 R/W
is automatically calculated during the autotu- 0.1 per.
ning process 6553.5 -
-
in 0.1 kgcm^2 steps Fieldbus
1
1
65535
AT_M_friction System friction torque() Apk UINT16 Modbus 12046
0.00 R/-
is determined during the autotuning process - -
- 0.00 -
in 0.01Apk steps
AT_M_load Constant load torque() Apk INT16 Modbus 12048
0.00 R/-
is determined during the autotuning process - -
- 0.00 -
in 0.01Apk steps
AT_mechanics System coupling type(6-28) - UINT16 Modbus 12060
1 R/W
MECH 1: direct coupling (J ext. to J motor <3:1) 1 -
2: medium coupling () 5 -
TUN-MECh 3: medium coupling (short toothed belt)
4: medium coupling ()
5: soft coupling (J ext. to J motor between
5:1 and 10:1, linear axis)
AT_n_ref Speed jump for motor starting() 1/min UINT16 Modbus 12044
10 R/W
NREF 100 -
TUN-NREF 1000 -

AT_progress Autotuning progress(6-30) % UINT16 Modbus 12054

0 R/-
0 -
- 100 -

AT_start Start Autotuning(6-28) - UINT16 Modbus 12034

0 R/W
0: End - -
1: Activate 1 -
-
AT_state Autotuning status(6-30) - UINT16 Modbus 12036
0198441113363, V1.00, 12.2006

R/-
Bit15: auto_tune_err - -
Bit14: auto_tune_end -
- Bit13: auto_tune_process

Bit 10..0: last processing step

AT_wait Waiting time between autotuning steps(6-30) ms UINT16 Modbus 12050
300 R/W
WAIT 1200 -
TUN-WAit 10000 -

AC servo drive 10-13

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
BRK_trelease Time delay when opening/release of ms UINT16 Modbus 1294
brake(7-29) 0 R/W
BTRE 0 per.
DRC-BTRE 1000 -

BRK_tclose Time delay when closing the brake(7-29) ms UINT16 Modbus 1296
0 R/W
BTCL 0 per.
DRC-BTCL 1000 -

CTRL_I_max Current limiting(6-15) Apk UINT16 Modbus 4610

0.00 R/W
IMAX Value must not exceed max. permissible cur- - per.
rent of motor or power amplifier. 299.99 -
SET-iMAX
Default is the smallest value of M_I_max and Fieldbus
PA_I_max 0

29999
CTRL_I_max_fw Field-shunting control max. field current() Apk UINT16 Modbus 4376
0.00 R/W
maximum value is approx. half of the lower 0.00 per.
value of the nominal current of the power 327.67 expert
- amplifier and the motor.
Fieldbus
0
0
32767
CTRL_KFDn Speed controller pilot control D factor() - UINT16 Modbus 4618
0 R/W
0 per.
- 3175 expert

CTRL_KFPp Speed pilot control position controller() % UINT16 Modbus 4624

0.0 R/W
Over-control up to 110% possible. 0.0 per.
- 110.0 -
Fieldbus
0
0
1100
CTRL_KPid Current controller longitudinal (d) P factor() V/A UINT16 Modbus 4354
0.5 R/-
Is calculated from motor parameters. - per.
- 1270.0 -
In 0.1V/A steps
Fieldbus
5

12700
0198441113363, V1.00, 12.2006

CTRL_KPiq Current controller transverse (q) P factor() V/A UINT16 Modbus 4358
0.5 R/-
Value is calculated from motor parameters - per.
- 1270.0 -
in 0.1 V/A steps
Fieldbus
5

12700

10-14 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_KPn Speed controller P-factor(6-34) A/(1/min) UINT16 Modbus 4614
0.0001 R/W
Default value is calculated from motor para- - per.
meters 1.2700 -
-
Fieldbus
1

12700
CTRL_KPp Position controller P-factor(6-39) 1/s UINT16 Modbus 4620
2.0 R/W
Default value is calculated - per.
- 495.0 -
Fieldbus
20

4950
CTRL_n_max Speed limiter(6-15) 1/min UINT16 Modbus 4612
0 R/W
NMAX Setting value must not exceed max. speed of - per.
rotation of motor 13200 -
SET-NMAX
Default is max. speed of motor (see
M_n_max)
CTRL_Nfbandw Bandwidth notch filter current() % UINT16 Modbus 4646
10 R/W
The bandwidth is defined as follows: Fb/F0 30 per.
- 99 expert

CTRL_Nfdamp Damping notch filter current() % UINT16 Modbus 4644

1.0 R/W
10.0 per.
- 45.0 expert
Fieldbus
10
100
450
CTRL_Nffreq Frequency notch filter current() Hz UINT16 Modbus 4642
50.0 R/W
The filter is disabled at the value of 15000. 1500.0 per.
- 1500.0 expert
Fieldbus
500
15000
15000
CTRL_Pcdamp Damping Posicast filter speed() % UINT16 Modbus 4648
50.0 R/W
The filter is disabled at the value of 1000.
0198441113363, V1.00, 12.2006

100.0 per.
- 100.0 expert
Fieldbus
500
1000
1000

AC servo drive 10-15

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CTRL_Pcdelay Time delay Posicast filter speed() ms UINT16 Modbus 4650
0.00 R/W
The filter is disabled at the value of 0. 0.00 per.
- 25.00 expert
Fieldbus
0
0
2500
CTRL_TAUiref Filter time constant reference value filter of ms UINT16 Modbus 4640
the reference current value() 0.00 R/W
1.20 per.
- 4.00 -
Fieldbus
0
120
400
CTRL_TAUnref Filter time constant reference value filter of ms UINT16 Modbus 4626
the reference speed value(6-34) 0.00 R/W
9.00 per.
- 327.67 -
Fieldbus
0
900
32767
CTRL_TNid Current controller longitudinal (d) setting ms UINT16 Modbus 4356
time() 0.13 R/-
- per.
Value is calculated from motor parameters 327.67 -
-
in 0.01ms steps Fieldbus
13

32767
CTRL_TNiq Current controller lateral (q) setting time() ms UINT16 Modbus 4360
0.13 R/-
Value is calculated from motor parameters - per.
- 327.67 -
in 0.01ms steps
Fieldbus
13

32767
CTRL_TNn Speed controller correction time(6-34) ms UINT16 Modbus 4616
0.00 R/W
9.00 per.
- 327.67 -
0198441113363, V1.00, 12.2006

Fieldbus
0
900
32767

10-16 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
CUR_I_target Setpoint current in current control operating Apk INT16 Modbus 8200
mode(7-8) -300.00 R/W
0.00 -
- 300.00 -
Fieldbus
-30000
0
30000
ENC_pabsusr Setting position of the motor encoder usr UINT32 Modbus 1324
directly(6-24) 0 R/W
- -
Value range depends on the encoder type. 2147483647 -
-

SEK52 (Singleturn):
0..max_pos_usr/rev. - 1

max_pos_usr/rev.: maximum user position

for one motor revolution, with default position
scaling this value is 16384.

IMPORTANT:
* If the process is to be conducted with
direction inversion function, it must be set
before setting the motor encoder position
* The setting value will only be active when
the controller is switched on the next time.
After the write access a wait of at least 1
second is required until the controller is swit-
ched off.
* Changing the value also changes the posi-
tion of the virtual index pulse and the index
pulse displaced at ESIM function.
ESIMscale Encoder simulation - setting the resolu- Inc UINT16 Modbus 1322
tion(6-23) 8 R/W
ESSC 4096 per.
DRC-ESSC 65535 -
the complete value range is available for the
resolution.

For resolutions that can be divided by 4 the

index pulse must be at A=high and B=high.

IMPORTANT: A change of the setting is not

activated until the device is switched on
again. After the write access a wait of at
least 1 second is required until the controller
is switched off.
0198441113363, V1.00, 12.2006

FLTAmpOnCyc ENABLE cycles up to time of error() - UINT16 Modbus 15370

R/-
Number of power amplifier turn-on proces- - -
ses after switching on the power supply -
- (control voltage) up to the appearance of the
error

AC servo drive 10-17

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
FLTAmpOnTime Time error occurs after ENABLE() s UINT16 Modbus 15372
R/-
- -
- -

FLT_class Error class() - UINT16 Modbus 15364

0 R/-
0: Warning (no reaction) - -
1: error (Quick Stop -> status 7) 4 -
- 2: error (Quick Stop -> status 8, 9)
3: Fatal error (state 9, resettable)
4: Fatal error (state 9, not resettable)
FLT_del_err Erase error memory() - UINT16 Modbus 15112
0 R/W
1: Erases all entries in the error memory - -
- 1 -
The erasing process is complete when a 0 is
returned when reading.
FLT_err_num Error number() - UINT16 Modbus 15362
0 R/-
Reading this parameter brings the complete - -
error entry (error class, time of error ...) into 65535 -
- an intermediate memory from which all com-
ponents of the error can be read.

