Lexium 32M

Servo Drive
User Guide
Original instructions

0198441113767.13
12/2021

www.se.com
Legal Information
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 Servo Drive

Table of Contents
Safety Information.......................................................................................9
Qualification of Personnel ...........................................................................9
Intended Use............................................................................................10
Before You Begin......................................................................................10
Start-up and Test ...................................................................................... 11
Operation and Adjustments ....................................................................... 11
About the Book ..........................................................................................13
Introduction ................................................................................................20
Device Overview ......................................................................................20
Components and Interfaces.......................................................................21
Nameplate ...............................................................................................22
Type Code ...............................................................................................23
Technical Data ...........................................................................................24
Environmental Conditions .........................................................................24
Dimensions ..............................................................................................26
Power Stage Data - General......................................................................28
Power Stage Data - Drive-Specific .............................................................30
Peak Output Currents ...............................................................................36
DC Bus Data ............................................................................................37
24 Vdc Control Supply ..............................................................................39
Signals ....................................................................................................40
Output PTO (CN4) ....................................................................................43
Input PTI (CN5) ........................................................................................44
Capacitor and Braking Resistor .................................................................48
Electromagnetic Emission .........................................................................52
Nonvolatile Memory and Memory Card.......................................................54
Conditions for UL 508C and CSA ...............................................................55
Engineering ................................................................................................57
Electromagnetic Compatibility (EMC) .........................................................57
General..............................................................................................57
Deactivating the Y Capacitors ..............................................................61
Cables and Signals...................................................................................63
Cables - General.................................................................................63
Overview of the Required Cables .........................................................64
Cable Specifications ...........................................................................65
Logic Type..........................................................................................68
Configurable Inputs and Outputs ..........................................................68
Mains Supply ...........................................................................................69
Residual Current Device......................................................................69
Common DC Bus................................................................................69
Mains Reactor ....................................................................................70
Rating the Braking Resistor .......................................................................71
Internal Braking Resistor .....................................................................71
External Braking Resistor ....................................................................71
Rating Information ..............................................................................72
Functional Safety......................................................................................76
Basics................................................................................................76

0198441113767.13 3
Servo Drive

Definitions ..........................................................................................79
Function.............................................................................................80
Requirements for Using the Safety-Related Function STO .....................81
Application Examples STO ..................................................................83
Installation ..................................................................................................85
Mechanical Installation..............................................................................85
Before Mounting .................................................................................85
Installing and Removing Modules.........................................................87
Mounting the Drive..............................................................................89
Electrical Installation .................................................................................92
Overview of Procedure ........................................................................92
Connection Overview ..........................................................................93
Connection Grounding Screw ..............................................................94
Connection Motor Phases and Holding Brake (CN10 and CN11) ............95
Connection DC Bus (CN9, DC Bus).................................................... 101
Connection Braking Resistor (CN8, Braking Resistor).......................... 102
Connection Power Stage Supply (CN1) .............................................. 105
Connection Motor Encoder (CN3) ...................................................... 109
Connection PTO (CN4, Pulse Train Out)............................................. 110
Connection PTI (CN5, Pulse Train In) ................................................. 111
Connection 24 Vdc Control Supply and STO (CN2, DC Supply and
STO)................................................................................................ 114
Connection Digital Inputs and Outputs (CN6) ...................................... 116
Connection PC with Commissioning Software (CN7) ........................... 117
Verifying Installation................................................................................ 119
Commissioning ........................................................................................ 120
Overview ............................................................................................... 120
General............................................................................................ 120
Preparation ...................................................................................... 122
Integrated HMI ....................................................................................... 124
Overview of Integrated HMI ............................................................... 124
Menu Structure ................................................................................. 126
Setting Parameters ........................................................................... 132
External Graphic Display Terminal ........................................................... 134
Display and Controls ......................................................................... 134
Connecting the External Graphic Display Terminal to LXM32 ............... 136
Using the External Graphic Display Terminal....................................... 136
Commissioning Procedure ...................................................................... 138
Powering on the Drive for the First Time ............................................. 138
Setting Limit Values........................................................................... 139
Digital Inputs and Outputs.................................................................. 141
Verifying the Signals of the Limit Switches .......................................... 144
Verifying the Safety Function STO...................................................... 144
Holding Brake (Option) ...................................................................... 145
Verifying the Direction of Movement ................................................... 148
Setting Parameters for Encoder ......................................................... 150
Setting the Braking Resistor Parameters ............................................ 154
Autotuning........................................................................................ 156
Enhanced Settings for Autotuning ...................................................... 158
Controller Optimization with Step Response ............................................. 161
Controller Structure........................................................................... 161
4 0198441113767.13
 Servo Drive

Optimization ..................................................................................... 163

Optimizing the Velocity Controller....................................................... 163
Verifying and Optimizing the P Gain ................................................... 168
Optimizing the Position Controller ...................................................... 168
Parameter Management ......................................................................... 171
Memory Card ................................................................................... 171
Duplicating Existing Parameter Values ............................................... 173
Resetting the User Parameters .......................................................... 174
Restoring Factory Settings ................................................................ 175
Operation ................................................................................................. 176
Access Channels.................................................................................... 176
Control Mode ......................................................................................... 178
Movement Range ................................................................................... 179
Size of the Movement Range ............................................................. 179
Movement Beyond the Movement Range ........................................... 179
Setting a Modulo Range .................................................................... 182
Modulo Range........................................................................................ 183
Setting a Modulo Range .................................................................... 183
Parameterization .............................................................................. 184
Examples with Relative Movements ................................................... 186
Examples with Absolute Movements and "Shortest Distance"............... 187
Examples with Absolute Movements and "Positive Direction" ............... 188
Examples with Absolute Movements and "Negative Direction".............. 189
Scaling .................................................................................................. 191
General............................................................................................ 191
Configuration of Position Scaling........................................................ 192
Configuration of Velocity Scaling ........................................................ 193
Configuration of Ramp Scaling........................................................... 193
Digital Signal Inputs and Digital Signal Outputs ......................................... 195
Parameterization of the Signal Input Functions.................................... 195
Parameterization of the Signal Output Functions ................................. 205
Parameterization of Software Debouncing .......................................... 211
PTI and PTO Interface ............................................................................ 214
Setting the PTI Interface .................................................................... 214
Setting the PTO Interface .................................................................. 215
Switching Between Control Loop Parameter Sets ..................................... 218
Overview of the Controller Structure ................................................... 218
Overview of Position Controller .......................................................... 219
Overview of Velocity Controller .......................................................... 219
Overview of Current Controller ........................................................... 220
Parameterizable Control Loop Parameters ......................................... 221
Selecting a Control Loop Parameter Set ............................................. 222
Automatically Switching Between Control Loop Parameter Sets ........... 223
Copying a Control Loop Parameter Set............................................... 226
Deactivating the Integral Term............................................................ 227
Control Loop Parameter Set 1............................................................ 227
Control Loop Parameter Set 2............................................................ 231
PWM Frequency of the Power Stage........................................................ 234
Operating States and Operating Modes .............................................. 235
Operating States .................................................................................... 235
State Diagram and State Transitions .................................................. 235
0198441113767.13 5
Servo Drive

Indication of the Operating State via HMI ............................................ 238

Indication of the Operating State via Signal Outputs ............................ 238
Indication of the Operating State via Fieldbus...................................... 239
Changing the Operating State via HMI................................................ 239
Changing the Operating State via Signal Inputs................................... 239
Changing the Operating State via Fieldbus ......................................... 240
Operating Modes.................................................................................... 241
Starting and Changing an Operating Mode ......................................... 241
Operating Mode Jog ............................................................................... 244
Overview.......................................................................................... 244
Parameterization .............................................................................. 247
Additional Settings ............................................................................ 251
Operating Mode Electronic Gear.............................................................. 252
Overview.......................................................................................... 252
Parameterization .............................................................................. 253
Additional Settings ............................................................................ 261
Operating Mode Profile Torque ................................................................ 263
Overview.......................................................................................... 263
Parameterization .............................................................................. 266
Additional Settings ............................................................................ 272
Operating Mode Profile Velocity ............................................................... 273
Overview.......................................................................................... 273
Parameterization .............................................................................. 275
Additional Settings ............................................................................ 278
Operating Mode Profile Position .............................................................. 280
Overview.......................................................................................... 280
Parameterization .............................................................................. 281
Additional Settings ............................................................................ 283
Operating Mode Interpolated Position ...................................................... 284
Overview.......................................................................................... 284
Parameterization .............................................................................. 285
Operating Mode Homing ......................................................................... 289
Overview.......................................................................................... 289
Parameterization .............................................................................. 290
Reference Movement to a Limit Switch ............................................... 295
Reference Movement to the Reference Switch in Positive
Direction .......................................................................................... 296
Reference Movement to the Reference Switch in Negative
Direction .......................................................................................... 297
Reference Movement to the Index Pulse............................................. 298
Position Setting................................................................................. 298
Additional Settings ............................................................................ 299
Operating Mode Motion Sequence........................................................... 301
Overview.......................................................................................... 301
Start of a Data Set with Sequence ...................................................... 303
Start of a Data Set without Sequence ................................................. 305
Structure of a Data Set ...................................................................... 306
Error Diagnostics .............................................................................. 310
Additional Settings ............................................................................ 312
Functions for Operation ......................................................................... 313
Functions for Target Value Processing...................................................... 313

6 0198441113767.13
 Servo Drive

Motion Profile for the Velocity............................................................. 313

Jerk Limitation .................................................................................. 315
Stopping Movement with Halt............................................................. 316
Stopping Movement with Quick Stop .................................................. 317
Inverting the Analog Signal Inputs ...................................................... 319
Limitation of the Velocity via Signal Inputs........................................... 319
Limitation of the Current via Signal Inputs ........................................... 322
Zero Clamp ...................................................................................... 325
Setting a Signal Output via Parameter ................................................ 326
Starting a Movement via a Signal Input ............................................... 326
Position Capture via Signal Input (Vendor-Specific Profile) ................... 326
Position Capture via Signal Input (DS402 Profile) ................................ 333
Relative Movement After Capture (RMAC).......................................... 338
Backlash Compensation.................................................................... 342
Functions for Monitoring Movements........................................................ 345
Limit Switches .................................................................................. 345
Reference Switch.............................................................................. 346
Software Limit Switches .................................................................... 346
Load-Dependent Position Deviation (Following Error) .......................... 348
Load-Dependent Velocity Deviation.................................................... 351
Motor Standstill and Direction of Movement ........................................ 352
Torque Window................................................................................. 353
Velocity Window ............................................................................... 354
Standstill Window ............................................................................. 355
Position Register .............................................................................. 357
Position Deviation Window ................................................................ 365
Velocity Deviation Window................................................................. 367
Velocity Threshold Value ................................................................... 369
Current Threshold Value.................................................................... 370
Adjustable Bits of the Status Parameters ............................................ 371
Functions for Monitoring Internal Device Signals ....................................... 376
Temperature Monitoring .................................................................... 376
Monitoring Load and Overload (I2T Monitoring) ................................... 377
Commutation Monitoring ................................................................... 380
Monitoring of Mains Phases............................................................... 381
Ground Monitoring ............................................................................ 382
Examples ................................................................................................. 384
Examples............................................................................................... 384
Diagnostics and Troubleshooting ......................................................... 386
Diagnostics via HMI ................................................................................ 386
Diagnostics via the Integrated HMI ..................................................... 386
Acknowledging a Motor Change......................................................... 387
Acknowledging a Module Replacement .............................................. 387
Displaying Error Messages via the HMI .............................................. 388
Diagnostics via Signal Outputs ................................................................ 390
Indicating the Operating State............................................................ 390
Indicating Error Messages ................................................................. 390
Diagnostics via the Fieldbus .................................................................... 392
Fieldbus Communication Error Diagnostics......................................... 392
Most Recent Detected Error - Status Bits ............................................ 392
Most Recent Detected Error - Error Code............................................ 395
0198441113767.13 7
Servo Drive

Error Memory ................................................................................... 396

Error Messages ...................................................................................... 401
Description of Error Messages ........................................................... 401
Table of Error Messages.................................................................... 402
Parameters .............................................................................................. 440
Representation of the Parameters............................................................ 440
List of Parameters .................................................................................. 443
Accessories and Spare Parts ................................................................ 636
Commissioning Tools .............................................................................. 636
Memory Cards........................................................................................ 636
Additional Modules ................................................................................. 636
Safety Module eSM ................................................................................ 636
Mounting Accessories............................................................................. 637
CANopen Cable With Connectors ............................................................ 637
CANopen Connectors, Distributors, Terminating Resistors......................... 637
CANopen Cables With Open Cable Ends ................................................. 638
Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32 .................... 638
Cables for PTO and PTI .......................................................................... 638
Motor Cables.......................................................................................... 639
Encoder Cables...................................................................................... 641
Connectors ............................................................................................ 642
External Braking Resistors ...................................................................... 643
DC Bus Accessories ............................................................................... 644
Mains Reactors ...................................................................................... 644
External Mains Filters ............................................................................. 644
Spare Parts Connectors, Fans, Cover Plates ............................................ 644
Service, Maintenance, and Disposal ................................................... 645
Maintenance .......................................................................................... 645
Replacing the Product............................................................................. 646
Replacement of the Motor ....................................................................... 647
Shipping, Storage, Disposal .................................................................... 647
Glossary ................................................................................................... 649
Index ......................................................................................................... 653

8 0198441113767.13
Safety Information Servo Drive

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

The addition of this symbol to a “Danger” or “Warning” safety label indicates that an
electrical hazard exists which will result in personal injury if the instructions are not
followed.

This is the safety alert symbol. It is used to alert you to potential personal injury
hazards. Obey all safety messages that follow this symbol to avoid possible injury or
death.

! DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious
injury.

! WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or
serious injury.

! CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.

NOTICE
NOTICE is used to address practices not related to physical injury.

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

Qualification of Personnel
Only appropriately trained persons who are familiar with and understand the
contents of this manual and all other pertinent product documentation are
authorized to work on and with this product. These persons must have sufficient
technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the
settings and by the mechanical, electrical and electronic equipment of the entire
system in which the product is used.

0198441113767.13 9
Servo Drive Safety Information

The qualified person must be able to detect possible hazards that may arise from
parameterization, modifying parameter values and generally from mechanical,
electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and
regulations for the prevention of industrial accidents, which they must observe
when designing and implementing the system.

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

Before You Begin

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

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

This automation equipment and related software is used to control a variety of

industrial processes. The type or model of automation equipment suitable for each
application will vary depending on factors such as the control function required,
degree of protection required, production methods, unusual conditions,
government regulations, etc. In some applications, more than one processor may
be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the
conditions and factors present during setup, operation, and maintenance of the
machine and, therefore, can determine the automation equipment and the related
safeties and interlocks which can be properly used. When selecting automation
and control equipment and related software for a particular application, you should
refer to the applicable local and national standards and regulations. The National

10 0198441113767.13
Safety Information Servo Drive

Safety Council's Accident Prevention Manual (nationally recognized in the United

States of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection
such as point-of-operation guarding must be provided. This is necessary if the
operator's hands and other parts of the body are free to enter the pinch points or
other hazardous areas and serious injury can occur. Software products alone
cannot protect an operator from injury. For this reason the software cannot be
substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to
point-of-operation protection have been installed and are operational before
placing the equipment into service. All interlocks and safeties related to point-of-
operation protection must be coordinated with the related automation equipment
and software programming.
NOTE: Coordination of safeties and mechanical/electrical interlocks for point-
of-operation protection is outside the scope of the Function Block Library,
System User Guide, or other implementation referenced in this
documentation.

Start-up and Test

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

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

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

Operation and Adjustments

The following precautions are from the NEMA Standards Publication ICS 7.1-1995
(English version prevails):

0198441113767.13 11
Servo Drive Safety Information

• Regardless of the care exercised in the design and manufacture of equipment

or in the selection and ratings of components, there are hazards that can be
encountered if such equipment is improperly operated.
• It is sometimes possible to misadjust the equipment and thus produce
unsatisfactory or unsafe operation. Always use the manufacturer’s
instructions as a guide for functional adjustments. Personnel who have
access to these adjustments should be familiar with the equipment
manufacturer’s instructions and the machinery used with the electrical
equipment.
• Only those operational adjustments actually required by the operator should
be accessible to the operator. Access to other controls should be restricted to
prevent unauthorized changes in operating characteristics.

12 0198441113767.13
About the Book Servo Drive

About the Book

Document Scope
This manual describes technical characteristics, installation, commissioning,
operation and maintenance of the servo drive Lexium 32M (LXM32M).

Validity Note
This manual is valid for the standard products listed in the type code, see Type
Code, page 23.
For product compliance and environmental information (RoHS, REACH, PEP,
EOLI, etc.), go to www.se.com/ww/en/work/support/green-premium/.
The characteristics that are described in the present document, as well as those
described in the documents included in the Related Documents section below,
can be found online. To access the information online, go to the Schneider Electric
home page www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the
same as those characteristics that appear online. In line with our policy of constant
improvement, we may revise content over time to improve clarity and accuracy. If
you see a difference between the document and online information, use the online
information as your reference.

Related Documents
Title of documentation Reference number
Lexium 32M - Servo Drive - User Guide (this user guide) 0198441113767 (eng)

0198441113768 (fre)

0198441113766 (ger)

0198441113770 (spa)

0198441113769 (ita)

0198441113771 (chi)

LXM32M - CANopen Module - User Guide 0198441113790 (eng)

0198441113791 (fre)

0198441113789 (ger)

LXM32M - DeviceNet Module - User Guide 0198441113808 (eng)

0198441113809 (fre)

0198441113807 (ger)

LXM32M - EtherCAT Module - User Guide 0198441113868 (eng)

0198441113869 (fre)

0198441113867 (ger)

LXM32M - EtherNet/IP Module - User Guide 0198441113802 (eng)

0198441113803 (fre)

0198441113801 (ger)

LXM32M - Modbus/TCP Module - User Guide 0198441113843 (eng)

0198441113844 (fre)

0198441113842 (ger)

0198441113767.13 13
Servo Drive About the Book

Title of documentation Reference number

LXM32M - Profibus DP-V1 Module - User Guide 0198441113796 (eng)

0198441113797 (fre)

0198441113795 (ger)

LXM32M - PROFINET Module - User Guide 0198441114106 (eng)

0198441114107 (fre)

0198441114105 (ger)

LXM32M - ANA, DIG And RSR Encoder Modules - User Guide 0198441113818 (eng)

0198441113819 (fre)

0198441113817 (ger)

LXM32M - IOM1 Module - User Guide 0198441113874 (eng)

0198441113875 (fre)

0198441113873 (ger)

LXM32M - Safety Module eSM - User Guide 0198441113825 (eng)

0198441113826 (fre)

0198441113824 (ger)

LXM32 - Common DC Bus - Application Note MNA01M001EN (eng)

MNA01M001DE (ger)

Product Related Information

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

14 0198441113767.13
About the Book Servo Drive

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Measure the voltage on the DC bus with a properly rated voltage sensing
device and verify that the voltage is less than 42 Vdc.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

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

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

If the power stage is disabled unintentionally, for example as a result of power

outage, errors or functions, the motor is no longer decelerated in a controlled way.
Overload, errors or incorrect use may cause the holding brake to no longer
operate properly and may result in premature wear.

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

0198441113767.13 15
Servo Drive About the Book

Drive systems may perform unanticipated movements because of incorrect wiring,

incorrect settings, incorrect data or other errors.

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

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

1For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State
Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction
and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Machines, controllers, and related equipment are usually integrated into networks.
Unauthorized persons and malware may gain access to the machine as well as to
other devices on the network/fieldbus of the machine and connected networks via
insufficiently secure access to software and networks.

16 0198441113767.13
About the Book Servo Drive

Schneider Electric adheres to industry best practices in the development and

implementation of control systems. This includes a "Defense-in-Depth" approach
to secure an Industrial Control System. This approach places the controllers
behind one or more firewalls to restrict access to authorized personnel and
protocols only.

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

For more information on organizational measures and rules covering access to

infrastructures, refer to ISO/IEC 27000 series, Common Criteria for Information
Technology Security Evaluation, ISO/IEC 15408, IEC 62351, ISA/IEC 62443,
NIST Cybersecurity Framework, Information Security Forum - Standard of Good
Practice for Information Security.
For reasons of Internet security, for those devices that have a native Ethernet
connection, TCP/IP forwarding is disabled by default. Therefore, you must
manually enable TCP/IP forwarding. However, doing so may expose your network
to possible cyberattacks if you do not take additional measures to protect your
enterprise. In addition, you may be subject to laws and regulations concerning
cybersecurity.

WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT NETWORK INTRUSION
• Observe and respect any and all pertinent national, regional and local
cybersecurity and/or personal data laws and regulations when enabling
TCP/IP forwarding on an industrial network.
• Isolate your industrial network from other networks inside your company.
• Protect any network against unintended access by using firewalls, VPN, or
other, proven security measures.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Consult the Schneider Electric Cybersecurity Best Practices for additional

information.

Firmware
Use the latest firmware version. Visit https://www.se.com or contact your
Schneider Electric representative for information on firmware updates.

0198441113767.13 17
Servo Drive About the Book

DC Bus Voltage Measurement

The DC bus voltage can exceed 800 Vdc. The DC bus LED is not an indicator of
the absence of DC bus voltage.

DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Disconnect the voltage supply to all connections.
• Wait 15 minutes to allow the DC bus capacitors to discharge.
• Use a properly rated voltage-sensing device for measuring (greater than 800
Vdc).
• Measure the DC bus voltage between the DC bus terminals (PA/+ and PC/-)
to verify that the voltage is less than 42 Vdc.
• Contact your local Schneider Electric representative if the DC bus capacitors
do not discharge to less than 42 Vdc within a period of 15 minutes.
• Do not operate the product if the DC bus capacitors do not discharge
properly.
• Do not attempt to repair the product if the DC bus capacitors do not
discharge properly.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
Failure to follow these instructions will result in death or serious injury.

Terminology Derived from Standards

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

18 0198441113767.13
About the Book Servo Drive

Among others, these standards include:

Standard Description

IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.

General principles for design.

EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.

Part 1: General requirements and tests.

ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment
and risk reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements

ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards -

Principles for design and selection

ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design

IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical,

electronic, and electronic programmable control systems

IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: General requirements.

IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.

IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: Software requirements.

IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety

fieldbuses - General rules and profile definitions.

2006/42/EC Machinery Directive

2014/30/EU Electromagnetic Compatibility Directive

2014/35/EU Low Voltage Directive

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

Standard Description

IEC 60034 series Rotating electrical machines

IEC 61800 series Adjustable speed electrical power drive systems

IEC 61158 series Digital data communications for measurement and control – Fieldbus for
use in industrial control systems

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

0198441113767.13 19
Servo Drive Introduction

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

Lexium Servo Drive LXM32M

This product manual describes the LXM32M servo drive.

Overview of some of the features of the servo drive:

• The flexible product can be adapted to a wide variety of tasks by means of
numerous modules.
• The available fieldbus modules comprise CANopen/CANmotion, Profibus DP,
PROFINET, EtherNet/IP, Modbus-TCP and EtherCAT.
• An optional encoder module allows you to add a second encoder interface for
digital encoders, analog encoders or resolvers.
• The product is commissioned via the integrated HMI, the external graphic
display terminal, a PC with commissioning software or the fieldbus.
• The safety function "Safe Torque Off" (STO) as per IEC 61800-5-2 is
integrated into the drive. The optional safety module eSM offers additional
safety functions.
• A memory card slot is provided for backup and copying of parameters and
fast device replacement.

20 0198441113767.13
Introduction Servo Drive

Components and Interfaces

Overview

CN1 Power stage supply

CN2 24 Vdc control supply and safety function STO
CN3 Motor encoder (Encoder 1)
CN4 PTO (Pulse Train Out) - ESIM (encoder simulation)
CN5 PTI (Pulse Train In) - P/D, A/B or CW/CCW signals
CN6 6 digital inputs and 3 digital outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus
CN10 Motor phases
CN11 Motor holding brake
Slot 1 Slot for safety module
Slot 2 Slot for encoder module (Encoder 2)
Slot 3 Slot for fieldbus module

0198441113767.13 21
Servo Drive Introduction

Nameplate
Description
The nameplate contains the following data:

1 LXM32
Input a.c. 3-phase Output
50 / 60 Hz continuous max.
2 6
380 V - 5.5 A 6 A - 1.8 kW 18 A
480 V - 4.5 A 6 A - 1.8 kW 18 A

Multiple rated equipment, see instructions manual

CN1, CN10: Cu AWG10 75°C 5.9 lb.in 0.67 N.m

3
CN8: Cu AWG12 75°C 4.3 lb.in 0.49 N.m

IP20 7

RS 03 8
D.O.M
5 000000000000 Made in Indonesia dd.mm.yy 9

1 Product type, see Type Code, page 23

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

22 0198441113767.13
Introduction Servo Drive

Type Code
Description

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

Item Meaning

1 ... 3 Product family

LXM = Lexium
4 ... 5 Product type

32 = AC servo drive for one axis

6 Fieldbus interface

M = Modular Drive
7 ... 9 Peak current

U45 = 4.5 Arms

U60 = 6 Arms

U90 = 9 Arms

D12 = 12 Arms

D18 = 18 Arms

D30 = 30 Arms

D72 = 72 Arms

D85 = 85 Arms

C10 = 100 Arms

10 ... 11 Power stage supply

M2 = Single-phase, 115/200/240 Vac

N4 = Three-phase, 208/400/480 Vac

12 ... 15 Customized version

S = Customized version

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

Designation Customized Version

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

0198441113767.13 23
Servo Drive Technical Data

Technical Data
Environmental Conditions
Conditions for Operation
The maximum permissible ambient temperature during operation depends on the
clearances between the devices and on the power consumption. Observe the
pertinent instructions in the section Installation, page 85.

Characteristic Unit Value

Ambient temperature (no icing, non- °C 0 ... 50
condensing)
(°F) (32 ... 122)

The following relative humidity is permissible during operation:

Characteristic Unit Value

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

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

Characteristic Unit Value

Installation altitude above mean sea level m <1000
without derating.
(ft) (<3281)

Altitude above mean sea level when all of m 1000 ... 2000
the following conditions are met:
(ft) (3281 ... 6562)
• Maximum ambient temperature 45 °C
(113 °F)
• Reduction of the continuous power by
1% per 100 m (328 ft) above 1000 m
(3281 ft)

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

(1) LXM32•U, LXM32•D12, LXM32•D18, LXM32•D30 and LXM32•D72 only.

Conditions for Transportation and Storage

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

Characteristic Unit Value

Temperature °C -25 ... 70

(°F) (-13 ... 158)

The following relative humidity is permissible during transportation and storage:

Characteristic Unit Value

Relative humidity (non-condensing) % <95

24 0198441113767.13
Technical Data Servo Drive

Installation Site and Connection

For operation, the device must be mounted in a closed and appropriately rated
control cabinet secured by a keyed or tooled locking mechanism. The device may
only be operated with a permanently installed connection.

Pollution Degree and Degree of Protection

Characteristic Value
Pollution degree 2

Degree of protection IP20

Vibration and Shock

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

3.5 mm (2 ... 8.4 Hz)

10 m/s2 (8.4 ... 200 Hz)

Shock, semi-sinusoidal Tested as per IEC 60068-2-27

150 m/s2 (for 11 ms)

0198441113767.13 25
Servo Drive Technical Data

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

Characteristic Unit Value

LXM32•U45, LXM32•U60, LXM32•D12, LXM32•D18,
LXM32•U90 LXM32•D30M2
B mm (in) 68 ±1 (2.68 ±0.04) 68 ±1 (2.68 ±0.04)

H mm (in) 270 (10.63) 270 (10.63)

e mm (in) 24 (0.94) 24 (0.94)

a mm (in) 20 (0.79) 20 (0.79)

Type of cooling - Convection(1) Fan 40 mm (1.57 in)

(1) Greater than 1 m/s

Dimensions LXM32•D30N4 and LXM32•D72

26 0198441113767.13
Technical Data Servo Drive

Characteristic Unit Value

LXM32•D30N4 LXM32•D72
B mm (in) 68 ±1 (2.68 ±0.04) 108 ±1 (4.25 ±0.04)

H mm (in) 270 (10.63) 274 (10.79)

e mm (in) 13 (0.51) 13 (0.51)

E mm (in) 42 (1.65) 82 (3.23)

a mm (in) 20 (0.79) 24 (0.94)

Type of cooling - Fan 60 mm (2.36 in) Fan 80 mm (3.15 in)

Dimensions LXM32•D85 and LXM32•C10

Characteristic Unit Value

LXM32•D85, LXM32•C10

B mm (in) 180 ±1 (7.09 ±0.04)

H mm (in) 385 (15.18)

E mm (in) 140 (5.51)

Type of cooling - Fan 80 mm (3.15 in)

Mass
Characteristic Unit Value
LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U45 U60, D12, D18N4, D30N4 D72 D85,
LXM32•- LXM32•- LXM32•- LXM32•-
U90 D18M2 D30M2 C10
Mass kg (lb) 1.7 (3.75) 1.8 (3.97) 1.9 (4.19) 2.1 (4.63) 2.7 (5.95) 4.8 (10.58) 8.8 (19.4)

0198441113767.13 27
Servo Drive Technical Data

Power Stage Data - General

Mains Voltage: Range and Tolerance

Characteristic Unit Value

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

200 -15% ... 240 +10%

208/400/480 Vac three-phase (1) Vac 200 -15% ... 240 +10%

380 -15% ... 480 +10%

Frequency Hz 50 -5% ... 60 +5%

(1) 208 Vac: With firmware version ≥V01.02 and DOM ≥10.05.2010

Characteristic Unit Value

Transient overvoltages - Overvoltage category III(1)

Rated voltage to ground Vac 300

(1) Depends on installation altitude, see Environmental Conditions, page 24.

Type of Grounding

Characteristic Value
TT grounding system, TN grounding Approved
system

IT grounding system Depends on hardware version:

≥RS02: Approved(1)

<RS02: Not approved

Mains with corner grounded system Not approved

(1) Depending on installation altitude, see Environmental Conditions, page 24.

Leakage Current

Characteristic Unit Value

Leakage current (as per IEC 60990, figure mA <30(1)
3)

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

Harmonic Currents and Impedance

The harmonic currents depend on the impedance of the supply mains. This is
expressed in terms of the short-circuit current of the supply mains. If the supply
mains has a higher short-circuit current than indicated in the Technical Data for the
drive, use upstream mains reactors. See Accessories and Spare Parts, page 636
for suitable mains reactors.

Monitoring the Motor Phases for Short-Circuit

The drive provides short-circuit protection according to IEC 60364-4-41:2005/
AMD1:-, Clause 411.

28 0198441113767.13
Technical Data Servo Drive

Monitoring the Continuous Output Current

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

PWM Frequency Power Stage

The PWM frequency of the power stage depends on the drive version.

Characteristic Unit Value

LXM32•U45, LXM32•D85,
LXM32•U60, LXM32•C10
LXM32•U90,
LXM32•D12,
LXM32•D18,
LXM32•D30,
LXM32•D72
PWM frequency power stage kHz 8 4 or 8(1)

(1) Factory setting: 4 kHz. Adjustable via parameter.

Approved Motors
The following motor families can be connected: BMH, BSH.
When selecting, consider the type and amount of the mains voltage and the motor
inductance.
If an encoder module is installed, additional motors can be used. The conditions
can be found in the corresponding user guide for the module.
For other motor possibilities, contact your local Schneider Electric representative.

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

0198441113767.13 29
Servo Drive Technical Data

Power Stage Data - Drive-Specific

Data for Single-Phase Devices at 115 Vac

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Nominal voltage (single-phase) Vac 115 115 115 115

Inrush current limitation A 1.7 3.5 8 16

Maximum fuse to be connected upstream(1) A 25 25 25 25

Continuous output current Arms 1.5 3 6 10

Peak output current Arms 3 6 10 15

Minimum inductance motor (phase/phase) mH 5.5 3 1.4 0.8

Values without mains reactor(2)

Nominal power kW 0.15 0.3 0.5 0.8

Input current(3) Arms 2.9 5.4 8.5 12.9

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

Power dissipation(5) W 7 15 28 33

Maximum inrush current(6) A 111 161 203 231

Time for maximum inrush current ms 0.8 1.0 1.2 1.4

Values with mains reactor
Mains reactor mH 5 2 2 2
Nominal power kW 0.2 0.4 0.8 0.8

Input current(3) Arms 2.6 5.2 9.9 9.9

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

Power dissipation(5) W 8 16 32 33

Maximum inrush current(6) A 22 48 56 61

Time for maximum inrush current ms 3.3 3.1 3.5 3.7

(1) As per IEC 60269. Circuit breakers with B or C characteristic. See Conditions for UL 508C and CSA, page 55. Lower ratings are
permissible. The fuse must be rated in such a way that the fuse does not trip at the specified input current.

(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA.

(3) At nominal power and nominal voltage.

(4) With reference to the input current.

(5) Condition: internal braking resistor not active. Value at nominal current, nominal voltage and nominal power. Value approximately
proportional with output current.

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time.

Data for Single-Phase Devices at 230 Vac

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Nominal voltage (single-phase) Vac 230 230 230 230

Inrush current limitation A 3.5 6.9 16 33

Maximum fuse to be connected upstream(1) A 25 25 25 25

Continuous output current Arms 1.5 3 6 10

Peak output current Arms 4.5 9 18 30

Minimum inductance motor (phase/phase) mH 5.5 3 1.4 0.8

30 0198441113767.13
Technical Data Servo Drive

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Values without mains reactor(2)

Nominal power kW 0.3 0.5 1.0 1.6

Input current(3) Arms 2.9 4.5 8.4 12.7

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

Power dissipation(5) W 10 18 34 38

Maximum inrush current(6) A 142 197 240 270

Time for maximum inrush current ms 1.1 1.5 1.8 2.1

Values with mains reactor
Mains reactor mH 5 2 2 2
Nominal power kW 0.5 0.9 1.6 2.2

Input current(3) Arms 3.4 6.3 10.6 14.1

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

Power dissipation(5) W 11 20 38 42

Maximum inrush current(6) A 42 90 106 116

Time for maximum inrush current ms 3.5 3.2 3.6 4.0

(1) As per IEC 60269. Circuit breakers with B or C characteristic. See Conditions for UL 508C and CSA, page 55. Lower ratings are
permissible. The fuse must be rated in such a way that the fuse does not trip at the specified input current.

(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA.

(3) At nominal power and nominal voltage.

(4) With reference to the input current.

(5) Condition: internal braking resistor not active. Value at nominal current, nominal voltage and nominal power. Value approximately
proportional with output current.

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time.

Data for Three-Phase Devices at 208 Vac

Characteristic Unit Value
LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Nominal voltage (three-phase) Vac 208 208 208 208 208 208 208

Inrush current limitation A 2.2 4.9 10 10 29 29 29

Maximum fuse to be connected upstream(1) A 32 32 32 32 32 63 63

Continuous output current Arms

PWM frequency = 4 kHz - - - - - 32 40

PWM frequency = 8 kHz 1.5 3 6 10 24 24 24
Peak output current Arms

PWM frequency = 4 kHz - - - - - 85 100

PWM frequency = 8 kHz 6 12 18 30 72 82 82
Minimum inductance motor (phase/phase) mH 8.5 4.5 3 1.7 0.7 0.6 0.51

Values without mains reactor(2)

Nominal power kW

PWM frequency = 4 kHz - - - - - 5 7

PWM frequency = 8 kHz 0.35 0.7 1.2 2.0 5 5 6
Input current(3) Arms
- - - - - 21.8 29.7

0198441113767.13 31
Servo Drive Technical Data

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4

PWM frequency = 4 kHz

PWM frequency = 8 kHz 1.8 3.6 6.2 9.8 21.9 22.3 25.9
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 108 102

PWM frequency = 8 kHz 132 136 140 128 106 113 106
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 235 314

PWM frequency = 8 kHz 13 26 48 81 204 301 390
Maximum inrush current(6) A 60 180 276 341 500 425 347

Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.5 0.8 1.0
Values with mains reactor
Mains reactor mH 2 2 1 1 1 1 0.5
Nominal power kW

PWM frequency = 4 kHz - - - - - 7 11

PWM frequency = 8 kHz 0.4 0.8 1.5 2.6 6.5 6 6
Input current(3) Arms

PWM frequency = 4 kHz - - - - - 22.1 35.3

PWM frequency = 8 kHz 1.7 3.1 6.0 9.2 21.1 18.9 19.5
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 33 38

PWM frequency = 8 kHz 97 79 78 59 34 32 45
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 229 328

PWM frequency = 8 kHz 13 27 51 86 218 295 404
Maximum inrush current(6) A 19 55 104 126 155 93 124

Time for maximum inrush current ms 1.9 2.6 2.6 3.0 3.6 4.4 3.1
(1) As per IEC 60269. Circuit breakers with B or C characteristic. See Conditions for UL 508C and CSA, page 55. Lower ratings are
permissible. The fuse must be rated in such a way that the fuse does not trip at the specified input current.

(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA (for LXM32MU60, LXM32MD12,
LXM32MD18, LXM32MD30 and LXM32MD72) and of 22 kA (for LXM32MD85 and LXM32MC10)

(3) At nominal power and nominal voltage.

(4) With reference to the input current.

(5) Condition: internal braking resistor not active. Value at nominal current, nominal voltage and nominal power. Value approximately
proportional with output current.

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time.

Data for Three-Phase Devices at 400 Vac

Characteristic Unit Value
LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Nominal voltage (three-phase) Vac 400 400 400 400 400 400 400

Inrush current limitation A 4.3 9.4 19 19 57 57 57

Maximum fuse to be connected upstream(1) A 32 32 32 32 32 63 63

32 0198441113767.13
Technical Data Servo Drive

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Continuous output current Arms

PWM frequency = 4 kHz - - - - - 32 40

PWM frequency = 8 kHz 1.5 3 6 10 24 24 24
Peak output current Arms

PWM frequency = 4 kHz - - - - - 85 100

PWM frequency = 8 kHz 6 12 18 30 72 82 82
Minimum inductance motor (phase/phase) mH 8.5 4.5 3 1.7 0.7 0.6 0.51

Values without mains reactor(2)

Nominal power kW

PWM frequency = 4 kHz - - - - - 9 11

PWM frequency = 8 kHz 0.4 0.9 1.8 3.0 7 9 11
Input current(3) Arms

PWM frequency = 4 kHz - - - - - 23.3 27.8

PWM frequency = 8 kHz 1.4 2.9 5.2 8.3 17.3 23.3 27.8
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 139 133

PWM frequency = 8 kHz 191 177 161 148 126 139 133
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 303 375

PWM frequency = 8 kHz 17 37 68 115 283 429 522
Maximum inrush current(6) A 90 131 201 248 359 520 520

Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.4 1.0 1.0
Values with mains reactor
Mains reactor mH 2 2 1 1 1 1 0.5
Nominal power kW

PWM frequency = 4 kHz - - - - - 15 22

PWM frequency = 8 kHz 0.8 1.6 3.3 5.6 13 13 13
Input current(3) Arms

PWM frequency = 4 kHz - - - - - 25.0 38.1

PWM frequency = 8 kHz 1.8 3.4 6.9 11.1 22.5 21.9 24.5
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 42 51

PWM frequency = 8 kHz 108 90 90 77 45 45 70
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 306 416

PWM frequency = 8 kHz 19 40 74 125 308 433 563
Maximum inrush current(6) A 28 36 75 87 112 138 185

0198441113767.13 33
Servo Drive Technical Data

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Time for maximum inrush current ms 1.9 2.3 2.3 2.6 3.0 4.3 3.0
(1) As per IEC 60269. Circuit breakers with B or C characteristic. See Conditions for UL 508C and CSA, page 55. Lower ratings are
permissible. The fuse must be rated in such a way that the fuse does not trip at the specified input current.

(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA (for LXM32MU60, LXM32MD12,
LXM32MD18, LXM32MD30 and LXM32MD72) and of 22 kA (for LXM32MD85 and LXM32MC10)

(3) At nominal power and nominal voltage.

(4) With reference to the input current.

(5) Condition: internal braking resistor not active. Value at nominal current, nominal voltage and nominal power. Value approximately
proportional with output current.

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time.

Data for Three-Phase Devices at 480 Vac

Characteristic Unit Value
LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Nominal voltage (three-phase) Vac 480 480 480 480 480 480 480

Inrush current limitation A 5.1 11.3 23 23 68 68 68

Maximum fuse to be connected upstream(1) A 32 32 32 32 32 63 63

Continuous output current Arms

PWM frequency = 4 kHz - - - - - 32 40

PWM frequency = 8 kHz 1.5 3 6 10 24 24 24
Peak output current Arms

PWM frequency = 4 kHz - - - - - 85 100

PWM frequency = 8 kHz 6 12 18 30 72 82 82
Minimum inductance motor (phase/phase) mH 8.5 4.5 3 1.7 0.7 0.6 0.51

Values without mains reactor(2)

Nominal power kW

PWM frequency = 4 kHz - - - - - 9 11

PWM frequency = 8 kHz 0.4 0.9 1.8 3.0 7 9 11
Input current(3) Arms

PWM frequency = 4 kHz - - - - - 19.9 23.7

PWM frequency = 8 kHz 1.2 2.4 4.5 7.0 14.6 19.9 23.7
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 145 140

PWM frequency = 8 kHz 201 182 165 152 129 145 140
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 312 407

PWM frequency = 8 kHz 20 42 76 129 315 464 560
Maximum inrush current(6) A 129 188 286 350 504 795 795

Time for maximum inrush current ms 0.6 0.7 1.0 1.2 1.6 1.0 1.0
Values with mains reactor
Mains reactor mH 2 2 1 1 1 1 0.5
Nominal power kW

PWM frequency = 4 kHz - - - - - 15 22

34 0198441113767.13
Technical Data Servo Drive

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4

PWM frequency = 8 kHz 0.8 1.6 3.3 5.6 13 13 13

Input current(3) Arms

PWM frequency = 4 kHz - - - - - 21.0 32.0

PWM frequency = 8 kHz 1.6 2.9 6.0 9.6 19.5 18.4 20.7
THD (total harmonic distortion)(4) %

PWM frequency = 4 kHz - - - - - 45 54

PWM frequency = 8 kHz 116 98 98 85 55 48 73
Power dissipation(5) W

PWM frequency = 4 kHz - - - - - 314 417

PWM frequency = 8 kHz 21 44 82 137 341 466 593
Maximum inrush current(6) A 43 57 116 137 177 208 279

Time for maximum inrush current ms 1.9 2.4 2.4 2.7 3.2 4.1 3.4
(1) As per IEC 60269. Circuit breakers with B or C characteristic. See Conditions for UL 508C and CSA, page 55. Lower ratings are
permissible. The fuse must be rated in such a way that the fuse does not trip at the specified input current.

(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA (for LXM32MU60, LXM32MD12,
LXM32MD18, LXM32MD30 and LXM32MD72) and of 22 kA (for LXM32MD85 and LXM32MC10)

(3) At nominal power and nominal voltage.

(4) With reference to the input current.

(5) Condition: internal braking resistor not active. Value at nominal current, nominal voltage and nominal power. Value approximately
proportional with output current.

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time.

0198441113767.13 35
Servo Drive Technical Data

Peak Output Currents

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

Peak output current with hardware version <RS03: 1 second

36 0198441113767.13
Technical Data Servo Drive

DC Bus Data
DC Bus Data for Single-Phase Drives

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Nominal voltage V 115 230 115 230 115 230 115 230

Nominal voltage DC bus V 163 325 163 325 163 325 163 325

Undervoltage limit V 55 130 55 130 55 130 55 130

Voltage limit: activation of Quick Stop V 60 140 60 140 60 140 60 140

Overvoltage limit V 260(1) / 450 260(1) / 450 260(1) / 450 260(1) / 450
450 450 450 450
Maximum continuous power via DC bus kW 0.2 0.5 0.4 0.9 0.8 1.6 0.8 2.2

Maximum continuous current via DC bus A 1.5 1.5 3.2 3.2 6.0 6.0 10.0 10.0
(1) Can be set via parameter MON_DCbusVdcThresh.

DC Bus Data for Three-Phase Drives

Characteristic Unit Value
LXM32•U60N4 LXM32•D12N4 LXM32•D18N4
Nominal voltage V 208 400 480 208 400 480 208 400 480

Nominal voltage DC bus V 294 566 679 294 566 679 294 566 679

Undervoltage limit V 150 350 350 150 350 350 150 350 350

Voltage limit: activation of Quick Stop V 160 360 360 160 360 360 160 360 360

Overvoltage limit V 450(1) 820 820 450(1) 820 820 450(1) 820 820
/ 820 / 820 / 820
Maximum continuous power via DC bus kW 0.4 0.8 0.8 0.8 1.6 1.6 1.7 3.3 3.3

Maximum continuous current via DC bus A 1.5 1.5 1.5 3.2 3.2 3.2 6.0 6.0 6.0
(1) Can be set via parameter MON_DCbusVdcThresh.

Characteristic Unit Value

LXM32•D30N4 LXM32•D72N4
Nominal voltage V 208 400 480 208 400 480

Nominal voltage DC bus V 294 566 679 294 566 679

Undervoltage limit V 150 350 350 150 350 350

Voltage limit: activation of Quick Stop V 160 360 360 160 360 360

Overvoltage limit V 450(1) / 820 820 820 450(1) / 820 820 820

Maximum continuous power via DC bus kW 2.8 5.6 5.6 6.5 13.0 13.0

Maximum continuous current via DC bus A 10.0 10.0 10.0 22.0 22.0 22.0
(1) Can be set via parameter MON_DCbusVdcThresh.

Characteristic Unit Value

LXM32•D85N4 LXM32•C10N4
Nominal voltage V 208 400 480 208 400 480

Nominal voltage DC bus V 294 566 679 294 566 679

Undervoltage limit V 150 350 350 150 350 350

Voltage limit: activation of Quick Stop V 160 360 360 160 360 360

0198441113767.13 37
Servo Drive Technical Data

Characteristic Unit Value

LXM32•D85N4 LXM32•C10N4
Overvoltage limit V 450(1) / 820 820 820 450(1) / 820 820 820

Maximum continuous power via DC bus kW 7.0 15.0 15.0 11.0 22.0 22.0

Maximum continuous current via DC bus A 28.0 28.0 28.0 40.0 40.0 40.0
(1) Can be set via parameter MON_DCbusVdcThresh.

38 0198441113767.13
Technical Data Servo Drive

24 Vdc Control Supply

Description
The 24 Vdc control supply must meet the requirements of IEC 61131-2 (PELV
standard power supply unit):

Characteristic Unit Value

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

Input current (without load) A ≤1(2)

Residual ripple % <5

Inrush current Charging current for capacitor C= 1.8 mF

(1) For connection of motors without holding brake. See figure below for motors with holding brake

(2) Input current: holding brake not considered.

24 Vdc Control Supply in the Case of Motor with Holding Brake

If a motor with holding brake is connected, the 24 Vdc control supply must be
adjusted according to the connected motor type, the motor cable length and the
cross section of the wires for the holding brake. The following diagram applies to
the motor cables available as accessories, see Accessories and Spare Parts,
page 636. See the diagram for the voltage that must be available at CN2 for
releasing the holding brake. The voltage tolerance is ±5 %.
24 Vdc control supply in the case of motor with holding brake: the voltage depends on the motor type, the motor
cable length and the conductor cross section.

1 Maximum voltage of the 24 Vdc control supply

0198441113767.13 39
Servo Drive Technical Data

Signals
Logic Type
The digital inputs and outputs of this product can be wired to enable positive logic
or negative logic.
1 2

+24V DQCOM +24V DQCOM

DQ0,DQ1,... DQ0,DQ1,...

DI0,DI1,... DI0,DI1,...

0V DICOM DICOM
0V

Logic type Active state

(1) Positive logic Output supplies current (source output)

Current flows to the input (sink input)

(2) Negative logic Output draws current (sink output)

Current flows from the input (source input)

Signal inputs are protected against reverse polarity, outputs are short-circuit
protected. The inputs and outputs are functionally isolated.
Refer to Logic Type, page 68 for more information on sinking, sourcing and
positive and negative logic.

Digital Input Signals 24 V

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

Characteristic Unit Value

Input voltage - sinking inputs Vdc

Level 0 -3 ... 5

Level 1 15 ... 30
Input voltage - sourcing inputs (at 24 Vdc) Vdc

Level 0 >19

Level 1 <9
Input current (at 24 Vdc) mA 5

Debounce time (software)(1)(2) ms 1.5 (default value)

Hardware switching time µs

Rising edge (level 0 -> 1) 15

Falling edge (level 1 -> 0) 150
Jitter (capture inputs) µs <2

(1) Adjustable via parameter (sampling period 250µs)

(2) If the capture inputs are used for capture then the debounce time is not applied.

40 0198441113767.13
Technical Data Servo Drive

Digital Output Signals 24 V

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

Characteristic Unit Value

Nominal supply voltage Vdc 24

Voltage range for supply voltage Vdc 19.2 ... 30

Nominal output voltage - sourcing outputs Vdc 24

Nominal output voltage - sinking outputs Vdc 0

Voltage drop at 100 mA load Vdc ≤3

Maximum current per output mA 100

Input Signals Safety Function STO

The inputs for the safety function STO (inputs STO_A and STO_B) can only be
wired for sinking inputs. Observe the information provided in section Functional
Safety, page 76.

Characteristic Unit Value

Input voltage Vdc

Level 0 -3 ... 5

Level 1 15 ... 30
Input current (at 24 Vdc) mA 5

Debounce time STO_A and STO_B ms >1

Detection of signal differences between s >1

STO_A and STO_B

Response time of safety function STO ms ≤10

Holding Brake Output CN11

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

Characteristic Unit Value

Output voltage(1) V Voltage at 24 Vdc control supply CN2
minus 0.8 V
Maximum switching current A 1.7

Energy inductive load(2) Ws 1.5

(1) See 24 Vdc Control Supply, page 39

(2) Time between switch off procedures: > 1 s

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

Characteristic Unit Value

Output voltage for encoder V 10

Output current for encoder mA 100

0198441113767.13 41
Servo Drive Technical Data

Characteristic Unit Value

SIN/COS input signal voltage range - 1 Vpp with 2.5 V offset,

0.5 Vpp at 100 kHz

Input resistance Ω 120

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

42 0198441113767.13
Technical Data Servo Drive

Output PTO (CN4)

Description
5 V signals are available at the PTO (Pulse Train Out, CN4) output. Depending on
parameter PTO_mode, these signals are ESIM signals (encoder simulation) or
directly transmitted PTI input signals (P/D signals, A/B signals, CW/CCW signals).
The PTO output signals can be used as PTI input signals for another device. The
PTO output signals have 5 V, even if the PTI input signal is a 24 V signal.

Output Signal PTO

The PTO output signals comply with the RS422 interface specification. Due to the
input current of the optocoupler in the input circuit, a parallel connection of a driver
output to several devices is not permitted.
The basic resolution of the encoder simulation at quadruple resolution is 4096
increments per revolution in the case of rotary motors.
Time chart with A, B and index pulse signal, counting forwards and backwards

Characteristic Unit Value

Logic level As per RS422(1)

Output frequency per signal kHz ≤500

Motor increments per second Inc/s ≤1.6 * 106

(1) Due to the input current of the optocoupler in the input circuit, a parallel connection of a driver
output to several devices is not permitted.

The device connected to the PTO output must be able to process the specified
motor increments per second. Even at low velocities, (medium PTO frequency in
the kHz range), edges may change at up to 1.6 MHz.

0198441113767.13 43
Servo Drive Technical Data

Input PTI (CN5)

Description
5 V signals or 24 V signals can be connected to the PTI (Pulse Train In) input.
The following signals can be connected:
• A/B signals (ENC_A/ENC_B)
• P/D signals (PULSE/DIR)
• CW/CCW signals (CW/CCW)

Input Circuit and Selection of Method

The input circuit and the selected method affect the maximum permissible input
frequency and the maximum permissible line length:

Input circuit RS422 Push pull Open collector

Minimum input frequency with method position Hz 0 0 0

synchronization

Minimum input frequency with method velocity Hz 100 100 100

synchronization

Maximum input frequency MHz 1 0.2 0.01

Maximum line length m (ft) 100 (328) 10 (32.8) 1 (3.28)

Signal input circuits: RS422, Push Pull and Open Collector

44 0198441113767.13
Technical Data Servo Drive

Input Pin(1) RS422(2) 5V 24V

A Pin 7 Reserved Reserved PULSE(24V)

ENC_A(24V)

CW(24V)

Pin 8 Reserved Reserved DIR(24V)

ENC_B(24V)

CCW(24V)

B Pin 1 PULSE(5V) PULSE(5V) Reserved

ENC_A(5V) ENC_A(5V)

CW(5V) CW(5V)

Pin4 DIR(5V) DIR(5V) Reserved

ENC_B(5V) ENC_B(5V)

CCW(5V) CCW(5V)

C Pin 2 PULSE PULSE PULSE

ENC_A ENC_A ENC_A

CW CW CW
Pin 5 DIR DIR DIR

ENC_B ENC_B ENC_B

CCW CCW CCW

(1) Observe the different pairing in the case of twisted pair:

Pin 1 / pin 2 and pin 4 / pin 5 for RS422 and 5V

pin 7 / pin 2 and pin 8 / pin 5 for 24V

(2) Due to the input current of the optocoupler in the input circuit, a parallel connection of a driver output to several devices is not permitted.

Function A/B Signals

External A/B signals can be supplied via the PTI input as reference values in
operating mode Electronic Gear.

Signal Value Function

Signal A before signal B 0 -> 1 Movement in positive direction

Signal B before signal A 0 -> 1 Movement in negative direction

0198441113767.13 45
Servo Drive Technical Data

Time chart with A/B signal, counting forwards and backwards

Times for pulse/direction Minimum value

(1) Cycle duration A, B 1 μs

(2) Pulse duration 0.4 μs

(3) Lead time (A, B) 200 ns

Function P/D Signals

External P/D signals can be supplied via the PTI input as reference values in the
operating mode Electronic Gear.
The motor performs a movement in the case of a rising edge of the PULSE signal.
The direction is controlled with the DIR signal.

Signal Value Function

PULSE 0 -> 1 Motor movement

DIR 0 / open Positive direction

Time chart with pulse/direction signal

Times for pulse/direction Minimum value

(1) Cycle duration (pulse) 1 μs

(2) Pulse duration (pulse) 0.4 μs

46 0198441113767.13
Technical Data Servo Drive

Times for pulse/direction Minimum value

(3) Lead time (Dir-Pulse) 0 μs

(4) Hold time (Pulse-Dir) 0.4 μs

Function CW/CCW Signals

External CW/CCW signals can be supplied via the PTI input as reference values
in operating mode Electronic Gear.
The motor performs a movement in positive direction in the case of a rising edge
of the CW signal. The motor performs a movement in negative direction in the
case of a rising edge of the CCW signal.

Signal Value Function

CW 0 -> 1 Movement in positive direction

CCW 0 -> 1 Movement in negative direction

Time chart with "CW/CCW"

Times for pulse/direction Minimum value

(1) Cycle duration CW, CCW 1 μs

(2) Pulse duration 0.4 μs

(3) Lead time (CW-CCW, CCW-CW) 0 μs

0198441113767.13 47
Servo Drive Technical Data

Capacitor and Braking Resistor

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

Data of Internal Capacitor

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Capacitance of internal capacitor μF 390 780 1170 1560

Parameter DCbus_compat = 0 (default value)

Energy absorption of internal capacitors Evar at Ws 5 9 14 18

nominal voltage 115 V +10%

Energy absorption of internal capacitors Evar at Ws 17 34 52 69

nominal voltage 200 V +10%

Energy absorption of internal capacitors Evar at Ws 11 22 33 44

nominal voltage 230 V +10%

Parameter DCbus_compat = 1 (reduced switch-on voltage)

Energy absorption of internal capacitors Evar at Ws 24 48 73 97

nominal voltage 115 V +10%

Energy absorption of internal capacitors Evar at Ws 12 23 35 46

nominal voltage 200 V +10%

Energy absorption of internal capacitors Evar at Ws 5 11 16 22

nominal voltage 230 V +10%

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Capacitance of internal capacitor μF 110 195 390 560 1120 1230 1230

Energy absorption of internal capacitors Evar at Ws 4 8 16 22 45 49 49

nominal voltage 208 V +10%

Energy absorption of internal capacitors Evar at Ws 14 25 50 73 145 159 159

nominal voltage 380 V +10%

Energy absorption of internal capacitors Evar at Ws 12 22 43 62 124 136 136

nominal voltage 400 V +10%

Energy absorption of internal capacitors Evar at Ws 3 5 10 14 28 31 31

nominal voltage 480 V +10%

Parameter DCbus_compat has no effect in the case of three-phase devices

Data of Internal Braking Resistor

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Resistance value of internal braking resistor Ω 94 47 20 10

Continuous power internal braking resistor PPR W 10 20 40 60

Peak energy ECR Ws 82 166 330 550

Parameter DCbus_compat = 0 (default value)

48 0198441113767.13
Technical Data Servo Drive

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Switch-on voltage of braking resistor at V 236 236 236 236
nominal voltage 115 V

Switch-on voltage of braking resistor at V 430 430 430 430

nominal voltage 200 V and 230 V

Parameter DCbus_compat = 1 (reduced switch-on voltage)

Switch-on voltage of braking resistor V 395 395 395 395

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Resistance value of internal braking resistor Ω 132 60 30 30 10 10 10

Continuous power internal braking resistor PPR W 20 40 60 100 150 150 150

Peak energy ECR Ws 200 400 600 1000 2400 2400 2400

Switch-on voltage of braking resistor at V 430 430 430 430 430 430 430
nominal voltage 208 V

Switch-on voltage of braking resistor at V 780 780 780 780 780 780 780
nominal voltage 380 V, 400 V and 480 V

Parameter DCbus_compat has no effect in the case of three-phase devices

Data for External Braking Resistor

Characteristic Unit Value

LXM32•U45M2 LXM32•U90M2 LXM32•D18M2 LXM32•D30M2
Minimum resistance value of external braking Ω 68 36 20 10
resistor
Maximum resistance value of external braking Ω 110 55 27 16
resistor(1)

Maximum continuous power of external W 200 400 600 800

braking resistor

Parameter DCbus_compat = 0 (default value)

Switch-on voltage of braking resistor at V 236 236 236 236

nominal voltage 115 V

Switch-on voltage of braking resistor at V 430 430 430 430

nominal voltage 200 V and 230 V

Parameter DCbus_compat = 1 (reduced switch-on voltage)

Switch-on voltage of braking resistor V 395 395 395 395

(1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application, it is possible to use a
higher ohm resistor.

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Minimum resistance value of external braking Ω 70 47 25 15 8 8 8
resistor
Maximum resistance value of external braking Ω 145 73 50 30 12 11 11
resistor(1)

Maximum continuous power of external W 200 500 800 1500 3000 4500 5500
braking resistor

Switch-on voltage of braking resistor at V 430 430 430 430 430 430 430
nominal voltage 208 V

Switch-on voltage of braking resistor at V 780 780 780 780 780 780 780
nominal voltage 380 V, 400 V and 480 V

0198441113767.13 49
Servo Drive Technical Data

Characteristic Unit Value

LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•- LXM32•-
U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4
Parameter DCbus_compat has no effect in the case of three-phase devices

(1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application, it is possible to use a
higher ohm resistor.

Data of External Braking Resistors (Accessories)

Characteristic Unit Value

VW3- VW3- VW3- VW3- VW3- VW3- VW3- VW3-
A7601Rx- A7602Rx- A7603Rx- A7604Rx- A7605Rx- A7606Rx- A7607Rx- A7608Rx-
x x x x x x x x
Resistance Ω 10 27 27 27 72 72 72 100
Continuous power W 400 100 200 400 100 200 400 100

Maximum time in s 3 1.8 4.2 10.8 6.36 16.8 42 10.8

braking at 115 V

Peak power at 115 V kW 5.6 2.1 2.1 2.1 0.8 0.8 0.8 0.6

Maximum peak energy kWs 16.7 3.7 8.7 22.3 4.9 13 32.5 6
at 115 V
Maximum time in s 0.72 0.55 1.08 2.64 1.44 3.72 9.6 2.4
braking at 230 V

Peak power at 230 V kW 18.5 6.8 6.8 6.8 2.6 2.6 2.6 1.8

Maximum peak energy kWs 13.3 3.8 7.4 18.1 3.7 9.6 24.7 4.4
at 230 V
Maximum time in s 0.12 0.084 0.216 0.504 0.3 0.78 1.92 0.48
braking at 400 V and
480 V
Peak power at 400 V kW 60.8 22.5 22.5 22.5 8.5 8.5 8.5 6.1
and 480 V
Maximum peak energy kWs 7.3 1.9 4.9 11.4 2.5 6.6 16.2 2.9
at 400 V and 480 V
Degree of protection IP65 IP65 IP65 IP65 IP65 IP65 IP65 IP65

UL approval (file no.) - E233422 E233422 - E233422 E233422 - E233422

Characteristic Unit Value

VW3A7733 VW3A7734
Resistance Ω 16 10
Continuous power W 960 960

Maximum time in braking at 115 V s 20 10

Peak power at 115 V kW 3.5 5.6

Maximum peak energy at 115 V kWs 70 59

Maximum time in braking at 230 V s 3.8 1.98

Peak power at 230 V kW 11.6 18.5

Maximum peak energy at 230 V kWs 44 36.5

Maximum time in braking at 400 V and 480 V s 0.7 0.37

Peak power at 400 V and 480 V kW 38 60.8

Maximum peak energy at 400 V and 480 V kWs 26.6 22.5

Degree of protection IP20 IP20

UL approval (file no.) E226619 E226619

50 0198441113767.13
Technical Data Servo Drive

0198441113767.13 51
Servo Drive Technical Data

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

WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMI shielding techniques to help prevent unintended device
operation.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

These types of devices are not intended to be used on a low-voltage public

network which supplies domestic premises. Radio frequency interference is
expected if used in such a network.

WARNING
RADIO INTERFERENCE
Do not use these products in domestic electrical networks.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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

Emission type Category Category

LXM32••••M2 LXM32••••N4
Conducted emission

Motor cable length ≤10 m (≤32.81 ft) Category C2 Category C3

Motor cable length 10 ... ≤20 m (32.81 ... ≤65.62 ft) Category C3 Category C3

Radiated emission

Motor cable length ≤20 m (65.62 ft) Category C3 Category C3

EMC Categories With External Mains Filter

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

52 0198441113767.13
Technical Data Servo Drive

Emission type Category Category

LXM32••••M2 LXM32••••N4
Conducted emission

Motor cable length ≤20 m (65.62 ft) Category C1 Category C1

Motor cable length >20 ... ≤50 m (>65.62 ... ≤164.00 ft) Category C2 Category C2

Motor cable length >50 ... ≤100 m (>164.00 ... ≤328.01 ft Category C3 Category C3

Radiated emission

Motor cable length ≤100 m (328.01 ft) Category C3 Category C3

Assignment of External Mains Filters

Single-phase drives Mains filter reference

LXM32•U45M2 (230 V, 1,5 A) VW3A4420 (9 A)

LXM32•U90M2 (230 V, 3 A) VW3A4420 (9 A)

LXM32•D18M2 (230 V, 6 A) VW3A4421 (16 A)

LXM32•D30M2 (230 V, 10 A) VW3A4421 (16 A)

Three-phase drives Mains filter reference

LXM32•U60N4 (480 V, 1,5 A) VW3A4422 (15 A)

LXM32•D12N4 (480 V, 3 A) VW3A4422 (15 A)

LXM32•D18N4 (480 V, 6 A) VW3A4422 (15 A)

LXM32•D30N4 (480 V, 10 A) VW3A4422 (15 A)

LXM32•D72N4 (480 V, 24 A) VW3A4423 (25 A)

LXM32•D85N4 (480 V, 32 A) VW3A4424 (47 A)

LXM32•C10N4 (480 V, 40 A) VW3A4424 (47 A)

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

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

0198441113767.13 53
Servo Drive Technical Data

Nonvolatile Memory and Memory Card

Nonvolatile Memory
The following table shows characteristics for the nonvolatile memory:

Characteristic Value
Minimum number of writing cycles 100000

Type EEPROM

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

Characteristic Value
Minimum number of writing cycles 100000

Minimum number of insertion cycles 1000

Memory Card Holder

The following table shows characteristics for the memory card holder:

Characteristic Value
Minimum number of insertion cycles 5000

54 0198441113767.13
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Conditions for UL 508C and CSA

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

Ambient Temperature During Operation

Characteristic Unit Value

Surrounding air temperature °C 0 ... 50

(°F) (32 ... 122)

Fuses
Use fuses as per UL 248.

Characteristic Unit Value

LXM32••••M2 LXM32•U60N4, LXM32•D85N4,
LXM32•D12N4, LXM32•C10N4
LXM32•D18N4,
LXM32•D30N4,
LXM32•D72N4
Maximum fuse rating of fuse to be connected upstream A 25 30 60

Class of fuse CC or J CC or J J
Short-circuit current rating (SCCR) kA 12 12 22

Circuit Breaker
Characteristic Unit Value
LXM32•- LXM32•- LXM32•U60N4, LXM32•- LXM32•-
U45M2, D18M2, LXM32•D12N4, D30N4, D85N4,
LXM32•- LXM32•- LXM32•D18N4 LXM32•- LXM32•-
U90M2 D30M2 D72N4 C10N4
Catalog number of type E GV2P14 GV3P25 GV2P14 or GV2P22 GV2P22 Not
combination motor controller or GV3P25 available
GV3P25
Short-circuit current rating (SCCR) kA 12 12 12 10 10 -

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

400/480 V Three-Phase Devices

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

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

0198441113767.13 55
Servo Drive Technical Data

Motor Overload Protection

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

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Engineering
Electromagnetic Compatibility (EMC)
General

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

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

WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMI shielding techniques to help prevent unintended device
operation.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

See Electromagnetic Emission, page 52 for the EMC categories.

0198441113767.13 57
Servo Drive Engineering

Overview of wiring with EMC details

58 0198441113767.13
Engineering Servo Drive

Overview of wiring with EMC details

EMC Requirements for the Control Cabinet

EMC measures Objective

Use mounting plates with good electrical conductivity, connect Good conductivity due to large
large surface areas of metal parts, remove paint from contact surface contact.
areas.
Ground the control cabinet, the control cabinet door and the Reduces emissions.
mounting plate with ground straps or ground wires. The conductor
cross section must be at least 10 mm2 (AWG 6).

0198441113767.13 59
Servo Drive Engineering

EMC measures Objective

Install switching devices such as power contactors, relays or Reduces mutual interference
solenoid valves with interference suppression units or arc
suppressors (for example, diodes, varistors, RC circuits).

Do not install power components and control components Reduces mutual interference
adjacent to one another.

Shielded Cables
EMC measures Objective

Connect large surface areas of cable shields, use cable clamps Reduces emissions.
and ground straps.

Use cable clamps to connect a large surface area of the shields of Reduces emissions.
all shielded cables to the mounting plate at the control cabinet
entry.

Ground shields of digital signal wires at both ends by connecting Reduces interference affecting
them to a large surface area or via conductive connector the signal wires, reduces
housings. emissions

Ground the shields of analog signal wires directly at the drive Reduces ground loops due to
(signal input); insulate the shield at the other cable end or ground low-frequency interference.
it via a capacitor (for example, 10 nF).

Use only shielded motor cables with copper braid and a coverage Diverts interference currents in
of at least 85%, ground a large surface area of the shield at both a controlled way, reduces
ends. emissions.

Cable Installation
EMC measures Objective

Do not route fieldbus cables and signal wires in a single cable duct Reduces mutual interference
together with lines with DC and AC voltages of more than 60 V.
(Fieldbus cables, signal lines and analog lines may be in the same
cable duct)

Use separate cable ducts at least 20 cm (7.87 in) apart.

Keep cables as short as possible. Do not install unnecessary Reduces capacitive and
cable loops, use short cables from the central grounding point in inductive interference.
the control cabinet to the external ground connection.

Use equipotential bonding conductors in the following cases: Reduces current in the cable
wide-area installations, different voltage supplies and installation shield, reduces emissions.
across several buildings.

Use fine stranded equipotential bonding conductors. Diverts high-frequency

interference currents.
If motor and machine are not conductively connected, for example Reduces emissions, increases
by an insulated flange or a connection without surface contact, immunity.
you must ground the motor with a ground strap or a ground wire.
The conductor cross section must be at least 10 mm2 (AWG 6).

Use twisted pair for the DC supply. Reduces interference affecting

the signal cables, reduces
emissions.

Power Supply

EMC measures Objective

Operate product on mains with grounded neutral point. Enables effectiveness of

mains filter.
Surge arrester if there is a risk of overvoltage. Reduces the risk of damage
caused by overvoltage.

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Motor and Encoder Cables

Motor and encoder cables require particular attention in terms of EMC. Use only
pre-assembled cables (see Accessories and Spare Parts, page 636) or cables
that comply with the specifications (see Cables and Signals, page 63) and
implement the EMC measures described below.

EMC measures Objective

Do not install switching elements in motor cables or encoder Reduces interference.

cables.
Route the motor cable at a distance of at least 20 cm (7.87 in) Reduces mutual interference
from the signal cable or use shielding plates between the motor
cable and signal cable.

For long lines, use equipotential bonding conductors. Reduces current in the cable
shield.
Route the motor cable and encoder cable without cutting them.(1) Reduces emission.

(1) If a cable has to be cut for the installation, it has to be connected with shield connections and a
metal housing at the point of the cut.

Additional Measures for EMC Improvement

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

EMC measures Objective

Use mains reactors Reduces mains harmonics,

prolongs product service life.

Use external mains filters Improves the EMC limit

values.
Install in a closed control cabinet with increased shielding. Improves the EMC limit
values.

Deactivating the Y Capacitors

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

0198441113767.13 61
Servo Drive Engineering

For LXM32MU45, LXM32MU60, LXM32MU90, LXM32MD12, LXM32MD18,

LXM32MD30 and LXM32MD72:
To deactivate the Y capacitors, remove the screw. Keep this screw so you can re-
activate the Y capacitors, if required.
For LXM32MD85 and LXM32MC10:
To deactivate the Y capacitors, pull out the selector.
The drive no longer complies with the EMC limit values specified if the Y
capacitors are deactivated.

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Cables and Signals

Cables - General

Suitability of the Cables

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

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

Equipotential Bonding Conductors

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

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

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

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

Conductor Cross Sections According to Method of Installation

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

Cross section in Current-carrying capacity with Current carrying capacity with

mm2 (AWG) method of installation B2 in A(1) method of installation E in A(1)

0.75 (18) 8.5 10.4

1 (16) 10.1 12.4

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Servo Drive Engineering

Cross section in Current-carrying capacity with Current carrying capacity with

mm2 (AWG) method of installation B2 in A(1) method of installation E in A(1)

1.5 (14) 13.1 16.1

2.5 (12) 17.4 22

4 (10) 23 30

6 (8) 30 37

10 (6) 40 52

16 (4) 54 70

25 (2) 70 88

(1) Values as per IEC 60204-1 for continuous operation, copper conductors and ambient air
temperature 40 °C (104 °F). See IEC 60204-1 for additional information. The table is an excerpt
from this standard and also shows cable cross-sections that are not applicable with regard to the
product.

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

Overview of the Required Cables

Overview
The properties of the required cables are listed in the table below. Use pre-
assembled cables to reduce the risk of wiring errors. Pre-assembled cables can
be found in section Accessories and Spare Parts, page 636. If the product is used
to comply with the requirements as per UL 508C, the conditions specified in
section Conditions for UL 508C and CSA, page 55 must be met.

Maximum length: Minimum cross section Shielded, both Twisted PELV

ends grounded pair

24 Vdc control supply - 0.75 mm2 (AWG 18) - - Required

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

Power stage supply - −(2) - - -

Motor phases −(3) −(4) Required - -

External braking resistor 3 m (9.84 ft) As power stage supply Required - -

Motor encoder 100 m (328.01 ft) 6 * 0.14 mm2 and 2 * 0.34 Required Required Required
mm2 (6 * AWG 24 and 2 *
AWG 20)

A/B signals 100 m (328.08 ft) 0.25 mm2 (AWG 22) Required Required Required

PULSE / DIR signals 100 m (328.08 ft) 0.14 mm2 (AWG 24) Required Required Required

CW/CCW signals 100 m (328.08 ft) 0.14 mm2 (AWG 24) Required Required Required

ESIM 100 m (328.08 ft) 0.14 mm2 (AWG 24) Required Required Required

Digital inputs / outputs 30 m (98.43 ft) 0.14 mm2 (AWG 24) - - Required

PC, commissioning interface 20 m (65.62 ft) 0.14 mm2 (AWG 24) Required Required Required

(1) Note the installation requirements (protected cable installation), see Functional Safety, page 76.

(2) See Connection Power Stage Supply (CN1), page 105

(3) Length depends on the required limit values for conducted interference.

(4) See Connection Motor Phases and Holding Brake (CN10 and CN11), page 95

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Cable Specifications

General
Using pre-assembled cables helps to reduce the possibility of wiring errors. See
Accessories and Spare Parts, page 636.
The genuine accessories have the following properties:

Motor Cable With Connector

Characteristic Unit Value
VW3- VW3- VW3- VW3- VW3- VW3-
M5100R••• M5101R••• M5102R••• M5103R••• M5105R••• M5104R•••
Cable jacket, insulation - PUR PUR orange (RAL 2003), polypropylene (PP)
orange
(RAL 2003),
TPM
Capacitance power wires pF/m

Wire/wire 80 80 80 90 85 100

Wire/shield 145 135 150 150 150 160

Number of contacts (shielded) - (4 x 1 mm2 (4 x 1.5 (4 x 2.5 (4 x 4 mm2 (4 x 6 mm2 (4 x 10 mm2
+ 2 x (2 x mm2 + (2 x mm2 + (2 x + (2 x 1 + (2 x 1 + (2 x 1
0.75 mm2)) 1 mm2)) 1 mm2)) mm2)) mm2)) mm2))

Connector motor side - 8-pin 8-pin circular M23 8-pin circular M40
circular Y-
TEC
Connector drive side - Open

Cable diameter mm 11 ± 0.3 12 ± 0.2 14.3 ± 0.3 16.3 ± 0.3 18.8 ± 0.4 23.5 ± 0.6

(in) (0.43 ± (0.47 ± (0.55 ± (0.64 ± (0.74 ± (0.93 ±

0.01) 0.01) 0.01) 0.01) 0.02) 0.02)

Minimum bend radius with fixed - 10 times the 5 times the cable diameter
installation cable
diameter
Minimum bend radius with moving - 10 times the 7.5 times the cable diameter 10 times the cable diameter
installation cable
diameter
Nominal voltage V

Motor phases 1000 600

Holding brake 1000 300
Maximum orderable length m (ft) 25 (82) 75 (246)

Permissible temperature range °C (°F) -40 ... 80 (-40 ... 176)

during operation with fixed
installation
Permissible temperature range °C (°F) -20 ... 60 (-4 -20 ... 80 (-4 ... 176)
during operation with moving ... 140)
installation
Certifications / declaration of - CE, DESINA
conformity

0198441113767.13 65
Servo Drive Engineering

Motor Cable Without Connector

Characteristic Unit Value
VW3- VW3- VW3- VW3- VW3- VW3-
M5300R••• M5301R••• M5302R••• M5303R••• M5305R••• M5304R•••
Cable jacket, insulation - PUR PUR orange (RAL 2003), polypropylene (PP)
orange
(RAL 2003),
TPM
Capacitance power wires pF/m

Wire/wire 80 80 80 90 85 100

Wire/shield 145 135 150 150 150 160

Number of contacts (shielded) - (4 x 1 mm2 (4 x 1.5 (4 x 2.5 (4 x 4 mm2 (4 x 6 mm2 (4 x 10 mm2
+ 2 x (2 x mm2 + (2 x mm2 + (2 x + (2 x 1 + (2 x 1 + (2 x 1
0.75 mm2)) 1 mm2)) 1 mm2)) mm2)) mm2)) mm2))

Connector motor side - Open

Connector drive side - Open

Cable diameter mm 11 ± 0.3 12 ± 0.2 14.3 ± 0.3 16.3 ± 0.3 18.8 ± 0.4 23.5 ± 0.6

(in) (0.43 ± (0.47 ± (0.55 ± (0.64 ± (0.74 ± (0.93 ±

0.01) 0.01) 0.01) 0.01) 0.02) 0.02)

Minimum bend radius with fixed - 10 times the 5 times the cable diameter
installation cable
diameter
Minimum bend radius with moving - 10 times the 7.5 times the cable diameter 10 times the cable diameter
installation cable
diameter
Nominal voltage V

Motor phases 1000 600

Holding brake 1000 300
Maximum orderable length m (ft) 100 (328)

Permissible temperature range °C (°F) -40 ... 80 (-40 ... 176)

during operation with fixed
installation
Permissible temperature range °C (°F) -20 ... 60 (-4 -20 ... 80 (-4 ... 176)
during operation with moving ... 140)
installation
Certifications / declaration of - CE, c-UR-us, DESINA
conformity

Encoder Cable With and Without Connectors

Characteristic Unit Value
VW3M8100R••• VW3M8102R••• VW3M8222R•••
Cable jacket, insulation - PUR green (RAL 6018), polypropylene (PP)

Capacitance pF/m Approx. 135 (wire/wire)

Number of contacts (shielded) - (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2)

Connector motor side - 12-pin circular Y-TEC 12-pin circular M23 Open

Connector drive side - 10-pin RJ45 10-pin RJ45 Open

Cable diameter mm 6.8 ± 0.2

(in) (0.27 ± 0.1)

Minimum bend radius mm 68

(in) (2.68)

Nominal voltage V 300

66 0198441113767.13
Engineering Servo Drive

Characteristic Unit Value

VW3M8100R••• VW3M8102R••• VW3M8222R•••
Maximum orderable length m 25 75 100

(ft) (82) (246) (328)

Permissible temperature range °C (°F) -40 ... 80 (-40 ... 176)

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

Clearance For Connectors

Straight connectors Angular connectors

Dimensions Motor connectors Encoder connector

straight straight

M23 M40 M23

D mm (in) 28 (1.1) 46 (1.81) 26 (1.02)

LS mm (in) 76 (2.99) 100 (3.94) 51 (2.01)

LR mm (in) 117 (4.61) 155 (6.1) 76 (2.99)

LC mm (in) 100 (3.94) 145 (5.71) 60 (2.36)

LM mm (in) 40 (1.57) 54 (2.13) 23 (0.91)

Dimensions Motor connectors Encoder connector

angular angular

Y-TEC M23 M40 Y-TEC M23

D mm (in) 18.7 (0.74) 28 (1.1) 46 (1.81) 18.7 (0.74) 26 (1.02)

LS mm (in) 42 (1.65) 76 (2.99) 100 (3.94) 42 (1.65) 51 (2.01)

LR mm (in) 100 (3.94) 132 (5.2) 191 (7.52) 100 (3.94) 105 (4.13)

LC mm (in) 89 (3.50) 114 (4.49) 170 (6.69) 89 (3.50) 89 (3.5)

LM mm (in) 58 (2.28) 55 (2.17) 91 (3.58) 58 (2.28) 52 (2.05)

0198441113767.13 67
Servo Drive Engineering

Logic Type

Overview
The digital inputs and outputs of this product can be wired to enable positive logic
or negative logic.
1 2

+24V DQCOM +24V DQCOM

DQ0,DQ1,... DQ0,DQ1,...

DI0,DI1,... DI0,DI1,...

0V DICOM DICOM
0V

Logic type Active state

(1) Positive logic Output supplies current (source output)

Current flows to the input (sink input)

(2) Negative logic Output draws current (sink output)

Current flows from the input (source input)

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

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

Selection of the Logic Type

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

Special Case: Safety Function STO

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

Configurable Inputs and Outputs

Description
This product has digital inputs and outputs that can be configured for specific
functional assignments. The inputs and outputs have a defined standard
assignment depending on the operating mode. This assignment can be adapted
to the requirements of the customer's installation. See Digital Signal Inputs and
Digital Signal Outputs, page 195 for information.

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Mains Supply
Residual Current Device

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

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

Further conditions for use of a residual current device:

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

Common DC Bus

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

Requirements for Use

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

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Servo Drive Engineering

Mains Reactor

Description
A mains reactor must be used under the following conditions:
• Operation via supply mains with low impedance (short-circuit current of
supply mains greater than specified in section Technical Data, page 24.
• If the nominal power of the drive is insufficient.
• In the case of operation with supply mains with reactive power compensation
systems.
• For improvement of the power factor at the mains input and for reduction of
mains harmonics.
A single mains reactor can be used for multiple devices. Use a mains reactor with
a properly rated current.
Low-impedance supply mains cause high harmonic currents at the mains input.
High harmonic currents result in considerable load on the DC bus capacitors. The
load on the DC bus capacitors has a decisive impact on the service life of the
devices.

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Rating the Braking Resistor

Internal Braking Resistor

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

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

External Braking Resistor

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

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

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

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Servo Drive Engineering

Selection of the External Braking Resistor

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

R = Resistance in Ω
U = Switching threshold for braking resistor V
Pmax = Required peak power in W
If two or more braking resistors are connected to one drive, note the following
criteria:
• The total resistance of the connected braking resistors must comply with the
approved resistance.
• The braking resistors can be connected in parallel or in series. Only connect
braking resistors with identical resistance in parallel in order to evenly
distribute the load to the braking resistors.
• The total continuous power of the connected braking resistors must be
greater than or equal to the required continuous power.
Use only resistors that are specified as braking resistors. For suitable braking
resistors, see Accessories and Spare Parts, page 636.

Mounting and Commissioning of an External Braking Resistor

A parameter is used to switch between the internal braking resistor and an
external braking resistor.
The external braking resistors listed in the Accessories and Spare Parts, page 636
section are shipped with an information sheet that provides details on their
installation.

Rating Information

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

Internal Energy Absorption

Braking energy is absorbed internally by:
• DC bus capacitor Evar
• Internal braking resistor EI
• Electrical losses of the drive Eel
• Mechanical losses of the drive Emech
Values for the energy absorption Evar can be found in section Capacitor and
Braking Resistor, page 48.

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Internal Braking Resistor

Two characteristic values determine the energy absorption of the internal braking
resistor.
• The continuous power PPR is the amount of energy that can be continuously
absorbed without overloading the braking resistor.
• The maximum energy ECR limits the maximum short-term power that can be
absorbed.
If the continuous power was exceeded for a specific time, the braking resistor
must remain without load for a corresponding period.
The characteristic values PPR and ECR of the internal braking resistor can be found
in section Capacitor and Braking Resistor, page 48.

Electrical Losses Eel

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

Mechanical Losses Emech

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

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

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

In this example, the DC bus capacitors absorb Evar = 23 Ws (the value depends on
the drive type).
The internal braking resistor must absorb the remaining 65 Ws. It can absorb a
pulse of ECR = 80 Ws. If the load is decelerated once, the internal braking resistor
is sufficient.
If the deceleration is repeated cyclically, the continuous power must be taken into
account. If the cycle time is longer than the ratio of the energy to be absorbed EB
and the continuous power PPR, the internal braking resistor is sufficient. If the
system decelerates more frequently, the internal braking resistor is not sufficient.
In this example, the ratio of EB/PPR is 8.8 s. An external braking resistor is required
if the cycle time is shorter.

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Rating the External Braking Resistor

Characteristic curves for rating the braking resistor

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

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

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

See the technical data for the energy absorption Evar of the drives (without
consideration of a braking resistor).
In the next calculation steps, only consider those segments Di, whose energy Ei
exceeds the energy absorption of the drive. These excess energies EDi must be
diverted by means of the braking resistor.

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EDi is calculated using the following formula:

EDi = Ei - Evar (in Ws)
The continuous power Pc is calculated for each machine cycle:

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

The selection is made in two steps:
• If the following conditions are met, the internal braking resistor is sufficient.
◦ The maximum energy during deceleration must be less than the peak
energy that the braking resistor can absorb: (EDi)<(ECr).
◦ The continuous power of the internal braking resistor must not be
exceeded: (PC)<(PPr).
• If the conditions are not met, you must use an external braking resistor that
meets the conditions.
For order data for the external braking resistors, see Accessories and Spare
Parts, page 636.

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Functional Safety
Basics

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

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

Hazard and Risk Analysis

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

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

The EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems

- Part 1: General Principles for Design describes an iterative process for the
selection and design of safety-related parts of controllers to reduce the risk to the
machine to a reasonable degree.
To perform risk assessment and risk minimization according to EN ISO 12100,
proceed as follows:
1. Defining the boundary of the machine.
2. Identifying risks associated with the machine.
3. Assessing risks.
4. Evaluating risks.
5. Minimizing risks by:
• The design
• Protective devices
• User information (see EN ISO 12100)
6. Designing safety-related controller parts (SRP/CS, Safety-Related Parts of
the Control System) in an interactive process.
To design the safety-related controller parts in an interactive process, proceed as
follows:

Step Action

1 Identify necessary safety functions that are executed via SRP/CS (Safety-Related Parts
of the Control System).

2 Determine required properties for each safety function.

3 Determine the required performance level PLr.

4 Identify safety-related parts executing the safety function.

5 Determine the performance level PL of the afore-mentioned safety-related parts.

6 Verify the performance level PL for the safety function (PL ≥ PLr).

7 Verify that all requirements have been met (validation).

Additional information is available on https://www.se.com.

Safety Integrity Level (SIL)

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

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Average Frequency of a Dangerous Failure per Hour (PFH)

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

SIL PFH at high demand or continuous demand

4 ≥10-9 ... <10-8

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

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

Depending on the safety integrity level (Safety Integrity Level (SIL)) for the safety-
related system, the IEC 61508 standard requires a specific hardware fault
tolerance (Hardware Fault Tolerance (HFT)) in connection with a specific safe
failure fraction (Safe Failure Fraction (SFF)). The hardware fault tolerance is the
ability of a safety-related system to execute the required function even if one or
more hardware faults are present. The safe failure fraction of a safety-related
system is defined as the ratio of the rate of safe failures to the total failure rate of
the safety-related system. As per IEC 61508, the maximum achievable safety
integrity level of a safety-related system is partly determined by the hardware fault
tolerance and the safe failure fraction of the safety-related system.
IEC 61800-5-2 distinguishes two types of subsystems (type A subsystem, type B
subsystem). These types are specified on the basis of criteria which the standard
defines for the safety-related components.

SFF HFT type A subsystem HFT type B subsystem

0 1 2 0 1 2
<60 % SIL1 SIL2 SIL3 — SIL1 SIL2

60 ... <90 % SIL2 SIL3 SIL4 SIL1 SIL2 SIL3

90 ... <99 % SIL3 SIL4 SIL4 SIL2 SIL3 SIL4

≥99 % SIL3 SIL4 SIL4 SIL3 SIL4 SIL4

Fault Avoidance Measures

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

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Data for Maintenance Plan and the Calculations for Functional

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

Characteristic Unit Value

Lifetime of the safety function STO (IEC Years 20
61508)
See also Lifetime Safety Function STO,
page 645.

SFF (IEC 61508) % 90

Safe Failure Fraction

HFT (IEC 61508) - 1

Hardware Fault Tolerance

Type A subsystem

Safety integrity level IEC 61508 - SIL3

Safety integrity level IEC 62061 - SILCL3

PFH (IEC 61508) 1/h 1*10-9

Probability of Dangerous Hardware Failure (FIT) (1)

per Hour

PL (ISO 13849-1) - e (category 3)

Performance Level
MTTFd (ISO 13849-1) - High (1400 years)

Mean Time to Dangerous Failure

DC (ISO 13849-1) % 90

Diagnostic Coverage

Contact your local Schneider Electric representative for additional data, if

required.
The data for the safety module eSM can be found in the product manual for the
safety module.

Definitions

Integrated Safety-Related Function "Safe Torque Off" STO

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

Category 0 Stop (IEC 60204-1)

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

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means a hazard to your personnel or equipment, you must take appropriate

measures.

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

Category 1 Stop (IEC 60204-1)

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

Function

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

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

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Requirements for Using the Safety-Related Function STO

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

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

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

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

Logic Type
The inputs for the safety-related function STO (inputs STO_A and STO_B) can
only be wired for sinking inputs.

Holding Brake and Safety-Related Function STO

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

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

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

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

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

Unintended Restart

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that your risk assessment covers all potential effects of automatic or
unintended enabling of the power stage, for example, after power outage.
• Implement all measures such as control functions, guards, or other safety-
related functions, required to reliably protect against all hazards that may
result from automatic or unintended enabling of the power stage.
• Verify that a master controller cannot enable the power stage in an
unintended way.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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

Degree of Protection when the Safety-Related Function STO is

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

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

Protected Cable Installation

If short circuits and other wiring errors such as a cross circuit between the signals
of the safety-related function STO can be expected in connection with safety-
related signals, and if these short circuits and cross circuits are not detected by
upstream devices, protected cable installation as per ISO 13849-2 is required.

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In the case of an unprotected cable installation, the two signals (both channels) of
a safety-related function may be connected to external voltage if a cable is
damaged. If the two channels are connected to external voltage, the safety-related
function is no longer operative.
ISO 13849-2 describes protected cable installation for cables for safety-related
signals. The cables for the safety-related function STO must be protected against
external voltage. A shield with ground connection helps to keep external voltage
away from the cables for the signals of the safety-related function STO.
Ground loops can cause problems in machines. A shield connected at one end
only is sufficient for grounding and does not create a ground loop.
• Use shielded cables for the signals of the safety-related function STO.
• Do not use the cable for the signals of the safety-related function STO for
other signals.
• Connect one end of the shield.

Application Examples STO

Example of Category 0 stop

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

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

0 stop.
The safety-related function STO is triggered via a simultaneous 0-level at both
inputs (time offset of less than 1 s). The power stage is disabled and an error of
error class 3 is detected. The motor can no longer generate torque.
If the motor is not already at a standstill when the safety-related function STO is
triggered, it decelerates under the salient physical forces (gravity, friction, etc.)
active at the time until presumably coasting to a standstill.
If coasting of the motor and its potential load is unsatisfactory as determined by
your risk assessment, an external safety-related brake may also be required.

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

Refer to section Holding Brake and Safety-Related Function STO, page 81.

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Servo Drive Engineering

Example of Category 1 stop

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

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

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

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

Refer to section Holding Brake and Safety-Related Function STO, page 81.

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Installation
Mechanical Installation
Before Mounting

General
An engineering phase is mandatory prior to mechanical and electrical installation.
See section Engineering, page 57 for basic information.

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

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

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

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

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

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

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

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

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Inspecting the Product

• Verify the product version by means of the Type Code, page 23 on the
Nameplate, page 22.
• Prior to mounting, inspect the product for visible damage.
Damaged products may cause electric shock or unintended equipment operation.

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

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

Installing and Removing Modules

Overview
Many components of the equipment, including the printed circuit board, operate
with mains voltage, or present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Measure the voltage on the DC bus with a properly rated voltage sensing
device and verify that the voltage is less than 42 Vdc.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

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Electrostatic discharge (ESD) may permanently damage the module either

immediately or over time.

NOTICE
EQUIPMENT DAMAGE DUE TO ESD
• Use suitable ESD measures (for example, ESD gloves) when handling the
module.
• Do not touch internal components.
Failure to follow these instructions can result in equipment damage.

The drive has 3 module slots:

The module slots are designed for the following modules:

Slot Module
Slot 1 Safety module eSM

I/O module IOM1(1)

Slot 2 Encoder module RSR (resolver interface)

Encoder module DIG (digital interface)

Encoder module ANA (analog interface)

Slot 3 Fieldbus module CANopen and CANmotion (module identification CAN)

Fieldbus module DeviceNet (module identification DNT)(2)

Fieldbus module Profibus DP (module identification PDP)

Fieldbus module PROFINET (module identification PNT)(3)

Fieldbus module EtherNet/IP and Modbus-TCP (module identification ETH)

Fieldbus module EtherCAT (module identification ECT)

(1) With firmware version ≥V01.06

(2) With firmware version ≤V01.22

(3) With firmware version ≥V01.22

Inserting a Module Into a Slot

Disconnect all power (power stage supply and 24 Vdc control supply) before
inserting or removing a module.
Procedure for inserting a module:

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Step Action

1 Fully read and understand the drive user guide as well as the user guide for the module
prior to installing the module.

2 Verify that the order number on the nameplate of the module corresponds to the
specification in the manual for the module.

3 Note and record the serial number, revision and DOM shown on the nameplate of the
module and the nameplate of the device.

4 Remove the cover from the module slot and keep the cover.

5 Inspect the module for visible damage. Do not install damaged modules.

6 Push the module into the appropriate slot until the snap-in lock snaps in.

Information on wiring can be found in the section "Installation" of the user guide for
the module.
Fasten the connection cable to the cable guide of the device.
Various settings must be made the next time the drive is powered on. See the
section "Commissioning" of the user guide for the module for details on these
settings.

Removing a Module From a Slot

Disconnect all power (power stage supply and 24 Vdc control supply) before
inserting or removing a module.
Procedure for removing a module from a slot of the device:
• Label the connection cables. Remove the wiring of the module.
• Push the snap-in lock of the module to the left (1) and pull out the module at
the snap-in lock (2) while holding it to the left.
• Close the module slot with the cover.
The next time the drive is powered on, it will signal a module replacement. See
section Acknowledging a Module Replacement, page 387 for additional
information.

Mounting the Drive

Attaching a Hazard Label with Safety Instructions

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

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Observe the safety regulations in the target country.

• Attach the label to the front of the drive so that it is clearly visible.

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

Mounting Distances, Ventilation

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

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Free space a mm ≥100

(in) (≥3.94)

Free space b mm ≥100

(in) (≥3.94)

Free space c mm ≥60

(in) (≥2.36)

Free space d mm ≥0

(in) (≥0)

Mounting the Device

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

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Electrical Installation
Overview of Procedure

General

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

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

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

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

The entire installation procedure must be performed without voltage present.

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Connection Overview

Description

Connection Assignment

CN1 Power stage supply

CN2 24 Vdc control supply and safety function STO

CN3 Motor encoder (encoder 1)

CN4 PTO (encoder simulation ESIM)

CN5 PTI (A/B signals, P/D signals, CW/CCW signals)

CN6 Digital inputs/outputs

CN7 Modbus (commissioning interface)

CN8 External braking resistor

CN9 DC bus connection for parallel operation

CN10 Motor phases

CN11 Holding brake

Slot 1 Safety module or I/O module

Slot 2 Encoder module (encoder 2)

Slot 3 Fieldbus module

0198441113767.13 93
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Connection Grounding Screw

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

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

The central grounding screw of the product is located at the bottom of the front
side.
The figure below shows the device versions LXM32MU45, LXM32MU60,
LXM32MU90, LXM32MD12, LXM32MD18, LXM32MD30 and LXM32MD72.

The figure below shows the device versions LXM32MD85 and LXM32MC10.
Open the housing by removing the terminal cover.
Remove the cable guide.

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

Characteristic Unit Value

LXM32•U45, LXM32•U60, LXM32•D85, LXM32•C10
LXM32•U90, LXM32•D12,
LXM32•D18, LXM32•D30,
LXM32•D72
Tightening torque of grounding screw Nm 3.5 3

(lb.in) (31) (27)

Connection Motor Phases and Holding Brake (CN10 and CN11)

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

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

0198441113767.13 95
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High voltages may be present at the motor connection. The motor itself generates
voltage when the motor shaft is rotated. AC voltage can couple voltage to unused
conductors in the motor cable.

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

If third-party motors are used, insufficient isolation may allow hazardous voltages
to enter the PELV circuit.

DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT ISOLATION
• Verify protective separation between the temperature sensor and the motor
phases.
• Verify that the signals at the encoder connection meet the PELV
requirements.
• Verify protective separation between the brake voltage in the motor and the
motor cable, and the motor phases.
Failure to follow these instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations

of drive and motor are used. Though the connectors for motor connection and
encoder connection may match mechanically, this does not imply that the motor is
approved for use.

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

See section Approved Motors, page 29 for additional information.

When using pre-assembled cables, route the cables from the motor to the drive
starting from the motor. Due to the pre-assembled connectors on the motor side,
this direction is often faster and easier.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -

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PELV: The wires for the holding brake are PELV-

compliant.

Cable composition: 3 wires for motor phases

2 wires for holding brake

1 wire for protective ground (PE)

Maximum cable length: Depends on the required limit values for

conducted interference, see Electromagnetic
Emission, page 52.

Note the following information:

• You may only connect the Schneider Electric original motor cable either pre-
assembled or open wire.
• The wires for the holding brake must also be connected to the drive at
connection CN11 in the case of motors without holding brakes. At the motor
end, connect the wires to the appropriate pins for the holding brake; the cable
can then be used for motors with or without holding brake. If you do not
connect the wires at the motor end, you must isolate each wire individually
(inductive voltages).
• Observe the polarity of the holding brake voltage.
• The voltage for the holding brake depends on the 24 Vdc control supply
(PELV). Observe the tolerance for the 24 Vdc control supply and the specified
voltage for the holding brake, see 24 Vdc Control Supply, page 39.
• Use pre-assembled cables to reduce the risk of wiring errors, see
Accessories and Spare Parts, page 636.
The optional holding brake of a motor is connected to connection CN11. The
integrated holding brake controller releases the holding brake when the power
stage is enabled. When the power stage is disabled, the holding brake is re-
applied.

Properties of the Connection Terminals CN10

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

Characteristic Unit Value

LXM32•U45, LXM32•D72 LXM32•D85,
LXM32•U60, LXM32•C10
LXM32•U90,
LXM32•D12,
LXM32•D18,
LXM32•D30
Connection cross section mm2 0.75 ... 5.3 0.75 ... 10 1.5 ... 25

(AWG) (18 ... 10) (18 ... 8) (14 ... 4)

Tightening torque for terminal screws Nm 0.68 1.81 3.8

(lb.in) (6.0) (16.0) (33.6)

Stripping length mm 6 ... 7 8 ... 9 18

(in) (0.24 ... 0.28) (0.31 ... 0.35) (0.71)

Properties of the Connection Terminals CN11

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

0198441113767.13 97
Servo Drive Installation

Characteristic Unit Value

LXM32•U45, LXM32•D85,
LXM32•U60, LXM32•C10
LXM32•U90,
LXM32•D12,
LXM32•D18,
LXM32•D30,
LXM32•D72
Maximum terminal current A 1.7 1.7
Connection cross section mm2 0.75 ... 2.5 0.75 ... 2.5

(AWG) (18 ... 14) (18 ... 14)

Tightening torque for terminal Nm - 0.5

screws
(lb.in) (4.4)

Stripping length mm 12 ... 13 8

(in) (0.47 ... 0.51) (0.31)

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

1 Strip the cable jacket, length A.

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

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Characteristic Unit Value

LXM32•U45, LXM32•U60, LXM32•D85, LXM32•C10
LXM32•U90, LXM32•D12,
LXM32•D18, LXM32•D30,
LXM32•D72
A mm (in) 140 (5.51) 220 (8.66)

B mm (in) 135 (5.32) 205 (8.07)

C mm (in) 130 (5.12) 200 (7.87)

D mm (in) 50 (1.97) 50 (1.97)

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

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

Wiring Diagram Motor and Holding Brake

The figure below shows the drive versions LXM32MU45, LXM32MU60,
LXM32MU90, LXM32MD12, LXM32MD18, LXM32MD30 and LXM32MD72.
Wiring diagram motor with holding brake

The figure below shows the drive versions LXM32MD85 and LXM32MC10.

0198441113767.13 99
Servo Drive Installation

Wiring diagram motor with holding brake

Connection Meaning Color

U Motor phase Black L1 (BK)

V Motor phase Black L2 (BK)

W Motor phase Black L3 (BK)

PE Protective ground conductor Green/yellow (GN/YE)

BR+ Holding brake + White (WH) or black 5 (BK)

BR- Holding brake - Gray (GR) or black 6 (BK)

Connecting the Motor Cable

• Connect the motor phases and protective ground conductor to CN10. Verify
that the connections U, V, W and PE (ground) match at the motor and the
drive.
• Note the tightening torque specified for the terminal screws.
• Connect the white wire or the black wire with the label 5 to connection BR+ of
CN11.
Connect the gray wire or the black wire with the label 6 to connection BR- of
CN11.
For LXM32MU45, LXM32MU60, LXM32MU90, LXM32MD12, LXM32MD18,
LXM32MD30 and LXM32MD72:
• Verify that the connector locks snap in properly.
• Connect the cable shield to the shield clamp (large surface area contact).
Shield clamp motor cable

For LXM32MD85 and LXM32MC10:

100 0198441113767.13
Installation Servo Drive

• Connect the cable shield with a shield clamp to an EMC rail (large surface
area contact).
Verify that the individual wires are in the individual guides.
• If you do not connect and external braking resistor, mount the cable guide.
Shield clamp motor cable

Connection DC Bus (CN9, DC Bus)

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

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

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

Requirements for Use

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

0198441113767.13 101
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Connection Braking Resistor (CN8, Braking Resistor)

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

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

Internal Braking Resistor

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

External Braking Resistor

An external braking resistor is required for applications in which the motor must be
decelerated quickly and the internal braking resistor cannot absorb the excess
braking energy.
Selection and rating of the external braking resistor are described in section
Rating the Braking Resistor, page 71. For suitable braking resistors, see
Accessories and Spare Parts, page 636.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -

PELV: -

Cable composition: Minimum conductor cross section: Same cross

section as power stage supply, see Connection
Power Stage Supply (CN1), page 105.

The conductors must have a sufficiently large

cross section so that the fuse at the mains
connection can protect the equipment if
necessary.

Maximum cable length: 3 m (9.84 ft)

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Properties of the Connection Terminals CN8

Characteristic Unit Value

LXM32•U45, LXM32•D85,
LXM32•U60, LXM32•C10
LXM32•U90,
LXM32•D12,
LXM32•D18,
LXM32•D30,
LXM32•D72
Connection cross section mm2 0.75 ... 3.3 1.5 ... 25

(AWG) (18 ... 12) (14 ... 4)

Tightening torque for terminal Nm 0.51 3.8

screws
(lb.in) (4.5) (33.6)

Stripping length mm 10 ... 11 18

(in) (0.39 ... 0.43) (0.71)

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

Wiring Diagram
The figure below shows the drive versions LXM32MU45, LXM32MU60,
LXM32MU90, LXM32MD12, LXM32MD18, LXM32MD30 and LXM32MD72.

The figure below shows the drive versions LXM32MD85 and LXM32MC10.

Connecting the External Braking Resistor

• Power off all supply voltages. Observe the safety instructions concerning
electrical installation, see Product Related Information, page 14.
• Verify that no voltages are present (safety instructions).
For LXM32MU45, LXM32MU60, LXM32MU90, LXM32MD12, LXM32MD18,
LXM32MD30 and LXM32MD72:

0198441113767.13 103
Servo Drive Installation

• Remove the cover from the connection.

• Ground the ground connection (PE) of the braking resistor.
• Connect the external braking resistor to the drive. Note the tightening torque
specified for the terminal screws.
• Connect the cable shield to the shield connection at the bottom of the drive
(large surface area contact).
For LXM32MD85 and LXM32MC10:
• Ground the ground connection (PE) of the braking resistor.
• Connect the external braking resistor to the drive. Note the tightening torque
specified for the terminal screws.
• Connect the cable shield with a shield clamp to an EMC rail (large surface
area contact).
• Verify that the individual wires are in the individual guides.
• Mount the cable guide.
Shield clamp external braking resistor

The parameter RESint_ext is used to switch between the internal and an external
braking resistor. See section Setting the Braking Resistor Parameters, page 154
for the parameter settings for the braking resistor. Verify correct operation of the
braking resistor during commissioning.

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Wiring Example
The following graphic shows a functional principle:

Connection Power Stage Supply (CN1)

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

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

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

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Servo Drive Installation

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

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

Cable Specifications

Shield: -

Twisted Pair: -

PELV: -

Cable composition: The conductors must have a sufficiently large

cross section so that the fuse at the mains
connection can protect the equipment if
necessary.

Maximum cable length: -

Properties of Connection Terminals CN1

Characteristic Unit Value

LXM32•U45, LXM32•D72 LXM32•-
LXM32•U60, D85,
LXM32•U90, LXM32•-
LXM32•D12, C10
LXM32•D18,
LXM32•D30
Connection cross section mm2 0.75 ... 5.3 0.75 ... 10 1.5 ... 25

(AWG) (18 ... 10) (18 ... 8) (14 ... 4)

Tightening torque for terminal Nm 0.68 1.81 3.8

screws
(lb.in) (6.0) (16.0) (33.6)

Stripping length mm 6 ... 7 8 ... 9 18

(in) (0.24 ... 0.28) (0.31 ... 0.35) (0.71)

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

Prerequisites for Connecting the Power Stage Supply

Note the following information:
• Three-phase drives may only be connected and operated via three phases.
• Use upstream mains fuses.
• If you use an external mains filter, the mains cable must be shielded and
grounded at both ends if the length between the external mains filter and the
drive exceeds 200 mm (7.87 in).
• See section Conditions for UL 508C and CSA, page 55 for a UL-compliant
design.

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Power Stage Supply Single-Phase Drive

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

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive
Wiring diagram power stage supply for single-phase drive.

• Verify the type of mains. See section Power Stage Data - General, page 28
for the approved types of mains.
• Connect the mains cable. Note the tightening torque specified for the terminal
screws.
• Verify that the connector locks snap in properly.

Power Stage Supply Three-Phase Drive

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

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Servo Drive Installation

Wiring diagram, power stage supply for three-phase drive.

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive
The figure below shows the drive versions LXM32MU60, LXM32MD12,
LXM32MD18, LXM32MD30 and LXM32MD72.
Wiring diagram power stage supply for three-phase drive.

The figure below shows the drive versions LXM32MD85 and LXM32MC10.
Wiring diagram power stage supply for three-phase drive.

• Verify the type of mains. See section Power Stage Data - General, page 28
for the approved types of mains.
• Connect the mains cable. Note the tightening torque specified for the terminal
screws.
For LXM32MU60, LXM32MD12, LXM32MD18, LXM32MD30 and LXM32MD72:
• Verify that the connector locks snap in properly.
For LXM32MD85 and LXM32MC10:
• Close the housing by refitting the terminal cover.

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Connection Motor Encoder (CN3)

Function and Encoder Type

The motor encoder is a Hiperface encoder integrated in the motor. It provides the
device with information on the motor position.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 6 * 0.14 mm2 + 2 * 0.34 mm2

(6 * AWG 24 + 2 * AWG 20)

Maximum cable length: 100 m (328.08 ft)

Use pre-assembled cables to reduce the risk of wiring errors, see Accessories and
Spare Parts, page 636.

Wiring Diagram

Pin Signal Motor, pin Pair Meaning I/O

1 COS+ 9 2 Cosine signal I

2 REFCOS 5 2 Reference for cosine signal I

3 SIN+ 8 3 Sine signal I

6 REFSIN 4 3 Reference for sine signal I

4 Data 6 1 Receive data, transmit data I/O

5 Data 7 1 Receive data and transmit data, inverted I/O

7 ... - 4 Reserved
8
A ENC+10V_OUT 10 5 Encoder supply O

B ENC_0V 11 5 Reference potential for encoder supply

SHLD Shield

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

0198441113767.13 109
Servo Drive Installation

Connecting the Motor Encoder

• Verify that wiring, cables and connected interfaces meet the PELV
requirements.
• Connect the connector to CN3 Encoder-1.
• Verify that the connector locks snap in properly.
When using pre-assembled cables, route the cables from the motor to the drive
starting from the motor. Due to the pre-assembled connectors on the motor side,
this direction is often faster and easier.

Connection PTO (CN4, Pulse Train Out)

General
5 V signals are available at the PTO (Pulse Train Out, CN4) output. Depending on
parameter PTO_mode, these signals are ESIM signals (encoder simulation) or
logically fed through PTI input signals (P/D signals, A/B signals, CW/CCW
signals). The PTO output signals can be used as PTI input signals for another
drive. The signal level corresponds to RS422, see Output PTO (CN4), page 43.
The PTO output supplies 5 V signals, even if the PTI input signal is a 24 V signal.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 8 * 0.14 mm2 (8 * AWG 24)

Maximum cable length: 100 m (328 ft)

Use pre-assembled cables to reduce the risk of wiring errors, see Accessories and
Spare Parts, page 636.

Wiring Diagram
Wiring diagram Pulse Train Out (PTO)

Pin Signal Pair Meaning

1 ESIM_A 2 ESIM channel A

2 ESIM_A 2 ESIM channel A, inverted

4 ESIM_B 1 ESIM channel B

5 ESIM_B 1 ESIM channel B, inverted

3 ESIM_I 3 ESIM index pulse

6 ESIM_I 3 ESIM index pulse, inverted

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Pin Signal Pair Meaning

7 PTO_0V 4 Reference potential

8 PTO_0V 4 Reference potential

PTO: Logically Fed Through PTI Signals

At the PTO output, the PTI input signals can be made available again to control a
subsequent drive (daisy chain). Depending on the input signal, the output signal
can be of type P/D signal, A/B signal or CW/CCW signal. The PTO output supplies
5 V signals.

Connecting PTO
• Connect the connector to CN4. Verify correct pin assignment.
• Verify that the connector locks snap in properly.

Connection PTI (CN5, Pulse Train In)

General
P/D (pulse/direction), A/B signals or CW/CCW signals can be connected to the
PTI connection (Pulse Train In, CN5).
It is possible to connect 5 V signals or 24 V signals, see Input PTI (CN5), page 44.
Pin assignments and cables are different.
Incorrect or interfered signals as reference values can cause unintended
movements.

WARNING
UNINTENDED MOVEMENT
• Use shielded twisted-pair cables.
• Do not use signals without push-pull in environments subject to interference.
• Use signals with push-pull in the case of cable lengths of more than 3 m
(9.84 ft) and limit the frequency to 50 kHz.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Cable Specifications PTI

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Minimum conductor cross section: 0.14 mm2 (AWG 24)

Maximum cable length: 100 m (328 ft) with RS422

10 m (32.8 ft) with push-pull

1 m (3.28 ft) with open collector

Use pre-assembled cables to reduce the risk of wiring errors, see Accessories and
Spare Parts, page 636.

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Connection Assignment PTI 5 V

Wiring diagram Pulse Train In (PTI) 5 V

P/D signals 5 V

Pin Signal Pair Meaning

1 PULSE(5V) 2 Pulse 5V

2 PULSE 2 Pulse, inverted

4 DIR(5V) 1 Direction 5V

5 DIR 1 Direction, inverted

A/B signals 5 V

Pin Signal Pair Meaning

1 ENC_A(5V) 2 Encoder channel A 5V

2 ENC_A 2 Encoder channel A, inverted

4 ENC_B(5V) 1 Encoder channel B 5V

5 ENC_B 1 Encoder channel B, inverted

CW/CCW signals 5 V

Pin Signal Pair Meaning

1 CW(5V) 2 Pulse positive 5V

2 CW 2 Pulse positive, inverted

4 CCW(5V) 1 Pulse negative 5V

5 CCW 1 Pulse negative, inverted

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

Connecting Pulse Train IN (PTI) 5 V

• Connect the connector to CN5. Verify correct pin assignment.
• Verify that the connector locks snap in properly.

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Connection Assignment PTI 24 V

Note that the wire pairs for 24 V signals require assignments different from those
for 5 V signals. Use a cable that complies with the cable specification. Assemble
the cable as shown in the illustration below.
Wiring diagram Pulse Train In (PTI) 24 V.

P/D signals 24 V

Pin Signal Pair Meaning

7 PULSE(24V) A Pulse 24V

2 PULSE A Pulse, inverted

8 DIR(24V) B Direction 24V

5 DIR B Direction, inverted

A/B signals 24 V

Pin Signal Pair Meaning

7 ENC_A(24V) A Encoder channel A 24V

2 ENC_A A Encoder channel A, inverted

8 ENC_B(24V) B Encoder channel B 24V

5 ENC_B B Encoder channel B, inverted

CW/CCW signals 24 V

Pin Signal Pair Meaning

7 CW(24V) A Pulse positive 24V

2 CW A Pulse positive, inverted

8 CCW(24V) B Pulse negative 24V

5 CCW B Pulse negative, inverted

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

Connecting Pulse Train In (PTI) 24 V

• Connect the connector to CN5. Verify correct pin assignment.
• Verify that the connector locks snap in properly.

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Connection 24 Vdc Control Supply and STO (CN2, DC Supply and STO)

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

WARNING
UNINTENDED EQUIPMENT OPERATION
• Use power supply units that meet the PELV (Protective Extra Low Voltage)
requirements.
• Connect the 0 Vdc outputs of all power supply units to FE (functional earth/
functional ground), for example, for the VDC supply voltage and for the 24
Vdc voltage for the safety-related function STO.
• Interconnect all 0 Vdc outputs (reference potentials) of all power supply units
used for the drive.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The connection for the 24 Vdc control supply at the product does not have an
inrush current limitation. If the voltage is applied by means of switching of
contacts, damage to the contacts or contact welding may result.

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

Safety Function STO

Information on the signals of the safety function STO can be found in section
Functional Safety, page 76. If the safety function is not required, the inputs STO_A
and STO_B must be connected to +24VDC.

Cable Specifications CN2

Shield: -(1)

Twisted Pair: -

PELV: Required

Minimum conductor cross section: 0.75 mm2 (AWG 18)

Maximum cable length: 100 m (328 ft)

(1) See Functional Safety, page 76

Properties of Connection Terminals CN2

Characteristic Unit Value

Maximum terminal current A 16(1)

Connection cross section mm2 0.5 ... 2.5

(AWG) (20 ... 14)

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Characteristic Unit Value

Stripping length mm 12 ... 13

(in) (0.47 ... 0.51)

(1) Note the maximum permissible terminal current when connecting several drives.

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

Permissible Terminal Current of 24 Vdc Control Supply

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

Wiring Diagram

Pin Signal Meaning

1, 5 STO_A Safety function STO: Dual-channel connection, connection A

2, 6 STO_B Safety function STO: Dual-channel connection, connection B

3, 7 24V 24 Vdc control supply

4, 8 0V Reference potential for 24 Vdc control supply and reference potential for STO

Connecting the Safety Function STO

• Verify that wiring, cables and connected interfaces meet the PELV
requirements.
• Connect the safety function in accordance with the specifications in section
Functional Safety, page 76.

Connecting the 24 Vdc Control Supply

• Verify that wiring, cables and connected interfaces meet the PELV
requirements.
• Route the 24 Vdc control supply from a power supply unit (PELV) to the drive.
• Ground the 0 Vdc output at the power supply unit.
• Note the maximum permissible terminal current when connecting several
drives.
• Verify that the connector locks snap in properly at the housing.

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Connection Digital Inputs and Outputs (CN6)

General
The device has configurable inputs and configurable outputs. The standard
assignment and the configurable assignment depend on the selected operating
mode. For more information, see Digital Signal Inputs and Digital Signal Outputs,
page 195.

Cable Specifications

Shield: -

Twisted Pair: -

PELV: Required

Cable composition: 0.25 mm2, (AWG 22)

Maximum cable length: 30 m (98.4 ft)

Properties of Connection Terminals CN6

Characteristic Unit Value

Connection cross section mm2 0.2 ... 1.0

(AWG) (24 ... 16)

Stripping length mm 10

(in) (0.39)

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Wiring Diagram

Signal Meaning

DQCOM Reference potential to DQ0 ... DQ2

DQ0 Digital output 0

DQ1 Digital output 1

DQ2 Digital output 2

SHLD Shield connection

DICOM Reference potential to DI0 ... DI5

DI0/CAP1 Digital input 0 / Capture input 1

DI1/CAP2 Digital input 1 / Capture input 2

DI2/CAP3(1) Digital input 2 / Capture input 3(1)

DI3 Digital input 3

DI4 Digital input 4

DI5 Digital input 5

(1) Available with hardware version ≥RS03

The connectors are coded. Verify correct assignment when connecting them.
The configuration and the standard assignment of the inputs and outputs are
described in section Digital Signal Inputs and Digital Signal Outputs, page 195.

Connecting the Digital Inputs/Outputs

• Wire the digital connections to CN6.
• Ground the shield to SHLD.
• Verify that the connector locks snap in properly.

Connection PC with Commissioning Software (CN7)

General
A PC with the commissioning software Lexium DTM Library can be connected for
commissioning. The PC is connected via a bidirectional USB/RS485 converter,
see Accessories and Spare Parts, page 636.

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If the commissioning interface at the product is directly connected to an Ethernet

interface at the PC, the PC interface may be damaged and rendered inoperable.

NOTICE
DAMAGE TO PC
• Use a bidirectional RJ45/USB-A adapter with an RS485/USB converter to
connect to a PC.
• Do not directly connect an Ethernet interface to the commissioning interface
of this product.
Failure to follow these instructions can result in equipment damage.

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 8 * 0.25 mm2 (8 * AWG 22)

Maximum cable length: 100 m (328 ft)

Wiring Diagram

Pin Signal Meaning

1 ... 3 - Reserved
4 MOD_D1 RS485, Bidirectional transmit/receive signal

5 MOD_D0 RS485, Bidirectional transmit/receive signal, inverted

6 - Reserved
7 MOD+10V_OUT 10 V supply, maximum 100 mA

8 MOD_0V Reference potential to MOD+10V_OUT

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

Verify that the connector locks snap in properly.

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

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

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

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

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

Unsuitable parameter values or unsuitable data may trigger unintended

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

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

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If the power stage is disabled unintentionally, for example as a result of power

outage, errors or functions, the motor is no longer decelerated in a controlled way.

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

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

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

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

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

The product can be accessed via different types of access channels.

Simultaneous access via multiple access channels or the use of exclusive access
may cause unintended equipment operation.

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

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

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

If the drive was not connected to mains for more than 24 months, the capacitors
must be restored to their full performance before the motor is started.

NOTICE
REDUCED CAPACITOR PERFORMANCE
Apply mains voltage to the drive for at least one hour before enabling the power
stage for the first time in case that the drive has not been under power for a
period of 24 months or greater.
Failure to follow these instructions can result in equipment damage.

If the drive is being commissioned for the first time, verify the date of manufacture
and run the procedure specified above if the date of manufacture is more than 24
months in the past.

Preparation

Required Components
The following is required for commissioning:
• Commissioning software “Lexium DTM Library”
https://www.se.com/ww/en/download/document/Lexium_DTM_Library/
• Fieldbus converter for the commissioning software for connection via the
commissioning interface

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

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1 Integrated HMI
2 External graphic display terminal
3 PC with commissioning software “Lexium DTM Library”
4 Fieldbus
Device settings can be duplicated. Stored device settings can be transferred to a
device of the same type. Duplicating the device settings can be used if multiple
devices are to have the same settings, for example, when devices are replaced.

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

Connecting a PC
A PC with commissioning software can be connected for commissioning. The PC
is connected to a bidirectional USB/RS485 converter, see Accessories and Spare
Parts, page 636.

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Integrated HMI
Overview of Integrated HMI

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

1 Status LEDs
2 7-segment display
3 ESC key
4 Navigation button
5 Red LED on: Voltage present at DC bus
Status LEDs and a 4-digit 7-segment display indicate the device status, menu
designation, parameter codes, status codes and error codes. By turning the
navigation button, you can select menu levels and parameters and increment or
decrement values. To confirm a selection, press the navigation button.
The ESC (Escape) button allows you to exit parameters and menus. If values are
displayed, the ESC button lets you return to the last saved value.

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Character Set on the HMI

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

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

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

Indication of the Device Status

1 Four status LEDs

2 Three status LEDS for identification of the menu levels
3 Flashing dots indicate an error of error class 0
1: Four status LEDs are located above the 7-segment display:

Fault Edit Value Unit Meaning

Red - - - Operating state Fault

- Yellow Yellow - Parameter value can be edited

- - Yellow - Value of the parameter

- - - Yellow Unit of the selected parameter

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

LED Meaning

Op Operation

Mon Status information

Conf Configuration

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

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

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

Menu Structure

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

The level below the top level contains the parameters belonging to the respective
menu items. To facilitate access, the parameter tables also specify the menu path,
for example o p →j jo g - .

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Menu Overview

1 CoAd

Cobd
PbAd

iPMd
iPc3

iPc4
iPM3

iPM4 Jog -
j gst

j ghi s upv

dnAd iPc1 iPM1 dhcn j glo n Act

dnbd iPc2 iPM2 dnEA t ust VAc t

FS U- tun - g ain n ref

s tin v ref
op
h MSt qre f
rd y mon
ho m- M Eth q act

Conf hMn i Act

Ca rd
MS M- M SSt Ana 1

Ana 2

diM o

d omo
in f - acg- d rc - i- o- fl t- Co m- f cs-
sto
prn AtyP nm ax d i0 qc ur Mb Ad r ESC
u dca
pru ioae im ax d i1 Mb bd r ESu
u dcr
prr inmo j er d i2 r StF
l dfp
r efd qabs p p1 d i3

m nam nrmp p p2 d i4 1 l dfm

l dfb
u nam hcur P n1 d i5 CoAd iPM1 iPA1
t dev
p ino htyp P n2 d o0 Cobd iPM2 iPA2
t ps
p ina Sdty ti n1 do1 dnAd iPM3 iPA3
o ph
nt y p eibr t in 2 do2 dnbd iPM4 iPA4
po wo
se n s tbr t au 1 it hr PbAd iPG1 EtMd
lw rn
m ino rbr t au 2 tt hr iPMd iPG2 dhcn
w rns
m ima pobr f pp 1 iL iM iPc1 iPG3 dnEA
l flt
m nma PtoM f pp 2 GF AC iPc2 iPG4 EcSA
s igs
Pb b d dEVC GF iL iPc3 EcAA

Pb Pr Card ES SC iPc4 EcSS

io Pi

1 Depending on module

HMI menu F S U - Description

fsu- First setup (First Setup)

Coad CANopen address (node number)

Cobd CANopen baud rate

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HMI menu F S U - Description

dnad DeviceNet node address (MAC ID)

dnbd DeviceNet baud rate

pbad Profibus address
ipMd Method of obtaining IP address

ipc1 IP address Ethernet module, byte 1

ipc2 IP address Ethernet module, byte 2

ipc3 IP address Ethernet module, byte 3

ipc4 IP address Ethernet module, byte 4

ipm1 IP address subnet mask, byte 1

ipm2 IP address subnet mask, byte 2

ipm3 IP address subnet mask, byte 3

ipm4 IP address subnet mask, byte 4

dhcn User application name HMI, part 4

dnEA Value for device name extension

HMI menu o p Description

op Operating mode (Operation)

Jo g- Operating mode Jog

tun- Autotuning

hom- Operating mode Homing

msm- Operating mode Motion Sequence

HMI menu J o g - Description

Jo g- Operating mode Jog

jgst Start operating mode Jog

jghi Velocity for fast movement

jglo Velocity for slow movement

HMI menu t u n - Description

tun- Autotuning

tust Start autotuning

gain Global gain factor (affects parameter set 1)

stin Direction of movement for Autotuning

HMI menu h o m - Description

hom- Operating mode Homing

hmst Start operating mode Homing

meth Preferred homing method

hmn Target velocity for searching the switch

HMI menu m s m - Description

msm- Operating mode Motion Sequence

msst Start operating mode Motion Sequence

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HMI menu M o n Description

Mon Monitoring (Monitoring)

Supu HMI display when motor moves

nact Actual speed of rotation

Vact Actual velocity

nref Reference speed of rotation

Vref Reference velocity

Qref Reference motor current (q component, generating torque)

qact Actual motor current (q component, generating torque)

iact Total motor current

ana1 Analog 1: Value of input voltage

ana2 Analog 2: Value of input voltage

dimo Status of digital inputs

domo Status of digital outputs

sto Status of the inputs for the safety function STO

udca Voltage at DC bus

udcr Degree of utilization of DC bus voltage

ldfp Load of power stage

ldfm Load of motor

ldfb Load of braking resistor

tdeV Device temperature

tps Temperature of power stage

oph Operating hours counter

Polo Number of power on cycles

lwrn Detected error not causing a stop (error class 0)

wrns Detected error of error class 0, bit-coded (parameter _WarnLatched)

lflt Detected error causing a stop (error classes 1 to 4)

sigs Saved status of monitoring signals

HMI menu C o n f Description

Conf Configuration (Configuration)

inf- Information/Identification (INFormation / Identification)

acg- Axis configuration (Axis Configuration)

drc- Device configuration (DRive Configuration)

i-o- Configurable inputs/outputs (In Out)

flt- Indication of detected error

Com- Communication (COMmunication)

fcs- Restore factory settings (default values) (Factory Settings)

HMI menu I N F - Description

Inf- Information/Identification (INFormation / Identification)

prn Firmware number

Pru Firmware Version
prr Firmware Revision

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HMI menu I N F - Description

refd Product name

Mnam Type

unam User application name

pino Nominal current of power stage

pina Maximum current of power stage

ntyp Motor type

sens Encoder type of motor

mino Nominal current of motor

mima Maximum motor current
mnma Maximum permissible speed of rotation/velocity of motor

pbbd Profibus baud rate

pbpr Profibus drive profile

HMI menu a c g - Description

acg- Axis configuration (Axis Configuration)

atyp Activation of Modulo

ioae Enabling the power stage at PowerOn

inmo Inversion of direction of movement

qabs Simulation of absolute position at power cycling

nrmp Maximum velocity of the motion profile for velocity

hcur Current value for Halt

htyp Halt option code

Sdty Behavior for disabling the power stage during movement

eibr Selection of internal or external braking resistor

tbr Maximum permissible activation duration of external braking resistor

rbr Resistance value of external braking resistor

pobr Nominal power of external braking resistor

ptom Type of usage of PTO interface

devC Specification of the control mode

Card Memory card management

HMI menu D R C - Description

drC- Device configuration (DRive Configuration)

nmax Velocity limitation

imax Current limitation

jer Jerk limitation of the motion profile for velocity

pp1 Position controller P gain

pp2 Position controller P gain

pn1 Velocity controller P gain

pn2 Velocity controller P gain

tin1 Velocity controller integral action time

tin2 Velocity controller integral action time

tau1 Filter time constant of the reference velocity value filter

tau2 Filter time constant of the reference velocity value filter

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HMI menu D R C - Description

fpp1 Feed-forward control Velocity

fpp2 Feed-forward control Velocity

HMI menu I - O - Description

i-o- Configurable inputs/outputs (In Out)

di0 Function Input DI0

di1 Function Input DI1

di2 Function Input DI2

di3 Function Input DI3

di4 Function Input DI4

di5 Function Input DI5

do0 Function Output DQ0

do1 Function Output DQ1

do2 Function Output DQ2

ithr Monitoring of current threshold

tthr Monitoring of time window

ilin Current limitation via input

gfac Selection of special gear ratios

gfil Activation of jerk limitation

essc Encoder Simulation Resolution

iopi Selection of type of reference value signal for PTI interface

HMI menu F L T - Description

FLt- Indication of detected error

qcur Current value for Quick Stop

HMI menu C o m - Description

Com- Communication (COMmunication)

mbad Modbus address

mbbd Modbus baud rate
Coad CANopen address (node number)

Cobd CANopen baud rate

dnad DeviceNet node address (MAC ID)

dnbd DeviceNet baud rate

pbad Profibus address
ipMd Method of obtaining IP address

ipc1 IP address Ethernet module, byte 1

ipc2 IP address Ethernet module, byte 2

ipc3 IP address Ethernet module, byte 3

ipc4 IP address Ethernet module, byte 4

ipm1 IP address subnet mask, byte 1

ipm2 IP address subnet mask, byte 2

ipm3 IP address subnet mask, byte 3

ipm4 IP address subnet mask, byte 4

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HMI menu C o m - Description

ip g1 IP address gateway, byte 1

ip g2 IP address gateway, byte 2

ip g3 IP address gateway, byte 3

ip g4 IP address gateway, byte 4

ipa1 Currently used IP address Ethernet module, byte 1

ipa2 Currently used IP address Ethernet module, byte 2

ipa3 Currently used IP address Ethernet module, byte 3

ipa4 Currently used IP address Ethernet module, byte 4

etMd Protocol
dhcn User application name HMI, part 4

dnEA Value for device name extension

ecsa Second EtherCAT address
ecaa EtherCAT address
ecss EtherCAT slave state

HMI menu f c s - Description

fcs- Restore factory settings (default values) (Factory Settings)

resc Reset control loop parameters

resu Resetting the user parameters

rstf Restore factory settings (default values)

Setting Parameters

Displaying and Setting Parameters

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

• Go to the parameter i m a x (iMax).

• Press the navigation button for a longer period of time to display a parameter
description.
The parameter description is displayed in the form of horizontally scrolling
text.

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• Briefly press the navigation button to display the value of the selected
parameter.
The LED Value illuminates and the parameter value is displayed.
• Press the navigation button for a longer period of time to display the unit of
the parameter value.
As long as the navigation button is held down, the status LEDs Value and Unit
illuminate. The unit of the parameter value is displayed. Once you release the
navigation button, the parameter value is displayed again.
• Press the navigation button to modify the value of the parameter.
The status LEDs Edit and Value illuminate and the parameter value is
displayed.
• Turn the navigation button to modify the value of the parameter. The
increments and the limit value for each parameter are pre-defined.
• Briefly press the navigation button to save the modified parameter value.
If you do not want to save the modified parameter value, press the ESC
button to cancel. The display returns to the original value of the parameter.
The displayed modified value of the parameter flashes once and is written to
the nonvolatile memory.
• Press ESC to return to the menu

Information to be Displayed During Motor Movements

By default, the 7-segment display displays the operating state during motor
movements.
You can select the type of information to be displayed during motor movements
via the menu item M O N / s u p v :
• s t a t displays the operating state (default)
• v a c t displays the actual velocity of the motor
• i a c t displays the actual torque of the motor
The modified value of the parameter is only taken into account at motor standstill.

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External Graphic Display Terminal

Display and Controls

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

1 Display field
2 Navigation button
3 STOP/RESET key
4 RUN key
5 FWD/REV key
6 ESC key
7 Function keys F1 ... F4
Depending on the firmware version of the external graphic display terminal, the
information may be represented differently. Use the most up-to-date firmware
version.

Display Field (1)

The display is subdivided into 5 areas.

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Display of the graphic display terminal (example shows English language)

1.1 Status information of the drive

1.2 Menu bar
1.3 Data field
1.4 Function bar
1.5 Navigation

Status Information of the Drive (1.1)

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

Menu Bar (1.2)

The menu bar displays the name of the menu.

Data Field (1.3)

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

Function Bar (1.4)

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

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

Navigation Button (2)

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

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Key STOP/RESET (3)

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

Key RUN (4)

The key RUN allows you to start a movement.

Key FWD/REV (5)

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

Key ESC (6)

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

Function Keys F1 ... F4 (7)

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

Connecting the External Graphic Display Terminal to LXM32

Description
The external graphic display terminal is an accessory for the drive, see
Accessories and Spare Parts, page 636. The external graphic display terminal is
connected to CN7 (commissioning interface). Only use the cable shipped with the
external graphic display terminal to connect it. If the external graphic display
terminal is connected to LXM32, the integrated HMI is deactivated. The integrated
HMI shows d i s p (Display).

Using the External Graphic Display Terminal

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

Example 'Setting the Language'

In this example, you set the desired language for the external graphic display
terminal. The installation of the drive must have been completed and the 24 Vdc
control supply voltage must be on.
• Go to the main menu.
• Rotate the navigation button until item 5 (LANGUAGE) is highlighted.
• Press the navigation button to confirm the selection.
The menu bar shows the selected function 5 (LANGUAGE). The data field
displays the selected value, in this case the selected language.
• Press the navigation button to change the value.
The menu bar displays the selected function "Language". The supported
languages are shown in the data field.
• Turn the navigation button to select the desired language.
The currently active language is highlighted by a check.
• Press the navigation button to confirm the selected value.

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The menu bar displays the selected function "Language". The selected
language is shown in the data field.
• Press ESC to return to the main menu.
The main menu is displayed in the selected language.

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Commissioning Procedure
Powering on the Drive for the First Time

Performing a "First Setup"

A "First Setup" is required when the 24 Vdc control supply of the drive is powered
on for the first time or after the factory settings have been restored.

Automatic Reading of the Motor Data Record

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

Manual Adjustment of the Motor Parameters

If the motor encoder is not connected to CN3, the motor parameters must be
adjusted manually. Refer to the information in the user guide for the encoder
modules.

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

Powering On the Drive

• Verify that the power stage supply and the 24 Vdc control supply are powered
off.
• Disconnect the product from the fieldbus during commissioning in order to
help avoid conflicts by simultaneous access.
• Power on the 24 Vdc control supply.
The drive goes through an initialization routine. The segments of the 7-
segment display and the status LEDs illuminate.
If a memory card is in the slot of the drive, the message C A R D is displayed by
the 7-segment display for a short period of time. This indicates that a memory card
has been detected. If the message C A R D is permanently displayed by the 7-
segment display, there are differences between the content of the memory card
and the parameter values stored in the drive. See section Memory Card, page 171
for additional information.
After initialization and if one or more modules are inserted, you must make
additional settings depending on the module(s). Make these settings as described
in the corresponding user guides for the modules.

Restarting the Drive

Depending on the settings of the parameters, a restart of the drive may be
required for the modifications to become effective.
• If the HMI shows R D Y the drive is ready for operation.
• If the HMI shows n R D Y a restart of the drive is required. After the restart,
the drive is ready for operation.

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Further Steps
• Attach a label to the drive that contains information for servicing the drive
such as fieldbus type and device address.
• Make the settings described below for commissioning.
NOTE: For more information on the presentation of parameters and a list of all
operational parameters of the drive, see Parameters, page 440.

Setting Limit Values

Setting Limit Values

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

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

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_I_max Current limitation. Arms UINT16 CANopen 3011:Ch

ConF → drC- During operation, the actual current limit is one of 0.00 R/W Modbus 4376
the following values (whichever is lowest):
iMAX - per. Profibus 4376
- CTRL_I_max
463.00 - CIP 117.1.12
- _M_I_max
ModbusTCP 4376
- _PS_I_max
EtherCAT 3011:Ch
- Current limitation via analog input (module
IOM1) PROFINET 4376

- Current limitation via digital input

Limitations caused by I2t monitoring are also

taken into account.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

LIM_I_maxQSTP Current for Quick Stop. Arms UINT16 CANopen 3011:Dh

ConF → FLt- This value is only limited by the minimum/ - R/W Modbus 4378
maximum value range (no limitation of this value
qcur by motor/power stage). - per. Profibus 4378

In the case of a Quick Stop, the current limit - - CIP 117.1.13

(_Imax_act) is one of the following values
(whichever is lowest): ModbusTCP 4378

- LIM_I_maxQSTP EtherCAT 3011:Dh

- _M_I_max PROFINET 4378

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Quick Stop.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

LIM_I_maxHalt Current for Halt. Arms UINT16 CANopen 3011:Eh

ConF → ACG- This value is only limited by the minimum/ - R/W Modbus 4380
maximum value range (no limitation of this value
hcur by motor/power stage). - per. Profibus 4380

In the case of a Halt, the current limit (_Imax_act) - - CIP 117.1.14

is one of the following values (whichever is
lowest): ModbusTCP 4380

- LIM_I_maxHalt EtherCAT 3011:Eh

- _M_I_max PROFINET 4380

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Halt.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

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Velocity Limitation
The parameter CTRL_v_max can be used to limit the maximum velocity.
NOTE: Values for positions, velocities, acceleration and deceleration are
specified in the following user-defined unit:
• usr_p for positions
• usr_v for velocities
• usr_a for acceleration and deceleration

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_v_max Velocity limitation. usr_v UINT32 CANopen 3011:10h

ConF → drC- During operation, the velocity limit is one of the 1 R/W Modbus 4384
following values (whichever is lowest):
nMAX 13200 per. Profibus 4384
- CTRL_v_max
2147483647 - CIP 117.1.16
- M_n_max
ModbusTCP 4384
- Velocity limitation via analog input (module
IOM1) EtherCAT 3011:10h

- Velocity limitation via digital input PROFINET 4384

Modified settings become active immediately.

Digital Inputs and Outputs

General
The device has configurable inputs and configurable outputs. See section Digital
Signal Inputs and Digital Signal Outputs, page 195 for additional information.
The signal states of the digital inputs and digital outputs can be displayed on the
HMI and via the fieldbus.

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

Inputs (parameter _IO_DI_act):

Open the menu item - M O N → d i m o .
The digital inputs are displayed in a bit-coded way.

Bit Signal

0 DI0
1 DI1

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Bit Signal

2 DI2
3 DI3
4 DI4
5 DI5
6 ... 7 -

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

Bit Signal

0 DQ0

1 DQ1

2 DQ2

3 ... 7 -

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

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IO_act Physical status of the digital inputs and outputs. - UINT16 CANopen 3008:1h

Low byte: - R/- Modbus 2050

Bit 0: DI0 - - Profibus 2050

Bit 1: DI1 - - CIP 108.1.1

Bit 2: DI2 ModbusTCP 2050

Bit 3: DI3 EtherCAT 3008:1h

Bit 4: DI4 PROFINET 2050

Bit 5: DI5

High byte:

Bit 8: DQ0

Bit 9: DQ1

Bit 10: DQ2

_IO_DI_act Status of digital inputs. - UINT16 CANopen 3008:Fh

Mon Bit assignments: - R/- Modbus 2078

diMo Bit 0: DI0 - - Profibus 2078

Bit 1: DI1 - - CIP 108.1.15

Bit 2: DI2 ModbusTCP 2078

Bit 3: DI3 EtherCAT 3008:Fh

Bit 4: DI4 PROFINET 2078

Bit 5: DI5
_IO_DQ_act Status of digital outputs. - UINT16 CANopen 3008:10h

Mon Bit assignments: - R/- Modbus 2080

doMo Bit 0: DQ0 - - Profibus 2080

Bit 1: DQ1 - - CIP 108.1.16

Bit 2: DQ2 ModbusTCP 2080

EtherCAT 3008:10h

PROFINET 2080
_IO_STO_act Status of the inputs for the safety-related function - UINT16 CANopen 3008:26h
STO.
Mon - R/- Modbus 2124
Bit 0: STO_A
Sto - - Profibus 2124
Bit 1: STO_B
- - CIP 108.1.38
If no safety module eSM is inserted, this
parameter indicates the status of the signal inputs ModbusTCP 2124
STO_A and STO_B.
EtherCAT 3008:26h
If a safety module eSM is inserted, the safety
function STO can be triggered via the signal inputs PROFINET 2124
or via the safety module eSM. This parameter
indicates whether or not the safety function STO
was triggered (regardless of whether it was
triggered via the signal inputs or via the safety
module eSM).

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Verifying the Signals of the Limit Switches

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

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

• Install and configure the limit switches in such a way that no movements are
made beyond the range defined by the limit switches.
• Trigger the limit switches manually.
If an error message is indicated, the limit switches were triggered.
Parameters can be used to release the limit switches and to set them up as
normally closed contacts or normally open contacts, see Limit Switches, page
345.

Verifying the Safety Function STO

Operation with Safety Function STO

If you want to use the safety function STO, carry out the following steps:
• To help avoid unintended restart after restoration of power, the parameter IO_
AutoEnable must be set to "off". Verify that the parameter IO_AutoEnable is
set to "off".
HMI: c o n f →a
ac g →i
io a e .
Power off the power stage supply and the 24 Vdc control supply:
• Verify that the signal wires at the inputs (STO_A) and (STO_B) are isolated
from each other. The two signal wires must not be electrically connected.
Power on the power stage supply and the 24 Vdc control supply:
• Enable the power stage without starting a motor movement.
• Trigger the safety function STO.
If the power stage is now disabled and the error message 1300 is indicated,
the safety function STO was triggered.
If a different error message is indicated, the safety function STO was not
triggered.
• Document all tests of the safety function in your acceptance protocol.

Operation without Safety Function STO

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

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Holding Brake (Option)

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

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

Releasing the Holding Brake

When the power stage is enabled, current is applied to the motor. When current is
applied to the motor, the holding brake is automatically released.
Releasing the holding brake requires a certain amount of time. This time is
contained in the electronic nameplate of the motor. Transition to the operating
state 6 Operation Enabled is only possible after this time delay has elapsed.
An additional time delay can be set via parameters, see Additional Time Delay for
Releasing the Holding Brake, page 145.

Applying the Holding Brake

When the power stage is disabled, the holding brake is automatically applied.
However, applying the holding brake requires a certain amount of time. This time
is contained in the electronic nameplate of the motor. Current remains to be
applied to the motor during this time delay.
See section Functional Safety, page 76 for additional information on the behavior
of the holding brake when the safety function STO is triggered.
An additional time delay can be set via parameters, see Additional Time Delay for
Applying the Holding Brake, page 146.

Additional Time Delay for Releasing the Holding Brake

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

1
ENABLE
0

CONTROL 1
LOOP 0

HOLDING 1
BRAKE 0

OPERATION 1
ENABLED 0

t
as per nameplate BRK_AddT_release

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BRK_AddT_release Additional time delay for releasing the holding ms INT16 CANopen 3005:7h
brake.
0 R/W Modbus 1294
The overall time delay for releasing the holding
brake is the time delay from the electronic 0 per. Profibus 1294
nameplate of the motor and the additional time
delay in this parameter. 400 - CIP 105.1.7

Setting can only be modified if power stage is ModbusTCP 1294

disabled.
EtherCAT 3005:7h
Modified settings become active the next time the
power stage is enabled. PROFINET 1294

Additional Time Delay for Applying the Holding Brake

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

1
ENABLE
0

CONTROL 1
LOOP 0

HOLDING 1
BRAKE 0

OPERATION 1
ENABLED 0

t
as per nameplate BRK_AddT_apply

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BRK_AddT_apply Additional time delay for applying the holding ms INT16 CANopen 3005:8h
brake.
0 R/W Modbus 1296
The overall time delay for applying the holding
brake is the time delay from the electronic 0 per. Profibus 1296
nameplate of the motor and the additional time
delay in this parameter. 1000 - CIP 105.1.8

Setting can only be modified if power stage is ModbusTCP 1296

disabled.
EtherCAT 3005:8h
Modified settings become active the next time the
power stage is enabled. PROFINET 1296

Verifying the Function of the Holding Brake

The device is in the operating state 4 Ready To Switch On.

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Step Action

1 Start the operating mode Jog (HMI: o p →J

JO g →J
JG S T ).

The power stage is enabled and the holding brake released. The HMI displays J G - .

2 If the holding brake has been released, hold down the navigation button. Then press
ESC.

As long as the navigation button is held down, the motor moves. When you press ESC,
the holding brake is applied again and the power stage is disabled.

3 If the holding brake is not released, press ESC.

When you press ESC, the power stage is disabled.

4 Verify the wiring if the behavior of the holding brake is not correct.

Releasing the Holding Brake Manually

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

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

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

Applying the Holding Brake Manually

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

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If a movement is started after the holding brake has been applied manually, this
can cause wear.

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

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

Releasing the Holding Brake Manually via a Signal Input

In order to release the holding brake via a signal input, you must first parameterize
the signal input function "Release Holding Brake", see Digital Signal Inputs and
Digital Signal Outputs, page 195.

Releasing or Applying the Holding Brake Manually via the

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BRK_release Manual operation of the holding brake. - UINT16 CANopen 3008:Ah

0 / Automatic: Automatic processing 0 R/W Modbus 2068

1 / Manual Release: Manual release of holding 0 - Profibus 2068

brake
2 - CIP 108.1.10
2 / Manual Application: Manual applying of
holding brake ModbusTCP 2068

You can apply or release the holding brake EtherCAT 3008:Ah

manually.
PROFINET 2068
The holding brake can only be manually released
in the operating states 'Switch On Disabled',
'Ready To Switch On' or 'Fault'.

If you have applied the holding brake manually

and then want to release it manually, you must
first set this parameter to Automatic and then to
Manual Release.

Modified settings become active immediately.

Available with firmware version ≥V01.12.

Verifying the Direction of Movement

Definition of Direction of Movement

In the case of a rotary motors, direction of movement is defined in accordance with
IEC 61800-7-204: Positive direction is when the motor shaft rotates clockwise as
you look at the end of the protruding motor shaft.
It is important to maintain the IEC 61800-7-204 directional standard within your
application because many motion-related function blocks, programming

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conventions, and, safety-related and conventional devices expect this underlying

assumption within their logic and operational methodologies.

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

If your application requires an inversion of the direction of movement, you can

parameterize the direction of movement.
The direction of movement can be verified by starting a movement.

Verifying the Direction of Movement

Power supply has been powered on.
• Start the operating mode Jog. (HMI: o p → J O g → J G S T )
The HMI displays J G - .
Movement in positive direction:
• Press the navigation button and hold it down.
A movement is made in positive direction.
Movement in negative direction:
• Turn the navigation button until the HMI displays - J G .
• Press the navigation button and hold it down.
A movement is made in negative direction.

Changing the Direction of Movement

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

InvertDirOfMove Inversion of direction of movement. - UINT16 CANopen 3006:Ch

ConF → ACG- 0 / Inversion Off / o F F : Inversion of direction of 0 R/W Modbus 1560

movement is off
inMo 0 per. Profibus 1560
1 / Inversion On / o n : Inversion of direction of
movement is on 1 - CIP 106.1.12

The limit switch which is reached with a movement ModbusTCP 1560

in positive direction must be connected to the
positive limit switch input and vice versa. EtherCAT 3006:Ch

Setting can only be modified if power stage is PROFINET 1560

disabled.

Modified settings become active the next time the

product is powered on.

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Setting Parameters for Encoder

General
When starting up, the device reads the absolute position of the motor from the
encoder. The absolute position can be read with the parameter _p_absENC.
NOTE: Values for positions, velocities, acceleration and deceleration are
specified in the following user-defined unit:
• usr_p for positions
• usr_v for velocities
• usr_a for acceleration and deceleration

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_absENC Absolute position with reference to the encoder usr_p UINT32 CANopen 301E:Fh
range.
Mon - R/- Modbus 7710
This value corresponds to the modulo position of
PAMu the absolute encoder range. - - Profibus 7710

The value is no longer valid if the gear ratio of - - CIP 130.1.15

machine encoder and motor encoder is changed.
A restart is required in such a case. ModbusTCP 7710

EtherCAT 301E:Fh

PROFINET 7710

Working Range of the Encoder

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

Underrun of Absolute Position

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

Adjustment of the Absolute Position

When the motor is at a standstill, the new absolute position of the motor can be set
to the current mechanical motor position the with the parameter ENC1_
adjustment.
Adjusting the absolute position also shifts the position of the index pulse.
The absolute position of an encoder at encoder 2 (module) can be adjusted via the
parameter ENC2_adjustment.
Procedure:

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Set the absolute position at the negative mechanical limit to a position value
greater than 0. This way, the movements remain within the continuous range of
the encoder.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENC1_adjustment Adjustment of absolute position of encoder 1. usr_p INT32 CANopen 3005:16h

The value range depends on the encoder type. - R/W Modbus 1324

Singleturn encoder: - - Profibus 1324

0 ... x-1 - - CIP 105.1.22

Multiturn encoder: ModbusTCP 1324

0 ... (4096*x)-1 EtherCAT 3005:16h

Singleturn encoder (shifted with parameter PROFINET 1324

ShiftEncWorkRang):

-(x/2) ... (x/2)-1

Multiturn encoder (shifted with parameter

ShiftEncWorkRang):

-(2048*x) ... (2048*x)-1

Definition of 'x': Maximum position for one encoder

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

If processing is to be performed with inversion of

the direction of movement, this must be set before
the encoder position is adjusted.

After the write access, a wait time of at least 1

second is required before the drive can be
powered off.

Modified settings become active the next time the

product is powered on.

ENC2_adjustment Adjustment of absolute position of encoder 2. usr_p INT32 CANopen 3005:24h

The value range depends on the encoder type at - R/W Modbus 1352
the physical port ENC2.
- - Profibus 1352
This parameter can only be changed if the
parameter ENC_abs_source is set to 'Encoder 2'. - - CIP 105.1.36

Singleturn encoder: ModbusTCP 1352

0 … x-1 EtherCAT 3005:24h

Multiturn encoder: PROFINET 1352

0 … (y*x)-1

Singleturn encoder (shifted with parameter

ShiftEncWorkRang):

-(x/2) … (x/2)-1

Multiturn encoder (shifted with parameter

ShiftEncWorkRang):

-(y/2)*x … ((y/2)*x)-1

Definition of 'x': Maximum position for one encoder

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

Definition of 'y': Revolutions of the multiturn

encoder.

If processing is to be performed with inversion of

the direction of movement, this must be set before
the encoder position is adjusted.

After the write access, the parameter values have

to be saved to the nonvolatile memory and the
drive has to be power cycled, before the change
becomes active.

152 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

Shifting the Working Range

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

Singleturn encoder 0 ... 131071 increments

Multiturn encoder 0 ... 4095 revolutions

The working range with shift comprises:

Singleturn encoder -65536 ... 65535 increments

Multiturn encoder -2048 ... 2047 revolutions

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ShiftEncWorkRang Shifting of the encoder working range. - UINT16 CANopen 3005:21h

0 / Off: Shifting off 0 R/W Modbus 1346

1 / On: Shifting on 0 per. Profibus 1346

After activating the shifting function, the position 1 - CIP 105.1.33

range of a multiturn encoder is shifted by one half
of the range. ModbusTCP 1346

Example for the position range of a multiturn EtherCAT 3005:21h

encoder with 4096 revolutions:
PROFINET 1346
Value 0: Position values are between 0 … 4096
revolutions.

Value 1: Position values are between -2048 …

2048 revolutions.

Modified settings become active the next time the

product is powered on.

Setting the Braking Resistor Parameters

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

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

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

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

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

• Set the parameter RESint_ext to "External Braking Resistor".
• Set the parameters RESext_P, RESext_R and RESext_ton.
The maximum value of RESext_P and the minimum value of RESext_R depend
on the power stage, see Data for External Braking Resistor, page 49.

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See section Rating the Braking Resistor, page 71 for additional information.
If the regenerated power becomes greater than the power that can be absorbed
by the braking resistor, an error message is generated and the power stage is
disabled.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RESint_ext Selection of type of braking resistor. - UINT16 CANopen 3005:9h

ConF → ACG- 0 / Internal Braking Resistor / i n t : Internal 0 R/W Modbus 1298

braking resistor
Eibr 0 per. Profibus 1298
1 / External Braking Resistor / E h t : External
braking resistor 2 - CIP 105.1.9

2 / Reserved / r S V d : Reserved ModbusTCP 1298

Setting can only be modified if power stage is EtherCAT 3005:9h

disabled.
PROFINET 1298
Modified settings become active the next time the
power stage is enabled.

RESext_P Nominal power of external braking resistor. W UINT16 CANopen 3005:12h

ConF → ACG- The maximum value depends on the power stage. 1 R/W Modbus 1316

Pobr Setting can only be modified if power stage is 10 per. Profibus 1316
disabled.
- - CIP 105.1.18
Modified settings become active the next time the
power stage is enabled. ModbusTCP 1316

EtherCAT 3005:12h

PROFINET 1316
RESext_R Resistance value of external braking resistor. Ω UINT16 CANopen 3005:13h

ConF → ACG- The minimum value depends on the power stage. - R/W Modbus 1318

rbr In increments of 0.01 Ω. 100.00 per. Profibus 1318

Setting can only be modified if power stage is 327.67 - CIP 105.1.19

disabled.
ModbusTCP 1318
Modified settings become active the next time the
power stage is enabled. EtherCAT 3005:13h

PROFINET 1318
RESext_ton Maximum permissible switch-on time of external ms UINT16 CANopen 3005:11h
braking resistor.
ConF → ACG- 1 R/W Modbus 1314
Setting can only be modified if power stage is
tbr disabled. 1 per. Profibus 1314

Modified settings become active the next time the 30000 - CIP 105.1.17
power stage is enabled.
ModbusTCP 1314

EtherCAT 3005:11h

PROFINET 1314

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Autotuning

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

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

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

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

Function
During autotuning, the motor is activated and small movements are made. Noise
development and mechanical oscillations of the system are normal.
If you want to perform Easy Tuning, no additional parameters need to be adjusted.
To perform Comfort Tuning, the parameters AT_dir, AT_dis_usr and AT_
mechanics are available to be adjusted to meet the requirements of your
application.
The parameter AT_Start is used to start Easy Tuning or Comfort Tuning.
• Start autotuning via the commissioning software.
It is also possible to start autotuning via the HMI.

156 0198441113767.13
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HMI: o p → t u n → t u s t
• Save the new settings to the nonvolatile memory via the commissioning
software.
If you have started autotuning via the HMI, press the navigation button to
save the new values to the nonvolatile memory.
The product features 2 control loop parameter sets that can be parameterized
separately. The values for the control loop parameters determined during
autotuning are stored in control loop parameter set 1.
If autotuning cancels with an error message, the default values are used. Change
the mechanical position and restart autotuning. If you want to verify the plausibility
of the calculated values, you can have them displayed; see Enhanced Settings for
Autotuning, page 158.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

AT_dir Direction of movement for Autotuning. - UINT16 CANopen 302F:4h

oP → tun- 1 / Positive Negative Home / P n h : Positive 1 R/W Modbus 12040

direction first, then negative direction with return to
StiM initial position 1 - Profibus 12040

2 / Negative Positive Home / n P h : Negative 6 - CIP 147.1.4

direction first, then positive direction with return to
initial position ModbusTCP 12040

3 / Positive Home / P - h : Positive direction only EtherCAT 302F:4h

with return to initial position
PROFINET 12040
4 / Positive / P - - : Positive direction only
without return to initial position

5 / Negative Home / n - h : Negative direction

only with return to initial position

6 / Negative / n - - : Negative direction only

without return to initial position

Modified settings become active the next time the

motor moves.
AT_dis_usr Movement range for Autotuning. usr_p INT32 CANopen 302F:12h

Movement range within which the control 1 R/W Modbus 12068

parameters are automatically optimized. The
movement range is entered with reference to the 32768 - Profibus 12068
actual position.
2147483647 - CIP 147.1.18
In the case of "Movement in one direction only"
(Parameter AT_dir), the specified range is used ModbusTCP 12068
for each optimization step. The movement
typically corresponds to 20 times the value, but it EtherCAT 302F:12h
is not limited.
PROFINET 12068
The minimum value, the factory setting and the
maximum value depend on the scaling factor.

Modified settings become active the next time the

motor moves.

Available with firmware version ≥V01.03.

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Servo Drive Commissioning

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

AT_mechanical Type of coupling of the system. - UINT16 CANopen 302F:Eh

1 / Direct Coupling: Direct coupling 1 R/W Modbus 12060

2 / Belt Axis: Belt axis 2 - Profibus 12060

3 / Spindle Axis: Spindle axis 3 - CIP 147.1.14

Modified settings become active the next time the ModbusTCP 12060
motor moves.
EtherCAT 302F:Eh

PROFINET 12060
AT_start Autotuning start. - UINT16 CANopen 302F:1h

Value 0: Terminate 0 R/W Modbus 12034

Value 1: Activate EasyTuning - - Profibus 12034

Value 2: Activate ComfortTuning 2 - CIP 147.1.1

Modified settings become active immediately. ModbusTCP 12034

EtherCAT 302F:1h

PROFINET 12034

Enhanced Settings for Autotuning

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_AT_state Autotuning status. - UINT16 CANopen 302F:2h

Bit assignments: - R/- Modbus 12036

Bits 0 ... 10: Last processing step - - Profibus 12036

Bit 13: auto_tune_process - - CIP 147.1.2

Bit 14: auto_tune_end ModbusTCP 12036

Bit 15: auto_tune_err EtherCAT 302F:2h

PROFINET 12036
_AT_progress Progress of Autotuning. % UINT16 CANopen 302F:Bh

0 R/- Modbus 12054

0 - Profibus 12054

100 - CIP 147.1.11

ModbusTCP 12054

EtherCAT 302F:Bh

PROFINET 12054

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_GlobGain Global gain factor (affects control loop parameter % UINT16 CANopen 3011:15h
set 1).
oP → tun- 5.0 R/W Modbus 4394
The global gain factor affects the following
GAin parameters of control loop parameter set 1: 100.0 per. Profibus 4394

- CTRL_KPn 1000.0 - CIP 117.1.21

- CTRL_TNn ModbusTCP 4394

- CTRL_KPp EtherCAT 3011:15h

- CTRL_TAUnref PROFINET 4394

The global gain factor is set to 100%

- if the control loop parameters are set to default

- at the end of the Autotuning process

- if control loop parameter set 2 is copied to set 1

via the parameter CTRL_ParSetCopy

If a full configuration is transmitted via the fieldbus,

the value for CTRL_GlobGain must be transmitted
prior to the values of the control loop parameters
CTRL_KPn, CTRL_TNn, CTRL_KPp and CTRL_
TAUnref. If CTRL_GlobGain is changed during a
configuration transmission, CTRL_KPn, CTRL_
TNn, CTRL_KPp and CTRL_TAUnref must also
be part of the configuration.

In increments of 0.1 %.

Modified settings become active immediately.

_AT_M_friction Friction torque of the system. Arms UINT16 CANopen 302F:7h

Is determined during Autotuning. - R/- Modbus 12046

In increments of 0.01 Arms. - - Profibus 12046

- - CIP 147.1.7

ModbusTCP 12046

EtherCAT 302F:7h

PROFINET 12046

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Servo Drive Commissioning

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_AT_M_load Constant load torque. Arms INT16 CANopen 302F:8h

Is determined during Autotuning. - R/- Modbus 12048

In increments of 0.01 Arms. - - Profibus 12048

- - CIP 147.1.8

ModbusTCP 12048

EtherCAT 302F:8h

PROFINET 12048
_AT_J Moment of inertia of the system. kg cm2 UINT16 CANopen 302F:Ch

Is automatically calculated during Autotuning. 0.1 R/- Modbus 12056

In increments of 0.1 kg cm2. 0.1 per. Profibus 12056

6553.5 - CIP 147.1.12

ModbusTCP 12056

EtherCAT 302F:Ch

PROFINET 12056

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

AT_wait Waiting time between Autotuning steps. ms UINT16 CANopen 302F:9h

Modified settings become active the next time the 300 R/W Modbus 12050
motor moves.
500 - Profibus 12050

10000 - CIP 147.1.9

ModbusTCP 12050

EtherCAT 302F:9h

PROFINET 12050

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Controller Optimization with Step Response

Controller Structure

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

1 Position controller
2 Velocity controller
3 Current controller
4 Encoder evaluation
See section Overview of the Controller Structure, page 218 for a detailed
description of the controller structure.

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

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

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

Control Loop Parameters

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_SelParSet Selection of control loop parameter set. - UINT16 CANopen 3011:19h

Coding see parameter: CTRL_PwrUpParSet 0 R/W Modbus 4402

Modified settings become active immediately. 1 - Profibus 4402

2 - CIP 117.1.25

ModbusTCP 4402

EtherCAT 3011:19h

PROFINET 4402
_CTRL_ActParSet Active control loop parameter set. - UINT16 CANopen 3011:17h

Value 1: Control loop parameter set 1 is active - R/- Modbus 4398

Value 2: Control loop parameter set 2 is active - - Profibus 4398

A control loop parameter set is active after the - - CIP 117.1.23

time for the parameter switching (CTRL_
ParChgTime) has elapsed. ModbusTCP 4398

EtherCAT 3011:17h

PROFINET 4398
CTRL_ParChgTime Period of time for control loop parameter set ms UINT16 CANopen 3011:14h
switching.
0 R/W Modbus 4392
In the case of control loop parameter set
switching, the values of the following parameters 0 per. Profibus 4392
are changed linearly:
2000 - CIP 117.1.20
- CTRL_KPn
ModbusTCP 4392
- CTRL_TNn
EtherCAT 3011:14h
- CTRL_KPp
PROFINET 4392
- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

Modified settings become active immediately.

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Optimization

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

Setting Reference Value Signals

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

Entering Values for Optimization

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

Control Loop Parameters

This device allows you to use two control loop parameter sets. It is possible to
switch form one set of control loop parameter sets to the other during operation.
The active control loop parameter set is selected with the parameter CTRL_
SelParSet.
The corresponding parameters are CTRL1_xx for the first control loop parameter
set and CTRL2_xx for the second control loop parameter set. The following
descriptions use the notation CTRL1_xx (CTRL2_xx) if there are no functional
differences between the two control loop parameter sets.
For details see section Switching Between Control Loop Parameter Sets, page
218.

Optimizing the Velocity Controller

General
Optimizing complex mechanical control systems require hands-on experience with
controller tuning. This includes the ability to calculate control loop parameters and
to apply identification procedures.

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Less complex mechanical systems can often be optimized by means of

experimental adjustment using the aperiodic limit method. The following
parameters are used for this:

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3012:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4610
motor parameters.
Pn1 - per. Profibus 4610
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 118.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4610

In increments of 0.0001 A/RPM. EtherCAT 3012:1h

Modified settings become active immediately. PROFINET 4610

CTRL2_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3013:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4866
motor parameters.
Pn2 - per. Profibus 4866
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 119.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4866

In increments of 0.0001 A/RPM. EtherCAT 3013:1h

Modified settings become active immediately. PROFINET 4866

CTRL1_TNn Velocity controller integral action time. ms UINT16 CANopen 3012:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4612

tin1 In the case of switching between the two control - per. Profibus 4612
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 118.1.2
CTRL_ParChgTime.
ModbusTCP 4612
In increments of 0.01 ms.
EtherCAT 3012:2h
Modified settings become active immediately.
PROFINET 4612
CTRL2_TNn Velocity controller integral action time. ms UINT16 CANopen 3013:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4868

tin2 In the case of switching between the two control - per. Profibus 4868
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 119.1.2
CTRL_ParChgTime.
ModbusTCP 4868
In increments of 0.01 ms.
EtherCAT 3013:2h
Modified settings become active immediately.
PROFINET 4868

Verify and optimize the calculated values in a second step, see Verifying and
Optimizing the P Gain, page 168.