In addition, the read indicator of the error

memory is automatically switched forward to
the next error entry.
FLT_Idq Motor current at error time() A UINT16 Modbus 15378
0.00 R/-
in 10 mA steps - -
- 0.00 -

FLT_MemReset Reset the error memory read pointer() - UINT16 Modbus 15114
0 R/W
1: Set error memory read pointer to oldest - -
error entry. 1 -
-
FLT_n Speed at error time() 1/min INT16 Modbus 15376
R/-
- -
- -

FLT_powerOn Number of turn-on processes() - UINT32 Modbus 15108

0 R/-
POWO - -
INF-PoWo 4294967295 -

FLT_Qual Error additional information() - UINT16 Modbus 15368

0 R/-
This entry contains additional information - -
about the error, depending on the error num- 65535
0198441113363, V1.00, 12.2006

- -
ber.
Example: a parameter address
FLT_Temp_DEV device temperature at error time() °C INT16 Modbus 15382
R/-
- -
- -

10-18 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
FLT_Temp_PA Power amplifier temperature at error time() °C INT16 Modbus 15380
R/-
- -
- -

FLT_Time Error time() s UINT32 Modbus 15366

0 R/-
referenced to the operating hours counter - -
- 536870911 -

FLT_UDC DC bus voltage at error time() V UINT16 Modbus 15374

0.0 R/-
in 100mV steps - -
- 0.0 -

GEARdenom Gear ratio denominator() - INT32 Modbus 9734

1 R/W
see description GEARnum 1 per.
- 2147483647 -

GEARdir_enabl Enabled direction of motion of the gear pro- - UINT16 Modbus 9738
cessing() 1 R/W
3 per.
1 / positive : pos. direction 3 -
- 2 / negative: neg. direction
3 / both: both directions (default)

This can be used to enable a return motion

lock.
GEARnum Gear ratio numerator() - INT32 Modbus 9736
-2147483648 R/W
GEARnum 1 per.
Gear ratio= --------------------- 2147483647 -
- GEARdenom

The new gear ratio is enabled when the

numerator value is transferred.
GEARratio Selection of special gear ratios() - UINT16 Modbus 9740
0 R/W
GFAC 0: Use of the specified gear ratio from 0 per.
GEARnum/GEARdenom 11 -
SET-GFAC 1: 200
2: 400
3: 500
4: 1000
5: 2000
6: 4000
7: 5000
8: 10000
9: 4096
10: 8192
11: 16384
0198441113363, V1.00, 12.2006

Changing the reference variable by the sta-

ted value results in one motor rotation.
HMIDispPara HMI display while motor rotates() - UINT16 Modbus 14852
0 R/W
SUPV 0: device status (default) 0 per.
1: current speed of rotation (n_act) 2 -
DRC-SuPV 2: current motor current

AC servo drive 10-19

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
HMIlocked Block HMI(7-1) - UINT16 Modbus 14850
0 R/W
0: HMI not blocked 0 per.
1: HMI blocked 1 -
-
When the HMI is blocked the following
actions are no longer possible:
- Change parameters
- Manual mode (Jog)
- Autotuning
- FaultReset
IO_AutoEnable Automatic Enable at PowerOn, if ENABLE - UINT16 Modbus 1292
input is active() 0 R/W
IOAE 0 per.
0 / off: active Enable at PowerOn does not 1 -
DRC-ioAE cause switch-on of power amplifier (Default)
1 / on: active Enable at PowerOn causes
switch-on of the power amplifier
IO_GearMode Processing mode electr. gearing () - UINT16 Modbus 1326
1 R/W
IOGM 1: Real-time synchronisation 1 per.
2: synchronisation with compensation move- 2 -
DRC-ioGM ment

IO_LI_invert Inversion of digital inputs(7-31) - UINT16 Modbus 2084

R/W
Bit0: inversion LI1 - per.
Bit1: inversion LI2 -
- ...

Coding of bits:
0: no inversion
1: inversion

IO_LO_invert Inversion of digital outputs(7-31) - UINT16 Modbus 2086

R/W
Bit0: inversion LO1_OUT - per.
Bit1: inversion LO2_OUT -
- ...

Coding of bits:
0: no inversion
1: inversion

IO_LO_set Setting digital outputs directly() - UINT16 Modbus 2082

R/W
Write access to output bits is only effective if - -
the signal pin exists as output and the func- -
- tion of the output was set to 'freely available'.
0198441113363, V1.00, 12.2006

Coding of the individual signals:

Bit0: LO1_OUT
Bit1: LO2_OUT
...

10-20 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOdefaultMode Start-up of operating mode (6-11) - UINT16 Modbus 1286
0 R/W
IO-M 0 / none / none : none 3 per.
1 / CurrentControl / Curr: Current control 5 -
DRC-io-M (reference value from ANA1)
2 / SpeedControl / Sped: Speed control
(reference value of ANA1)
3 / PulseControl / Puls: Pulse control
5 / JOG mode / JoG: Jog

IMPORTANT: The operating mode is auto-

matically enabled when the drive switches to
the 'OperationEnable' status and "IODevice /
IO" is set in DEVcmdinterf.
IOfunct_LI1 Function input LI1(7-31) - UINT16 Modbus 1794
- R/W
LI1 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li1 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI2 Function input LI2(7-31) - UINT16 Modbus 1796
- R/W
LI2 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li2 2 / Fault reset / Fres: reset error message
6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI4 Function input LI4(7-31) - UINT16 Modbus 1800
- R/W
LI4 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li4 4 / Halt / HALt: Halt
6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
0198441113363, V1.00, 12.2006

to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :

AC servo drive 10-21

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LI5 Function input LI5(7-31) - UINT16 Modbus 1802
- R/W
LI5 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li5 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LI6 Function input LI6(7-31) - UINT16 Modbus 1804
- R/W
LI6 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Li6 6 / Enable positive motor move / posM:
release positive motor movement
7 / Enable negative motor move / negM:
release negative motor movement
8 / Speed limitation / nLiM: speed limitation
to parameter value
9 / JOG positive / JoGn: jog right
10 / JOG negative / JoGn: jog left
11 / JOG fast/slow / JoGF: jog fast/slow :
IOfunct_LO1 Function output LO1_OUT() - UINT16 Modbus 1810
- R/W
LO1 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo1 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake
0198441113363, V1.00, 12.2006

10-22 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOfunct_LO2 Function output LO2_OUT() - UINT16 Modbus 1812
- R/W
LO2 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo2 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

IOfunct_LO3 Function output LO3_OUT() - UINT16 Modbus 1814

- R/W
LO3 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo3 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
tion deviation within window
7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

IOfunct_LO4 Function output LO4_OUT() - UINT16 Modbus 1816

- R/W
LO4 1 / No function / free available / nonE: no - per.
function / freely available - -
I-O-Lo4 2 / No fault / nFlt: no error
3 / Active / Acti: operating readiness
4 / Motor move disable / MdiS: direction of
motion blocked
5 / In position window / in-p: position devi-
ation within window
6 / In speed window / in-n: speed of rota-
0198441113363, V1.00, 12.2006

tion deviation within window

7 / Speed threshold reached / itHr: motor
speed of rotation below programmed value
8 / Current threshold reached / ctHr: motor
current below programmed value
9 / Halt acknowledge / HALT Halt validation
10 / Brake release / Brak: actuation of hol-
ding brake

AC servo drive 10-23

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
IOLogicType Logic type of the digital inputs/outputs(6-11) - UINT16 Modbus 1288
0 R/W
IOLT 0 / source / sou: for current supply outputs 0 per.
(default) 1 -
DRC-ioLT 1 / sink / sin: for outputs drawing current

IMPORTANT: A change of the setting is not

activated until the device is switched on
again.
IOposInterfac Signal selection at position interface(6-11) - UINT16 Modbus 1284
0 R/W
IOPI RS422 IO interface (Pos) as: 3 per.
0 / ABinput / AB: input ENC_A, ENC_B, 3 -
DRC-ioPi ENC_I (index pulse) 4x evaluation
1 / PDinput /PD: input PULSE, DIR,
ENABLE2

3 / CW-CCW / CWCC: CW-CCW

IMPORTANT: A change of the setting is not

activated until the unit is switched on again.
JOGn_fast Speed for fast jog(7-6) 1/min UINT16 Modbus 10506
1 R/W
NFST The setting value is internally limited to the 180 per.
current parameter setting in RAMPn_max. 13200 -
JOG-NFST
JOGn_slow Speed for slow jog(7-6) 1/min UINT16 Modbus 10504
1 R/W
NSLW The setting value is internally limited to the 60 per.
current parameter setting in RAMPn_max. 13200 -
JOG-NSLW
JOGstepusr Inching movement before continuous opera- usr INT32 Modbus 10510
tion(7-6) 0 R/W
20 per.
0: direct activation of continuous operation -
- >0: positioning section per inching cycle
JOGtime Waiting time before continuous opera- ms UINT16 Modbus 10512
tion(7-6) 1 R/W
500 per.
Time is only effective if an inching distance 32767 -
- not equal to 0 has been set, otherwise direct
transition to continuous operation.
LIM_I_maxHalt Current limiting for Halt(7-28) Apk UINT16 Modbus 4364
- R/W
LIHA Max. current during braking after Halt or ter- - per.
mination of an operating mode. - -
SET-LihA
Maximum and default value settings depend
on motor and power amplifier

in 0.01Apk steps
0198441113363, V1.00, 12.2006

LIM_I_maxQSTP Current limiting for Quick Stop(7-27) Apk UINT16 Modbus 4362
- R/W
LIQS Max. current during braking via torque ramp - per.
resulting from an error with error class 1 or 2, - -
SET-LiQS and when a software stop is triggered