Reference Value Filter of the Velocity Controller

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

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3012:4h
filter.
ConF → drC- 0.00 R/W Modbus 4616
In the case of switching between the two control
tAu1 loop parameter sets, the values are changed 9.00 per. Profibus 4616
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 118.1.4

In increments of 0.01 ms. ModbusTCP 4616

Modified settings become active immediately. EtherCAT 3012:4h

PROFINET 4616
CTRL2_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3013:4h
filter.
ConF → drC- 0.00 R/W Modbus 4872
In the case of switching between the two control
tAu2 loop parameter sets, the values are changed 9.00 per. Profibus 4872
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 119.1.4

In increments of 0.01 ms. ModbusTCP 4872

Modified settings become active immediately. EtherCAT 3013:4h

PROFINET 4872

Determining the Type of Mechanical System

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

Determining Values for Rigid Mechanical Systems

In the case of a rigid mechanical system, adjusting the control performance on the
basis of the table is possible if:
• the moment of inertia of the load and of the motor are known and
• the moment of inertia of the load and of the motor are constant

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The P gain CTRL_KPn and the integral action time CTRL_TNn depend on:
• JL: Moment of inertia of the load
• JM: Moment of inertia of the motor
• Determine the values on the basis of the following table:

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

JL KPn TNn KPn TNn KPn TNn
1 kgcm2 0.0125 8 0.008 12 0.007 16

2 kgcm2 0.0250 8 0.015 12 0.014 16

5 kgcm2 0.0625 8 0.038 12 0.034 16

10 kgcm2 0.125 8 0.075 12 0.069 16

20 kgcm2 0.250 8 0.150 12 0.138 16

Determining Values for Less Rigid Mechanical Systems

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

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

• Trigger a step function.

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

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Differences between _v_ref and _v_act result from setting CTRL1_TNn (CTRL2_
TNn) to "Infinite".
Determining "TNn" for the aperiodic limit

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

Graphic Determination of the 63% Value

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_TNn Velocity controller integral action time. ms UINT16 CANopen 3012:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4612

tin1 In the case of switching between the two control - per. Profibus 4612
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 118.1.2
CTRL_ParChgTime.
ModbusTCP 4612
In increments of 0.01 ms.
EtherCAT 3012:2h
Modified settings become active immediately.
PROFINET 4612
CTRL2_TNn Velocity controller integral action time. ms UINT16 CANopen 3013:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4868

tin2 In the case of switching between the two control - per. Profibus 4868
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 119.1.2
CTRL_ParChgTime.
ModbusTCP 4868
In increments of 0.01 ms.
EtherCAT 3013:2h
Modified settings become active immediately.
PROFINET 4868

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Verifying and Optimizing the P Gain

General
Step responses with good control performance

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

Optimizing the Position Controller

General
An optimized velocity controller is a prerequisite for optimization of the position
controller.
When tuning the position controller, you must optimize the P gain CTRL1_KPp
(CTRL2_KPp):
• CTRL1_KPp (CTRL2_KPp) too high: Overshooting, instability
• CTRL1_KPp (CTRL2_KPp) too low: High position deviation

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_KPp Position controller P gain. 1/s UINT16 CANopen 3012:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4614

PP1 In the case of switching between the two control - per. Profibus 4614
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 118.1.3
CTRL_ParChgTime.
ModbusTCP 4614
In increments of 0.1 1/s.
EtherCAT 3012:3h
Modified settings become active immediately.
PROFINET 4614
CTRL2_KPp Position controller P gain. 1/s UINT16 CANopen 3013:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4870

PP2 In the case of switching between the two control - per. Profibus 4870
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 119.1.3
CTRL_ParChgTime.
ModbusTCP 4870
In increments of 0.1 1/s.
EtherCAT 3013:3h
Modified settings become active immediately.
PROFINET 4870

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

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

Setting the Reference Value Signal

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

Selecting the Trace Signals

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

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Optimizing the Position Controller Value

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

The p gain setting CTRL1_KPp (CTRL2_KPp) is optimal if the reference value is

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

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Parameter Management
Memory Card

Description
The drives features a card holder for a memory card. The parameters stored on
the memory card can be transferred to other drives. If a drive is replaced, a new
drive of the same type can be operated with identical parameters.
The contents of the memory card is compared to the parameters stored in the
drive when the drive is powered on.
When the parameters are written to the nonvolatile memory, they are also saved
to the memory card.
The parameters of the safety module require special treatment. See the module
manual of the safety module for additional information.

Note the following:

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

NOTICE
ELECTROSTATIC DISCHARGE OR INTERMITTENT CONTACT AND LOSS
OF DATA
Do not touch the contacts of the memory card.
Failure to follow these instructions can result in equipment damage.

Inserting a Memory Card

• 24 Vdc control supply has been powered off.
• Insert the memory card into the drive with the gold contacts face down; the
slanted corner must be face to the mounting plate.
• Power on the 24 Vdc control supply.
• Observe the 7-segment display during the initialization of the drive.

C a r d is Displayed for a Short Period of Time

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

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C a r d is Displayed Permanently
The drive has detected a memory card. User intervention is required.

Cause Options

The memory card is new. The drive data can be transferred to the memory
card.
The data on the memory card does not match The drive data can be transferred to the memory
the drive (different drive type, different motor card.
type, different firmware version).

The data on the memory card matches the The drive data can be transferred to the memory
drive, but the parameter values are different. card.

The data on the memory card can be transferred

to the drive. If the memory card is to remain in
the drive, the drive data must be transferred to
the memory card.

C a r d is Not Displayed
The drive has not detected a memory card. Power off the 24 Vdc control supply.
Verify that the memory card has been properly inserted (contacts, slanted corner).

Data Exchange with the Memory Card

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

Ca r d , i g n r , c t o d , d t o c )
Copying Data or Ignoring the Memory Card (C
If the 7-segment display shows C a r d :
• Press the navigation button.
The 7-segment display shows the last setting, for example i g n r .
• Briefly press the navigation button to activate the Edit mode.
The 7-segment display continues to display the last setting, the LED Edit
illuminates.
• Select with the navigation button:
i g n r ignores the memory card.
c t o d transfers the data from the memory card to the drive.
d t o c transfers the data from the drive to the memory card.
The drive switches to operating state 4 Ready To Switch On.

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1 Data on the memory card and in the drive are different: The drive displays c a r d and waits for user
intervention.
2 Transition to operating state 4 Ready To Switch On (memory card is ignored).
ct o d = card to drive, d t o c = drive to card) and transition to operating state 4 Ready To
3 Transfer of data (c
Switch On.

CA R D , m i s s )
Memory Card has Been Removed (C
If you removed the memory card, the drive displays C A R D after initialization. If
you confirm this, the display shows m i s s . If you confirm again, the product
transitions to the operating state .4 Ready To Switch On.

CA R D , E N P R , d i p r , p r o t )
Write Protection for Memory Card (C
pr o t ). For example, you may
It is possible to write-protect the memory card (p
want to write-protect memory cards used for regular duplication of drive data.
To write-protect the memory card, select C O N F - A C G - C A R D on the HMI.

Selection Meaning

ENPR pr o t )
Write protection on (p

dipr Write protection off

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

Duplicating Existing Parameter Values

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

Prerequisites
• Device type, motor type and firmware version must be identical.

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• Tools for duplication:

◦ Memory card
◦ Commissioning software
• The 24 Vdc control supply must be powered on.

Duplication Using a Memory Card

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

Duplication Using the Commissioning Software

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

Resetting the User Parameters

Description
The user parameters are reset by means of the parameter PARuserReset.
Disconnect the drive from the fieldbus.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PARuserReset Reset user parameters. - UINT16 CANopen 3004:8h

ConF → FCS- 0 / No / n o : No 0 R/W Modbus 1040

rESu 65535 / Yes / y E S : Yes - - Profibus 1040

Bit 0: Reset persistent user parameters and 65535 - CIP 104.1.8

control loop parameters to default values
ModbusTCP 1040
Bit 1: Reset Motion Sequence parameters to
default values EtherCAT 3004:8h

Bits 2 … 15: Reserved PROFINET 1040

The parameters are reset with the exception of:

- Communication parameters

- Inversion of direction of movement

- Type of reference value signal for PTI interface

- Settings of encoder simulation

- Functions of digital inputs and outputs

- Safety module eSM

The new settings are not saved to the nonvolatile

memory.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

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Resetting via the HMI

Use the menu items C O N F -> F C S - -> r E S u of the HMI to reset the user
parameters. Confirm the selection with y e s .
The new settings are not saved to the nonvolatile memory.
If the drive transitions to the operating state "2 Not Ready To Switch On" after the
user parameters are reset, the new settings only become active after the 24 Vdc
control supply of the drive is power cycled.

Resetting via the Commissioning Software

Use the menu items "Device -> User Functions -> Reset User Parameters" in the
commissioning software to reset the user parameters.
If the drive transitions to the operating state "2 Not Ready To Switch On" after the
user parameters are reset, the new settings only become active after the 24 Vdc
control supply of the drive is power cycled.

Restoring Factory Settings

Description
The parameter values, both active and those saved in nonvolatile memory, are
lost in this process.

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

The commissioning software allows you to save the parameter values set for a
drive as a configuration file. For information on saving the existing parameters in
the drive, see Parameter Management, page 171.
The factory settings can be restored via the HMI or the commissioning software.
Disconnect the drive from the fieldbus before you restore the factory settings.

Factory Settings via HMI

Use the menu items CONF > FCS- > rStF of the HMI to restore the factory
settings. Confirm the selection with y e s .
The new settings only become active until after the 24 Vdc control supply of the
drive is power cycled.

Factory Settings via Commissioning Software

Use the menu items Device > User Functions > Restore Factory Settings in
the commissioning software to restore the factory settings.
The new settings only become active until after the 24 Vdc control supply of the
drive is power cycled.

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

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

The product can be addressed via different access channels. Access channels
are:
• Integrated HMI
• External graphic display terminal
• Fieldbus
• Commissioning software
• Digital signal inputs
Only one access channel can have exclusive access to the product. An exclusive
access can be provided via different access channels:
• Via the integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI.
• Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access
channels with the parameter AccessLock.
• Via the commissioning software:
The commissioning software receives exclusive access via the switch
"Exclusive access" in position "On".
When the drive is powered on, there is no exclusive access via an access
channel.
The signal input functions "Halt", "Fault Reset", "Enable", "Positive Limit Switch
(LIMP)", "Negative Limit Switch (LIMN)" and "Reference Switch (REF)" as well as
the signals of the safety function STO (STO_A and STO_B) are available during
exclusive access.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_AccessInfo Access channel information. - UINT16 CANopen 3001:Ch

Low byte: Exclusive access - R/- Modbus 280

Value 0: No - - Profibus 280

Value 1: Yes - - CIP 101.1.12

High byte: Access channel ModbusTCP 280

Value 0: Reserved EtherCAT 3001:Ch

Value 1: I/O PROFINET 280

Value 2: HMI

Value 3: Modbus RS485

Value 4: Fieldbus main channel

Value 5:

CAN module: CANopen second SDO

ETH module (Modbus TCP): Modbus TCP

ETH module (Ethernet/IP): Reserved

PDP module: Profibus Master Class 2

PNT module (Modbus TCP): Modbus TCP

Values 6 ... 12:

ETH module (Modbus TCP): Modbus TCP

ETH module (Ethernet/IP): Reserved

Values 13 ... 28: Ethernet/IP explicit channels 0 to

15
AccessLock Locking other access channels. - UINT16 CANopen 3001:Eh

Value 0: Allow control via other access channels 0 R/W Modbus 284

Value 1: Lock control via other access channels 0 - Profibus 284

Example: 1 - CIP 101.1.14

The access channel is used by the fieldbus. ModbusTCP 284

In this case, control via the commissioning EtherCAT 3001:Eh

software, for example, is not possible.
PROFINET 284
The access channel can only be locked after the
currently active operating mode has terminated.

Modified settings become active immediately.

HMIlocked Lock HMI. - UINT16 CANopen 303A:1h

0 / Not Locked / n L o c : HMI not locked 0 R/W Modbus 14850

1 / Locked / L o c : HMI locked 0 per. Profibus 14850

The following functions can no longer be started 1 - CIP 158.1.1

when the HMI is locked:
ModbusTCP 14850
- Parameter change
EtherCAT 303A:1h
- Jog
PROFINET 14850
- Autotuning

- Fault Reset

Modified settings become active immediately.

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Control Mode
Overview
The control mode determines whether the operating states are changed and the
operating modes started and changed via the signal inputs or via the fieldbus.
In local control mode, the operating states are changed and the operating modes
started and changed via the digital signal inputs.
In fieldbus control mode, the operating states are changed and the operating
modes started and changed via the fieldbus.

Availability
The following table provides an overview of the operating modes available in the
different control modes.

Operating Mode Local control mode Fieldbus control mode

Jog Available(1) Available

Electronic Gear Available(1) Available

Profile Torque Available(1)(2) Available

Profile Velocity Available(1)(2) Available

Profile Position Not available Available

Interpolated Position Not available Available

Homing Not available Available

Motion Sequence Available Available

(1) With firmware version ≥V01.08

(2) Only possible with IOM1 module

Setting the Control Mode

The parameter DEVcmdinterf lets you set the control mode.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DEVcmdinterf Control mode. - UINT16 CANopen 3005:1h

ConF → ACG- 1 / Local Control Mode / i o : Local control mode - R/W Modbus 1282

nonE 2 / Fieldbus Control Mode / F b u S : Fieldbus - per. Profibus 1282

control mode
dEVC - - CIP 105.1.1
Setting can only be modified if power stage is
disabled. ModbusTCP 1282

Modified settings become active the next time the EtherCAT 3005:1h
product is powered on.
PROFINET 1282

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Movement Range
Size of the Movement Range

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

A -268435456 user-defined units (usr_p)

B 268435455 user-defined units (usr_p)

Availability
The movement range is relevant in the following operating modes:
• Jog
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative and
Reference Movement)

Zero Point of the Movement Range

The zero point is the point of reference for absolute movements in the operating
modes Profile Position and Motion Sequence.

Valid Zero Point

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

Movement Beyond the Movement Range

Description
The behavior in the case of a movement beyond the movement range depends on
the operating mode and the type of movement.
The following behavior is possible:
• In the case of a movement beyond the movement range, the movement
range restarts.
• In the case of a movement with a target position outside of the movement
range, position setting to 0 is performed before the movement is started.

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Servo Drive Operation

As of firmware version ≥V01.04, you can use the parameter PP_ModeRangeLim

to set the behavior.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PP_ModeRangeLim Absolute movement beyond movement range. - UINT16 CANopen 3023:7h

0 / NoAbsMoveAllowed: Absolute movement 0 R/W Modbus 8974

beyond movement range is not possible
0 per. Profibus 8974
1 / AbsMoveAllowed: Absolute movement
beyond movement range is possible 1 - CIP 135.1.7

Setting can only be modified if power stage is ModbusTCP 8974

disabled.
EtherCAT 3023:7h
Modified settings become active the next time the
power stage is enabled. PROFINET 8974

Available with firmware version ≥V01.04.

Behavior for Operating Mode Jog (Continuous Movement)

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

Behavior for Operating Mode Jog (Step Movement)

Behavior for step movement beyond the movement range:
• With firmware version ≥V01.04 and setting via parameter PP_
ModeRangeLim = 1:
The movement range restarts.
• With firmware version <V01.04:
Internal position setting to 0.

Behavior for Operating Mode Profile Position (Relative

Movement)
Behavior for relative movement beyond the movement range:
• With firmware version ≥V01.04 and setting via parameter PP_
ModeRangeLim = 1:
The movement range restarts.
A relative movement is possible when the motor is at a standstill and during
movements
• With firmware version <V01.04:
Internal position setting to 0.
A relative movement is only possible when the motor is at a standstill.

Behavior for Operating Mode Profile Position (Absolute

Movement)
Behavior for absolute movement:
• With firmware version ≥V01.04 and setting via parameter PP_
ModeRangeLim = 1:
An absolute movement beyond the movement range is possible.
• With firmware version <V01.04:

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An absolute movement is made within the movement range. An absolute

movement beyond the movement range is not possible.
Example:
Actual position: 268435000 user-defined units (usr_p)
Target position absolute: -268435000 user-defined units (usr_p)

A -268435456 user-defined units (usr_p)

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

Behavior for Operating Mode Motion Sequence (Move Relative

and Move Additive)
Behavior for movement with Move Relative and Move Additive beyond the
movement range:
• With firmware version ≥V01.04 and setting via parameter PP_
ModeRangeLim = 1:
The movement range restarts.
• With firmware version <V01.04:
Internal position setting to 0.

Behavior for Operating Mode Motion Sequence (Move

Absolute)
Behavior for a movement with Move Absolute:
• With firmware version ≥V01.04 and setting via parameter PP_
ModeRangeLim = 1:
An absolute movement beyond the movement range is possible.
• With firmware version <V01.04:
An absolute movement is made within the movement range. An absolute
movement beyond the movement range is not possible.
Example:
Actual position: 268435000 user-defined units (usr_p)
Target position absolute: -268435000 user-defined units (usr_p)

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A -268435456 user-defined units (usr_p)

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

Setting a Modulo Range

Description
The modulo range supports applications with repeating arrangements of target
positions (such as rotary indexing tables). The target positions are mapped to a
parameterizable movement range.
For details see section Modulo Range, page 183.

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Modulo Range
Setting a Modulo Range

Availability
Available with firmware version ≥V01.01.

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

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

Multiple Modulo Range

In addition, it is possible to set a multiple modulo range for absolute target
positions. A movement with an absolute target position beyond the modulo range
is performed in a way as if several modulo ranges had been arranged one after
the other.
Example:
• Modulo range
◦ Minimum position: 0 usr_p
◦ Maximum position: 3600 usr_p
• Actual position: 700 usr_p
• Target positions absolute: 5000 usr_p
• Left: Without multiple modulo range
Right: With multiple modulo range
Multiple modulo range

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Parameterization

Overview
Overview of parameters

Scaling
Using a modulo range requires the scaling to be adapted. The scaling of the motor
must be adapted to the requirements of the application, see Scaling, page 191.

Activation
The modulo range is activated with the parameter MOD_Enable.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MOD_Enable Activation of Modulo function. - UINT16 CANopen 3006:38h

ConF → ACG- 0 / Modulo Off / o F F : Modulo is off 0 R/W Modbus 1648

AtyP 1 / Modulo On / o n : Modulo is on 0 per. Profibus 1648

Setting can only be modified if power stage is 1 - CIP 106.1.56

disabled.
ModbusTCP 1648
Modified settings become active immediately.
EtherCAT 3006:38h
Available with firmware version ≥V01.01.
PROFINET 1648

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

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MOD_Min Minimum position of modulo range. usr_p INT32 CANopen 3006:39h

The minimum position value of the modulo range - R/W Modbus 1650
must be less than the maximum position value of
the modulo range. 0 per. Profibus 1650

The value must not exceed the maximum possible - - CIP 106.1.57
value of position scaling _ScalePOSmax.
ModbusTCP 1650
Setting can only be modified if power stage is
disabled. EtherCAT 3006:39h

Modified settings become active immediately. PROFINET 1650

Available with firmware version ≥V01.01.

MOD_Max Maximum position of modulo range. usr_p INT32 CANopen 3006:3Ah

The maximum position value of the modulo range - R/W Modbus 1652
must be greater than the minimum position value
of the modulo range. 3600 per. Profibus 1652

The value must not exceed the maximum possible - - CIP 106.1.58
value of position scaling _ScalePOSmax.
ModbusTCP 1652
Setting can only be modified if power stage is
disabled. EtherCAT 3006:3Ah

Modified settings become active immediately. PROFINET 1652

Available with firmware version ≥V01.01.

Direction for Absolute Movements

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MOD_AbsDirection Direction of absolute movement with Modulo. - UINT16 CANopen 3006:3Bh

0 / Shortest Distance: Movement with shortest 0 R/W Modbus 1654

distance
0 per. Profibus 1654
1 / Positive Direction: Movement only in positive
direction 2 - CIP 106.1.59

2 / Negative Direction: Movement only in ModbusTCP 1654

negative direction
EtherCAT 3006:3Bh
If the parameter is set to 0, the drive calculates the
shortest way to the new target position and starts PROFINET 1654
the movement in the corresponding direction. If
the distance to the target position is identical in
positive and negative directions, the movement
takes place in positive direction.

Modified settings become active immediately.

Available with firmware version ≥V01.01.

Multiple Modulo Range for Absolute Movements

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

0198441113767.13 185
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MOD_AbsMultiRng Multiple ranges for absolute movement with - UINT16 CANopen 3006:3Ch
Modulo.
0 R/W Modbus 1656
0 / Multiple Ranges Off: Absolute movement in
one modulo range 0 per. Profibus 1656

1 / Multiple Ranges On: Absolute movement in 1 - CIP 106.1.60

multiple modulo ranges
ModbusTCP 1656
Modified settings become active immediately.
EtherCAT 3006:3Ch
Available with firmware version ≥V01.01.
PROFINET 1656

Examples with Relative Movements

Assumptions
The settings below are assumed for the examples.
• Rotary motor
• Position scaling
◦ Numerator: 1
◦ Denominator: 3600
• Modulo range
◦ Minimum position: 0 usr_p
◦ Maximum position: 3600 usr_p
• Actual position: 700 usr_p

Example 1
Target positions relative: 500 usr_p and 3300 usr_p

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

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Examples with Absolute Movements and "Shortest Distance"

Assumptions
The settings below are assumed for the examples.
• Rotary motor
• Position scaling
◦ Numerator: 1
◦ Denominator: 3600
• Modulo range
◦ Minimum position: 0 usr_p
◦ Maximum position: 3600 usr_p
• Actual position: 700 usr_p

Example 1
Target positions absolute: 1500 usr_p and 5000 usr_p

Example 2
Target positions absolute: 2500 usr_p and 2900 usr_p

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Examples with Absolute Movements and "Positive Direction"

Assumptions
The settings below are assumed for the examples.
• Rotary motor
• Position scaling
◦ Numerator: 1
◦ Denominator: 3600
• Modulo range
◦ Minimum position: 0 usr_p
◦ Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Parameter MOD_AbsDirection: Positive Direction

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

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

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Examples with Absolute Movements and "Negative Direction"

Assumptions
The settings below are assumed for the examples.
• Rotary motor
• Position scaling
◦ Numerator: 1
◦ Denominator: 3600
• Modulo range
◦ Minimum position: 0 usr_p
◦ Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Parameter MOD_AbsDirection: Negative Direction

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

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

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Scaling
General

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

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

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

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

Commissioning Software
As of firmware version ≥V01.04, you can adjust the scaling via the commissioning
software. The parameters with user-defined units are automatically adjusted.

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Configuration of Position Scaling

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

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

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

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ScalePOSnum Position scaling: Numerator. revolution INT32 CANopen 3006:8h

Specification of the scaling factor: 1 R/W Modbus 1552

Motor revolutions 1 per. Profibus 1552

--------------- 2147483647 - CIP 106.1.8

User-defined units [usr_p] ModbusTCP 1552

A new scaling is activated when the numerator EtherCAT 3006:8h

value is supplied.
PROFINET 1552
Setting can only be modified if power stage is
disabled.

Modified settings become active immediately.

ScalePOSdenom Position scaling: Denominator. usr_p INT32 CANopen 3006:7h

Refer to numerator (ScalePOSnum) for a 1 R/W Modbus 1550

description.
16384 per. Profibus 1550
A new scaling is activated when the numerator
value is supplied. 2147483647 - CIP 106.1.7

Setting can only be modified if power stage is ModbusTCP 1550

disabled.
EtherCAT 3006:7h

PROFINET 1550

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Configuration of Velocity Scaling

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

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

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ScaleVELnum Velocity scaling: Numerator. RPM INT32 CANopen 3006:22h

Specification of the scaling factor: 1 R/W Modbus 1604

Speed of rotation of motor [RPM] 1 per. Profibus 1604

--------------- 2147483647 - CIP 106.1.34

User-defined units [usr_v] ModbusTCP 1604

A new scaling is activated when the numerator EtherCAT 3006:22h

value is supplied.
PROFINET 1604
Setting can only be modified if power stage is
disabled.

Modified settings become active immediately.

ScaleVELdenom Velocity scaling: Denominator. usr_v INT32 CANopen 3006:21h

See numerator (ScaleVELnum) for a description. 1 R/W Modbus 1602

A new scaling is activated when the numerator 1 per. Profibus 1602

value is supplied.
2147483647 - CIP 106.1.33
Setting can only be modified if power stage is
disabled. ModbusTCP 1602

EtherCAT 3006:21h

PROFINET 1602

Configuration of Ramp Scaling

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

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

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

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ScaleRAMPnum Ramp scaling: Numerator. RPM/s INT32 CANopen 3006:31h

Setting can only be modified if power stage is 1 R/W Modbus 1634

disabled.
1 per. Profibus 1634
Modified settings become active immediately.
2147483647 - CIP 106.1.49

ModbusTCP 1634

EtherCAT 3006:31h

PROFINET 1634
ScaleRAMPdenom Ramp scaling: Denominator. usr_a INT32 CANopen 3006:30h

See numerator (ScaleRAMPnum) for a 1 R/W Modbus 1632

description.
1 per. Profibus 1632
A new scaling is activated when the numerator
value is supplied. 2147483647 - CIP 106.1.48

Setting can only be modified if power stage is ModbusTCP 1632

disabled.
EtherCAT 3006:30h

PROFINET 1632

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Digital Signal Inputs and Digital Signal Outputs

Parameterization of the Signal Input Functions

Signal Input Function

Various signal input functions can be assigned to the digital signal inputs.
The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.

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

Factory Settings
The table below shows the factory settings of the digital signal inputs depending
on the selected operating mode in local control mode:

Signal Jog Electronic Gear Profile Torque Profile Velocity Motion Sequence

DI0 Enable Enable Enable Enable Enable

DI1 Fault Reset Fault Reset Fault Reset Fault Reset Reference Switch
(REF)

DI2 Positive Limit Switch Positive Limit Switch Operating Mode Operating Mode Positive Limit Switch
(LIMP) (LIMP) Switch Switch (LIMP)

DI3 Negative Limit Switch Negative Limit Switch Velocity Limitation Velocity Limitation Negative Limit Switch
(LIMN) (LIMN) (LIMN)

DI4 Jog negative Gear Ratio Switch Current Limitation Zero Clamp Start Motion
Sequence

DI5 Jog positive Halt Halt Halt Data Set Select

The table below shows the factory settings of the digital signal inputs in fieldbus
control mode:

Signal Signal input function

DI0 Freely Available

DI1 Reference Switch (REF)

DI2 Positive Limit Switch (LIMP)

DI3 Negative Limit Switch (LIMN)

DI4 Freely Available

DI5 Freely Available

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Parameterization
The table below provides an overview of the possible signal input functions
depending on the selected operating mode in local control mode:

Signal input function Jog Electronic Profile Profile Motion Description in section
Gear Torque Velocity Sequence

Freely Available • • • • • Setting a Signal Output via

Parameter, page 326

Fault Reset • • • • • Changing the Operating State

via Signal Inputs, page 239

Enable • • • • • Changing the Operating State

via Signal Inputs, page 239

Halt • • • • • Stopping Movement with Halt,

page 316

Current Limitation • • • • • Limitation of the Current via

Signal Inputs, page 322

Zero Clamp • • • • • Zero Clamp, page 325

Velocity Limitation • • • • • Limitation of the Velocity via

Signal Inputs, page 319

Jog Positive • Operating Mode Jog, page

244
Jog Negative • Operating Mode Jog, page
244
Jog Fast/Slow • Operating Mode Jog, page
244
Gear Ratio Switch • Operating Mode Electronic
Gear, page 252

Start Single Data Set • Operating Mode Motion

Sequence, page 301

Data Set Select • Operating Mode Motion

Sequence, page 301

Data Set Bit 0 • Operating Mode Motion

Sequence, page 301

Data Set Bit 1 • Operating Mode Motion

Sequence, page 301

Data Set Bit 2 • Operating Mode Motion

Sequence, page 301

Data Set Bit 3 • Operating Mode Motion

Sequence, page 301

Gear Offset 1 • Operating Mode Electronic

Gear, page 252

Gear Offset 2 • Operating Mode Electronic

Gear, page 252

Reference Switch (REF) • • • • • Reference Switch, page 346

Positive Limit Switch (LIMP) • • • • • Limit Switches, page 345

Negative Limit Switch (LIMN) • • • • • Limit Switches, page 345

Switch Controller Parameter Set • • • • • Switching Between Control

Loop Parameter Sets, page
218
Operating Mode Switch • • • Starting and Changing an
Operating Mode, page 241

Velocity Controller Integral Off • • • • • Switching Between Control

Loop Parameter Sets, page
218
Start Motion Sequence • Operating Mode Motion
Sequence, page 301

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Signal input function Jog Electronic Profile Profile Motion Description in section
Gear Torque Velocity Sequence

Start Signal Of RMAC • • • • • Relative Movement After

Capture (RMAC), page 338

Activate RMAC • • • • • Relative Movement After

Capture (RMAC), page 338

Activate Operating Mode • • • • • Relative Movement After

Capture (RMAC), page 338

Data Set Bit 4 • Operating Mode Motion

Sequence, page 301

Data Set Bit 5 • Operating Mode Motion

Sequence, page 301

Data Set Bit 6 • Operating Mode Motion

Sequence, page 301

Inversion AI11 (IO Module)(1) • • Inverting the Analog Signal

Inputs, page 319

Inversion AI12 (IO Module)(1) • • Inverting the Analog Signal

Inputs, page 319

Release Holding Brake • • • • • Releasing the Holding Brake

Manually, page 147

(1) Analog signal inputs are available with the IOM1 module.

The table below provides an overview of the possible signal input functions in
fieldbus control mode:

Signal input function Description in section

Freely Available Setting a Signal Output via Parameter, page 326

Fault Reset Changing the Operating State via Signal Inputs, page 239

Enable Changing the Operating State via Signal Inputs, page 239

Halt Stopping Movement with Halt, page 316

Start Profile Positioning Starting a Movement via a Signal Input, page 326

Current Limitation Limitation of the Current via Signal Inputs, page 322

Zero Clamp Zero Clamp, page 325

Velocity Limitation Limitation of the Velocity via Signal Inputs, page 319

Gear Offset 1 Operating Mode Electronic Gear, page 252

Gear Offset 2 Operating Mode Electronic Gear, page 252

Reference Switch (REF) Reference Switch, page 346

Positive Limit Switch (LIMP) Limit Switches, page 345

Negative Limit Switch (LIMN) Limit Switches, page 345

Switch Controller Parameter Set Switching Between Control Loop Parameter Sets, page 218

Velocity Controller Integral Off Switching Between Control Loop Parameter Sets, page 218

Start Signal Of RMAC Relative Movement After Capture (RMAC), page 338

Activate RMAC Relative Movement After Capture (RMAC), page 338

Release Holding Brake Releasing the Holding Brake Manually, page 147

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

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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

IOfunct_DI0 Function Input DI0. - UINT16 CANopen

3007:1h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1794
2 / Fault Reset / F r E S : Fault reset after error - per.
di0 Profibus 1794
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.1
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1794
movement
EtherCAT
6 / Current Limitation / i L i M : Limits the current to parameter 3007:1h
value
PROFINET 1794
7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

IOfunct_DI1 Function Input DI1. - UINT16 CANopen

3007:2h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1796
2 / Fault Reset / F r E S : Fault reset after error - per.
di1 Profibus 1796
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.2
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1796
movement
EtherCAT
6 / Current Limitation / i L i M : Limits the current to parameter 3007:2h
value
PROFINET 1796
7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

IOfunct_DI2 Function Input DI2. - UINT16 CANopen

3007:3h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1798
2 / Fault Reset / F r E S : Fault reset after error - per.
di2 Profibus 1798
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.3
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1798
movement
EtherCAT
6 / Current Limitation / i L i M : Limits the current to parameter 3007:3h
value
PROFINET 1798
7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

IOfunct_DI3 Function Input DI3. - UINT16 CANopen

3007:4h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1800
2 / Fault Reset / F r E S : Fault reset after error - per.
di3 Profibus 1800
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.4
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1800
movement

0198441113767.13 201
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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

6 / Current Limitation / i L i M : Limits the current to parameter EtherCAT

value 3007:4h

7 / Zero Clamp / C L M P : Zero clamping PROFINET 1800

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

202 0198441113767.13
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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

IOfunct_DI4 Function Input DI4. - UINT16 CANopen

3007:5h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1802
2 / Fault Reset / F r E S : Fault reset after error - per.
di4 Profibus 1802
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.5
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1802
movement
EtherCAT
6 / Current Limitation / i L i M : Limits the current to parameter 3007:5h
value
PROFINET 1802
7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

IOfunct_DI5 Function Input DI5. - UINT16 CANopen

3007:6h
ConF → i- 1 / Freely Available / n o n E : Available as required - R/W
o- Modbus 1804
2 / Fault Reset / F r E S : Fault reset after error - per.
di5 Profibus 1804
3 / Enable / E n A b : Enables the power stage - -
CIP 107.1.6
4 / Halt / h A L t : Halt
ModbusTCP
5 / Start Profile Positioning / S P t P : Start request for 1804
movement
EtherCAT
6 / Current Limitation / i L i M : Limits the current to parameter 3007:6h
value
PROFINET 1804
7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the velocity to

parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive direction

10 / Jog Negative / J o G n : Jog: Moves in negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches between slow and

fast movement

12 / Gear Ratio Switch / G r A t : Electronic Gear: Switches

between two gear ratios

13 / Start Single Data Set / d S t A : Motion Sequence: Starts a

single data set

14 / Data Set Select / d S E L : Motion Sequence: Data set

selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence: Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence: Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence: Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence: Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear: Adds first gear

offset

204 0198441113767.13
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Parameter name Description Unit Data Parameter

type address via
HMI menu Minimum value fieldbus
R/W
HMI name Factory setting
Persis-
Maximum tent
value
Expert

20 / Gear Offset 2 / G o F 2 : Electronic Gear: Adds second gear

offset

21 / Reference Switch (REF) / r E F : Reference switch

22 / Positive Limit Switch (LIMP) / L i M P : Positive limit

switch

23 / Negative Limit Switch (LIMN) / L i M n : Negative limit

switch

24 / Switch Controller Parameter Set / C P A r : Switches

control loop parameter set

27 / Operating Mode Switch / M S W t : Switches operating

mode

28 / Velocity Controller Integral Off / t n o F : Switches off

velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion Sequence: Starts

a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal of relative

movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the relative movement

after capture (RMAC)

32 / Activate Operating Mode / A c o P : Activates operating

mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence: Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence: Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence: Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i : Inverts analog input

AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i : Inverts analog input

AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases the holding

brake

Setting can only be modified if power stage is disabled.

Modified settings become active the next time the product is

powered on.

Parameterization of the Signal Output Functions

Signal Output Function

Various signal output functions can be assigned to the digital signal outputs.

0198441113767.13 205
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The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.

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

In the case of a detected error the state of the signal outputs remains active
according to assigned signal output function.

Factory Settings
The table below shows the factory settings of the digital signal outputs depending
on the selected operating mode in local control mode:

Signal Jog Electronic Gear Profile Torque Profile Velocity Motion Sequence

DQ0 No Fault No Fault No Fault No Fault Motion Sequence:

Done
DQ1 Active Active Active Active Active

DQ2 In Position Deviation In Position Deviation Current Below In Velocity Deviation Motion Sequence:
Window Window Threshold Window Start Acknowledge

The table below shows the factory settings of the digital signal outputs in fieldbus
control mode:

Signal Signal output function

DQ0 No Fault

DQ1 Active

DQ2 Freely Available

206 0198441113767.13
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Parameterization
The table below provides an overview of the possible signal output functions
depending on the selected operating mode in local control mode:

Signal output function Jog Electronic Profile Profile Motion Description in section
Gear Torque Velocity Sequence

Freely Available • • • • • Setting a Signal Output via

Parameter, page 326

No Fault • • • • • Indication of the Operating

State via Signal Inputs, page
238
Active • • • • • Indication of the Operating
State via Signal Inputs, page
238
RMAC Active Or Finished • • • • • Relative Movement After
Capture (RMAC), page 338

In Position Deviation Window • • • Position Deviation Window,

page 365

In Velocity Deviation Window • • • • Velocity Deviation Window,

page 367

Velocity Below Threshold • • • • • Velocity Threshold Value,

page 369

Current Below Threshold • • • • • Current Threshold Value,

page 370

Halt Acknowledge • • • • • Stopping Movement with Halt,

page 316

Motion Sequence: Start • Operating Mode Motion

Acknowledge Sequence, page 301

Motor Standstill • • • • • Motor Standstill and Direction

of Movement, page 352

Selected Error • • • • • Indicating Error Messages,

page 390

Drive Referenced (ref_ok) • Operating Mode Homing,

page 289

Selected Warning • • • • • Indicating Error Messages,

page 390

Motion Sequence: Done • Operating Mode Motion

Sequence, page 301

Motor Moves Positive • • • • • Motor Standstill and Direction

of Movement, page 352

Motor Moves Negative • • • • • Motor Standstill and Direction

of Movement, page 352

The table below provides an overview of the possible signal output functions in
fieldbus control mode:

Signal output function Description in section

Freely Available Setting a Signal Output via Parameter, page 326

No Fault Indication of the Operating State via Signal Inputs, page 238

Active Indication of the Operating State via Signal Inputs, page 238

RMAC Active Or Finished Relative Movement After Capture (RMAC), page 338

In Position Deviation Window Position Deviation Window, page 365

In Velocity Deviation Window Velocity Deviation Window, page 367

Velocity Below Threshold Velocity Threshold Value, page 369

Current Below Threshold Current Threshold Value, page 370

0198441113767.13 207
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Signal output function Description in section

Halt Acknowledge Stopping Movement with Halt, page 316

Motion Sequence: Start Operating Mode Motion Sequence, page 301

Acknowledge

Motor Standstill Motor Standstill and Direction of Movement, page 352

Selected Error Indicating Error Messages, page 390

Drive Referenced (ref_ok) Operating Mode Homing, page 289

Selected Warning Indicating Error Messages, page 390

Motion Sequence: Done Operating Mode Motion Sequence, page 301

Position Register Channel 1 Position Register, page 357

Position Register Channel 2 Position Register, page 357

Position Register Channel 3 Position Register, page 357

Position Register Channel 4 Position Register, page 357

Motor Moves Positive Motor Standstill and Direction of Movement, page 352

Motor Moves Negative Motor Standstill and Direction of Movement, page 352

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

208 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOfunct_DQ0 Function Output DQ0. - UINT16 CANopen 3007:9h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1810

required
do0 - per. Profibus 1810
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 107.1.9
Enabled
ModbusTCP 1810
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 3007:9h

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 1810

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DQ1 Function Output DQ1. - UINT16 CANopen 3007:Ah

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1812

required
do1 - per. Profibus 1812

- - CIP 107.1.10

0198441113767.13 209
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

2 / No Fault / n F L t : Signals operating states ModbusTCP 1812

Ready To Switch On, Switched On and Operation
Enabled EtherCAT 3007:Ah

3 / Active / A c t i : Signals operating state PROFINET 1812

Operation Enabled

4 / RMAC Active Or Finished / r M c A : Relative

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DQ2 Function Output DQ2. - UINT16 CANopen 3007:Bh

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1814

required
do2 - per. Profibus 1814
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 107.1.11
Enabled
ModbusTCP 1814
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 3007:Bh

210 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 1814

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Parameterization of Software Debouncing

Debounce Time
Signal input debouncing comprises hardware debouncing and software
debouncing.
Hardware debounce time is permanently set, see Digital Input Signals 24 V
(Hardware switching time), page 40.
When a set signal function is modified, software debouncing is reset to the factory
setting on the next power cycle.

0198441113767.13 211
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The software debounce time can be set via the following parameters.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DI_0_Debounce Debounce time of DI0. - UINT16 CANopen 3008:20h

0 / No: No software debouncing 0 R/W Modbus 2112

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2112

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.32

3 / 0.75 ms: 0.75 ms ModbusTCP 2112

4 / 1.00 ms: 1.00 ms EtherCAT 3008:20h

5 / 1.25 ms: 1.25 ms PROFINET 2112

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_1_Debounce Debounce time of DI1. - UINT16 CANopen 3008:21h

0 / No: No software debouncing 0 R/W Modbus 2114

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2114

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.33

3 / 0.75 ms: 0.75 ms ModbusTCP 2114

4 / 1.00 ms: 1.00 ms EtherCAT 3008:21h

5 / 1.25 ms: 1.25 ms PROFINET 2114

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_2_Debounce Debounce time of DI2. - UINT16 CANopen 3008:22h

0 / No: No software debouncing 0 R/W Modbus 2116

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2116

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.34

3 / 0.75 ms: 0.75 ms ModbusTCP 2116

4 / 1.00 ms: 1.00 ms EtherCAT 3008:22h

5 / 1.25 ms: 1.25 ms PROFINET 2116

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

212 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DI_3_Debounce Debounce time of DI3. - UINT16 CANopen 3008:23h

0 / No: No software debouncing 0 R/W Modbus 2118

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2118

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.35

3 / 0.75 ms: 0.75 ms ModbusTCP 2118

4 / 1.00 ms: 1.00 ms EtherCAT 3008:23h

5 / 1.25 ms: 1.25 ms PROFINET 2118

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_4_Debounce Debounce time of DI4. - UINT16 CANopen 3008:24h

0 / No: No software debouncing 0 R/W Modbus 2120

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2120

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.36

3 / 0.75 ms: 0.75 ms ModbusTCP 2120

4 / 1.00 ms: 1.00 ms EtherCAT 3008:24h

5 / 1.25 ms: 1.25 ms PROFINET 2120

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_5_Debounce Debounce time of DI5. - UINT16 CANopen 3008:25h

0 / No: No software debouncing 0 R/W Modbus 2122

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2122

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.37

3 / 0.75 ms: 0.75 ms ModbusTCP 2122

4 / 1.00 ms: 1.00 ms EtherCAT 3008:25h

5 / 1.25 ms: 1.25 ms PROFINET 2122

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

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PTI and PTO Interface

Setting the PTI Interface

Type of Reference Value Signal

A/B signals, P/D signals or CW/CCW signals can be connected to the PTI
interface.
Set the type of reference value signal for the PTI interface with the parameter PTI_
signal_type.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PTI_signal_type Type of reference value signal for PTI interface. - UINT16 CANopen 3005:2h

ConF → i-o- 0 / A/B Signals / A b : Signals ENC_A and ENC_ 0 R/W Modbus 1284
B (quadruple evaluation)
ioPi 0 per. Profibus 1284
1 / P/D Signals / P d : Signals PULSE and DIR
2 - CIP 105.1.2
2 / CW/CCW Signals / c W c c : Signals
clockwise and counterclockwise ModbusTCP 1284

Setting can only be modified if power stage is EtherCAT 3005:2h

disabled.
PROFINET 1284
Modified settings become active the next time the
product is powered on.

Inverting the Reference Value Signals

The direction of counting of the reference value signals at the PTI interface can be
inverted by means of the parameter InvertDirOfCount.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

InvertDirOfCount Inversion of direction of counting at PTI interface. - UINT16 CANopen 3008:7h

0 / Inversion Off: Inversion of direction of 0 R/W Modbus 2062

counting is off
0 per. Profibus 2062
1 / Inversion On: Inversion of direction of
counting is on 1 - CIP 108.1.7

Modified settings become active immediately. ModbusTCP 2062

EtherCAT 3008:7h

PROFINET 2062

Setting the Position Value

The position value at the PTI interface can be set manually by means of the
parameter p_PTI_act_set.

214 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

p_PTI_act_set Position value at PTI interface. Inc INT32 CANopen 3008:29h

Available with firmware version ≥V01.26. -2147483648 R/W Modbus 2130

- - Profibus 2130

2147483647 - CIP 108.1.41

ModbusTCP 2130

EtherCAT 3008:29h

PROFINET 2130

Setting the PTO Interface

Type of Usage of PTO Interface

The PTO interface allows you to make reference value signals from the device
externally available.
The PTO interface can be used in several ways:
• Encoder simulation based on a position value
• Encoder simulation based on reference current
• PTI signal
The parameter PTO_mode lets you set the way the PTO interface is used.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PTO_mode Type of usage of PTO interface. - UINT16 CANopen 3005:1Fh

ConF → ACG- 0 / Off / o F F : PTO interface disabled 0 R/W Modbus 1342

PtoM 1 / Esim pAct Enc 1 / P E n 1 : Encoder 0 per. Profibus 1342

simulation based on actual position of encoder 1
6 - CIP 105.1.31
2 / Esim pRef / P r E F : Encoder simulation
based on reference position (_p_ref) ModbusTCP 1342

3 / PTI Signal / P t i : Directly the signal from PTI EtherCAT 3005:1Fh

interface
PROFINET 1342
4 / Esim pAct Enc 2 / P E n 2 : Encoder
simulation based on actual position of encoder 2
(module)

5 / Esim iqRef / i r E F : Encoder simulation

based on reference current

6 / Esim pActRaw Enc2 / E n c 2 : Encoder

simulation based on raw position value of encoder
2 (module)

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Encoder Simulation Based on a Position Value

The following types of encoder simulation based on a position value are possible:

0198441113767.13 215
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• Encoder simulation based on actual position of encoder 1

• Encoder simulation based on the reference position values (_p_ref)
• Encoder simulation based on actual position of encoder 2
• Encoder simulation based on raw position value (parameter ResolENC2) of
encoder 2 (with firmware version ≥V01.26)
The resolution for the encoder simulation is set with the parameter ESIM_scale.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ESIM_scale Resolution of encoder simulation. EncInc UINT16 CANopen 3005:15h

ConF → i-o- Resolution defines the number of increments per 8 R/W Modbus 1322
revolution (AB signal with quadruple evaluation).
ESSC 4096 per. Profibus 1322
The index pulse is created once per revolution at
an interval where signal A and signal B are high. 65535 - CIP 105.1.21

Setting can only be modified if power stage is ModbusTCP 1322

disabled.
EtherCAT 3005:15h
Modified settings become active the next time the
product is powered on. PROFINET 1322

With firmware version ≥V01.10, you can set the resolution with decimal places.
The parameter ESIM_HighResolution lets you set the resolution with decimal
places.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ESIM_ Encoder simulation: High resolution. EncInc UINT32 CANopen 3005:32h

HighResolution
Specifies the number of increments per revolution 0 R/W Modbus 1380
with 12 bit decimal places. If the parameter is set
to a multiple of 4096, the index pulse will be 0 per. Profibus 1380
generated exactly at the same position within one
revolution. 268431360 expert CIP 105.1.50

The setting of parameter ESIM_scale is only used ModbusTCP 1380

if parameter ESIM_HighResolution is set to 0.
Otherwise, the setting of ESIM_HighResolution is EtherCAT 3005:32h
used.
PROFINET 1380
Example: 1417.322835 encoder simulation pulses
per revolution are required.

Set the parameter to 1417.322835 * 4096 =

5805354.

In this example, the index pulse will be generated

exactly after every 1417 pulses. This means that
the index pulse shifts with each revolution.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

With firmware version ≥V01.10, you can set a phase shift of the encoder
simulation.
The phase shift of the encoder simulation is set with the parameter ESIM_
PhaseShift.

216 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ESIM_PhaseShift Encoder simulation: Phase shift for pulse output. - INT16 CANopen 3005:33h

The generated encoder simulation pulses can be -32768 R/W Modbus 1382
shifted in units of 1/4096 encoder pulses. The shift
results in a position offset at PTO. The index pulse 0 - Profibus 1382
is shifted as well.
32767 expert CIP 105.1.51
Modified settings become active immediately.
ModbusTCP 1382
Available with firmware version ≥V01.10.
EtherCAT 3005:33h

PROFINET 1382

Encoder Simulation Based on Reference Current

In the case of encoder simulation based on the reference current, A/B signals are
output. The maximum frequency of the A/B signals is 1.6 * 10-6 increments per
second and corresponds to the maximum reference current (value in parameter
CTRL_I_max).
With firmware version ≥V01.20, you can set encoder simulation based on the
reference current.

PTI Signal
If the PTI signal is selected by means of parameter PTO_mode, the signal from
the PTI interface is directly made available at the PTO interface.

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Switching Between Control Loop Parameter Sets

Overview of the Controller Structure

General
The illustration below provides an overview of the controller structure.

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

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

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

218 0198441113767.13
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Current Controller
The current controller determines the torque of the motor. The current controller is
automatically optimally tuned with the stored motor data.

Overview of Position Controller

Overview
The illustration below provides an overview of the position controller.

1 Reference value signals for the operating mode Electronic Gear (position synchronization)
2 Evaluation of the reference value signal for the operating mode Electronic Gear
3 Target values for the operating modes Jog, Profile Position, Homing and Motion Sequence
4 Motion profile for the velocity
5 Velocity feed-forward control
6 Position controller

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

Overview of Velocity Controller

Overview
The illustration below provides an overview of the velocity controller.

0198441113767.13 219
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1 Reference value signals for the operating mode Electronic Gear with the method "Velocity Synchronization" and
target values for the operating mode Profile Velocity
2 Motion profile for the velocity
3 Velocity limitation
4 Overshoot suppression filter (parameter accessible in Expert mode)
5 Filter time constant of the reference velocity value filter
6 Acceleration feed forward control (parameter accessible in Expert mode)
7 Friction compensation (parameter accessible in Expert mode)
8 Velocity Loop Controller

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

Overview of Current Controller

Overview
The illustration below provides an overview of the current controller.

220 0198441113767.13
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1 Target values for the operating mode Profile Torque

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

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

Parameterizable Control Loop Parameters

Control Loop Parameter Set

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

0198441113767.13 221
Servo Drive Operation

Control loop parameter set 1 Control loop parameter set 2

Freely accessible parameters: Freely accessible parameters:

CTRL1_KPn CTRL2_KPn

CTRL1_TNn CTRL2_TNn

CTRL1_KPp CTRL2_KPp

CTRL1_TAUiref CTRL2_TAUiref

CTRL1_TAUnref CTRL2_TAUnref

CTRL1_KFPp CTRL2_KFPp

Parameters only accessible in expert mode: Parameters only accessible in expert mode:

CTRL1_Nf1damp CTRL2_Nf1damp

CTRL1_Nf1freq CTRL2_Nf1freq

CTRL1_Nf1bandw CTRL2_Nf1bandw

CTRL1_Nf2damp CTRL2_Nf2damp

CTRL1_Nf2freq CTRL2_Nf2freq

CTRL1_Nf2bandw CTRL2_Nf2bandw

CTRL1_Osupdamp CTRL2_Osupdamp

CTRL1_Osupdelay CTRL2_Osupdelay

CTRL1_Kfric CTRL2_Kfric

See sections Control Loop Parameter Set 1, page 227 and Control Loop
Parameter Set 2, page 231.

Parameterization
• Selecting a control loop parameter set
Select a control loop parameter set after switching on.
See Selecting a Control Loop Parameter Set, page 222.
• Automatically switching between control loop parameter sets
It is possible to switch between the two control loop parameter sets.
See Automatically Switching Between Control Loop Parameter Sets, page
223.
• Copying a control loop parameter set
The values of control loop parameter set 1 can be copied to control loop
parameter set 2.
See Copying a Control Loop Parameter Set, page 226.
• Deactivating the integral term
The integral term and, by implication, the integral action time, can be
deactivated via a digital signal input.
See Deactivating the Integral Term, page 227.

Selecting a Control Loop Parameter Set

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

222 0198441113767.13
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The parameter CTRL_SelParSet allows you to switch between the two control
loop parameter sets during operation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_CTRL_ActParSet Active control loop parameter set. - UINT16 CANopen 3011:17h

Value 1: Control loop parameter set 1 is active - R/- Modbus 4398

Value 2: Control loop parameter set 2 is active - - Profibus 4398

A control loop parameter set is active after the - - CIP 117.1.23

time for the parameter switching (CTRL_
ParChgTime) has elapsed. ModbusTCP 4398

EtherCAT 3011:17h

PROFINET 4398
CTRL_PwrUpParSet Selection of control loop parameter set at power - UINT16 CANopen 3011:18h
up.
0 R/W Modbus 4400
0 / Switching Condition: The switching condition
is used for control loop parameter set switching 1 per. Profibus 4400

1 / Parameter Set 1: Control loop parameter set 1 2 - CIP 117.1.24

is used
ModbusTCP 4400
2 / Parameter Set 2: Control loop parameter set 2
is used EtherCAT 3011:18h

The selected value is also written to CTRL_ PROFINET 4400

SelParSet (non-persistent).

Modified settings become active immediately.

CTRL_SelParSet Selection of control loop parameter set. - UINT16 CANopen 3011:19h

Coding see parameter: CTRL_PwrUpParSet 0 R/W Modbus 4402

Modified settings become active immediately. 1 - Profibus 4402

2 - CIP 117.1.25

ModbusTCP 4402

EtherCAT 3011:19h

PROFINET 4402

Automatically Switching Between Control Loop Parameter Sets

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

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

0198441113767.13 223
Servo Drive Operation

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

1 Freely accessible parameters are changed linearly over time

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

224 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CLSET_ParSwiCond Condition for parameter set switching. - UINT16 CANopen 3011:1Ah

0 / None Or Digital Input: None or digital input 0 R/W Modbus 4404

function selected
0 per. Profibus 4404
1 / Inside Position Deviation: Inside position
deviation (value definition in parameter CLSET_ 4 - CIP 117.1.26
p_DiffWin)
ModbusTCP 4404
2 / Below Reference Velocity: Below reference
velocity (value definition in parameter CLSET_v_ EtherCAT 3011:1Ah
Threshol)
PROFINET 4404
3 / Below Actual Velocity: Below actual velocity
(value definition in parameter CLSET_v_Threshol)

4 / Reserved: Reserved

In the case of parameter set switching, the values

of the following parameters are changed
gradually:

- CTRL_KPn

- CTRL_TNn

- CTRL_KPp

- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

The following parameters are changed

immediately after the time for parameter set
switching (CTRL_ParChgTime):

- CTRL_Nf1damp

- CTRL_Nf1freq

- CTRL_Nf1bandw

- CTRL_Nf2damp

- CTRL_Nf2freq

- CTRL_Nf2bandw

- CTRL_Osupdamp

- CTRL_Osupdelay

- CTRL_Kfric

Modified settings become active immediately.

CLSET_p_DiffWin_ Position deviation for control loop parameter set usr_p INT32 CANopen 3011:25h
usr switching.
0 R/W Modbus 4426
If the position deviation of the position controller is
less than the value of this parameter, control loop 164 per. Profibus 4426
parameter set 2 is used. Otherwise, control loop
parameter set 1 is used. 2147483647 - CIP 117.1.37

The minimum value, the factory setting and the ModbusTCP 4426
maximum value depend on the scaling factor.
EtherCAT 3011:25h
Modified settings become active immediately.
PROFINET 4426
Available with firmware version ≥V01.03.

0198441113767.13 225
Servo Drive Operation

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CLSET_v_Threshol Velocity threshold for control loop parameter set usr_v UINT32 CANopen 3011:1Dh
switching.
0 R/W Modbus 4410
If the reference velocity or the actual velocity are
less than the value of this parameter, control loop 50 per. Profibus 4410
parameter set 2 is used. Otherwise, control loop
parameter set 1 is used. 2147483647 - CIP 117.1.29

Modified settings become active immediately. ModbusTCP 4410

EtherCAT 3011:1Dh

PROFINET 4410
CLSET_winTime Time window for parameter set switching. ms UINT16 CANopen 3011:1Bh

Value 0: Window monitoring deactivated. 0 R/W Modbus 4406

Value >0: Window time for the parameters 0 per. Profibus 4406
CLSET_v_Threshol and CLSET_p_DiffWin.
1000 - CIP 117.1.27
Modified settings become active immediately.
ModbusTCP 4406

EtherCAT 3011:1Bh

PROFINET 4406
CTRL_ParChgTime Period of time for control loop parameter set ms UINT16 CANopen 3011:14h
switching.
0 R/W Modbus 4392
In the case of control loop parameter set
switching, the values of the following parameters 0 per. Profibus 4392
are changed linearly:
2000 - CIP 117.1.20
- CTRL_KPn
ModbusTCP 4392
- CTRL_TNn
EtherCAT 3011:14h
- CTRL_KPp
PROFINET 4392
- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

Modified settings become active immediately.

Copying a Control Loop Parameter Set

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

226 0198441113767.13
Operation Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_ParSetCopy Control loop parameter set copying. - UINT16 CANopen 3011:16h

Value 1: Copy control loop parameter set 1 to set 0 R/W Modbus 4396
2
- - Profibus 4396
Value 2: Copy control loop parameter set 2 to set
1 2 - CIP 117.1.22

If control loop parameter set 2 is copied to control ModbusTCP 4396

loop parameter set 1, the parameter CTRL_
GlobGain is set to 100%. EtherCAT 3011:16h

Modified settings become active immediately. PROFINET 4396

Deactivating the Integral Term

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

Control Loop Parameter Set 1

Overview
Parameter name Description Unit Data type Parameter address
via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3012:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4610
motor parameters.
Pn1 - per. Profibus 4610
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 118.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4610

In increments of 0.0001 A/RPM. EtherCAT 3012:1h

Modified settings become active immediately. PROFINET 4610

CTRL1_TNn Velocity controller integral action time. ms UINT16 CANopen 3012:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4612

tin1 In the case of switching between the two control - per. Profibus 4612
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 118.1.2
CTRL_ParChgTime.
ModbusTCP 4612
In increments of 0.01 ms.
EtherCAT 3012:2h
Modified settings become active immediately.
PROFINET 4612

0198441113767.13 227
Servo Drive Operation

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_KPp Position controller P gain. 1/s UINT16 CANopen 3012:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4614

PP1 In the case of switching between the two control - per. Profibus 4614
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 118.1.3
CTRL_ParChgTime.
ModbusTCP 4614
In increments of 0.1 1/s.
EtherCAT 3012:3h
Modified settings become active immediately.
PROFINET 4614
CTRL1_TAUiref Filter time constant of the reference current value ms UINT16 CANopen 3012:5h
filter.
0.00 R/W Modbus 4618
In the case of switching between the two control
loop parameter sets, the values are changed 0.50 per. Profibus 4618
linearly over the time defined in the parameter
CTRL_ParChgTime. 4.00 - CIP 118.1.5

In increments of 0.01 ms. ModbusTCP 4618

Modified settings become active immediately. EtherCAT 3012:5h

PROFINET 4618
CTRL1_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3012:4h
filter.
ConF → drC- 0.00 R/W Modbus 4616
In the case of switching between the two control
tAu1 loop parameter sets, the values are changed 9.00 per. Profibus 4616
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 118.1.4

In increments of 0.01 ms. ModbusTCP 4616

Modified settings become active immediately. EtherCAT 3012:4h

PROFINET 4616
CTRL1_KFPp Velocity feed-forward control. % UINT16 CANopen 3012:6h

ConF → drC- In the case of switching between the two control 0.0 R/W Modbus 4620
loop parameter sets, the values are changed
FPP1 linearly over the time defined in the parameter 0.0 per. Profibus 4620
CTRL_ParChgTime.
200.0 - CIP 118.1.6
In increments of 0.1 %.
ModbusTCP 4620
Modified settings become active immediately.
EtherCAT 3012:6h

PROFINET 4620
CTRL1_Nf1damp Notch filter 1: Damping. % UINT16 CANopen 3012:8h

In increments of 0.1 %. 55.0 R/W Modbus 4624

Modified settings become active immediately. 90.0 per. Profibus 4624

99.0 expert CIP 118.1.8

ModbusTCP 4624

EtherCAT 3012:8h

PROFINET 4624

228 0198441113767.13
Operation Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_Nf1freq Notch filter 1: Frequency. Hz UINT16 CANopen 3012:9h

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4626

In increments of 0.1 Hz. 1500.0 per. Profibus 4626

Modified settings become active immediately. 1500.0 expert CIP 118.1.9

ModbusTCP 4626

EtherCAT 3012:9h

PROFINET 4626
CTRL1_Nf1bandw Notch filter 1: Bandwidth. % UINT16 CANopen 3012:Ah

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4628

In increments of 0.1 %. 70.0 per. Profibus 4628

Modified settings become active immediately. 90.0 expert CIP 118.1.10

ModbusTCP 4628

EtherCAT 3012:Ah

PROFINET 4628
CTRL1_Nf2damp Notch filter 2: Damping. % UINT16 CANopen 3012:Bh

In increments of 0.1 %. 55.0 R/W Modbus 4630

Modified settings become active immediately. 90.0 per. Profibus 4630

99.0 expert CIP 118.1.11

ModbusTCP 4630

EtherCAT 3012:Bh

PROFINET 4630
CTRL1_Nf2freq Notch filter 2: Frequency. Hz UINT16 CANopen 3012:Ch

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4632

In increments of 0.1 Hz. 1500.0 per. Profibus 4632

Modified settings become active immediately. 1500.0 expert CIP 118.1.12

ModbusTCP 4632

EtherCAT 3012:Ch

PROFINET 4632
CTRL1_Nf2bandw Notch filter 2: Bandwidth. % UINT16 CANopen 3012:Dh

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4634

In increments of 0.1 %. 70.0 per. Profibus 4634

Modified settings become active immediately. 90.0 expert CIP 118.1.13

ModbusTCP 4634

EtherCAT 3012:Dh

PROFINET 4634

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_Osupdamp Overshoot suppression filter: Damping. % UINT16 CANopen 3012:Eh

The filter is deactivated at a value of 0. 0.0 R/W Modbus 4636

In increments of 0.1 %. 0.0 per. Profibus 4636

Modified settings become active immediately. 50.0 expert CIP 118.1.14

ModbusTCP 4636

EtherCAT 3012:Eh

PROFINET 4636
CTRL1_Osupdelay Overshoot suppression filter: Time delay. ms UINT16 CANopen 3012:Fh

The filter is deactivated at a value of 0. 0.00 R/W Modbus 4638

In increments of 0.01 ms. 0.00 per. Profibus 4638

Modified settings become active immediately. 75.00 expert CIP 118.1.15

ModbusTCP 4638

EtherCAT 3012:Fh

PROFINET 4638
CTRL1_Kfric Friction compensation: Gain. Arms UINT16 CANopen 3012:10h

In increments of 0.01 Arms. 0.00 R/W Modbus 4640

Modified settings become active immediately. 0.00 per. Profibus 4640

10.00 expert CIP 118.1.16

ModbusTCP 4640

EtherCAT 3012:10h

PROFINET 4640

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Control Loop Parameter Set 2

Overview
Parameter name Description Unit Data type Parameter address
via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3013:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4866
motor parameters.
Pn2 - per. Profibus 4866
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 119.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4866

In increments of 0.0001 A/RPM. EtherCAT 3013:1h

Modified settings become active immediately. PROFINET 4866

CTRL2_TNn Velocity controller integral action time. ms UINT16 CANopen 3013:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4868

tin2 In the case of switching between the two control - per. Profibus 4868
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 119.1.2
CTRL_ParChgTime.
ModbusTCP 4868
In increments of 0.01 ms.
EtherCAT 3013:2h
Modified settings become active immediately.
PROFINET 4868
CTRL2_KPp Position controller P gain. 1/s UINT16 CANopen 3013:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4870

PP2 In the case of switching between the two control - per. Profibus 4870
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 119.1.3
CTRL_ParChgTime.
ModbusTCP 4870
In increments of 0.1 1/s.
EtherCAT 3013:3h
Modified settings become active immediately.
PROFINET 4870
CTRL2_TAUiref Filter time constant of the reference current value ms UINT16 CANopen 3013:5h
filter.
0.00 R/W Modbus 4874
In the case of switching between the two control
loop parameter sets, the values are changed 0.50 per. Profibus 4874
linearly over the time defined in the parameter
CTRL_ParChgTime. 4.00 - CIP 119.1.5

In increments of 0.01 ms. ModbusTCP 4874

Modified settings become active immediately. EtherCAT 3013:5h

PROFINET 4874
CTRL2_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3013:4h
filter.
ConF → drC- 0.00 R/W Modbus 4872
In the case of switching between the two control
tAu2 loop parameter sets, the values are changed 9.00 per. Profibus 4872
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 119.1.4

In increments of 0.01 ms. ModbusTCP 4872

Modified settings become active immediately. EtherCAT 3013:4h

PROFINET 4872

0198441113767.13 231
Servo Drive Operation

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_KFPp Velocity feed-forward control. % UINT16 CANopen 3013:6h

ConF → drC- In the case of switching between the two control 0.0 R/W Modbus 4876
loop parameter sets, the values are changed
FPP2 linearly over the time defined in the parameter 0.0 per. Profibus 4876
CTRL_ParChgTime.
200.0 - CIP 119.1.6
In increments of 0.1 %.
ModbusTCP 4876
Modified settings become active immediately.
EtherCAT 3013:6h

PROFINET 4876
CTRL2_Nf1damp Notch filter 1: Damping. % UINT16 CANopen 3013:8h

In increments of 0.1 %. 55.0 R/W Modbus 4880

Modified settings become active immediately. 90.0 per. Profibus 4880

99.0 expert CIP 119.1.8

ModbusTCP 4880

EtherCAT 3013:8h

PROFINET 4880
CTRL2_Nf1freq Notch filter 1: Frequency. Hz UINT16 CANopen 3013:9h

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4882

In increments of 0.1 Hz. 1500.0 per. Profibus 4882

Modified settings become active immediately. 1500.0 expert CIP 119.1.9

ModbusTCP 4882

EtherCAT 3013:9h

PROFINET 4882
CTRL2_Nf1bandw Notch filter 1: Bandwidth. % UINT16 CANopen 3013:Ah

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4884

In increments of 0.1 %. 70.0 per. Profibus 4884

Modified settings become active immediately. 90.0 expert CIP 119.1.10

ModbusTCP 4884

EtherCAT 3013:Ah

PROFINET 4884
CTRL2_Nf2damp Notch filter 2: Damping. % UINT16 CANopen 3013:Bh

In increments of 0.1 %. 55.0 R/W Modbus 4886

Modified settings become active immediately. 90.0 per. Profibus 4886

99.0 expert CIP 119.1.11

ModbusTCP 4886

EtherCAT 3013:Bh

PROFINET 4886

232 0198441113767.13
Operation Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_Nf2freq Notch filter 2: Frequency. Hz UINT16 CANopen 3013:Ch

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4888

In increments of 0.1 Hz. 1500.0 per. Profibus 4888

Modified settings become active immediately. 1500.0 expert CIP 119.1.12

ModbusTCP 4888

EtherCAT 3013:Ch

PROFINET 4888
CTRL2_Nf2bandw Notch filter 2: Bandwidth. % UINT16 CANopen 3013:Dh

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4890

In increments of 0.1 %. 70.0 per. Profibus 4890

Modified settings become active immediately. 90.0 expert CIP 119.1.13

ModbusTCP 4890

EtherCAT 3013:Dh

PROFINET 4890
CTRL2_Osupdamp Overshoot suppression filter: Damping. % UINT16 CANopen 3013:Eh

The filter is deactivated at a value of 0. 0.0 R/W Modbus 4892

In increments of 0.1 %. 0.0 per. Profibus 4892

Modified settings become active immediately. 50.0 expert CIP 119.1.14

ModbusTCP 4892

EtherCAT 3013:Eh

PROFINET 4892
CTRL2_Osupdelay Overshoot suppression filter: Time delay. ms UINT16 CANopen 3013:Fh

The filter is deactivated at a value of 0. 0.00 R/W Modbus 4894

In increments of 0.01 ms. 0.00 per. Profibus 4894

Modified settings become active immediately. 75.00 expert CIP 119.1.15

ModbusTCP 4894

EtherCAT 3013:Fh

PROFINET 4894
CTRL2_Kfric Friction compensation: Gain. Arms UINT16 CANopen 3013:10h

In increments of 0.01 Arms. 0.00 R/W Modbus 4896

Modified settings become active immediately. 0.00 per. Profibus 4896

10.00 expert CIP 119.1.16

ModbusTCP 4896

EtherCAT 3013:10h

PROFINET 4896

0198441113767.13 233
Servo Drive Operation

PWM Frequency of the Power Stage

PWM Frequency of Power Stage
The PWM frequency of the power stage depends on the device version.

Characteristic Unit Value

LXM32•U45, LXM32•D85,
LXM32•U60, LXM32•C10
LXM32•U90,
LXM32•D12,
LXM32•D18,
LXM32•D30,
LXM32•D72
PWM frequency power stage kHz 8 4 or 8(1)

(1) Factory setting: 4 kHz. Adjustable via parameter.

The parameter PWM_fChop lets you set the PWM frequency of the power stage.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PWM_fChop PWM frequency of power stage. - UINT16 CANopen 3005:Eh

4 / 4 kHz: 4 kHz 4 R/W Modbus 1308

8 / 8 kHz: 8 kHz - per. Profibus 1308

16 / 16 kHz: 16 kHz 16 expert CIP 105.1.14

Factory setting: ModbusTCP 1308

Peak output current ≤72 Arms: 8 kHz EtherCAT 3005:Eh

Peak output current >72 Arms: 4 kHz PROFINET 1308

Changing this setting is only possible in the case

of devices with a peak output current >72 Arms.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

The technical data change depending on the PWM frequency of the power stage,
see Power Stage Data - Drive-Specific, page 30.

234 0198441113767.13
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Operating States and Operating Modes

Operating States
State Diagram and State Transitions

State Diagram
When the product is powered on and when an operating mode is started, the
product goes through a number of operating states.
The state diagram (state machine) shows the relationships between the operating
states and the state transitions.
The operating states are internally monitored and influenced by monitoring
functions.

Operating States

Operating state Description

1 Start Electronics are initialized

2 Not Ready To Switch On The power stage is not ready to switch on

3 Switch On Disabled Impossible to enable the power stage

4 Ready To Switch On The power stage is ready to switch on.

5 Switched On Power stage is switched on

6 Operation Enabled Power stage is enabled

0198441113767.13 235
Servo Drive Operating States and Operating Modes

Operating state Description

Selected operating mode is active

7 Quick Stop Active "Quick Stop" is being executed

8 Fault Reaction Active Error response is active

9 Fault Error response terminated

Power stage is disabled

Error Class
The errors are classified according to the following error classes:

Error class State transition Error response Resetting an error message

0 - No interruption of the movement Function "Fault Reset"

1 T11 Stop movement with "Quick Stop" Function "Fault Reset"

2 T13, T14 Stop movement with "Quick Stop" and disable the Function "Fault Reset"
power stage when the motor has come to a standstill

3 T13, T14 Disable the power stage immediately without stopping Function "Fault Reset"
the movement first
4 T13, T14 Disable the power stage immediately without stopping Power cycle
the movement first

Error Response
The state transition T13 (error class 2, 3 or 4) initiates an error response as soon
as an internal occurrence signals an error to which the device must react.

Error class Response

2 Movement is stopped with "Quick Stop"

Holding brake is applied

Power stage is disabled

3, 4 or Safety function STO Power stage is immediately disabled

An error can be triggered by a temperature sensor, for example. The drive cancels
the movement and triggers an error response. Subsequently, the operating state
changes to 9 Fault.

Resetting an Error Message

A "Fault Reset" resets an error message.
In the event of a "Quick Stop" triggered by a detected error of class 1 (operating
state 7 Quick Stop Active), a "Fault Reset" causes a direct transition to operating
state 6 Operation Enabled.

State Transitions
State transitions are triggered by an input signal, a fieldbus command or as a
response to a monitoring function.

State Operating Condition / event(1) Response

transition state
T0 1-> 2 • Device electronics successfully initialized

T1 2-> 3 • Parameter successfully initialized

236 0198441113767.13
Operating States and Operating Modes Servo Drive

State Operating Condition / event(1) Response

transition state
T2 3 -> 4 • No undervoltage
and Encoder successfully checked
and Actual velocity: <1000 RPM
and STO signals = +24V
and fieldbus command: Shutdown(2)

T3 4 -> 5 • Request for enabling the power stage

• Fieldbus command: Switch On or Enable
Operation

T4 5 -> 6 • Automatic transition Power stage is enabled.

• Fieldbus command: Enable Operation User parameters are checked.

Holding brake is released (if available).

T5 6 -> 5 • Fieldbus command: Disable Operation Movement is canceled with "Halt".

Holding brake is applied (if available).

Power stage is disabled.

T6 5 -> 4 • Fieldbus command: Shutdown

T7 4 -> 3 • Undervoltage -
• STO signals = 0V
• Actual velocity: >1000 RPM (for example by
external driving force)
• Fieldbus command: Disable Voltage

T8 6 -> 4 • Fieldbus command: Shutdown Movement is canceled with "Halt" or power

stage is immediately disabled. Can be set via
parameter DSM_ShutDownOption.

T9 6 -> 3 • Request for disabling the power stage For “Request for disabling the power stage”:
• Fieldbus command: Disable Voltage Movement is canceled with "Halt" or power
stage is immediately disabled. Can be set via
parameter DSM_ShutDownOption.

For “Fieldbus command: Disable Voltage”:

Power stage is disabled immediately.

T10 5 -> 3 • Request for disabling the power stage

• Fieldbus command: Disable Voltage

T11 6 -> 7 • Error of error class 1 Movement is canceled with "Quick Stop".
• Fieldbus command: Quick Stop

T12 7 -> 3 • Request for disabling the power stage Power stage is disabled immediately, even if
• Fieldbus command: Disable Voltage "Quick Stop" is still active.

T13 x -> 8 • Error of error classes 2, 3 or 4 Error response is carried out, see "Error
Response".

T14 8 -> 9 • Error response terminated (error class 2)

• Error of error classes 3 or 4
T15 9 -> 3 • Function: "Fault Reset" Error is reset (cause of error must have been
corrected).

T16 7 -> 6 • Function: "Fault Reset" In the event of a "Quick Stop" triggered by a
• Fieldbus command: Enable Operation(3) detected error of class 1, a "Fault Reset"
causes a direct transition to the operating state
6 Operation Enabled.

(1) In order to trigger a state transition it is sufficient if one condition is met.

(2) Only required with fieldbus control mode and parameter DS402compatib = 1.

(3) Possible only if operating state was triggered via the fieldbus.

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Servo Drive Operating States and Operating Modes

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DSM_ Behavior for disabling the power stage during - INT16 CANopen 605B:0h
ShutDownOption movement.
0 R/W Modbus 1684
ConF → ACG- 0 / Disable Immediately / d i S i : Disable
power stage immediately 0 per. Profibus 1684
Sdty
1 / Disable After Halt / d i S h : Disable power 1 - CIP 106.1.74
stage after deceleration to standstill
ModbusTCP 1684
This parameter specifies the response to a power
stage disable request. EtherCAT 605B:0h

Halt is used for deceleration to standstill. PROFINET 1684

Modified settings become active immediately.

Available with firmware version ≥V01.26.

Indication of the Operating State via HMI

Description
The operating state is displayed by the HMI. The table below provides an
overview:

Operating state HMI

1 Start Init

2 Not Ready To Switch On nrdy

3 Switch On Disabled dis

4 Ready To Switch On rdy

5 Switched On Son

6 Operation Enabled run

7 Quick Stop Active Stop

8 Fault Reaction Active FLt

9 Fault FLt

Indication of the Operating State via Signal Outputs

Description
Information on the operating state is available via the signal outputs. The table
below provides an overview:

Operating state Signal output function "No fault"(1) Signal output function "Active"(2)

1 Start 0 0
2 Not Ready To Switch On 0 0

3 Switch On Disabled 0 0
4 Ready To Switch On 1 0

5 Switched On 1 0
6 Operation Enabled 1 1

7 Quick Stop Active 0 0

8 Fault Reaction Active 0 0

238 0198441113767.13
Operating States and Operating Modes Servo Drive

Operating state Signal output function "No fault"(1) Signal output function "Active"(2)

9 Fault 0 0
(1) The signal output function is factory setting for DQ0

(2) The signal output function is the factory setting for DQ1

Indication of the Operating State via Fieldbus

Description
Descriptions of how to indicate the operating states via a fieldbus can be found in
the fieldbus user guides.

Changing the Operating State via HMI

Description
An error message can be reset via the HMI.

Fault Edit Value Unit Fault Edit Value Unit

ESC Op Op

Mon Mon

Conf Conf

ESC ESC

Fault Edit Value Unit Fault Edit Value Unit

Op Op

Mon Mon

Conf Conf

In the case of a detected error of error class 1, resetting the error message causes
a transition from operating state 7 Quick Stop Active back to operating state 6
Operation Enabled.
In the case of a detected error of error classes 2 or 3, resetting the error message
causes a transition from operating state 9 Fault back to operating state 3 Switch
On Disabled.

Changing the Operating State via Signal Inputs

Overview
It is possible to switch between operating states via the signal inputs.
• Signal input function "Enable"
• Signal input function "Fault Reset"

Signal Input Function "Enable"

The power stage is enabled by means of the signal input function "Enable".

"Enable" State transition

Rising edge Enable power stage (T3)

Falling edge Disabling the power stage (T9 and T12)

0198441113767.13 239
Servo Drive Operating States and Operating Modes

In local control mode, the signal input function "Enable" is the factory setting for
DI0.
In order to enable the power stage via the signal input in fieldbus control mode,
you must first parameterize the signal input function "Enable", see Digital Signal
Inputs and Digital Signal Outputs, page 195.
As of firmware version ≥V01.12, it is possible to also reset an error message with
a rising or a falling edge at the signal input.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_ Additional 'Fault Reset' for the signal input - UINT16 CANopen 3005:34h
FaultResOnEnaInp function 'Enable'.
0 R/W Modbus 1384
ConF → ACG- 0 / Off / o F F : No additional 'Fault Reset'
0 per. Profibus 1384
iEFr 1 / OnFallingEdge / F A L L : Additional 'Fault
Reset' with falling edge 2 - CIP 105.1.52

2 / OnRisingEdge / r i S E : Additional 'Fault ModbusTCP 1384

Reset' with rising edge
EtherCAT 3005:34h
Modified settings become active the next time the
power stage is enabled. PROFINET 1384

Available with firmware version ≥V01.12.

Signal Input Function "Fault Reset"

The signal input function "Fault Reset" is used to reset an error message.

"Fault Reset" State transition

Rising edge Resetting an error message (T15 and T16)

In local control mode, the signal input function "Fault Reset" is the factory setting
for DI1.
In order to reset an error message via the signal input in fieldbus control mode,
you must first parameterize the signal input function "Fault Reset", Digital Signal
Inputs and Digital Signal Outputs, page 195.

Changing the Operating State via Fieldbus

Description
The operating states can only be changed via the fieldbus in fieldbus control
mode.
Descriptions of how to change the operating states via a fieldbus can be found in
the fieldbus user guides.

240 0198441113767.13
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Operating Modes
Starting and Changing an Operating Mode

Starting the Operating Mode

In local control mode, the parameter IOdefaultMode is used to set the desired
operating mode.
The set operating mode is automatically started by enabling the power stage.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOdefaultMode Operating mode. - UINT16 CANopen 3005:3h

ConF → ACG- 0 / None / n o n E : None 0 R/W Modbus 1286

io-M 1 / Profile Torque / t o r q : Profile Torque 6 per. Profibus 1286

2 / Profile Velocity / V E L P : Profile Velocity 6 - CIP 105.1.3

3 / Electronic Gear / G E A r : Electronic Gear ModbusTCP 1286

5 / Jog / J o G : Jog EtherCAT 3005:3h

6 / Motion Sequence / M o t S : Motion PROFINET 1286

Sequence

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

In fieldbus control mode, the desired operating mode is set via the fieldbus.
Descriptions of how to start and change operating modes via the fieldbus can be
found in the fieldbus user guides.

Starting the Operating Mode via Signal Input

As of firmware version ≥V01.08, the signal input function "Activate Operating
Mode" is available in local control mode.
This means that you can start the set operating mode via a signal input.
If the signal input function "Activate Operating Mode" has been set, the operating
mode is not started automatically when the power stage is enabled. The operating
mode is only started when a rising edge is available at the edge.
In order to start the set operating mode via a signal input, you must first
parameterize the signal input function "Activate Operating Mode", see Digital
Signal Inputs and Digital Signal Outputs, page 195.

Changing the Operating Mode

The operating mode can be changed after the active operating mode has been
terminated.
In addition, it is also possible to change the operating mode during a running
movement; however, this is only possible in certain operating modes.

Changing the Operating Mode During a Movement

You can switch between the following operating modes during a running
movement.

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Servo Drive Operating States and Operating Modes

• Electronic Gear
• Profile Torque
• Profile Velocity
• Profile Position
The operating mode can be changed while the motor is at a standstill or while the
motor is not at a standstill, depending on the new operating mode.

Operating mode to be changed to Motor standstill

Jog With motor standstill

Electronic Gear With motor standstill

(position synchronization)

Electronic Gear Without motor standstill

(velocity synchronization)

Profile Torque Without motor standstill

Profile Velocity Without motor standstill

Profile Position Drive profile Drive Profile Lexium:

With firmware version ≥V01.04 Adjustable via parameter PP_OpmChgType

Drive profile DS402:

With motor standstill(1)

Profile Position With motor standstill

With firmware version <V01.04

(1) Parameter PP_OpmChgType must be set to the value 0.

The motor is decelerated to a standstill via the ramp set in the parameter LIM_
HaltReaction, see Stopping Movement with Halt, page 316.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PP_OpmChgType Change to operating mode Profile Position during - UINT16 CANopen 3023:9h
movements.
0 R/W Modbus 8978
0 / WithStandStill: Change with standstill
0 per. Profibus 8978
1 / OnTheFly: Change without standstill
1 - CIP 135.1.9
If Modulo is active, a transition to the operating
mode Profile Position is performed with the setting ModbusTCP 8978
WithStandStill, regardless of the setting of this
parameter. EtherCAT 3023:9h

Setting can only be modified if power stage is PROFINET 8978

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.04.

Changing the Operating Mode via Signal Input

In local control mode, the signal input function "Operating Mode Switch" is
available.
It allows you to switch via a signal input from the operating mode set in the
IOdefaultMode to the operating mode set in the parameter IO_ModeSwitch.

242 0198441113767.13
Operating States and Operating Modes Servo Drive

In order to switch between two operating modes, you must first parameterize the
signal input function "Operating Mode Switch", see Digital Signal Inputs and
Digital Signal Outputs, page 195.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_ModeSwitch Operating mode for signal input function - UINT16 CANopen 3006:2Fh
Operating Mode Switch.
ConF → ACG- 0 R/W Modbus 1630
0 / None / n o n E : None
ioMS 0 per. Profibus 1630
1 / Profile Torque / t o r q : Profile Torque
3 - CIP 106.1.47
2 / Profile Velocity / V E L P : Profile Velocity
ModbusTCP 1630
3 / Electronic Gear / G E A r : Electronic Gear
EtherCAT 3006:2Fh
Modified settings become active immediately.
PROFINET 1630

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Servo Drive Operating States and Operating Modes

Operating Mode Jog

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Jog, a movement is made from the actual motor position in
the specified direction.
A movement can be made using one of two methods:
• Continuous movement
• Step movement
In addition, the product features two parameterizable velocities.

Continuous Movement
As long as the signal for the direction is available, a continuous movement is
made in the desired direction.
The illustration below provides an example of continuous movement via the signal
inputs in local control mode:

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction
The illustration below provides an example of continuous movement via the
fieldbus in fieldbus control mode:

244 0198441113767.13
Operating States and Operating Modes Servo Drive

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction

Step Movement
If the signal for the direction is available for a short period of time, a movement
with a parameterizable number of user-defined units is made in the desired
direction.
If the signal for the direction is available continuously, a movement with a
parameterizable number of user-defined units is made in the desired direction.
After this movement, the motor stops for a defined period of time. Then a
continuous movement is made in the desired direction.
The illustration below provides an example of step movement via the signal inputs
in local control mode:

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstep
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction
The illustration below provides an example of step movement via the fieldbus in
fieldbus control mode:

0198441113767.13 245
Servo Drive Operating States and Operating Modes

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstep
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction

Starting the Operating Mode

In local control mode, the operating mode must first have been selected, see
Starting and Changing an Operating Mode, page 241. After the power stage is
enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs. The table below provides an
overview of the factory settings of the signal inputs:

Signal input Signal input function

DI0 "Enable"

Enable and disable the power stage

DI1 "Fault Reset"

Resetting an error message

DI2 "Positive Limit Switch (LIMP)"

See Limit Switches, page 345

DI3 "Negative Limit Switch (LIMN)"

See Limit Switches, page 345

DI4 "Jog Negative"

Operating mode Jog: Movement in negative direction

DI5 "Jog Positive"

Operating mode Jog: Movement in positive direction

The factory settings of the signal inputs depend on the selected operating mode;
they can be adapted, see Digital Signal Inputs and Digital Signal Outputs, page
195.
In fieldbus control mode, the operating mode is started via the fieldbus. See the
fieldbus user guides for a description.

Integrated HMI
It is also possible to start the operating mode via the HMI. Calling
→O OP →j jo g - →J JG S T enables the power stage and starts the operating
mode.
The method Continuous Movement is controlled via the HMI.

246 0198441113767.13
Operating States and Operating Modes Servo Drive

Turn the navigation button to select one of 4 types of movement:

• J G - : slow movement in positive direction
• J G = : fast movement in positive direction
• - J G : slow movement in negative direction
• = J G : fast movement in negative direction
Press the navigation button to start the movement.

Status Messages
In local control mode, information on the operating state and the ongoing
movement is available via signal outputs.
In fieldbus control mode, information on the operating state and the ongoing
movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 With local control mode:

"In Position Deviation Window"

See Position Deviation Window, page 365

With fieldbus control mode:

"Freely Available"

See Setting a Signal Output via Parameter, page 326

The factory settings of the signal outputs depend on the selected control mode
and the selected operating mode; they can be adapted, see Digital Signal Inputs
and Digital Signal Outputs, page 195.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the
following conditions is met:
• Stop caused by “Halt” or “Quick Stop”
• Stop caused by a detected error

Parameterization

Overview
The illustration below provides an overview of the parameters that can be adjusted
in local control mode.

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Servo Drive Operating States and Operating Modes

The illustration below provides an overview of the parameters that can be adjusted
in fieldbus control mode.

Velocities
Two parameterizable velocities are available.
Set the desired values with the parameters JOGv_slow and JOGv_fast.

248 0198441113767.13
Operating States and Operating Modes Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

JOGv_slow Velocity for slow movement. usr_v UINT32 CANopen 3029:4h

oP → JoG- The adjustable value is internally limited to the 1 R/W Modbus 10504
parameter setting in RAMP_v_max.
JGLo 60 per. Profibus 10504
Modified settings become active immediately.
2147483647 - CIP 141.1.4

ModbusTCP 10504

EtherCAT 3029:4h

PROFINET 10504
JOGv_fast Velocity for fast movement. usr_v UINT32 CANopen 3029:5h

oP → JoG- The adjustable value is internally limited to the 1 R/W Modbus 10506
parameter setting in RAMP_v_max.
JGhi 180 per. Profibus 10506
Modified settings become active immediately.
2147483647 - CIP 141.1.5

ModbusTCP 10506

EtherCAT 3029:5h

PROFINET 10506

Switching Between Velocities

In local control mode, the signal input function "Jog Fast/Slow" is available. It
allows you to switch between the two velocities via a signal input.
In order to switch between the two velocities, you must first parameterize the
signal input function "Jog Fast/Slow", see Digital Signal Inputs and Digital Signal
Outputs, page 195.

Selection of the Method

In local control mode, the parameter IO_JOGmethod is used to set the method.
In fieldbus control mode, the parameter JOGmethod is used to set the method.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_JOGmethod Selection of jog method. - UINT16 CANopen 3005:18h

ConF → ACG- 0 / Continuous Movement / c o M o : Jog with 0 R/W Modbus 1328

continuous movement
ioJG 0 per. Profibus 1328
1 / Step Movement / S t M o : Jog with step
movement 1 - CIP 105.1.24

Modified settings become active the next time the ModbusTCP 1328
motor moves.
EtherCAT 3005:18h

PROFINET 1328
JOGmethod Selection of jog method. - UINT16 CANopen 3029:3h

0 / Continuous Movement / c o M o : Jog with 0 R/W Modbus 10502

continuous movement
1 - Profibus 10502
1 / Step Movement / S t M o : Jog with step
movement 1 - CIP 141.1.3

Modified settings become active immediately. ModbusTCP 10502

EtherCAT 3029:3h

PROFINET 10502

Setting the Step Movement

The parameters JOGstep and JOGtime are used to set the parameterizable
number of user-defined units and the time for which the motor is stopped.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

JOGstep Distance for step movement. usr_p INT32 CANopen 3029:7h

Modified settings become active the next time the 1 R/W Modbus 10510
motor moves.
20 per. Profibus 10510

2147483647 - CIP 141.1.7

ModbusTCP 10510

EtherCAT 3029:7h

PROFINET 10510
JOGtime Wait time for step movement. ms UINT16 CANopen 3029:8h

Modified settings become active the next time the 1 R/W Modbus 10512
motor moves.
500 per. Profibus 10512

32767 - CIP 141.1.8

ModbusTCP 10512

EtherCAT 3029:8h

PROFINET 10512

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity,
page 313.

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Additional Settings

Overview
The following functions can be used for target value processing:
• Jerk Limitation, page 315
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319
• Limitation of the Current via Signal Inputs, page 322
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Software Limit Switches, page 346
• Load-Dependent Position Deviation (Following Error), page 348
• Motor Standstill and Direction of Movement, page 352
• Standstill Window, page 355
This function is only available for a step movement.
• Position Register, page 357
• Position Deviation Window, page 365
• Velocity Deviation Window, page 367
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Electronic Gear

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Electronic Gear, movements are carried out according to
externally supplied reference value signals. A position reference value is
calculated on the basis of these external reference values plus an adjustable gear
ratio. The reference value signals can be A/B signals, P/D signals or CW/CCW
signals.
A movement can be made using one of 3 methods:
• Position synchronization without compensation movement
In the case of position synchronization without compensation movement, the
movement is made synchronously (position synchronicity) with the supplied
reference value signals. Reference value signals supplied during an
interruption caused by Halt or by a detected error of error class 1 are not
taken into account.
• Position synchronization with compensation movement
In the case of position synchronization with compensation movement, the
movement is made synchronously (position synchronicity) with the supplied
reference value signals. Reference value signals supplied during an
interruption caused by Halt or by a detected error of error class 1 are taken
into account and compensated for.
• Velocity synchronization
In the case of velocity synchronization, the movement is made synchronously
(velocity synchronicity) with the supplied reference value signals.

Internal Units
The position value for the movement depends on the internal units.
The internal units are 131072 increments per revolution.

Starting the Operating Mode

In local control mode, the operating mode must first have been selected, see
Starting and Changing an Operating Mode, page 241. After the power stage is
enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs. The table below provides an
overview of the factory settings of the signal inputs:

Signal input Signal input function

DI0 "Enable"

Enable and disable the power stage

DI1 "Fault Reset"

Resetting an error message

DI2 "Positive Limit Switch (LIMP)"

See Limit Switches, page 345

DI3 "Negative Limit Switch (LIMN)"

See Limit Switches, page 345

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Signal input Signal input function

DI4 "Gear Ratio Switch"

Switch between 2 parameterizable gear ratios

DI5 "Halt"

See Stopping Movement with Halt, page 316

The factory settings of the signal inputs depend on the selected operating mode;
they can be adapted, see Digital Signal Inputs and Digital Signal Outputs, page
195.
In the case of fieldbus control mode, the operating mode is started via the fieldbus.
See the fieldbus user guides for a description.

Status Messages
In local control mode, information on the operating state and the ongoing
movement is available via signal outputs.
In fieldbus control mode, information on the operating state and the ongoing
movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 With local control mode:

"In Position Deviation Window"

See Position Deviation Window, page 365

With fieldbus control mode:

"Freely Available"

See Setting a Signal Output via Parameter, page 326

The factory settings of the signal outputs depend on the selected control mode
and the selected operating mode; they can be adapted, see Digital Signal Inputs
and Digital Signal Outputs, page 195.

Terminating the Operating Mode

In local control mode, the operating mode is automatically terminated by disabling
the power stage.
In fieldbus control mode, the operating mode is terminated via the fieldbus. See
the fieldbus user guides for a description.

Parameterization

Overview
The illustration below provides an overview of the parameters that can be adjusted
in local control mode.

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The illustration below provides an overview of the parameters that can be adjusted
in fieldbus control mode.

Type of Reference Value Signal and Inversion of the Reference

Value Signals
The PTI interface can be set:
• Type of reference value signal
• Inverting the reference value signals

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See section Setting the PTI Interface, page 214 for information on setting the PTI
interface.

Gear Ratio
The gear ratio is the ratio of the number of motor increments and the number of
externally supplied reference increments.

In local control mode, the signal input function "Gear Ratio Switch" allows you to
switch between 2 parameterizable gear ratios during operation.
In fieldbus control mode, the parameter GEARselect allows you to switch between
2 parameterizable gear ratios during operation.
The parameter GEARratio allows you to set a predefined gear ratio. It is also
possible to set a parameterizable gear ratio.
The parameterizable gear ratio is defined with the parameters GEARnum and
GEARdenom. A negative numerator value reverses the motor's direction of
movement.
Set the desired gear ratio with the parameters GEARratio, GEARnum,
GEARdenom, GEARnum2 and GEARdenom2.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARratio Selection of gear ratio. - UINT16 CANopen 3026:6h

ConF → i-o- 0 / Gear Factor / F A c t : Usage of gear ratio 0 R/W Modbus 9740
adjusted with GEARnum/GEARdenom
GFAC 0 per. Profibus 9740
1 / 200 / 2 0 0 : 200
11 - CIP 138.1.6
2 / 400 / 4 0 0 : 400
ModbusTCP 9740
3 / 500 / 5 0 0 : 500
EtherCAT 3026:6h
4 / 1000 / 1 0 0 0 : 1000
PROFINET 9740
5 / 2000 / 2 0 0 0 : 2000

6 / 4000 / 4 0 0 0 : 4000

7 / 5000 / 5 0 0 0 : 5000

8 / 10000 / 1 0 . 0 0 : 10000

9 / 4096 / 4 0 9 6 : 4096

10 / 8192 / 8 1 9 2 : 8192

11 / 16384 / 1 6 . 3 8 : 16384

A change of the reference value by the specified

value causes one motor revolution.

Modified settings become active immediately.

GEARselect Gear ratio selection. - UINT16 CANopen 3026:Eh

Switches between two gear ratios: 0 R/W Modbus 9756

Value 0: Use gear ratio defined by parameter 0 - Profibus 9756

GEARratio
1 - CIP 138.1.14
Value 1: Use gear ratio from parameters
GEARnum2/GEARdenom2 ModbusTCP 9756

Modified settings become active immediately. EtherCAT 3026:Eh

PROFINET 9756
GEARnum Numerator of gear ratio. - INT32 CANopen 3026:4h

Gear ratio = GEARnum / GEARdenom -2147483648 R/W Modbus 9736

The new gear ratio is applied when the numerator 1 per. Profibus 9736
value is supplied.
2147483647 - CIP 138.1.4
Modified settings become active immediately.
ModbusTCP 9736

EtherCAT 3026:4h

PROFINET 9736
GEARdenom Denominator of gear ratio. - INT32 CANopen 3026:3h

See description GEARnum 1 R/W Modbus 9734

1 per. Profibus 9734

2147483647 - CIP 138.1.3

ModbusTCP 9734

EtherCAT 3026:3h

PROFINET 9734

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARnum2 Numerator of gear ratio number 2. - INT32 CANopen 3026:Dh

Gear ratio = GEARnum2 / GEARdenom2 -2147483648 R/W Modbus 9754

The new gear ratio is applied when the numerator 1 per. Profibus 9754
value is supplied.
2147483647 - CIP 138.1.13
Modified settings become active immediately.
ModbusTCP 9754

EtherCAT 3026:Dh

PROFINET 9754
GEARdenom2 Denominator of gear ratio number 2. - INT32 CANopen 3026:Ch

See description GEARnum 1 R/W Modbus 9752

1 per. Profibus 9752

2147483647 - CIP 138.1.12

ModbusTCP 9752

EtherCAT 3026:Ch

PROFINET 9752

Selection of the Method

The method specifies the way the movement is to be performed.
• In local control mode, set the desired method with the parameter IO_
GEARmethod.
• In fieldbus control mode, set the desired method with the parameter
GEARreference.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARreference Synchronization method for operating mode - UINT16 CANopen 301B:12h

Electronic Gear.
0 R/W Modbus 6948
0 / Deactivated: Deactivated
0 - Profibus 6948
1 / Position Synchronization Immediate:
Position synchronization without compensation 3 - CIP 127.1.18
movement
ModbusTCP 6948
2 / Position Synchronization Compensated:
Position synchronization with compensation EtherCAT 301B:12h
movement
PROFINET 6948
3 / Velocity Synchronization: Velocity
synchronization

Modified settings become active immediately.

Position Change with Power Stage Disabled

If the method "Synchronization With Compensation Movement" is selected, the
parameter GEARposChgMode determines the way changes to the motor position
and to the reference value signals are handled with disabled power stage.
Position changes can be ignored or taken into account during a transition to
operating state 6 Operation Enabled.

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• Off: Position changes with disabled power stage are ignored.

• On: Position changes with disabled power stage are taken into account.
Position changes between starting the operating mode and the subsequent
enabling of the power stage are not taken into account.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARposChgMode Treatment of position changes with inactive power - UINT16 CANopen 3026:Bh
stage.
0 R/W Modbus 9750
0 / Off: Position changes in states with disabled
power stage are ignored. 0 per. Profibus 9750

1 / On: Position changes in states with disabled 1 - CIP 138.1.11

power stage are taken into account.
ModbusTCP 9750
This setting has an effect only if gear processing is
started in the mode 'Synchronization with EtherCAT 3026:Bh
compensation movement'.
PROFINET 9750
Modified settings become active the next time the
power stage is enabled.

Offset Movement
The offset movement allows you to perform a movement with a parameterizable
number of increments.
Offset movements are only available for the methods "Position Synchronization
Without Compensation Movement" and "Position Synchronization With
Compensation Movement".
Two parameterizable offset positions are available. The parameters OFSp_
RelPos1 and OFSp_RelPos2 are used to set the offset positions.
In local control mode, an offset movement is started via a signal input.
In fieldbus control mode, an offset movement is started via a signal input or via the
fieldbus.
In order to start offset movements via the signal input, you must first parameterize
the signal input functions "Gear Offset 1" and "Gear Offset 2", see Digital Signal
Inputs and Digital Signal Outputs, page 195.
The velocity and the acceleration for the offset movement are set via the
parameters OFSv_target and OFS_Ramp.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

OFSp_RelPos1 Relative offset position 1 for offset movement. Inc INT32 CANopen 3027:8h

Modified settings become active immediately. -2147483648 R/W Modbus 10000

0 per. Profibus 10000

2147483647 - CIP 139.1.8

ModbusTCP 10000

EtherCAT 3027:8h

PROFINET 10000
OFSp_RelPos2 Relative offset position 2 for offset movement. Inc INT32 CANopen 3027:Ah

Modified settings become active immediately. -2147483648 R/W Modbus 10004

0 per. Profibus 10004

2147483647 - CIP 139.1.10

ModbusTCP 10004

EtherCAT 3027:Ah

PROFINET 10004
OFS_PosActivate Offset movement with relative offset position. - UINT16 CANopen 3027:Bh

This parameter starts an offset movement with 0 R/W Modbus 10006

one of the relative offset positions specified by
means of the parameters OFSp_RelPos1 and 0 - Profibus 10006
OFSp_RelPos2.
3 - CIP 139.1.11
Value 0: No offset movement
ModbusTCP 10006
Value 1: Start offset movement with relative offset
position 1 (OFSp_RelPos1) EtherCAT 3027:Bh

Value 2: Start offset movement with relative offset PROFINET 10006

position 2 (OFSp_RelPos2)

Modified settings become active immediately.

OFSv_target Target velocity for offset movement. usr_v UINT32 CANopen 3027:4h

The maximum value is 5000 if the user-defined 1 R/W Modbus 9992

scaling factor of the velocity scaling is 1.
60 per. Profibus 9992
This applies to the user-defined scaling factors.
Example: If the user-defined scaling factor of the 2147483647 - CIP 139.1.4
velocity scaling is 2 (ScaleVELnum = 2,
ScaleVELdenom = 1), the maximum value is ModbusTCP 9992
2500.
EtherCAT 3027:4h
Modified settings become active immediately.
PROFINET 9992
OFS_Ramp Acceleration and deceleration for offset usr_a UINT32 CANopen 3027:6h
movement.
1 R/W Modbus 9996
Setting can only be modified if power stage is
disabled. 600 per. Profibus 9996

Modified settings become active the next time the 2147483647 - CIP 139.1.6
power stage is enabled.
ModbusTCP 9996

EtherCAT 3027:6h

PROFINET 9996

Changing the Motion Profile for the Velocity

If the method "Velocity Synchronization" is selected, the motion profile for the
velocity can be changed.

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It is possible to change the parameterization of the motion profile for the velocity,
see Motion Profile for the Velocity, page 313.

Velocity Limitation
As of firmware version ≥V01.10 a velocity limitation can be activated for the
methods "Positions synchronization without compensation movement" and
"Positions synchronisation with compensation movement".

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARpos_v_max Velocity limitation for the method Position usr_v UINT32 CANopen 3026:9h
Synchronization.
0 R/W Modbus 9746
Value 0: No velocity limitation
0 per. Profibus 9746
Value >0: Velocity limitation in usr_v
2147483647 - CIP 138.1.9
Modified settings become active immediately.
ModbusTCP 9746
Available with firmware version ≥V01.10.
EtherCAT 3026:9h

PROFINET 9746

Release of Direction
Release of direction allows you to limit movements to positive or negative
direction. Release of direction is set with the parameter GEARdir_enabl.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARdir_enabl Enabled direction of movement for operating - UINT16 CANopen 3026:5h

mode Electronic Gear.
1 R/W Modbus 9738
1 / Positive: Positive direction
3 per. Profibus 9738
2 / Negative: Negative direction
3 - CIP 138.1.5
3 / Both: Both directions
ModbusTCP 9738
This allows you to activate a return movement lock
function. EtherCAT 3026:5h

Modified settings become active immediately. PROFINET 9738

Additional Settings

Overview
The following functions can be used for target value processing:
• Jerk Limitation, page 315
This function is only available for the methods "Position Synchronization
Without Compensation Movement" and "Position Synchronization With
Compensation Movement".
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319

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• Limitation of the Current via Signal Inputs, page 322

• Zero Clamp, page 325
This function is only available with the method "Velocity Synchronization".
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Software Limit Switches, page 346
• Load-Dependent Position Deviation (Following Error), page 348
This function is only available for the methods "Position Synchronization
Without Compensation Movement" and "Position Synchronization With
Compensation Movement".
• Motor Standstill and Direction of Movement, page 352
• Velocity Window, page 354
This function is only available with the method "Velocity Synchronization".
• Position Register, page 357
• Position Deviation Window, page 365
This function is only available for the methods "Position Synchronization
Without Compensation Movement" and "Position Synchronization With
Compensation Movement".
• Velocity Deviation Window, page 367
This function is only available with the method "Velocity Synchronization".
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Profile Torque

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Profile Torque, a movement is made with a specified target
torque.
In local control mode, the torque can be set via the following interface:
• Target torque via analog inputs (module IOM1)
• Reference current via PTI interface (with firmware version ≥V01.20)
In fieldbus control mode, the torque can be set via the following interface:
• Target torque via parameter
• Target torque via analog inputs (module IOM1)
• Reference current via PTI interface (with firmware version ≥V01.20)
Without a proper limit value, the motor can reach an unintentionally high velocity in
this operating mode.

WARNING
UNINTENTIONALLY HIGH VELOCITY
Verify that the parameterized velocity limitation is appropriate for the motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Starting the Operating Mode

In local control mode, the operating mode must first have been selected, see
Starting and Changing an Operating Mode, page 241. After the power stage is
enabled, the operating mode is started automatically.

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The power stage is enabled via the signal inputs. The table below provides an
overview of the factory settings of the signal inputs:

Signal input Signal input function

DI0 "Enable"

Enable and disable the power stage

DI1 "Fault Reset"

Resetting an error message

DI2 "Operating Mode Switch"

See Starting and Changing an Operating Mode, page 241

DI3 "Velocity Limitation"

See Limitation of the Velocity via Signal Inputs, page 319

DI4 "Current Limitation"

See Limitation of the Current via Signal Inputs, page 322

DI5 "Halt"

See Stopping Movement with Halt, page 316

The factory settings of the signal inputs depend on the selected operating mode;
they can be adapted, see Digital Signal Inputs and Digital Signal Outputs, page
195.
In fieldbus control mode, the operating mode is started via the fieldbus. See the
fieldbus user guides for a description.

Status Messages
In local control mode, information on the operating state and the ongoing
movement is available via signal outputs.
In fieldbus control mode, information on the operating state and the ongoing
movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 With local control mode:

"Current Below Threshold"

See Current Threshold Value, page 370

With fieldbus control mode:

"Freely Available"

See Setting a Signal Output via Parameter, page 326

The factory settings of the signal outputs depend on the selected control mode
and the selected operating mode; they can be adapted, see Digital Signal Inputs
and Digital Signal Outputs, page 195.

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Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the
following conditions is met:
• Stop caused by “Halt” or “Quick Stop”
• Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the parameters that can be adjusted
in local control mode.

The illustration below provides an overview of the parameters that can be adjusted
in fieldbus control mode.

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Setting the Source of the Reference Value

In local control mode, the parameter IO_PTtq_reference is used to set the source
of the reference value.
In fieldbus control mode, the parameter PTtq_reference is used to set the source
of the reference value.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_PTtq_reference Reference value source for operating mode Profile - UINT16 CANopen 3005:38h
Torque.
ConF → ACG- 0 R/W Modbus 1392
0 / Analog Input / i A n A : Reference value via
iotq analog input 0 per. Profibus 1392

1 / PTI Interface / i P t i : Reference value via 1 - CIP 105.1.56

PTI interface
ModbusTCP 1392
Setting can only be modified if power stage is
disabled. EtherCAT 3005:38h

Modified settings become active the next time the PROFINET 1392
power stage is enabled.

Available with firmware version ≥V01.20.

PTtq_reference Reference value source for operating mode Profile - UINT16 CANopen 301B:38h
Torque.
0 R/W Modbus 7024
0 / None: None
1 - Profibus 7024
1 / Parameter 'PTtq_target': Reference value via
parameter PTtq_target 3 - CIP 127.1.56

2 / Analog Input: Reference value via analog ModbusTCP 7024

input
EtherCAT 301B:38h
3 / PTI Interface: Reference value via PTI
interface PROFINET 7024

Modified settings become active immediately.

Available with firmware version ≥V01.10.

Offset and Zero Voltage Window (for Analog Inputs Only)

It is possible to change the development of the target value with reference to the
±10V input value:
• Parameterization of an offset
• Parameterization of a zero voltage window
Refer to the user guide for the module IOM1 for settings for the analog inputs.

Setting the Type of Usage (for Analog Inputs Only)

The parameters IOM1_AI11_mode and IOM1_AI12_mode let you select the type
of usage of the analog signal inputs.
• If you want to use the analog signal input AI11, set the parameter IOM1_
AI11_mode to the value "Target Torque".
• If you want to use the analog signal input AI12, set the parameter IOM1_
AI12_mode to the value "Target Torque".

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252

A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20262

A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

Setting the Target Torque (for Analog Inputs Only)

The parameters IOM1_AI11_M_scale and IOM1_AI12_M_scale let you set the
target torque for a voltage value of 10 V.
• If you want to use the analog signal input AI11, use the parameter IOM1_
AI11_M_scale to set the desired target torque for a voltage value of 10 V.
• If you want to use the analog signal input AI12, use the parameter IOM1_
AI12_M_scale to set the desired target torque for a voltage value of 10 V.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:12h

Profile Torque of AI11.
ConF → i-o- -3000.0 R/W Modbus 20260
100.0 % correspond to the continuous stall torque
t11t _M_M_0. 100.0 per. Profibus 20260

By using a negative sign, you can invert the 3000.0 - CIP 179.1.18
evaluation of the analog signal.
ModbusTCP 20260
In increments of 0.1 %.
EtherCAT 304F:12h
Modified settings become active immediately.
PROFINET 20260
Available with firmware version ≥V01.06.
IOM1_AI12_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:17h
Profile Torque of AI12.
ConF → i-o- -3000.0 R/W Modbus 20270
100.0 % correspond to the continuous stall torque
t12i _M_M_0. 100.0 per. Profibus 20270

By using a negative sign, you can invert the 3000.0 - CIP 179.1.23
evaluation of the analog signal.
ModbusTCP 20270
In increments of 0.1 %.
EtherCAT 304F:17h
Modified settings become active immediately.
PROFINET 20270
Available with firmware version ≥V01.06.

Setting the Target Torque (for Parameter Only)

In fieldbus control mode, the parameter PTtq_target is used to set the target
torque.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PTtq_target Target torque. % INT16 CANopen 6071:0h

100.0 % correspond to the continuous stall torque -3000.0 R/W Modbus 6944
_M_M_0.
0.0 - Profibus 6944
In increments of 0.1 %.
3000.0 - CIP 127.1.16
Modified settings become active immediately.
ModbusTCP 6944

EtherCAT 6071:0h

PROFINET 6944

Changing the Motion Profile for the Torque (for Analog Inputs
and Parameter Only)
It is possible to change the parameterization of the motion profile for the torque.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMP_tq_enable Activation of the motion profile for torque. - UINT16 CANopen 3006:2Ch

0 / Profile Off: Profile off 0 R/W Modbus 1624

1 / Profile On: Profile on 1 per. Profibus 1624

In the operating mode Profile Torque, the motion 1 - CIP 106.1.44

profile for torque can be activated or deactivated.
ModbusTCP 1624
In the other operating modes, the motion profile
for torque is inactive. EtherCAT 3006:2Ch

Setting can only be modified if power stage is PROFINET 1624

disabled.

Modified settings become active immediately.

RAMP_tq_slope Slope setting of the motion profile for torque. %/s UINT32 CANopen 6087:0h

100.00 % of the torque setting correspond to the 0.1 R/W Modbus 1620
continuous stall torque _M_M_0.
10000.0 per. Profibus 1620
Example:
3000000.0 - CIP 106.1.42
A ramp setting of 10000.00 %/s results in a torque
change of 100.0% of _M_M_0 in 0.01s. ModbusTCP 1620

In increments of 0.1 %/s. EtherCAT 6087:0h

Modified settings become active immediately. PROFINET 1620

Type of Reference Value Signal and Inversion of the Reference

Value Signals (for PTI Interface Only)
The PTI interface can be set:
• Type of reference value signal (must be set to A/B signals)
• Inverting the reference value signals
See section Setting the PTI Interface, page 214 for information on setting the PTI
interface.

Setting the Reference Current (for PTI Interface Only)

The parameter Iref_PTIFreqMax is used to set the reference current.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Iref_PTIFreqMax Reference current for operating mode Profile Arms UINT16 CANopen 3020:4h
Torque via PTI interface.
0.00 R/W Modbus 8200
Reference current corresponding to 1.6 million
increments per second at the PTI interface for - per. Profibus 8200
operating mode Profile Torque.
463.00 - CIP 132.1.4
In increments of 0.01 Arms.
ModbusTCP 8200
Modified settings become active immediately.
EtherCAT 3020:4h
Available with firmware version ≥V01.20.
PROFINET 8200

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Additional Settings

Overview
The following functions can be used for target value processing:
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319
• Limitation of the Current via Signal Inputs, page 322
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Software Limit Switches, page 346
• Motor Standstill and Direction of Movement, page 352
• Torque Window, page 353
• Position Register, page 357
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Profile Velocity

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Profile Velocity, a movement is made with a specified target
velocity.

Starting the Operating Mode

In local control mode, the operating mode must first have been selected, see
Starting and Changing an Operating Mode, page 241. After the power stage is
enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs. The table below provides an
overview of the factory settings of the signal inputs:

Signal input Signal input function

DI0 "Enable"

Enable and disable the power stage

DI1 "Fault Reset"

Resetting an error message

DI2 "Operating Mode Switch"

See Starting and Changing an Operating Mode, page 241

DI3 "Velocity Limitation"

See Limitation of the Velocity via Signal Inputs, page 319

DI4 "Zero Clamp"

See Zero Clamp, page 325

DI5 "Halt"

See Stopping Movement with Halt, page 316

The factory settings of the signal inputs depend on the selected operating mode;
they can be adapted, see Digital Signal Inputs and Digital Signal Outputs, page
195.
In the case of fieldbus control mode, the operating mode is started via the fieldbus.
See the fieldbus user guides for a description.

Status Messages
In local control mode, information on the operating state and the ongoing
movement is available via signal outputs.
In fieldbus control mode, information on the operating state and the ongoing
movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

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Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 With local control mode:

"In Velocity Deviation Window"

See Velocity Deviation Window, page 367

With fieldbus control mode:

"Freely Available"

See Setting a Signal Output via Parameter, page 326

The factory settings of the signal outputs depend on the selected control mode
and the selected operating mode; they can be adapted, see Digital Signal Inputs
and Digital Signal Outputs, page 195.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the
following conditions is met:
• Stop caused by “Halt” or “Quick Stop”
• Stop caused by a detected error

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Parameterization

Overview
The illustration below provides an overview of the parameters that can be adjusted
in local control mode.

The illustration below provides an overview of the parameters that can be adjusted
in fieldbus control mode.

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Setting the Type of Usage

In local control mode, the parameters IOM1_AI11_mode and IOM1_AI12_mode
let you select the type of usage of the analog signal inputs.
• If you want to use the analog signal input AI1, set the parameter IOM1_AI11_
mode to the value "Target Velocity".
• If you want to use the analog signal input AI2, set the parameter IOM1_AI12_
mode to the value "Target Velocity".

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252

A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20262

A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

Setting the Target Velocity

In local control mode, the parameters IOM1_AI11_v_scale and IOM1_AI12_v_
scale are used to set the target velocity for a voltage value of 10 V.
• If you want to use the analog signal input AI11, use the parameter IOM1_
AI11_v_scale to set the desired target velocity for a voltage value of 10 V.
• If you want to use the analog signal input AI12, use the parameter IOM1_
AI12_v_scale to set the desired target velocity for a voltage value of 10 V.
In fieldbus control mode, use the parameter PVv_reference to specify whether the
target velocity is set via the parameter PVv_target or via an analog signal input.
• If you want to use the parameter PVv_target, set the parameter PVv_
reference to the value "Parameter 'PVv_target'". Set the target velocity with
the parameter PVv_target.
• If you want to use the analog signal input AI11, set the parameter PVv_
reference to the value "Analog Input". Set the desired target velocity for a
voltage value of 10 V with the parameter IOM1_AI11_v_scale.
• If you want to use the analog signal input AI12, set the parameter PVv_
reference to the value "Analog Input". Set the desired target velocity for a
voltage value of 10 V with the parameter IOM1_AI12_v_scale.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PVv_reference Reference value source for operating mode Profile - UINT16 CANopen 301B:39h
Velocity.
0 R/W Modbus 7026
0 / None: None
1 - Profibus 7026
1 / Parameter 'PVv_target': Reference value via
parameter PVv_target 2 - CIP 127.1.57

2 / Analog Input: Reference value via analog ModbusTCP 7026

input
EtherCAT 301B:39h
Modified settings become active immediately.
PROFINET 7026
Available with firmware version ≥V01.10.
IOM1_AI11_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:11h
Profile Velocity of AI11.
-2147483648 R/W Modbus 20258
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20258

By using a negative sign, you can invert the 2147483647 - CIP 179.1.17
evaluation of the analog signal.
ModbusTCP 20258
Modified settings become active immediately.
EtherCAT 304F:11h
Available with firmware version ≥V01.06.
PROFINET 20258
IOM1_AI12_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:16h
Profile Velocity of AI12.
-2147483648 R/W Modbus 20268
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20268

By using a negative sign, you can invert the 2147483647 - CIP 179.1.22
evaluation of the analog signal.
ModbusTCP 20268
Modified settings become active immediately.
EtherCAT 304F:16h
Available with firmware version ≥V01.06.
PROFINET 20268
PVv_target Target velocity. usr_v INT32 CANopen 60FF:0h

The target velocity is limited to the setting in - R/W Modbus 6938

CTRL_v_max and RAMP_v_max.
0 - Profibus 6938
Modified settings become active immediately.
- - CIP 127.1.13

ModbusTCP 6938

EtherCAT 60FF:0h

PROFINET 6938

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity,
page 313.

Additional Settings

Overview
The following functions can be used for target value processing:
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319

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• Limitation of the Current via Signal Inputs, page 322

• Zero Clamp, page 325
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Software Limit Switches, page 346
• Motor Standstill and Direction of Movement, page 352
• Velocity Window, page 354
• Position Register, page 357
• Velocity Deviation Window, page 367
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Profile Position

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Profile Position, a movement to a desired target position is
performed.
A movement can be made using one of 2 methods:
• Relative movement
• Absolute movement

Relative Movement
In the case of a relative movement, the movement is relative with reference to the
previous target position or the actual position of the motor.

Absolute Movement
In the case of an absolute movement, the movement is absolute with reference to
the zero point.

A zero point must be defined with the operating mode Homing prior to the first
absolute movement.

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus user guides for a
description.

Status Messages
Information on the operating state and the ongoing movement is available via the
fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

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Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 "Freely Available"

See Setting a Signal Output via Parameter, page 326

It is possible to change the factory settings of the signal outputs, see Digital Signal
Inputs and Digital Signal Outputs, page 195.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the
following conditions is met:
• Target position reached
• Stop caused by “Halt” or “Quick Stop”
• Stop caused by a detected error

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.
Overview of adjustable parameters

Target Position
The parameter PPp_target allows you to set the target position.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PPp_target Target position for operating mode Profile usr_p INT32 CANopen 607A:0h
Position.
- R/W Modbus 6940
Minimum/maximum values depend on:
- - Profibus 6940
- Scaling factor
- - CIP 127.1.14
- Software limit switches (if they are activated)
ModbusTCP 6940
Modified settings become active immediately.
EtherCAT 607A:0h

PROFINET 6940

Target Velocity
The parameter PPv_target allows you to set the target velocity.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PPv_target Target velocity for operating mode Profile Position. usr_v UINT32 CANopen 6081:0h

The target velocity is limited to the setting in 1 R/W Modbus 6942

CTRL_v_max and RAMP_v_max.
60 - Profibus 6942
Modified settings become active the next time the
motor moves. 4294967295 - CIP 127.1.15

ModbusTCP 6942

EtherCAT 6081:0h

PROFINET 6942

Selection of the Method

The parameter PPoption allows you to set the method for a relative movement.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PPoption Options for operating mode Profile Position. - UINT16 CANopen 60F2:0h

Determines the reference position for relative 0 R/W Modbus 6960

positioning:
0 - Profibus 6960
0: Relative with reference to the previous target
position of the profile generator 2 - CIP 127.1.24

1: Not supported ModbusTCP 6960

2: Relative with reference to the actual position of EtherCAT 60F2:0h

the motor
PROFINET 6960
Modified settings become active the next time the
motor moves.

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Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity,
page 313.

Additional Settings

Overview
The following functions can be used for target value processing:
• Jerk Limitation, page 315
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319
• Limitation of the Current via Signal Inputs, page 322
• Setting a Signal Output via Parameter, page 326
• Starting a Movement via a Signal Input, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Software Limit Switches, page 346
• Load-Dependent Position Deviation (Following Error), page 348
• Motor Standstill and Direction of Movement, page 352
• Standstill Window, page 355
• Position Register, page 357
• Position Deviation Window, page 365
• Velocity Deviation Window, page 367
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Interpolated Position

Overview

Availability
See Control Mode, page 178.
Available with firmware version ≥V01.08.
The operating mode is only possible with the CAN fieldbus.

Description
In the operating mode Interpolated Position, movements are made to cyclically set
reference positions.
The monitoring functions Heartbeat and Node Guarding cannot be used in this
operating mode.
Verify cyclical reception of PDOs at the controller in order to detect an interruption
of the connection.
The reference positions are transmitted synchronously with each cycle. The cycle
time of a cycle can be set from 1 ... 20 ms.
The movement to the reference positions starts with the SYNC signal.
The drive performs an internal fine interpolation with a raster of 250 µs.
The illustration below provides an overview:

1 Transmission of first reference position (example)

2 Movement to first reference position
3 Transmission of second reference position (example)
4 Movement to second reference position
5 Transmission of next reference position (example)

Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus user guides for a
description.

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Status Messages
Information on the operating state and the ongoing movement is available via the
fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 "Freely Available"

See Setting a Signal Output via Parameter, page 326

It is possible to change the factory settings of the signal outputs, see Digital Signal
Inputs and Digital Signal Outputs, page 195.

Terminating the Operating Mode

The operating mode is terminated via the fieldbus. See the fieldbus user guides
for a description.

Parameterization

Synchronization Mechanism
The synchronization mechanism must be activated for the operating mode
Interpolated Position.
The synchronization mechanism is activated via the parameter SyncMechStart =
2.
The parameter SyncMechTol is used to set a synchronization tolerance. The value
of the parameter SyncMechTol is internally multiplied by 250 μs. For example, a
value of 4 corresponds to a tolerance of 1 ms.
The status of the synchronizations mechanism can be read by means of the
parameter SyncMechStatus.
Activate the synchronization mechanism by means of the parameter
SyncMechStart.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

SyncMechStart Activation of synchronization mechanism. - UINT16 CANopen 3022:5h

Value 0: Deactivate synchronization mechanism 0 R/W Modbus 8714

Value 1: Activate synchronization mechanism 0 - Profibus 8714

(CANmotion).
2 - CIP 134.1.5
Value 2: Activate synchronization mechanism,
standard CANopen mechanism. ModbusTCP 8714

The cycle time of the synchronization signal is EtherCAT 3022:5h

derived from the parameters intTimPerVal and
intTimInd. PROFINET 8714

Modified settings become active immediately.

SyncMechTol Synchronization tolerance. - UINT16 CANopen 3022:4h

The value is applied when the synchronization 1 R/W Modbus 8712

mechanism is activated via the parameter
SyncMechStart. 1 - Profibus 8712

Modified settings become active immediately. 20 - CIP 134.1.4

Available with firmware version ≥V01.08. ModbusTCP 8712

EtherCAT 3022:4h

PROFINET 8712
SyncMechStatus Status of synchronization mechanism. - UINT16 CANopen 3022:6h

Status of synchronization mechanism: - R/- Modbus 8716

Value 1: Synchronization mechanism of drive is - - Profibus 8716

inactive.
- - CIP 134.1.6
Value 32: Drive is synchronizing with external
sync signal. ModbusTCP 8716

Value 64: Drive is synchronized with external sync EtherCAT 3022:6h

signal.
PROFINET 8716
Available with firmware version ≥V01.08.

Cycle Time
The cycle time is set via the parameters IP_IntTimPerVal and IP_IntTimInd.
The cycle time depends on the following factors:
• Number of drives
• Baud rate
• Time of the minimum data packets per cycle:
◦ SYNC
◦ R_PDO2, T_PDO2
◦ EMCY (This time must be reserved.)
• Optionally the time of the additional data packets per cycle:
◦ R_SDO and T_SDO
The controller must make sure that the number of requests (R_SDO) and
the cycle time match. The response (T_SDO) is transmitted with the next
cycle.
◦ nPDO - additional R_PDO and T_PDO:
R_PDO1, T_PDO1, R_PDO3, T_PDO3, R_PDO4 and T_PDO4
The table below shows the typical values for the individual data packets,
depending on the baud rate:

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Data packets Size in bytes 1 Mbit 500 kbit 250 kbit

R_PDO2 6 0.114 ms 0.228 ms 0.456 ms

T_PDO2 6 0.114 ms 0.228 ms 0.456 ms

SYNC 0 0.067 ms 0.134 ms 0.268 ms

EMCY 8 0.130 ms 0.260 ms 0.520 ms
R_PDOx 8 0.130 ms 0.260 ms 0.520 ms

T_PDOx 8 0.130 ms 0.260 ms 0.520 ms

R_SDO and T_SDO 16 0.260 ms 0.520 ms 1.040 ms

In the case of one drive, the minimum cycle time is calculated as follows: tcycle=
SYNC + R_PDO2+ T_PDO2 + EMCY + SDO +nPDO
The following table shows tcycle depending on the baud rate and the number of
additional PDOs nPDO, based on one drive:

Number of additional PDOs Minimum cycle Minimum cycle Minimum cycle

(nPDO) time at 1 Mbit time at 500 kbit time at 250 kbit

0 1 ms 2 ms 3 ms
1 1 ms 2 ms 3 ms
2 1 ms 2 ms 4 ms
3 2 ms 2 ms 4 ms
4 2 ms 3 ms 5 ms
5 2 ms 3 ms 5 ms
6 2 ms 3 ms 6 ms

Cycle time in seconds: IP_IntTimPerVal * 10 IP_IntTimInd

Set the desired cycle time with the parameters IP_IntTimPerVal and IP_IntTimInd.
Valid cycle times are 1 ... 20 ms in increments of 1 ms.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IP_IntTimPerVal Interpolation time period value. s UINT16* CANopen 60C2:1h

Available with firmware version ≥V01.08. 0 R/W Modbus 7000

* Datatype for CANopen: UINT8 1 - Profibus 7000

255 - CIP 127.1.44

ModbusTCP 7000

EtherCAT 60C2:1h

PROFINET 7000
IP_IntTimInd Interpolation time index. - INT16* CANopen 60C2:2h

Available with firmware version ≥V01.08. -128 R/W Modbus 7002

* Datatype for CANopen: INT8 -3 - Profibus 7002

63 - CIP 127.1.45

ModbusTCP 7002

EtherCAT 60C2:2h

PROFINET 7002

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Position Comparison
The drive cyclically processes the reference position as soon as bit 4 of the control
word is set to 1. If the difference between reference position and actual position is
too great, a position deviation error (following error) is detected. To help avoid
such an error, the actual position must be read via the parameter _p_act before
the operating mode is activated or continued. New reference positions must
correspond to the actual position in the first cycle.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_act Actual position. usr_p INT32 CANopen 6064:0h

- R/- Modbus 7706

- - Profibus 7706

- - CIP 130.1.13

ModbusTCP 7706

EtherCAT 6064:0h

PROFINET 7706

Reference Position
The parameter IPp_target cyclically transmits a reference value.
Set the desired reference value with the parameter IPp_target.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IPp_target Position reference value for operating mode - INT32 CANopen 60C1:1h
Interpolated Position.
-2147483648 R/W Modbus 7004
Available with firmware version ≥V01.08.
- - Profibus 7004

2147483647 - CIP 127.1.46

ModbusTCP 7004

EtherCAT 60C1:1h

PROFINET 7004

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Operating Mode Homing

Overview

Availability
See Control Mode, page 178.

Description
In the operating mode Homing, a reference is generated between a mechanical
position and the actual position of the motor.
A reference between a mechanical position and the actual position of the motor is
generated by means of a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the
zero point becomes valid.
The zero point of the movement range is the point of reference for absolute
movements in the operating modes Profile Position and Motion Sequence.

Methods
Different methods are available:
• Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the
negative limit switch or the positive limit switch is performed.
When the limit switch is reached, the movement is stopped and then a
movement is made back to the switching point of the limit switch.
From the switching point of the limit switch, a movement is made to the next
index pulse of the motor or to a parameterizable distance from the switching
point.
The position of the index pulse or the position of the parameterizable distance
from the switching point is the reference point.
• Reference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to
the reference switch is performed.
When the reference switch is reached, the movement is stopped and then a
movement is made to the switching point of the reference switch.
From the switching point of the reference switch, a movement is made to the
next index pulse of the motor or to a parameterizable distance from the
switching point.
The position of the index pulse or the position of the parameterizable distance
from the switching point is the reference point.
• Reference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made
from the actual position to the next index pulse. The position of the index
pulse is the reference point.
• Position setting
In the case of position setting, the actual position of the motor is set to a
desired position value.
A reference movement must be terminated without interruption for the new zero
point to be valid. If the reference movement is interrupted, it must be started again.
Motors with multiturn encoder deliver a valid zero point after they are powered on.

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Starting the Operating Mode

The operating mode is started via the fieldbus. See the fieldbus user guides for a
description.

Status Messages
Information on the operating state and the ongoing movement is available via the
fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

Signal output Signal output function

DQ0 "No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and

6 Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 "Freely Available"

See Setting a Signal Output via Parameter, page 326

It is possible to change the factory settings of the signal outputs, see Digital Signal
Inputs and Digital Signal Outputs, page 195.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the
following conditions is met:
• Homing successful
• Stop caused by “Halt” or “Quick Stop”
• Stop caused by a detected error

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

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Setting Limit Switches and Reference Switches

The limit switches and reference switches must be set to meet the requirements,
see Limit Switches, page 345 and Reference Switch, page 346.

Selection of the Method

The operating mode Homing establishes an absolute position reference between
the motor position and a defined axis position. There are various Homing methods
which can be selected via the parameter HMmethod.
The HMprefmethod parameter is used to save the preferred method to the
nonvolatile memory (persistent). When the preferred method has been set in this
parameter, the method is performed during homing even after the device is
powered off and on. The value to be entered corresponds to the value in the
HMmethod parameter.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMmethod Homing method. - INT16* CANopen 6098:0h

1: LIMN with index pulse 1 R/W Modbus 6936

2: LIMP with index pulse 18 - Profibus 6936

7: REF+ with index pulse, inv., outside 35 - CIP 127.1.12

8: REF+ with index pulse, inv., inside ModbusTCP 6936

9: REF+ with index pulse, not inv., inside EtherCAT 6098:0h

10: REF+ with index pulse, not inv., outside PROFINET 6936

11: REF- with index pulse, inv., outside

12: REF- with index pulse, inv., inside

13: REF- with index pulse, not inv., inside

14: REF- with index pulse, not inv., outside

17: LIMN

18: LIMP

23: REF+, inv., outside

24: REF+, inv., inside

25: REF+, not inv., inside

26: REF+, not inv., outside

27: REF-, inv., outside

28: REF-, inv., inside

29: REF-, not inv., inside

30: REF-, not inv., outside

33: Index pulse negative direction

34: Index pulse positive direction

35: Position setting

Abbreviations:

REF+: Search movement in positive direction

REF-: Search movement in negative direction

inv.: Invert direction in switch

not inv.: Direction not inverted in switch

outside: Index pulse / distance outside switch

inside: Index pulse / distance inside switch

Modified settings become active immediately.

* Datatype for CANopen: INT8

HMprefmethod Preferred homing method. - INT16 CANopen 3028:Ah

oP → hoM- Modified settings become active immediately. 1 R/W Modbus 10260

MEth 18 per. Profibus 10260

35 - CIP 140.1.10

ModbusTCP 10260

EtherCAT 3028:Ah

PROFINET 10260

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Setting the Distance From the Switching Point

A distance to the switching point of the limit switch or the reference switch must be
parameterized for a reference movement with index pulse. The parameter HMdis
lets you set the distance to the switching limit switch or the reference switch.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMdis Distance from switching point. usr_p INT32 CANopen 3028:7h

The distance from the switching point is defined as 1 R/W Modbus 10254
the reference point.
200 per. Profibus 10254
The parameter is only effective during a reference
movement without index pulse. 2147483647 - CIP 140.1.7

Modified settings become active the next time the ModbusTCP 10254
motor moves.
EtherCAT 3028:7h

PROFINET 10254

Defining the Zero Point

The parameter HMp_home is used to specify a desired position value, which is set
at the reference point after a successful reference movement. The desired
position value at the reference point defines the zero point.
If the value 0 is used, the zero point corresponds to the reference point.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMp_home Position at reference point. usr_p INT32 CANopen 3028:Bh

After a successful reference movement, this -2147483648 R/W Modbus 10262

position is automatically set at the reference point.
0 per. Profibus 10262
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.11

ModbusTCP 10262

EtherCAT 3028:Bh

PROFINET 10262

Setting Monitoring
The parameters HMoutdis and HMsrchdis allow you to activate monitoring of the
limit switches and the reference switch.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMoutdis Maximum distance for search for switching point. usr_p INT32 CANopen 3028:6h

0: Monitoring of distance inactive 0 R/W Modbus 10252

>0: Maximum distance 0 per. Profibus 10252

After detection of the switch, the drive starts to 2147483647 - CIP 140.1.6
search for the defined switching point. If the
defined switching point is not found within the ModbusTCP 10252
distance defined here, the reference movement is
canceled and an error is detected. EtherCAT 3028:6h

Modified settings become active the next time the PROFINET 10252
motor moves.
HMsrchdis Maximum search distance after overtravel of usr_p INT32 CANopen 3028:Dh
switch.
0 R/W Modbus 10266
0: Search distance monitoring disabled
0 per. Profibus 10266
>0: Search distance
2147483647 - CIP 140.1.13
The switch must be activated again within this
search distance, otherwise the reference ModbusTCP 10266
movement is canceled.
EtherCAT 3028:Dh
Modified settings become active the next time the
motor moves. PROFINET 10266

Reading out the Position Distance

The position distance between the switching point and index pulse can be read
out with the following parameter.
The distance between the switching point and the index pulse must be >0.05
revolutions for reproducible reference movements with index pulse.
If the index pulse is too close to the switching point, the limit switch or reference
switch can be moved mechanically.
Otherwise the position of the index pulse can be moved with the parameter ENC_
pabsusr, see Setting Parameters for Encoder, page 150.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_HMdisREFtoIDX_ Distance from switching point to index pulse. usr_p INT32 CANopen 3028:Fh
usr
Allows you to verify the distance between the -2147483648 R/- Modbus 10270
index pulse and the switching point and serves as
a criterion for determining whether the reference - - Profibus 10270
movement with index pulse can be reproduced.
2147483647 - CIP 140.1.15
Available with firmware version ≥V01.03.
ModbusTCP 10270

EtherCAT 3028:Fh

PROFINET 10270

Setting Velocities
The parameters HMv and HMv_out are used to set the velocities for searching the
switch and for moving away from the switch.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMv Target velocity for searching the switch. usr_v UINT32 CANopen 6099:1h

oP → hoM- The adjustable value is internally limited to the 1 R/W Modbus 10248
parameter setting in RAMP_v_max.
hMn 60 per. Profibus 10248
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.4

ModbusTCP 10248

EtherCAT 6099:1h

PROFINET 10248
HMv_out Target velocity for moving away from switch. usr_v UINT32 CANopen 6099:2h

The adjustable value is internally limited to the 1 R/W Modbus 10250

parameter setting in RAMP_v_max.
6 per. Profibus 10250
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.5

ModbusTCP 10250

EtherCAT 6099:2h

PROFINET 10250

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity,
page 313.

Reference Movement to a Limit Switch

Overview
The illustration below shows a reference movement to a limit switch

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1 Movement to limit switch at velocity HMv

2 Movement to the switching point of the limit switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at
velocity HMv_out

Type A
Method 1: Movement to the index pulse.
Method 17: Movement to distance from switching point.

Type B
Method 2: Movement to the index pulse.
Method 18: Movement to distance from switching point.

Reference Movement to the Reference Switch in Positive Direction

Overview
The illustration below shows a reference movement to the reference switch in
positive direction

1 Movement to reference switch at velocity HMv

2 Movement to the switching point of the reference switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at
velocity HMv_out

Type A
Method 7: Movement to the index pulse.

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Method 23: Movement to distance from switching point.

Type B
Method 8: Movement to the index pulse.
Method 24: Movement to distance from switching point.

Type C
Method 9: Movement to the index pulse.
Method 25: Movement to distance from switching point.

Type D
Method 10: Movement to the index pulse.
Method 26: Movement to distance from switching point.

Reference Movement to the Reference Switch in Negative Direction

Overview
The illustration below shows a reference movement to the reference switch in
negative direction

1 Movement to reference switch at velocity HMv

2 Movement to the switching point of the reference switch at velocity HMv_out
3 Movement to index pulse or movement to a distance from the switching point at
velocity HMv_out

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Type A
Method 11: Movement to the index pulse.
Method 27: Movement to distance from switching point.

Type B
Method 12: Movement to the index pulse.
Method 28: Movement to distance from switching point.

Type C
Method 13: Movement to the index pulse.
Method 29: Movement to distance from switching point.

Type D
Method 14: Movement to the index pulse.
Method 30: Movement to distance from switching point.

Reference Movement to the Index Pulse

Overview
The illustration below shows a reference movement to the index pulse

1 Movement to index pulse at velocity HMv_out

Position Setting

Description
By means of position setting, the actual position of the motor is set to the position
value in parameter HMp_setP. This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active
position deviation remains active and can still be compensated for by the position
controller after position setting.

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Setting the Position for Position Setting

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMp_setP Position for Position Setting. usr_p INT32 CANopen 301B:16h

Position for operating mode Homing, method 35. - R/W Modbus 6956

Modified settings become active immediately. 0 - Profibus 6956

- - CIP 127.1.22

ModbusTCP 6956

EtherCAT 301B:16h

PROFINET 6956

Example
Movement by 4000 user-defined units with position setting

1 The motor is positioned by 2000 user-defined units.

2 By means of position setting to 0, the actual position of the motor is set to
position value 0 which, at the same time, defines a new zero point.
3 When a new movement by 2000 user-defined units is triggered, the new target
position is 2000 user-defined units.

Additional Settings

Overview
The following functions can be used for target value processing:
• Jerk Limitation, page 315
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319
• Limitation of the Current via Signal Inputs, page 322
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Reference Switch, page 346
• Software Limit Switches, page 346

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• Load-Dependent Position Deviation (Following Error), page 348

• Motor Standstill and Direction of Movement, page 352
• Standstill Window, page 355
• Position Register, page 357
• Position Deviation Window, page 365
• Velocity Deviation Window, page 367
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Operating Mode Motion Sequence

Overview

Availability
Available with firmware version ≥V01.01.

Description
In the operating mode Motion Sequence, movements are started via
parameterizable data sets.
A parameterizable data set contains settings on the type of movement (data set
type) and the appropriate target values (such as the target velocity and target
position).
In addition, you can specify in a data set that a subsequent data set is to be
started once the movement has been terminated. You can also define a transition
condition for starting the subsequent data set.
The data sets are parameterized via the commissioning software.

Sequence
A data set can be started in two different ways:
• Start of a data set with sequence:
The set data set is started.
If a subsequent data set has been defined in the data set, the subsequent
data set is started once the movement has been terminated.
If a transition condition has been defined, the subsequent data set is started
once the transition condition is met.
• Start of a data set without sequence:
The set data set is started.
If a subsequent data set has been defined in the data set, the subsequent
data set is not started when the movement has been terminated.

Data Set Types

The following data set types are available:
• Movement to a specific position value (absolute movement, additive
movement or relative movement)
• Movement at a specific velocity
• Homing the motor (reference movement or position setting)
• Repetition of a given sequence (1 ... 65535)
The following types of data set types are available with firmware version ≥V01.09:
• Movement synchronized with external reference value signals (Electronic
Gear)
• Write parameter with desired value

Number of Data Sets

The number of data sets depends on the hardware version:
• With hardware version ≥RS03: 128 data sets
• With hardware version <RS03: 32 data sets

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Control Mode
In local control mode, a movement is started via the digital signal inputs.
In fieldbus control mode, a movement is started via the fieldbus.
See Control Mode, page 178 for information on setting the control mode.

Starting the Operating Mode

In local control mode, the operating mode must first have been selected, see
Starting and Changing an Operating Mode, page 241. After the power stage is
enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs. The table below provides an
overview of the factory settings of the signal inputs:

Signal input Signal input function

DI0 "Enable"

Enable and disable the power stage

DI1 "Reference Switch (REF)"

See Reference Switch, page 346

DI2 "Positive Limit Switch (LIMP)"

See Limit Switches, page 345

DI3 "Negative Limit Switch (LIMN)"

See Limit Switches, page 345

DI4 "Start Motion Sequence"

Start sequence

DI5 "Data Set Select"

Select data set number

The factory settings of the signal inputs depend on the selected operating mode;
they can be adapted, see Digital Signal Inputs and Digital Signal Outputs, page
195.
In fieldbus control mode, the operating mode is started via the fieldbus. See the
fieldbus user guides for a description.

Status Messages
In local control mode, information on the operating state and the ongoing
movement is available via signal outputs.
In fieldbus control mode, information on the operating state and the ongoing
movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and the ongoing
movement can be found in the fieldbus user guides.
The table below provides an overview of the signal outputs:

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Signal output Signal output function

DQ0 With local control mode:

"Motion Sequence: Done"

Signals the end of a sequence.

With fieldbus control mode:

"No Fault"

Signals the operating states 4 Ready To Switch On, 5 Switched On and 6

Operation Enabled

DQ1 "Active"

Signals the operating state 6 Operation Enabled

DQ2 With local control mode:

"Motion Sequence: Start Acknowledge"

Signals that the system is waiting for a transition condition to be met.

With fieldbus control mode:

"Freely Available"

See Setting a Signal Output via Parameter, page 326

The factory settings of the signal outputs depend on the selected control mode
and the selected operating mode; they can be adapted, see Digital Signal Inputs
and Digital Signal Outputs, page 195.

Terminating the Operating Mode

In local control mode, the operating mode is automatically terminated by disabling
the power stage.
In fieldbus control mode, the operating mode is terminated via the fieldbus. See
the fieldbus user guides for a description.

Start of a Data Set with Sequence

Description
The set data set is started.
If a subsequent data set has been defined in the data set, the subsequent data set
is started once the movement has been terminated.
If a transition condition has been defined, the subsequent data set is started once
the transition condition is met.

Signal Input Functions

In local control mode, the following signal input functions are required to start a
data set with sequence:

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Signal input function Description

"Start Motion Sequence" Start of a data set with sequence.

Factory setting for DI4 A data set is set via the signal input functions "Data Set Bit 0" to
"Data Set Bit x" and confirmed with the signal input function "Data
Set Select".
"Data Set Select" The signal input function "Data Set Select" is used to confirmed
the set data set.
Factory setting for DI5
If the signal input functions "Data Set Bit 0" to "Data Set Bit x" are
not set to any of the signal inputs, data set 0 is confirmed with the
signal input function "Data Set Select".

"Data Set Bit 0" to "Data Set The signal input functions "Data Set Bit 0" to "Data Set Bit x" are
Bit x" used to set a data set in a bit-coded way.

Adjustable for signal inputs The set data set must be confirmed with the signal input function
DI0 ... DI5 "Data Set Select".

Start Condition
A start condition is defined for starting a data set with sequence. The start
conditions can be set with the parameter MSM_CondSequ.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_CondSequ Start condition for the start of a sequence via a - UINT16 CANopen 302D:8h
signal input.
0 R/W Modbus 11536
0 / Rising Edge: Rising edge
0 per. Profibus 11536
1 / Falling Edge: Falling edge
3 - CIP 145.1.8
2 / 1-level: 1 level
ModbusTCP 11536
3 / 0-level: 0 level
EtherCAT 302D:8h
The start condition defines the way the start
request is to be processed. This setting is used for PROFINET 11536
the first start after activation of the operating
mode.

Modified settings become active the next time the

motor moves.

End of a Sequence
With firmware version ≥V01.09 you can parameterize whether the set data set is
to be confirmed at the end of a sequence.
The confirmation can be set with the parameter MSMendNumSequence.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSMendNumSe- Selection of the data set number after the end of a - UINT16 CANopen 302D:9h
quence sequence.
0 R/W Modbus 11538
0 / DataSetSelect: Data set is set via the signal
input function "Data Set Select" 0 per. Profibus 11538

1 / Automatic: Data set is set automatically 1 - CIP 145.1.9

Value 0: After the end of a sequence, the selected ModbusTCP 11538

data set must be set via the signal input function
"Data Set Select". EtherCAT 302D:9h

Value 1: After the end of a sequence, the selected PROFINET 11538

data set is set automatically.

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.09.

Start of a Data Set without Sequence

Description
The set data set is started.
If a subsequent data set has been defined in the data set, the subsequent data set
is not started when the movement has been terminated.

Signal Input Functions

In local control mode, the following signal input functions are required to start a
data set without sequence:

Signal input function Description

"Start Single Data Set" The set data set is started without a sequence via a rising edge.

The signal input function must A data set is set via the signal input functions "Data Set Bit 0" to
be set. "Data Set Bit x".
"Data Set Bit 0" to "Data Set The signal input functions "Data Set Bit 0" to "Data Set Bit x" are
Bit x" used to set a data set in a bit-coded way.

Adjustable for signal inputs The set data set is immediately confirmed; it does not need to be
DI0 ... DI5 confirmed with the signal input function "Data Set Select".

Setting the Start Signal

With firmware version ≥V01.09, you can parameterize whether a movement can
be aborted via a rising edge at the signal input.
The parameter MSMstartSignal lets you set the behavior of the start signal.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSMstartSignal Response to falling edge at signal input for 'Start - UINT16 CANopen 302D:Ch
Signal Data Set'.
0 R/W Modbus 11544
0 / No Reaction: No response
0 per. Profibus 11544
1 / Cancel Movement: Cancel active movement
1 - CIP 145.1.12
Setting can only be modified if power stage is
disabled. ModbusTCP 11544

Modified settings become active immediately. EtherCAT 302D:Ch

Available with firmware version ≥V01.09. PROFINET 11544

Structure of a Data Set

Data Set Type, Settings and Type of Transition

Structure of a data set

Data set type Setting A Setting B Setting C Setting D Transition type

"Move Absolute" Acceleration Velocity Absolute target Deceleration • No Transition

position • Abort And Go
Movement to an Unit: usr_a Unit: usr_v Unit: usr_a
absolute position Unit: usr_p Next
value • Buffer And
Start Next
• Blending
Previous
• Blending Next

"Move Additive" Acceleration Velocity Added target Deceleration • No Transition

position • Abort And Go
Movement that is Unit: usr_a Unit: usr_v Unit: usr_a
added to target Unit: usr_p Next
position • Buffer And
Start Next
"Reference Homing method Desired position - - • No Transition
Movement" value at reference • Buffer And
Like parameter point
HMmethod Start Next
Reference
movement(1) Unit: usr_p

"Position Setting" Position for Position - - - • No Transition

Setting • Buffer And
Position setting
Start Next
Unit: usr_p

"Repeat" Number of Number of the data - - • No Transition

repetitions (1 ... set at which the • Buffer And
Repeat part of a 65535) repetition is to be
sequence Start Next
started

"Move Relative" Acceleration Velocity Relative target Deceleration • No Transition

position • Abort And Go
Movement relative Unit: usr_a Unit: usr_v Unit: usr_a
with reference to Unit: usr_p Next
actual position • Buffer And
Start Next

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Data set type Setting A Setting B Setting C Setting D Transition type

"Move Velocity" Acceleration(2) Velocity Direction of Deceleration(2) • Abort And Go

movement Next
Movement at a Unit: usr_a Unit: usr_v Unit: usr_a
specific velocity Value 0: Positive

Value 1: Negative

Value 2: From
previous data set

(1) Function principle like operating mode Homing.

(2) The motion profile for velocity must have been activated see parameter RAMP_v_enable in section Motion Profile for the Velocity, page
313.

The following data set types are available with firmware version ≥V01.09:

Data set type Setting A Setting B Setting C Setting D Transition type

"Gear" Method Numerator of gear Denominator of Acceleration and • Abort And Go

ratio gear ratio deceleration for Next
Electronic Gear(1) Value 0: No velocity
synchronization Like parameter Like parameter synchronization(2)
(3)(4)
GEARnum GEARdenom
Value 1: Position
synchronization without Unit: usr_a
compensation
movement

Value 2: Position
synchronization with
compensation
movement

Value 3: Velocity
synchronization

"Write Parameter" Modbus address of the Value of the - - • No Transition

parameter parameter • Buffer And
Write parameter
directly Start Next
The parameters of the (Values greater
safety module eSM and than 2147483647
the following parameters must be entered
cannot be written as negative
directly: values.)

AccessLock

AT_start

DCOMopmode

GEARreference

JOGactivate

OFSp_rel

PAR_CTRLreset

PAR_ScalingStart

PAReeprSave

PARuserReset

PTtq_reference

PTtq_target

PVv_reference

PVv_target

(1) Function principle like operating mode Electronic Gear.

(2) Available with firmware version ≥V01.20.

(3) Value 0 means that the values for acceleration and deceleration are taken from the previous data set.

(4) The motion profile for velocity must have been activated see parameter RAMP_v_enable in section Motion Profile for the Velocity, page
313.

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Transition Type
Transition type is used to set the type of transition to the subsequent data set. The
following types of transitions are possible:
• No Transition
No further data set is started upon successful completion of the movement
(end of sequence).
• Abort And Go Next
If the transition condition is met, the current movement is aborted and the
subsequent data set started.
The transition conditions are considered for the transition.
• Buffer And Start Next
Upon successful completion of the movement and if the transition condition is
met, the subsequent data set is started.
The transition conditions are considered for the transition.
• Blending Previous / Blending Next (data set type Move Absolute only)
The velocity is adapted to the velocity of the subsequent data set until the
target position is reached or when it has been reached.
The transition is performed without consideration of the transition conditions.
Transition type

1 First data set.

2 Target position of first data set reached.
3 Transition condition met, the first data set is terminated and the next data set is
started.
4 Next data set.

Subsequent Data Set and Transition Conditions

Structure of a data set

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Subsequent Data Set

Subsequent data set defines the data set to be started next.

Transition Condition 1
Transition condition 1 is used to set the first transition condition. The following
transition conditions are possible:
• Continue Without Condition
No condition for a transition. The subsequent data set is started directly. Any
second transition condition is without effect.
• Wait Time
The condition for a transition is a waiting time.
• Start Request Edge
The condition for a transition is an edge at the signal input.
• Start Request Level
The condition for a transition is a level at the signal input.

Transition Value 1
Transition value 1 is used to set the value for the first transition condition. The
meaning depends on the selected transition condition.
• In the case of transition condition Continue Without Condition
◦ No meaning
• In the case of transition condition Waiting Time
◦ Value 0 ... 30000: Waiting time of 0 ... 30000 ms
• In the case of transition condition Start Request Edge
◦ Value 0: CCLR is triggered by rising-edge
◦ Value 1: Falling edge
◦ Value 4: Rising or falling edge
• In the case of transition condition Start Request Level
◦ Value 2: 1 level
◦ Value 3: 0 level

Logical Operator
Logical operator is used to logically link transition condition 1 and transition
condition 2. The following logical operators are available:
• None
No operator (transition condition 2 has no effect)
• AND
Logical AND
• OR
Logical OR

Transition Condition 2
Transition condition 2 is used to set the second transition condition. The following
transition conditions are possible:
• Continue Without Condition
No condition for a transition. The subsequent data set is started directly.

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• Start Request Edge

The condition for a transition is an edge at the signal input.
If an And is used to logically link an edge and a waiting time, the edge is not
evaluated until the waiting time has elapsed.
• Start Request Level
The condition for a transition is a level at the signal input.

Transition Value 2
Transition value 2 is used to set the value for the second transition condition. The
meaning depends on the selected transition condition.
• In the case of transition condition Continue Without Condition
◦ No meaning
• In the case of transition condition Start Request Edge
◦ Value 0: CCLR is triggered by rising-edge
◦ Value 1: Falling edge
◦ Value 4: Rising or falling edge
• In the case of transition condition Start Request Level
◦ Value 2: 1 level
◦ Value 3: 0 level

Error Diagnostics

Plausibility Verification
The fields of a data set are verified for plausibility when the data set is started. If
an error is detected in a data set, the parameters _MSM_error_num and _MSM_
error_field provide information on the data set number and the data set field
containing the error.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_MSM_error_num Number of the data set in which an error has been - INT16 CANopen 302D:Dh
detected.
-1 R/- Modbus 11546
Value -1: No error
-1 - Profibus 11546
Values 0 … 127: Number of the data set in which
an error has been detected. 127 - CIP 145.1.13

Available with firmware version ≥V01.09. ModbusTCP 11546

EtherCAT 302D:Dh

PROFINET 11546
_MSM_error_field Field of the data set in which an error has been - INT16 CANopen 302D:Eh
detected.
-1 R/- Modbus 11548
Value -1: No error
-1 - Profibus 11548
Value 0: Data set type
11 - CIP 145.1.14
Value 1: Setting A
ModbusTCP 11548
Value 2: Setting B
EtherCAT 302D:Eh
Value 3: Setting C
PROFINET 11548
Value 4: Setting D

Value 5: Transition type

Value 6: Subsequent data set

Value 7: Transition condition 1

Value 8: Transition value 1

Value 9: Logical operator

Value 10: Transition condition 2

Value 11: Transition value 2

Available with firmware version ≥V01.09.

Diagnostics via Parameter

The parameter _MSMnumFinish lets you read the number of the data set that was
being executed at the point in time the movement was canceled.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_MSMNumFinish Number of data set that was active when a - INT16 CANopen 302D:Bh
movement was interrupted.
-1 R/- Modbus 11542
When a movement is interrupted, the number of
the data set that was being processed at the point -1 - Profibus 11542
in time of the interruption is contained in this
parameter. 127 - CIP 145.1.11

ModbusTCP 11542

EtherCAT 302D:Bh

PROFINET 11542

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Additional Settings

Overview
The following functions can be used for target value processing:
• Jerk Limitation, page 315
This function is only available for the data set types Move Absolute, Move
Additive, Move Relative, Reference Movement and Gear.
• Stopping Movement with Halt, page 316
• Stopping Movement with Quick Stop, page 317
• Limitation of the Velocity via Signal Inputs, page 319
• Limitation of the Current via Signal Inputs, page 322
• Zero Clamp, page 325
This function is only available for data set type Move Velocity.
• Setting a Signal Output via Parameter, page 326
• Position Capture via Signal Input (Vendor-Specific Profile), page 326
• Position Capture via Signal Input (DS402 Profile), page 333
• Relative Movement After Capture (RMAC), page 338
This function is only available for the data set types Move Absolute, Move
Additive, Move Relative, Move Velocity and Gear.
The following functions can be used for monitoring the movement:
• Limit Switches, page 345
• Reference Switch, page 346
This function is only available for data set type Reference Movement.
• Software Limit Switches, page 346
• Load-Dependent Position Deviation (Following Error), page 348
This function is only available for the data set types Move Absolute, Move
Additive, Move Relative and Reference Movement.
• Motor Standstill and Direction of Movement, page 352
• Standstill Window, page 355
This function is only available for the data set types Move Absolute, Move
Additive, Move Relative and Reference Movement.
• Position Register, page 357
• Position Deviation Window, page 365
This function is only available for the data set types Move Absolute, Move
Additive, Move Relative and Reference Movement.
• Velocity Deviation Window, page 367
• Velocity Threshold Value, page 369
• Current Threshold Value, page 370

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Functions for Operation

Functions for Target Value Processing
Motion Profile for the Velocity

Description
Target position and target velocity are input values specified by the user. A motion
profile for the velocity is calculated on the basis of these input values.
The motion profile for the velocity consists of an acceleration, a deceleration and a
maximum velocity.
A linear ramp for both directions of movement is available.

Availability
The availability of the motion profile for the velocity depends on the operating
mode.
In the following operating modes, the motion profile for the velocity is permanently
active:
• Jog
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative and
Reference Movement)
In the following operating modes, the motion profile for the velocity can be
activated and deactivated:
• Electronic Gear (velocity synchronization)
• Profile Velocity
• Motion Sequence (Move Velocity and Gear)
In the following operating modes, the motion profile for the velocity is unavailable:
• Electronic Gear (position synchronization)
• Profile Torque
• Interpolated Position

Ramp Slope
The ramp slope determines the velocity changes of the motor per time unit. The
ramp slope can be set for acceleration and deceleration.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMP_v_enable Activation of the motion profile for velocity. - UINT16 CANopen 3006:2Bh

0 / Profile Off: Profile off 0 R/W Modbus 1622

1 / Profile On: Profile on 1 per. Profibus 1622

Setting can only be modified if power stage is 1 - CIP 106.1.43

disabled.
ModbusTCP 1622
Modified settings become active immediately.
EtherCAT 3006:2Bh

PROFINET 1622
RAMP_v_max Maximum velocity of the motion profile for velocity. usr_v UINT32 CANopen 607F:0h

ConF → ACG- If a greater reference velocity is set in one of these 1 R/W Modbus 1554
operating modes, it is automatically limited to
nrMP RAMP_v_max. 13200 per. Profibus 1554

This way, commissioning at limited velocity is 2147483647 - CIP 106.1.9

easier to perform.
ModbusTCP 1554
Setting can only be modified if power stage is
disabled. EtherCAT 607F:0h

Modified settings become active the next time the PROFINET 1554
motor moves.
RAMP_v_acc Acceleration of the motion profile for velocity. usr_a UINT32 CANopen 6083:0h

Writing the value 0 has no effect on the parameter. 1 R/W Modbus 1556

Modified settings become active the next time the 600 per. Profibus 1556
motor moves.
2147483647 - CIP 106.1.10

ModbusTCP 1556

EtherCAT 6083:0h

PROFINET 1556
RAMP_v_dec Deceleration of the motion profile for velocity. usr_a UINT32 CANopen 6084:0h

The minimum value depends on the operating 1 R/W Modbus 1558

mode:
600 per. Profibus 1558
Operating modes with minimum value 1:
2147483647 - CIP 106.1.11
Electronic Gear (velocity synchronization)
ModbusTCP 1558
Profile Velocity
EtherCAT 6084:0h
Motion Sequence (Move Velocity)
PROFINET 1558
Operating modes with minimum value 120:

Jog

Profile Position

Homing

Motion Sequence (Move Absolute, Move Additive,

Move Relative and Reference Movement)

Writing the value 0 has no effect on the parameter.

Modified settings become active the next time the

motor moves.

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Jerk Limitation

Description
Jerk limitation smoothes sudden acceleration changes to allow for smooth
transitions with almost no jerking.

Availability
Jerk limitation is available in the following operating modes.
• Jog
• Electronic Gear (position synchronization)
(with firmware version ≥V01.02 and parameter GEARjerklim)
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative, Reference
Movement and Gear)

Settings
Jerk limitation is activated and set via the parameter RAMP_v_jerk.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMP_v_jerk Jerk limitation of the motion profile for velocity. ms UINT16 CANopen 3006:Dh

ConF → drC- 0 / Off / o F F : Off 0 R/W Modbus 1562

JEr 1 / 1 / 1 : 1 ms 0 per. Profibus 1562

2 / 2 / 2 : 2 ms 128 - CIP 106.1.13

4 / 4 / 4 : 4 ms ModbusTCP 1562

8 / 8 / 8 : 8 ms EtherCAT 3006:Dh

16 / 16 / 1 6 : 16 ms PROFINET 1562

32 / 32 / 3 2 : 32 ms

64 / 64 / 6 4 : 64 ms

128 / 128 / 1 2 8 : 128 ms

Adjustments can only be made if the operating

mode is inactive (x_end=1).

Modified settings become active the next time the

motor moves.

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Operating Modes Electronic Gear and Motion Sequence

Jerk limitation is activated for the operating mode Electronic Gear (position
synchronization) and for the operating mode Motion Sequence with the data set
type Gear (position synchronization) by means of the parameter GEARjerklim.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARjerklim Activation of jerk limitation. - UINT16 CANopen 3026:7h

ConF → i-o- 0 / Off / o F F : Jerk limitation deactivated. 0 R/W Modbus 9742

GFiL 1 / PosSyncOn / P _ o n : Jerk limitation active 0 per. Profibus 9742

(only with position synchronization).
1 - CIP 138.1.7
The time for jerk limitation must be set via
parameter RAMP_v_jerk. ModbusTCP 9742

Setting can only be modified if power stage is EtherCAT 3026:7h

disabled.
PROFINET 9742
Modified settings become active immediately.

Available with firmware version ≥V01.02.

Stopping Movement with Halt

Description
With a Halt, the ongoing movement is interrupted. The movement can be resumed
when the Halt is cleared.
A Halt can be triggered via a digital signal input or a fieldbus command.
In order to interrupt a movement via a signal input, you must first parameterize the
signal input function “Halt”, see Digital Signal Inputs and Digital Signal Outputs,
page 195.
The following deceleration types are available:
• Deceleration via deceleration ramp
• Deceleration via torque ramp

Setting the Type of Deceleration

The parameter LIM_HaltReaction lets you set the type of deceleration.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_HaltReaction Halt option code. - INT16 CANopen 605D:0h

ConF → ACG- 1 / Deceleration Ramp / d E c E : Deceleration 1 R/W Modbus 1582

ramp
htyP 1 per. Profibus 1582
3 / Torque Ramp / t o r q : Torque ramp
3 - CIP 106.1.23
Set the deceleration ramp with parameter RAMP_
v_dec. ModbusTCP 1582

Set the torque ramp with parameter LIM_I_ EtherCAT 605D:0h

maxHalt.
PROFINET 1582
If a deceleration ramp is already active, the
parameter cannot be written.

Modified settings become active immediately.

Setting the Deceleration Ramp

The deceleration ramp is set with the parameter Ramp_v_dec via the Motion
Profile for the Velocity, page 313.

Setting the Torque Ramp

The parameter LIM_I_maxHalt lets you set the torque ramp.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_I_maxHalt Current for Halt. Arms UINT16 CANopen 3011:Eh

ConF → ACG- This value is only limited by the minimum/ - R/W Modbus 4380
maximum value range (no limitation of this value
hcur by motor/power stage). - per. Profibus 4380

In the case of a Halt, the current limit (_Imax_act) - - CIP 117.1.14

is one of the following values (whichever is
lowest): ModbusTCP 4380

- LIM_I_maxHalt EtherCAT 3011:Eh

- _M_I_max PROFINET 4380

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Halt.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

Stopping Movement with Quick Stop

Description
With a Quick Stop, the ongoing movement is stopped.