Maximum and default value setting depend

on motor and power amplifier

in 0.01Apk steps

10-24 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
M_I_0 Motor constant current at standstill() Apk UINT16 Modbus 3366
- R/-
in 0.01 Apk steps - -
- - -

M_I_max Motor maximum current() Apk UINT16 Modbus 3340

- R/-
MIMA in 0.01 Apk steps - -
INF-MiMA - -

M_I_nom Motor nominal current() Apk UINT16 Modbus 3342

- R/-
MINO in 0.01 Apk steps - -
INF-MiNo - -

M_I2t max. allowable time for M_I_max() ms UINT16 Modbus 3362

- R/-
- -
- - -

M_Jrot Motor moment of inertia() kg cm2 UINT16 Modbus 3352

- R/-
in 0.1 kgcm^2 steps - -
- - -

M_kE Motor e.m.f. constant kE() - UINT16 Modbus 3350

- R/-
Voltage constant in Vpk at 1000 1/min - -
- - -

M_L_d Motor inductance d-direction() mH UINT16 Modbus 3358

- R/-
in 0.01 mH steps - -
- - -
M_L_q Motor inductance q-direction() mH UINT16 Modbus 3356
- R/-
in 0.01 mH steps - -
- - -

M_M_max Motor peak torque() N cm UINT16 Modbus 3346

- R/-
- -
- - -

M_M_nom Motor nominal torque() N cm UINT16 Modbus 3344

- R/-
- -
- - -

M_n_max maximum permissible motor speed() 1/min UINT16 Modbus 3336

- R/-
- -
0198441113363, V1.00, 12.2006

- - -

M_n_nom Nominal motor speed() 1/min UINT16 Modbus 3338

- R/-
- -
- - -

M_Polepair Number of motor pole pairs() - UINT16 Modbus 3368

- R/-
- -
- - -

AC servo drive 10-25

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
M_R_UV Motor termination resistance() Ω UINT16 Modbus 3354
- R/-
in 10mΩ steps - -
- - -

M_Sensor Motor encoder type() - UINT16 Modbus 3334

- R/-
0 / unknown: unknown - -
1: reserved - -
- 2 reserved
3 / SRS SinCos 1024 marks Singleturn
4 / SRM: SinCos 1024 marks Multiturn
5 / SKS: SinCos 128 marks Singleturn
6 / SKM: SinCos 128 marks Multiturn
7 / SEK: SinCos 16 marks Singleturn
M_serialNo Motor serial number() - UINT32 Modbus 3330
- R/-
- -
- - -

M_T_max max. motor temperature(7-14) °C INT16 Modbus 3360

R/-
-
- -

M_T_warn Motor temperature warning threshold() °C INT16 Modbus 3370

R/-
-
- -

M_TempType Type of temperature sensor() - UINT16 Modbus 3364

- R/-
0: PTC switching - -
1: NTC linear - -
-
M_Type Motor type() - UINT32 Modbus 3332
- R/-
0: no motor selected - -
>0: connected motor type - -
-
M_U_nom Motor nominal voltage() V UINT16 Modbus 3348
- R/-
Voltage in 100mV steps - -
- - -

MBadr Modbus address(6-11) - UINT16 Modbus 5640

1 R/W
MBAD valid addresses: 1 ... 247 1 per.
COM-MBAD 247 -

MBbaud Modbus baud rate(6-11) - UINT16 Modbus 5638

9600 R/W
MBBD Allowed baud rates:
0198441113363, V1.00, 12.2006

19200 per.
9600 38400 -
COM-MBBD 19200
38400

IMPORTANT: A change of the setting is not

activated until the unit is switched on again.

10-26 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
MBdword_order Modbus word sequence for double words - UINT16 Modbus 5646
(32 bit values)() 0 R/W
MBWO 0 per.
Send High Word first or Low Word first 1 -
COM-MBWo
0 / HighLow / HiLo: HighWord-LowWord,
High Word first -> Modicon Quantum
(default)
1 / LowHigh / LoHi : LowWord-HighWord
Low Word first -> Premium, HMI (Telemeca-
nique)
MBformat Modbus data format() - UINT16 Modbus 5642
1 R/W
MBFO 1 / 8Bit NoParity 1Stop / 8n1: 8 bit, no 2 per.
parity bit, 1 stop bit 4 -
COM-MBFo 2 / 8Bit EvenParity 1Stop / 8e1: 8 bit, even
parity bit, 1 stop bit (default)
3 / 8Bit OddParity 1Stop / 8o1: 8 bit, odd
parity bit, 1 stop bit
4 / 8Bit NoParity 2Stop / 8n2: 8 bit, no
parity bit, 2 stop bits

IMPORTANT: A change of the setting is not

activated until the unit is switched on again.
MBnode_guard Modbus Node Guard() ms UINT16 Modbus 5644
0 R/W
Connection monitoring 0 -
0: inactive (default) 10000 -
- >0: Monitoring time
MT_dismax Max. permissible distance() revolution UINT16 Modbus 11782
0.0 R/W
If the maximum permissible distance is 1.0 -
exceeded with an active reference value, a 999.9 -
- class 1 error is triggered.
Fieldbus
value 0 disables the monitoring. 0
10
9999
PA_I_max Maximum current of power amplifier() Apk UINT16 Modbus 4100
- R/-
PIMA Current in 10 mA steps - per.
INF-PiMA - -

PA_I_nom Nominal current of power amplifier() Apk UINT16 Modbus 4098

- R/-
PINO Current in 10 mA steps - per.
INF-PiNo - -

PA_T_max maximum permissible temperature of the °C INT16 Modbus 4110

power amplifier(7-14) R/-
per.
0198441113363, V1.00, 12.2006

- -

PA_T_warn Temperature limit of the power ampli- °C INT16 Modbus 4108

fier(7-14) R/-
per.
- -

AC servo drive 10-27

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
PA_U_maxDC max. permissible DC bus voltage() V UINT16 Modbus 4102
- R/-
Voltage in 100mV steps - per.
- - -

PA_U_minDC DC bus undervoltage threshold for drive V UINT16 Modbus 4104

switch-off() - R/-
- per.
Voltage in 100mV steps - -
-
PA_U_minStopDC DC bus undervoltage threshold for Quick V UINT16 Modbus 4116
Stop() - R/-
- per.
At this threshold the drive carries out a Quick - -
- Stop

Voltage in 100mV steps

PAR_CTRLreset Reset controller parameter() - UINT16 Modbus 1038
0 R/W
RES 1: Control parameters of the speed and posi- - -
tion controllers are reset 1 -
TUN-RES The current controller is automatically set
according to the connected motor.
PAReeprSave Back up the parameters in the EEPROM - UINT16 Modbus 1026
memory() - R/W
- -
Bit 0=1: Back up the user parameters. - -
-
The current parameters are backed up in the
non-volatile memory (EEPROM).
The storing process is complete if a 0 is
returned when reading the parameters.
PARfactorySet Restore factory settings (default - R/W
values)(7-41) 0 -
FCS - -
1: Set all parameters to default values and 3
DRC-FCS back up in the EEPROM.
A factory setting can be triggered by HMI or
commissioning software.
The storing process is complete if a 0 is
returned when reading the parameters.

IMPORTANT: The default state only beco-

mes active at the next start-up.
0198441113363, V1.00, 12.2006

10-28 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
PARuserReset Resetting the user parameters(7-41) - UINT16 Modbus 1040
0 R/W
1: Set the user parameters to default values. - -
All parameters are reset, with the exception 1 -
- of:
- communications parameters
- definition of direction of rotation
- signal selection of position interface
- device control
- logic type
- start-up operating mode for 'Local Control
Mode'

- IO functions

IMPORTANT: The new settings are not

backed up to the EEPROM!
POSdirOfRotat Definition of direction of rotation(7-40) - UINT16 Modbus 1560
0 R/W
PROT 0 / clockwise / clw: Clockwise 0 per.
1 / counter clockwise / cclw: Counterclock- 1 -
DRC-PRoT wise

Interpretation:
The drive rotates clockwise with positive
speeds, looking onto the motor shaft at the
flange.