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A Quick Stop can be triggered by a detected error of error classes 1 or 2 or via a

fieldbus command.
The movement can be stopped with 2 different deceleration types.
• Deceleration via deceleration ramp
• Deceleration via torque ramp
In addition, you can set the operating state to switch to after the deceleration.
• Transition to operating state 9 Fault
• Transition to operating state 7 Quick Stop Active

Setting the Type of Deceleration

The parameter LIM_QStopReact lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_QStopReact Quick Stop option code. - INT16 CANopen 3006:18h

-2 / Torque ramp (Fault): Use torque ramp and -2 R/W Modbus 1584
transit to operating state 9 Fault
6 per. Profibus 1584
-1 / Deceleration Ramp (Fault): Use deceleration
ramp and transit to operating state 9 Fault 7 - CIP 106.1.24

6 / Deceleration ramp (Quick Stop): Use ModbusTCP 1584

deceleration ramp and remain in operating state 7
Quick Stop EtherCAT 3006:18h

7 / Torque ramp (Quick Stop): Use torque ramp PROFINET 1584

and remain in operating state 7 Quick Stop

Type of deceleration for Quick Stop.

Setting of deceleration ramp with parameter

RAMPquickstop.

Setting of torque ramp with parameter LIM_I_

maxQSTP.

If a deceleration ramp is already active, the

parameter cannot be written.

Modified settings become active immediately.

Setting the Deceleration Ramp

The parameter RAMPquickstop lets you set the deceleration ramp.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMPquickstop Deceleration ramp for Quick Stop. usr_a UINT32 CANopen 3006:12h

Deceleration ramp for a software stop or an error 1 R/W Modbus 1572

with error class 1 or 2.
6000 per. Profibus 1572
Modified settings become active the next time the
motor moves. 2147483647 - CIP 106.1.18

ModbusTCP 1572

EtherCAT 3006:12h

PROFINET 1572

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Setting the Torque Ramp

The parameter LIM_I_maxQSTP lets you set the torque ramp.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_I_maxQSTP Current for Quick Stop. Arms UINT16 CANopen 3011:Dh

ConF → FLt- This value is only limited by the minimum/ - R/W Modbus 4378
maximum value range (no limitation of this value
qcur by motor/power stage). - per. Profibus 4378

In the case of a Quick Stop, the current limit - - CIP 117.1.13

(_Imax_act) is one of the following values
(whichever is lowest): ModbusTCP 4378

- LIM_I_maxQSTP EtherCAT 3011:Dh

- _M_I_max PROFINET 4378

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Quick Stop.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

Inverting the Analog Signal Inputs

Description
The evaluation of the analog signal inputs can be inverted via the digital signal
inputs.
• The signal input function "Inversion AI11 (I/O module)" inverts the signal
evaluation of the analog signal input AI11.
• The signal input function "Inversion AI12 (I/O module)" inverts the signal
evaluation of the analog signal input AI12.
In order to invert the signal evaluation of the analog signal inputs, you must first
parameterize the signal input functions "Inversion AI11 (I/O module)" and/or
"Inversion AI12 (I/O module)", see Digital Signal Inputs and Digital Signal Outputs,
page 195.

Availability
Analog signal inputs are available with the IOM1 module.
The signal input functions are available in the following operating modes:
• Profile Torque
• Profile Velocity

Limitation of the Velocity via Signal Inputs

Limitation via Analog Signal Input

The velocity can be limited via an analog signal input.

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Analog signal inputs are available with the IOM1 module.

The parameters IOM1_AI11_mode and IOM1_AI12_mode let you select the type
of usage of the analog signal inputs.
• If you want to use the analog signal input AI11, set the parameter IOM1_
AI11_mode to the value "Velocity Limitation".
• If you want to use the analog signal input AI12, set the parameter IOM1_
AI12_mode to the value "Velocity Limitation".

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252

A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20262

A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

The parameters IOM1_AI11_v_max and IOM1_AI12_v_max are used to set the

value of the limitation for a voltage value of 10 V.
• If you want to use the analog signal input AI11, use the parameter IOM1_
AI11_v_max to set the value of the limitation for a voltage value of 10 V.
• If you want to use the analog signal input AI12, use the parameter IOM1_
AI12_v_max to set the value of the limitation for a voltage value of 10 V.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_v_max IOM1 Limitation of velocity at 10 V of AI11. usr_v UINT32 CANopen 304F:10h

The maximum velocity is limited to the setting in 1 R/W Modbus 20256

CTRL_v_max.
3000 per. Profibus 20256
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.16

Setting can only be modified if power stage is ModbusTCP 20256

disabled.
EtherCAT 304F:10h
Modified settings become active the next time the
power stage is enabled. PROFINET 20256

Available with firmware version ≥V01.06.

IOM1_AI12_v_max IOM1 Limitation of velocity at 10 V of AI12. usr_v UINT32 CANopen 304F:15h

The maximum velocity is limited to the setting in 1 R/W Modbus 20266

CTRL_v_max.
3000 per. Profibus 20266
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.21

Setting can only be modified if power stage is ModbusTCP 20266

disabled.
EtherCAT 304F:15h
Modified settings become active the next time the
power stage is enabled. PROFINET 20266

Available with firmware version ≥V01.06.

Limitation via Digital Signal Input

The velocity can be limited to a specific value via a digital signal input.
The parameter IO_v_limit lets you set the velocity limitation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_v_limit Velocity limitation via input. usr_v UINT32 CANopen 3006:1Eh

A velocity limitation can be activated via a digital 0 R/W Modbus 1596

input.
10 per. Profibus 1596
In operating mode Profile Torque, the minimum
velocity is internally limited to 100 RPM. 2147483647 - CIP 106.1.30

Modified settings become active immediately. ModbusTCP 1596

EtherCAT 3006:1Eh

PROFINET 1596

In order to limit the velocity via a digital signal input, you must first parameterize
the signal input function “Velocity Limitation”, see Digital Signal Inputs and Digital
Signal Outputs, page 195.
As of firmware version ≥V01.24 you can configure the signal evaluation of the
signal input function via the parameter IOsigVelLim.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOsigVelLim Signal evaluation for signal input function Velocity - UINT16 CANopen 3008:27h
Limitation.
1 R/W Modbus 2126
1 / Normally Closed: Normally closed NC
2 per. Profibus 2126
2 / Normally Open: Normally open NO
2 - CIP 108.1.39
Setting can only be modified if power stage is
disabled. ModbusTCP 2126

Modified settings become active the next time the EtherCAT 3008:27h
power stage is enabled.
PROFINET 2126
Available with firmware version ≥V01.24.

Limitation of the Current via Signal Inputs

Limitation via Analog Signal Input

The current can be limited via an analog signal input.

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Analog signal inputs are available with the IOM1 module.

The parameters IOM1_AI11_mode and IOM1_AI12_mode let you select the type
of usage of the analog signal inputs.
• If you want to use the analog signal input AI11, set the parameter IOM1_
AI11_mode to the value "Current Limitation".
• If you want to use the analog signal input AI12, set the parameter IOM1_
AI12_mode to the value "Current Limitation".

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252

A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20262

A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

The parameters IOM1_AI11_I_max and IOM1_AI12_I_max are used to set the

value of the limitation for a voltage value of 10 V.
• If you want to use the analog signal input AI11, use the parameter IOM1_
AI11_I_max to set the value of the limitation for a voltage value of 10 V.
• If you want to use the analog signal input AI12, use the parameter IOM1_
AI12_I_max to set the value of the limitation for a voltage value of 10 V.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_I_max IOM1 Limitation of current at 10 V of AI11. Arms UINT16 CANopen 304F:Fh

ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20254

L11i Setting can only be modified if power stage is 3.00 per. Profibus 20254
disabled.
463.00 - CIP 179.1.15
Modified settings become active the next time the
power stage is enabled. ModbusTCP 20254

Available with firmware version ≥V01.06. EtherCAT 304F:Fh

PROFINET 20254
IOM1_AI12_I_max IOM1 Limitation of current at 10 V of AI12. Arms UINT16 CANopen 304F:14h

ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20264

L12i Setting can only be modified if power stage is 3.00 per. Profibus 20264
disabled.
463.00 - CIP 179.1.20
Modified settings become active the next time the
power stage is enabled. ModbusTCP 20264

Available with firmware version ≥V01.06. EtherCAT 304F:14h

PROFINET 20264

Limitation via Digital Signal Input

The current can be limited to a specific value via a digital signal input.
The parameter IO_I_limit lets you set the current limitation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_I_limit Current limitation via input. Arms UINT16 CANopen 3006:27h

ConF → i-o- A current limit can be activated via a digital input. 0.00 R/W Modbus 1614

iLiM In increments of 0.01 Arms. 0.20 per. Profibus 1614

Modified settings become active immediately. 300.00 - CIP 106.1.39

ModbusTCP 1614

EtherCAT 3006:27h

PROFINET 1614

In order to limit the current via a digital signal input, you must first parameterize
the signal input function “Current Limitation”, see Digital Signal Inputs and Digital
Signal Outputs, page 195.
As of firmware version ≥V01.24 you can configure the signal evaluation of the
signal input function via the parameter IOsigCurrLim.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOsigCurrLim Signal evaluation for signal input function Current - UINT16 CANopen 3008:28h
Limitation.
1 R/W Modbus 2128
1 / Normally Closed: Normally closed NC
2 per. Profibus 2128
2 / Normally Open: Normally open NO
2 - CIP 108.1.40
Setting can only be modified if power stage is
disabled. ModbusTCP 2128

Modified settings become active the next time the EtherCAT 3008:28h
power stage is enabled.
PROFINET 2128
Available with firmware version ≥V01.24.

Zero Clamp

Description
The motor can be stopped via a digital signal input. The velocity of the motor must
be below a parameterizable velocity value.

Availability
The signal input function “Zero Clamp” is available in the following operating
mode:
• Electronic Gear (velocity synchronization)
• Profile Velocity
• Motion Sequence (Move Velocity)

Settings
Target velocities in the operating mode Profile Velocity and reference velocities in
the operating mode Electronic Gear (Velocity Synchronization) that are below the
parameterizable velocity value are interpreted as "Zero".
The signal input function “Zero Clamp” has a hysteresis of 20 %.
The parameter MON_v_zeroclamp lets you set the velocity value.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_v_zeroclamp Velocity limit for Zero Clamp. usr_v UINT32 CANopen 3006:28h

A Zero Clamp operation is only possible if the 0 R/W Modbus 1616

reference velocity is below the Zero Clamp
velocity limit. 10 per. Profibus 1616

Modified settings become active immediately. 2147483647 - CIP 106.1.40

ModbusTCP 1616

EtherCAT 3006:28h

PROFINET 1616

In order to stop the motor via a digital signal input, you must first parameterize the
signal input function “Zero Clamp”, see Digital Signal Inputs and Digital Signal
Outputs, page 195.

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Setting a Signal Output via Parameter

Description
The digital signal outputs can be set as required via the fieldbus.
In order to set the digital signal outputs via the parameter, you must first
parameterize the signal output function “Freely Available”, see Digital Signal
Inputs and Digital Signal Outputs, page 195.
If one or more of the outputs are not set to "Freely Available", writing to that or
those outputs is ignored.
The parameter IO_DQ_set lets you set the digital signal outputs.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_DQ_set Setting the digital outputs directly. - UINT16 CANopen 3008:11h

Digital outputs can only be set directly if the signal - R/W Modbus 2082
output function has been set to 'Freely Available'.
- - Profibus 2082
Bit assignments:
- - CIP 108.1.17
Bit 0: DQ0
ModbusTCP 2082
Bit 1: DQ1
EtherCAT 3008:11h
Bit 2: DQ2
PROFINET 2082

Starting a Movement via a Signal Input

Description
The signal input function “Start Profile Positioning” sets the start signal for the
movement in the operating mode Profile Position. The positioning movement is
then executed when the edge at the digital input rises.

Position Capture via Signal Input (Vendor-Specific Profile)

Description
The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

The number of Capture inputs depends on the hardware version.
• With hardware version ≥RS03:
3 Capture inputs: DI0/CAP1, DI1/CAP2 and DI2/CAP3
• With hardware version <RS03:
2 Capture inputs: DI0/CAP1 and DI1/CAP2

Selection of the Method

The motor position can be captured in 2 different ways:
• One-time position capture
One-time capture means that the position is captured at the first edge.
• Continuous motor position capture

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Continuous capture means that the motor position is captured anew at every
edge. The previously captured value is lost.
The motor position can be captured when the edge at the Capture input rises or
falls.

Accuracy
A jitter of 2 µs results in an inaccuracy of the captured position of approximately
1.6 user-defined units at a velocity of 3000 RPM.
(3000 RPM = (3000*16384)/(60*106) = 0.8 usr_p/µs)
If the factory settings for scaling are used, 1.6 user-defined units correspond to
0.035 °.
The captured motor position is less accurate during the acceleration phase and
the deceleration phase.

Overview of the Parameters

The following graphics provide an overview of the parameters:

Setting the Source

The following parameters let you set the source for position capture.
Set the source for position capture with the parameters Cap1Source, Cap2Source
and Cap3Source.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap1Source Capture input 1 encoder source. - UINT16 CANopen 300A:Ah

0 / Pact Encoder 1: Source for capture input 1 is 0 R/W Modbus 2580

Pact of encoder 1
0 - Profibus 2580
1 / Pact Encoder 2: Source for capture input 1 is
Pact of encoder 2 (module) 1 - CIP 110.1.10

Modified settings become active immediately. ModbusTCP 2580

Available with firmware version ≥V01.01. EtherCAT 300A:Ah

PROFINET 2580
Cap2Source Capture input 2 encoder source. - UINT16 CANopen 300A:Bh

0 / Pact Encoder 1: Source for capture input 2 is 0 R/W Modbus 2582

Pact of encoder 1
0 - Profibus 2582
1 / Pact Encoder 2: Source for capture input 2 is
Pact of encoder 2 (module) 1 - CIP 110.1.11

Modified settings become active immediately. ModbusTCP 2582

Available with firmware version ≥V01.01. EtherCAT 300A:Bh

PROFINET 2582
Cap3Source Capture input 3 encoder source. - UINT16 CANopen 300A:15h

0 / Pact Encoder 1: Source for capture input 3 is 0 R/W Modbus 2602

Pact of encoder 1
0 - Profibus 2602
1 / Pact Encoder 2: Source for capture input 3 is
Pact of encoder 2 (module) 1 - CIP 110.1.21

Available with hardware version ≥RS03. ModbusTCP 2602

Modified settings become active immediately. EtherCAT 300A:15h

PROFINET 2602

Setting the Edge

The following parameters let you set the edge for position capture.

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Set the desired edge with the parameters Cap1Config, Cap2Config and
Cap3Config.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap1Config Capture input 1 configuration. - UINT16 CANopen 300A:2h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2564

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2564

2 / Both Edges: Position capture at both edges 2 - CIP 110.1.2

Modified settings become active immediately. ModbusTCP 2564

EtherCAT 300A:2h

PROFINET 2564
Cap2Config Capture input 2 configuration. - UINT16 CANopen 300A:3h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2566

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2566

2 / Both Edges: Position capture at both edges 2 - CIP 110.1.3

Modified settings become active immediately. ModbusTCP 2566

EtherCAT 300A:3h

PROFINET 2566
Cap3Config Capture input 3 configuration. - UINT16 CANopen 300A:11h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2594

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2594

Available with hardware version ≥RS03. 1 - CIP 110.1.17

Modified settings become active immediately. ModbusTCP 2594

EtherCAT 300A:11h

PROFINET 2594

Starting Position Capture

The following parameters let you start position capture.

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Set the desired method with the parameters Cap1Activate, Cap2Activate and
Cap3Activate.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap1Activate Capture input 1 start/stop. - UINT16 CANopen 300A:4h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2568

1 / Capture Once: Start one-time capture - - Profibus 2568

2 / Capture Continuous: Start continuous 4 - CIP 110.1.4

capture
ModbusTCP 2568
3 / Reserved: Reserved
EtherCAT 300A:4h
4 / Reserved: Reserved
PROFINET 2568
In the case of one-time capture, the function is
terminated when the first value is captured.

In the case of continuous capture, the function

continues to run.

Modified settings become active immediately.

Cap2Activate Capture input 2 start/stop. - UINT16 CANopen 300A:5h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2570

1 / Capture Once: Start one-time capture - - Profibus 2570

2 / Capture Continuous: Start continuous 4 - CIP 110.1.5

capture
ModbusTCP 2570
3 / Reserved: Reserved
EtherCAT 300A:5h
4 / Reserved: Reserved
PROFINET 2570
In the case of one-time capture, the function is
terminated when the first value is captured.

In the case of continuous capture, the function

continues to run.

Modified settings become active immediately.

Cap3Activate Capture input 3 start/stop. - UINT16 CANopen 300A:12h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2596

1 / Capture Once: Start one-time capture - - Profibus 2596

2 / Capture Continuous: Start continuous 2 - CIP 110.1.18

capture
ModbusTCP 2596
In the case of one-time capture, the function is
terminated when the first value is captured. EtherCAT 300A:12h

In the case of continuous capture, the function PROFINET 2596

continues to run.

Available with hardware version ≥RS03.

Modified settings become active immediately.

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Status Messages
The parameter _CapStatus indicates the capture status.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_CapStatus Status of the capture inputs. - UINT16 CANopen 300A:1h

Read access: - R/- Modbus 2562

Bit 0: Position captured via input CAP1 - - Profibus 2562

Bit 1: Position captured via input CAP2 - - CIP 110.1.1

Bit 2: Position captured via input CAP3 ModbusTCP 2562

EtherCAT 300A:1h

PROFINET 2562

Captured Position
The captured positions for one-time capture can be read via the following
parameters:

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap1Pos Capture input 1 captured position (one-time). usr_p INT32 CANopen 300A:6h

Captured position at the time of the "capture - R/- Modbus 2572

signal".
- - Profibus 2572
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.6

ModbusTCP 2572

EtherCAT 300A:6h

PROFINET 2572
_Cap2Pos Capture input 2 captured position (one-time). usr_p INT32 CANopen 300A:7h

Captured position at the time of the "capture - R/- Modbus 2574

signal".
- - Profibus 2574
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.7

ModbusTCP 2574

EtherCAT 300A:7h

PROFINET 2574
_Cap3Pos Capture input 3 captured position (one-time). usr_p INT32 CANopen 300A:13h

Captured position at the time of the "capture - R/- Modbus 2598

signal".
- - Profibus 2598
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.19

Available with hardware version ≥RS03. ModbusTCP 2598

EtherCAT 300A:13h

PROFINET 2598

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The captured positions for continuous capture can be read via the following
parameters:

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap1CountCons Capture input 1 event counter (continuous). - UINT16 CANopen 300A:17h

Counts the capture events. - R/- Modbus 2606

The event counter is reset when capture input 1 is - - Profibus 2606

activated.
- - CIP 110.1.23
By reading this parameter, the parameter
"_Cap1PosCons" is updated and locked so it ModbusTCP 2606
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:17h

Available with firmware version ≥V01.12. PROFINET 2606

_Cap1PosCons Capture input 1 captured position (continuous). usr_p INT32 CANopen 300A:18h

Captured position at the time of the "capture - R/- Modbus 2608

signal".
- - Profibus 2608
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.24

By reading the parameter "_Cap1CountCons", ModbusTCP 2608

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:18h
consistent.
PROFINET 2608
Available with firmware version ≥V01.12.
_Cap2CountCons Capture input 2 event counter (continuous). - UINT16 CANopen 300A:19h

Counts the capture events. - R/- Modbus 2610

The event counter is reset when capture input 2 is - - Profibus 2610

activated.
- - CIP 110.1.25
By reading this parameter, the parameter
"_Cap2PosCons" is updated and locked so it ModbusTCP 2610
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:19h

Available with firmware version ≥V01.12. PROFINET 2610

_Cap2PosCons Capture input 2 captured position (continuous). usr_p INT32 CANopen 300A:1Ah

Captured position at the time of the "capture - R/- Modbus 2612

signal".
- - Profibus 2612
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.26

By reading the parameter "_Cap2CountCons", ModbusTCP 2612

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:1Ah
consistent.
PROFINET 2612
Available with firmware version ≥V01.12.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap3CountCons Capture input 3 event counter (continuous). - UINT16 CANopen 300A:1Bh

Counts the capture events. - R/- Modbus 2614

The event counter is reset when capture input 3 is - - Profibus 2614

activated.
- - CIP 110.1.27
By reading this parameter, the parameter
"_Cap3PosCons" is updated and locked so it ModbusTCP 2614
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:1Bh

Available with hardware version ≥RS03. PROFINET 2614

Available with firmware version ≥V01.12.

_Cap3PosCons Capture input 3 captured position (continuous). usr_p INT32 CANopen 300A:1Ch

Captured position at the time of the "capture - R/- Modbus 2616

signal".
- - Profibus 2616
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.28

By reading the parameter "_Cap3CountCons", ModbusTCP 2616

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:1Ch
consistent.
PROFINET 2616
Available with hardware version ≥RS03.

Available with firmware version ≥V01.12.

Position Capture via Signal Input (DS402 Profile)

Description
The motor position can be captured when a signal is detected at a Capture input.

Availability
Available with firmware version ≥V01.16.

Number of Capture Inputs

Two Capture inputs are available under DS402 profile.
• Capture input: DI0/CAP1
• Capture input: DI1/CAP2

Selection of the Method

The motor position can be captured in 2 different ways:
• One-time position capture
One-time capture means that the position is captured at the first edge.
• Continuous motor position capture
Continuous capture means that the motor position is captured anew at every
edge. The previously captured value is lost.
The motor position can be captured when the edge at the Capture input rises or
falls.

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Accuracy
A jitter of 2 µs results in an inaccuracy of the captured position of approximately
1.6 user-defined units at a velocity of 3000 RPM.
(3000 RPM = (3000*16384)/(60*106) = 0.8 usr_p/µs)
If the factory settings for scaling are used, 1.6 user-defined units correspond to
0.035 °.
The captured motor position is less accurate during the acceleration phase and
the deceleration phase.

Overview of the Parameters

The following graphics provide an overview of the parameters.
Parameters for one-time capture:

Cap1Source Cap2Source

TouchProbeFct

_Cap1PosRisEdge _Cap1PosFallEdge _Cap2PosRisEdge _Cap2PosFallEdge

Parameters for continuous capture:

Cap1Source Cap2Source

TouchProbeFct

_Cap1CntRise _Cap1CntFall _Cap2CntRise _Cap2CntFall

_Cap1PosRisEdge _Cap1PosFallEdge _Cap2PosRisEdge _Cap2PosFallEdge

Setting the Source

The following parameters let you set the source for position capture.
Set the source for position capture with the parameters Cap1Source and
Cap2Source.

334 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap1Source Capture input 1 encoder source. - UINT16 CANopen 300A:Ah

0 / Pact Encoder 1: Source for capture input 1 is 0 R/W Modbus 2580

Pact of encoder 1
0 - Profibus 2580
1 / Pact Encoder 2: Source for capture input 1 is
Pact of encoder 2 (module) 1 - CIP 110.1.10

Modified settings become active immediately. ModbusTCP 2580

Available with firmware version ≥V01.01. EtherCAT 300A:Ah

PROFINET 2580
Cap2Source Capture input 2 encoder source. - UINT16 CANopen 300A:Bh

0 / Pact Encoder 1: Source for capture input 2 is 0 R/W Modbus 2582

Pact of encoder 1
0 - Profibus 2582
1 / Pact Encoder 2: Source for capture input 2 is
Pact of encoder 2 (module) 1 - CIP 110.1.11

Modified settings become active immediately. ModbusTCP 2582

Available with firmware version ≥V01.01. EtherCAT 300A:Bh

PROFINET 2582

Adjusting and Starting Position Capture

The following parameter let you adjust and start position capture.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

TouchProbeFct Touch Probe function (DS402). - UINT16 CANopen 60B8:0h

Modified settings become active immediately. - R/W Modbus 7028

Available with firmware version ≥V01.16. - - Profibus 7028

- - CIP 127.1.58

ModbusTCP 7028

EtherCAT 60B8:0h

PROFINET 7028

Bit Value 0 Value 1

0 Deactivate Capture input 1 Activate Capture input 1

1 One-time capture Continuous capture

2 ... 3 Reserved (must be 0) -

4 Disabling capture with rising edge Enabling capture with rising edge

5 Disabling capture with falling edge Enabling capture with falling edge

6 ... 7 Reserved (must be 0) -

8 Deactivate Capture input 2 Activate Capture input 2

9 One-time capture Continuous capture

10 ... Reserved (must be 0) -

11
12 Disabling capture with rising edge Enabling capture with rising edge

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Bit Value 0 Value 1

13 Disabling capture with falling edge Enabling capture with falling edge

14 ... Reserved (must be 0) -

15

Status Messages
The following parameter lets you indicate the capture status.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_TouchProbeStat Touch Probe status (DS402). - UINT16 CANopen 60B9:0h

Available with firmware version ≥V01.16. - R/- Modbus 7030

- - Profibus 7030

- - CIP 127.1.59

ModbusTCP 7030

EtherCAT 60B9:0h

PROFINET 7030

Bit Value 0 Value 1

0 Capture input 1 deactivated Capture input 1 activated

1 Capture input 1 no value captured for rising Capture input 1 value captured for rising
edge edge

2 Capture input 1 no value captured for Capture input 1 value captured for falling
falling edge edge

3 ... 7 Reserved -

8 Capture input 2 deactivated Capture input 2 activated

9 Capture input 2 no value captured for rising Capture input 2 value captured for rising
edge edge

10 Capture input 2 no value captured for Capture input 2 value captured for falling
falling edge edge

11 ... Reserved -
15

Captured Position
The captured position can be read via the following parameters:

336 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap1PosRisEdge Capture input 1 captured position at rising edge usr_p INT32 CANopen 60BA:0h
(DS402).
- R/- Modbus 2634
This parameter contains the position captured at
the point in time a rising edge was detected. - - Profibus 2634

The captured position is recalculated after - - CIP 110.1.37

"Position Setting" or "Reference Movement".
ModbusTCP 2634
Available with firmware version ≥V01.16.
EtherCAT 60BA:0h

PROFINET 2634
_Cap1CntRise Capture input 1 event counter at rising edges - UINT16 CANopen 300A:2Bh
(DS402).
- R/- Modbus 2646
Counts the capture events at rising edges.
- - Profibus 2646
The event counter is reset when capture input 1 is
activated. - - CIP 110.1.43

Available with firmware version ≥V01.16. ModbusTCP 2646

EtherCAT 300A:2Bh

PROFINET 2646
_Cap1PosFallEdge Capture input 1 captured position at falling edge usr_p INT32 CANopen 60BB:0h
(DS402).
- R/- Modbus 2636
This parameter contains the position captured at
the point in time a falling edge was detected. - - Profibus 2636

The captured position is recalculated after - - CIP 110.1.38

"Position Setting" or "Reference Movement".
ModbusTCP 2636
Available with firmware version ≥V01.16.
EtherCAT 60BB:0h

PROFINET 2636
_Cap1CntFall Capture input 1 event counter at falling edges - UINT16 CANopen 300A:2Ch
(DS402).
- R/- Modbus 2648
Counts the capture events at falling edges.
- - Profibus 2648
The event counter is reset when capture input 1 is
activated. - - CIP 110.1.44

Available with firmware version ≥V01.16. ModbusTCP 2648

EtherCAT 300A:2Ch

PROFINET 2648
_Cap2PosRisEdge Capture input 2 captured position at rising edge usr_p INT32 CANopen 60BC:0h
(DS402).
- R/- Modbus 2638
This parameter contains the position captured at
the point in time a rising edge was detected. - - Profibus 2638

The captured position is recalculated after - - CIP 110.1.39

"Position Setting" or "Reference Movement".
ModbusTCP 2638
Available with firmware version ≥V01.16.
EtherCAT 60BC:0h

PROFINET 2638

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap2CntRise Capture input 2 event counter at rising edges - UINT16 CANopen 300A:2Dh
(DS402).
- R/- Modbus 2650
Counts the capture events at rising edges.
- - Profibus 2650
The event counter is reset when capture input 2 is
activated. - - CIP 110.1.45

Available with firmware version ≥V01.16. ModbusTCP 2650

EtherCAT 300A:2Dh

PROFINET 2650
_Cap2PosFallEdge Capture input 2 captured position at falling edge usr_p INT32 CANopen 60BD:0h
(DS402).
- R/- Modbus 2640
This parameter contains the position captured at
the point in time a falling edge was detected. - - Profibus 2640

The captured position is recalculated after - - CIP 110.1.40

"Position Setting" or "Reference Movement".
ModbusTCP 2640
Available with firmware version ≥V01.16.
EtherCAT 60BD:0h

PROFINET 2640
_Cap2CntFall Capture input 2 event counter at falling edges - UINT16 CANopen 300A:2Eh
(DS402).
- R/- Modbus 2652
Counts the capture events at falling edges.
- - Profibus 2652
The event counter is reset when capture input 2 is
activated. - - CIP 110.1.46

Available with firmware version ≥V01.16. ModbusTCP 2652

EtherCAT 300A:2Eh

PROFINET 2652
_CapEventCounters Capture inputs 1 and 2 summary of event - UINT16 CANopen 300A:2Fh
counters (DS402).
- R/- Modbus 2654
This parameter contains the counted capture
events. - - Profibus 2654

Bits 0 ... 3: _Cap1CntRise (lowest 4 bits) - - CIP 110.1.47

Bits 4 ... 7: _Cap1CntFall (lowest 4 bits) ModbusTCP 2654

Bits 8 ... 11: _Cap2CntRise (lowest 4 bits) EtherCAT 300A:2Fh

Bits 12 ... 15: _Cap2CntFall (lowest 4 bits) PROFINET 2654

Available with firmware version ≥V01.16.

Relative Movement After Capture (RMAC)

Description
Relative Movement After Capture (RMAC) starts a relative movement via a signal
input while another movement is running.
The target position and the velocity can be parameterized.

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1 Movement with set operating mode (for example operating mode Profile
Velocity)
2 Start of the relative movement after capture with the signal input function Start
Signal Of RMAC
3a Relative movement after capture is performed with unchanged velocity
3b Relative movement after capture is performed with parameterized velocity
4 Target position reached

Availability
A Relative Movement After Capture (RMAC) can be started in the following
operating modes:
• Jog
• Electronic Gear
• Profile Torque
• Profile Velocity
• Profile Position
• Motion Sequence (Move Absolute, Move Additive, Move Relative, Move
Velocity and Gear)
Available with hardware version ≥RS03.

Signal Input Functions

In local control mode, the following signal input functions are required to start the
relative movement:

Signal input function Meaning Activation

Activate RMAC Activation of relative movement 1 level

after capture

Start Signal Of RMAC Start signal for relative movement Adjustable via parameter RMAC_
Edge

Activate Operating When the relative movement has Rising edge

Mode terminated, the operating mode is
resumed.

In fieldbus control mode, the signal input function "Start Signal Of RMAC" is
required to start the relative movement.
The signal input functions must have been parameterized, see Digital Signal
Inputs and Digital Signal Outputs, page 195.

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Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the
signal output function “RMAC Active Or Finished”, see Digital Signal Inputs and
Digital Signal Outputs, page 195.
In order to read the status via the fieldbus, you must set the status bits of the
status parameters, see Adjustable Bits of the Status Parameters, page 371.
In addition, the status is available via the parameters _RMAC_Status and
_RMAC_DetailStatus.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_RMAC_Status Status of relative movement after capture. - UINT16 CANopen 3023:11h

0 / Not Active: Not active 0 R/- Modbus 8994

1 / Active Or Finished: Relative movement after - - Profibus 8994

capture is active or finished
1 - CIP 135.1.17
Available with firmware version ≥V01.10.
ModbusTCP 8994

EtherCAT 3023:11h

PROFINET 8994
_RMAC_DetailStatus Detailed status of relative movement after capture - UINT16 CANopen 3023:12h
(RMAC).
- R/- Modbus 8996
0 / Not Activated: Not activated
- - Profibus 8996
1 / Waiting: Waiting for capture signal
- - CIP 135.1.18
2 / Moving: Relative movement after capture
running ModbusTCP 8996

3 / Interrupted: Relative movement after capture EtherCAT 3023:12h

interrupted
PROFINET 8996
4 / Finished: Relative movement after capture
terminated

Available with firmware version ≥V01.16.

Activates Relative Movement After Capture

Relative Movement After Capture (RMAC) must be activated before it can be
started.
In local control mode, Relative Movement After Capture is activated via the signal
input function "Activate RMAC".
In fieldbus control mode, Relative Movement After Capture (RMAC) is activated
via the following parameter:

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RMAC_Activate Activation of relative movement after capture. - UINT16 CANopen 3023:Ch

0 / Off: Off 0 R/W Modbus 8984

1 / On: On 0 - Profibus 8984

Modified settings become active immediately. 1 - CIP 135.1.12

Available with firmware version ≥V01.10. ModbusTCP 8984

EtherCAT 3023:Ch

PROFINET 8984

In fieldbus control mode, it is also possible to activate relative Movement After

Capture (RMAC) via the signal input function "Activate RMAC".

Target Values
The target position and the velocity for the relative movement are set via the
following parameters.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RMAC_Position Target position of relative movement after capture. usr_p INT32 CANopen 3023:Dh

Minimum/maximum values depend on: - R/W Modbus 8986

- Scaling factor 0 per. Profibus 8986

Modified settings become active the next time the - - CIP 135.1.13
motor moves.
ModbusTCP 8986
Available with firmware version ≥V01.10.
EtherCAT 3023:Dh

PROFINET 8986
RMAC_Velocity Velocity of relative movement after capture. usr_v UINT32 CANopen 3023:Eh

Value 0: Use actual motor velocity 0 R/W Modbus 8988

Value >0: Value is the target velocity 0 per. Profibus 8988

The adjustable value is internally limited to the 2147483647 - CIP 135.1.14

setting in RAMP_v_max.
ModbusTCP 8988
Modified settings become active the next time the
motor moves. EtherCAT 3023:Eh

Available with firmware version ≥V01.10. PROFINET 8988

Edge for the Start Signal

The edge which is to trigger the relative movement is set via the following
parameter.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RMAC_Edge Edge of capture signal for relative movement after - UINT16 CANopen 3023:10h
capture.
0 R/W Modbus 8992
0 / Falling edge: Falling edge
0 per. Profibus 8992
1 / Rising edge: Rising edge
1 - CIP 135.1.16
Available with firmware version ≥V01.10.
ModbusTCP 8992

EtherCAT 3023:10h

PROFINET 8992

Response to Overtravelling of the Target Position

Depending on the set velocity, target position and deceleration ramp, the target
position may be overtraveled.
The response to overtravelling of the target position is set via the following
parameter.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RMAC_Response Response if target position is overtraveled. - UINT16 CANopen 3023:Fh

0 / Error Class 1: Error class 1 0 R/W Modbus 8990

1 / No Movement To Target Position: No 0 per. Profibus 8990

movement to target position
2 - CIP 135.1.15
2 / Movement To Target Position: Movement to
target position ModbusTCP 8990

Modified settings become active immediately. EtherCAT 3023:Fh

Available with firmware version ≥V01.10. PROFINET 8990

Backlash Compensation

Description
By setting backlash compensation, you can compensate for mechanical backlash.
Example of mechanical backlash

1 Example of low mechanical backlash

2 Example of high mechanical backlash
When backlash compensation is activated, the drive automatically compensates
for the mechanical backlash during each movement.

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Availability
Available with firmware version ≥V01.14.
Backlash compensation is possible in the following operating modes:
• Jog
• Electronic Gear (position synchronization)
• Profile Position
• Interpolated Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative, Reference
Movement and Gear)

Parameterization
To use backlash compensation, you must set the amount of backlash.
The parameter BLSH_Position lets you set the amount of backlash in user-defined
units.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BLSH_Position Position value for backlash compensation. usr_p INT32 CANopen 3006:42h

Setting can only be modified if power stage is 0 R/W Modbus 1668

disabled.
0 per. Profibus 1668
Modified settings become active the next time the
power stage is enabled. 2147483647 - CIP 106.1.66

Available with firmware version ≥V01.14. ModbusTCP 1668

EtherCAT 3006:42h

PROFINET 1668

In addition, you can set a processing time. The processing time specifies the
period of time during which the mechanical backlash is to be compensated for.
The parameter BLSH_Time lets you set the processing time in ms.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BLSH_Time Processing time for backlash compensation. ms UINT16 CANopen 3006:44h

Value 0: Immediate backlash compensation 0 R/W Modbus 1672

Value >0: Processing time for backlash 0 per. Profibus 1672

compensation
16383 - CIP 106.1.68
Setting can only be modified if power stage is
disabled. ModbusTCP 1672

Modified settings become active the next time the EtherCAT 3006:44h
power stage is enabled.
PROFINET 1672
Available with firmware version ≥V01.14.

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Activating Backlash Compensation

Before you can activate backlash compensation, there must be a movement in
positive or negative direction. Backlash compensation is activated with the
parameter BLSH_Mode.
• Start a movement in positive direction or in negative direction. This movement
must last as long as it takes to move the mechanical system connected to the
motor.
• If the movement was in positive direction (positive target values), activate
backlash compensation with the value "OnAfterPositiveMovement".
• If the movement was in negative direction (negative target values), activate
backlash compensation with the value "OnAfterNegativeMovement".

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BLSH_Mode Processing mode of backlash compensation. - UINT16 CANopen 3006:41h

0 / Off: Backlash compensation is off 0 R/W Modbus 1666

1 / OnAfterPositiveMovement: Backlash 0 per. Profibus 1666

compensation is on, last movement was in
positive direction 2 - CIP 106.1.65

2 / OnAfterNegativeMovement: Backlash ModbusTCP 1666

compensation is on, last movement was in
negative direction EtherCAT 3006:41h

Modified settings become active immediately. PROFINET 1666

Available with firmware version ≥V01.14.

344 0198441113767.13
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Functions for Monitoring Movements

Limit Switches

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

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

Movements can be monitored using limit switches. A positive limit switch and a
negative limit switch can be used for monitoring.
If the positive or negative limit switch are tripped, the movement stops. An error
message is generated and the operating state switches to 7 Quick Stop Active.
The error message can be reset by means of a “Fault Reset”. The operating state
switches back to 6 Operation Enabled.
The movement can continue, however, only in the opposite direction. For
example, if the positive limit switch was triggered, further movement is only
possible in negative direction. In the case of further movement in positive
direction, a new error message is generated and the operating state switches
back to 7 Quick Stop Active.
The parameters IOsigLIMP and IOsigLIMN are used to set the type of limit switch.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOsigLIMP Signal evaluation for positive limit switch. - UINT16 CANopen 3006:10h

0 / Inactive: Inactive 0 R/W Modbus 1568

1 / Normally Closed: Normally closed NC 1 per. Profibus 1568

2 / Normally Open: Normally open NO 2 - CIP 106.1.16

Setting can only be modified if power stage is ModbusTCP 1568

disabled.
EtherCAT 3006:10h
Modified settings become active the next time the
power stage is enabled. PROFINET 1568

IOsigLIMN Signal evaluation for negative limit switch. - UINT16 CANopen 3006:Fh

0 / Inactive: Inactive 0 R/W Modbus 1566

1 / Normally Closed: Normally closed NC 1 per. Profibus 1566

2 / Normally Open: Normally open NO 2 - CIP 106.1.15

Setting can only be modified if power stage is ModbusTCP 1566

disabled.
EtherCAT 3006:Fh
Modified settings become active the next time the
power stage is enabled. PROFINET 1566

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The signal input functions “Positive Limit Switch (LIMP)” and “Negative Limit
Switch (LIMN)” must have been parameterized, see Digital Signal Inputs and
Digital Signal Outputs, page 195.

Reference Switch

Description
The reference switch is only active in the operating mode Homing and in the
operating mode Motion Sequence (Reference Movement).
The parameter IOsigREF lets you set the type of reference switch.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOsigREF Signal evaluation for reference switch. - UINT16 CANopen 3006:Eh

1 / Normally Closed: Normally closed NC 1 R/W Modbus 1564

2 / Normally Open: Normally open NO 1 per. Profibus 1564

The reference switch is only active while a 2 - CIP 106.1.14

reference movement to the reference switch is
processed. ModbusTCP 1564

Setting can only be modified if power stage is EtherCAT 3006:Eh

disabled.
PROFINET 1564
Modified settings become active the next time the
power stage is enabled.

The signal input function “Reference Switch (REF)” must have been
parameterized, see Digital Signal Inputs and Digital Signal Outputs, page 195.

Software Limit Switches

Description
Movements can be monitored using software limit switches. A positive position
limit and a negative position limit can be set for monitoring.
If the positive or negative position limit switch are reached, the movement stops.
An error message is generated and the operating state switches to 7 Quick Stop
Active.
The error message can be reset by means of a “Fault Reset”. The operating state
switches back to 6 Operation Enabled.
The movement can continue, however, only in the opposite direction of the
position limit. For example, if the positive position limit was reached, further
movement is only possible in negative direction. In the case of further movement
in positive direction, a new error message is generated and the operating state
switches back to 7 Quick Stop Active.

Prerequisite
Software limit switch monitoring only works with a valid zero point, see Size of the
Movement Range, page 179.

Behavior in Operating Modes with Target Positions

In operating modes with target positions, the movement is started even if the
target position is beyond the positive position limit or the negative position limit.

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The movement is stopped so that the motor comes to a standstill at the position
limit. After standstill, the drive transitions to the operating state Quick Stop Active.
In the following operating modes, the target position is verified prior to the start of
a movement so that the position limit is not exceeded regardless of the target
position.
• Jog (step movement)
• Profile Position
• Motion Sequence (Move Absolute, Move Additive and Move Relative)

Behavior in Operating Modes Without Target Positions

In the following operating modes, a Quick Stop is triggered at the position limit.
• Jog (continuous movement)
• Electronic Gear
• Profile Torque
• Profile Velocity
• Motion Sequence (Move Velocity and Gear)
As of firmware version ≥V01.16, you can use the parameter MON_SWLimMode to
set the behavior for approaching a position limit.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_SWLimMode Behavior when position limit is reached. - UINT16 CANopen 3006:47h

0 / Standstill Behind Position Limit: Quick Stop 0 R/W Modbus 1678

is triggered at position limit and standstill is
reached behind position limit 0 per. Profibus 1678

1 / Standstill At Position Limit: Quick Stop is 1 - CIP 106.1.71

triggered in front of position limit and standstill is
reached at position limit ModbusTCP 1678

Modified settings become active immediately. EtherCAT 3006:47h

Available with firmware version ≥V01.16. PROFINET 1678

Standstill at the position limit in operating modes without target position requires
the parameter LIM_QStopReact to be set to "Deceleration ramp (Quick Stop)",
see Stopping Movement with Quick Stop, page 317. If the parameter LIM_
QStopReact is set to "Torque ramp (Quick Stop)", the movement may come to a
standstill in front of or behind the position limit due to different loads.

Activation
The software limit switches are activated via the parameter MON_SW_Limits.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_SW_Limits Activation of software limit switches. - UINT16 CANopen 3006:3h

0 / None: Deactivated 0 R/W Modbus 1542

1 / SWLIMP: Activation of software limit switches 0 per. Profibus 1542

positive direction
3 - CIP 106.1.3
2 / SWLIMN: Activation of software limit switches
negative direction ModbusTCP 1542

3 / SWLIMP+SWLIMN: Activation of software limit EtherCAT 3006:3h

switches both directions
PROFINET 1542
Software limit switches can only be activated if the
zero point is valid.

Modified settings become active immediately.

Setting Position Limits

The software limit switches are set via the parameters MON_swLimP and MON_
swLimN.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_swLimP Positive position limit for software limit switch. usr_p INT32 CANopen 607D:2h

If a user-defined value entered is outside of the - R/W Modbus 1544

permissible range, the limit switch limits are
automatically set to the maximum user-defined 2147483647 per. Profibus 1544
value.
- - CIP 106.1.4
Setting can only be modified if power stage is
disabled. ModbusTCP 1544

Modified settings become active the next time the EtherCAT 607D:2h
power stage is enabled.
PROFINET 1544
MON_swLimN Negative position limit for software limit switch. usr_p INT32 CANopen 607D:1h

See description 'MON_swLimP'. - R/W Modbus 1546

Setting can only be modified if power stage is -2147483648 per. Profibus 1546
disabled.
- - CIP 106.1.5
Modified settings become active the next time the
power stage is enabled. ModbusTCP 1546

EtherCAT 607D:1h

PROFINET 1546

Load-Dependent Position Deviation (Following Error)

Description
The load-dependent position deviation is the difference between the reference
position and the actual position caused by the load inertia.
Parameters are available to read the load-dependent position deviation during
operation and the maximum position deviation reached since the last power cycle.
The maximum permissible load-dependent position deviation can be
parameterized. In addition, you can set the error class.

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Availability
Monitoring of the load-dependent position deviation is available in the following
operating modes:
• Jog
• Electronic Gear (position synchronization)
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative and
Reference Movement)

Reading the Position Deviation

The following parameters let you read the load-dependent position deviation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_dif_load_usr Load-dependent position deviation between usr_p INT32 CANopen 301E:16h

reference and actual positions.
-2147483648 R/- Modbus 7724
The load-dependent position deviation is the
difference between the reference position and the - - Profibus 7724
actual position caused by the load. This value is
used for following error monitoring. 2147483647 - CIP 130.1.22

Available with firmware version ≥V01.03. ModbusTCP 7724

EtherCAT 301E:16h

PROFINET 7724

The following parameters let you read the maximum value of the load-dependent
position deviation reached since the last power cycle.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_dif_load_peak_ Maximum value of the load-dependent position usr_p INT32 CANopen 301E:15h
usr deviation.
0 R/W Modbus 7722
This parameter contains the maximum load-
dependent position deviation reached so far. A - - Profibus 7722
write access resets this value.
2147483647 - CIP 130.1.21
Modified settings become active immediately.
ModbusTCP 7722
Available with firmware version ≥V01.03.
EtherCAT 301E:15h

PROFINET 7722

Setting the Maximum Values for the Position Deviation

The following parameter lets you set the threshold for the maximum load-
dependent position deviation that is to trigger an error of error class 0.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_p_dif_warn Advisory limit of the load-dependent position % UINT16 CANopen 3006:29h

deviation (error class 0).
0 R/W Modbus 1618
100.0 % correspond to the maximum position
deviation (following error) as specified by means 75 per. Profibus 1618
of parameter MON_p_dif_load.
100 - CIP 106.1.41
Modified settings become active immediately.
ModbusTCP 1618

EtherCAT 3006:29h

PROFINET 1618

The following parameters let you set the maximum load-dependent position
deviation at which a movement is canceled with an error of error classes 1, 2, or 3.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_p_dif_load_usr Maximum load-dependent position deviation. usr_p INT32 CANopen 3006:3Eh

The load-dependent position deviation is the 1 R/W Modbus 1660

difference between the reference position and the
actual position caused by the load. 16384 per. Profibus 1660

The minimum value, the factory setting and the 2147483647 - CIP 106.1.62
maximum value depend on the scaling factor.
ModbusTCP 1660
Modified settings become active immediately.
EtherCAT 3006:3Eh
Available with firmware version ≥V01.03.
PROFINET 1660

Setting the Error Class

The following parameter lets you set the error class for an excessively high load-
dependent position deviation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ErrorResp_p_dif Error response to excessively high load- - UINT16 CANopen 3005:Bh

dependent position deviation.
1 R/W Modbus 1302
1 / Error Class 1: Error class 1
3 per. Profibus 1302
2 / Error Class 2: Error class 2
3 - CIP 105.1.11
3 / Error Class 3: Error class 3
ModbusTCP 1302
Setting can only be modified if power stage is
disabled. EtherCAT 3005:Bh

Modified settings become active the next time the PROFINET 1302
power stage is enabled.

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Load-Dependent Velocity Deviation

Description
The load-dependent velocity deviation is the difference between the reference
velocity and the actual velocity caused by the load.
The maximum permissible load-dependent velocity deviation can be
parameterized. In addition, you can set the error class.

Availability
Monitoring of the load-dependent velocity deviation is available in the following
operating modes:
• Electronic Gear (velocity synchronization)
• Profile Velocity

Reading the Velocity Deviation

The following parameters let you read the load-dependent velocity deviation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_v_dif_usr Load-dependent velocity deviation. usr_v INT32 CANopen 301E:2Ch

The load-dependent velocity deviation is the -2147483648 R/- Modbus 7768

difference between reference velocity and actual
velocity. - - Profibus 7768

Available with firmware version ≥V01.26. 2147483647 - CIP 130.1.44

ModbusTCP 7768

EtherCAT 301E:2Ch

PROFINET 7768

Setting the Maximum Values for the Velocity Deviation

The following parameters let you specify the size of the window for the maximum
load-dependent velocity deviation at which a movement is canceled.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_VelDiff Maximum load-dependent velocity deviation. usr_v UINT32 CANopen 3006:4Bh

Value 0: Monitoring deactivated. 0 R/W Modbus 1686

Value >0: Maximum value 0 per. Profibus 1686

Modified settings become active immediately. 2147483647 - CIP 106.1.75

Available with firmware version ≥V01.26. ModbusTCP 1686

EtherCAT 3006:4Bh

PROFINET 1686
MON_VelDiff_Time Time window for maximum load-dependent ms UINT16 CANopen 3006:4Ch
velocity deviation.
0 R/W Modbus 1688
Value 0: Monitoring deactivated.
10 per. Profibus 1688
Value >0: Time window for maximum value
- - CIP 106.1.76
Modified settings become active immediately.
ModbusTCP 1688
Available with firmware version ≥V01.26.
EtherCAT 3006:4Ch

PROFINET 1688

Setting the Error Class

The following parameter lets you set the error class for an excessively high load-
dependent velocity deviation.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ErrorResp_v_dif Error response to excessively high load- - UINT16 CANopen 3005:3Ch

dependent velocity deviation.
1 R/W Modbus 1400
1 / Error Class 1: Error class 1
3 per. Profibus 1400
2 / Error Class 2: Error class 2
3 - CIP 105.1.60
3 / Error Class 3: Error class 3
ModbusTCP 1400
Setting can only be modified if power stage is
disabled. EtherCAT 3005:3Ch

Modified settings become active the next time the PROFINET 1400
power stage is enabled.

Available with firmware version ≥V01.26.

Motor Standstill and Direction of Movement

Availability
Monitoring depends on the firmware version
• Motor standstill: Available with firmware version ≥V01.00.
• Direction of movement: Available with firmware version ≥V01.14.

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Description
The status of a movement can be monitored. You can determine whether the
motor is at a standstill or whether it moves in a specific direction.
A velocity of <9 RPM is interpreted as standstill.

The status is available via signal outputs. In order to read the status, you must first
parameterize the signal output functions “Motor Standstill”, “Motor Moves Positive”
or “Motor Moves Negative”, see Digital Signal Inputs and Digital Signal Outputs,
page 195.

Torque Window

Description
The torque window allows you to monitor whether the motor has reached the
target torque.
If the difference between the target torque and the actual torque remains in the
torque window for the time MON_tq_winTime, the target torque is considered to
have been reached.

Availability
The torque window is available in the following operating modes.
• Profile Torque

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Setings

1 Target torque
2 Target torque reached (the actual torque did not exceed the permissible
deviation MON_tq_win during time MON_tq_winTime).
The parameters MON_tq_win and MON_tq_winTime specify the size of the
window.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_tq_win Torque window, permissible deviation. % UINT16 CANopen 3006:2Dh

The torque window can only be activated in 0.0 R/W Modbus 1626
operating mode Profile Torque.
3.0 per. Profibus 1626
In increments of 0.1 %.
3000.0 - CIP 106.1.45
Modified settings become active immediately.
ModbusTCP 1626

EtherCAT 3006:2Dh

PROFINET 1626
MON_tq_winTime Torque window, time. ms UINT16 CANopen 3006:2Eh

Value 0: Torque window monitoring deactivated 0 R/W Modbus 1628

Changing the value causes a restart of torque 0 per. Profibus 1628

monitoring.
16383 - CIP 106.1.46
Torque window is only used in operating mode
Profile Torque. ModbusTCP 1628

Modified settings become active immediately. EtherCAT 3006:2Eh

PROFINET 1628

Velocity Window

Description
The velocity window allows you to monitor whether the motor has reached the
target velocity.
If the difference between the target velocity and the actual velocity remains in the
velocity window for the time MON_v_winTime, the target velocity is considered to
have been reached.

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Availability
The velocity window is available in the following operating modes.
• Electronic Gear (velocity synchronization)
• Profile Velocity

Settings

1 Target velocity
2 Target velocity reached (the target velocity did not exceed the permissible
deviation MON_v_win during time MON_v_winTime).
The parameters MON_v_win and MON_v_winTime specify the size of the window.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_v_win Velocity window, permissible deviation. usr_v UINT32* CANopen 606D:0h

Modified settings become active immediately. 1 R/W Modbus 1576

* Datatype for CANopen: UINT16 10 per. Profibus 1576

2147483647 - CIP 106.1.20

ModbusTCP 1576

EtherCAT 606D:0h

PROFINET 1576
MON_v_winTime Velocity window, time. ms UINT16 CANopen 606E:0h

Value 0: Velocity window monitoring deactivated 0 R/W Modbus 1578

Changing the value causes a restart of velocity 0 per. Profibus 1578

monitoring.
16383 - CIP 106.1.21
Modified settings become active immediately.
ModbusTCP 1578

EtherCAT 606E:0h

PROFINET 1578

Standstill Window

Description
The standstill window allows you to monitor whether the motor has reached the
target position.

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If the difference between the target position and the actual position remains in the
standstill window for the time MON_p_winTime, the target position is considered
to have been reached.

Availability
The standstill window is available in the following operating modes.
• Jog (step movement)
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative and
Reference Movement)

Settings

1 Target position reached (the actual position did not exceed the permissible
deviation MON_p_win_usr during time MON_p_winTime).
The parameters MON_p_win_usr(MON_p_win) and MON_p_winTime specify the
size of the window.
The parameter MON_p_winTout can be used to set the period of time after which
a detected error is signaled if the standstill window was not reached.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_p_win_usr Standstill window, permissible control deviation. usr_p INT32 CANopen 3006:40h

The control deviation for the standstill window time 0 R/W Modbus 1664
must be within this range for a standstill of the
drive to be detected. 16 per. Profibus 1664

Processing of the standstill window must be 2147483647 - CIP 106.1.64

activated via the parameter MON_p_winTime.
ModbusTCP 1664
The minimum value, the factory setting and the
maximum value depend on the scaling factor. EtherCAT 3006:40h

Modified settings become active immediately. PROFINET 1664

Available with firmware version ≥V01.03.

MON_p_win Standstill window, permissible control deviation. revolution UINT16* CANopen 6067:0h

The control deviation for the standstill window time 0.0000 R/W Modbus 1608
must be within this range for a standstill of the
drive to be detected. 0.0010 per. Profibus 1608

Processing of the standstill window must be 3.2767 - CIP 106.1.36

activated via the parameter MON_p_winTime.
ModbusTCP 1608
The parameter MON_p_win_usr allows you to
enter the value in user-defined units. EtherCAT 6067:0h

In increments of 0.0001 revolution. PROFINET 1608

Modified settings become active immediately.

* Datatype for CANopen: UINT32

MON_p_winTime Standstill window, time. ms UINT16 CANopen 6068:0h

Value 0: Monitoring of standstill window 0 R/W Modbus 1610

deactivated
0 per. Profibus 1610
Value >0: Time in ms during which the control
deviation must be in the standstill window 32767 - CIP 106.1.37

Modified settings become active immediately. ModbusTCP 1610

EtherCAT 6068:0h

PROFINET 1610
MON_p_winTout Timeout time for standstill window monitoring. ms UINT16 CANopen 3006:26h

Value 0: Timeout monitoring deactivated 0 R/W Modbus 1612

Value >0: Timeout time in ms 0 per. Profibus 1612

Standstill window processing values are set via 16000 - CIP 106.1.38
MON_p_win and MON_p_winTime.
ModbusTCP 1612
Time monitoring starts when the target position
(reference position of position controller) is EtherCAT 3006:26h
reached or when the profile generator has finished
processing. PROFINET 1612

Modified settings become active immediately.

Position Register

Description
The position register allows you to monitor whether the motor is within a
parameterizable position range.
A movement can be monitored using one of 4 methods:
• The motor position is greater than or equal to comparison value A.
• The motor position is less than or equal to comparison value A.

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• The motor position is within the range between comparison value A and
comparison value B.
• The motor position is outside the range between comparison value A and
comparison value B.
Separate channels are available for monitoring.

Number of Channels
The number of channels depends on the firmware version:
• 4 channels (with firmware version ≥V01.04)
• 2 channels (with firmware version <V01.04)

Status Messages
The status of the position register is available via the parameter _PosRegStatus.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PosRegStatus Status of the position register channels. - UINT16 CANopen 300B:1h

Signal state: - R/- Modbus 2818

0: Comparison criterion not met - - Profibus 2818

1: Comparison criterion met - - CIP 111.1.1

Bit assignments: ModbusTCP 2818

Bit 0: State of position register channel 1 EtherCAT 300B:1h

Bit 1: State of position register channel 2 PROFINET 2818

Bit 2: State of position register channel 3

Bit 3: State of position register channel 4

In addition, the status is available via signal outputs. In order to read the status via
the signal outputs, you must first parameterize the signal output function “Position
Register Channel 1”,“Position Register Channel 2”, “Position Register Channel 3”
and “Position Register Channel 4”, see Digital Signal Inputs and Digital Signal
Outputs, page 195.

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Starting the Position Registers

The channels of the position registers are started via the following parameters.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg1Start Start/stop of position register channel 1. - UINT16 CANopen 300B:2h

0 / Off (keep last state): Position Register 0 R/W Modbus 2820

channel 1 is off and status bit keeps last state
0 - Profibus 2820
1 / On: Position Register channel 1 is on
3 - CIP 111.1.2
2 / Off (set state 0): Position Register channel 1 is
off and status bit is set to 0 ModbusTCP 2820

3 / Off (set state 1): Position Register channel 1 is EtherCAT 300B:2h

off and status bit is set to 1
PROFINET 2820
Modified settings become active immediately.

PosReg2Start Start/stop of position register channel 2. - UINT16 CANopen 300B:3h

0 / Off (keep last state): Position Register 0 R/W Modbus 2822

channel 2 is off and status bit keeps last state
0 - Profibus 2822
1 / On: Position Register channel 2 is on
3 - CIP 111.1.3
2 / Off (set state 0): Position Register channel 2 is
off and status bit is set to 0 ModbusTCP 2822

3 / Off (set state 1): Position Register channel 2 is EtherCAT 300B:3h

off and status bit is set to 1
PROFINET 2822
Modified settings become active immediately.

PosReg3Start Start/stop of position register channel 3. - UINT16 CANopen 300B:Ch

0 / Off (keep last state): Position Register 0 R/W Modbus 2840

channel 3 is off and status bit keeps last state
0 - Profibus 2840
1 / On: Position Register channel 3 is on
3 - CIP 111.1.12
2 / Off (set state 0): Position Register channel 3 is
off and status bit is set to 0 ModbusTCP 2840

3 / Off (set state 1): Position Register channel 3 is EtherCAT 300B:Ch

off and status bit is set to 1
PROFINET 2840
Modified settings become active immediately.

Available with firmware version ≥V01.04.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg4Start Start/stop of position register channel 4. - UINT16 CANopen 300B:Dh

0 / Off (keep last state): Position Register 0 R/W Modbus 2842

channel 4 is off and status bit keeps last state
0 - Profibus 2842
1 / On: Position Register channel 4 is on
3 - CIP 111.1.13
2 / Off (set state 0): Position Register channel 4 is
off and status bit is set to 0 ModbusTCP 2842

3 / Off (set state 1): Position Register channel 4 is EtherCAT 300B:Dh

off and status bit is set to 1
PROFINET 2842
Modified settings become active immediately.

Available with firmware version ≥V01.04.

PosRegGroupStart Start/stop of position register channels. - UINT16 CANopen 300B:16h

0 / No Channel: No channel activated 0 R/W Modbus 2860

1 / Channel 1: Channel 1 activated 0 per. Profibus 2860

2 / Channel 2: Channel 2 activated 15 - CIP 111.1.22

3 / Channel 1 & 2: Channels 1 and 2 activated ModbusTCP 2860

4 / Channel 3: Channel 3 activated EtherCAT 300B:16h

5 / Channel 1 & 3: Channels 1 and 3 activated PROFINET 2860

6 / Channel 2 & 3: Channels 2 and 3 activated

7 / Channel 1 & 2 & 3: Channels 1, 2 and 3

activated

8 / Channel 4: Channel 4 activated

9 / Channel 1 & 4: Channels 1 and 4 activated

10 / Channel 2 & 4: Channels 2 and 4 activated

11 / Channel 1 & 2 & 4: Channels 1, 2 and 4

activated

12 / Channel 3 & 4: Channels 3 and 4 activated

13 / Channel 1 & 3 & 4: Channels 1, 3 and 4

activated

14 / Channel 2 & 3 & 4: Channels 2, 3 and 4

activated

15 / Channel 1 & 2 & 3 & 4: Channels 1, 2, 3 and

4 activated

Modified settings become active immediately.

Available with firmware version ≥V01.14.

Setting the Source

The source of the comparison criterion is set via the following parameters.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg1Source Selection of source for position register channel 1. - UINT16 CANopen 300B:6h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2828

channel 1 is Pact of encoder 1
0 per. Profibus 2828
1 / Pact Encoder 2: Source for position register
channel 1 is Pact of encoder 2 (module) 1 - CIP 111.1.6

Modified settings become active immediately. ModbusTCP 2828

EtherCAT 300B:6h

PROFINET 2828
PosReg2Source Selection of source for position register channel 2. - UINT16 CANopen 300B:7h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2830

channel 2 is Pact of encoder 1
0 per. Profibus 2830
1 / Pact Encoder 2: Source for position register
channel 2 is Pact of encoder 2 (module) 1 - CIP 111.1.7

Modified settings become active immediately. ModbusTCP 2830

EtherCAT 300B:7h

PROFINET 2830
PosReg3Source Selection of source for position register channel 3. - UINT16 CANopen 300B:10h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2848

channel 3 is Pact of encoder 1
0 per. Profibus 2848
1 / Pact Encoder 2: Source for position register
channel 3 is Pact of encoder 2 (module) 1 - CIP 111.1.16

Modified settings become active immediately. ModbusTCP 2848

Available with firmware version ≥V01.04. EtherCAT 300B:10h

PROFINET 2848
PosReg4Source Selection of source for position register channel 4. - UINT16 CANopen 300B:11h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2850

channel 4 is Pact of encoder 1
0 per. Profibus 2850
1 / Pact Encoder 2: Source for position register
channel 4 is Pact of encoder 2 (module) 1 - CIP 111.1.17

Modified settings become active immediately. ModbusTCP 2850

Available with firmware version ≥V01.04. EtherCAT 300B:11h

PROFINET 2850

Setting the Comparison Criterion

The comparison criterion is set via the following parameters.
In the case of the comparison criteria “Pact in” and “Pact out”, there is a difference
between “basic” and “extended”.
• Basic: The movement to be performed remains within the movement range.
• Extended: The movement to be performed can extend beyond the movement
range.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg1Mode Selection of comparison criterion for position - UINT16 CANopen 300B:4h

register channel 1.
0 R/W Modbus 2824
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2824
position register channel 1
5 - CIP 111.1.4
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2824
register channel 1
EtherCAT 300B:4h
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2824

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

PosReg2Mode Selection of comparison criterion for position - UINT16 CANopen 300B:5h

register channel 2.
0 R/W Modbus 2826
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2826
position register channel 2
5 - CIP 111.1.5
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2826
register channel 2
EtherCAT 300B:5h
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2826

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

362 0198441113767.13
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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg3Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Eh

register channel 3.
0 R/W Modbus 2844
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2844
position register channel 3
5 - CIP 111.1.14
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2844
register channel 3
EtherCAT 300B:Eh
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2844

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

Available with firmware version ≥V01.04.

PosReg4Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Fh
register channel 4.
0 R/W Modbus 2846
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2846
position register channel 4
5 - CIP 111.1.15
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2846
register channel 4
EtherCAT 300B:Fh
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2846

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

Available with firmware version ≥V01.04.

Setting Comparison Values

The comparison values are set via the following parameters.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg1ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:8h
1.
- R/W Modbus 2832

0 per. Profibus 2832

- - CIP 111.1.8

ModbusTCP 2832

EtherCAT 300B:8h

PROFINET 2832
PosReg1ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:9h
1.
- R/W Modbus 2834

0 per. Profibus 2834

- - CIP 111.1.9

ModbusTCP 2834

EtherCAT 300B:9h

PROFINET 2834
PosReg2ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:Ah
2.
- R/W Modbus 2836

0 per. Profibus 2836

- - CIP 111.1.10

ModbusTCP 2836

EtherCAT 300B:Ah

PROFINET 2836
PosReg2ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:Bh
2.
- R/W Modbus 2838

0 per. Profibus 2838

- - CIP 111.1.11

ModbusTCP 2838

EtherCAT 300B:Bh

PROFINET 2838
PosReg3ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:12h
3.
- R/W Modbus 2852
Available with firmware version ≥V01.04.
0 per. Profibus 2852

- - CIP 111.1.18

ModbusTCP 2852

EtherCAT 300B:12h

PROFINET 2852

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg3ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:13h
3.
- R/W Modbus 2854
Available with firmware version ≥V01.04.
0 per. Profibus 2854

- - CIP 111.1.19

ModbusTCP 2854

EtherCAT 300B:13h

PROFINET 2854
PosReg4ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:14h
4.
- R/W Modbus 2856
Available with firmware version ≥V01.04.
0 per. Profibus 2856

- - CIP 111.1.20

ModbusTCP 2856

EtherCAT 300B:14h

PROFINET 2856
PosReg4ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:15h
4.
- R/W Modbus 2858
Available with firmware version ≥V01.04.
0 per. Profibus 2858

- - CIP 111.1.21

ModbusTCP 2858

EtherCAT 300B:15h

PROFINET 2858

Position Deviation Window

Description
The position deviation window allows you to monitor whether the motor is within a
parameterizable position deviation.
The position deviation is the difference between reference position and actual
position.
The position deviation window comprises position deviation and monitoring time.

Availability
The position deviation window is available in the following operating modes.
• Jog
• Electronic Gear (position synchronization)
• Profile Position
• Homing
• Motion Sequence (Move Absolute, Move Additive, Move Relative and
Reference Movement)

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Settings

The parameters MON_p_DiffWin_usr and MON_ChkTime specify the size of the

window.

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the
signal output function “In Position Deviation Window”, see Digital Signal Inputs
and Digital Signal Outputs, page 195.
In order to read the status via the fieldbus, you must set the status bits of the
status parameters, see Adjustable Bits of the Status Parameters, page 371.
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr
(MON_p_DiffWin), MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_p_DiffWin_usr Monitoring of position deviation. usr_p INT32 CANopen 3006:3Fh

The system verifies whether the drive is within the 0 R/W Modbus 1662
defined deviation during the period set with MON_
ChkTime. 16 per. Profibus 1662

The status can be output via a parameterizable 2147483647 - CIP 106.1.63

output.
ModbusTCP 1662
The minimum value, the factory setting and the
maximum value depend on the scaling factor. EtherCAT 3006:3Fh

Modified settings become active immediately. PROFINET 1662

Available with firmware version ≥V01.03.

MON_ChkTime Monitoring of time window. ms UINT16 CANopen 3006:1Dh

ConF → i-o- Adjustment of a time for monitoring of position 0 R/W Modbus 1594
deviation, velocity deviation, velocity value and
tthr current value. If the monitored value is in the 0 per. Profibus 1594
permissible range during the adjusted time, the
monitoring function delivers a positive result. 9999 - CIP 106.1.29

The status can be output via a parameterizable ModbusTCP 1594

output.
EtherCAT 3006:1Dh
Modified settings become active immediately.
PROFINET 1594

Velocity Deviation Window

Description
The velocity deviation window allows you to monitor whether the motor is within a
parameterizable velocity deviation.
The velocity deviation is the difference between the reference velocity and the
actual velocity.
The velocity deviation window comprises velocity deviation and monitoring time.

Availability
The velocity deviation window is available in the following operating modes.
• Jog
• Electronic Gear (velocity synchronization)
• Profile Velocity
• Profile Position
• Homing
• Motion Sequence

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Settings

The parameters MON_v_DiffWin and MON_ChkTime specify the size of the

window.

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the
signal output function "In Velocity Deviation Window", see Digital Signal Inputs
and Digital Signal Outputs, page 195.
In order to read the status via the fieldbus, you must set the status bits of the
status parameters, see Adjustable Bits of the Status Parameters, page 371.
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr,
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_v_DiffWin Monitoring of velocity deviation. usr_v UINT32 CANopen 3006:1Ah

The system monitors whether the drive is within 1 R/W Modbus 1588
the defined deviation during the period set with
MON_ChkTime. 10 per. Profibus 1588

The status can be output via a parameterizable 2147483647 - CIP 106.1.26

output.
ModbusTCP 1588
Modified settings become active immediately.
EtherCAT 3006:1Ah

PROFINET 1588
MON_ChkTime Monitoring of time window. ms UINT16 CANopen 3006:1Dh

ConF → i-o- Adjustment of a time for monitoring of position 0 R/W Modbus 1594
deviation, velocity deviation, velocity value and
tthr current value. If the monitored value is in the 0 per. Profibus 1594
permissible range during the adjusted time, the
monitoring function delivers a positive result. 9999 - CIP 106.1.29

The status can be output via a parameterizable ModbusTCP 1594

output.
EtherCAT 3006:1Dh
Modified settings become active immediately.
PROFINET 1594

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Velocity Threshold Value

Description
The velocity threshold value allows you to monitor whether the actual velocity is
below a parameterizable velocity value.
The velocity threshold value comprises the velocity and the monitoring time.

Settings

v MON_ChkTime
2 * MON_v_Threshold

1
MON_ChkTime

=0
0

1
>0
0

The parameters MON_v_Threshold and MON_ChkTime specify the size of the

window.

Status Indication
The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parameterize the
signal output function "Velocity Below Threshold", see Digital Signal Inputs and
Digital Signal Outputs, page 195.
In order to read the status via the fieldbus, you must set the status bits of the
status parameters, see Adjustable Bits of the Status Parameters, page 371.
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr,
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_v_Threshold Monitoring of velocity threshold. usr_v UINT32 CANopen 3006:1Bh

The system monitors whether the drive is below 1 R/W Modbus 1590
the defined value during the period set with MON_
ChkTime. 10 per. Profibus 1590

The status can be output via a parameterizable 2147483647 - CIP 106.1.27

output.
ModbusTCP 1590
Modified settings become active immediately.
EtherCAT 3006:1Bh

PROFINET 1590
MON_ChkTime Monitoring of time window. ms UINT16 CANopen 3006:1Dh

ConF → i-o- Adjustment of a time for monitoring of position 0 R/W Modbus 1594
deviation, velocity deviation, velocity value and
tthr current value. If the monitored value is in the 0 per. Profibus 1594
permissible range during the adjusted time, the
monitoring function delivers a positive result. 9999 - CIP 106.1.29

The status can be output via a parameterizable ModbusTCP 1594

output.
EtherCAT 3006:1Dh
Modified settings become active immediately.
PROFINET 1594

Current Threshold Value

Description
The current threshold value allows you to monitor whether the actual current is
below a parameterizable current value.
The current threshold value comprises the current value and the monitoring time.

Settings

I MON_ChkTime
2 * MON_I_Threshold

1
MON_ChkTime

=0
0

1
>0
0

The parameters MON_I_Threshold and MON_ChkTime specify the size of the

window.

Status Indication
The status is available via a signal output or via the fieldbus.

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In order to read the status via a signal output, you must first parameterize the
signal output function "Current Below Threshold", see Digital Signal Inputs and
Digital Signal Outputs, page 195.
In order to read the status via the fieldbus, you must set the status bits of the
status parameters, see Adjustable Bits of the Status Parameters, page 371.
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr,
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_I_Threshold Monitoring of current threshold. Arms UINT16 CANopen 3006:1Ch

ConF → i-o- The system monitors whether the drive is below 0.00 R/W Modbus 1592
the defined value during the period set with MON_
ithr ChkTime. 0.20 per. Profibus 1592

The status can be output via a parameterizable 300.00 - CIP 106.1.28

output.
ModbusTCP 1592
The parameter _Iq_act_rms is used as
comparison value. EtherCAT 3006:1Ch

In increments of 0.01 Arms. PROFINET 1592

Modified settings become active immediately.

MON_ChkTime Monitoring of time window. ms UINT16 CANopen 3006:1Dh

ConF → i-o- Adjustment of a time for monitoring of position 0 R/W Modbus 1594
deviation, velocity deviation, velocity value and
tthr current value. If the monitored value is in the 0 per. Profibus 1594
permissible range during the adjusted time, the
monitoring function delivers a positive result. 9999 - CIP 106.1.29

The status can be output via a parameterizable ModbusTCP 1594

output.
EtherCAT 3006:1Dh
Modified settings become active immediately.
PROFINET 1594

Adjustable Bits of the Status Parameters

Overview
The status bits of the following parameters can be adjusted:
• Parameter _actionStatus
◦ Setting of bit 9 via parameter DPL_intLim
◦ Setting of bit 10 via parameter DS402intLim
• Parameter _DPL_motionStat
◦ Setting of bit 9 via parameter DPL_intLim
◦ Setting of bit 10 via parameter DS402intLim
• Parameter _DCOMstatus
◦ Setting of bit 11 via parameter DS402intLim

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Status Parameter
Parameter name Description Unit Data type Parameter address
via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_actionStatus Action word. - UINT16 CANopen 301C:4h

Signal state: - R/- Modbus 7176

0: Not activated - - Profibus 7176

1: Activated - - CIP 128.1.4

Bit assignments: ModbusTCP 7176

Bit 0: Error class 0 EtherCAT 301C:4h

Bit 1: Error class 1 PROFINET 7176

Bit 2: Error class 2

Bit 3: Error class 3

Bit 4: Error class 4

Bit 5: Reserved

Bit 6: Motor is at a standstill (_n_act < 9 RPM)

Bit 7: Motor movement in positive direction

Bit 8: Motor movement in negative direction

Bit 9: Assignment can be set via parameter DPL_

intLim

Bit 10: Assignment can be set via parameter

DS402intLim

Bit 11: Profile generator idle (reference velocity is

0)

Bit 12: Profile generator decelerates

Bit 13: Profile generator accelerates

Bit 14: Profile generator moves at constant speed

Bit 15: Reserved

_DCOMstatus DriveCom status word. - UINT16 CANopen 6041:0h

Bit assignments: - R/- Modbus 6916

Bit 0: Operating state Ready To Switch On - - Profibus 6916

Bit 1: Operating state Switched On - - CIP 127.1.2

Bit 2: Operating state Operation Enabled ModbusTCP 6916

Bit 3: Operating state Fault EtherCAT 6041:0h

Bit 4: Voltage Enabled PROFINET 6916

Bit 5: Operating state Quick Stop

Bit 6: Operating state Switch On Disabled

Bit 7: Error of error class 0

Bit 8: HALT request active

Bit 9: Remote

Bit 10: Target Reached

Bit 11: Internal Limit Active

Bit 12: Operating mode-specific

Bit 13: x_err

Bit 14: x_end

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Bit 15: ref_ok

_DPL_motionStat Drive Profile Lexium motionStat. - UINT16 CANopen 301B:27h

- R/- Modbus 6990

- - Profibus 6990

- - CIP 127.1.39

ModbusTCP 6990

EtherCAT 301B:27h

PROFINET 6990

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Parameter for Setting the Status Bits

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DPL_intLim Setting for bit 9 of _DPL_motionStat and - UINT16 CANopen 301B:35h

_actionStatus.
0 R/W Modbus 7018
0 / None: Not used (reserved)
11 per. Profibus 7018
1 / Current Below Threshold: Current threshold
value 11 - CIP 127.1.53

2 / Velocity Below Threshold: Velocity threshold ModbusTCP 7018

value
EtherCAT 301B:35h
3 / In Position Deviation Window: Position
deviation window PROFINET 7018

4 / In Velocity Deviation Window: Velocity

deviation window

5 / Position Register Channel 1: Position

register channel 1

6 / Position Register Channel 2: Position

register channel 2

7 / Position Register Channel 3: Position

register channel 3

8 / Position Register Channel 4: Position

register channel 4

9 / Hardware Limit Switch: Hardware limit switch

10 / RMAC active or finished: Relative

movement after capture is active or finished

11 / Position Window: Position window

Setting for:

Bit 9 of the parameter _actionStatus

Bit 9 of the parameter _DPL_motionStat

Modified settings become active immediately.

Available with firmware version ≥V01.08.

DS402intLim DS402 status word: Setting for bit 11 (internal - UINT16 CANopen 301B:1Eh
limit).
0 R/W Modbus 6972
0 / None: Not used (reserved)
0 per. Profibus 6972
1 / Current Below Threshold: Current threshold
value 11 - CIP 127.1.30

2 / Velocity Below Threshold: Velocity threshold ModbusTCP 6972

value
EtherCAT 301B:1Eh
3 / In Position Deviation Window: Position
deviation window PROFINET 6972

4 / In Velocity Deviation Window: Velocity

deviation window

5 / Position Register Channel 1: Position

register channel 1

6 / Position Register Channel 2: Position

register channel 2

7 / Position Register Channel 3: Position

register channel 3

8 / Position Register Channel 4: Position

register channel 4

9 / Hardware Limit Switch: Hardware limit switch

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

10 / RMAC active or finished: Relative

movement after capture is active or finished

11 / Position Window: Position window

Setting for:

Bit 11 of the parameter _DCOMstatus

Bit 10 of the parameter _actionStatus

Bit 10 of the parameter _DPL_motionStat

Modified settings become active immediately.

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Functions for Monitoring Internal Device Signals

Temperature Monitoring

Temperature of Power Stage

The parameter _PS_T_current indicates the temperature of the power stage.
The parameter _PS_T_warn contains the threshold value for an error of error
class 0. The parameter _PS_T_max indicates the maximum power stage
temperature.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PS_T_current Temperature of power stage. °C INT16 CANopen 301C:10h

Mon - R/- Modbus 7200

tPS - - Profibus 7200

- - CIP 128.1.16

ModbusTCP 7200

EtherCAT 301C:10h

PROFINET 7200
_PS_T_warn Advisory temperature limit of power stage (error °C INT16 CANopen 3010:6h
class 0).
- R/- Modbus 4108

- per. Profibus 4108

- - CIP 116.1.6

ModbusTCP 4108

EtherCAT 3010:6h

PROFINET 4108
_PS_T_max Maximum temperature of power stage. °C INT16 CANopen 3010:7h

- R/- Modbus 4110

- per. Profibus 4110

- - CIP 116.1.7

ModbusTCP 4110

EtherCAT 3010:7h

PROFINET 4110

Temperature of Motor
The parameter _M_T_current indicates the motor temperature.
The parameter _M_T_max indicates the maximum motor temperature.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_T_current Temperature of motor. °C INT16 CANopen 301C:11h

Mon - R/- Modbus 7202

tMot - - Profibus 7202

- - CIP 128.1.17

ModbusTCP 7202

EtherCAT 301C:11h

PROFINET 7202
_M_T_max Maximum temperature of motor. °C INT16 CANopen 300D:10h

- R/- Modbus 3360

- - Profibus 3360

- - CIP 113.1.16

ModbusTCP 3360

EtherCAT 300D:10h

PROFINET 3360

Monitoring Load and Overload (I2T Monitoring)

Description
The load is the thermal load on the power stage, the motor and the braking
resistor.
Load and overload on the individual components are monitored internally; the
values can be read by means of parameters.
Overload starts at a load value of 100 %.

1 Load
2 Overload

Load Monitoring
The load can be read using the following parameters:

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PS_load Load of power stage. % INT16 CANopen 301C:17h

Mon - R/- Modbus 7214

LdFP - - Profibus 7214

- - CIP 128.1.23

ModbusTCP 7214

EtherCAT 301C:17h

PROFINET 7214
_M_load Load of motor. % INT16 CANopen 301C:1Ah

Mon - R/- Modbus 7220

LdFM - - Profibus 7220

- - CIP 128.1.26

ModbusTCP 7220

EtherCAT 301C:1Ah

PROFINET 7220
_RES_load Load of braking resistor. % INT16 CANopen 301C:14h

Mon The braking resistor set via parameter RESint_ext - R/- Modbus 7208
is monitored.
LdFb - - Profibus 7208

- - CIP 128.1.20

ModbusTCP 7208

EtherCAT 301C:14h

PROFINET 7208

Overload Monitoring
In the case of 100 % overload of the power stage or the motor, the current is
limited internally. In the case of 100 % overload of the braking resistor, the braking
resistor is deactivated.
The overload and the peak value can be read using the following parameters:

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PS_overload Overload of power stage. % INT16 CANopen 301C:24h

- R/- Modbus 7240

- - Profibus 7240

- - CIP 128.1.36

ModbusTCP 7240

EtherCAT 301C:24h

PROFINET 7240
_PS_maxoverload Maximum value of overload of power stage. % INT16 CANopen 301C:18h

Maximum overload of power stage during the last - R/- Modbus 7216
10 seconds.
- - Profibus 7216

- - CIP 128.1.24

ModbusTCP 7216

EtherCAT 301C:18h

PROFINET 7216
_M_overload Overload of motor (I2t). % INT16 CANopen 301C:19h

- R/- Modbus 7218

- - Profibus 7218

- - CIP 128.1.25

ModbusTCP 7218

EtherCAT 301C:19h

PROFINET 7218
_M_maxoverload Maximum value of overload of motor. % INT16 CANopen 301C:1Bh

Maximum overload of motor during the last 10 - R/- Modbus 7222

seconds.
- - Profibus 7222

- - CIP 128.1.27

ModbusTCP 7222

EtherCAT 301C:1Bh

PROFINET 7222

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_RES_overload Overload of braking resistor (I2t). % INT16 CANopen 301C:13h

The braking resistor set via parameter RESint_ext - R/- Modbus 7206
is monitored.
- - Profibus 7206

- - CIP 128.1.19

ModbusTCP 7206

EtherCAT 301C:13h

PROFINET 7206
_RES_maxoverload Maximum value of overload of braking resistor. % INT16 CANopen 301C:15h

Maximum overload of braking resistor during the - R/- Modbus 7210

last 10 seconds.
- - Profibus 7210
The braking resistor set via parameter RESint_ext
is monitored. - - CIP 128.1.21

ModbusTCP 7210

EtherCAT 301C:15h

PROFINET 7210

Commutation Monitoring

Description
Commutation monitoring verifies the plausibility of acceleration and effective
motor torque.
If the motor accelerates though the drive control decelerates the motor with the
maximum current, an error is detected.
Deactivating commutation monitoring can cause unintended movements.