IMPORTANT: A change of the setting is not

activated until the unit is switched on again

POSscaleDenom Denominator of the position scaling fac-usr INT32 Modbus 1550

tor(7-23) 1 R/W
16384 per.
Description see numerator (POSscaleNum) 2147483647 -
-
Acceptance of a new scaling factor is by
transfer of the numerator
POSscaleNum Numerator of the position scaling fac- revolution INT32 Modbus 1552
tor(7-23) 1 R/W
1 per.
:Definition of scaling factor 2147483647 -
-
Motor revolutions[U]
----------------------------------------------------------
Change in user position [usr]

Acceptance of a new scaling factor takes

0198441113363, V1.00, 12.2006

place on the entry of the numerator

User limits can be reduced when internal

system factors are taken into account

AC servo drive 10-29

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
PWM_fChop Switching frequency of power amplifier(6-15) - UINT16 Modbus 1308
0 R/W
Switching frequency of the power amplifier 0 per.
0 / 4kHz: 4kHz 1 expert
- 1 / 8kHz: 8kHz

factory setting:
for motors of the BSH family: the factory set-
ting is automatically made for all other
motors depending on the connected motor:
4KHz
RAMP_TAUjerk Jolt limiting() ms UINT16 Modbus 1562
0 R/W
0: off 0 per.
>0: Setting for filter processing time 128 -
-
The following values can be set:
0: inactive
1
2
4
8
16
32
64
128

Limits the acceleration change (jerk) of the

setpoint position generation during the posi-
tioning transitions:
Standstill - acceleration
acceleration - constant movement
constant movement - deceleration
deceleration - standstill

Processing in the following operating modes:

- profile velocity
- point-to-point
- jog
- homing

Setting is only possible with inactive opera-

ting mode (x_end=1).

RAMPacc Profile generator acceleration(7-26) (1/min)/s UINT32 Modbus 1556

30 R/W
600 per.
- 3000000 -

RAMPdecel Profile generator deceleration(7-26) (1/min)/s UINT32 Modbus 1558

0198441113363, V1.00, 12.2006

750 R/W
750 per.
- 3000000 -

10-30 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
RAMPsym symmetrical ramp() usr UINT16 Modbus 1538
R/W
Acceleration and delay of the profile genera- - -
tor (16-bit value) in 10 (1/min)/s -
-
Write access changes the values under
RAMPacc as well as RAMPdecel, the limit
value test occurs using the limit values there.

Reading access delivers the greater value of

RAMPacc/RAMPdecel.
If the current setting value cannot be map-
ped as a 16-bit value, then the max. UINT16
value is transferred
RESext_P Nominal power of external braking resis- W UINT16 Modbus 1316
tor(6-15) 1 R/W
10 per.
- 32767 -

RESext_R Resistance value of external braking resis- Ω UINT16 Modbus 1318

tor(6-15) 0.01 R/W
100.00 per.
- 327.67 -
Fieldbus
1
10000
32767
RESext_ton max. permissible switch-in time for external ms UINT16 Modbus 1314
braking resistor(6-15) 1 R/W
1 per.
- 30000 -

RESint_ext Control of braking resistor(6-15) - UINT16 Modbus 1298

0 R/W
0 / internal: internal braking resistor 0 per.
1 / external: external braking resistor 1 -
-
RESint_P Nominal power of internal braking resistor() W UINT16 Modbus 4114
R/-
per.
- -

RESint_R Internal braking resistor() Ω UINT16 Modbus 4112

- R/-
in 10 mOhm steps - per.
- - -

SPEEDn_target Setpoint speed in speed control mode(7-9) 1/min INT16 Modbus 8456
-30000 R/W
The internal maximum speed is limited by 0 -
the current setting in CTRL_n_max 30000 -
0198441113363, V1.00, 12.2006

-
SPV_Flt_AC Error response to failure of a mains phase - UINT16 Modbus 1300
with 3-phase devices(7-14) 1 R/W
2 per.
1 / ErrorClass1error class 1 3 -
- 2 / ErrorClass2: error class 2
3 / ErrorClass3: error class 3

AC servo drive 10-31

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPV_Flt_pDiff Error response to tracking error(7-14) - UINT16 Modbus 1302
1 R/W
1 / ErrorClass1error class 1 3 per.
2 / ErrorClass2: error class 2 3 -
- 3 / ErrorClass3: error class 3
SPV_EarthFlt Earth fault monitoring(7-21) - UINT16 Modbus 1312
0 R/W
0 / off: Off 1 per.
1 / on: On (default) 1 expert
-
In exceptional cases deactivation may be
required, e.g.:
- parallel connection of multiple devices
- operation on an IT mains
- long motor lines
Disable the monitoring only if it responds
when not wanted
SPV_MainsVolt Monitoring mains phases with 3-phase - UINT16 Modbus 1310
devices(7-22) 0 R/W
1 per.
0 / off: Off 1 expert
- 1 / on: On (default)

3-phase devices must only be connected

and operated on 3-phase mains. In exceptio-
nal cases it may be necessary to disable it,
e.g.:
- supply via the DC bus
SPV_p_maxDiff Max. permissible tracking error of position revolution UINT32 Modbus 4636
controller(7-14) 0.0001 R/W
1.0000 per.
The tracking error is the current position 200.0000 -
- regulation offset minus the speed-dependent
position regulation offset. Actually, only the Fieldbus
position offset caused by the moment 1
requirements is still referred to for tracking 10000
error monitoring. 2000000
SPVChkWinTime Monitoring of time window() ms UINT16 Modbus 1594
0 R/W
WINT Setting of a time for the monitoring of posi- 0 per.
tion deviation, speed of rotation deviation, 9999 -
SET-Wint speed of rotation value and current value. If
the control value for the set time is within the
monitoring range, then the result of the
monitoring is valid.
The status can be output via a program-
mable output.

SPVcommutat Monitoring commutation(7-20) - UINT16 Modbus 1290

0 R/W
0198441113363, V1.00, 12.2006

0 / off: off 1 per.

1 / on: on (default) 1 -
-

10-32 AC servo drive

 LXM05C Parameters

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
SPVi_Threshold Current value for "Current threshold rea- Apk UINT16 Modbus 1592
ched"() 0.00 R/W
ITHR 0.00 per.
It is checked whether the motor is below the 99.99 -
SET-itHr value defined here for the time programmed
via 'SPVChkWinTime'. Fieldbus
The status can be output via a program- 0
mable output. 0
As a comparative value the value from the 9999
parameter '_Idq_act' is used.

SPVn_DiffWin Speed deviation for "In speed window"() 1/min UINT16 Modbus 1588
- R/W
IN-N It is checked whether the motor is below the - per.
deviation defined here for the time program- - -
SET-in-n med via 'SPVChkWinTime'.
The status can be output via a program-
mable output.

SPVn_lim Speed limitation via input() 1/min UINT16 Modbus 1596

1 R/W
NLIM a speed limitation can be activated via a digi- 10 per.
tal input. 9999 -
SET-nLiM

SPVn_Threshold Speed value for "Speed threshold reached"() 1/min UINT16 Modbus 1590
- R/W
NTHR It is checked whether the motor is below the - per.
value defined here for the time programmed - -
SET-ntHr via 'SPVChkWinTime'.
The status can be output via a program-
mable output.

SPVp_DiffWin Position deviation for "In position window"()revolution UINT16 Modbus 1586
0.0000 R/W
IN-P It is checked whether the motor is below the 0.0010 per.
deviation defined here for the time program- 0.9999 -
SET-in-P med via 'SPVChkWinTime'.
The status can be output via a program- Fieldbus
mable output. 0
10
9999
0198441113363, V1.00, 12.2006

AC servo drive 10-33

Parameters LXM05C

Parameter Name Description Unit Data type Parameter address

Code Minimum value R/W via fieldbus
HMI menu, Code Default value persistent
Maximum value Expert
StartUpMessage Start-up messages() - UINT32 Modbus 312
R/W
Read: Start-up messages - -
write: validation -
-
Read:
Bit 0=1: First Setup
Bit 1 = 1: Motor changed
Bit 2 = 1: EEPROM data corrupt
Bit 3 = 1: no motor connected
Bit 4 = 1: change of a parameter that is only
active after start-up
Bit 5..15: reserved

Write:
Bit 0=1: First Setup validation
Bit 1 = 1: motor changed validation
Bit 2..3: reserved
Bit 4 = 1: validation of change of a start-up
parameter
Bit 5..15: reserved

The availability of the individual bits depends

on the product

0198441113363, V1.00, 12.2006

10-34 AC servo drive

 LXM05C Accessories and spare parts

11 Accessories and spare parts

11.1 Optional accessories

Description Order number

Peripheral control terminal VW3A31101
PC connection kit, converter RS485 to RS232 VW3A8106
USIC (Universal Signal Interface Converter), for signal adaptation to RS422 standard VW3M3102
Reference Value Adapter RVA for distribution of A/B or pulse/direction signals to 5 devices with VW3M3101
24VDC power supply device to 5VDC sensor power supply
Holding brake control HBC VW3M3103

11.2 External braking resistors

Description Order number

braking resistor IP65; 10 ohm; 400W; 0.75m connector cable VW3A7601R07
braking resistor IP65; 10 ohm; 400W; 2m connector cable VW3A7601R20
braking resistor IP65; 10 ohm; 400W; 3m connector cable VW3A7601R30
braking resistor IP65; 27 ohm; 100W; 0.75m connector cable VW3A7602R07
braking resistor IP65; 27 ohm; 100W; 2m connector cable VW3A7602R20
braking resistor IP65; 27 ohm; 100W; 3m connector cable VW3A7602R30
braking resistor IP65; 27 ohm; 200W; 0.75m connector cable VW3A7603R07
braking resistor IP65; 27 ohm; 200W; 2m connector cable VW3A7603R20
braking resistor IP65; 27 ohm; 200W; 3m connector cable VW3A7603R30
braking resistor IP65; 27 ohm; 400W; 0.75m connector cable VW3A7604R07
braking resistor IP65; 27 ohm; 400W; 2m connector cable VW3A7604R20
braking resistor IP65; 27 ohm; 400W; 3m connector cable VW3A7604R30
braking resistor IP65; 72 ohm; 100W; 0.75m connector cable VW3A7605R07
braking resistor IP65; 72 ohm; 100W; 2m connector cable VW3A7605R20
braking resistor IP65; 72 ohm; 100W; 3m connector cable VW3A7605R30
braking resistor IP65; 72 ohm; 200W; 0.75m connector cable VW3A7606R07
braking resistor IP65; 72 ohm; 200W; 2m connector cable VW3A7606R20
braking resistor IP65; 72 ohm; 200W; 3m connector cable VW3A7606R30
braking resistor IP65; 72 ohm; 400W; 0.75m connector cable VW3A7607R07
braking resistor IP65; 72 ohm; 400W; 2m connector cable VW3A7607R20
0198441113363, V1.00, 12.2006

braking resistor IP65; 72 ohm; 400W; 3m connector cable VW3A7607R30

AC servo drive 11-1

Accessories and spare parts LXM05C

11.3 Motor cables

These cables are suitable for BSH motors only.
BRH motors cannotbe connected with them. Connector sets for BRH
motors can be found in the motor manual.

Description Order number

Motor cable 3m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R30
plug, other cable end open
Motor cable 5m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R50
plug, other cable end open
Motor cable 10m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R100
plug, other cable end open
Motor cable 15m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R150
plug, other cable end open
Motor cable 20m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R200
plug, other cable end open
Motor cable 3m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R30
plug, other cable end open
Motor cable 5m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R50
plug, other cable end open
Motor cable 10m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R100
plug, other cable end open
Motor cable 15m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R150
plug, other cable end open
Motor cable 20m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R200
plug, other cable end open
motor cable 3m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 circu- VW3M5103R30
lar plug, other cable end open
motor cable 5m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 circu- VW3M5103R50
lar plug, other cable end open
motor cable 10m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R100
cular plug, other cable end open
motor cable 15m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R150
cular plug, other cable end open
motor cable 20m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R200
cular plug, other cable end open

11.4 Encoder cables

These cables are suitable for BSH motors only.
BRH motors cannotbe connected with them. Connector sets for BRH
0198441113363, V1.00, 12.2006

motors can be found in the motor manual.

Description Order number

Encoder cable 3m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R30
pole round plug, unit end 12-pole plug
Encoder cable 5m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R50
pole round plug, unit end 12-pole plug

11-2 AC servo drive

 LXM05C Accessories and spare parts

Description Order number

Encoder cable 10m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R100
pole round plug, unit end 12-pole plug
Encoder cable 15m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R150
pole round plug, unit end 12-pole plug
Encoder cable 20m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R200
pole round plug, unit end 12-pole plug

11.5 Crimping tool and connector / contacts

Description Order number

Crimping pliers for CN2 and CN5: Molex 69008-0982
Extraction tool for crimped contacts: Molex 11-03-0043
5* connector set Molex 10-pin for CN5 VW3M8212
5* connector set Molex 12-pin for CN2 VW3M8213

11.6 RS 422: pulse/direction, ESIM and A/B

Description Order number

Cable pulse/direction, ESIM, A/B, unit end 10 pole, other end open, 0.5m VW3M8201R05
Cable pulse/direction, ESIM, A/B, unit end 10 pole, other end open, 1.5m VW3M8201R15
Cable pulse/direction, ESIM, A/B, unit end 10 pole, other end open, 3m VW3M8201R30
Cable pulse/direction, ESIM, A/B, unit end 10 pole, other end open, 5m VW3M8201R50
Cable pulse/direction, ESIM, AB on Premium CAY, 0.5m, 10-pole + 15-pole SubD VW3M8203R05
Cable pulse/direction, ESIM, AB on Premium CAY, 1.5m, 10-pole + 15-pole SubD VW3M8203R15
Cable pulse/direction, ESIM, AB on Premium CAY, 3m, 10-pole + 15-pole SubD VW3M8203R30
Cable pulse/direction, ESIM, AB on Premium CAY, 5m, 10-pole + 15-pole SubD VW3M8203R50
Cable pulse/direction, ESIM, AB on Premium CFY, 0.5m, 10-pin connector, other end open VW3M8214R05
Cable pulse/direction, ESIM, AB on Premium CFY, 1.5m, 10-pin connector, other end open VW3M8214R15
Cable pulse/direction, ESIM, AB on Premium CFY, 3m, 10-pin connector, other end open VW3M8214R30
Cable pulse/direction, ESIM, AB on Premium CFY, 5m, 10-pin connector, other end open VW3M8214R50
Cable pulse/direction, ESIM, AB on RVA, USIC or WP/WPM311, 0.5m VW3M8209R05
Cable pulse/direction, ESIM, AB on RVA, USIC or WP/WPM311, 1.5m VW3M8209R15
Cable pulse/direction, ESIM, AB on RVA, USIC or WP/WPM311, 3m VW3M8209R30
Cable pulse/direction, ESIM, AB on RVA, USIC or WP/WPM311, 5m VW3M8209R50
cable pulse/direction, USIC, 15-pin SubD, other end off, 0.5m VW3M8210R05
0198441113363, V1.00, 12.2006

cable pulse/direction, USIC, 15-pin SubD, other end off, 1.5m VW3M8210R15
cable pulse/direction, USIC, 15-pin SubD, other end off, 3m VW3M8210R30
cable pulse/direction, USIC, 15-pin SubD, other end off, 5m VW3M8210R50
cascader cable for RVA, 0.5m VW3M8211R05

AC servo drive 11-3

Accessories and spare parts LXM05C

11.7 Mains filters

Description Order number

mains filter 1~; 9A; 115/230VAC VW3A31401
mains filter 1~; 16A; 115/230VAC VW3A31403
mains filter 3~; 15A; 230/480VAC VW3A31404
mains filter 1~; 22A; 115/230VAC VW3A31405
mains filter 3~; 25A; 230/480VAC VW3A31406
mains filter 3~; 47A; 230/480VAC VW3A31407

11.8 Mains reactor s

Description Order number

Mains reactor 1~; 50-60Hz; 7A; 5mH; IP00 VZ1L007UM50
Mains reactor 1~; 50-60Hz; 18A; 2mH; IP00 VZ1L018UM20
Mains reactor 3~; 50-60Hz; 10A; 4mH; IP00 VW3A66502
Mains reactor 3~; 50-60Hz; 16A; 2mH; IP00 VW3A66503
Mains reactor 3~; 50-60Hz; 30A; 1mH; IP00 VW3A66504
Mains reactor 3~; 50-60Hz; 60A; 0.5mH; IP00 VW3A66505

11.9 Installation material

Description Order number

adapter plate for top-hat rail mounting, width 77.5mm VW3A11851
adapter plate for top-hat rail mounting, width 105mm VW3A31852
EMC kit size 1 VW3M2101
EMC kit size 2 & 3 VW3M2102
EMC kit size 4 VW3M2103
0198441113363, V1.00, 12.2006

11-4 AC servo drive

 LXM05C Service, maintenance and disposal

12 Service, maintenance and disposal

$ DANGER
Electric shock, fire or explosion
• Only qualified personnel who are familiar with and understand
the contents of this manual are authorised to work on and with
this drive system.
• The system manufacturer is responsible for compliance with
all applicable regulations relevant to earthing the drive system.
• Many components, including printed wiring boards, operate at
mains voltage. Do not touch. Do not touch unshielded com-
ponents or screws of the terminals with voltage present.
• Install all covers and close the housing doors before applying
power.
• The motor generates voltage when the shaft is rotated. Lock
the shaft of the motor to prevent rotation before starting work
on the drive system.
• Before working on the drive system:
– Switch off power to all terminals.
– Place a sign "DO NOT SWITCH ON" on the switch and lock
to prevent switching on.
– Wait 6 minutes (for discharge of DC bus capacitors). Do
not short-circuit DC bus
– Measure voltage at DC bus and check for <45V. (The DC
bus LED is not a safe indication for absence of the DC bus
voltage).
Failure to follow these instructions will result in death or se-
rious injury.

@ CAUTION
Destruction of system components and loss of control moni-
toring
Excessive currents can be created at the signal connections if the
negative connection to the controller supply voltage is interrupted.
• Do not interrupt the negative connection between power sup-
ply unit and load with a fuse or switch
• Check for correct connection before switching on.
0198441113363, V1.00, 12.2006

• Never connect the controller supply voltage or change its

wiring while there is supply voltage present.
Failure to follow these instructions can result in injury or
equipment damage.

You cannot carry out repairs yourself. The repair should

only be carried out by a certified customer service
organisation. No warranty or liability is accepted for repairs
made by the customer.