WARNING
UNINTENDED MOVEMENT
• Only deactivate commutation monitoring during commissioning and only for
test purposes.
• Verify that the commutation monitoring is active prior to putting the
equipment into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The parameter MON_commutat lets you deactivate commutation monitoring.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_commutat Commutation monitoring. - UINT16 CANopen 3005:5h

0 / Off: Commutation monitoring off 0 R/W Modbus 1290

1 / On: Commutation monitoring on in operating 1 per. Profibus 1290

states 6, 7 and 8
2 - CIP 105.1.5
2 / On (OpState6+7): Commutation monitoring on
in operating states 6 and 7 ModbusTCP 1290

Setting can only be modified if power stage is EtherCAT 3005:5h

disabled.
PROFINET 1290
Modified settings become active the next time the
power stage is enabled.

Monitoring of Mains Phases

Description
If a three-phase drive is missing a mains phase and mains phase monitoring is not
correctly set, this can cause overload of the product.

NOTICE
INOPERABLE EQUIPMENT DUE TO MISSING MAINS PHASE
• Verify that mains phase monitoring is set to "Automatic Mains Detection" or
to "Mains ..." with the correct voltage value if the drive is supplied via the
mains phases.
• Verify that mains phase monitoring is set to "DC bus only ..." with the correct
voltage value if the drive is supplied via the DC bus.
Failure to follow these instructions can result in equipment damage.

NOTE: The mains phases are only monitored in the operating states 5
Switched On, 6 Operation Enabled, 7 Quick Stop Active, and 8 Fault Reaction
Active.
The parameter ErrorResp_Flt_AC lets you set the error response to a missing
mains phase for three-phase devices.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ErrorResp_Flt_AC Error response to missing mains phase. - UINT16 CANopen 3005:Ah

0 / Error Class 0: Error class 0 0 R/W Modbus 1300

1 / Error Class 1: Error class 1 2 per. Profibus 1300

2 / Error Class 2: Error class 2 3 - CIP 105.1.10

3 / Error Class 3: Error class 3 ModbusTCP 1300

Setting can only be modified if power stage is EtherCAT 3005:Ah

disabled.
PROFINET 1300
Modified settings become active the next time the
power stage is enabled.

If the product is supplied via the DC bus, mains phase monitoring must be set to
"DC bus only ..." with the correct voltage value.

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Mains phase monitoring is set by means of the parameter MON_MainsVolt.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_MainsVolt Detection and monitoring of mains phases. - UINT16 CANopen 3005:Fh

0 / Automatic Mains Detection: Automatic 0 R/W Modbus 1310

detection and monitoring of mains voltage
0 per. Profibus 1310
1 / DC-Bus Only (Mains 1~230 V / 3~480 V): DC
bus supply only, corresponding to mains voltage 5 expert CIP 105.1.15
230 V (single-phase) or 480 V (three phases)
ModbusTCP 1310
2 / DC-Bus Only (Mains 1~115 V / 3~208 V): DC
bus supply only, corresponding to mains voltage EtherCAT 3005:Fh
115 V (single-phase) or 208 V (three phases)
PROFINET 1310
3 / Mains 1~230 V / 3~480 V: Mains voltage 230 V
(single-phase) or 480 V (three phases)

4 / Mains 1~115 V / 3~208 V: Mains voltage 115 V

(single-phase) or 208 V (three phases)

5 / Reserved: Reserved

Value 0: As soon as mains voltage detected, the

device automatically verifies whether the mains
voltage is 115 V or 230 V in the case of single-
phase devices or 208 V or 400/480 V in the case
of three-phase devices.

Values 1 … 2: If the device is supplied only via the

DC bus, the parameter has to be set to the voltage
value corresponding to the mains voltage of the
supplying device. There is no mains voltage
monitoring.

Values 3 … 4: If the mains voltage is not detected

properly during start-up, the mains voltage to be
used can be selected manually.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Ground Monitoring

Description
When the power stage is enabled, the device monitors the motor phases for
ground errors. A ground error occurs when one or more motor phases are short-
circuited to the ground (earth) of the application.
A ground error of one or more motor phases is detected. A ground error of the DC
bus or the braking resistor is not monitored.
If the ground error monitoring is deactivated, the drive may be rendered
inoperable by a ground error.

NOTICE
INOPERABLE EQUIPMENT DUE TO GROUND ERRORS
• Only deactivate ground monitoring during commissioning and only for test
purposes.
• Verify that the ground monitoring is active prior to putting the equipment into
service.
Failure to follow these instructions can result in equipment damage.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_GroundFault Ground monitoring. - UINT16 CANopen 3005:10h

0 / Off: Ground monitoring off 0 R/W Modbus 1312

1 / On: Ground monitoring on 1 per. Profibus 1312

Modified settings become active the next time the 1 expert CIP 105.1.16
product is powered on.
ModbusTCP 1312

EtherCAT 3005:10h

PROFINET 1312

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Examples
Examples
General Information
The examples show some typical applications of the product. The examples are
intended to provide an overview; they are not exhaustive wiring plans.
The examples described here are intended for learning purposes only. In general,
they are intended to help you understand how to develop, test, commission, and
integrate application logic and/or the device wiring of the equipment associated
with your own design in your control systems. The examples are not intended to
be used directly on products that are part of a machine or process.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include any wiring information, programming or configuration logic, or
parameterization values from the Examples in your machine or process without
thoroughly testing your entire application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Using the safety function STO integrated in this product requires careful planning.
See section Functional Safety, page 76 for additional information.

Example of Operation with a Module

See the manual for the modules for details on wiring.

384 0198441113767.13
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Wiring example

1 EMERGENCY STOP
2 Commissioning accessories

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Servo Drive Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

Diagnostics via HMI
Diagnostics via the Integrated HMI

Overview
The 7-segment display provides the user with information.

With the factory setting, the 7-segment display shows the operating states. The
operating states are described in section Operating States, page 235.

Message Description

INIT Operating state 1 Start

nrdy Operating state 2 Not Ready To Switch On

dis Operating state 3 Switch On Disabled

rdy Operating state 4 Ready To Switch On

son Operating state 5 Switched On

r u n and h a l t Operating state 6 Operation Enabled

stop Operating state 7 Quick Stop Active

flt Operating state 8 Fault Reaction Active and 9 Fault

Additional Messages
The table below provides an overview of the messages that can additionally be
displayed on the integrated HMI.

Message Description

Card Data on the memory card differs from data in the product. See Memory
Card, page 171 for information on how to proceed.

disp An external HMI is connected. The integrated HMI has no function.

fsu Perform a First Setup. See Powering on the Device for the First Time, page
138.
mot A new motor was detected. See section Acknowledging a Motor Change,
page 387 for replacing a motor.

prot Parts of the integrated HMI were locked with the parameter HMIlocked.

s l t 1 ... s l t 3 The device has detected a different equipment with modules. See section
Acknowledging a Module Replacement, page 387 for replacing modules.

ulow 24 Vdc control supply during initialization not high enough.

8888 Undervoltage 24 Vdc control supply.

wdog Undeterminable system error. Contact your Schneider Electric

representative.

---- Firmware not available. Retry to flash the firmware. If the condition persists,
contact your Schneider Electric representative.

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If the HMI displays a message that is not contained in this user guide, contact your
Schneider Electric representative.

Acknowledging a Motor Change

Description
Procedure for confirming a motor change via the integrated HMI.
If the 7-segment display shows m o t :
• Press the navigation button.
The 7-segment display shows s a v e .
• Press the navigation button to save the new motor parameters to the
nonvolatile memory.
The drive switches to operating state 4 Ready To Switch On.
Confirming a motor change via the integrated HMI

1 HMI displays that a replacement of a motor has been detected.

2 Canceling the saving process
3 Saving switching to operating state 4 Ready To Switch On.

Acknowledging a Module Replacement

General
Note the information in the user guides for the respective modules.

Slot 1
If the safety module eSM is used in Slot 1, refer to the user guide for the safety
module eSM for information on replacing a module in slot 1.
Otherwise, follow the procedure for Slot 2 and Slot 3.

Slot 2 and Slot 3

The replacement of a module is confirmed via the integrated HMI.
The 7-segment display shows s l t 2 or s l t 3 .
• Press the navigation button.
The 7-segment display shows s a v e .
• Press the navigation button.

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Servo Drive Diagnostics and Troubleshooting

The drive switches to operating state 4 Ready To Switch On.

Confirming a module change via the integrated HMI

1 HMI displays that a replacement of a module has been detected.

2 Canceling the saving process
3 Saving switching to operating state 4 Ready To Switch On.

Displaying Error Messages via the HMI

Resetting Errors of Error Class 0

If there are errors of error class 0, the two dots to the right of the 7-segment
display (2) flash. The error code is not directly displayed on the 7-segment display,
but must be explicitly queried by the user.
Procedure for displaying and resetting:
• Press the navigation button and hold it down.
The 7-segment display shows the error code.
• Release the navigation button.
The 7-segment display shows f r e s .
• Remedy the cause.
• Press the navigation button to reset the error message.
The 7-segment display returns to the initial state.

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1 HMI shows an error of error class 0

2 Indication of error code
3 Resetting an error message
4 Canceling (the error code remains in the memory)
See Error Messages, page 401 for the meaning of the error codes.

Reading and Acknowledging Errors of Error Classes 1 ...4

In the case of a detected error of error class 1, the error code and s t o p are
alternately shown on the 7 segment display.
In the case of a detected error of error class 2 ... 4, the error code and f l t are
alternately shown on the 7 segment display.
Procedure for displaying and resetting:
• Remedy the cause.
• Press the navigation button.
The 7-segment display shows f r e s .
• Press the navigation button to reset the error message.
The product switches to operating state 4 Ready To Switch On.

1 HMI shows and error message with an error code

See Error Messages, page 401 for the meaning of the error codes.

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Servo Drive Diagnostics and Troubleshooting

Diagnostics via Signal Outputs

Indicating the Operating State

Description
Information on the operating state is available via the signal outputs.
The table below provides an overview.

Signal output function

Operating state “No fault”(1) “Active”(2)

1 Start 0 0
2 Not Ready To Switch On 0 0

3 Switch On Disabled 0 0
4 Ready To Switch On 1 0

5 Switched On 1 0
6 Operation Enabled 1 1

7 Quick Stop Active 0 0

8 Fault Reaction Active 0 0

9 Fault 0 0
(1) The signal output function is factory setting for signal output DQ0

(2) The signal output function is the factory setting for signal output DQ1

Indicating Error Messages

Description
Selected error messages can be output via the signal outputs.
In order to output an error message via a signal output, you must first
parameterizes the signal output functions “Selected Warning” or “Selected Error”,
see Digital Signal Inputs and Digital Signal Outputs, page 195.
The parameters MON_IO_SelWar1 and MON_IO_SelWar2 are used to specify
error codes with the error class 0.
The parameters MON_IO_SelErr1 and MON_IO_SelErr2 are used to specify error
codes with the error classes 1 ... 4.
If an error specified in one of these parameters is detected, the corresponding
signal output is to be set.
The list of the error messages sorted by error code can be found in the section
Error Messages, page 401.

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Diagnostics and Troubleshooting Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_IO_SelWar1 Signal output function Selected Warning (error - UINT16 CANopen 303B:8h
class 0): First error code.
0 R/W Modbus 15120
This parameter specifies the error code of an error
of error class 0 which is to activate the signal 0 per. Profibus 15120
output function.
65535 - CIP 159.1.8
Modified settings become active immediately.
ModbusTCP 15120

EtherCAT 303B:8h

PROFINET 15120
MON_IO_SelWar2 Signal output function Selected Warning (error - UINT16 CANopen 303B:9h
class 0): Second error code.
0 R/W Modbus 15122
This parameter specifies the error code of an error
of error class 0 which is to activate the signal 0 per. Profibus 15122
output function.
65535 - CIP 159.1.9
Modified settings become active immediately.
ModbusTCP 15122

EtherCAT 303B:9h

PROFINET 15122
MON_IO_SelErr1 Signal output function Selected Error (error - UINT16 CANopen 303B:6h
classes 1 to 4): First error code.
0 R/W Modbus 15116
This parameter specifies the error code of an error
of error classes 1 ... 4 which is to activate the 0 per. Profibus 15116
signal output function.
65535 - CIP 159.1.6
Modified settings become active immediately.
ModbusTCP 15116

EtherCAT 303B:6h

PROFINET 15116
MON_IO_SelErr2 Signal output function Selected Error (error - UINT16 CANopen 303B:7h
classes 1 to 4): Second error code.
0 R/W Modbus 15118
This parameter specifies the error code of an error
of error classes 1 ... 4 which is to activate the 0 per. Profibus 15118
signal output function.
65535 - CIP 159.1.7
Modified settings become active immediately.
ModbusTCP 15118

EtherCAT 303B:7h

PROFINET 15118

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Servo Drive Diagnostics and Troubleshooting

Diagnostics via the Fieldbus

Fieldbus Communication Error Diagnostics

Verifying Connections
A properly operating fieldbus is essential for evaluating status and error
messages.
If the product cannot be addressed via the fieldbus, first verify the connections.
Verify the following connections:
• System power supply
• Supply connections
• Fieldbus cables and wiring
• Fieldbus connection

Fieldbus Function Test

If the connections are correct, verify that you can address the product on the
fieldbus.

Most Recent Detected Error - Status Bits

Parameter DCOMstatus
The parameter DCOMstatus is a part of the process data communication. The
parameter DCOMstatus is transmitted asynchronously and in an event-driven way
whenever the status information changes.
In the case of an error of error class 0, bit 7 is set in the parameter DCOMstatus.
In the case of an error of error class 1, 2, 3 or 4, bit 13 is set in the parameter
DCOMstatus.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_DCOMstatus DriveCom status word. - UINT16 CANopen 6041:0h

Bit assignments: - R/- Modbus 6916

Bit 0: Operating state Ready To Switch On - - Profibus 6916

Bit 1: Operating state Switched On - - CIP 127.1.2

Bit 2: Operating state Operation Enabled ModbusTCP 6916

Bit 3: Operating state Fault EtherCAT 6041:0h

Bit 4: Voltage Enabled PROFINET 6916

Bit 5: Operating state Quick Stop

Bit 6: Operating state Switch On Disabled

Bit 7: Error of error class 0

Bit 8: HALT request active

Bit 9: Remote

Bit 10: Target Reached

Bit 11: Internal Limit Active

Bit 12: Operating mode-specific

Bit 13: x_err

Bit 14: x_end

Bit 15: ref_ok

Error Bits
The parameters _WarnLatched and _SigLatched contain information on errors of
error class 0 and errors of error classes 1 ... 4.

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_WarnLatched Saved errors of error class 0, bit-coded. - UINT32 CANopen 301C:Ch

Mon The bits are set to 0 in the case of a Fault Reset. - R/- Modbus 7192

WrnS Bits 10 and 13 are set to 0 automatically. - - Profibus 7192

Signal state: - - CIP 128.1.12

0: Not activated ModbusTCP 7192

1: Activated EtherCAT 301C:Ch

Bit assignments: PROFINET 7192

Bit 0: General

Bit 1: Reserved

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Reserved

Bit 4: Active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO_A and/or STO_B

Bits 11 ... 12: Reserved

Bit 13: Low voltage DC bus or mains phase

missing

Bits 14 ... 15: Reserved

Bit 16: Integrated encoder interface

Bit 17: Temperature of motor high

Bit 18: Temperature of power stage high

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM or module IOM1

Bits 24 … 27: Reserved

Bit 28: Transistor for braking resistor overload (I2t)

Bit 29: Braking resistor overload (I2t)

Bit 30: Power stage overload (I2t)

Bit 31: Motor overload (I2t)

Monitoring functions are product-dependent.

_SigLatched Saved status of monitoring signals. - UINT32 CANopen 301C:8h

Mon Signal state: - R/- Modbus 7184

SiGS 0: Not activated - - Profibus 7184

1: Activated - - CIP 128.1.8

Bit assignments: ModbusTCP 7184

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Bit 0: General error EtherCAT 301C:8h

Bit 1: Hardware limit switches (LIMP/LIMN/REF) PROFINET 7184

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Quick Stop via fieldbus

Bit 4: Error in active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO are 0

Bit 11: Inputs STO different

Bit 12: Reserved

Bit 13: DC bus voltage low

Bit 14: DC bus voltage high

Bit 15: Mains phase missing

Bit 16: Integrated encoder interface

Bit 17: Overtemperature motor

Bit 18: Overtemperature power stage

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM or module IOM1

Bit 24: Reserved

Bit 25: Reserved

Bit 26: Motor connection

Bit 27: Motor overcurrent/short circuit

Bit 28: Frequency of reference signal too high

Bit 29: Nonvolatile memory error detected

Bit 30: System start-up (hardware or parameter)

Bit 31: System error detected (for example,

watchdog, internal hardware interface)

Monitoring functions are product-dependent.

Most Recent Detected Error - Error Code

Description
If the controller receives information concerning a detected error via the process
data communication, the following parameters can be used to read the error code.

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The list of the error messages sorted by error code can be found in the section
Error Messages, page 401.

Most Recent Detected Error with Error Class 0

The parameter _LastWarning allows you to read the error number of the last
detected error with error class 0.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_LastWarning Code of most recent error of error class 0. - UINT16 CANopen 301C:9h

Mon If the error is no longer active, the code is stored - R/- Modbus 7186
until the next Fault Reset.
LWrn - - Profibus 7186
Value 0: No error of error class 0
- - CIP 128.1.9

ModbusTCP 7186

EtherCAT 301C:9h

PROFINET 7186

Most Recent Detected Error with Error Class 1 ... 4

The parameter _LastError allows you to read the error number of the last detected
error with error class 1 ... 4.

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_LastError Detected error causing a stop (error classes 1 to - UINT16 CANopen 603F:0h
4).
Mon - R/- Modbus 7178
Error code of the most recent detected error.
LFLt Consecutive detected errors do not overwrite this - - Profibus 7178
error code.
- - CIP 128.1.5
Example: If an error response to a detected limit
switch error causes overvoltage, this parameter ModbusTCP 7178
contains the code of the detected limit switch
error. EtherCAT 603F:0h

Exception: Detected errors of error class 4 PROFINET 7178

overwrite existing entries.

Error Memory

General
The error memory is an error history of the last 10 error messages. It is not cleared
even if the product is powered off. The error memory allows you to read and
evaluate past events.
The following information on the events is stored:
• Error class
• Error code
• Motor current
• Number of power on cycles

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• Additional error information (for example, parameter numbers)

• Product temperature
• Power stage temperature
• Time the error was detected (with reference to operating hours counter)
• DC Bus Voltage
• Velocity
• Number of Enable cycles after powering on
• Time from Enable until detection of the error
The stored information relates to the situation at the point in time the error was
detected.
The list of the error messages sorted by error code can be found in the section
Error Messages, page 401.

Reading the Error Memory

The error memory can only be read sequentially. The parameter ERR_reset must
be used to reset the read pointer. Then the first error entry can be read. The read
pointer is automatically set to the next entry. A new read access delivers the next
error entry. If the error code 0 is returned, there is no additional error entry.

Position of the entry Meaning

1 First error message (oldest message).

2 Second error message (later message).

... ...
10 Tenth error message. In the case of ten error messages, the most
recent error message is contained here.

An error entry consists of several pieces of information which can be read using
different parameters. When you read an error entry, the error code must be read
first with the parameter _ERR_number.
The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ERR_class Error class. - UINT16 CANopen 303C:2h

Value 0: Error class 0 0 R/- Modbus 15364

Value 1: Error class 1 - - Profibus 15364

Value 2: Error class 2 4 - CIP 160.1.2

Value 3: Error class 3 ModbusTCP 15364

Value 4: Error class 4 EtherCAT 303C:2h

PROFINET 15364
_ERR_number Error code. - UINT16 CANopen 303C:1h

Reading this parameter copies the entire entry for 0 R/- Modbus 15362
the detected error (error class, time of detection of
error, …) to an intermediate memory from which - - Profibus 15362
the elements of the detected error can then be
read. 65535 - CIP 160.1.1

In addition, the read pointer of the error memory is ModbusTCP 15362

automatically set to the next error entry.
EtherCAT 303C:1h

PROFINET 15362

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ERR_motor_I Motor current at the time the error was detected. Arms UINT16 CANopen 303C:9h

In increments of 0.01 Arms. - R/- Modbus 15378

- - Profibus 15378

- - CIP 160.1.9

ModbusTCP 15378

EtherCAT 303C:9h

PROFINET 15378
_ERR_powerOn Number of power on cycles. - UINT32 CANopen 303B:2h

Mon 0 R/- Modbus 15108

PoWo - - Profibus 15108

4294967295 - CIP 159.1.2

ModbusTCP 15108

EtherCAT 303B:2h

PROFINET 15108
_ERR_qual Additional information on detected error. - UINT16 CANopen 303C:4h

This entry contains additional information on the 0 R/- Modbus 15368

detected error, depending on the error number.
- - Profibus 15368
Example: a parameter address
65535 - CIP 160.1.4

ModbusTCP 15368

EtherCAT 303C:4h

PROFINET 15368
_ERR_temp_dev Temperature of device at the time the error was °C INT16 CANopen 303C:Bh
detected.
- R/- Modbus 15382

- - Profibus 15382

- - CIP 160.1.11

ModbusTCP 15382

EtherCAT 303C:Bh

PROFINET 15382
_ERR_temp_ps Temperature of power stage at the time the error °C INT16 CANopen 303C:Ah
was detected.
- R/- Modbus 15380

- - Profibus 15380

- - CIP 160.1.10

ModbusTCP 15380

EtherCAT 303C:Ah

PROFINET 15380

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ERR_time Time of detection of error. s UINT32 CANopen 303C:3h

With reference to operating hours counter 0 R/- Modbus 15366

- - Profibus 15366

536870911 - CIP 160.1.3

ModbusTCP 15366

EtherCAT 303C:3h

PROFINET 15366
_ERR_DCbus DC bus voltage at the time the error was detected. V UINT16 CANopen 303C:7h

In increments of 0.1 V. - R/- Modbus 15374

- - Profibus 15374

- - CIP 160.1.7

ModbusTCP 15374

EtherCAT 303C:7h

PROFINET 15374
_ERR_motor_v Motor velocity at the time the error was detected. usr_v INT32 CANopen 303C:8h

- R/- Modbus 15376

- - Profibus 15376

- - CIP 160.1.8

ModbusTCP 15376

EtherCAT 303C:8h

PROFINET 15376
_ERR_enable_cycl Number of cycles of enabling the power stage at - UINT16 CANopen 303C:5h
error time.
- R/- Modbus 15370
Number of cycles of enabling the power stage
from the time the control voltage was applied to - - Profibus 15370
the time the error was detected.
- - CIP 160.1.5

ModbusTCP 15370

EtherCAT 303C:5h

PROFINET 15370
_ERR_enable_time Time between enabling of power stage and s UINT16 CANopen 303C:6h
detection of the error.
- R/- Modbus 15372

- - Profibus 15372

- - CIP 160.1.6

ModbusTCP 15372

EtherCAT 303C:6h

PROFINET 15372

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Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ERR_reset Reset error memory read pointer. - UINT16 CANopen 303B:5h

Value 1: Set error memory read pointer to oldest 0 R/W Modbus 15114
error entry.
- - Profibus 15114
Modified settings become active immediately.
1 - CIP 159.1.5

ModbusTCP 15114

EtherCAT 303B:5h

PROFINET 15114
ERR_clear Clear error memory. - UINT16 CANopen 303B:4h

Value 1: Delete entries in the error memory 0 R/W Modbus 15112

The clearing process is completed if a 0 is - - Profibus 15112

returned after a read access.
1 - CIP 159.1.4
Modified settings become active immediately.
ModbusTCP 15112

EtherCAT 303B:4h

PROFINET 15112

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Error Messages
Description of Error Messages

Description
If monitoring functions of the drive detect an error, the drive generates an error
message. Each error message is identified by an error code.
The following information is available for each error message:
• Error code
• Error class
• Description of error
• Possible causes
• Possible remedies

Range of Error Messages

The table below summarizes the error codes classified by range.

Error code Range

E 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage

E 4xxx Temperature

E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring

E 8xxx Fieldbus
E Axxx Motor movement
E Bxxx Communication

Error Class of Error Messages

The error messages are classified according to the following error classes:

Error class State transition(1) Error response Resetting the error message

0 - No interruption of the movement Function “Fault Reset”

1 T11 Stop movement with “Quick Stop” Function “Fault Reset”

2 T13, T14 Stop movement with “Quick Stop” and disable the Function “Fault Reset”
power stage when the motor has come to a standstill

3 T13, T14 Disable the power stage immediately without stopping Function “Fault Reset”
the movement first
4 T13, T14 Disable the power stage immediately without stopping Power cycle
the movement first
(1) See section Operating States, page 235.

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Table of Error Messages

List of the Error Messages Sorted by Error Code

Error Error Description Cause Correctives

code class
1100 0 Parameter out of permissible value The value entered was outside of the The entered value must be within the
range permissible value range for this permissible value range.
parameter.

1101 0 Parameter does not exist Error detected by parameter Select a different parameter (index).
management: Parameter (index)
does not exist.
1102 0 Parameter does not exist Error detected by parameter Select a different parameter
management: Parameter (subindex) (subindex).
does not exist.
1103 0 Parameter write not permissible Write access to read only parameter. Write only to parameters that are not
(READ only) read-only.

1104 0 Write access denied (no access Parameter only accessible at expert The write access level expert is
authorization) level. required.

1105 0 Block Upload/Download not - -

initialized
1106 0 Command not permissible while Command not permissible while the Disable the power stage and repeat
power stage is active power stage is enabled (operating the command.
state Operation Enabled or Quick
Stop Active).

1107 0 Access via other interface blocked Access occupied by another channel Verify the channel that blocks
(for example: Commissioning access.
software is active and fieldbus
access was tried at the same time).

1108 0 File cannot be uploaded: Incorrect - -

file ID
1109 1 Data stored after a power outage is - -
invalid
110A 0 System error detected: No - -
bootloader available
110B 3 Configuration error detected. Error detected during parameter Value in additional error information
Additional information in the error check (for example, reference shows the Modbus register address
memory indicates the Modbus velocity value for operating mode of the parameter where the
register address. Profile Position is greater than initialization error was detected.
maximum permissible velocity of
Parameter _SigLatched Bit 30 drive).

110D 1 Basic configuration of drive required The "First Setup" (FSU) was not run Perform a First Setup.
after factory setting at all or not completed.

110E 0 Parameter changed that requires a Only displayed by the commissioning Restart the drive to activate the
restart of the drive software. parameter functionality.

A parameter modification requires See the section Parameters for the

the drive to be powered off and on. parameter that requires a restart of
the drive.
110F 0 Function not available in this type of The specific type of device does not Verify that you have the correct
device support this function or this device type, in particular type of
parameter value. motor, type of encoder, holding
brake.
1110 0 Incorrect file ID for upload or The specific type of device does not Verify that you have the correct
download support this kind of file. device type or the correct
configuration file.

1111 0 File transfer not correctly initialized A previous file transfer has been -
aborted.
1112 0 Locking of configuration denied An external tool has tried to lock the -
configuration of the drive for upload
or download. This may not work
because another tool had already
locked the configuration of the drive
or the drive is in an operating state
that does not allow locking.

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Error Error Description Cause Correctives

code class
1113 0 System not locked for configuration An external tool has tried to transfer -
transfer the configuration without locking the
drive.
1114 4 Configuration download aborted During a configuration download, a Power the drive off/on and retry to
communication error or an error in download the configuration or restore
Parameter _SigLatched Bit 5 the external tool was detected. The the factory settings.
configuration was only partially
transferred to the drive and might be
inconsistent now.
1115 0 Incorrect configuration file format An external tool has downloaded a -
configuration which has an incorrect
Parameter _WarnLatched Bit 5 format.

1116 0 Request is processed - -

asynchronously

1117 0 Asynchronous request blocked Request to a module is blocked -

because the module is currently
processing another request.

1118 0 Configuration data incompatible with The configuration data contains data Verify device type including type of
device from a different device. power stage.

1119 0 Incorrect data length, too many bytes - -

111A 0 Incorrect data length, insufficient - -

number of bytes

111B 4 Configuration download error During a configuration download, one Verify that the configuration file is
detected. Additional information in or more configuration values were valid and matches the type and
the error memory indicates the not accepted by the drive. version of the drive. The value in the
Modbus register address. additional error info shows the
Modbus register address of the
parameter where the initialization
error was detected.
111C 1 Not possible to initialize recalculation A parameter could not be initialized. The address of the parameter that
for scaling caused the detected error can be
read via the parameter _PAR_
ScalingError.

111D 3 Original state of a parameter cannot The drive contained an invalid Power the drive off and on again.
be restored after an error was configuration before the recalculation This may help you to identify the
detected during recalculation of was started. An error was detected affected parameter(s). Change the
parameters with user-defined units. during the recalculation. parameters as required. Verify that
the parameter configuration is valid
before starting the recalculation
procedure.

111E 1 Not possible to recalculate data set A data set of the operating mode The address of the parameter and
Motion Sequence could not be the number of the data set that
recalculated. caused this condition can be read via
the parameter _PAR_ScalingError.

111F 1 Recalculation not possible. Invalid scaling factor. Verify that you really want the
selected scaling factor. Try a different
scaling factor. Before triggering
scaling, reset the parameters with
user-defined units.
1120 1 Recalculation for scaling not possible A parameter could not be The address of the parameter that
recalculated. caused this condition can be read via
the parameter _PAR_ScalingError.

1121 0 Incorrect sequence of steps for The recalculation has been started The recalculation must be started
scaling (fieldbus) prior to the initialization. after the initialization.

1122 0 Recalculation for scaling not possible Recalculation for scaling is already Wait for the running recalculation for
running. scaling to finish.

1123 0 Parameter cannot be changed Recalculation for scaling is running. Wait for the running recalculation for
scaling to finish.

1124 1 Timeout during recalculation for The time between the initialization of Recalculation must be started within
scaling the recalculation and the start of the 30 seconds after initialization.
recalculation has been exceeded (30
seconds).

1125 1 Scaling not possible The scaling factors for position, Retry with different scaling factors.
velocity or acceleration/deceleration
are beyond internal calculation limits.

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Error Error Description Cause Correctives

code class
1126 0 Configuration is blocked by another - Close other access channel (for
access channel example, other instance of
commissioning software).

1127 0 Invalid key received - -

1128 0 Special login is required for - -

Manufacturing Test Firmware

1129 0 Test step not yet started - -

112D 0 Configuration of edges is not The selected capture input does not Set the edge to either "rising" or
supported support rising and falling edge at the "falling".
same time.
112F 0 Time filter settings cannot be Position capture is already active Deactivate position capture.
changed with a time filter. The filter settings
cannot be changed.

1130 0 Incorrect parameter setting The parameter ENC_ModeOfMaEnc Set parameter ErrorResp_PDiffEncM
is set to "Velocity And Position". The to "Error Class 3".
parameter ErrorResp_PDiffEncM is
set to "Error Class 1" or "Error Class
2". The combination of these settings
is invalid.
1131 0 Function not available Function not available -

1132 0 Incorrect size of configuration file Incorrect number of bytes. Retry. If the condition persists,
(odd number of bytes) contact your Schneider Electric
service representative.

1300 3 Safety function STO activated (STO_ The safety function STO was Verify correct wiring of the inputs of
A, STO_B) activated in the operating state the safety function STO and perform
Operation Enabled. a Fault Reset.
Parameter _SigLatched Bit 10

1301 4 STO_A and STO_B different level The levels of the inputs STO_A and Verify correct wiring of the inputs of
STO_B were different for more than 1 the safety function STO.
Parameter _SigLatched Bit 11 second.

1302 0 Safety function STO activated (STO_ Safety function STO was activated Verify correct wiring of the inputs of
A, STO_B) while the power stage was disabled. the safety function STO.

Parameter _WarnLatched Bit 10

1310 2 Frequency of the external reference The frequency of the external Verify the frequency of the external
value signal too high reference value signals (A/B signals, reference values. Verify the gear ratio
P/D signals or CW/CCW signals) is in the operating mode Electronic
Parameter _SigLatched Bit 28 higher than the permissible value. Gear.

1311 0 The selected signal input function or The selected signal input function or Select another function or change the
signal output function cannot be signal output function cannot be used operating mode.
configured in the selected operating mode.

1312 0 Limit switch or reference switch Reference movements require limit Assign the signal input functions
signal not defined for signal input switches. These limit switches are Positive Limit Switch, Negative Limit
function not assigned to inputs. Switch and Reference Switch.

1313 0 Configured debounce time not The signal input function does not Set the debounce time to a valid
possible for this signal input function support the selected debounce time. value.

1314 4 At least two inputs have the same The same signal input function has Reconfigure the inputs.
signal input function. been assigned to at least two inputs.

1315 0 Frequency of reference value signal The frequency of the pulse signal (A/ Adapt the frequency of the reference
is too high. B, Pulse/Direction, CW/CCW) value signal to match the input
exceeds the specified range. specification of the drive. Also adapt
Parameter _WarnLatched Bit 28 Received pulses may be lost. the gear ratio in the operating mode
Electronic Gear to the application
requirements (position accuracy and
velocity).

1316 1 Position capture via signal input Position capture is already being -
currently not possible used.

Parameter _SigLatched Bit 28

1317 0 Interference at PTI input Interfering pulses or impermissible Verify cable specifications, shield
edge transitions (A and B signal connection and EMC.
Parameter _WarnLatched Bit 28 simultaneously) have been detected.

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Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
1318 0 The selected type of usage of the At least two analog inputs are Reconfigure the analog inputs.
analog inputs is not possible. configured with the same type of
usage.

1501 4 System error detected: DriveCom - -

state machine indeterminable state
1502 4 System error detected: HWL low- - -
level state machine indeterminable
state
1503 1 Quick Stop triggered via fieldbus A Quick Stop has been triggered via -
the fieldbus. The Quick Stop option
code has been set to -1 or -2 which
causes the drive to transition to the
operating state 9 Fault instead of the
operating state 7 Quick Stop Active.

1600 0 Oscilloscope: No additional data - -

available
1601 0 Oscilloscope: Parameterization - -
incomplete

1602 0 Oscilloscope: Trigger variable not - -

defined
1606 0 Logging still active - -

1607 0 Logging: No trigger defined - -

1608 0 Logging: Invalid trigger option - -

1609 0 Logging: No channel selected - -

160A 0 Logging: No data available - -

160B 0 Parameter cannot be logged - -

160C 1 Autotuning: Moment of inertia outside The load inertia is too high. Verify that the system can easily be
permissible range moved.

Verify the load.

Use a differently rated drive.

160E 1 Autotuning: Test movement could not - -

be started
160F 1 Autotuning: Power stage cannot be Autotuning was not started in the Start Autotuning when the drive is in
enabled operating state Ready To Switch On. the operating state Ready To Switch
On.
1610 1 Autotuning: Processing stopped Autotuning stopped by user Remove the cause of the stop and
command or by detected error (see restart Autotuning.
additional error message in error
memory, for example, DC bus
undervoltage, limit switches
triggered)

1611 1 System error detected: Parameter - -

could not be written during
Autotuning. Additional information in
the error memory indicates the
Modbus register address.

1612 1 System error detected: Parameter - -

could not be read during Autotuning

1613 1 Autotuning: Maximum permissible The movement exceeded the Increase the movement range value
movement range exceeded adjusted movement range during or disable movement range
Autotuning. monitoring by setting AT_DIS = 0.
Parameter _SigLatched Bit 2

1614 0 Autotuning: Already active Autotuning has been started twice Wait for Autotuning to finish before
simultaneously or an Autotuning restarting Autotuning.
parameter is modified during
Autotuning (parameter AT_dis and
AT_dir).

1615 0 Autotuning: This parameter cannot Parameter AT_gain or AT_J are Wait for Autotuning to finish before
be changed while Autotuning is written during Autotuning. changing the parameter.
active

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Error Error Description Cause Correctives

code class
1617 1 Autotuning: Friction torque or load The current limit has been reached Verify that the system can easily be
torque too great (parameter CTRL_I_max). moved.

Verify the load.

Use a differently rated drive.

1618 1 Autotuning: Optimization aborted The internal Autotuning sequence See the additional information
has not been finished, there may provided in the error memory.
have been a following error.

1619 0 Autotuning: Velocity jump in Parameter AT_n_ref < 2 * AT_n_ Modify the parameter AT_n_ref or
parameter AT_n_ref is not sufficient tolerance. AT_n_tolerance to meet the required
condition.
The drive only checks this for the first
velocity jump.

1620 1 Autotuning: Load torque too high Product rating is not suitable for the Reduce load, verify rating.
machine load.

Detected machine inertia is too high

compared to the inertia of the motor.

1621 1 System error detected: Calculation - -

error
1622 0 Autotuning: Not possible to perform Autotuning can only be performed if Terminate the active operating mode
Autotuning no operating mode is active. or disable the power stage.

1623 1 Autotuning: HALT request has Autotuning can only be performed if Terminate the active operating mode
stopped the autotuning process no operating mode is active. or disable the power stage.

1A00 0 System error detected: FIFO memory - -

overflow
1A01 3 Motor has been changed (different Detected motor type is different from Confirm the change.
type of motor) previously detected motor.

Parameter _SigLatched Bit 16

1A03 4 System error detected: Hardware - -

and firmware do not match
1B00 3 System error detected: Incorrect Incorrect manufacturer parameter Replace device.
parameters for motor and power value (data) nonvolatile memory of
stage device.

Parameter _SigLatched Bit 30

1B02 3 Target value too high. - -

Parameter _SigLatched Bit 30

1B04 2 Product of encoder simulation Value in parameter CTRL_v_max or Reduce the resolution of the encoder
resolution and the maximum velocity resolution or the encoder simulation simulation or the maximum velocity in
is too high ESIM_scale are too high. parameter CTRL_v_max.

Parameter _SigLatched Bit 30

1B05 2 Error detected during parameter - -

switching

Parameter _SigLatched Bit 30

1B06 3 Wake & shake cannot be started. Motor velocity is too high at the Verify that the motor is at a standstill
beginning of the wake and shake at the beginning wake and shake
Parameter _SigLatched Bit 30 procedure. procedure.

1B07 0 Motor velocity is too high at the end Motor was not at a standstill at the Verify the mechanical system.
of the wake and shake sequence. end of the wake and shake
sequence. Depending on the
mechanical system, the commutation
offset calculated during wake and
shake might be incorrect.

1B08 3 Position difference during the wake Incorrect motor data entered by user Verify motor data.
and shake procedure is too high. (especially motor resistance, motor
inertia (in case of rotary motors) or Verify setting of parameter
motor mass (in case of linear WakeAndShakeGain.
motors)).

Incorrect setting for parameter

WakeAndShakeGain.

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Error Error Description Cause Correctives

code class
1B09 0 The reference current during the The current used during wake and -
wake and shake procedure is shake is too high.
reduced as a result of I2t monitoring.

1B0A 0 Reference current during wake and The wake and shake procedure is -
shake might be too high for the performed with the nominal motor
power stage used. current. If the nominal motor current
is greater than the nominal power
stage current, power stage I2t
monitoring might reduce the current
used during wake and shake.

1B0B 1 The operating state at the beginning - Set the operating state to Ready To
of the commutation offset Switch On and restart commutation
identification must be Ready To offset identification.
Switch On.
1B0C 3 Motor velocity too high. - -

1B0D 3 Velocity value determined by velocity Incorrect system inertia for velocity Change the velocity observer
observer is incorrect observer calculations. dynamics via the parameter CTRL_
SpdObsDyn.
Incorrect velocity observer dynamics.
Change the system inertia used for
System inertia changes during velocity observer calculations via the
operation. In this case, operation with parameter CTRL_SpdObsInert.
velocity observer is not possible and
the velocity observer must be If the detected error persists,
deactivated. deactivate the velocity observer.

1B0E 3 Not possible to determine the Incorrect motor data, for example Verify correct motor data.
commutation angle at the end of the motor resistance, motor inertia (in
wake and shake procedure case of rotary motors) or motor mass Verify setting of parameter
(in case of linear motors). WakesAndShakeGain.

Incorrect setting for parameter Verify correct wiring of holding brake.

WakeAndShakeGain.

Holding brake (if available) not

properly wired.

1B0F 3 Velocity deviation too high - -

2300 3 Power stage overcurrent Motor short circuit and disabling of Verify the motor power connection.
the power stage.
Parameter _SigLatched Bit 27
Motor phases are inverted.

2301 3 Braking resistor overcurrent Braking resistor short circuit. If you use the internal braking
resistor, contact your Schneider
Parameter _SigLatched Bit 27 Electric service representative.

If you use an external braking

resistor, verify correct wiring and
rating of the braking resistor.

3100 par. Missing mains supply, undervoltage Missing phase(s) for more than 50 Verify that the values of the mains
mains supply or overvoltage mains ms. power supply network comply with
supply the technical data.
Mains voltage is out of range.
Parameter _SigLatched Bit 15
Mains frequency is out of range.

3200 3 DC bus overvoltage Excessive regeneration during Verify correct deceleration ramp,
deceleration. rating of drive and braking resistor.
Parameter _SigLatched Bit 14

3201 3 DC bus undervoltage (shutdown Power supply outage, insufficient Verify mains supply.
threshold) power supply.

Parameter _SigLatched Bit 13

3202 2 DC bus undervoltage (Quick Stop Power supply outage, insufficient Verify mains supply.
threshold) power supply.

Parameter _SigLatched Bit 13

0198441113767.13 407
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
3206 0 Undervoltage DC bus, missing mains Missing phase(s) for more than 50 Verify that the values of the mains
supply, undervoltage mains supply or ms. power supply network comply with
overvoltage mains supply the technical data.
Mains voltage is out of range.
Parameter _WarnLatched Bit 13 Verify the settings of the parameter
Mains frequency is out of range. for reduced mains voltage.
Mains voltage and setting of
parameter MON_MainsVolt do not
match (for example, mains voltage is
230 V and MON_MainsVolt is set to
115 V).

3300 0 The winding voltage of the motor is If the winding voltage of the motor is Verify the motor temperature. In the
lower than the nominal supply lower than the nominal supply case of overtemperature, use a
voltage of the drive voltage of the drive, this may result in motor with a higher winding voltage
motor overtemperature due to high or use a drive with a lower nominal
current ripple. supply voltage.

4100 3 Power stage overtemperature Excessively high ambient Improve heat dissipation.
temperature due to, for example,
Parameter _SigLatched Bit 18 dust. If a fan is installed, verify correct
operation of the fan.

4101 0 Power stage overtemperature Excessively high ambient Improve heat dissipation.
temperature due to, for example,
Parameter _WarnLatched Bit 18 dust. If a fan is installed, verify correct
operation of the fan.

4102 0 Power stage overload (I2t) The current has exceeded the Verify rating, reduce cycle time.
nominal value for an extended period
Parameter _WarnLatched Bit 30 of time.

4200 3 Device overtemperature Excessively high ambient Improve heat dissipation.

temperature due to, for example,
Parameter _SigLatched Bit 18 dust. If a fan is installed, verify correct
operation of the fan.

4300 2 Motor overtemperature Ambient temperature is too high. Verify motor installation: The heat
must be dissipated via the mounting
Parameter _SigLatched Bit 17 Duty cycle is too high. surface.
Motor not properly mounted (thermal Reduce ambient temperature.
isolation).
Provide ventilation.
Motor overload.
4301 0 Motor overtemperature Ambient temperature is too high. Verify motor installation: The heat
must be dissipated via the mounting
Parameter _WarnLatched Bit 17 Duty cycle is too high. surface.
Motor not properly mounted (thermal Reduce ambient temperature.
isolation).
Provide ventilation.
Motor overload.
4302 0 Motor overload (I2t) The current has exceeded the Verify that the system can easily be
nominal value for an extended period moved.
Parameter _WarnLatched Bit 31 of time.
Verify the load.

Use a differently sized motor, if

necessary.

4303 0 No motor temperature monitoring The temperature parameters (in Contact your Schneider Electric
electronic nameplate of motor, service representative.
nonvolatile memory of encoder) are
unavailable or invalid; parameter A12 Replace motor.
is equal to 0.

4304 0 The encoder does not support motor - -

temperature monitoring.

4402 0 Braking resistor overload (I2t > 75%) Regeneration energy too high. Reduce load, velocity, deceleration.

Parameter _WarnLatched Bit 29 External loads too high. Verify correct braking resistor rating.

Motor velocity too high.

Deceleration too fast.

Insufficient braking resistor.

408 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
4403 par. Braking resistor overload (I2t > Regeneration energy too high. Reduce load, velocity, deceleration.
100%)
External loads too high. Verify correct braking resistor rating.

Motor velocity too high.

Deceleration too fast.

Insufficient braking resistor.

4404 0 Overload of transistor for braking Regeneration energy too high. Reduce load and/or deceleration.
resistor
External loads too high.
Parameter _WarnLatched Bit 28
Deceleration too fast.
5101 0 Modbus power supply missing - -

5102 4 Motor encoder supply voltage Encoder power supply is not within Replace the device.
permissible range of 8 V to 12 V.
Parameter _SigLatched Bit 16 Contact your Schneider Electric
service representative.

5200 4 Error detected at connection to motor Encoder not properly connected, EMI -
encoder

Parameter _SigLatched Bit 16

5201 4 Error detected in motor encoder Encoder not properly connected, EMI -
communication

Parameter _SigLatched Bit 16

5202 4 Motor encoder is not supported Incompatible encoder connected. -

Parameter _SigLatched Bit 16

5203 4 Error detected in connection motor Encoder not properly connected -

encoder

Parameter _SigLatched Bit 16

5204 3 Connection to motor encoder lost Encoder not properly connected -

Parameter _SigLatched Bit 16

5206 0 Communication error detected in Communication channel to encoder Verify EMC measures.
encoder is subject to interference.

Parameter _WarnLatched Bit 16

5207 1 Function is not supported The hardware revision does not -

support the function.

5302 4 The motor requires a PWM The motor only works with a PWM Use a motor that works with a PWM
frequency (16kHz) which the power frequency of 16 kHz (motor frequency of 8 kHz.
stage does not support. nameplate entry). However, the
power stage does not support this Contact your Schneider Electric
PWM frequency. service representative.

5430 4 System error detected: Nonvolatile - -

memory read error

Parameter _SigLatched Bit 29

5431 3 System error: Nonvolatile memory - -

write error

Parameter _SigLatched Bit 29

5432 3 System error: Nonvolatile memory - -

state machine

Parameter _SigLatched Bit 29

5433 3 System error: Nonvolatile memory - -

address error

Parameter _SigLatched Bit 29

5434 3 System error: Nonvolatile memory - -

incorrect data length

Parameter _SigLatched Bit 29

0198441113767.13 409
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
5435 4 System error: Nonvolatile memory - -
not formatted

Parameter _SigLatched Bit 29

5436 4 System error: Nonvolatile memory - -

incompatible structure

Parameter _SigLatched Bit 29

5437 4 System error detected: Nonvolatile - -

memory checksum error
(manufacturer data)

Parameter _SigLatched Bit 29

5438 3 System error detected: Nonvolatile - -

memory checksum error (user
parameters)

Parameter _SigLatched Bit 29

5439 3 System error detected: Nonvolatile - -

memory checksum error (fieldbus
parameters)

Parameter _SigLatched Bit 29

543B 4 System error detected: No valid - -

manufacturer data

Parameter _SigLatched Bit 29

543E 3 System error detected: Nonvolatile - -

memory checksum error (NoInit
parameter)

Parameter _SigLatched Bit 29

543F 3 System error detected: Nonvolatile - -

memory checksum error (motor
parameters)

Parameter _SigLatched Bit 29

5441 4 System error detected: Nonvolatile - -

memory checksum error (global
control loop parameter set)

Parameter _SigLatched Bit 29

5442 4 System error detected: Nonvolatile - -

memory checksum error (control loop
parameter set 1)

Parameter _SigLatched Bit 29

5443 4 System error detected: Nonvolatile - -

memory checksum error (control loop
parameter set 2)

Parameter _SigLatched Bit 29

5444 4 System error detected: Nonvolatile - -

memory checksum error (NoReset
parameter)

Parameter _SigLatched Bit 29

5445 4 System error detected: Nonvolatile - -

memory checksum error (hardware
information)

Parameter _SigLatched Bit 29

5446 4 System error detected: Nonvolatile Internal nonvolatile memory not Restart the drive. If the detected error
memory checksum error (for power operative. persists, contact your Schneider
outage data) Electric service representative.

Parameter _SigLatched Bit 29

410 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
5447 3 System error detected: Nonvolatile - -
memory checksum error (data sets
operating mode Motion Sequence)

Parameter _SigLatched Bit 29

5448 2 System error detected: - -

Communication with memory card

Parameter _SigLatched Bit 20

5449 2 System error detected: Memory card - -

bus is busy

Parameter _SigLatched Bit 20

544A 4 System error detected: Nonvolatile - -

memory checksum error
(administration data)

Parameter _SigLatched Bit 29

544B 4 System error detected: Nonvolatile - -

memory checksum error (DeviceNet
data)

Parameter _SigLatched Bit 29

544C 4 System error detected: Nonvolatile - -

memory is write-protected

Parameter _SigLatched Bit 29

544D 2 System error detected: Memory card The last saving procedure may not Retry saving the data.
have been successful; the memory
Parameter _SigLatched Bit 20 card may be inoperative. Replace the memory card.

544E 2 System error detected: Memory card The last saving procedure may not Retry saving the data.
have been successful; the memory
Parameter _SigLatched Bit 20 card may be inoperative. Replace the memory card.

544F 2 System error detected: Memory card The last saving procedure may not Retry saving the data.
have been successful; the memory
Parameter _SigLatched Bit 20 card may be inoperative. Replace the memory card.

5451 0 System error detected: No memory - -

card available

Parameter _WarnLatched Bit 20

5452 2 System error detected: Data on Different type of device. -

memory card and device do not
match Different type of power stage.

Parameter _SigLatched Bit 20 Data on memory card does not

match firmware version of device.
5453 2 System error detected: Incompatible - -
data on the memory card

Parameter _SigLatched Bit 20

5454 2 System error detected: Capacity of - -

detected memory card insufficient

Parameter _SigLatched Bit 20

5455 2 System error detected: Memory card - Format memory card or copy data
not formatted properly from drive to memory card.

Parameter _SigLatched Bit 20

5456 1 System error detected: Memory card The memory card has been write- Remove memory card or disable
is write-protected protected. write protection.

Parameter _SigLatched Bit 20

5457 2 System error detected: Incompatible Memory card capacity is insufficient. Replace memory card
memory card

Parameter _SigLatched Bit 20

0198441113767.13 411
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
5462 0 Memory card implicitly written by the The content of the memory card and -
device the content of the nonvolatile
memory are not identical.
Parameter _WarnLatched Bit 20

5468 3 System error detected: Nonvolatile - -

memory checksum error (device
name)

Parameter _SigLatched Bit 29

5469 3 System error detected: Nonvolatile - -

memory checksum error (SNMP
information)

Parameter _SigLatched Bit 29

546A 3 System error detected: Nonvolatile - -

memory checksum error

Parameter _SigLatched Bit 29

546B 3 System error detected: Nonvolatile - -

memory checksum error (LLDP MIB
data)

Parameter _SigLatched Bit 29

546C 0 Nonvolatile memory file not available - -

546D 3 System error detected: Checksum - -

error in nonvolatile memory (IM data)

Parameter _SigLatched Bit 29

5500 3 System error detected: Timeout - -

during transmission of data

5501 4 System error detected: Received Software watchdog safety module -

toggle bit does not match eSM (CPU_A)

5502 2 System error detected: Timeout - -

during read/write request

5503 2 System error detected: Invalid - -

response in the case of a read/write
request

5504 4 System error detected: Safety - -

module not available
5505 4 System error detected: - -
Indeterminable type of safety module

5506 1 Error detected during write access to - -

safety module via fieldbus. Additional
information in the error memory
indicates the detailed error code.
5507 3 A Fault Reset was not processed by The safety module eSM was unable Trigger the Fault Reset again.
the safety module eSM to execute the Fault Reset, for
example, because it was still
processing an error response.

5600 3 Motor connection phase error Missing motor phase. -

detected

Parameter _SigLatched Bit 26

5603 3 Commutation error detected. Incorrect wiring of motor cable. Verify motor phases, verify encoder
Additional information in the error wiring.
memory indicates Internal_ Encoder signals are lost or subject to
DeltaQuep. interference. Improve EMC, verify grounding and
shield connection.
Parameter _SigLatched Bit 26 The load torque is greater than the
motor torque. Use a differently sized motor that can
withstand the load torque.
The encoder nonvolatile memory
contains incorrect data (encoder Verify the motor data.
phase offset is incorrect).
Contact your Schneider Electric
Motor is not adjusted. service representative.

412 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
6102 4 System error detected: Internal - -
software error

Parameter _SigLatched Bit 30

6103 4 System error detected: System stack - -

overflow

Parameter _SigLatched Bit 31

6104 0 System error detected: Division by - -

zero (internal)

6105 0 System error detected: Overflow - -

during 32 bit calculation (internal)

6106 4 System error detected: Size of data - -

interface does not match

Parameter _SigLatched Bit 30

6107 0 Parameter outside of value range - -

(calculation error detected)

6108 0 Function not available - -

6109 0 System error detected: Internal range - -

exceeded
610A 2 System error detected: Calculated - -
value cannot be represented as a 32
bit value
610D 0 Error detected in selection parameter Incorrect parameter value selected. Verify the value to be written.

610E 4 System error detected: 24 VDC - -

below undervoltage threshold for
shutdown
610F 4 System error detected: Internal timer - -
basis missing (Timer0)

Parameter _SigLatched Bit 30

6111 2 System error detected: Memory area - -

locked

Parameter _SigLatched Bit 30

6112 2 System error detected: Out of - -

memory

Parameter _SigLatched Bit 30

6113 1 System error detected: Calculated - -

value cannot be represented as a 16
bit value
6114 4 System error detected: Impermissible Incorrect programming -
function call from interrupt service
routine
6117 0 Holding brake cannot be released The holding brake cannot be First, switch from applying the
manually. released manually because it is still holding brake manually to Automatic,
applied manually. then to releasing the holding brake
manually.

7100 4 System error detected: Invalid power Error detected in power stage data Contact your Schneider Electric
stage data stored in device (incorrect CRC), service representative or replace the
error detected in internal memory device.
Parameter _SigLatched Bit 30 data.

7110 2 System error detected: Internal Internal braking resistor is inoperative Contact your Schneider Electric
braking resistor or not connected. service representative.

7111 0 Parameter cannot be changed An attempt is made to change one of Verify that the external braking
because the external braking resistor the parameters RESext_ton, resistor is not active if one of the
is active. RESext_P or RESext_R even though parameters RESext_ton, RESext_P
the external braking resistor is active. or RESext_R has to be changed.

7112 2 No external braking resistor External braking resistor activated Verify wiring of the external braking
connected (Parameter RESint_ext), but no resistor. Verify correct resistance.
external resistor is detected.

0198441113767.13 413
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7120 4 Invalid motor data Motor data is incorrect (incorrect Contact your Schneider Electric
CRC). service representative or replace the
Parameter _SigLatched Bit 16 motor.

7121 2 System error detected: Error in motor EMI, detailed information can be Contact your Schneider Electric
encoder communication found in the error memory that service representative.
contains the error code of the
Parameter _SigLatched Bit 16 encoder.

7122 4 Invalid motor data Error detected in motor data stored in Contact your Schneider Electric
motor encoder, error detected in service representative or replace the
Parameter _SigLatched Bit 30 internal memory data. motor.

7124 4 System error detected: Motor - Contact your Schneider Electric

encoder inoperative service representative or replace the
motor.
Parameter _SigLatched Bit 16

7125 4 System error detected: Length - -

specification for user data too great

Parameter _SigLatched Bit 16

7129 0 System error detected: Motor - -

encoder

Parameter _WarnLatched Bit 16

712C 0 System error detected: - -

Communication with encoder not
possible

Parameter _WarnLatched Bit 16

712D 4 Electronic motor nameplate not found Incorrect motor data (incorrect CRC). Contact your Schneider Electric
service representative or replace the
Parameter _SigLatched Bit 16 Motor without electronic motor motor.
nameplate (for example, SER motor)

712F 0 No data segment of the electronic - -

motor nameplate

7132 0 System error detected: Motor - -

configuration cannot be written

7133 0 Not possible to write motor - -

configuration

7134 4 Incomplete motor configuration - -

Parameter _SigLatched Bit 16

7135 4 Format is not supported - -

Parameter _SigLatched Bit 16

7136 4 Incorrect encoder type selected with - -

parameter MotEnctype

Parameter _SigLatched Bit 16

7137 4 Error detected during the internal - -

conversion of the motor configuration

Parameter _SigLatched Bit 16

7138 4 Parameter of the motor configuration - -

out of permissible range

Parameter _SigLatched Bit 16

7139 0 Encoder offset: Data segment in - -

encoder is incorrect.
713A 3 Adjustment value of the encoder of - -
the third party motor has not yet been
determined.

Parameter _SigLatched Bit 16

414 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
7200 4 System error detected: Calibration - -
analog/digital converter during
manufacturing / incorrect BLE file

Parameter _SigLatched Bit 30

7320 4 System error detected: Invalid Communication channel (Hiperface) Contact your Schneider Electric
encoder parameter to encoder is subject to interference, service representative.
motor encoder has not been factory-
Parameter _SigLatched Bit 16 parameterized.

7321 3 Timeout reading the absolute Communication channel (Hiperface) Verify EMC measures.
position from the encoder to encoder is subject to interference
or motor encoder is inoperative.
Parameter _SigLatched Bit 16

7327 0 Error bit set in Hiperface answer EMI. Verify wiring (shield).

Parameter _WarnLatched Bit 16

7328 4 Motor encoder: Position evaluation Encoder has detected incorrect Contact your Schneider Electric
error detected position evaluation. service representative or replace the
motor.
Parameter _SigLatched Bit 16

7329 0 Motor encoder Warn signal EMI. Contact your Schneider Electric
service representative or replace the
Parameter _WarnLatched Bit 16 motor.

7330 4 System error detected: Motor - Verify EMC measures.

encoder (Hiperface)
Contact your Schneider Electric
Parameter _SigLatched Bit 16 service representative.

7331 4 System error detected: Motor - Verify EMC measures.

encoder initialization
Contact your Schneider Electric
Parameter _SigLatched Bit 30 service representative.

7335 0 Communication with motor encoder Command is being processed or Verify EMC measures.
active communication may be disturbed
(EMI). Contact your Schneider Electric
Parameter _WarnLatched Bit 16 service representative.

733F 4 Amplitude of encoder analog signals Incorrect encoder wiring. Verify EMC measures.
too low
Encoder not connected. Contact your Schneider Electric
Parameter _SigLatched Bit 16 service representative.
Encoder signals subject to EMI
(shield connection, cabling, etc.).

7340 3 Reading of absolute position aborted Communication channel (Hiperface) Verify EMC measures.
to encoder is subject to interference.
Parameter _SigLatched Bit 16 Contact your Schneider Electric
Encoder (in motor) is inoperative. service representative.

7341 0 Encoder overtemperature The maximum permissible duty cycle Reduce the duty cycle, for example,
is exceeded. reduce acceleration.
Parameter _WarnLatched Bit 16
The motor was not mounted properly, Supply additional cooling, for
for example, it is thermally isolated. example, use a fan.

The motor is blocked so that more Mount the motor in such a way as to
current is used than under normal increase thermal conductivity.
conditions.
Use a differently rated drive or motor.
The ambient temperature is too high.
Replace the motor.

7342 2 Encoder overtemperature The maximum permissible duty cycle Reduce the duty cycle, for example,
is exceeded. reduce acceleration.
Parameter _SigLatched Bit 16
The motor was not mounted properly, Supply additional cooling, for
for example, it is thermally isolated. example, use a fan.

The motor is blocked so that more Mount the motor in such a way as to
current is used than under normal increase thermal conductivity.
conditions.
Use a differently rated drive or motor.
The ambient temperature is too high.
Replace the motor.

0198441113767.13 415
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7343 0 Absolute position is different from Encoder is subject to EMI. Verify EMC measures.
incremental position
Motor encoder is inoperative. Contact your Schneider Electric
Parameter _WarnLatched Bit 16 service representative.

7344 3 Absolute position is different from Encoder is subject to EMI. Verify EMC measures.
incremental position
Motor encoder is inoperative. Contact your Schneider Electric
Parameter _SigLatched Bit 16 service representative.

7345 0 Amplitude of analog signals too high, Encoder signals subject to EMI Verify EMC measures.
limit of AD conversion exceeded (shield connection, wiring, etc.).
Contact your Schneider Electric
Encoder inoperative. service representative.

7346 4 System error detected: Encoder not - Verify EMC measures.

ready
Contact your Schneider Electric
Parameter _SigLatched Bit 16 service representative.

7347 0 System error detected: Position Analog and digital encoder signals Verify EMC measures.
initialization not possible subject to massive interference.
Contact your Schneider Electric
service representative.

7348 3 Timeout reading encoder Encoder without temperature sensor, Verify EMC measures.
temperature incorrect encoder connection.
Contact your Schneider Electric
Parameter _SigLatched Bit 16 service representative.

7349 0 Discrepancy between absolute and Analog encoder signals are subject Verify EMC measures.
analog encoder phases to interference.
Contact your Schneider Electric
Encoder inoperative. service representative.

734A 3 Amplitude of analog signals from Incorrect encoder wiring. -

encoder too high, signals are clipped
Encoder hardware interface
Parameter _SigLatched Bit 16 inoperative.

734B 0 Signal position evaluation of analog Incorrect encoder wiring. -

encoder inoperative
Encoder hardware interface
Parameter _WarnLatched Bit 16 inoperative.

734C par. Error detected with quasi absolute The motor shaft may have been If the quasi absolute function is
position moved while the drive was powered active, only power down the drive if
down. A quasi absolute position has the motor is at a standstill and do not
Parameter _SigLatched Bit 16 been detected that is not within the move the motor shaft when the drive
permissible motor shaft deviation is off.
range.

734D 0 Index pulse is not available for the - -

encoder

Parameter _WarnLatched Bit 16

734E 4 Error in analog signals from encoder Encoder cable not properly Verify EMC measures.
detected. Additional information in connected.
the error memory indicates Internal_ Contact your Schneider Electric
DeltaQuep. Encoder signals subject to EMI service representative.
(shield connection, wiring, etc.).
Parameter _SigLatched Bit 16
Mechanical issue.
7500 0 RS485/Modbus: Overrun error EMI; incorrect cabling. Verify cables.
detected

Parameter _WarnLatched Bit 5

7501 0 RS485/Modbus: Framing error EMI; incorrect cabling. Verify cables.

detected

Parameter _WarnLatched Bit 5

7502 0 RS485/Modbus: Parity error detected EMI; incorrect cabling. Verify cables.

Parameter _WarnLatched Bit 5

7503 0 RS485/Modbus: Receive error EMI; incorrect cabling. Verify cables.

detected

Parameter _WarnLatched Bit 5

416 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
7601 4 System error detected: - -
Indeterminable type of encoder

Parameter _SigLatched Bit 22

7602 4 Configuration error detected: - -

Encoder module and selected
machine encoder type do not match

Parameter _SigLatched Bit 22

7603 4 Configuration error detected: - -

Encoder module and selected motor
encoder type do not match

Parameter _SigLatched Bit 22

7604 4 Configuration error detected: - -

Encoder module parameterized, but
no module detected

Parameter _SigLatched Bit 22

7605 4 Configuration error detected: No - -

motor encoder type selected for
encoder module

Parameter _SigLatched Bit 22

7606 4 Configuration error detected: No - -

machine encoder type selected for
encoder module

Parameter _SigLatched Bit 22

7607 4 Encoder module cannot be identified The encoder module is Use correct encoder module.
indeterminable.
Parameter _SigLatched Bit 22

7608 4 Encoder module power supply - Short circuit at connector or -

overcurrent encoder cable.

Parameter _SigLatched Bit 22 - Incorrect or inoperative encoder.

7609 4 Encoder not connected to encoder Connector not connected to module -

module or not connected to motor/encoder.

Parameter _SigLatched Bit 22 Incorrect or inoperative encoder

cable.
760A 3 Encoder module in slot 2 missing. Module has been removed or module -
is inoperative.
Parameter _SigLatched Bit 22

760C 2 Maximum encoder frequency Velocity too high for the encoder. -
exceeded

Parameter _SigLatched Bit 22

760D 4 Configuration error detected: Incorrect value in parameter ENC2_ -

Incorrect use of encoder module usage.

Parameter _SigLatched Bit 22

760E 2 Position evaluation error detected Encoder signals subject to EMI Verify wiring and cable shield.
(signal tracking error detected)

Parameter _SigLatched Bit 22

760F 0 Incorrect position evaluation Encoder signals subject to EMI Verify wiring, cable shield.
(interference detected)

Parameter _WarnLatched Bit 22

7610 0 Resolver: Loss of position tracking, - Motor velocity is too high. - Reduce velocity.
position is inaccurate
- Motor acceleration is too fast. - Reduce acceleration.
Parameter _WarnLatched Bit 22
- Reduce resolver resolution.

- Adapt resolver excitation frequency.

0198441113767.13 417
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7611 2 Resolver: Signal degradation, Resolver is inoperative. Replace resolver.
position is inaccurate
Resolver signals are subject to Verify resolver cable: wiring and
Parameter _SigLatched Bit 22 interference. shield connection.

Resolver cable is too long. Additional info bits:

D5: Sine/cosine inputs exceed DOS

out of range threshold.

D4: Sine/cosine inputs exceed DOS

mismatch threshold.
7612 3 Resolver: Loss of signal, position Resolver is inoperative. Verify resolver cable: wiring and
unreliable shield connection.
Resolver wiring is incorrect.
Parameter _SigLatched Bit 22 Replace resolver.
Resolver signals are subject to
excessive interference. Additional info bits:

Resolver is unsuitable for drive. D7: Sine/cosine inputs clipped.

Incorrect parameter transformation D6: Sine/cosine inputs below LOS

ratio. threshold.
7613 3 Resolver: Signal communication Resolver signals are subject to Verify resolver cable: wiring and
subject to interference interference. shield connection.

Parameter _SigLatched Bit 22

7614 3 Error detected at resolver power Resolver is not properly connected. Verify resolver cable.
supply.

Parameter _SigLatched Bit 22

7615 3 System error detected: Encoder EMI. Verify resolver cable.

module RES is not ready for position
evaluation

Parameter _SigLatched Bit 22

7616 3 System error detected: Resolver - Replace encoder module.

timeout

Parameter _SigLatched Bit 22

7617 1 Resolver velocity is too high Motor velocity is too high. Reduce motor velocity.

Parameter _SigLatched Bit 22

7618 4 Encoder 2 Hall sensor error detected Incorrect wiring or inoperative cable Verify encoder cable.
for Hall signals of encoder 2.
Parameter _SigLatched Bit 22

7619 4 Incorrect communication between Incorrect encoder wiring/adjustment Verify encoder cable: wiring and
module and encoder or incorrect encoder parameter shield connection.. Verify encoder
settings (example: parameter parameter settings. Verify encoder
Parameter _SigLatched Bit 22 ENCDigSSICoding is set for SSI adjustment.
encoder).

761A 0 Incorrect communication between Incorrect encoder wiring. Verify encoder cable: wiring and
module and encoder shield connection.

Parameter _WarnLatched Bit 22

761B 4 Connected type of EnDat encoder is - Use a supported EnDat encoder.

not supported

Parameter _SigLatched Bit 22

761C 4 Configuration error detected: Invalid Incorrect values in parameter -

SSI encoder parameter setting ENCDigSSIResSgl or
ENCDigSSIResMult.
Parameter _SigLatched Bit 22

761D 2 Maximum velocity of the encoder is Velocity too high for the encoder. In -
exceeded the case of SSI or EnDat2.2, the
reason may also be a detected
Parameter _SigLatched Bit 22 encoder communication error.

761E 2 Encoder module overtemperature The ambient temperature is too high. Improve the heat dissipation in the
control cabinet.
Parameter _SigLatched Bit 22

418 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
761F 2 Position evaluation error detected No sync signal available. -
(AB encoder signals)

Parameter _SigLatched Bit 22

7620 4 Checksum error detected in EnDat - -

encoder data

Parameter _SigLatched Bit 22

7621 1 Runtime compensation was not - Verify encoder cable: wiring and
successful shield connection.

Parameter _SigLatched Bit 22

7622 0 Resolver timeout System error detected. Replace encoder module

Parameter _WarnLatched Bit 22

7623 0 Absolute encoder signal is not There is no encoder available at the Verify wiring, verify encoder. Change
available input specified via the parameter the value of the parameter ENC_
ENC_abs_source. abs_source.
Parameter _WarnLatched Bit 22

7624 0 Absolute position for encoder 2 No encoder connected or encoder Use an encoder that supports direct
cannot be set does not support setting of absolute setting of the absolute position via
positions. ENC2_setpabs.
Parameter _WarnLatched Bit 22

7625 0 Not possible to set the absolute There is no encoder connected to the Connect an encoder to the input for
position for encoder 1. input for encoder 1. encoder 1 before trying to set the
absolute position directly via ENC1_
Parameter _WarnLatched Bit 22 abs_pos.

7626 4 Overflow error detected during The multiturn resolution of the Reduce the number of bits of the
encoder scaling machine encoder with reference to multitun resolution that are used for
the motor shaft exceeds the system position evaluation via the parameter
Parameter _SigLatched Bit 22 limits, for example, due to the ENCDigResMulUsed.
mechanical gear ratio between
machine encoder and motor encoder.
7627 4 Configuration error detected: Invalid Incorrect values in parameters -
BISS encoder parameter setting ENCDigBISSResSgl or
ENCDigBISSResMult.
Parameter _SigLatched Bit 22

7628 0 BISS encoder bits 'War' or 'Err' are The bits are used for diverse types of Replace encoder.
set monitoring such as:

Parameter _WarnLatched Bit 22 - Encoder temperature is too high.

- Service life of LED inside encoder

exceeded.

- Position is not reliable.

7629 3 BISS initialization error detected - -

Parameter _SigLatched Bit 22

7701 4 System error detected: Timeout - Contact your Schneider Electric

during connection to power stage service representative.

Parameter _SigLatched Bit 31

7702 4 System error detected: Invalid data - Contact your Schneider Electric
received from power stage service representative.

Parameter _SigLatched Bit 31

7703 4 System error detected: Data - Contact your Schneider Electric

exchange with power stage lost service representative.

Parameter _SigLatched Bit 31

7704 4 System error detected: Exchange of - Contact your Schneider Electric

identification data from power stage service representative.
not successful

Parameter _SigLatched Bit 31

0198441113767.13 419
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7705 4 System error detected: Checksum - Contact your Schneider Electric
identification data from power stage service representative.
incorrect

Parameter _SigLatched Bit 31

7706 4 System error detected: No - Contact your Schneider Electric

identification frame received from service representative.
power stage

Parameter _SigLatched Bit 31

7707 4 System error detected: Type of - Contact your Schneider Electric

power stage and manufacture data service representative.
do not match
7708 4 PIC voltage supply too low - Contact your Schneider Electric
service representative.
Parameter _SigLatched Bit 31

7709 4 System error detected: Invalid - Contact your Schneider Electric

numbers of data received service representative.

Parameter _SigLatched Bit 31

770A 2 PIC received data with incorrect - Contact your Schneider Electric
parity service representative.

Parameter _SigLatched Bit 31

7800 1 eSM module: System error detected: - -

Error of class 1 forced

Parameter _SigLatched Bit 23

7801 2 eSM module: System error detected: - -

Error of class 2 forced

Parameter _SigLatched Bit 23

7802 3 eSM module: System error detected: - -

Error of class 3 forced

Parameter _SigLatched Bit 23

7803 4 eSM module: System error detected: - -

Error of class 4 forced

Parameter _SigLatched Bit 23

7804 3 eSM module: Insufficient Quick Stop ramp of drive lower than Change ramp in eSM or drive.
deceleration for Quick Stop Quick Stop ramp configured for eSM.

Parameter _SigLatched Bit 23

7805 1 eSM module: Error detected during Motor movement during Safe Keep motor from moving while Safe
Safe Operating Stop (SOS) Operating Stop (SOS). Operating Stop is active (external
forces, loads).
Parameter _SigLatched Bit 23

7806 1 eSM module: Safely Limited Speed Delay for reaching Safely Limited Increase delay for eSM control of
(SLS) exceeded in machine Speed (SLS) too low or eSM Safely Limited Speed (SLS) or
operating mode Setup Mode deceleration ramp too high. decrease eSM deceleration ramp for
reaching Safely Limited Speed
Parameter _SigLatched Bit 23 (SLS).

780A 2 eSM module: /ESTOP signal for EMERGENCY STOP is active. Reset EMERGENCY STOP.
EMERGENCY STOP triggered

Parameter _SigLatched Bit 23

780B 0 eSM module: Not ready for Fault eSM is in state Quick Stop Active or Wait until eSM is no longer in state
Reset Fault Reaction Active or Fault. Quick Stop Active or Fault Reaction
Active or Fault or reboot the drive.
Parameter _WarnLatched Bit 23

780C 0 eSM module: Not ready for eSM Safety module eSM is not in eSM Disable requires the safety
Disable operating state Operation Enabled. module eSM to be in operating state
Operation Enabled.
Parameter _WarnLatched Bit 23

420 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
780F 0 eSM module: Parameter cannot be Parameter cannot be written in this Change eSM state to write this
written in this operating state eSM state. parameter.

Parameter _WarnLatched Bit 23

7810 0 eSM module: Incorrect password The password that was sent by the Send the stored password.
configuration tool is not identical to
Parameter _WarnLatched Bit 23 the password stored in the device.

7811 0 eSM module: Timeout during Incorrect connection or EMI. Verify wiring (shield).
parameter download (default values
loaded)

Parameter _WarnLatched Bit 23

7813 0 eSM module: Parameter checksum eSM is not ready to be configured. Use correct password. Reconfigure
cannot be written in this operating safety module eSM. Contact your
state Schneider Electric service
representative.
Parameter _WarnLatched Bit 23

7814 0 eSM module: Parameter checksum EMI. Verify wiring (shield).

incorrect (default values loaded)
The commissioning software is Install latest commissioning software
Parameter _WarnLatched Bit 23 outdated and not compatible with the version.
safety module eSM.

7815 0 eSM module: Undertemperature Temperature too low. -

Parameter _WarnLatched Bit 23

7816 0 eSM module: Overtemperature Temperature too high. Verify the ambient conditions. Verify
that the flow of air is sufficient
Parameter _WarnLatched Bit 23 (pollution, objects).

7818 2 eSM module: System error detected: Error detected in eSM 5V supply. -
ESM5VDC undervoltage

Parameter _SigLatched Bit 23

7819 2 eSM module: Overload outputs Short circuit or overload. Verify wiring and connected devices.
channel A

Parameter _SigLatched Bit 23

781A 4 eSM module: System error detected: eSM internal power supply error -
5V overvoltage detected

Parameter _SigLatched Bit 23

781B 4 eSM module: System error detected: eSM internal power supply error -
5V undervoltage detected

Parameter _SigLatched Bit 23

781D 2 eSM module: ESMSTART: Maximum Pulse duration longer than 4 Pulse duration must be less than 4
permissible pulse duration exceeded seconds. seconds.

Parameter _SigLatched Bit 23

781E 4 eSM module: System error detected: eSM RAM error detected -
RAM

Parameter _SigLatched Bit 23

781F 4 eSM module: System error detected: - -

Stack overflow

Parameter _SigLatched Bit 23

7820 4 eSM module: System error detected: Software watchdog eSM (CPU_B) -
Program sequence control
(communication)

Parameter _SigLatched Bit 23

7821 4 eSM module: System error detected: - -

Program sequence control (Idle task)

Parameter _SigLatched Bit 23

0198441113767.13 421
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7825 4 eSM module: System error detected: - -
Firmware checksum

Parameter _SigLatched Bit 23

7826 0 eSM module: Parameter outside of Parameter outside of permissible Verify parameter value.
permissible value range value range.

Parameter _WarnLatched Bit 23

7827 2 eSM module: Parameter checksum Saved parameter values are invalid. Reconfigure the eSM. Contact your
error detected Schneider Electric service
representative.
Parameter _SigLatched Bit 23

7828 2 eSM module: System error detected: - -

SPI framing error detected

Parameter _SigLatched Bit 23

7829 4 eSM module: Input states channel A Wire break or connected devices are Verify wiring and connected devices.
and channel B are not identical inoperable.

Parameter _SigLatched Bit 23

782A 2 eSM module: Output states channel Short circuit to 24V DC. System error Verify wiring and connected devices.
A and channel B are not identical detected. Verify connection of STO_A and
STO_B. Contact your Schneider
Parameter _SigLatched Bit 23 Electric service representative.

782B 3 eSM module: System error detected: CPU_A and CPU_B have different -
Position evaluation error detected position values. This condition may
(values not identical) have been caused by the encoder.

Parameter _SigLatched Bit 23

782C 3 eSM module: System error detected: CPU_A and CPU_B have different -
Velocity evaluation error detected velocity values. This condition may
(values not identical) have been caused by the encoder.

Parameter _SigLatched Bit 23

782F 2 eSM module: System error detected: - -

Error detected during dynamization
of STO signal

Parameter _SigLatched Bit 23

7833 0 eSM module: System error detected: Nonvolatile memory inoperative. -

Nonvolatile memory incorrect
checksum (default values loaded)

Parameter _WarnLatched Bit 23

7834 0 eSM module: Safety module This safety module has not been Reconfigure the safety module.
replaced (default values loaded) configured with this drive. The
parameters have been reset to the
Parameter _WarnLatched Bit 23 default values.

7835 4 eSM module: Commutation position Encoder error or error in internal Verify EMC. Verify encoder
communication with the drive connection. Contact your Schneider
Parameter _SigLatched Bit 23 detected (for example, EMI). Electric service representative.

7836 4 eSM module: Parameter checksums Parameter of CPU_A is not identical Retry loading the parameters into the
not identical to parameter of CPU_B. Not possible safety module eSM. If the condition
to load parameters into safety persists, contact your Schneider
Parameter _SigLatched Bit 23 module eSM. Electric service representative.

7837 0 eSM module: System error detected: Invalid write access of bootloader to -
Boot program: Invalid address flash memory range.

Parameter _WarnLatched Bit 23

7838 1 eSM module: Safely Limited Speed Drive velocity greater than configured Reduce velocity of the drive or verify
(SLS) exceeded in machine eSM speed limit. eSM speed limit for machine
operating mode Automatic Mode operating mode Automatic Mode.

Parameter _SigLatched Bit 23

7839 2 eSM module: Input ESMSTART low ESMSTART is configured for Verify parameter configuration of
instead of high (automatic start) automatic start and must be high at ESMSTART. Verify wiring of
start. ESMSTART.
Parameter _SigLatched Bit 23

422 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
783A 2 eSM module: Input ESMSTART high ESMSTART is configured for manual Verify parameter configuration of
instead of low (manual start) start and must be low at start. ESMSTART. Verify wiring of
ESMSTART.
Parameter _SigLatched Bit 23

783B 2 eSM module: Guard door The acknowledgement signal is The acknowledgement signal must
acknowledgment: The available for more than 6 seconds. be available for less than 6 seconds.
acknowledgement signal is available
for too long a time.