AC servo drive 12-1

Service, maintenance and disposal LXM05C

12.1 Service address

If you cannot resolve the fault yourself please contact your appointed sa-
les partner. Have the following details available:
• Type, identification number and serial number of the product (type
plate)
• Type of fault (possibly with fault number)
• Previous and concurrent conditions
• Your own ideas regarding the cause of the fault
Include this information if you return the product for inspection or repair.
If you have any questions please contact your local dealer.
Your dealer will be happy to give you the name of a
customer service outlet in your area.

http://www.telemecanique.com

12.2 Maintenance
The product is maintenance free.

12.3 Replacing units

@ WARNING
Unexpected behaviour
The behaviour of the drive system is governed by numerous stored
data or settings. Unsuitable settings or data may trigger unexpec-
ted movements or reactions to signals and disable monitoring func-
tions.
• Do not operate a drive system with unknown settings or data.
• Check the stored data or settings.
• When commissioning carefully run tests for all operating statu-
ses and fault cases.
• Check the functions after replacing the product and also after
making changes to the settings or data.
• Only start the system if there are no persons or materials in
the danger zone and the system can be operated safely.
Failure to follow these instructions can result in death, se-
0198441113363, V1.00, 12.2006

rious injury or equipment damage.

Prepare a list with the parameters required for the functions

in use.

12-2 AC servo drive

 LXM05C Service, maintenance and disposal

Observe the following procedure when changing the devices.

왘 Store all parameter settings in your PC with the commissioning soft-
ware, see 7.6.9.3 “Duplicate existing device settings“ page 7-42.
왘 Switch off all power supplies. Make sure that power is no longer
connected (safety instructions).
왘 Label all connections and remove the product.
왘 Note the identification number and the serial number from the pro-
duct nameplate for later identification.
왘 Install the new product as specified in chapter 5 “Installation“
왘 If the product that you are installing was previously used in a diffe-
rent part of the system, the factory settings must be reset before
commissioning. See 7.6.9.2 “Restore factory settings“ from page
7-41.
왘 Carry out commissioning in accordance with chapter 6 “Commissio-
ning“. Note that with the same motor setting the motor position will
no longer match when the device is replaced. This also changes the
position of the virtual index point. The motor position associated
with the motor installation must be redefined, see parameter
ENC_pabsusr.

12.4 Changing the motor

@ WARNING
Unexpected movement
Drives can make unexpected movements if incorrectly connected
or because of other faults.
• Operate the device with approved motors only. Even if motors
are similar, different adjustment of the encoder system may be
a source of danger.
• Check the wiring. Compatibility is not ensured even with mat-
ching connectors on power connection and encoder system.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

왘 Switch off all power supplies. Make sure that power is no longer
connected (safety instructions).
왘 Label all connections and remove the product.
왘 Note the identification number and the serial number from the pro-
duct nameplate for later identification.
0198441113363, V1.00, 12.2006

왘 Install the new product as specified in chapter 5 “Installation“

If the motor originally fitted is changed for a different one, the motor data
set is reread. If the device recognises a different motor type, the control
parameters are recalculated and MOT is shown on the HMI.
When the motor is replaced the parameters for the encoder must also be
reset, see chapter 6.4.11 “Setting parameters for encoder“.

AC servo drive 12-3

Service, maintenance and disposal LXM05C

Change motor type temporarily only 왘 Press ESC if you only want to operate the new motor type tempora-
rily on this device.
컅 The newly calculated control parameters are not stored in the
EEPROM. This means that the original motor can be put back into
operation using the previously stored control parameters.
Change motor type permanently 왘 Press ENT if you wish to operate the new motor type permanently
in this device.
컅 The newly calculated control parameters are stored in the
EEPROM.

12.5 Shipping, storage, disposal

Note the ambient conditions on page 3-1!
Shipping The product must be protected against shocks during transport. Use the
original packaging for this purpose.
Storage Store the product only under the specified, approved environmental
conditions for room temperature and humidity.
Protect the product against dust and dirt.
Disposal The product consists of various materials that can be recycled and must
be disposed of separately. Dispose of the product in accordance with lo-
cal regulations

0198441113363, V1.00, 12.2006

12-4 AC servo drive

 LXM05C Glossary

13 Glossary

13.1 Units and conversion tables

The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 metres [m] to yards [yd]
5 m / 0.9144 = 5.468 yd

13.1.1 Length

in ft yd m cm mm
in - / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 - /3 * 0.30479 * 30.479 * 304.79
yd * 36 *3 - * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 - * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 -

13.1.2 Mass

lb oz slug kg g
lb - * 16 * 0.03108095 * 0.4535924 * 453.5924
-3
oz / 16 - * 1.942559*10 * 0.02834952 * 28.34952
slug / 0.03108095 / 1.942559*10-3 - * 14.5939 * 14593.9
kg / 0.453592370 / 0.02834952 / 14.5939 - * 1000
g / 453.592370 / 28.34952 / 14593.9 / 1000 -

13.1.3 Force

lb oz p dyne N
lb - * 16 * 453.55358 * 444822.2 * 4.448222
oz / 16 - * 28.349524 * 27801 * 0.27801
p / 453.55358 / 28.349524 - * 980.7 * 9.807*10-3
dyne / 444822.2 / 27801 / 980.7 - / 100*103
N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 -
0198441113363, V1.00, 12.2006

13.1.4 Power

HP W
HP - * 745.72218
W / 745.72218 -

AC servo drive 13-1

Glossary LXM05C

13.1.5 Rotation

1/min (RPM) rad/s deg./s

1/min (RPM) - * π / 30 *6
rad/s * 30 / π - * 57.295
deg./s /6 / 57.295 -

13.1.6 Torque

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm

lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106
lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106
oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106
kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106
kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106
dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -

13.1.7 Moment of inertia

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2

lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16
lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304
kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674
kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46
kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74
oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -

13.1.8 Temperature

°F °C K
°F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15
°C °C * 9/5 + 32 - °C + 273
K (K - 273.15) * 9/5 + 32 K - 273.15 -

13.1.9 Conductor cross section

0198441113363, V1.00, 12.2006

AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26
2
mm 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13

13-2 AC servo drive

 LXM05C Glossary

13.2 Terms and Abbreviations

AC Alternating Current
Actual position Current absolute or relative position of moving components in the drive
system.
DC Direct current
Default value Factory settings.
Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation.
A positive direction of rotation is defined as the motor shaft rotating clo-
ckwise as the observer faces the end of the protruding shaft.
Drive system The drive system consists of the controller, power amplifier and motor.
EMC Electromagnetic compatibility.
Encoder Sensor for recording the angular position of a rotating element. The en-
coder is mounted on the motor and signals the angular position of the ro-
tor.
Error class Classification of operational faults into groups corresponding to the error
responses
EU European Union
FI Fault current
Holding brake brake that only prevents the motor from rotating without power after it
has stopped (e.g. a vertikal-axis lowering). It must not be used as a ser-
vice brake for braking motion.
I2t-monitoring Predictive temperature monitoring. The expected temperature rise of
unit components is calculated in advance on the basis of the motor cur-
rent. If a limit value is exceeded, the drive system reduces the motor cur-
rent.
I/O Inputs/Outputs
Inc Increment
Index pulse Encoder signal for referencing the rotor position in the motor. The enco-
der sends one index pulse per revolution.
Internal units Resolution of the power amplifier with which the motor is directed to the
new setpoint. Internal units are given in increments.
IT mains Mains in which all active components are isolated from earth or are
earthed by a high impedance. IT: isolé terre (French), isolated earth.
Opposite: earthed networks, see TT/TN network
Limit switch Switch that signals an overrun of the permissible travel range.
NTC resistance with negative temperature coefficient. Resistance value is re-
0198441113363, V1.00, 12.2006

duced as the temperature rises.

Parameter Device functions and values that can be set and called by the user.
PC Personal Computer
PELV Protective Extra Low Voltage, functional low voltage with safe isolation.
persistent Designation of whether the value of the parameter is persistent, i.e. after
switching off the unit it is retained in the memory. When changing a value

AC servo drive 13-3

Glossary LXM05C

via commissioning software or fieldbus, the user must explicitly store the
value change in the persistent memory.
PLC Programmable Logic Controller
Power amplifier A device that generates current for controlling the motor in accordance
with the positioning signals from the controller.
Protection class The protection class is a standardised specification for electrical equip-
ment that describes the protection against the ingress of foreign bodies
and water (for example, IP20).
PTC resistance with positive temperature coefficient. Resistance value is in-
creased as the temperature rises.
Pulse control An input speed is recalculated by the drive system using the values of an
adjustable gear factor to derive a new output speed for the motor move-
ment.
Pulse direction signals Digital signals with variable pulse frequencies which signal changes in
position and rotation direction via separate signal wires.
Quick Stop Quick stop, function used to provide quick braking of the motor via a
command or in the event of a fault.
Releasing the brake Drive may move when unbraked
rms RMS value of a voltage (Vrms) or a current (Arms); abbreviation of “Root
Mean Square”.
RS485 Fieldbus interface compliant with EIA-485, which enables serial data
transmission with multiple devices.
Scaling factor This factor gives the relationship between an internal unit and the user
unit.
TT mains, TN mains Earthed mains, distinguished by the PE conductor connection. Oppo-
site: unearthed networks, see IT mains
User-defined unit Unit whose reference to motor rotation can be determined by the user
via parameters.
Watchdog Equipment that monitors cyclic basic functions in the drive system. Po-
wer amplifier and outputs are switched off in the event of error.