Parameter _SigLatched Bit 23

783C 4 eSM module: System error detected: - -

States of eSM state machines not
identical

Parameter _SigLatched Bit 23

783F 2 eSM module: Output AUXOUT1 Cross fault detection detected a Verify wiring and connected devices.
(cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

7840 2 eSM module: Output /INTERLOCK_ Cross fault detection detected a Verify wiring and connected devices.
OUT (cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

7841 2 eSM module: Output RELAY_OUT_A Cross fault detection detected a Verify wiring and connected devices.
(cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

7842 2 eSM module: Output CCM24V_ Cross fault detection detected a Verify wiring and connected devices.
OUT_A (cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

7843 2 eSM module: Output AUXOUT1 Cross fault detection detected a Verify wiring and connected devices.
(cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

7844 2 eSM module: Output /INTERLOCK_ Cross fault detection detected a Verify wiring and connected devices.
OUT (cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

7845 2 eSM module: Output RELAY_OUT_A Cross fault detection detected a Verify wiring and connected devices.
(cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

7846 2 eSM module: Output CCM24V_ Cross fault detection detected a -

OUT_A (cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

7848 2 eSM module: System error detected: - -

Input ESMSTART_A

Parameter _SigLatched Bit 23

7849 2 eSM module: System error detected: - -

Input SETUPENABLE_A

Parameter _SigLatched Bit 23

784A 2 eSM module: System error detected: - -

Input SETUPMODE_A

Parameter _SigLatched Bit 23

784B 2 eSM module: System error detected: - -

Input GUARD_A

Parameter _SigLatched Bit 23

0198441113767.13 423
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
784C 2 eSM module: System error detected: - -
Input GUARD_ACK

Parameter _SigLatched Bit 23

784D 2 eSM module: System error detected: - -

Input /INTERLOCK_IN_A

Parameter _SigLatched Bit 23

784E 2 eSM module: System error detected: - -

Input /ESTOP_A

Parameter _SigLatched Bit 23

784F 2 eSM module: System error detected: - -

Input NOTUSED_A

Parameter _SigLatched Bit 23

7850 2 eSM module: Overload outputs Short circuit or overload. Verify wiring and connected devices.
channel B

Parameter _SigLatched Bit 23

7851 4 eSM module: System error detected: - -

UART overrun/framing error

Parameter _SigLatched Bit 23

7852 2 eSM module: System error detected: - -

ResEnc (encoder resolution) is set to
0

Parameter _SigLatched Bit 23

7853 4 eSM module: System error detected: - -

CPU synchronization

Parameter _SigLatched Bit 23

7854 2 eSM module: No motor movement There has not been a minimum motor There must be a minimum motor
for 36 hours movement for the last 36 hours. movement at least once every 36
hours.
Parameter _SigLatched Bit 23

7855 2 eSM module: System error detected: - -

Timeout high-priority tests (5 sec)

Parameter _SigLatched Bit 23

7856 2 eSM module: System error detected: - -

Timeout low-priority tests

Parameter _SigLatched Bit 23

7857 2 eSM module: Parameter dec_Qstop Module is not configured. Download a configuration.
(minimum deceleration) is set to 0

Parameter _SigLatched Bit 23

7858 2 eSM module: Output AUXOUT2 Cross fault detection detected a Verify wiring and connected devices.
(cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

7859 2 eSM module: Output /INTERLOCK_ Cross fault detection detected a Verify wiring and connected devices.
OUT (cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

785A 2 eSM module: Output RELAY_OUT_B Cross fault detection detected a Verify wiring and connected devices.
(cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

785B 2 eSM module: Output CCM24V_ Cross fault detection detected a Verify wiring and connected devices.
OUT_B (cross fault to another output cross fault to another output.
detected)

Parameter _SigLatched Bit 23

424 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
785C 2 eSM module: Output AUXOUT2 Cross fault detection detected a Verify wiring and connected devices.
(cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

785D 2 eSM module: Output /INTERLOCK_ Cross fault detection detected a Verify wiring and connected devices.
OUT (cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

785E 2 eSM module: Output RELAY_OUT_B Cross fault detection detected a Verify wiring and connected devices.
(cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

785F 2 eSM module: Output CCM24V_ Cross fault detection detected a Verify wiring and connected devices.
OUT_B (cross fault to 24 V detected) cross fault to 24 V.

Parameter _SigLatched Bit 23

7861 2 eSM module: System error detected: - -

Input ESMSTART_B

Parameter _SigLatched Bit 23

7862 2 eSM module: System error detected: - -

Input SETUPENABLE_B

Parameter _SigLatched Bit 23

7863 2 eSM module: System error detected: - -

Input SETUPMODE_B

Parameter _SigLatched Bit 23

7864 2 eSM module: System error detected: - -

Input GUARD_B

Parameter _SigLatched Bit 23

7865 2 eSM module: System error detected: - -

Input GUARD_ACK

Parameter _SigLatched Bit 23

7866 2 eSM module: System error detected: - -

Input /INTERLOCK_IN_B

Parameter _SigLatched Bit 23

7867 2 eSM module: System error detected: - -

Input /ESTOP_B

Parameter _SigLatched Bit 23

786A 4 eSM module: Undertemperature Temperature of the eSM too low. Verify ambient conditions.

Parameter _SigLatched Bit 23

786C 2 eSM module: Overvoltage Voltage too high at the ESM24VDC. Verify power supply.
ESM24VDC

Parameter _SigLatched Bit 23

786D 4 eSM module: Overtemperature Temperature too high. Verify the ambient conditions. Verify
that the flow of air is sufficient
Parameter _SigLatched Bit 23 (pollution, objects).

786E 4 eSM module: System error detected: - -

Operating states not identical

Parameter _SigLatched Bit 23

7870 4 eSM module: System error detected: - -

Software versions not identical

Parameter _SigLatched Bit 23

7871 3 eSM module: Error detected during Motor movement during Safe -
Safe Operating Stop (SOS) after Operating Stop (SOS).
detected error

Parameter _SigLatched Bit 23

0198441113767.13 425
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7872 4 eSM module: System error detected: - -
Software incompatible with hardware

Parameter _SigLatched Bit 23

7873 1 eSM module: Error detected during Velocity of drive greater than speed Verify speed limit and delay time for
deceleration to Safely Limited Speed limit configured for eSM Safely eSM Safely Limited Speed (SLS).
(SLS) Limited Speed (SLS). Adapt the drive values for ramp and
velocity, if necessary.
Parameter _SigLatched Bit 23

7874 2 eSM module: Repeated error - -

detected during Safe Operating Stop
(SOS)

Parameter _SigLatched Bit 23

7875 4 eSM module: Repeated error - -

detected during deceleration for
Quick Stop

Parameter _SigLatched Bit 23

7876 3 eSM module: /INTERLOCK_IN not - -

high (timeout if t_Relay = 2)

Parameter _SigLatched Bit 23

7877 2 eSM module: Input /INTERLOCK_IN - -

is high even though Ignore has been
configured

Parameter _SigLatched Bit 23

7878 2 eSM module: Speed limit for machine Speed limit for machine operating Verify the speed limits for machine
operating mode Setup Mode (eSM_ mode Setup Mode must not be operating modes Automatic Mode
v_maxSetup) higher than speed limit greater than speed limit for machine and Setup Mode and change them as
for machine operating mode operating mode Automatic Mode. required.
Automatic Mode (eSM_v_maxAuto)

Parameter _SigLatched Bit 23

7879 4 eSM module: System error detected: - -

Indeterminable state of eSM state
machine

Parameter _SigLatched Bit 23

787A 2 eSM module: ESM24VDC Voltage at the ESM24VDC connector Verify power supply.
undervoltage to low.

Parameter _SigLatched Bit 23

787D 4 eSM module: System error detected: - -

Asynchronous communication
(UART/SPI)

Parameter _SigLatched Bit 23

787E 4 eSM module: System error detected: - -

RAM (bit)

Parameter _SigLatched Bit 23

787F 4 eSM module: Encoder signal error Encoder or encoder cable -

detected inoperative. Incorrect signal
evaluation in drive.
Parameter _SigLatched Bit 23

7880 2 eSM module: Indeterminable service - -

Parameter _SigLatched Bit 23

7881 2 eSM module: Parameter does not Parameter does not exist. Verify the parameter number.
exist

Parameter _SigLatched Bit 23

7882 4 eSM module: System error detected: Overvoltage in internal eSM power -
3_3V overvoltage supply.

Parameter _SigLatched Bit 23

426 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
7883 4 eSM module: System error detected: Undervoltage in internal eSM power -
3_3V undervoltage supply.

Parameter _SigLatched Bit 23

7884 4 eSM module: System error detected: Temperature sensor for CPU_A or -
Temperature sensor CPU_B does not work properly.

Parameter _SigLatched Bit 23

7886 2 eSM module: No speed limit for Direction-dependent SLS is active, Set a speed limit for direction-
negative direction set for direction- but no speed limit greater than 0 dependent SLS greater than 0 RPM
dependent SLS RPM has been specified in the in the parameter _eSM_v_maxSetup
parameter eSM_v_maxSetup or in or in the parameter eSM_
Parameter _SigLatched Bit 23 parameter eSM_SLSnegDirS. SLSnegDirS or deactivate direction-
dependent SLS via the parameter
eSM_FuncSwitches.

7887 2 eSM module: Speed limit for SLS in Direction-dependent SLS is not Set the speed limit for direction-
negative direction has been active, but a speed limit for direction- dependent SLS in negative direction
specified, but direction-dependant dependent SLS in negative direction in parameter eSM_SLSnegDirS to 0
SLS has not been activated has been specified. RPM or activate direction-dependent
SLS via the parameter eSM_
Parameter _SigLatched Bit 23 FuncSwitches.

7889 2 eSM module: Order of speed limits The values for the speed limits for Set correct speed limits for multiple
for multiple SLS in positive direction multiple SLS are not in ascending SLS.
is incorrect order.

Parameter _SigLatched Bit 23

788A 2 eSM module: Order of speed limits The values for the speed limits for Set correct speed limits for multiple
for multiple SLS in negative direction multiple SLS are not in ascending SLS.
is incorrect order.

Parameter _SigLatched Bit 23

788B 2 eSM module: Invalid speed limit for Speed limit for multiple SLS in Set a speed limit not equal to zero for
multiple SLS in positive direction positive direction has a value of zero. multiple SLS.

Parameter _SigLatched Bit 23

788C 2 eSM module: Invalid speed limit for Speed limit for multiple SLS in Set a speed limit not equal to zero for
multiple SLS in negative direction negative direction has a value of multiple SLS.
has a value of zero zero.

Parameter _SigLatched Bit 23

788D 2 eSM module: Two types of multiple eSM module: Two types of multiple Select a single type of multiple SLS.
SLS selected at the same time SLS selected at the same time.

Parameter _SigLatched Bit 23

7900 4 Module in fieldbus slot not correctly Fieldbus module not correctly Replace fieldbus module.
detected mounted in the slot.
Improve EMC.
Parameter _SigLatched Bit 21 Unsupported fieldbus module
inserted.

Fieldbus module inoperative.

EMI.
7901 4 Indeterminable type of fieldbus The type of module detected in Use supported type of fieldbus
module detected in fieldbus slot fieldbus slot is not supported by the module. Refer to manual or catalog.
drive.
Parameter _SigLatched Bit 21

7903 3 Fieldbus module in slot 3 missing Fieldbus module has been removed Confirm or cancel HMI dialog box for
or fieldbus module is inoperative. fieldbus module replacement.
Parameter _SigLatched Bit 21
Install a new fieldbus module.
7904 0 Parameter access error detected in Fieldbus module parameter does not -
fieldbus module exist or cannot be written.
7905 3 Fieldbus module in slot 3 has been The fieldbus module has been Confirm the new fieldbus module via
changed replaced by another type of fieldbus the HMI dialog.
module.
Parameter _SigLatched Bit 21

0198441113767.13 427
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
7906 0 Internal timeout in communication Internal communication with fieldbus Replace fieldbus module.
with fieldbus module module not correct.
Improve EMC.
Fieldbus module inoperative.

EMI.
7907 4 The module detected in the slot for The module detected in the slot for -
fieldbus modules slot is not fieldbus modules is not supported by
supported. older drive hardware revisions.

Parameter _SigLatched Bit 21

7A05 3 Module IOM1: System error - -

detected: Calibration analog/digital
converter during manufacturing

Parameter _SigLatched Bit 23

7A06 3 Module IOM1: System error - -

detected: Initialization

Parameter _SigLatched Bit 23

7A07 3 Module IOM1: System error - -

detected: Nonvolatile memory read
error detected, CRC does not match

Parameter _SigLatched Bit 23

7A08 3 Module IOM1: System error - -

detected: Nonvolatile memory write
error detected

Parameter _SigLatched Bit 23

7A09 3 Module IOM1: System error - -

detected: Nonvolatile memory erase
error detected

Parameter _SigLatched Bit 23

7A0A 3 Module IOM1: System error - -

detected: Incorrect flash API
implemented

Parameter _SigLatched Bit 23

7A0B 0 Module IOM1: Overtemperature Device cooling not sufficient. Verify fan and ambient temperature.

Parameter _WarnLatched Bit 23 Cooling fan inoperative.

Ambient temperature too high.

7A0C 2 Module IOM1: Overtemperature Device cooling not sufficient. Verify fan and ambient temperature.

Parameter _SigLatched Bit 23 Cooling fan inoperative.

Ambient temperature too high.

7A0D 2 Module IOM1: Module not available The module IOM1 was not detected Insert the module IOM1.
when the operating mode Profile
Parameter _SigLatched Bit 23 Velocity or Profile Torque with
reference value via analog input was
activated.

The module IOM1 has been removed

when the de device was off.
7A0E 4 Module IOM1: Inoperative Module IOM1 inoperative. -

Parameter _SigLatched Bit 23 Hardware interface to the module

IOM1 inoperative.

7A0F 2 Module IOM1: Inoperative Module IOM1 inoperative. -

Parameter _SigLatched Bit 23 Hardware interface to the module

IOM1 inoperative.

7A10 4 Module IOM1: Inoperative Module IOM1 inoperative. -

Parameter _SigLatched Bit 23 Hardware interface to the module

IOM1 inoperative.

428 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
7A11 4 Module IOM1: Inoperative Module IOM1 inoperative. -

Parameter _SigLatched Bit 23 Hardware interface to the module

IOM1 inoperative.

7A12 2 Module IOM1: Module IOM1 required Velocity or torque limitation via Insert the module IOM1 or deactivate
for velocity or torque limitation via analog input has been activated, but the velocity or torque limitation
analog input the module IOM1 has not been setting via the analog input.
inserted.
Parameter _SigLatched Bit 23

7A13 par. Module IOM1: Overload or short Overload or shot circuit at one of the Verify wiring and connected load.
circuit at analog output analog outputs.

Parameter _SigLatched Bit 23

7A14 4 Module IOM1: Module IOM1 not The module IOM1 is not supported if -
supported in combination with the PROFINET fieldbus module is
PROFINET fieldbus module used.

Parameter _SigLatched Bit 23

8110 0 CANopen: Overflow internal receive Two short CAN messages have been -
queue (message lost) sent too fast (at 1 Mbits only).

Parameter _WarnLatched Bit 21

8120 0 CANopen: CAN Controller in state Too many error frames have been Verify CAN bus installation.
Error Passive detected.

Parameter _WarnLatched Bit 21

8130 par. CANopen: Detected Heartbeat or Life The bus cycle time of the CANopen Verify the CANopen configuration,
Guard error master is longer than the increase the heartbeat or node
programmed heartbeat or node guarding time.
Parameter _SigLatched Bit 21 guarding time.

8131 0 CANopen: Detected Heartbeat or Life - -

Guard error

Parameter _WarnLatched Bit 21

8140 0 CANopen: CAN controller was in - -

state 'bus-off', communication is
possible again

Parameter _WarnLatched Bit 21

8141 2 CANopen: CAN controller is in state Too many error frames have been Verify CAN bus installation.
'bus-off' detected, CAN devices with different
baud rates.
Parameter _SigLatched Bit 21

8142 0 CANopen: CAN controller is in state Too many error frames have been Verify CAN bus installation.
'bus-off' detected, CAN devices with different
baud rates.
Parameter _WarnLatched Bit 21

8281 0 CANopen: RxPDO1 could not be Error detected while processing Verify RxPDO1 content (application).
processed Receive PDO1: PDO1 contains
invalid value.
Parameter _WarnLatched Bit 21

8282 0 CANopen: RxPDO2 could not be Error detected while processing Verify RxPDO2 content (application).
processed Receive PDO2: PDO2 contains
invalid value.
Parameter _WarnLatched Bit 21

8283 0 CANopen: RxPDO3 could not be Error detected while processing Verify RxPDO3 content (application).
processed Receive PDO3: PDO3 contains
invalid value.
Parameter _WarnLatched Bit 21

8284 0 CANopen: RxPDO4 could not be Error detected while processing Verify RxPDO4 content (application)
processed Receive PDO4: PDO4 contains
invalid value.
Parameter _WarnLatched Bit 21

8291 0 CANopen: TxPdo could not be - -

processed

Parameter _WarnLatched Bit 21

0198441113767.13 429
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
8292 0 CANopen: TxPdo could not be - -
processed

Parameter _WarnLatched Bit 21

8293 0 CANopen: TxPdo could not be - -

processed

Parameter _WarnLatched Bit 21

8294 0 CANopen: TxPdo could not be - -

processed

Parameter _WarnLatched Bit 21

82A0 0 CANopen: Initialization CANopen - -

stack

Parameter _WarnLatched Bit 21

82A1 0 CANopen: Overflow internal transmit - -

queue (message lost)

Parameter _WarnLatched Bit 21

82B1 0 CANopen: The data tunneling - -

protocol is not Modbus RTU

Parameter _WarnLatched Bit 21

82B2 0 CANopen: Data frame is still being A new data frame was written but the Write the data frame again later on.
processed previous data frame is still being
processed.
Parameter _WarnLatched Bit 21

A060 2 Calculated velocity too high for Gear ratio or reference velocity value Reduce the gear ratio or reference
operating mode Electronic Gear too high velocity.

Parameter _SigLatched Bit 4

A061 2 Position change in reference value Position reference change is too Reduce the resolution of the master.
for operating mode Electronic Gear high.
too high Verify signal input for reference value
Error detected at signal input for signal.
Parameter _SigLatched Bit 4 reference value.

A065 0 Parameters cannot be written A data set is still active. Wait until the currently active data set
has been terminated.
Parameter _WarnLatched Bit 4

A066 0 Teach-in position cannot be accepted Data set type is not 'MoveAbsolute' Set the data set type to
'MoveAbsolute'
Parameter _WarnLatched Bit 4

A067 1 Invalid value in data set. Additional Value not possible in data set. See also parameters _MSM_error_
information in the error memory num and _MSM_error_entry for
indicates the data set number (low additional information.
byte) and entry (high byte).

Parameter _SigLatched Bit 4

A068 0 Offset positioning not possible Operating mode Electronic Gear Start operating mode Electronic Gear
inactive or no gear method selected. and/or select a gear method.
Parameter _WarnLatched Bit 4

A069 0 Setting the offset position is not If offset positioning is active, it is not Wait until ongoing offset positioning
possible possible to set the position offset. has finished.

Parameter _WarnLatched Bit 4

A06B 2 Position deviation in operating mode The position deviation has become Verify the velocity of the external
Electronic Gear too high excessively high due to a velocity reference values and the velocity
limitation or the release of direction. limitation. Verify release of direction.
Parameter _SigLatched Bit 4

A300 0 Deceleration after HALT request still HALT was removed too soon. Wait for complete stop before
running removing HALT signal.
New command was sent before
motor standstill was reached after a Wait until motor has come to a
HALT request. complete standstill.

A301 0 Drive in operating state Quick Stop Error with error class 1 detected. -
Active
Drive stopped with Quick Stop.

430 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
A302 1 Stop by positive limit switch The positive limit switch was Verify application.
activated because movement range
Parameter _SigLatched Bit 1 was exceeded, incorrect operation of Verify limit switch function and
limit switch or signal disturbance. connection.

A303 1 Stop by negative limit switch The negative limit switch was Verify application.
activated because movement range
Parameter _SigLatched Bit 1 was exceeded, incorrect operation of Verify limit switch function and
limit switch or signal disturbance. connection.

A304 1 Stop by reference switch - -

Parameter _SigLatched Bit 1

A305 0 Power stage cannot be enabled in Fieldbus: An attempt was made to Refer to the state diagram.
the operating state Not Ready To enable the power stage in the
Switch On operating state Not Ready To Switch
On.
A306 1 Stop by user-initiated software stop Drive is in operating state Quick Stop Clear break condition with command
Active due to a software stop Fault Reset.
Parameter _SigLatched Bit 3 request. The activation of a new
operating mode is not possible, the
error code is sent as the response to
the activation command.
A307 0 Interruption by internal software stop In the operating modes Homing and Perform a Fault Reset.
Jog, the movement is internally
interrupted by an internal software
stop. The activation of a new
operating mode is not possible, the
error code is sent as the response to
the activation command.
A308 0 Drive is in operating state Fault or Error with error class 2 or higher Verify the error code, remove the
Fault Reaction Active detected. cause and perform a Fault Reset.

A309 0 Drive not in operating state Operation A command was sent that requires Set drive to operating state Operation
Enabled the drive to be in the operating state Enabled and repeat the command.
Operation Enabled (for example, a
command to change the operating
mode).

A310 0 Power stage not enabled Command cannot be used because Set drive to an operating state in
the power stage is not enabled which the power stage is enabled,
(operating state Operation Enabled see state diagram.
or Quick Stop Active).

A311 0 Operating mode change active A start request for an operating mode Wait until the operating mode change
has been received while a change of has terminated before triggering a
the operating mode was active. start request for another operating
mode.
A312 0 Profile generation interrupted - -

A313 0 Position overflow, zero point is The movement range limits were Define a valid zero point by means of
therefore no longer valid (ref_ok=0) exceeded and the zero point is no the operating mode Homing.
longer valid. An absolute movement
requires a valid zero point.

A314 0 No valid zero point Command needs a valid zero point Define a valid zero point by means of
(ref_ok=1). the operating mode Homing.

A315 0 Homing active Command cannot be used while the Wait until reference movement is
operating mode Homing is active. finished.

A316 0 Overflow during calculation of - -

acceleration
A317 0 Motor is not at a standstill Command sent which is not Wait until the motor has come to a
permissible when the motor is not at standstill (x_end = 1).
a standstill.

For example:

- Change of software limit switches

- Change of handling of monitoring

signals

- Setting of reference point

- Teach in of data set

0198441113767.13 431
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
A318 0 Operating mode active (x_end=0) Activation of a new operating mode is Wait until the command in the
not possible while another operating operating mode has finished (x_end=
mode is still active. 1)

or terminate active operating mode

with HALT command.
A319 1 Manual tuning/Autotuning: Movement The movement exceeds the Verify permissible movement range
out of range parameterized maximum movement value and time interval.
range.
Parameter _SigLatched Bit 2

A31A 0 Manual tuning/Autotuning: Amplitude plus offset for tuning Choose lower amplitude and offset
Amplitude/offset too high exceed internal velocity or current values.
limitation.
A31B 0 Halt requested Command not permissible while Halt Clear Halt request and repeat
is requested. command.

A31C 0 Invalid position setting with software Value for negative (positive) software Set correct position values.
limit switch limit switch is greater (less) than
value for positive (negative) software
limit switch.
A31D 0 Velocity range exceeded (parameter The velocity was set to a value If the value of parameter M_n_max is
CTRL_v_max, M_n_max) greater than the maximum greater than the value of parameter
permissible velocity in parameter CTRL_v_max, increase the value of
CTRL_v_max or M_n_max, parameter CTRL_v_max or reduce
whichever is lower. the velocity value.

A31E 1 Stop by positive software limit switch Not possible to execute command Return to the permissible movement
because positive software limit switch range.
Parameter _SigLatched Bit 2 was triggered.

A31F 1 Stop by negative software limit switch Not possible to execute command Return to the permissible movement
because negative software limit range.
Parameter _SigLatched Bit 2 switch was triggered.

A320 par. Permissible position deviation External load or acceleration are too Reduce external load or acceleration.
exceeded high.
Use a differently rated drive, if
Parameter _SigLatched Bit 8 necessary.

Error response can be adjusted via

parameter ErrorResp_p_dif.

A321 0 Invalid setting for RS422 position - -

interface
A322 0 Error detected in ramp calculation - -

A323 3 System error detected: Processing - -

error detected during generation of
profile

A324 1 Error detected during homing. Homing movement was stopped in Possible sub-error codes:
Additional information in the error response to a detected error, the
memory indicates the detailed error detailed reason is indicated by the A325, A326, A327, A328 or A329.
code. additional info in the error memory.

Parameter _SigLatched Bit 4

A325 1 Limit switch to be approached not Homing to positive limit switch or Enable limit switch via 'IOsigLimP' or
enabled negative limit switch is disabled. 'IOsigLimN'.

Parameter _SigLatched Bit 4

A326 1 Reference switch not found between Reference switch inoperative or not Verify the function and wiring of the
positive limit switch and negative limit correctly connected. reference switch.
switch

Parameter _SigLatched Bit 4

A329 1 More than one signal positive limit Reference switch or limit switch not Verify the wiring and 24 VDC supply
switch/negative limit switch/reference connected correctly or supply voltage voltage.
switch active for switches too low.

Parameter _SigLatched Bit 4

432 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
A32A 1 Positive limit switch triggered with Start reference movement with Verify correct connection and
negative direction of movement negative direction (for example, function of limit switch.
reference movement to negative limit
Parameter _SigLatched Bit 4 switch) and activate the positive limit Activate a jog movement with
switch (switch in opposite direction of negative direction of movement
movement). (target limit switch must be
connected to the negative limit
switch).

A32B 1 Negative limit switch triggered with Start reference movement with Verify correct connection and
positive direction of movement positive direction (for example, function of limit switch.
reference movement to positive limit
Parameter _SigLatched Bit 4 switch) and activate the negative limit Activate a jog movement with
switch (switch in opposite direction of positive direction of movement
movement). (target limit switch must be
connected to the positive limit
switch).

A32C 1 Reference switch error detected Switch signal disturbance. Verify supply voltage, cabling and
(switch signal briefly enabled or function of switch.
switch overtraveled) Motor subjected to vibration or shock
when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 4 switch signal. and optimize control loop settings.

A32D 1 Positive limit switch error detected Switch signal disturbance. Verify supply voltage, cabling and
(switch signal briefly enabled or function of switch.
switch overtraveled) Motor subjected to vibration or shock
when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 4 switch signal. and optimize control loop settings.

A32E 1 Negative limit switch error detected Switch signal disturbance. Verify supply voltage, cabling and
(switch signal briefly enabled or function of switch.
switch overtraveled) Motor subjected to vibration or shock
when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 4 switch signal. and optimize control loop settings.

A32F 1 Index pulse not found Index pulse signal not connected or Verify index pulse signal and
not working properly. connection.
Parameter _SigLatched Bit 4

A330 0 Reference movement to index pulse The position difference between the Increase the distance between the
cannot be reproduced. Index pulse is index pulse and the switching point is index pulse and the switching point. If
too close to the switch insufficient. possible, the distance between the
index pulse and the switching point
Parameter _WarnLatched Bit 4 should be a half motor revolution.

A332 1 Jog error detected. Additional Jog movement was stopped in For additional info, verify the detailed
information in the error memory response to a detected error. error code in the error memory.
indicates the detailed error code.

Parameter _SigLatched Bit 4

A333 3 System error detected: Invalid - -

internal selection
A334 2 Timeout Standstill Window Position deviation after movement Verify load.
monitoring greater than standstill window. This
may have been caused by an Verify settings for standstill window
external load. (parameter MON_p_win, MON_p_
winTime and MON_p_winTout).

Optimize control loop settings.

A336 1 System error detected: Jerk limitation - -

with position offset after end of
movement. Additional information in
the error memory indicates the offset
in Increments.
A337 0 Operating mode cannot be continued Continuation of interrupted Restart the operating mode.
movement in operating mode Profile
Parameter _WarnLatched Bit 4 Position is not possible because
another operating mode had been
active in the meantime.

In the operating mode Motion

Sequence, continuation is not
possible if a motion blend was
interrupted.

A338 0 Operating mode unavailable The selected operating mode is not -

available.
Parameter _WarnLatched Bit 4

0198441113767.13 433
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
A339 0 No processing of motor encoder - -
selected or position capture of motor
index pulse active

Parameter _WarnLatched Bit 4

A33A 0 No valid zero point (ref_ok=0) No zero point defined by means of Use operating mode Homing to
operating mode Homing. define a valid zero point.
Parameter _WarnLatched Bit 4
Zero point no longer valid due to Use a motor with an absolute
movement beyond permissible encoder.
movement range.

Motor does not have an absolute

encoder.
A33C 0 Function not available in this Activation of a function which is not -
operating mode available in the active operating
mode.
Parameter _WarnLatched Bit 4
Example: Start of backlash
compensation while autotuning/
manual tuning is active.

A33D 0 Motion blend is already active Change of motion blend during the Wait for the motion blend to complete
ongoing motion blend (end position before setting the next position.
Parameter _WarnLatched Bit 4 of motion blend not yet reached)

A33E 0 No movement activated Activation of a motion blend without Start a movement before the motion
movement. blend is activated.
Parameter _WarnLatched Bit 4

A33F 0 Position of motion blend movement The position of the motion blend is Verify the position of the motion blend
not in the range of the ongoing outside of the movement range. and the movement range.
movement

Parameter _WarnLatched Bit 4

A340 1 Error detected in operating mode The operating mode Motion See the additional error information.
Motion Sequence. Additional Sequence was stopped in response
information in the error memory to a detected error. Verify the error
indicates the detailed error code. memory for details on the detected
error.
Parameter _SigLatched Bit 4

A341 0 Position of motion blend has already The movement has passed beyond -
been passed the position of the motion blend.

Parameter _WarnLatched Bit 4

A342 1 Target velocity was not reached at The position of the motion blend was Reduce the ramp velocity so that the
motion blend position. overtraveled, the target velocity was target velocity is reached at the
not reached. position of the motion blend.
Parameter _SigLatched Bit 4

A343 0 Processing only possible with linear Motion blend position was set with a Set a linear ramp.
ramp non-linear ramp.

Parameter _WarnLatched Bit 4

A344 par. Maximum position deviation between Incorrect or inoperative encoder Verify encoder connection.
motor encoder and machine encoder cable.
exceeded Verify parameterization of machine
Machine encoder not connected or encoder.
Parameter _SigLatched Bit 8 not supplied correctly.

Different counting directions of motor

encoder and machine encoder.

Incorrect setting of resolution factors

(numerator or denominator) of
machine encoder.
A347 0 Permissible position deviation External load or acceleration are too Reduce external load or acceleration.
exceeded high.
Threshold value can be adjusted via
Parameter _WarnLatched Bit 8 the parameter MON_p_dif_warn.

A348 1 No analog reference value source No analog reference value selected Select an analog reference value
selected source.

Parameter _SigLatched Bit 4

434 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
A349 0 Position setting exceeds system Position scaling of POSscaleDenom Change POSscaleDenom and
limits and POSscaleNum results in a POSscaleNum in such a way as to
scaling factor that is too small. increase the resulting scaling factor.

A34A 0 Velocity setting exceeds system The velocity scaling of Change 'VELscaleDenom' and
limits 'VELscaleDenom' and 'VELscaleNum' in such a way as to
'VELscaleNum' results in a scaling increase the resulting scaling factor.
factor that is too small.

The velocity has been set to a value

greater than the maximum possible
velocity (the maximum velocity is
13200 RPM).

A34B 0 Ramp setting exceeds system limits The ramp scaling of Change of 'RAMPscaleDenom' and
'RAMPscaleDenom' and 'RAMPscaleNum' in such a way as to
'RAMPscaleNum' results in a scaling increase the resulting scaling factor.
factor that is too small.
A34C 0 Resolution of scaling too high (range - -
exceeded)

A34D 0 Function not available when Modulo The function cannot be executed Deactivate Modulo to use the
is active when Modulo is active. function.
A34E 0 Target value for absolute movement If parameter 'MOD_Absolute' is set Set a correct target value for absolute
not possible with defined modulo to: movement.
range and modulo handling.
Shortest Distance: Target value is not
in defined modulo range.

Positive Direction: Target value is

less than parameter 'MOD_Min'.

Negative Direction: Target value is

greater than parameter 'MOD_Max'.

A34F 0 Target position outside of modulo The setting of parameter 'MOD_ Change the parameter 'MOD_
range. Corresponding movement AbsMultiRng' only allows for a AbsMultiRng' to allow for movements
within range performed instead. movement within the modulo range. beyond the modulo range.

A350 1 Change for jerk filter input position Operating mode Electronic Gear with Deactivate jerk filter processing for
too great processing method 'Position Electronic Gear or use processing
synchronization with compensation method 'Position synchronization
Parameter _SigLatched Bit 4 movement' has been activated which without compensation movement'.
resulted in a position change greater
than 0.25 revolutions.
A351 1 Function cannot be executed with The positions scaling factor is set to a Use a different position scaling factor
this position scaling factor value less than 1rev/131072usr_p, or deactivate the selected function.
which is less than the internal
Parameter _SigLatched Bit 4 resolution.

In the operating mode Cyclic

Synchronous Position, the resolution
is not set to 1rev/131072usr_p.

A352 0 Position list active - -

A353 0 Position list not sorted - -

A354 0 Position list does not match the - -

configuration of the Modulo range

A355 1 Error detected during relative Movement was stopped by error. Verify the error memory.
movement after capture. Additional
information in the error memory
indicates the detailed error code.

Parameter _SigLatched Bit 4

A356 0 Function Relative Movement After - Assign the function Relative

Capture not assigned to a digital Movement After Capture to a digital
input input.

A357 0 Deceleration still running Command is not permissible during Wait until motor has come to a
deceleration. complete standstill.

A358 1 Target position overtraveled with Stopping distance too small or Reduce the velocity.
function Relative Movement After velocity too high at the point in time of
Capture the capture event.

Parameter _SigLatched Bit 4

0198441113767.13 435
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
A359 0 Request cannot be processed since - -
the relative movement after capture
is still active
A35A 1 Selected data set cannot be started The data set with the selected Verify the number of the data set.
number is not available.
Parameter _SigLatched Bit 4

A35B 0 Modulo cannot be activated The set operating mode does not -
support Modulo.
Parameter _WarnLatched Bit 4

A35D par. Permissible velocity deviation Load or acceleration too high. Reduce load or acceleration.
exceeded

Parameter _SigLatched Bit 8

A35E 0 The selected velocity scaling factor - Increase or decrease the value of the
reduces the accuracy of the velocity numerator and/or denominator of the
scaling. scaling factor. If the condition
persists, contact your Schneider
Electric service representative.

A35F 0 The selected ramp scaling factor - Increase or decrease the value of the
reduces the accuracy of the ramp numerator and/or denominator of the
scaling. scaling factor. If the condition
persists, contact your Schneider
Electric service representative.

B100 0 RS485/Modbus: Indeterminable Unsupported Modbus service was Verify application on the Modbus
service received. master.

Parameter _WarnLatched Bit 5

B101 1 Incorrect I/O data configuration. The I/O data configuration or the Verify the configuration of the I/O
Additional information in the error Modbus I/O scanning configuration data.
memory indicates the Modbus contains an invalid parameter.
register address.

Parameter _SigLatched Bit 21

B102 1 Fieldbus module: General error - -

detected

Parameter _SigLatched Bit 21

B103 2 Fieldbus module: Controlling - -

communication channel has been
closed

Parameter _SigLatched Bit 21

B104 2 Fieldbus module: Internal - -

communication error detected

Parameter _SigLatched Bit 21

B105 2 Fieldbus module: I/O data timeout - -

Parameter _SigLatched Bit 21

B106 2 Fieldbus module: I/O data mapping - -

error detected

Parameter _SigLatched Bit 21

B107 4 Fieldbus module: Nonvolatile - -

memory error detected in module

Parameter _SigLatched Bit 21

B108 1 Fieldbus module: Active IOC physical The manufacturer data has been Contact your Schneider Electric
layer does not match the IOC stored with a physical layer different service representative.
physical layer of the detected from the physical layer normally used
fieldbus module. by the module.

Parameter _SigLatched Bit 21

B120 2 Cyclic communication: Incorrect The drive does not support the Change the cycle time in the master
cycle time configured cycle time or the controller to a cycle time supported
difference between the measured by the drive or verify synchronization
Parameter _SigLatched Bit 21 cycle time and the configured cycle requirements.
time is too great.

436 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
B121 2 Cyclic communication: Two cycles have passed without a Analyze the communication.
Synchronization signal missing synchronization signal having been
received.
Parameter _SigLatched Bit 21

B122 2 Cyclic communication: Incorrect One signal was missing and the Analyze the communication or
synchronization expected second signal was received increase the cycle time.
at an incorrect point in time. The
Parameter _SigLatched Bit 21 master controller may be unable to
provide the required synchronization
signals at the set cycle time, for
example, due to insufficient
computing power.

B123 2 Cyclic communication: The selected The cycle time tolerance may not Enter a correct value.
cycle time tolerance is too high exceed one quarter of the set cycle
time.
Parameter _SigLatched Bit 21

B124 0 Cyclic Communication: Drive is not Operating mode has been activated After having started the
synchronous with master cycle but drive is not synchronized to synchronization mechanism, wait for
external synchronization signal. 120 cycles before activating the
Parameter _WarnLatched Bit 21 operating mode.

B200 0 RS485/Modbus: Protocol error Logical protocol error detected: Verify application on the Modbus
detected Incorrect length or unsupported master.
subfunction.
Parameter _WarnLatched Bit 5

B201 2 RS485/Modbus: Interruption of the Connection monitoring has detected Verify all connections and cables
connection an interruption of the connection. used for data exchange. Verify that
the device is on.
Parameter _SigLatched Bit 5

B202 0 RS485/Modbus: Interruption of the Connection monitoring has detected Verify all connections and cables
connection an interruption of the connection. used for data exchange. Verify that
the device is on.
Parameter _WarnLatched Bit 5

B203 0 RS485/Modbus: Incorrect number of - -

monitor objects

Parameter _WarnLatched Bit 5

B312 2 Profibus: Clear command with error Clear command sent by master, Verify the application.
response detected bus error.

Parameter _SigLatched Bit 21

B314 2 Watchdog error with error response The bus cycle time is greater than the Increase watchdog time.
programmed watchdog time.
Parameter _SigLatched Bit 21

B316 2 Communication error detected with Detected system or bus error, EMI. Verify fieldbus connection, shield
error response connection.

Parameter _SigLatched Bit 21

B400 2 CANopen: NMT reset with power NMT Reset command is received Disable the power stage before
stage enabled while drive is in operating state sending a NMT reset command.
Operation Enabled.
Parameter _SigLatched Bit 21

B401 2 CANopen: NMT stop with power NMT Stop command is received Disable the power stage before
stage enabled while drive is in operating state sending a NMT Stop command.
Operation Enabled.
Parameter _SigLatched Bit 21

B402 0 CAN PLL active An attempt has been made to start Deactivate the synchronization
the synchronization mechanism, but mechanism.
Parameter _WarnLatched Bit 21 the synchronization mechanism was
already active.

B403 2 Excessive Sync period deviation The period time of the SYNC signals The SYNC signals of the motion
is not stable. The deviation is more controller must be more accurate.
Parameter _SigLatched Bit 21 than 100 usec.

B404 2 Sync signal error detected SYNC signal missed more than Verify CAN connection, verify motion
twice. controller.
Parameter _SigLatched Bit 21

0198441113767.13 437
Servo Drive Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
B405 2 Drive could not be adapted to master The jitter of the SYNC object is too Verify the timing requirements
cycle great or the motion bus requirements regarding interpolation time period
are not taken into account. and number of devices.
Parameter _SigLatched Bit 21

B406 0 Baud rate is not supported The configured baud rate is not Choose one of the following baud
supported. rates: 250 kB, 500 kB, 1000 kB.
Parameter _WarnLatched Bit 21

B407 0 Drive is not synchronous with master The operating mode 'Cyclic Verify motion controller. To be
cycle Synchronous Mode' cannot be synchronized, the motion controller
activated as long as the drive is not must cyclically send SYNC signals.
Parameter _WarnLatched Bit 21 synchronized.

B500 0 DeviceNet: IO data could not be Error detected while processing I/O Verify output data content
processed data: Output data contains invalid (application).
value.
Parameter _WarnLatched Bit 21

B501 2 DeviceNet: Duplicate MAC ID There is a device with the same MAC Use another MAC ID for this device
ID on the DeviceNet bus. or for the other device.
Parameter _SigLatched Bit 21

B502 2 DeviceNet: Receive queue overrun - -

Parameter _SigLatched Bit 21

B503 2 DeviceNet: Transmit queue overrun - -

Parameter _SigLatched Bit 21

B504 2 DeviceNet: Error detected while - -

sending an I/O message

Parameter _SigLatched Bit 21

B505 2 DeviceNet: CAN controller in state Too many error frames have been Verify CAN bus installation.
bus-off detected, CAN devices with different
baudrates.
Parameter _SigLatched Bit 21

B506 2 DeviceNet: CAN overflow (message Two short DeviceNet messages have -
lost) been sent too fast.

Parameter _SigLatched Bit 21

B507 2 DeviceNet: Reset request, change of Master sent DeviceNet reset request Reset the device only while the
baud rate or MAC ID while the power stage was enabled. power stage is disabled.

Parameter _SigLatched Bit 21

B508 2 DeviceNet: Power supply disabled DeviceNet bus power supply was Disable the power stage before
powered off while the power stage powering off the DeviceNet master.
Parameter _SigLatched Bit 21 was enabled.

B509 2 DeviceNet: Timeout explicit - -

connection

Parameter _SigLatched Bit 21

B50A 2 DeviceNet: Timeout I/O connection - -

Parameter _SigLatched Bit 21

B50B 2 DeviceNet: Explicit connection An explicit connection was If you use explicit connections only,
terminated while operating state was terminated while no I/O channel was disable the power stage before
Operation Enabled open and the power stage was terminating the connection.
enabled.
Parameter _SigLatched Bit 21

B50C 2 DeviceNet: I/O connection An I/O connection was terminated Disable the power stage before
terminated while operating state was while the power stage was enabled. terminating the I/O connection.
Operation Enabled

Parameter _SigLatched Bit 21

B600 2 Ethernet: Network overload - -

Parameter _SigLatched Bit 21

B601 2 Ethernet: Loss of Ethernet carrier - -

Parameter _SigLatched Bit 21

438 0198441113767.13
Diagnostics and Troubleshooting Servo Drive

Error Error Description Cause Correctives

code class
B602 2 Ethernet: Duplicate IP address - -

Parameter _SigLatched Bit 21

B603 2 Ethernet: No valid IP address - -

Parameter _SigLatched Bit 21

B604 0 Ethernet: DHCP/BOOTP IP assignment via DHCP/BOOTP Set up a properly working DHCP or
unsuccessfull. Effort was given up BOOTP server or assign the IP
Parameter _WarnLatched Bit 21 after 2 minutes. address manually.

B605 2 Ethernet FDR: Unconfigured error - -

detected

Parameter _SigLatched Bit 21

B606 2 Ethernet FDR: Irrecoverable error - -

detected

Parameter _SigLatched Bit 21

B607 2 Ethernet: I/O data idle Controller has been stopped, but I/O Disable power stage of connected
data keeps being transmitted. drives before stopping the controller.
Parameter _SigLatched Bit 21

B610 2 EtherCAT: Fieldbus watchdog. EtherCAT frames are lost, for Verify correct cabling and shield
Additional information in the error example, due to inoperative cables or connection. Verify diagnostics info of
memory indicates the detailed error errors caused by the master. EtherCAT master.
code.

Parameter _SigLatched Bit 21

B611 2 EtherCAT: Invalid I/O data. Additional Incorrect input data or output data Verify correct PDO configuration
information in the error memory (such as object length, object type) (length, objects, etc.).
indicates the Modbus address.

Parameter _SigLatched Bit 21

B612 2 EtherCAT: Link lost at input and EtherCAT cable. Link to connected Verify link LEDs. Verify cables and
output port devices lost. that the devices connected to input
port and output port operate. Use
Parameter _SigLatched Bit 21 EtherCAT master diagnostics for
further troubleshooting.

B613 2 Ethernet: Ethernet carrier port 2 not - -

available

Parameter _SigLatched Bit 21

B614 1 EtherCAT: General error detected. - -

Additional information in the error
memory indicates the detailed error
code.

Parameter _SigLatched Bit 21

B700 0 Drive Profile Lexium: On activation of dmControl, refA or refB have not Map dmControl, refA or refB.
the profile, no dmControl, refA or refB been mapped.
has been mapped.

B702 1 Insufficient velocity resolution due to Due to the configured velocity Change the velocity scaling.
velocity scaling scaling, the velocity resolution in
REFA16 is insufficient.
B703 0 Drive Profile Lexium: Write request - -
with incorrect data type.

0198441113767.13 439
Servo Drive Parameters

Parameters
Representation of the Parameters
Description
This section provides an overview of the parameters which can be used for
operating the drive.
In addition, special parameters for communication via the fieldbus are described in
the corresponding fieldbus user guide.
Unsuitable parameter values or unsuitable data may trigger unintended
movements, trigger signals, damage parts and disable monitoring functions.
Some parameter values or data do not become active until after a restart.

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

Overview
The way parameters are shown provides information required for unique
identification, the default values and the properties of a parameter.
Structure of the parameter representation:

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ABCDE Short description Apk UINT32 Fieldbus 1234

ConF → inF-
Selection values 0.00 R/W
Prn 1 / Abc1 / A B C 1 : Explanation 1
3.00 per.
2 / Abc2 / A B C 2 : Explanation 2
300.00 -
Description and details

Field “Parameter Name”

The parameter name uniquely identifies a parameter.

440 0198441113767.13
Parameters Servo Drive

Field “HMI menu” and “HMI name”

HMI menu shows the sequence of menus and commands to access the
parameter via the HMI.

Field “Description”
Short description:
The short description contains information on the parameter and a cross reference
to the page that describes the use of the parameter.
Selection values:
In the case of parameters which offer a selection of settings, the value to be
entered via the fieldbus, the designation of the value for entry via the
commissioning software and the designation of the value for entry via the HMI are
specified.
1 = Value for input via fieldbus
Abc1 = Designation for entry via the commissioning software
A b c 1 = Designation for entry via the HMI
Description and details:
Provides further information on the parameter.

Field “Unit”
The unit of the value.

Field “Minimum Value”

The minimum value which can be entered.

Field “Factory Settings”

Settings when the product is shipped.

Field “Maximum Value”

The maximum value which can be entered.

Field “Data Type”

If the minimum and the maximum values are not explicitly indicated, the valid
range of values is determined by the data type.

Data type Minumum value Maximum value

INT8 -128 127

UINT8 0 255
INT16 -32768 32767
UINT16 0 65535
INT32 -2147483648 2147483647
UINT32 0 4294967295

0198441113767.13 441
Servo Drive Parameters

Field “R/W”
Indicates read and/or write values
"R/" values can only be read
"R/W" values can be read and written.

Field “Persistent”
“per.” indicates whether the value of the parameter is persistent, i.e. whether it
remains in the memory after the device is powered off.
When a value of a persistent parameter is modified via the HMI, the drive stores
the value automatically in the persistent memory.
When a value of a persistent parameter is modified via the commissioning
software or the fieldbus, the user must explicitly store the modified value in the
persistent memory.
Parameters for the safety module eSM are modified using the commissioning
software. The parameter values are saved persistently after transfer. Explicit
saving to the persistent memory is not required in the case of the eSM module.

Field “Parameter Address”

Each parameter has a unique parameter address.

Decimal Numbers Entered via the Fieldbus

Note that parameter values are entered via the fieldbus without a decimal point.
All decimal places must be entered.
Input examples:

Value Commissioning software Fieldbus

20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000

442 0198441113767.13
Parameters Servo Drive

List of Parameters
List of the Parameters Sorted by Parameter Name

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_AccessInfo Access channel information. - UINT16 CANopen 3001:Ch

Low byte: Exclusive access - R/- Modbus 280

Value 0: No - - Profibus 280

Value 1: Yes - - CIP 101.1.12

High byte: Access channel ModbusTCP 280

Value 0: Reserved EtherCAT 3001:Ch

Value 1: I/O PROFINET 280

Value 2: HMI

Value 3: Modbus RS485

Value 4: Fieldbus main channel

Value 5:

CAN module: CANopen second SDO

ETH module (Modbus TCP): Modbus TCP

ETH module (Ethernet/IP): Reserved

PDP module: Profibus Master Class 2

PNT module (Modbus TCP): Modbus TCP

Values 6 ... 12:

ETH module (Modbus TCP): Modbus TCP

ETH module (Ethernet/IP): Reserved

Values 13 ... 28: Ethernet/IP explicit channels 0 to

15
_actionStatus Action word. - UINT16 CANopen 301C:4h

Signal state: - R/- Modbus 7176

0: Not activated - - Profibus 7176

1: Activated - - CIP 128.1.4

Bit assignments: ModbusTCP 7176

Bit 0: Error class 0 EtherCAT 301C:4h

Bit 1: Error class 1 PROFINET 7176

Bit 2: Error class 2

Bit 3: Error class 3

Bit 4: Error class 4

Bit 5: Reserved

Bit 6: Motor is at a standstill (_n_act < 9 RPM)

Bit 7: Motor movement in positive direction

Bit 8: Motor movement in negative direction

Bit 9: Assignment can be set via parameter DPL_

intLim

Bit 10: Assignment can be set via parameter

DS402intLim

0198441113767.13 443
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Bit 11: Profile generator idle (reference velocity is

0)

Bit 12: Profile generator decelerates

Bit 13: Profile generator accelerates

Bit 14: Profile generator moves at constant speed

Bit 15: Reserved

_AT_J Moment of inertia of the system. kg cm2 UINT16 CANopen 302F:Ch

Is automatically calculated during Autotuning. 0.1 R/- Modbus 12056

In increments of 0.1 kg cm2. 0.1 per. Profibus 12056

6553.5 - CIP 147.1.12

ModbusTCP 12056

EtherCAT 302F:Ch

PROFINET 12056
_AT_M_friction Friction torque of the system. Arms UINT16 CANopen 302F:7h

Is determined during Autotuning. - R/- Modbus 12046

In increments of 0.01 Arms. - - Profibus 12046

- - CIP 147.1.7

ModbusTCP 12046

EtherCAT 302F:7h

PROFINET 12046
_AT_M_load Constant load torque. Arms INT16 CANopen 302F:8h

Is determined during Autotuning. - R/- Modbus 12048

In increments of 0.01 Arms. - - Profibus 12048

- - CIP 147.1.8

ModbusTCP 12048

EtherCAT 302F:8h

PROFINET 12048
_AT_progress Progress of Autotuning. % UINT16 CANopen 302F:Bh

0 R/- Modbus 12054

0 - Profibus 12054

100 - CIP 147.1.11

ModbusTCP 12054

EtherCAT 302F:Bh

PROFINET 12054
_AT_state Autotuning status. - UINT16 CANopen 302F:2h

Bit assignments: - R/- Modbus 12036

Bits 0 ... 10: Last processing step - - Profibus 12036

Bit 13: auto_tune_process - - CIP 147.1.2

Bit 14: auto_tune_end ModbusTCP 12036

Bit 15: auto_tune_err EtherCAT 302F:2h

PROFINET 12036

444 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_CanDiag CANopen diagnostics word. - UINT16 CANopen 3041:6h

0001h: pms read error for TxPdo - R/- Modbus 16652

0002h: pms write error for RxPdo1 - - Profibus 16652

0004h: pms write error for RxPdo2 - - CIP 165.1.6

0008h: pms write error for RxPdo3 ModbusTCP 16652

0010h: pms write error for RxPdo4 EtherCAT 3041:6h

0020h: heartbeat or lifeguard error (timer expired) PROFINET 16652

0040h: heartbeat msg with incorrect state

received

0080h: CAN error counter >96

0100h: CAN message lost

0200h: CAN error counter = 256 (bus-off)

0400h: software queue rx/tx overrun

0800h: error indication from last detected error

_Cap1CntFall Capture input 1 event counter at falling edges - UINT16 CANopen 300A:2Ch
(DS402).
- R/- Modbus 2648
Counts the capture events at falling edges.
- - Profibus 2648
The event counter is reset when capture input 1 is
activated. - - CIP 110.1.44

Available with firmware version ≥V01.16. ModbusTCP 2648

EtherCAT 300A:2Ch

PROFINET 2648
_Cap1CntRise Capture input 1 event counter at rising edges - UINT16 CANopen 300A:2Bh
(DS402).
- R/- Modbus 2646
Counts the capture events at rising edges.
- - Profibus 2646
The event counter is reset when capture input 1 is
activated. - - CIP 110.1.43

Available with firmware version ≥V01.16. ModbusTCP 2646

EtherCAT 300A:2Bh

PROFINET 2646
_Cap1Count Capture input 1 event counter (one-time). - UINT16 CANopen 300A:8h

Counts the capture events. - R/- Modbus 2576

The event counter is reset when capture input 1 is - - Profibus 2576

activated.
- - CIP 110.1.8

ModbusTCP 2576

EtherCAT 300A:8h

PROFINET 2576

0198441113767.13 445
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap1CountCons Capture input 1 event counter (continuous). - UINT16 CANopen 300A:17h

Counts the capture events. - R/- Modbus 2606

The event counter is reset when capture input 1 is - - Profibus 2606

activated.
- - CIP 110.1.23
By reading this parameter, the parameter
"_Cap1PosCons" is updated and locked so it ModbusTCP 2606
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:17h

Available with firmware version ≥V01.12. PROFINET 2606

_Cap1Pos Capture input 1 captured position (one-time). usr_p INT32 CANopen 300A:6h

Captured position at the time of the "capture - R/- Modbus 2572

signal".
- - Profibus 2572
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.6

ModbusTCP 2572

EtherCAT 300A:6h

PROFINET 2572
_Cap1PosCons Capture input 1 captured position (continuous). usr_p INT32 CANopen 300A:18h

Captured position at the time of the "capture - R/- Modbus 2608

signal".
- - Profibus 2608
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.24

By reading the parameter "_Cap1CountCons", ModbusTCP 2608

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:18h
consistent.
PROFINET 2608
Available with firmware version ≥V01.12.
_Cap1PosFallEdge Capture input 1 captured position at falling edge usr_p INT32 CANopen 60BB:0h
(DS402).
- R/- Modbus 2636
This parameter contains the position captured at
the point in time a falling edge was detected. - - Profibus 2636

The captured position is recalculated after - - CIP 110.1.38

"Position Setting" or "Reference Movement".
ModbusTCP 2636
Available with firmware version ≥V01.16.
EtherCAT 60BB:0h

PROFINET 2636
_Cap1PosRisEdge Capture input 1 captured position at rising edge usr_p INT32 CANopen 60BA:0h
(DS402).
- R/- Modbus 2634
This parameter contains the position captured at
the point in time a rising edge was detected. - - Profibus 2634

The captured position is recalculated after - - CIP 110.1.37

"Position Setting" or "Reference Movement".
ModbusTCP 2634
Available with firmware version ≥V01.16.
EtherCAT 60BA:0h

PROFINET 2634

446 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap2CntFall Capture input 2 event counter at falling edges - UINT16 CANopen 300A:2Eh
(DS402).
- R/- Modbus 2652
Counts the capture events at falling edges.
- - Profibus 2652
The event counter is reset when capture input 2 is
activated. - - CIP 110.1.46

Available with firmware version ≥V01.16. ModbusTCP 2652

EtherCAT 300A:2Eh

PROFINET 2652
_Cap2CntRise Capture input 2 event counter at rising edges - UINT16 CANopen 300A:2Dh
(DS402).
- R/- Modbus 2650
Counts the capture events at rising edges.
- - Profibus 2650
The event counter is reset when capture input 2 is
activated. - - CIP 110.1.45

Available with firmware version ≥V01.16. ModbusTCP 2650

EtherCAT 300A:2Dh

PROFINET 2650
_Cap2Count Capture input 2 event counter (one-time). - UINT16 CANopen 300A:9h

Counts the capture events. - R/- Modbus 2578

The event counter is reset when capture input 2 is - - Profibus 2578

activated.
- - CIP 110.1.9

ModbusTCP 2578

EtherCAT 300A:9h

PROFINET 2578
_Cap2CountCons Capture input 2 event counter (continuous). - UINT16 CANopen 300A:19h

Counts the capture events. - R/- Modbus 2610

The event counter is reset when capture input 2 is - - Profibus 2610

activated.
- - CIP 110.1.25
By reading this parameter, the parameter
"_Cap2PosCons" is updated and locked so it ModbusTCP 2610
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:19h

Available with firmware version ≥V01.12. PROFINET 2610

_Cap2Pos Capture input 2 captured position (one-time). usr_p INT32 CANopen 300A:7h

Captured position at the time of the "capture - R/- Modbus 2574

signal".
- - Profibus 2574
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.7

ModbusTCP 2574

EtherCAT 300A:7h

PROFINET 2574

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Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap2PosCons Capture input 2 captured position (continuous). usr_p INT32 CANopen 300A:1Ah

Captured position at the time of the "capture - R/- Modbus 2612

signal".
- - Profibus 2612
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.26

By reading the parameter "_Cap2CountCons", ModbusTCP 2612

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:1Ah
consistent.
PROFINET 2612
Available with firmware version ≥V01.12.
_Cap2PosFallEdge Capture input 2 captured position at falling edge usr_p INT32 CANopen 60BD:0h
(DS402).
- R/- Modbus 2640
This parameter contains the position captured at
the point in time a falling edge was detected. - - Profibus 2640

The captured position is recalculated after - - CIP 110.1.40

"Position Setting" or "Reference Movement".
ModbusTCP 2640
Available with firmware version ≥V01.16.
EtherCAT 60BD:0h

PROFINET 2640
_Cap2PosRisEdge Capture input 2 captured position at rising edge usr_p INT32 CANopen 60BC:0h
(DS402).
- R/- Modbus 2638
This parameter contains the position captured at
the point in time a rising edge was detected. - - Profibus 2638

The captured position is recalculated after - - CIP 110.1.39

"Position Setting" or "Reference Movement".
ModbusTCP 2638
Available with firmware version ≥V01.16.
EtherCAT 60BC:0h

PROFINET 2638
_Cap3Count Capture input 3 event counter (one-time). - UINT16 CANopen 300A:14h

Counts the capture events. - R/- Modbus 2600

The event counter is reset when capture input 3 is - - Profibus 2600

activated.
- - CIP 110.1.20
Available with hardware version ≥RS03.
ModbusTCP 2600

EtherCAT 300A:14h

PROFINET 2600
_Cap3CountCons Capture input 3 event counter (continuous). - UINT16 CANopen 300A:1Bh

Counts the capture events. - R/- Modbus 2614

The event counter is reset when capture input 3 is - - Profibus 2614

activated.
- - CIP 110.1.27
By reading this parameter, the parameter
"_Cap3PosCons" is updated and locked so it ModbusTCP 2614
cannot be changed. Both parameter values
remain consistent. EtherCAT 300A:1Bh

Available with hardware version ≥RS03. PROFINET 2614

Available with firmware version ≥V01.12.

448 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cap3Pos Capture input 3 captured position (one-time). usr_p INT32 CANopen 300A:13h

Captured position at the time of the "capture - R/- Modbus 2598

signal".
- - Profibus 2598
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.19

Available with hardware version ≥RS03. ModbusTCP 2598

EtherCAT 300A:13h

PROFINET 2598
_Cap3PosCons Capture input 3 captured position (continuous). usr_p INT32 CANopen 300A:1Ch

Captured position at the time of the "capture - R/- Modbus 2616

signal".
- - Profibus 2616
The captured position is re-calculated after
"Position Setting" or "Reference Movement". - - CIP 110.1.28

By reading the parameter "_Cap3CountCons", ModbusTCP 2616

this parameter is updated and locked so it cannot
be changed. Both parameter values remain EtherCAT 300A:1Ch
consistent.
PROFINET 2616
Available with hardware version ≥RS03.

Available with firmware version ≥V01.12.

_CapEventCounters Capture inputs 1 and 2 summary of event - UINT16 CANopen 300A:2Fh
counters (DS402).
- R/- Modbus 2654
This parameter contains the counted capture
events. - - Profibus 2654

Bits 0 ... 3: _Cap1CntRise (lowest 4 bits) - - CIP 110.1.47

Bits 4 ... 7: _Cap1CntFall (lowest 4 bits) ModbusTCP 2654

Bits 8 ... 11: _Cap2CntRise (lowest 4 bits) EtherCAT 300A:2Fh

Bits 12 ... 15: _Cap2CntFall (lowest 4 bits) PROFINET 2654

Available with firmware version ≥V01.16.

_CapStatus Status of the capture inputs. - UINT16 CANopen 300A:1h

Read access: - R/- Modbus 2562

Bit 0: Position captured via input CAP1 - - Profibus 2562

Bit 1: Position captured via input CAP2 - - CIP 110.1.1

Bit 2: Position captured via input CAP3 ModbusTCP 2562

EtherCAT 300A:1h

PROFINET 2562
_CommutCntAct Actual value of commutation monitoring counter. - INT16 CANopen 303F:62h

Available with firmware version ≥V01.30. - R/- Modbus 16324

- - Profibus 16324

- - CIP 163.1.98

ModbusTCP 16324

EtherCAT 303F:62h

PROFINET 16324

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Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Cond_State4 Conditions for transition to operating state Ready - UINT16 CANopen 301C:26h
To Switch On.
- R/- Modbus 7244
Signal state:
- - Profibus 7244
0: Condition not met
- - CIP 128.1.38
1: Condition met
ModbusTCP 7244
Bit 0: DC bus or mains voltage
EtherCAT 301C:26h
Bit 1: Inputs for safety function
PROFINET 7244
Bit 2: No configuration download ongoing

Bit 3: Velocity greater than limit value

Bit 4: Absolute position has been set

Bit 5: Holding brake not manually released

_CTRL_ActParSet Active control loop parameter set. - UINT16 CANopen 3011:17h

Value 1: Control loop parameter set 1 is active - R/- Modbus 4398

Value 2: Control loop parameter set 2 is active - - Profibus 4398

A control loop parameter set is active after the - - CIP 117.1.23

time for the parameter switching (CTRL_
ParChgTime) has elapsed. ModbusTCP 4398

EtherCAT 3011:17h

PROFINET 4398
_CTRL_KPid Current controller d component P gain. V/A UINT16 CANopen 3011:1h

This value is calculated on the basis of the motor 0.5 R/- Modbus 4354
parameters.
- per. Profibus 4354
In increments of 0.1 V/A.
1270.0 - CIP 117.1.1

ModbusTCP 4354

EtherCAT 3011:1h

PROFINET 4354
_CTRL_KPiq Current controller q component P gain. V/A UINT16 CANopen 3011:3h

This value is calculated on the basis of the motor 0.5 R/- Modbus 4358
parameters.
- per. Profibus 4358
In increments of 0.1 V/A.
1270.0 - CIP 117.1.3

ModbusTCP 4358

EtherCAT 3011:3h

PROFINET 4358
_CTRL_TNid Current controller d component integral action ms UINT16 CANopen 3011:2h
time.
0.13 R/- Modbus 4356
This value is calculated on the basis of the motor
parameters. - per. Profibus 4356

In increments of 0.01 ms. 327.67 - CIP 117.1.2

ModbusTCP 4356

EtherCAT 3011:2h

PROFINET 4356

450 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_CTRL_TNiq Current controller q component integral action ms UINT16 CANopen 3011:4h

time.
0.13 R/- Modbus 4360
This value is calculated on the basis of the motor
parameters. - per. Profibus 4360

In increments of 0.01 ms. 327.67 - CIP 117.1.4

ModbusTCP 4360

EtherCAT 3011:4h

PROFINET 4360
_DataError Error code for detected synchronous errors (DE - UINT16 CANopen 301B:1Bh
bit).
- R/- Modbus 6966
Drive Profile Lexium:
- - Profibus 6966
Manufacturer-specific error code that caused the
DataError bit to be set. - - CIP 127.1.27

Usually, this is an error that was detected as a ModbusTCP 6966

result to changing of a data value within the
process data. The DataError bit relates to MT- EtherCAT 301B:1Bh
independent parameters.
PROFINET 6966
_DataErrorInfo Additional error information of a detected - UINT16 CANopen 301B:1Dh
DataError (DE bit).
- R/- Modbus 6970
Drive Profile Lexium:
- - Profibus 6970
Indicates the parameter of the mapping that
caused the DE bit to be set. The DE bit is set if - - CIP 127.1.29
MT-independent parameters of the active
mapping cause an error in connection with a write ModbusTCP 6970
command.
EtherCAT 301B:1Dh
Example:
PROFINET 6970
1 = First mapped parameter

2 = Second mapped parameter

etc.
_DCOMopmd_act Active operating mode. - INT16* CANopen 6061:0h

-6 / Manual Tuning / Autotuning: Manual Tuning -6 R/- Modbus 6920

/ Autotuning
0 - Profibus 6920
-3 / Motion Sequence: Motion Sequence
10 - CIP 127.1.4
-2 / Electronic Gear: Electronic Gear
ModbusTCP 6920
-1 / Jog: Jog
EtherCAT 6061:0h
0 / Reserved: Reserved
PROFINET 6920
1 / Profile Position: Profile Position

3 / Profile Velocity: Profile Velocity

4 / Profile Torque: Profile Torque

6 / Homing: Homing

7 / Interpolated Position: Interpolated Position

8 / Cyclic Synchronous Position: Cyclic

Synchronous Position

9 / Cyclic Synchronous Velocity: Cyclic

Synchronous Velocity

10 / Cyclic Synchronous Torque: Cyclic

Synchronous Torque

* Datatype for CANopen: INT8

0198441113767.13 451
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_DCOMstatus DriveCom status word. - UINT16 CANopen 6041:0h

Bit assignments: - R/- Modbus 6916

Bit 0: Operating state Ready To Switch On - - Profibus 6916

Bit 1: Operating state Switched On - - CIP 127.1.2

Bit 2: Operating state Operation Enabled ModbusTCP 6916

Bit 3: Operating state Fault EtherCAT 6041:0h

Bit 4: Voltage Enabled PROFINET 6916

Bit 5: Operating state Quick Stop

Bit 6: Operating state Switch On Disabled

Bit 7: Error of error class 0

Bit 8: HALT request active

Bit 9: Remote

Bit 10: Target Reached

Bit 11: Internal Limit Active

Bit 12: Operating mode-specific

Bit 13: x_err

Bit 14: x_end

Bit 15: ref_ok

_DEV_T_current Temperature of device. °C INT16 CANopen 301C:12h

Mon - R/- Modbus 7204

tdEV - - Profibus 7204

- - CIP 128.1.18

ModbusTCP 7204

EtherCAT 301C:12h

PROFINET 7204
_DPL_BitShiftRefA16 Bit shift for RefA16 for Drive Profile Lexium. - UINT16 CANopen 301B:5h

Velocity scaling may lead to values that cannot be 0 R/- Modbus 6922
represented as 16 bit values. If RefA16 is used,
this parameter indicates the number of bits by 0 - Profibus 6922
which the value is shifted so that transmission is
possible. The master must take into account this 12 - CIP 127.1.5
value prior to transmission and shift the bits to the
right accordingly. The number of bits is ModbusTCP 6922
recalculated each time the power stage is
enabled. EtherCAT 301B:5h

PROFINET 6922
_DPL_driveInput Drive Profile Lexium driveInput. - UINT16 CANopen 301B:28h

- R/- Modbus 6992

- - Profibus 6992

- - CIP 127.1.40

ModbusTCP 6992

EtherCAT 301B:28h

PROFINET 6992

452 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_DPL_driveStat Drive Profile Lexium driveStat. - UINT16 CANopen 301B:25h

- R/- Modbus 6986

- - Profibus 6986

- - CIP 127.1.37

ModbusTCP 6986

EtherCAT 301B:25h

PROFINET 6986
_DPL_mfStat Drive Profile Lexium mfStat. - UINT16 CANopen 301B:26h

- R/- Modbus 6988

- - Profibus 6988

- - CIP 127.1.38

ModbusTCP 6988

EtherCAT 301B:26h

PROFINET 6988
_DPL_motionStat Drive Profile Lexium motionStat. - UINT16 CANopen 301B:27h

- R/- Modbus 6990

- - Profibus 6990

- - CIP 127.1.39

ModbusTCP 6990

EtherCAT 301B:27h

PROFINET 6990
_ECATaddress EtherCAT address used. - UINT16 CANopen 3045:7h

ConF → CoM- EtherCAT slave address set by the master. - R/- Modbus 17678

EcAA 1 - Profibus 17678

- - CIP 169.1.7

ModbusTCP 17678

EtherCAT 3045:7h

PROFINET 17678
_ECATslavestate EtherCAT slave state. - UINT16 CANopen 3045:2h

ConF → CoM- 1 / Init / i n i t : Init - R/- Modbus 17668

EcSS 2 / PreOp / P r o P : Pre-Operational 1 - Profibus 17668

3 / Boot / b o o t : Bootstrap - - CIP 169.1.2

4 / SafeOp / S F o P : Safe-Operational ModbusTCP 17668

8 / Op / o P : Operational EtherCAT 3045:2h

PROFINET 17668

0198441113767.13 453
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ENC_AmplMax Maximum value of the SinCos amplitude. mV UINT16 CANopen 303F:60h

This value is only available if monitoring of the - R/- Modbus 16320

SinCos amplitude has been activated.
- - Profibus 16320
Available with firmware version ≥V01.26.
- - CIP 163.1.96

ModbusTCP 16320

EtherCAT 303F:60h

PROFINET 16320
_ENC_AmplMean Mean value of the SinCos amplitude. mV UINT16 CANopen 303F:5Eh

This value is only available if monitoring of the - R/- Modbus 16316

SinCos amplitude has been activated.
- - Profibus 16316
Available with firmware version ≥V01.26.
- - CIP 163.1.94

ModbusTCP 16316

EtherCAT 303F:5Eh

PROFINET 16316
_ENC_AmplMin Minimum value of the SinCos amplitude. mV UINT16 CANopen 303F:5Fh

This value is only available if monitoring of the - R/- Modbus 16318

SinCos amplitude has been activated.
- - Profibus 16318
Available with firmware version ≥V01.26.
- - CIP 163.1.95

ModbusTCP 16318

EtherCAT 303F:5Fh

PROFINET 16318
_ENC_AmplVal Value of the SinCos amplitude. mV UINT16 CANopen 303F:5Dh

This value is only available if monitoring of the - R/- Modbus 16314

SinCos amplitude has been activated.
- - Profibus 16314
Available with firmware version ≥V01.26.
- - CIP 163.1.93

ModbusTCP 16314

EtherCAT 303F:5Dh

PROFINET 16314
_Enc2Cos Cosine signal of encoder 2. V INT16 CANopen 3051:5h

In increments of 0.001 V. - R/- Modbus 20746

Available with firmware version ≥V01.26. - - Profibus 20746

- - CIP 181.1.5

ModbusTCP 20746

EtherCAT 3051:5h

PROFINET 20746

454 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Enc2Sin Sine signal of encoder 2. V INT16 CANopen 3051:6h

In increments of 0.001 V. - R/- Modbus 20748

Available with firmware version ≥V01.26. - - Profibus 20748

- - CIP 181.1.6

ModbusTCP 20748

EtherCAT 3051:6h

PROFINET 20748
_ENCAnaHallStatu Sequence of Hall effect sensor signals of analog - UINT16 CANopen 3051:3h
encoder.
0 R/- Modbus 20742
This parameter can be used to read the sequence
of the Hall effect sensor signals of an analog - - Profibus 20742
encoder with the interface "SinCos 1Vpp (with
Hall)". 7 - CIP 181.1.3

Available with firmware version ≥V01.01. ModbusTCP 20742

EtherCAT 3051:3h

PROFINET 20742
_ERR_class Error class. - UINT16 CANopen 303C:2h

Value 0: Error class 0 0 R/- Modbus 15364

Value 1: Error class 1 - - Profibus 15364

Value 2: Error class 2 4 - CIP 160.1.2

Value 3: Error class 3 ModbusTCP 15364

Value 4: Error class 4 EtherCAT 303C:2h

PROFINET 15364
_ERR_DCbus DC bus voltage at the time the error was detected. V UINT16 CANopen 303C:7h

In increments of 0.1 V. - R/- Modbus 15374

- - Profibus 15374

- - CIP 160.1.7

ModbusTCP 15374

EtherCAT 303C:7h

PROFINET 15374
_ERR_enable_cycl Number of cycles of enabling the power stage at - UINT16 CANopen 303C:5h
error time.
- R/- Modbus 15370
Number of cycles of enabling the power stage
from the time the control voltage was applied to - - Profibus 15370
the time the error was detected.
- - CIP 160.1.5

ModbusTCP 15370

EtherCAT 303C:5h

PROFINET 15370

0198441113767.13 455
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ERR_enable_time Time between enabling of power stage and s UINT16 CANopen 303C:6h
detection of the error.
- R/- Modbus 15372

- - Profibus 15372

- - CIP 160.1.6

ModbusTCP 15372

EtherCAT 303C:6h

PROFINET 15372
_ERR_motor_I Motor current at the time the error was detected. Arms UINT16 CANopen 303C:9h

In increments of 0.01 Arms. - R/- Modbus 15378

- - Profibus 15378

- - CIP 160.1.9

ModbusTCP 15378

EtherCAT 303C:9h

PROFINET 15378
_ERR_motor_v Motor velocity at the time the error was detected. usr_v INT32 CANopen 303C:8h

- R/- Modbus 15376

- - Profibus 15376

- - CIP 160.1.8

ModbusTCP 15376

EtherCAT 303C:8h

PROFINET 15376
_ERR_number Error code. - UINT16 CANopen 303C:1h

Reading this parameter copies the entire entry for 0 R/- Modbus 15362
the detected error (error class, time of detection of
error, …) to an intermediate memory from which - - Profibus 15362
the elements of the detected error can then be
read. 65535 - CIP 160.1.1

In addition, the read pointer of the error memory is ModbusTCP 15362

automatically set to the next error entry.
EtherCAT 303C:1h

PROFINET 15362
_ERR_powerOn Number of power on cycles. - UINT32 CANopen 303B:2h

Mon 0 R/- Modbus 15108

PoWo - - Profibus 15108

4294967295 - CIP 159.1.2

ModbusTCP 15108

EtherCAT 303B:2h

PROFINET 15108

456 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ERR_qual Additional information on detected error. - UINT16 CANopen 303C:4h

This entry contains additional information on the 0 R/- Modbus 15368

detected error, depending on the error number.
- - Profibus 15368
Example: a parameter address
65535 - CIP 160.1.4

ModbusTCP 15368

EtherCAT 303C:4h

PROFINET 15368
_ERR_temp_dev Temperature of device at the time the error was °C INT16 CANopen 303C:Bh
detected.
- R/- Modbus 15382

- - Profibus 15382

- - CIP 160.1.11

ModbusTCP 15382

EtherCAT 303C:Bh

PROFINET 15382
_ERR_temp_ps Temperature of power stage at the time the error °C INT16 CANopen 303C:Ah
was detected.
- R/- Modbus 15380

- - Profibus 15380

- - CIP 160.1.10

ModbusTCP 15380

EtherCAT 303C:Ah

PROFINET 15380
_ERR_time Time of detection of error. s UINT32 CANopen 303C:3h

With reference to operating hours counter 0 R/- Modbus 15366

- - Profibus 15366

536870911 - CIP 160.1.3

ModbusTCP 15366

EtherCAT 303C:3h

PROFINET 15366
_ErrNumFbParSvc Last error code of fieldbus parameter services. - UINT16 CANopen 3040:43h

Some fieldbusses only provide general error - R/- Modbus 16518

codes if a request for a parameter service is not
successful. This parameter returns the vendor- - - Profibus 16518
specific error code of the last unsuccessful
service. - - CIP 164.1.67

ModbusTCP 16518

EtherCAT 3040:43h

PROFINET 16518

0198441113767.13 457
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_eSM_funct eSM function. - UINT16 CANopen 304C:17h

Mon Active eSM function - R/- Modbus 19502

SMoP Value 0: Safe Torque Off (STO) - - Profibus 19502

Value 1: No function active - - CIP 176.1.23

Value 2: Safe Operating Stop (SOS) ModbusTCP 19502

Value 3: Safely Limited Speed (SLS) EtherCAT 304C:17h

Value 4: Reserved PROFINET 19502

Value 5: Safe Stop 1 (SS1)

Value 6: Safe Stop 2 (SS2)

Value 7: Safe Operating Stop (SOS) after error

Value 8: Safely Limited Speed (SLS) in machine

operating mode Automatic Mode

If bit 15 of the value is set: GUARD_ACK was

triggered

Available with firmware version ≥V01.01.

_eSM_LI_act eSM digital inputs channel B. - UINT16 CANopen 304C:12h

Signal state: - R/- Modbus 19492

0: 0 level - - Profibus 19492

1: 1 level - - CIP 176.1.18

Bit assignments: ModbusTCP 19492

Bit 0: /ESTOP_B EtherCAT 304C:12h

Bit 1: GUARD_B PROFINET 19492

Bit 3: SETUPMODE_B

Bit 4: SETUPENABLE_B

Bit 6: GUARD_ACK

Bit 8: ESMSTART

Bit 9: /INTERLOCK_IN

Available with firmware version ≥V01.01.

_eSM_LI_mask eSM digital inputs channel B mask. - UINT16 CANopen 304C:13h

Mask of active digital inputs - R/- Modbus 19494

0: Digital input is not active - - Profibus 19494

1: Digital input is active - - CIP 176.1.19

Bit assignments: ModbusTCP 19494

See digital inputs channel. EtherCAT 304C:13h

Available with firmware version ≥V01.01. PROFINET 19494

458 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_eSM_LO_act eSM digital outputs channel B. - UINT16 CANopen 304C:14h

Signal state: - R/- Modbus 19496

0: 0 level - - Profibus 19496

1: 1 level - - CIP 176.1.20

Bit assignments: ModbusTCP 19496

Bit 0: CCM24V_OUT_B EtherCAT 304C:14h

Bit 1: Drive operating state 6 Operation Enabled PROFINET 19496

(B)

Bit 2: RELAY_OUT_B

Bit 3: AUXOUT2

Bit 4: /INTERLOCK_OUT

Bits 5 ... 15: Reserved

Available with firmware version ≥V01.01.

_eSM_state eSM operating state. - UINT16 CANopen 304C:16h

Mon 0 / eSM module missing / M i S S : eSM module - R/- Modbus 19500

missing
SMSt - - Profibus 19500
1 / Start / S t r t : Start
- - CIP 176.1.22
2 / Not Ready To Switch On / n r d y : Not
Ready To Switch On ModbusTCP 19500

3 / Switch On Disabled / d i S : Switch On EtherCAT 304C:16h

Disabled
PROFINET 19500
4 / Ready To Switch On / r d y : Ready To
Switch On

6 / Operation Enabled / r u n : Operation

Enabled

7 / Quick Stop / q S t P : Quick Stop

8 / Fault Reaction Active / F L t : Fault Reaction

Active

9 / Fault / F L t : Fault

Status word of eSM state machine

Available with firmware version ≥V01.01.