13.3 Product name

LXM05C AC servo amplifier
PowerSuite PC software for commissioning
HBC Holding brake controller
Peripheral control terminal hand-held operating unit
0198441113363, V1.00, 12.2006

USIC (Universal Signal Interface Converter) adapter for RS422 standard

RVA Reference value adapter for distribution of A/B or pulse/direction signals
to 5 units

13-4 AC servo drive

 LXM05C Extract

14 Extract
This extract does not replace the manual. It simply provides a brief over-
view of the device, but it is definitely not sufficient for correct commissio-
ning. The manual must always be read carefully before commissioning
to prevent errors in connection or installation.

14.1 Electromagnetic compatibility, EMC

Note the EMC specifications and instructions in the chapter on “Instal-
lation”. Make sure that all national regulations are observed.

14.2 Compact installation

@ WARNING
Loss of control over controller
• Observe the accident prevention regulations. (For USA see
also NEMA ICS1.1 and NEMA ICS7.1)
• The system manufacturer must take the potential error possibi-
lities of the signals and the critical functions into account to
ensure a safe status during and after errors. Some examples
are: emergency stop, final position limitation, power failure and
restart.
• The assessment of error possibilities must also include unex-
pected delays and the failure of signals or functions.
• Suitable redundant control paths must be in place for dange-
rous functions.
• Check that measures taken are effective.
Failure to follow these instructions can result in death or se-
rious injury.

The chapter on engineering contains basic information that

you should know before starting the installation.
0198441113363, V1.00, 12.2006

AC servo drive 14-1

Extract LXM05C

CN1
11 12 31 32 33 34 35 36 37 38 39 51 52 53 54 55

ANA1+ CCW/DIR/ENC_B
ANA1- CCW/DIR/ENC_B
CW/PULSE/ENC_A
NO_FAULT_OUT/LO1_OUT
CW/PULSE/ENC_A
BRAKE_OUT/LO2_OUT
POS_0V
LO3_OUT
LI1
FAULT_RESET/LI2
ENABLE
HALT/LI4
LI5
LI6

CN3
41 42 43 44
CN2

+24VDC 24V =

0VDC ~
3~

M CN4
E
CN5

RS485
ESIM
RS232

PC

N/S/L2
R/L1

R/L1 S/L2
1 PA/+ PBi PBe PC/- U/T1 V/T2 W/T3
0198441113363, V1.00, 12.2006

Figure 14.1 Wiring overview

(1) The layout of the power connections depends on the device

type, for the exact assignment see "Installation"

14-2 AC servo drive

 LXM05C Extract

14.3 Compact commissioning

@ WARNING
Unexpected movement
When the drive is operated for the first time there is a high risk of
unexpected movement because of possible wiring errors or unsu-
itable parameters.
• If possible, run the first test movement without coupled loads.
• Make sure that a functioning button for EMERGENCY STOP is
within reach.
• Also anticipate a movement in the incorrect direction or oscilla-
tion of the drive.
• Make sure that the system is free and ready for the movement
before starting the function.
Failure to follow these instructions can result in death, se-
rious injury or equipment damage.

(1) Red LED on: voltage applied at DC bus

1 2 3 (2) Status display
(3) LEDs
RUN
• Closing a menu or parameter
8.8.8.8 BUS

ERR
ESC

• Return from displayed to last

ESC saved value
ENT • Calling a menu or parameter
ENT

• Save the displayed value in the EEPROM

• Switch to previous menu or parameter

• Increase the displayed value

• Switch to next menu or parameter

• Reduce the displayed value

0198441113363, V1.00, 12.2006

AC servo drive 14-3

Extract LXM05C

14.3.1 HMI menu structure

Power On: ENT

- First Setup
not done FSU- First Setup
ESC

Save ENT

- First Setup
done rdy
ENT

ENT
ESC

SEt- Settings
ESC

ENT
ESC

drC- Drive Configuration

ESC

ENT
ESC

I-o- Configuration I/O

ESC

ENT
ESC

tUn- Autotuning
ESC

ENT
ESC
Menus JoG- JOG Mode
ESC

ENT
ESC

(Om- Communication
ESC

ENT
ESC

FLt- Fault
ESC

ENT
ESC

InF- Information / Identification

ESC

ENT
ESC

STA- Status Information

ESC

Figure 14.2 HMI menu structure

HMI, example of parameter setting

The adjacent figure shows an example for
Parameter Value calling a parameter (second level) and the
Menu input or selection of a parameter value
(third level).
ENT ENT
When you press ENT, the selected value
Set- IMAX 8. 49 ESC is accepted. Confirmation is indicated by
ESC ESC
the display flashing once. The modified
ENT value is saved in the EEPROM immedia-
NMAX 8. 48 8. 48 ESC
tely.
Store
(flashing)
(next parameter)
0198441113363, V1.00, 12.2006

14-4 AC servo drive

 LXM05C Extract

14.3.2 "First Setup" (FSU) via HMI

For "First setup" with the HMI run the following steps and make selec-
tions corresponding to the application.
For more information see "Commissioning".
FSU-

ENT 왘 ioPi: select interface mode for electronic gear operating mode
(CN1 Pin 51-55):
A/B signals (AB), pulse/direction signal (PD) or CW/CCW (CWCC)

ENT ENT
AB A/B signals
IOPI Ab PD Pulse/direction signals
ESC
Pd cwcc Pulse CW/CCW (clockwise/counterclockwise)
CWCC

왘 io-M: select operating mode

Curr Current control

Sped Speed control
ENT ENT
gear Electronic gear
IO-M none
ESC
Curr JOG Manual mode
Sped
Puls
왘 IOLt: select logic type (see "Engineering"):
jog
source (SOU) or sink (SIN)

왘 Save settings.

SAVE Save settings in device.

ENT ENT

IOLT SOU 컅 The device saves all set values in the EEPROM and displays the
ESC
SIN status nRDY, RDY or DIs on the HMI.
왘 Switch controller supply voltage off and on again.

S a V e factory setting with HMI

Restore Proceed as follows to restore the factory settings:
ENT
왘 Set DRC and then FCS on the HMI and confirm your selection with
yes.

The new settings only become effective after switching off and switching
on the device again.
0198441113363, V1.00, 12.2006

AC servo drive 14-5

Extract LXM05C

14.3.3 Jog
For a simple initial commissioning the motor should not be
connected to the system. If the motor is connected to the
system, all limiting parameters must be checked and an
EMERGENCY STOP button must be within reach before
the first motor movement, see product manual.

If the inertia ratio of Jext/Jmotor > 10 (external load on motor), the initial
setting of the controller parameter may result in an unstable controller

왘 Start the jog operating mode. (HMI: Jog_ / Strt)

컅 HMI display: JG
ENT ENT

JoG Strt JG
왘 Start a movement in clockwise rotation (1)
ESC ... (HMI: "up arrow")
컅 The motor rotates in the clockwise rotation. HMI display JG-
왘 Start a movement in counterclockwise rotation (2)
(HMI: "down arrow")
컅 The motor rotates in counterclockwise direction of rotation. HMI
1 2 display: -JG
ENT+ ENT+ You can change from slow to fast movement by simultaneously pushing
fast slow fast the ENT-button.
JG- -JG

If the motor does not rotate: • Is the controller supply voltage switched on?
• Is the power amplifier supply voltage switched on?
• Is the device in status rdy?
• Has "First Setup" been conducted or have device settings been
imported? Was the controller supply voltage switched off and on
after that?
• Does the display show an error number? For more information on
the error numbers see "Diagnostics and troubleshooting" 0198441113363, V1.00, 12.2006

14-6 AC servo drive

 LXM05C Extract

14.3.4 Duplicate existing device settings

Application and advantage • Multiple devices should have the same settings, e.g. when devices
are replaced.
• "First setup" does not need to be carried out using the HMI.
Requirements Device type, motor type and device firmware must be identical. The tool
is the Windows-based commissioning software. The controller supply
voltage must be switched on at the device.
Export device settings The commissioning software installed on a PC can apply the settings of
a device as configuration.
왘 Load the configuration of the device into the commissioning soft-
ware with "Action - Transfer".
왘 Highlight the configuration and select "File - Export".

Import device settings A stored configuration can be imported into a device of the same type.
Please note that the fieldbus address is also copied with this informa-
tion.
왘 In the commissioning software select the menu item "File - Import"
and load the desired configuration.
왘 Highlight the configuration and select "Action - Configure".
0198441113363, V1.00, 12.2006

AC servo drive 14-7

Extract LXM05C

0198441113363, V1.00, 12.2006

14-8 AC servo drive

 LXM05C Index

15 Index

Numerics
24V controller supply voltage 5-32
24VDC controller power supply 3-5
3-phase device 5-26

A
Abbreviations 13-3
Accessories and spare parts 11-1
Analogue inputs
connecting 5-35
Analogue module
analogue input 6-17
Approved motors 3-4

B
Braking function with HBC 7-29
braking ramp, see deceleration ramp
Braking resistor 3-6
connecting 5-20
external 3-8, 5-10
selection 5-20
braking resistor
connecting 5-19
installing 5-9

C
Cable 3-10
Cable specification
analogue inputs 5-35
control terminal 5-44
digital signals 5-36
PC 5-44
Cable specifications
braking resistor 5-20
CW/CCW 5-38
encoder signals A, B 5-43
motor connection 5-16
motor encoder 5-27
pulse/direction PD 5-41
Cascading, max. terminal current for 5-33
Cause of interruption, last 9-5
CE mark 1-3
0198441113363, V1.00, 12.2006

change
operating mode 7-6
Changing the motor 12-3
Changing the operating status 7-4
Checking direction of rotation 6-21
Checking holding brake 6-20

AC servo drive 15-1

Index LXM05C

Commissioning 6-1
Check position switch 6-22
checking direction of rotation 6-21
checking holding brake 6-20
controller structure 6-32
digital inputs and outputs 6-19
extended settings for autotuning 6-30
optimising controller 6-32
optimising speed controller 6-34
presets and optimisation 6-38
run autotuning 6-28
setting basic parameters 6-15
setting parameters for braking resistor 6-26
setting parameters for encoder 6-24
setting parameters for encoder simulation 6-23
steps 6-11
testing analogue inputs 6-17
tool 6-4
Commissioning software
error display 9-6
features 6-10
online help 6-10
system requirements 6-10
triggering jump function 6-33
commissioning software
Setting reference signal 6-33
Commissioning software (PowerSuite) 6-10
Commissioning tools 6-4
Components and interfaces 1-2
Connect controller supply voltage 5-33
Connection
24V controller supply voltage 5-32
analogue inputs/outputs 5-35
braking resistor 5-19
CW/CCW 5-37
digital inputs/outputs 5-36
Encoder signals A, B 5-42
encoder simulation 5-34
holding brake controller 5-30
motor encoder 5-27
motor phases 5-16
PC and external keypad over RS485 5-44
power amplifier supply voltage 5-24
Pulse/direction PD 5-39
Control terminal
connecting 5-44
function 5-44
0198441113363, V1.00, 12.2006

Controller
entering values 6-33
optimising 6-32
controller
structure 6-32
controller supply voltage
dimensioning 5-33
Current control 7-8
example of parameter setting 8-2

15-2 AC servo drive

 LXM05C Index

Current controller
function 6-32
CW/CCW
connecting 5-39
function 5-37
wiring diagram 5-39

D
Danger classes 2-2
Declaration of conformity 1-5
Determining controller values
controller values with rigid mechanics 6-35
determining controller values with less rigid mechanics 6-36
device
installation 5-8
Mounting 5-7
Diagnostics 9-1
Diagram
A/B signals 5-43
Digital inputs and outputs
display and modify 6-19
Digital inputs/outputs
connecting 5-36
Dimensioning aid
braking resistor 5-21
Direction enabling 7-13
Direction reversal 7-40
Directives and standards 1-3
Disposal 12-1, 12-4
Documentation and literature references 1-3

E
Electrical installation 5-11
EMC 5-1, 14-1
cabling 5-2
motor cables and encoder cables 5-3
power supply 5-3
scope of supply and accessories 5-2
Encoder cable 3-10
Encoder signals A, B
connecting 5-43
Environment
Installation height 3-1
Environmental conditions 3-1
Equipotential bonding conductors 5-3
Error
0198441113363, V1.00, 12.2006

current 9-5
error class 9-2
Error display 9-3
error display
commissioning software 9-6
HMI 9-5
Error display on HMI 9-5
Error response 7-3, 9-2
Meaning 9-2

AC servo drive 15-3

Index LXM05C

ESIM
function 5-34
resolution 5-34
Examples 8-1
Extended settings for autotuning 6-30
External braking resistors 3-8
External line filter 5-9
External mains filter 3-8

F
Fabricating cables
mains power 5-25
motor phases 5-17
Fabrication of cable
motor rotary encoder 5-27
Fault Reset 7-3
First setup
preparation 6-11
via HMI 6-11
Function
encoder A, B 5-42
Functions 7-14
braking function with HBC 7-29
direction reversal 7-40
Halt 7-28
monitoring functions 7-14
Quick Stop 7-27
restoring default values 7-41
scaling 7-23
travel profile 7-26

G
Gear ratio 7-12
Glossary 13-1

H
Halt 7-28
HMI
control panel 6-5
Error display 9-5
first setup 6-11
function 6-5
menu structure 6-5, 6-6
Holding brake
control 3-9
Holding brake controller 3-9
0198441113363, V1.00, 12.2006

connecting 5-31
rating 5-30
holding brake controller
connection 5-30

15-4 AC servo drive

 LXM05C Index

I
I²t monitoring 7-15
Installation
electrical 5-11
mechanical 5-6
Installation spacing 5-7
Intended use 2-1
Internal mains filter 3-7
Introduction 1-1
IT mains, operation in 5-5

J
Jog 7-6

L
last cause of interruption 9-5
Limit values
setting 6-15
Limits
analogue inputs 5-36
limits 5-36
Line filter 5-9
line filter 5-9
Line reactor 3-8

M
Mains filter
external 3-8
installing 5-9
internal 3-7
Mains power
connecting 5-25
Mains reactor 5-9
mains reactor
installing 5-9
Maintenance 12-1
Malfunctions 9-7
Mechanical installation 5-6
Mechanics, Layout for control system 6-34
Monitoring
braking resistor 5-19
motor phases 5-18
parameters 7-18
Monitoring functions 2-4, 7-14
Motor cable 3-10
0198441113363, V1.00, 12.2006

Motor cables
connecting 5-18
Motor data set
automatic read-in 6-11
motor encoder
connecting 5-27
Motor rotary encoder
function 5-27

AC servo drive 15-5

Index LXM05C

motor rotary encoder

sensor type 5-27
Mounting, mechanical 5-7

O
Open Collector circuit 5-38, 5-41
Operating mode
change 7-6
current control 7-8
jog 7-6
speed control 7-9
start 7-6
Operating modes 7-6
Operating states 7-2
Operating status 6-14
Operation 7-1
Optimising presets 6-38
Overview 6-4
all connections 5-14
procedure for electrical installation 5-13

P
Parameter
calling via HMI 6-6
representation 10-1
Parameters 10-1
PC
connecting 5-44
Position controller
function 6-33
optimising 6-39
position switch 6-22
Power connections
overview 5-14
PowerSuite 6-10
Pre-requisites for setting the operating mode 7-5
Product name 13-4
Profile generator 7-26
Pulse control
example of parameter setting 8-2
Pulse/direction PD
connecting 5-41
function 5-40

Q
Qualifications, personnel 2-1
0198441113363, V1.00, 12.2006

Quick Stop 7-27

15-6 AC servo drive

 LXM05C Index

R
Ramp
shape 7-26
steepness 7-26
Rating
controller supply voltage 5-33
Reference signal
Setting 6-33
Reference value signals 5-16, 5-36
Reference values
analogue inputs 5-36
Reference variable filter 6-35
Remove protective foil 5-8
Reset error message 7-3
Restoring default values 7-41
Rotary encoder (motor)
connecting 5-29
Run autotuning 6-28

S
Scaling 7-23
Second environment 5-2
Service 12-1
Service address 12-2
Setting parameters for braking resistor 6-26
Setting parameters for encoder 6-24
Setting parameters for encoder simulation 6-23
setting the deceleration ramp 7-26
Shipping 12-4
Signal connections
overview 5-15
Signal inputs
Circuit diagram 5-38, 5-41
Speed control 7-9
speed control
example of parameter setting 8-2
Speed controller
function 6-32
setting 6-34
start
operating mode 7-6
Start-up operating mode 6-13
State display
NRDY 9-5
WDOG 9-5
State display ULOW 9-5
0198441113363, V1.00, 12.2006

Status diagram 7-2

Status display
DIS 9-5
WDOG 9-5
status display
FLT 9-5
Status machine 6-14

AC servo drive 15-7

Index LXM05C

status machine 9-5

Status monitoring in movement mode 7-14
Status transitions 7-4, 9-4
Storage 12-4
Switching cabinet 5-7
Switching cabinet setup 5-2

T
Technical data 3-1
Temperature monitoring 7-14
Terms 13-3
Testing analogue inputs 6-17
Timing diagram
Pulse direction signal 5-40
Tracking error
monitoring function 7-16
Travel profile 7-26
Triggering jump function 6-33
Troubleshooting 9-1, 9-7
from errors sorted by bit class 9-8
troubleshooting
malfunctions 9-7
Type code 1-3

U
Unit overview 1-1
Units and conversion tables 13-1

V
ventilation 5-7
Voltage reduction 7-30

W
Wiring controller supply voltage 5-32
Wiring diagram
24V power supply 5-33
analogue inputs 5-36
braking resistor 5-21
control terminal 5-44
CW/CCW 5-39
digital signals 5-36
encoder A, B 5-43
ESIM 5-35
holding brake controller 5-31
mains power 5-26
0198441113363, V1.00, 12.2006

mains power, single phase device 5-25

motor rotary encoder 5-29
PC 5-44
pulse/direction PD 5-42

15-8 AC servo drive