_eSMVer eSM revision of firmware. - UINT32 CANopen 304C:Fh

Revision of firmware: - R/- Modbus 19486

Bits 0 ... 7: Firmware evolution (dec) - - Profibus 19486

Bits 8 ... 15: Firmware minor revision (dec) - - CIP 176.1.15

Bits 16 ... 23: Firmware major revision (dec) ModbusTCP 19486

Bits 24 ... 31: Reserved EtherCAT 304C:Fh

Available with firmware version ≥V01.01. PROFINET 19486

0198441113767.13 459
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_EthIPgateAct1 Currently used IP address gateway, byte 1. - UINT16 CANopen 3044:1Bh

Byte 1 (x.0.0.0) of the IP address of the gateway. - R/- Modbus 17462

- - Profibus 17462

- - CIP 168.1.27

ModbusTCP 17462

EtherCAT 3044:1Bh

PROFINET 17462
_EthIPgateAct2 Currently used IP address gateway, byte 2. - UINT16 CANopen 3044:1Ch

- R/- Modbus 17464

- - Profibus 17464

- - CIP 168.1.28

ModbusTCP 17464

EtherCAT 3044:1Ch

PROFINET 17464
_EthIPgateAct3 Currently used IP address gateway, byte 3. - UINT16 CANopen 3044:1Dh

- R/- Modbus 17466

- - Profibus 17466

- - CIP 168.1.29

ModbusTCP 17466

EtherCAT 3044:1Dh

PROFINET 17466
_EthIPgateAct4 Currently used IP address gateway, byte 4. - UINT16 CANopen 3044:1Eh

- R/- Modbus 17468

- - Profibus 17468

- - CIP 168.1.30

ModbusTCP 17468

EtherCAT 3044:1Eh

PROFINET 17468
_EthIPmaskAct1 Currently used IP address subnet mask, byte 1. - UINT16 CANopen 3044:17h

Byte 1 (x.0.0.0) of the IP address of the subnet - R/- Modbus 17454

mask.
- - Profibus 17454

- - CIP 168.1.23

ModbusTCP 17454

EtherCAT 3044:17h

PROFINET 17454

460 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_EthIPmaskAct2 Currently used IP address subnet mask, byte 2. - UINT16 CANopen 3044:18h

- R/- Modbus 17456

- - Profibus 17456

- - CIP 168.1.24

ModbusTCP 17456

EtherCAT 3044:18h

PROFINET 17456
_EthIPmaskAct3 Currently used IP address subnet mask, byte 3. - UINT16 CANopen 3044:19h

- R/- Modbus 17458

- - Profibus 17458

- - CIP 168.1.25

ModbusTCP 17458

EtherCAT 3044:19h

PROFINET 17458
_EthIPmaskAct4 Currently used IP address subnet mask, byte 4. - UINT16 CANopen 3044:1Ah

- R/- Modbus 17460

- - Profibus 17460

- - CIP 168.1.26

ModbusTCP 17460

EtherCAT 3044:1Ah

PROFINET 17460
_EthIPmoduleAct1 Currently used IP address Ethernet module, byte - UINT16 CANopen 3044:13h
1.
ConF → CoM- 0 R/- Modbus 17446
Byte 1 (x.0.0.0) of the IP address of the Ethernet
iPA1 module. 0 - Profibus 17446

255 - CIP 168.1.19

ModbusTCP 17446

EtherCAT 3044:13h

PROFINET 17446
_EthIPmoduleAct2 Currently used IP address Ethernet module, byte - UINT16 CANopen 3044:14h
2.
ConF → CoM- 0 R/- Modbus 17448

iPA2 0 - Profibus 17448

255 - CIP 168.1.20

ModbusTCP 17448

EtherCAT 3044:14h

PROFINET 17448

0198441113767.13 461
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_EthIPmoduleAct3 Currently used IP address Ethernet module, byte - UINT16 CANopen 3044:15h
3.
ConF → CoM- 0 R/- Modbus 17450

iPA3 0 - Profibus 17450

255 - CIP 168.1.21

ModbusTCP 17450

EtherCAT 3044:15h

PROFINET 17450
_EthIPmoduleAct4 Currently used IP address Ethernet module, byte - UINT16 CANopen 3044:16h
4.
ConF → CoM- 0 R/- Modbus 17452

iPA4 0 - Profibus 17452

255 - CIP 168.1.22

ModbusTCP 17452

EtherCAT 3044:16h

PROFINET 17452
_EthMAC1 MAC address Ethernet module, byte 1. - UINT16 CANopen 3044:1Fh

- R/- Modbus 17470

- - Profibus 17470

- - CIP 168.1.31

ModbusTCP 17470

EtherCAT 3044:1Fh

PROFINET 17470
_EthMAC2 MAC address Ethernet module, byte 2. - UINT16 CANopen 3044:20h

- R/- Modbus 17472

- - Profibus 17472

- - CIP 168.1.32

ModbusTCP 17472

EtherCAT 3044:20h

PROFINET 17472
_EthMAC3 MAC address Ethernet module, byte 3. - UINT16 CANopen 3044:21h

- R/- Modbus 17474

- - Profibus 17474

- - CIP 168.1.33

ModbusTCP 17474

EtherCAT 3044:21h

PROFINET 17474

462 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_EthMAC4 MAC address Ethernet module, byte 4. - UINT16 CANopen 3044:22h

- R/- Modbus 17476

- - Profibus 17476

- - CIP 168.1.34

ModbusTCP 17476

EtherCAT 3044:22h

PROFINET 17476
_EthMAC5 MAC address Ethernet module, byte 5. - UINT16 CANopen 3044:23h

- R/- Modbus 17478

- - Profibus 17478

- - CIP 168.1.35

ModbusTCP 17478

EtherCAT 3044:23h

PROFINET 17478
_EthMAC6 MAC address Ethernet module, byte 6. - UINT16 CANopen 3044:24h

- R/- Modbus 17480

- - Profibus 17480

- - CIP 168.1.36

ModbusTCP 17480

EtherCAT 3044:24h

PROFINET 17480
_fwNoSlot1 Firmware number of slot 1. - UINT32 CANopen 3002:17h

Example: PR0912.00 - R/- Modbus 558

The value is provided as a decimal value: 91200. - - Profibus 558

If no module is installed, the value 0 is returned. - - CIP 102.1.23

ModbusTCP 558

EtherCAT 3002:17h

PROFINET 558
_fwNoSlot2 Firmware number of slot 2. - UINT32 CANopen 3002:1Ch

Example: PR0912.00 - R/- Modbus 568

The value is provided as a decimal value: 91200. - - Profibus 568

If no module is installed, the value 0 is returned. - - CIP 102.1.28

ModbusTCP 568

EtherCAT 3002:1Ch

PROFINET 568

0198441113767.13 463
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_fwNoSlot3 Firmware number of slot 3. - UINT32 CANopen 3002:21h

Example: PR0912.00 - R/- Modbus 578

The value is provided as a decimal value: 91200. - - Profibus 578

If no module is installed, the value 0 is returned. - - CIP 102.1.33

ModbusTCP 578

EtherCAT 3002:21h

PROFINET 578
_fwNoSlot3Boot Firmware number of slot 3 (Bootloader). - UINT32 CANopen 3002:27h

Example: PR0912.00 - R/- Modbus 590

The value is provided as a decimal value: 91200. - - Profibus 590

If no module is installed, the value 0 is returned. - - CIP 102.1.39

ModbusTCP 590

EtherCAT 3002:27h

PROFINET 590
_fwNoSlot3FPGA Firmware number of slot 3 (FPGA). - UINT32 CANopen 3002:24h

Example: PR0912.00 - R/- Modbus 584

The value is provided as a decimal value: 91200. - - Profibus 584

If no module is installed, the value 0 is returned. - - CIP 102.1.36

ModbusTCP 584

EtherCAT 3002:24h

PROFINET 584
_fwRevSlot1 Firmware revision of slot 1. - UINT16 CANopen 3002:19h

The version format is XX.YY.ZZ. - R/- Modbus 562

Part XX.YY is contained in parameter - - Profibus 562

_fwVerSlot1.
- - CIP 102.1.25
Part ZZ is used for quality evolution and contained
in this parameter. ModbusTCP 562

If no module is installed, the value 0 is returned. EtherCAT 3002:19h

Example: V01.23.45 PROFINET 562

The value is provided as a decimal value: 45

_fwRevSlot2 Firmware revision of slot 2. - UINT16 CANopen 3002:1Eh

The version format is XX.YY.ZZ. - R/- Modbus 572

Part XX.YY is contained in parameter - - Profibus 572

_fwVersSlot2.
- - CIP 102.1.30
Part ZZ is used for quality evolution and contained
in this parameter. ModbusTCP 572

If no module is installed, the value 0 is returned. EtherCAT 3002:1Eh

Example: V01.23.45 PROFINET 572

The value is provided as a decimal value: 45

464 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_fwRevSlot3 Firmware revision of slot 3. - UINT16 CANopen 3002:23h

The version format is XX.YY.ZZ. - R/- Modbus 582

Part XX.YY is contained in parameter - - Profibus 582

_fwVerSlot3.
- - CIP 102.1.35
Part ZZ is used for quality evolution and contained
in this parameter. ModbusTCP 582

If no module is installed, the value 0 is returned. EtherCAT 3002:23h

Example: V01.23.45 PROFINET 582

The value is provided as a decimal value: 45

_fwRevSlot3Boot Firmware revision of slot 3 (Bootloader). - UINT16 CANopen 3002:29h

ConF → inF- The version format is XX.YY.ZZ.BB. - R/- Modbus 594

brEV Part XX.YY is contained in parameter - - Profibus 594

_fwVerSlot3Boot.
- - CIP 102.1.41
Part ZZ.BB is used for quality evolution and
contained in this parameter. ModbusTCP 594

If no module is installed, the value 0 is returned. EtherCAT 3002:29h

Example: V01.23.45.67 PROFINET 594

The value is provided as a decimal value: 4567

_fwRevSlot3FPGA Firmware revision of slot 3 (FPGA). - UINT16 CANopen 3002:26h

ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 588

FrEV Part XX.YY is contained in parameter - - Profibus 588

_fwVerSlot3FPGA.
- - CIP 102.1.38
Part ZZ is used for quality evolution and contained
in this parameter. ModbusTCP 588

If no module is installed, the value 0 is returned. EtherCAT 3002:26h

Example: V01.23.45 PROFINET 588

The value is provided as a decimal value: 45

_fwVersSlot1 Firmware version of slot 1. - UINT16 CANopen 3002:18h

The version format is XX.YY.ZZ. - R/- Modbus 560

Part XX.YY is contained in this parameter. - - Profibus 560

Part ZZ is contained in parameter _fwRevSlot1. - - CIP 102.1.24

If no module is installed, the value 0 is returned. ModbusTCP 560

Example: V01.23.45 EtherCAT 3002:18h

The value is provided as a decimal value: 123 PROFINET 560

_fwVersSlot2 Firmware version of slot 2. - UINT16 CANopen 3002:1Dh

The version format is XX.YY.ZZ. - R/- Modbus 570

Part XX.YY is contained in this parameter. - - Profibus 570

Part ZZ is contained in parameter _fwRevSlot2. - - CIP 102.1.29

If no module is installed, the value 0 is returned. ModbusTCP 570

Example: V01.23.45 EtherCAT 3002:1Dh

The value is provided as a decimal value: 123 PROFINET 570

0198441113767.13 465
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_fwVersSlot3 Firmware version of slot 3. - UINT16 CANopen 3002:22h

The version format is XX.YY.ZZ. - R/- Modbus 580

Part XX.YY is contained in this parameter. - - Profibus 580

Part ZZ is contained in parameter _fwRevSlot3. - - CIP 102.1.34

If no module is installed, the value 0 is returned. ModbusTCP 580

Example: V01.23.45 EtherCAT 3002:22h

The value is provided as a decimal value: 123 PROFINET 580

_fwVersSlot3Boot Firmware version of slot 3 (Bootloader). - UINT16 CANopen 3002:28h

ConF → inF- The version format is XX.YY.ZZ.BB. - R/- Modbus 592

bVEr Part XX.YY is contained in this parameter. - - Profibus 592

Part ZZ.BB is contained in parameter - - CIP 102.1.40

_fwRevSlot3Boot.
ModbusTCP 592
If no module is installed, the value 0 is returned.
EtherCAT 3002:28h
Example: V01.23.45.67
PROFINET 592
The value is provided as a decimal value: 123

_fwVersSlot3FPGA Firmware version of slot 3 (FPGA). - UINT16 CANopen 3002:25h

ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 586

FVEr Part XX.YY is contained in this parameter. - - Profibus 586

Part ZZ is contained in parameter - - CIP 102.1.37

_fwRevSlot3FPGA.
ModbusTCP 586
If no module is installed, the value 0 is returned.
EtherCAT 3002:25h
Example: V01.23.45
PROFINET 586
The value is provided as a decimal value: 123

_GEAR_p_diff Position deviation in operating mode Electronic Inc INT32 CANopen 301F:Dh
Gear.
- R/- Modbus 7962
Position deviation between reference position and
actual position with the methods "Position - - Profibus 7962
Synchronization Without Compensation
Movement" and "Position Synchronization With - - CIP 131.1.13
Compensation Movement".
ModbusTCP 7962
A position deviation can be caused by a
movement in a blocked direction (parameter EtherCAT 301F:Dh
GEARdir_enabl) or by a velocity limitation
(parameter GEARpos_v_max). PROFINET 7962

Available with firmware version ≥V01.10.

_HMdisREFtoIDX Distance from switching point to index pulse. revolution INT32 CANopen 3028:Ch

Allows you to verify the distance between the - R/- Modbus 10264
index pulse and the switching point and serves as
a criterion for determining whether the reference - - Profibus 10264
movement with index pulse can be reproduced.
- - CIP 140.1.12
The parameter _HMdisREFtoIDX_usr allows you
to enter the value in user-defined units. ModbusTCP 10264

In increments of 0.0001 revolution. EtherCAT 3028:Ch

PROFINET 10264

466 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_HMdisREFtoIDX_ Distance from switching point to index pulse. usr_p INT32 CANopen 3028:Fh
usr
Allows you to verify the distance between the -2147483648 R/- Modbus 10270
index pulse and the switching point and serves as
a criterion for determining whether the reference - - Profibus 10270
movement with index pulse can be reproduced.
2147483647 - CIP 140.1.15
Available with firmware version ≥V01.03.
ModbusTCP 10270

EtherCAT 3028:Fh

PROFINET 10270
_hwVersCPU Hardware version of control board. - UINT16 CANopen 3002:12h

- R/- Modbus 548

- - Profibus 548

- - CIP 102.1.18

ModbusTCP 548

EtherCAT 3002:12h

PROFINET 548
_hwVersPS Hardware version of power stage. - UINT16 CANopen 3002:14h

- R/- Modbus 552

- - Profibus 552

- - CIP 102.1.20

ModbusTCP 552

EtherCAT 3002:14h

PROFINET 552
_hwVersSlot1 Hardware version of module in slot 1. - UINT16 CANopen 3002:16h

- R/- Modbus 556

- - Profibus 556

- - CIP 102.1.22

ModbusTCP 556

EtherCAT 3002:16h

PROFINET 556
_hwVersSlot2 Hardware version of module in slot 2. - UINT16 CANopen 3002:1Bh

- R/- Modbus 566

- - Profibus 566

- - CIP 102.1.27

ModbusTCP 566

EtherCAT 3002:1Bh

PROFINET 566

0198441113767.13 467
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_hwVersSlot3 Hardware version of module in slot 3. - UINT16 CANopen 3002:20h

- R/- Modbus 576

- - Profibus 576

- - CIP 102.1.32

ModbusTCP 576

EtherCAT 3002:20h

PROFINET 576
_I_act Total motor current. Arms INT16 CANopen 301E:3h

Mon In increments of 0.01 Arms. - R/- Modbus 7686

iAct - - Profibus 7686

- - CIP 130.1.3

ModbusTCP 7686

EtherCAT 301E:3h

PROFINET 7686
_Id_act_rms Actual motor current (d component, field Arms INT16 CANopen 301E:2h
weakening).
- R/- Modbus 7684
In increments of 0.01 Arms.
- - Profibus 7684

- - CIP 130.1.2

ModbusTCP 7684

EtherCAT 301E:2h

PROFINET 7684
_Id_ref_rms Reference motor current (d component, field Arms INT16 CANopen 301E:11h
weakening).
- R/- Modbus 7714
In increments of 0.01 Arms.
- - Profibus 7714

- - CIP 130.1.17

ModbusTCP 7714

EtherCAT 301E:11h

PROFINET 7714
_Imax_act Currently effective current limitation. Arms UINT16 CANopen 301C:28h

Value of the currently effective current limitation. - R/- Modbus 7248

This is one of the following values (whichever is
lowest): - - Profibus 7248

- CTRL_I_max (only during normal operation) - - CIP 128.1.40

- LIM_I_maxQSTP (only during Quick Stop) ModbusTCP 7248

- LIM_I_maxHalt (only during Halt) EtherCAT 301C:28h

- Current limitation via digital input PROFINET 7248

- _M_I_max (only if motor is connected)

- _PS_I_max

Limitations caused by I2t monitoring are also

taken into account.

In increments of 0.01 Arms.

468 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Imax_system Current limitation of the system. Arms UINT16 CANopen 301C:27h

This parameter specifies the maximum system - R/- Modbus 7246

current. This is the lower value of the maximum
motor current and the maximum power stage - - Profibus 7246
current. If no motor is connected, only the
maximum power stage current is taken into - - CIP 128.1.39
account in this parameter.
ModbusTCP 7246
In increments of 0.01 Arms.
EtherCAT 301C:27h

PROFINET 7246
_Inc_ENC2Raw Raw increment value of encoder 2. EncInc INT32 CANopen 301E:25h

This parameter is only needed for commissioning - R/- Modbus 7754

of encoder 2 in case of an indeterminable
machine encoder resolution. - - Profibus 7754

Available with firmware version ≥V01.01. - - CIP 130.1.37

ModbusTCP 7754

EtherCAT 301E:25h

PROFINET 7754
_InvalidParam Modbus address of parameter with invalid value. - UINT16 CANopen 301C:6h

If a configuration error is detected, the Modbus - R/- Modbus 7180

address of the parameter with an invalid value is
indicated here. 0 - Profibus 7180

- - CIP 128.1.6

ModbusTCP 7180

EtherCAT 301C:6h

PROFINET 7180
_IO_act Physical status of the digital inputs and outputs. - UINT16 CANopen 3008:1h

Low byte: - R/- Modbus 2050

Bit 0: DI0 - - Profibus 2050

Bit 1: DI1 - - CIP 108.1.1

Bit 2: DI2 ModbusTCP 2050

Bit 3: DI3 EtherCAT 3008:1h

Bit 4: DI4 PROFINET 2050

Bit 5: DI5

High byte:

Bit 8: DQ0

Bit 9: DQ1

Bit 10: DQ2

_IO_DI_act Status of digital inputs. - UINT16 CANopen 3008:Fh

Mon Bit assignments: - R/- Modbus 2078

diMo Bit 0: DI0 - - Profibus 2078

Bit 1: DI1 - - CIP 108.1.15

Bit 2: DI2 ModbusTCP 2078

Bit 3: DI3 EtherCAT 3008:Fh

Bit 4: DI4 PROFINET 2078

Bit 5: DI5

0198441113767.13 469
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IO_DQ_act Status of digital outputs. - UINT16 CANopen 3008:10h

Mon Bit assignments: - R/- Modbus 2080

doMo Bit 0: DQ0 - - Profibus 2080

Bit 1: DQ1 - - CIP 108.1.16

Bit 2: DQ2 ModbusTCP 2080

EtherCAT 3008:10h

PROFINET 2080
_IO_STO_act Status of the inputs for the safety-related function - UINT16 CANopen 3008:26h
STO.
Mon - R/- Modbus 2124
Bit 0: STO_A
Sto - - Profibus 2124
Bit 1: STO_B
- - CIP 108.1.38
If no safety module eSM is inserted, this
parameter indicates the status of the signal inputs ModbusTCP 2124
STO_A and STO_B.
EtherCAT 3008:26h
If a safety module eSM is inserted, the safety
function STO can be triggered via the signal inputs PROFINET 2124
or via the safety module eSM. This parameter
indicates whether or not the safety function STO
was triggered (regardless of whether it was
triggered via the signal inputs or via the safety
module eSM).

_IOdataMtoS01 I/O parameter data Master to Slave - parameter - UINT32 CANopen 3040:1h
01.
0 R/- Modbus 16386
Data of the cyclic communication between the
master and slave. FFFFFFFFhex - Profibus 16386

This parameter contains the data of the first 4294967295 - CIP 164.1.1
parameter mapped from the master to the slave.
ModbusTCP 16386
The parameters _IOdataMtoS02 to
_IOdataMtoS16 contain the data of the remaining EtherCAT 3040:1h
mapped parameters.
PROFINET 16386
_IOdataStoM01 I/O parameter data Slave to Master - parameter - UINT32 CANopen 3040:21h
01.
0 R/- Modbus 16450
Data of the cyclic communication between the
master and slave. FFFFFFFFhex - Profibus 16450

This parameter contains the data of the first 4294967295 - CIP 164.1.33
parameter mapped from the slave to the master.
ModbusTCP 16450
The parameters _IOdataStoM02 to
_IOdataStoM16 contain the data of the remaining EtherCAT 3040:21h
mapped parameters.
PROFINET 16450
_IOM1_AI11_act IOM1 Value of input voltage of AI11. mV INT16 CANopen 304F:1h

Mon Available with firmware version ≥V01.06. -10000 R/- Modbus 20226

An11 - - Profibus 20226

10000 - CIP 179.1.1

ModbusTCP 20226

EtherCAT 304F:1h

PROFINET 20226

470 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IOM1_AI12_act IOM1 Value of input voltage of AI12. mV INT16 CANopen 304F:5h

Mon Available with firmware version ≥V01.06. -10000 R/- Modbus 20234

An12 - - Profibus 20234

10000 - CIP 179.1.5

ModbusTCP 20234

EtherCAT 304F:5h

PROFINET 20234
_IOM1_AQ11_ref IOM1 Value of AQ11. - INT16 CANopen 304F:27h

Mon Unit depends on setting in parameter IOM1_AQ_ -10000 R/- Modbus 20302
mode.
Ao11 - - Profibus 20302
If setting is 'Voltage':
20000 - CIP 179.1.39
Unit: mV
ModbusTCP 20302
If setting is 'Current':
EtherCAT 304F:27h
Unit: µA
PROFINET 20302
Available with firmware version ≥V01.06.
_IOM1_AQ12_ref IOM1 Value of AQ12. - INT16 CANopen 304F:31h

Mon Unit depends on setting in parameter IOM1_AQ_ -10000 R/- Modbus 20322
mode.
Ao12 - - Profibus 20322
If setting is 'Voltage':
20000 - CIP 179.1.49
Unit: mV
ModbusTCP 20322
If setting is 'Current':
EtherCAT 304F:31h
Unit: µA
PROFINET 20322
Available with firmware version ≥V01.06.
_IOM1_DI_act IOM1 Status of digital inputs. - UINT16 CANopen 304F:35h

Mon Bit assignments: - R/- Modbus 20330

di1X Bit 0: DI10 - - Profibus 20330

Bit 1: DI11 - - CIP 179.1.53

Bit 2: DI12 ModbusTCP 20330

Bit 3: DI13 EtherCAT 304F:35h

Available with firmware version ≥V01.06. PROFINET 20330

_IOM1_DQ_act IOM1 Status of digital outputs. - UINT16 CANopen 304F:36h

Mon Bit assignments: - R/- Modbus 20332

do1X Bit 0: DQ10 - - Profibus 20332

Bit 1: DQ11 - - CIP 179.1.54

Available with firmware version ≥V01.06. ModbusTCP 20332

EtherCAT 304F:36h

PROFINET 20332

0198441113767.13 471
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IOmappingMtoS01 I/O parameter mapping Master to Slave - - UINT16 CANopen 3040:11h

parameter 01.
0 R/- Modbus 16418
Mapping of the cyclic communication between the
master and slave. FFFFhex - Profibus 16418

This parameter contains the mapping of the first 65535 - CIP 164.1.17
parameter mapped from the master to the slave.
ModbusTCP 16418
The parameters _IOmappingMtoS02 to
_IOmappingMtoS16 contain the mapping of the EtherCAT 3040:11h
remaining mapped parameters.
PROFINET 16418
_IOmappingStoM01 I/O parameter mapping Slave to Master - - UINT16 CANopen 3040:31h
parameter 01.
0 R/- Modbus 16482
Mapping of the cyclic communication between the
master and slave. FFFFhex - Profibus 16482

This parameter contains the mapping of the first 65535 - CIP 164.1.49
parameter mapped from the slave to the master.
ModbusTCP 16482
The parameters _IOmappingStoM02 to
_IOmappingStoM16 contain the mapping of the EtherCAT 3040:31h
remaining mapped parameters.
PROFINET 16482
_IPAddressAct1 Currently used IP address, byte 1. - UINT16 CANopen 303E:4h

ConF → CoM- Byte 1 (x.0.0.0) of the IP address. 0 R/- Modbus 15880

iPA1 Available with firmware version ≥V01.26. 0 - Profibus 15880

255 - CIP 162.1.4

ModbusTCP 15880

EtherCAT 303E:4h

PROFINET 15880
_IPAddressAct2 Currently used IP address, byte 2. - UINT16 CANopen 303E:5h

ConF → CoM- Byte 2 (0.x.0.0) of the IP address. 0 R/- Modbus 15882

iPA2 Available with firmware version ≥V01.26. 0 - Profibus 15882

255 - CIP 162.1.5

ModbusTCP 15882

EtherCAT 303E:5h

PROFINET 15882
_IPAddressAct3 Currently used IP address, byte 3. - UINT16 CANopen 303E:6h

ConF → CoM- Byte 3 (0.0.x.0) of the IP address. 0 R/- Modbus 15884

iPA3 Available with firmware version ≥V01.26. 0 - Profibus 15884

255 - CIP 162.1.6

ModbusTCP 15884

EtherCAT 303E:6h

PROFINET 15884

472 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IPAddressAct4 Currently used IP address, byte 4. - UINT16 CANopen 303E:7h

ConF → CoM- Byte 4 (0.0.0.x) of the IP address. 0 R/- Modbus 15886

iPA4 Available with firmware version ≥V01.26. 0 - Profibus 15886

255 - CIP 162.1.7

ModbusTCP 15886

EtherCAT 303E:7h

PROFINET 15886
_IPgateAct1 Currently used IP address gateway, byte 1. - UINT16 CANopen 303E:Ch

Byte 1 (x.0.0.0) of the IP address of the gateway. 0 R/- Modbus 15896

Available with firmware version ≥V01.26. 0 - Profibus 15896

255 - CIP 162.1.12

ModbusTCP 15896

EtherCAT 303E:Ch

PROFINET 15896
_IPgateAct2 Currently used IP address gateway, byte 2. - UINT16 CANopen 303E:Dh

Byte 2 (0.x.0.0) of the IP address of the gateway. 0 R/- Modbus 15898

Available with firmware version ≥V01.26. 0 - Profibus 15898

255 - CIP 162.1.13

ModbusTCP 15898

EtherCAT 303E:Dh

PROFINET 15898
_IPgateAct3 Currently used IP address gateway, byte 3. - UINT16 CANopen 303E:Eh

Byte 3 (0.0.x.0) of the IP address of the gateway. 0 R/- Modbus 15900

Available with firmware version ≥V01.26. 0 - Profibus 15900

255 - CIP 162.1.14

ModbusTCP 15900

EtherCAT 303E:Eh

PROFINET 15900
_IPgateAct4 Currently used IP address gateway, byte 4. - UINT16 CANopen 303E:Fh

Byte 4 (0.0.0.x) of the IP address of the gateway. 0 R/- Modbus 15902

Available with firmware version ≥V01.26. 0 - Profibus 15902

255 - CIP 162.1.15

ModbusTCP 15902

EtherCAT 303E:Fh

PROFINET 15902

0198441113767.13 473
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_IPmaskAct1 Currently used IP address subnet mask, byte 1. - UINT16 CANopen 303E:8h

Byte 1 (x.0.0.0) of the IP address of the subnet 0 R/- Modbus 15888

mask.
0 - Profibus 15888
Available with firmware version ≥V01.26.
255 - CIP 162.1.8

ModbusTCP 15888

EtherCAT 303E:8h

PROFINET 15888
_IPmaskAct2 Currently used IP address subnet mask, byte 2. - UINT16 CANopen 303E:9h

Byte 2 (0.x.0.0) of the IP address of the subnet 0 R/- Modbus 15890

mask.
0 - Profibus 15890
Available with firmware version ≥V01.26.
255 - CIP 162.1.9

ModbusTCP 15890

EtherCAT 303E:9h

PROFINET 15890
_IPmaskAct3 Currently used IP address subnet mask, byte 3. - UINT16 CANopen 303E:Ah

Byte 3 (0.0.x.0) of the IP address of the subnet 0 R/- Modbus 15892

mask.
0 - Profibus 15892
Available with firmware version ≥V01.26.
255 - CIP 162.1.10

ModbusTCP 15892

EtherCAT 303E:Ah

PROFINET 15892
_IPmaskAct4 Currently used IP address subnet mask, byte 4. - UINT16 CANopen 303E:Bh

Byte 4 (0.0.0.x) of the IP address of the subnet 0 R/- Modbus 15894

mask.
0 - Profibus 15894
Available with firmware version ≥V01.26.
255 - CIP 162.1.11

ModbusTCP 15894

EtherCAT 303E:Bh

PROFINET 15894
_Iq_act_rms Actual motor current (q component, generating Arms INT16 CANopen 301E:1h
torque).
Mon - R/- Modbus 7682
In increments of 0.01 Arms.
qAct - - Profibus 7682

- - CIP 130.1.1

ModbusTCP 7682

EtherCAT 301E:1h

PROFINET 7682

474 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Iq_ref_rms Reference motor current (q component, Arms INT16 CANopen 301E:10h

generating torque).
Mon - R/- Modbus 7712
In increments of 0.01 Arms.
qrEF - - Profibus 7712

- - CIP 130.1.16

ModbusTCP 7712

EtherCAT 301E:10h

PROFINET 7712
_LastError Detected error causing a stop (error classes 1 to - UINT16 CANopen 603F:0h
4).
Mon - R/- Modbus 7178
Error code of the most recent detected error.
LFLt Consecutive detected errors do not overwrite this - - Profibus 7178
error code.
- - CIP 128.1.5
Example: If an error response to a detected limit
switch error causes overvoltage, this parameter ModbusTCP 7178
contains the code of the detected limit switch
error. EtherCAT 603F:0h

Exception: Detected errors of error class 4 PROFINET 7178

overwrite existing entries.

_LastError_Qual Additional info on most recent error. - UINT16 CANopen 301C:1Fh

This parameter contains additional information on - R/- Modbus 7230

the most recent detected error, depending on the
error code. For example: a parameter address. 0 - Profibus 7230

- - CIP 128.1.31

ModbusTCP 7230

EtherCAT 301C:1Fh

PROFINET 7230
_LastWarning Code of most recent error of error class 0. - UINT16 CANopen 301C:9h

Mon If the error is no longer active, the code is stored - R/- Modbus 7186
until the next Fault Reset.
LWrn - - Profibus 7186
Value 0: No error of error class 0
- - CIP 128.1.9

ModbusTCP 7186

EtherCAT 301C:9h

PROFINET 7186
_M_BRK_T_apply Holding brake application time. ms UINT16 CANopen 300D:21h

- R/- Modbus 3394

- - Profibus 3394

- - CIP 113.1.33

ModbusTCP 3394

EtherCAT 300D:21h

PROFINET 3394

0198441113767.13 475
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_BRK_T_release Holding brake release time. ms UINT16 CANopen 300D:22h

- R/- Modbus 3396

- - Profibus 3396

- - CIP 113.1.34

ModbusTCP 3396

EtherCAT 300D:22h

PROFINET 3396
_M_Enc_Cosine Voltage of cosine signal of encoder. V INT16 CANopen 301C:2Bh

In increments of 0.001 V. - R/- Modbus 7254

Available with firmware version ≥V01.26. - - Profibus 7254

- - CIP 128.1.43

ModbusTCP 7254

EtherCAT 301C:2Bh

PROFINET 7254
_M_Enc_Sine Voltage of sine signal of encoder. V INT16 CANopen 301C:2Ch

In increments of 0.001 V. - R/- Modbus 7256

Available with firmware version ≥V01.26. - - Profibus 7256

- - CIP 128.1.44

ModbusTCP 7256

EtherCAT 301C:2Ch

PROFINET 7256
_M_Encoder Type of motor encoder. - UINT16 CANopen 300D:3h

ConF → inF- 1 / SinCos With HiFa / S W h i : SinCos with - R/- Modbus 3334
Hiperface
SEnS - - Profibus 3334
2 / SinCos Without HiFa / S W o h : SinCos
without Hiperface - - CIP 113.1.3

3 / SinCos With Hall / S W h A : SinCos with Hall ModbusTCP 3334

4 / SinCos With EnDat / S W E n : SinCos with EtherCAT 300D:3h

EnDat
PROFINET 3334
5 / EnDat Without SinCos / E n d A : EnDat
without SinCos

6 / Resolver / r E S o : Resolver

7 / Hall / h A L L : Hall (not supported yet)

8 / BISS / b i S S : BISS

High byte:

Value 0: Rotary encoder

Value 1: Linear encoder

476 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_HoldingBrake Holding brake identification. - UINT16 CANopen 300D:20h

Value 0: Motor without holding brake - R/- Modbus 3392

Value 1: Motor with holding brake - - Profibus 3392

- - CIP 113.1.32

ModbusTCP 3392

EtherCAT 300D:20h

PROFINET 3392
_M_I_0 Continuous stall current of motor. Arms UINT16 CANopen 300D:13h

In increments of 0.01 Arms. - R/- Modbus 3366

- - Profibus 3366

- - CIP 113.1.19

ModbusTCP 3366

EtherCAT 300D:13h

PROFINET 3366
_M_I_max Maximum current of motor. Arms UINT16 CANopen 300D:6h

ConF → inF- In increments of 0.01 Arms. - R/- Modbus 3340

MiMA - - Profibus 3340

- - CIP 113.1.6

ModbusTCP 3340

EtherCAT 300D:6h

PROFINET 3340
_M_I_nom Nominal current of motor. Arms UINT16 CANopen 300D:7h

ConF → inF- In increments of 0.01 Arms. - R/- Modbus 3342

Mino - - Profibus 3342

- - CIP 113.1.7

ModbusTCP 3342

EtherCAT 300D:7h

PROFINET 3342
_M_I2t Maximum permissible time for maximum current ms UINT16 CANopen 300D:11h
of motor.
- R/- Modbus 3362

- - Profibus 3362

- - CIP 113.1.17

ModbusTCP 3362

EtherCAT 300D:11h

PROFINET 3362

0198441113767.13 477
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_Jrot Moment of inertia of motor. motor_f UINT32 CANopen 300D:Ch

Units: - R/- Modbus 3352

Rotary motors: kgcm2 - - Profibus 3352

Linear motors: kg - - CIP 113.1.12

In increments of 0.001 motor_f. ModbusTCP 3352

EtherCAT 300D:Ch

PROFINET 3352
_M_kE Voltage constant kE of motor. motor_u UINT32 CANopen 300D:Bh

Voltage constant in Vrms at 1000 RPM. - R/- Modbus 3350

Units: - - Profibus 3350

Rotary motors: Vrms/RPM - - CIP 113.1.11

Linear motors: Vrms/(m/s) ModbusTCP 3350

In increments of 0.1 motor_u. EtherCAT 300D:Bh

PROFINET 3350
_M_L_d Inductance d component of motor. mH UINT16 CANopen 300D:Fh

In increments of 0.01 mH. - R/- Modbus 3358

- - Profibus 3358

- - CIP 113.1.15

ModbusTCP 3358

EtherCAT 300D:Fh

PROFINET 3358
_M_L_q Inductance q component of motor. mH UINT16 CANopen 300D:Eh

In increments of 0.01 mH. - R/- Modbus 3356

- - Profibus 3356

- - CIP 113.1.14

ModbusTCP 3356

EtherCAT 300D:Eh

PROFINET 3356
_M_load Load of motor. % INT16 CANopen 301C:1Ah

Mon - R/- Modbus 7220

LdFM - - Profibus 7220

- - CIP 128.1.26

ModbusTCP 7220

EtherCAT 301C:1Ah

PROFINET 7220

478 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_M_0 Continuous stall torque of motor. motor_m UINT16 CANopen 300D:16h

A value of 100 % in operating mode Profile Torque - R/- Modbus 3372

corresponds to this parameter.
- - Profibus 3372
Units:
- - CIP 113.1.22
Rotary motors: Ncm
ModbusTCP 3372
Linear motors: N
EtherCAT 300D:16h

PROFINET 3372
_M_M_max Maximum torque of motor. Nm UINT16 CANopen 300D:9h

In increments of 0.1 Nm. - R/- Modbus 3346

- - Profibus 3346

- - CIP 113.1.9

ModbusTCP 3346

EtherCAT 300D:9h

PROFINET 3346
_M_M_nom Nominal torque/force of motor. motor_m UINT16 CANopen 300D:8h

Units: - R/- Modbus 3344

Rotary motors: Ncm - - Profibus 3344

Linear motors: N - - CIP 113.1.8

ModbusTCP 3344

EtherCAT 300D:8h

PROFINET 3344
_M_maxoverload Maximum value of overload of motor. % INT16 CANopen 301C:1Bh

Maximum overload of motor during the last 10 - R/- Modbus 7222

seconds.
- - Profibus 7222

- - CIP 128.1.27

ModbusTCP 7222

EtherCAT 301C:1Bh

PROFINET 7222
_M_n_max Maximum permissible speed of rotation/velocity of motor_v UINT16 CANopen 300D:4h
motor.
ConF → inF- - R/- Modbus 3336
Units:
MnMA - - Profibus 3336
Rotary motors: RPM
- - CIP 113.1.4
Linear motors: mm/s
ModbusTCP 3336

EtherCAT 300D:4h

PROFINET 3336

0198441113767.13 479
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_n_nom Nominal speed of rotation/velocity of motor. motor_v UINT16 CANopen 300D:5h

Units: - R/- Modbus 3338

Rotary motors: RPM - - Profibus 3338

Linear motors: mm/s - - CIP 113.1.5

ModbusTCP 3338

EtherCAT 300D:5h

PROFINET 3338
_M_overload Overload of motor (I2t). % INT16 CANopen 301C:19h

- R/- Modbus 7218

- - Profibus 7218

- - CIP 128.1.25

ModbusTCP 7218

EtherCAT 301C:19h

PROFINET 7218
_M_Polepair Number of pole pairs of motor. - UINT16 CANopen 300D:14h

- R/- Modbus 3368

- - Profibus 3368

- - CIP 113.1.20

ModbusTCP 3368

EtherCAT 300D:14h

PROFINET 3368
_M_PolePairPitch Pole pair pitch of motor. mm UINT16 CANopen 300D:23h

In increments of 0.01 mm. - R/- Modbus 3398

Available with firmware version ≥V01.01. - - Profibus 3398

- - CIP 113.1.35

ModbusTCP 3398

EtherCAT 300D:23h

PROFINET 3398
_M_R_UV Winding resistance of motor. Ω UINT16 CANopen 300D:Dh

In increments of 0.01 Ω. - R/- Modbus 3354

- - Profibus 3354

- - CIP 113.1.13

ModbusTCP 3354

EtherCAT 300D:Dh

PROFINET 3354

480 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_M_T_current Temperature of motor. °C INT16 CANopen 301C:11h

Mon - R/- Modbus 7202

tMot - - Profibus 7202

- - CIP 128.1.17

ModbusTCP 7202

EtherCAT 301C:11h

PROFINET 7202
_M_T_max Maximum temperature of motor. °C INT16 CANopen 300D:10h

- R/- Modbus 3360

- - Profibus 3360

- - CIP 113.1.16

ModbusTCP 3360

EtherCAT 300D:10h

PROFINET 3360
_M_Type Motor type. - UINT32 CANopen 300D:2h

ConF → inF- Value 0: No motor selected - R/- Modbus 3332

MtyP Value >0: Connected motor type - - Profibus 3332

- - CIP 113.1.2

ModbusTCP 3332

EtherCAT 300D:2h

PROFINET 3332
_M_U_max Maximum voltage of motor. V UINT16 CANopen 300D:19h

In increments of 0.1 V. - R/- Modbus 3378

- - Profibus 3378

- - CIP 113.1.25

ModbusTCP 3378

EtherCAT 300D:19h

PROFINET 3378
_M_U_nom Nominal voltage of motor. V UINT16 CANopen 300D:Ah

In increments of 0.1 V. - R/- Modbus 3348

- - Profibus 3348

- - CIP 113.1.10

ModbusTCP 3348

EtherCAT 300D:Ah

PROFINET 3348

0198441113767.13 481
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ManuSdoAbort CANopen manufacturer-specific SDO abort code. - UINT16 CANopen 3041:Ah

Provides more detailed information on a general - R/- Modbus 16660

SDO abort code (0800 0000).
- - Profibus 16660

- - CIP 165.1.10

ModbusTCP 16660

EtherCAT 3041:Ah

PROFINET 16660
_ModeError Error code for detected synchronous errors (ME - UINT16 CANopen 301B:19h
bit).
- R/- Modbus 6962
Drive Profile Lexium:
- - Profibus 6962
Manufacturer-specific error code that caused the
ModeError bit to be set. - - CIP 127.1.25

Usually, this is an error that was detected as a ModbusTCP 6962

result of the activation of an operating mode. The
ModeError bit relates to MT-dependent EtherCAT 301B:19h
parameters.
PROFINET 6962
_ModeErrorInfo Additional error information of a detected - UINT16 CANopen 301B:1Ch
ModeError (ME bit).
- R/- Modbus 6968
Drive Profile Lexium:
- - Profibus 6968
Indicates the parameter of the mapping that
caused the ME bit to be set. The ME bit is set if - - CIP 127.1.28
MT-dependent parameters of the active mapping
cause an error in connection with a write ModbusTCP 6968
command.
EtherCAT 301B:1Ch
Example:
PROFINET 6968
1 = First mapped parameter

2 = Second mapped parameter

etc.
_ModuleSlot1 Module in slot 1. - UINT16 CANopen 3002:15h

0 / None: No module - R/- Modbus 554

1025 / eSM: Safety module eSM - - Profibus 554

1281 / IOM_1: IO module IOM1 - - CIP 102.1.21

ModbusTCP 554

EtherCAT 3002:15h

PROFINET 554
_ModuleSlot2 Module in slot 2. - UINT16 CANopen 3002:1Ah

0 / None: No module - R/- Modbus 564

769 / Encoder ANA: Encoder module ANA - - Profibus 564

770 / Encoder DIG: Encoder module DIG - - CIP 102.1.26

771 / Encoder RSR: Encoder module RSR ModbusTCP 564

EtherCAT 3002:1Ah

PROFINET 564

482 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_ModuleSlot3 Module in slot 3. - UINT16 CANopen 3002:1Fh

0 / None: No module - R/- Modbus 574

513 / CANopen (D-SUB): Fieldbus CANopen (D- - - Profibus 574

SUB)
- - CIP 102.1.31
514 / CANopen (RJ45): Fieldbus CANopen
(RJ45) ModbusTCP 574

515 / DeviceNet (Open-Style): Fieldbus EtherCAT 3002:1Fh

DeviceNet (Open-Style)
PROFINET 574
517 / CANopen (Open-Style): Fieldbus CANopen
(Open-Style)

528 / ProfibusDP: Fieldbus Profibus DP

529 / EtherNetIP: Fieldbus EtherNetIP

530 / EtherCAT: Fieldbus EtherCAT

531 / SercosII: Fieldbus Sercos II

532 / PROFINET: Fieldbus PROFINET

533 / SercosIII: Fieldbus Sercos III

_MSM_avail_ds Number of available data sets. - UINT16 CANopen 302D:Fh

Number of data sets that are available. - R/- Modbus 11550

- - Profibus 11550

- - CIP 145.1.15

ModbusTCP 11550

EtherCAT 302D:Fh

PROFINET 11550
_MSM_error_field Field of the data set in which an error has been - INT16 CANopen 302D:Eh
detected.
-1 R/- Modbus 11548
Value -1: No error
-1 - Profibus 11548
Value 0: Data set type
11 - CIP 145.1.14
Value 1: Setting A
ModbusTCP 11548
Value 2: Setting B
EtherCAT 302D:Eh
Value 3: Setting C
PROFINET 11548
Value 4: Setting D

Value 5: Transition type

Value 6: Subsequent data set

Value 7: Transition condition 1

Value 8: Transition value 1

Value 9: Logical operator

Value 10: Transition condition 2

Value 11: Transition value 2

Available with firmware version ≥V01.09.

0198441113767.13 483
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_MSM_error_num Number of the data set in which an error has been - INT16 CANopen 302D:Dh
detected.
-1 R/- Modbus 11546
Value -1: No error
-1 - Profibus 11546
Values 0 … 127: Number of the data set in which
an error has been detected. 127 - CIP 145.1.13

Available with firmware version ≥V01.09. ModbusTCP 11546

EtherCAT 302D:Dh

PROFINET 11546
_MSM_used_data_ Number of data sets used. - UINT16 CANopen 302D:1Fh
sets
Any data set whose data set type is not equal to - R/- Modbus 11582
'None' is counted as a used data set.
- - Profibus 11582
Available with firmware version ≥V01.16.
- - CIP 145.1.31

ModbusTCP 11582

EtherCAT 302D:1Fh

PROFINET 11582
_MSMactNum Number of data set being processed. - INT16 CANopen 302D:6h

Value -1: Operating mode is inactive or no data -1 R/- Modbus 11532

set has been triggered
-1 - Profibus 11532
Value >0: Number of the data set being processed
127 - CIP 145.1.6

ModbusTCP 11532

EtherCAT 302D:6h

PROFINET 11532
_MSMnextNum Next data set to be triggered. - INT16 CANopen 302D:7h

Value -1: Operating mode is inactive or no data -1 R/- Modbus 11534

set is selected
-1 - Profibus 11534
Value >0: Number of the next data set
127 - CIP 145.1.7

ModbusTCP 11534

EtherCAT 302D:7h

PROFINET 11534
_MSMNumFinish Number of data set that was active when a - INT16 CANopen 302D:Bh
movement was interrupted.
-1 R/- Modbus 11542
When a movement is interrupted, the number of
the data set that was being processed at the point -1 - Profibus 11542
in time of the interruption is contained in this
parameter. 127 - CIP 145.1.11

ModbusTCP 11542

EtherCAT 302D:Bh

PROFINET 11542

484 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_n_act Actual speed of rotation. RPM INT16 CANopen 301E:8h

Mon - R/- Modbus 7696

nAct - - Profibus 7696

- - CIP 130.1.8

ModbusTCP 7696

EtherCAT 301E:8h

PROFINET 7696
_n_act_ENC1 Actual speed of rotation of encoder 1. RPM INT16 CANopen 301E:28h

Available with firmware version ≥V01.01. - R/- Modbus 7760

- - Profibus 7760

- - CIP 130.1.40

ModbusTCP 7760

EtherCAT 301E:28h

PROFINET 7760
_n_act_ENC2 Actual speed of rotation of encoder 2 (module). RPM INT16 CANopen 301E:1Eh

- R/- Modbus 7740

- - Profibus 7740

- - CIP 130.1.30

ModbusTCP 7740

EtherCAT 301E:1Eh

PROFINET 7740
_n_ref Reference speed of rotation. RPM INT16 CANopen 301E:7h

Mon - R/- Modbus 7694

nrEF - - Profibus 7694

- - CIP 130.1.7

ModbusTCP 7694

EtherCAT 301E:7h

PROFINET 7694
_OFSp_act Actual position of offset movement. Inc INT32 CANopen 3027:Ch

- R/- Modbus 10008

- - Profibus 10008

- - CIP 139.1.12

ModbusTCP 10008

EtherCAT 3027:Ch

PROFINET 10008

0198441113767.13 485
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_OpHours Operating hours counter. s UINT32 CANopen 301C:Ah

Mon - R/- Modbus 7188

oPh - - Profibus 7188

- - CIP 128.1.10

ModbusTCP 7188

EtherCAT 301C:Ah

PROFINET 7188
_p_absENC Absolute position with reference to the encoder usr_p UINT32 CANopen 301E:Fh
range.
Mon - R/- Modbus 7710
This value corresponds to the modulo position of
PAMu the absolute encoder range. - - Profibus 7710

The value is no longer valid if the gear ratio of - - CIP 130.1.15

machine encoder and motor encoder is changed.
A restart is required in such a case. ModbusTCP 7710

EtherCAT 301E:Fh

PROFINET 7710
_p_absmodulo Absolute position with reference to internal Inc UINT32 CANopen 301E:Eh
resolution in internal units.
- R/- Modbus 7708
This value is based on encoder raw position with
reference to internal resolution (131072 Inc). - - Profibus 7708

- - CIP 130.1.14

ModbusTCP 7708

EtherCAT 301E:Eh

PROFINET 7708
_p_act Actual position. usr_p INT32 CANopen 6064:0h

- R/- Modbus 7706

- - Profibus 7706

- - CIP 130.1.13

ModbusTCP 7706

EtherCAT 6064:0h

PROFINET 7706
_p_act_ENC1 Actual position of encoder 1. usr_p INT32 CANopen 301E:27h

Available with firmware version ≥V01.01. - R/- Modbus 7758

- - Profibus 7758

- - CIP 130.1.39

ModbusTCP 7758

EtherCAT 301E:27h

PROFINET 7758

486 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_act_ENC1_int Actual position of encoder 1 in internal units. Inc INT32 CANopen 301E:26h

Available with firmware version ≥V01.01. - R/- Modbus 7756

- - Profibus 7756

- - CIP 130.1.38

ModbusTCP 7756

EtherCAT 301E:26h

PROFINET 7756
_p_act_ENC2 Actual position of encoder 2 (module). usr_p INT32 CANopen 301E:1Ah

- R/- Modbus 7732

- - Profibus 7732

- - CIP 130.1.26

ModbusTCP 7732

EtherCAT 301E:1Ah

PROFINET 7732
_p_act_ENC2_int Actual position of encoder 2 (module) in internal Inc INT32 CANopen 301E:19h
units.
- R/- Modbus 7730

- - Profibus 7730

- - CIP 130.1.25

ModbusTCP 7730

EtherCAT 301E:19h

PROFINET 7730
_p_act_int Actual position in internal units. Inc INT32 CANopen 6063:0h

- R/- Modbus 7700

- - Profibus 7700

- - CIP 130.1.10

ModbusTCP 7700

EtherCAT 6063:0h

PROFINET 7700
_p_addGEAR Initial position electronic gear. Inc INT32 CANopen 301F:3h

When Electronic Gear is inactive, the reference - R/- Modbus 7942

position for the position controller can be
determined here. This position is set when - - Profibus 7942
Electronic Gear is activated with the selection of
'Synchronization with compensation movement'. - - CIP 131.1.3

ModbusTCP 7942

EtherCAT 301F:3h

PROFINET 7942

0198441113767.13 487
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_dif Position deviation including dynamic position revolution INT32 CANopen 60F4:0h
deviation.
-214748.3648 R/- Modbus 7716
Position deviation is the difference between
reference position and actual position. The - - Profibus 7716
position deviation consists of the load-dependent
position deviation and the dynamic position 214748.3647 - CIP 130.1.18
deviation.
ModbusTCP 7716
The parameter _p_dif_usr allows you to enter the
value in user-defined units. EtherCAT 60F4:0h

In increments of 0.0001 revolution. PROFINET 7716

_p_dif_load Load-dependent position deviation between revolution INT32 CANopen 301E:1Ch

reference and actual positions.
-214748.3648 R/- Modbus 7736
The load-dependent position deviation is the
difference between the reference position and the - - Profibus 7736
actual position caused by the load. This value is
used for following error monitoring. 214748.3647 - CIP 130.1.28

The parameter _p_dif_load_usr allows you to ModbusTCP 7736

enter the value in user-defined units.
EtherCAT 301E:1Ch
In increments of 0.0001 revolution.
PROFINET 7736
_p_dif_load_peak Maximum value of the load-dependent position revolution UINT32 CANopen 301E:1Bh
deviation.
0.0000 R/W Modbus 7734
This parameter contains the maximum load-
dependent position deviation reached so far. A - - Profibus 7734
write access resets this value.
429496.7295 - CIP 130.1.27
The parameter _p_dif_load_peak_usr allows you
to enter the value in user-defined units. ModbusTCP 7734

In increments of 0.0001 revolution. EtherCAT 301E:1Bh

Modified settings become active immediately. PROFINET 7734

_p_dif_load_peak_ Maximum value of the load-dependent position usr_p INT32 CANopen 301E:15h
usr deviation.
0 R/W Modbus 7722
This parameter contains the maximum load-
dependent position deviation reached so far. A - - Profibus 7722
write access resets this value.
2147483647 - CIP 130.1.21
Modified settings become active immediately.
ModbusTCP 7722
Available with firmware version ≥V01.03.
EtherCAT 301E:15h

PROFINET 7722
_p_dif_load_usr Load-dependent position deviation between usr_p INT32 CANopen 301E:16h
reference and actual positions.
-2147483648 R/- Modbus 7724
The load-dependent position deviation is the
difference between the reference position and the - - Profibus 7724
actual position caused by the load. This value is
used for following error monitoring. 2147483647 - CIP 130.1.22

Available with firmware version ≥V01.03. ModbusTCP 7724

EtherCAT 301E:16h

PROFINET 7724

488 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_p_dif_usr Position deviation including dynamic position usr_p INT32 CANopen 301E:14h
deviation.
-2147483648 R/- Modbus 7720
Position deviation is the difference between
reference position and actual position. The - - Profibus 7720
position deviation consists of the load-dependent
position deviation and the dynamic position 2147483647 - CIP 130.1.20
deviation.
ModbusTCP 7720
Available with firmware version ≥V01.03.
EtherCAT 301E:14h

PROFINET 7720
_p_DifENC1toENC2 Deviation of encoder positions. Inc INT32 CANopen 301E:18h

Available with firmware version ≥V01.01. - R/- Modbus 7728

- - Profibus 7728

- - CIP 130.1.24

ModbusTCP 7728

EtherCAT 301E:18h

PROFINET 7728
_p_PTI_act Actual position at PTI interface. Inc INT32 CANopen 3008:5h

Counted position increments at PTI interface. -2147483648 R/- Modbus 2058

- - Profibus 2058

2147483647 - CIP 108.1.5

ModbusTCP 2058

EtherCAT 3008:5h

PROFINET 2058
_p_ref Reference position. usr_p INT32 CANopen 301E:Ch

Value corresponds to the reference position of the - R/- Modbus 7704

position controller.
- - Profibus 7704

- - CIP 130.1.12

ModbusTCP 7704

EtherCAT 301E:Ch

PROFINET 7704
_p_ref_int Reference position in internal units. Inc INT32 CANopen 301E:9h

Value corresponds to the reference position of the - R/- Modbus 7698

position controller.
- - Profibus 7698

- - CIP 130.1.9

ModbusTCP 7698

EtherCAT 301E:9h

PROFINET 7698

0198441113767.13 489
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PAR_ScalingError Additional information on error detected during - UINT32 CANopen 3004:16h

recalculation.
- R/- Modbus 1068
Coding:
- - Profibus 1068
Bits 0 ... 15: Address of the parameter that caused
the error - - CIP 104.1.22

Bits 16 ... 31: Number of the data set in the ModbusTCP 1068
operating mode Motion Sequence that caused the
error EtherCAT 3004:16h

Available with firmware version ≥V01.03. PROFINET 1068

_PAR_ScalingState Status of recalculation of the parameters with - UINT16 CANopen 3004:15h

user-defined units.
0 R/- Modbus 1066
0 / Recalculation Active: Recalculation active
2 - Profibus 1066
1 / Reserved (1): Reserved
7 - CIP 104.1.21
2 / Recalculation Finished - No Error:
Recalculation finished, no error ModbusTCP 1066

3 / Error During Recalculation: Error during EtherCAT 3004:15h

recalculation
PROFINET 1066
4 / Initialization Successful: Initialization
successful

5 / Reserved (5): Reserved

6 / Reserved (6): Reserved

7 / Reserved (7): Reserved

Status of recalculation of the parameters with

user-defined units which are recalculated with a
changed scaling factor.

Available with firmware version ≥V01.03.

_PBbaud Profibus baud rate. - UINT16 CANopen 3043:4h

ConF → inF- 0 / None / n o n E : No connection - R/- Modbus 17160

Pbbd 28 / 9.6 kBaud / 9 . 6 : 9.6 kBaud - - Profibus 17160

32 / 19.2 kBaud / 1 9 . 2 : 19.2 kBaud - - CIP 167.1.4

42 / 93.75 kBaud / 9 3 . 7 : 93.75 kBaud ModbusTCP 17160

54 / 187.5 kBaud / 1 8 7 : 187.5 kBaud EtherCAT 3043:4h

68 / 500 kBaud / 5 0 0 : 500 kBaud PROFINET 17160

80 / 1500 kBaud / 1 5 0 0 : 1500 kBaud

82 / 3000 kBaud / 3 0 0 0 : 3000 kBaud

83 / 6000 kBaud / 6 0 0 0 : 6000 kBaud

88 / 12000 kBaud / 1 2 M b : 12000 kBaud

490 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PBprofile Profibus drive profile. - UINT16 CANopen 3043:3h

ConF → inF- 0 / None / n o n E : No connection - R/- Modbus 17158

PbPr 1 / Profidrive Telegram 1 / P d _ 1 : Profidrive - - Profibus 17158

standard telegram 1 (not yet supported)
- - CIP 167.1.3
2 / Profidrive Telegram 2 / P d _ 2 : Profidrive
standard telegram 2 (not yet supported) ModbusTCP 17158

7 / Profidrive Telegram 7 / P d _ 7 : Profidrive EtherCAT 3043:3h

standard telegram 7 (not yet supported)
PROFINET 17158
9 / Profidrive Telegram 9 / P d _ 9 : Profidrive
standard telegram 9 (not yet supported)

103 / Profidrive Manufact / P d _ M : Profidrive

manufacturer-specific (not yet supported)

104 / Drive Profile Lexium 1 / d P L 1 : Drive

Profile Lexium telegram 1 (library)

105 / Drive Profile Lexium 2 / d P L 2 : Drive

Profile Lexium telegram 2

_PntMAC1 MAC address PROFINET module, byte 1. - UINT16 CANopen 3048:25h

- R/- Modbus 18506

- - Profibus 18506

- - CIP 172.1.37

ModbusTCP 18506

EtherCAT 3048:25h

PROFINET 18506
_PntMAC2 MAC address PROFINET module, byte 2. - UINT16 CANopen 3048:26h

- R/- Modbus 18508

- - Profibus 18508

- - CIP 172.1.38

ModbusTCP 18508

EtherCAT 3048:26h

PROFINET 18508
_PntMAC3 MAC address PROFINET module, byte 3. - UINT16 CANopen 3048:27h

- R/- Modbus 18510

- - Profibus 18510

- - CIP 172.1.39

ModbusTCP 18510

EtherCAT 3048:27h

PROFINET 18510
_PntMAC4 MAC address PROFINET module, byte 4. - UINT16 CANopen 3048:28h

- R/- Modbus 18512

- - Profibus 18512

- - CIP 172.1.40

ModbusTCP 18512

EtherCAT 3048:28h

PROFINET 18512

0198441113767.13 491
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PntMAC5 MAC address PROFINET module, byte 5. - UINT16 CANopen 3048:29h

- R/- Modbus 18514

- - Profibus 18514

- - CIP 172.1.41

ModbusTCP 18514

EtherCAT 3048:29h

PROFINET 18514
_PntMAC6 MAC address PROFINET module, byte 6. - UINT16 CANopen 3048:2Ah

- R/- Modbus 18516

- - Profibus 18516

- - CIP 172.1.42

ModbusTCP 18516

EtherCAT 3048:2Ah

PROFINET 18516
_PntProfile PROFINET drive profile. - UINT16 CANopen 3048:3h

ConF → inF- 0 / None / n o n E : No connection - R/- Modbus 18438

PnPr 104 / Drive Profile Lexium 1 / d P L 1 : Drive - - Profibus 18438

Profile Lexium telegram 1 (library)
- - CIP 172.1.3
105 / Drive Profile Lexium 2 / d P L 2 : Drive
Profile Lexium telegram 2 ModbusTCP 18438

EtherCAT 3048:3h

PROFINET 18438
_PosRegStatus Status of the position register channels. - UINT16 CANopen 300B:1h

Signal state: - R/- Modbus 2818

0: Comparison criterion not met - - Profibus 2818

1: Comparison criterion met - - CIP 111.1.1

Bit assignments: ModbusTCP 2818

Bit 0: State of position register channel 1 EtherCAT 300B:1h

Bit 1: State of position register channel 2 PROFINET 2818

Bit 2: State of position register channel 3

Bit 3: State of position register channel 4

_Power_act Output power. W INT32 CANopen 301C:Dh

- R/- Modbus 7194

- - Profibus 7194

- - CIP 128.1.13

ModbusTCP 7194

EtherCAT 301C:Dh

PROFINET 7194

492 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_Power_mean Mean output power. W UINT16 CANopen 301C:Eh

- R/- Modbus 7196

- - Profibus 7196

- - CIP 128.1.14

ModbusTCP 7196

EtherCAT 301C:Eh

PROFINET 7196
_pref_acc Acceleration of reference value for acceleration usr_a INT32 CANopen 301F:9h
feed-forward control.
- R/- Modbus 7954
Sign according to the changed velocity value:
- - Profibus 7954
Increased velocity: Positive sign
- - CIP 131.1.9
Reduced velocity: Negative sign
ModbusTCP 7954

EtherCAT 301F:9h

PROFINET 7954
_pref_v Velocity of reference value for velocity feed- usr_v INT32 CANopen 301F:7h
forward control.
- R/- Modbus 7950

- - Profibus 7950

- - CIP 131.1.7

ModbusTCP 7950

EtherCAT 301F:7h

PROFINET 7950
_prgNoDEV Firmware number of device. - UINT32 CANopen 3001:1h

ConF → inF- Example: PR0912.00 - R/- Modbus 258

Prn The value is provided as a decimal value: 91200 - - Profibus 258

- - CIP 101.1.1

ModbusTCP 258

EtherCAT 3001:1h

PROFINET 258
_prgRevDEV Firmware revision of device. - UINT16 CANopen 3001:4h

ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 264

Prr Part XX.YY is contained in parameter - - Profibus 264

_prgVerDEV.
- - CIP 101.1.4
Part ZZ is used for quality evolution and contained
in this parameter. ModbusTCP 264

Example: V01.23.45 EtherCAT 3001:4h

The value is provided as a decimal value: 45 PROFINET 264

0198441113767.13 493
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_prgVerDEV Firmware version of device. - UINT16 CANopen 3001:2h

ConF → inF- The version format is XX.YY.ZZ. - R/- Modbus 260

PrV Part XX.YY is contained in this parameter. - - Profibus 260

Part ZZ is contained in parameter _prgRevDEV. - - CIP 101.1.2

Example: V01.23.45 ModbusTCP 260

The value is provided as a decimal value: 123 EtherCAT 3001:2h

PROFINET 260
_PS_I_max Maximum current of power stage. Arms UINT16 CANopen 3010:2h

ConF → inF- In increments of 0.01 Arms. - R/- Modbus 4100

PiMA - per. Profibus 4100

- - CIP 116.1.2

ModbusTCP 4100

EtherCAT 3010:2h

PROFINET 4100
_PS_I_nom Nominal current of power stage. Arms UINT16 CANopen 3010:1h

ConF → inF- In increments of 0.01 Arms. - R/- Modbus 4098

Pino - per. Profibus 4098

- - CIP 116.1.1

ModbusTCP 4098

EtherCAT 3010:1h

PROFINET 4098
_PS_load Load of power stage. % INT16 CANopen 301C:17h

Mon - R/- Modbus 7214

LdFP - - Profibus 7214

- - CIP 128.1.23

ModbusTCP 7214

EtherCAT 301C:17h

PROFINET 7214
_PS_maxoverload Maximum value of overload of power stage. % INT16 CANopen 301C:18h

Maximum overload of power stage during the last - R/- Modbus 7216
10 seconds.
- - Profibus 7216

- - CIP 128.1.24

ModbusTCP 7216

EtherCAT 301C:18h

PROFINET 7216

494 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PS_overload Overload of power stage. % INT16 CANopen 301C:24h

- R/- Modbus 7240

- - Profibus 7240

- - CIP 128.1.36

ModbusTCP 7240

EtherCAT 301C:24h

PROFINET 7240
_PS_overload_cte Overload of power stage (chip temperature). % INT16 CANopen 301C:22h

- R/- Modbus 7236

- - Profibus 7236

- - CIP 128.1.34

ModbusTCP 7236

EtherCAT 301C:22h

PROFINET 7236
_PS_overload_I2t Overload of power stage (I2t). % INT16 CANopen 301C:16h

- R/- Modbus 7212

- - Profibus 7212

- - CIP 128.1.22

ModbusTCP 7212

EtherCAT 301C:16h

PROFINET 7212
_PS_overload_psq Overload of power stage (power squared). % INT16 CANopen 301C:23h

- R/- Modbus 7238

- - Profibus 7238

- - CIP 128.1.35

ModbusTCP 7238

EtherCAT 301C:23h

PROFINET 7238
_PS_T_current Temperature of power stage. °C INT16 CANopen 301C:10h

Mon - R/- Modbus 7200

tPS - - Profibus 7200

- - CIP 128.1.16

ModbusTCP 7200

EtherCAT 301C:10h

PROFINET 7200

0198441113767.13 495
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PS_T_max Maximum temperature of power stage. °C INT16 CANopen 3010:7h

- R/- Modbus 4110

- per. Profibus 4110

- - CIP 116.1.7

ModbusTCP 4110

EtherCAT 3010:7h

PROFINET 4110
_PS_T_warn Advisory temperature limit of power stage (error °C INT16 CANopen 3010:6h
class 0).
- R/- Modbus 4108

- per. Profibus 4108

- - CIP 116.1.6

ModbusTCP 4108

EtherCAT 3010:6h

PROFINET 4108
_PS_U_maxDC Maximum permissible DC bus voltage. V UINT16 CANopen 3010:3h

In increments of 0.1 V. - R/- Modbus 4102

- per. Profibus 4102

- - CIP 116.1.3

ModbusTCP 4102

EtherCAT 3010:3h

PROFINET 4102
_PS_U_minDC Minimum permissible DC bus voltage. V UINT16 CANopen 3010:4h

In increments of 0.1 V. - R/- Modbus 4104

- per. Profibus 4104

- - CIP 116.1.4

ModbusTCP 4104

EtherCAT 3010:4h

PROFINET 4104
_PS_U_minStopDC DC bus voltage low threshold for Quick Stop. V UINT16 CANopen 3010:Ah

If the threshold is reached, the drive performs a - R/- Modbus 4116

Quick Stop.
- per. Profibus 4116
In increments of 0.1 V.
- - CIP 116.1.10

ModbusTCP 4116

EtherCAT 3010:Ah

PROFINET 4116

496 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_PT_max_val Maximum possible value for operating mode % INT16 CANopen 301C:1Eh
Profile Torque.
- R/- Modbus 7228
100.0 % correspond to the continuous stall torque
_M_M_0. - - Profibus 7228

In increments of 0.1 %. - - CIP 128.1.30

ModbusTCP 7228

EtherCAT 301C:1Eh

PROFINET 7228
_RAMP_p_act Actual position of profile generator. usr_p INT32 CANopen 301F:2h

- R/- Modbus 7940

- - Profibus 7940

- - CIP 131.1.2

ModbusTCP 7940

EtherCAT 301F:2h

PROFINET 7940
_RAMP_p_target Target position of profile generator. usr_p INT32 CANopen 301F:1h

Absolute position value of the profile generator, - R/- Modbus 7938

calculated on the basis of the relative and
absolute position values received. - - Profibus 7938

- - CIP 131.1.1

ModbusTCP 7938

EtherCAT 301F:1h

PROFINET 7938
_RAMP_v_act Actual velocity of profile generator. usr_v INT32 CANopen 606B:0h

- R/- Modbus 7948

- - Profibus 7948

- - CIP 131.1.6

ModbusTCP 7948

EtherCAT 606B:0h

PROFINET 7948
_RAMP_v_target Target velocity of profile generator. usr_v INT32 CANopen 301F:5h

- R/- Modbus 7946

- - Profibus 7946

- - CIP 131.1.5

ModbusTCP 7946

EtherCAT 301F:5h

PROFINET 7946

0198441113767.13 497
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_RES_load Load of braking resistor. % INT16 CANopen 301C:14h

Mon The braking resistor set via parameter RESint_ext - R/- Modbus 7208
is monitored.
LdFb - - Profibus 7208

- - CIP 128.1.20

ModbusTCP 7208

EtherCAT 301C:14h

PROFINET 7208
_RES_maxoverload Maximum value of overload of braking resistor. % INT16 CANopen 301C:15h

Maximum overload of braking resistor during the - R/- Modbus 7210

last 10 seconds.
- - Profibus 7210
The braking resistor set via parameter RESint_ext
is monitored. - - CIP 128.1.21

ModbusTCP 7210

EtherCAT 301C:15h

PROFINET 7210
_RES_overload Overload of braking resistor (I2t). % INT16 CANopen 301C:13h

The braking resistor set via parameter RESint_ext - R/- Modbus 7206
is monitored.
- - Profibus 7206

- - CIP 128.1.19

ModbusTCP 7206

EtherCAT 301C:13h

PROFINET 7206
_RESint_P Nominal power of internal braking resistor. W UINT16 CANopen 3010:9h

- R/- Modbus 4114

- per. Profibus 4114

- - CIP 116.1.9

ModbusTCP 4114

EtherCAT 3010:9h

PROFINET 4114
_RESint_R Resistance value of internal braking resistor. Ω UINT16 CANopen 3010:8h

In increments of 0.01 Ω. - R/- Modbus 4112

- per. Profibus 4112

- - CIP 116.1.8

ModbusTCP 4112

EtherCAT 3010:8h

PROFINET 4112

498 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_RMAC_DetailStatus Detailed status of relative movement after capture - UINT16 CANopen 3023:12h
(RMAC).
- R/- Modbus 8996
0 / Not Activated: Not activated
- - Profibus 8996
1 / Waiting: Waiting for capture signal
- - CIP 135.1.18
2 / Moving: Relative movement after capture
running ModbusTCP 8996

3 / Interrupted: Relative movement after capture EtherCAT 3023:12h

interrupted
PROFINET 8996
4 / Finished: Relative movement after capture
terminated

Available with firmware version ≥V01.16.

_RMAC_Status Status of relative movement after capture. - UINT16 CANopen 3023:11h

0 / Not Active: Not active 0 R/- Modbus 8994

1 / Active Or Finished: Relative movement after - - Profibus 8994

capture is active or finished
1 - CIP 135.1.17
Available with firmware version ≥V01.10.
ModbusTCP 8994

EtherCAT 3023:11h

PROFINET 8994
_ScalePOSmax Maximum user-defined value for positions. usr_p INT32 CANopen 301F:Ah

This value depends on ScalePOSdenom and - R/- Modbus 7956

ScalePOSnum.
- - Profibus 7956

- - CIP 131.1.10

ModbusTCP 7956

EtherCAT 301F:Ah

PROFINET 7956
_ScaleRAMPmax Maximum user-defined value for acceleration and usr_a INT32 CANopen 301F:Ch
deceleration.
- R/- Modbus 7960
This value depends on ScaleRAMPdenom and
ScaleRAMPnum. - - Profibus 7960

- - CIP 131.1.12

ModbusTCP 7960

EtherCAT 301F:Ch

PROFINET 7960
_ScaleVELmax Maximum user-defined value for velocity. usr_v INT32 CANopen 301F:Bh

This value depends on ScaleVELdenom and - R/- Modbus 7958

ScaleVELnum.
- - Profibus 7958

- - CIP 131.1.11

ModbusTCP 7958

EtherCAT 301F:Bh

PROFINET 7958

0198441113767.13 499
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_SigActive Status of monitoring signals. - UINT32 CANopen 301C:7h

See _SigLatched for more details on the bit - R/- Modbus 7182
codes.
- - Profibus 7182

- - CIP 128.1.7

ModbusTCP 7182

EtherCAT 301C:7h

PROFINET 7182
_SigLatched Saved status of monitoring signals. - UINT32 CANopen 301C:8h

Mon Signal state: - R/- Modbus 7184

SiGS 0: Not activated - - Profibus 7184

1: Activated - - CIP 128.1.8

Bit assignments: ModbusTCP 7184

Bit 0: General error EtherCAT 301C:8h

Bit 1: Hardware limit switches (LIMP/LIMN/REF) PROFINET 7184

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Quick Stop via fieldbus

Bit 4: Error in active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO are 0

Bit 11: Inputs STO different

Bit 12: Reserved

Bit 13: DC bus voltage low

Bit 14: DC bus voltage high

Bit 15: Mains phase missing

Bit 16: Integrated encoder interface

Bit 17: Overtemperature motor

Bit 18: Overtemperature power stage

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM or module IOM1

Bit 24: Reserved

Bit 25: Reserved

Bit 26: Motor connection

Bit 27: Motor overcurrent/short circuit

Bit 28: Frequency of reference signal too high

500 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Bit 29: Nonvolatile memory error detected

Bit 30: System start-up (hardware or parameter)

Bit 31: System error detected (for example,

watchdog, internal hardware interface)

Monitoring functions are product-dependent.

_SuppDriveModes Supported operating modes as per DSP402. - UINT32 CANopen 6502:0h

Bit 0: Profile Position - R/- Modbus 6952

Bit 2: Profile Velocity - - Profibus 6952

Bit 3: Profile Torque - - CIP 127.1.20

Bit 5: Homing ModbusTCP 6952

Bit 6: Interpolated Position EtherCAT 6502:0h

Bit 7: Cyclic Synchronous Position PROFINET 6952

Bit 8: Cyclic Synchronous Velocity

Bit 9: Cyclic Synchronous Torque

Bit 16: Jog

Bit 17: Electronic Gear

Bit 21: Manual Tuning

Bit 23: Motion Sequence

_TouchProbeStat Touch Probe status (DS402). - UINT16 CANopen 60B9:0h

Available with firmware version ≥V01.16. - R/- Modbus 7030

- - Profibus 7030

- - CIP 127.1.59

ModbusTCP 7030

EtherCAT 60B9:0h

PROFINET 7030
_tq_act Actual torque. % INT16 CANopen 6077:0h

Positive value: Actual torque in positive direction - R/- Modbus 7752

of movement
- - Profibus 7752
Negative value: Actual torque in negative direction
of movement - - CIP 130.1.36

100.0 % correspond to the continuous stall torque ModbusTCP 7752

_M_M_0.
EtherCAT 6077:0h
In increments of 0.1 %.
PROFINET 7752
_Ud_ref Reference motor voltage d component. V INT16 CANopen 301E:5h

In increments of 0.1 V. - R/- Modbus 7690

- - Profibus 7690

- - CIP 130.1.5

ModbusTCP 7690

EtherCAT 301E:5h

PROFINET 7690

0198441113767.13 501
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_UDC_act Voltage at DC bus. V UINT16 CANopen 301C:Fh

Mon In increments of 0.1 V. - R/- Modbus 7198

udcA - - Profibus 7198

- - CIP 128.1.15

ModbusTCP 7198

EtherCAT 301C:Fh

PROFINET 7198
_Udq_ref Total motor voltage (vector sum d components V INT16 CANopen 301E:6h
and q components).
- R/- Modbus 7692
Square root of ( _Uq_ref2 + _Ud_ref2)
- - Profibus 7692
In increments of 0.1 V.
- - CIP 130.1.6

ModbusTCP 7692

EtherCAT 301E:6h

PROFINET 7692
_Uq_ref Reference motor voltage q component. V INT16 CANopen 301E:4h

In increments of 0.1 V. - R/- Modbus 7688

- - Profibus 7688

- - CIP 130.1.4

ModbusTCP 7688

EtherCAT 301E:4h

PROFINET 7688
_v_act Actual velocity. usr_v INT32 CANopen 606C:0h

Mon - R/- Modbus 7744

VAct - - Profibus 7744

- - CIP 130.1.32

ModbusTCP 7744

EtherCAT 606C:0h

PROFINET 7744
_v_act_ENC1 Actual velocity of encoder 1. usr_v INT32 CANopen 301E:29h

Available with firmware version ≥V01.01. - R/- Modbus 7762

- - Profibus 7762

- - CIP 130.1.41

ModbusTCP 7762

EtherCAT 301E:29h

PROFINET 7762

502 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_v_act_ENC2 Actual velocity of encoder 2 (module). usr_v INT32 CANopen 301E:23h

- R/- Modbus 7750

- - Profibus 7750

- - CIP 130.1.35

ModbusTCP 7750

EtherCAT 301E:23h

PROFINET 7750
_v_dif_usr Load-dependent velocity deviation. usr_v INT32 CANopen 301E:2Ch

The load-dependent velocity deviation is the -2147483648 R/- Modbus 7768

difference between reference velocity and actual
velocity. - - Profibus 7768

Available with firmware version ≥V01.26. 2147483647 - CIP 130.1.44

ModbusTCP 7768

EtherCAT 301E:2Ch

PROFINET 7768
_v_PTI_act Actual velocity at PTI interface. Inc/s INT32 CANopen 3008:6h

Determined pulse frequency at position interface -2147483648 R/- Modbus 2060

PTI.
- - Profibus 2060

2147483647 - CIP 108.1.6

ModbusTCP 2060

EtherCAT 3008:6h

PROFINET 2060
_v_ref Reference velocity. usr_v INT32 CANopen 301E:1Fh

Mon - R/- Modbus 7742

VrEF - - Profibus 7742

- - CIP 130.1.31

ModbusTCP 7742

EtherCAT 301E:1Fh

PROFINET 7742
_Vmax_act Currently effective velocity limitation. usr_v UINT32 CANopen 301C:29h

Value of the currently effective velocity limitation. - R/- Modbus 7250

This is one of the following values (whichever is
lowest): - - Profibus 7250

- CTRL_v_max - - CIP 128.1.41

- M_n_max (only if motor is connected) ModbusTCP 7250

- Velocity limitation via digital input EtherCAT 301C:29h

PROFINET 7250

0198441113767.13 503
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_VoltUtil Degree of utilization of DC bus voltage. % INT16 CANopen 301E:13h

Mon With a value of 100%, the drive operates at the - R/- Modbus 7718
voltage limit.
udcr - - Profibus 7718

- - CIP 130.1.19

ModbusTCP 7718

EtherCAT 301E:13h

PROFINET 7718
_WarnActive Active errors of error class 0, bit-coded. - UINT32 CANopen 301C:Bh

See parameter _WarnLatched for more details on - R/- Modbus 7190

the bits.
- - Profibus 7190

- - CIP 128.1.11

ModbusTCP 7190

EtherCAT 301C:Bh

PROFINET 7190

504 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

_WarnLatched Saved errors of error class 0, bit-coded. - UINT32 CANopen 301C:Ch

Mon The bits are set to 0 in the case of a Fault Reset. - R/- Modbus 7192

WrnS Bits 10 and 13 are set to 0 automatically. - - Profibus 7192

Signal state: - - CIP 128.1.12

0: Not activated ModbusTCP 7192

1: Activated EtherCAT 301C:Ch

Bit assignments: PROFINET 7192

Bit 0: General

Bit 1: Reserved

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Reserved

Bit 4: Active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO_A and/or STO_B

Bits 11 ... 12: Reserved

Bit 13: Low voltage DC bus or mains phase

missing

Bits 14 ... 15: Reserved

Bit 16: Integrated encoder interface

Bit 17: Temperature of motor high

Bit 18: Temperature of power stage high

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM or module IOM1

Bits 24 … 27: Reserved

Bit 28: Transistor for braking resistor overload (I2t)

Bit 29: Braking resistor overload (I2t)

Bit 30: Power stage overload (I2t)

Bit 31: Motor overload (I2t)

Monitoring functions are product-dependent.

AbsHomeRequest Absolute positioning only after homing. - UINT16 CANopen 3006:16h

0 / No: No 0 R/W Modbus 1580

1 / Yes: Yes 1 per. Profibus 1580

This parameter has no function if the parameter 1 - CIP 106.1.22

'PP_ModeRangeLim' is set to '1' which allows
ModbusTCP 1580

0198441113767.13 505
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

overtraveling of the movement range (ref_ok is set EtherCAT 3006:16h

to 0 when the range is overtraveled).
PROFINET 1580
Modified settings become active immediately.

AccessExcl Get exclusive access to access channel. - UINT16 CANopen 3001:Dh

Write parameter: - R/W Modbus 282

Value 0: Release access channel - - Profibus 282

Value 1: Use exclusive access for access channel - - CIP 101.1.13

Read parameter: ModbusTCP 282

Value 0: Access channel is not used exclusively EtherCAT 3001:Dh

Value 1: Access channel is used exclusively PROFINET 282

(access channel used for reading)

Modified settings become active immediately.

AccessLock Locking other access channels. - UINT16 CANopen 3001:Eh

Value 0: Allow control via other access channels 0 R/W Modbus 284

Value 1: Lock control via other access channels 0 - Profibus 284

Example: 1 - CIP 101.1.14

The access channel is used by the fieldbus. ModbusTCP 284

In this case, control via the commissioning EtherCAT 3001:Eh

software, for example, is not possible.
PROFINET 284
The access channel can only be locked after the
currently active operating mode has terminated.

Modified settings become active immediately.

AT_dir Direction of movement for Autotuning. - UINT16 CANopen 302F:4h

oP → tun- 1 / Positive Negative Home / P n h : Positive 1 R/W Modbus 12040

direction first, then negative direction with return to
StiM initial position 1 - Profibus 12040

2 / Negative Positive Home / n P h : Negative 6 - CIP 147.1.4

direction first, then positive direction with return to
initial position ModbusTCP 12040

3 / Positive Home / P - h : Positive direction only EtherCAT 302F:4h

with return to initial position
PROFINET 12040
4 / Positive / P - - : Positive direction only
without return to initial position

5 / Negative Home / n - h : Negative direction

only with return to initial position

6 / Negative / n - - : Negative direction only

without return to initial position

Modified settings become active the next time the

motor moves.

506 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

AT_dis Movement range for Autotuning. revolution UINT32 CANopen 302F:3h

Movement range within which the control 1.0 R/W Modbus 12038
parameters are automatically optimized. The
movement range is entered with reference to the 2.0 - Profibus 12038
actual position.
999.9 - CIP 147.1.3
In the case of "Movement in one direction only"
(Parameter AT_dir), the specified movement ModbusTCP 12038
range is used for each optimization step. The
movement typically corresponds to 20 times the EtherCAT 302F:3h
value, but it is not limited.
PROFINET 12038
The parameter AT_dis_usr allows you to enter the
value in user-defined units.

In increments of 0.1 revolution.

Modified settings become active the next time the

motor moves.
AT_dis_usr Movement range for Autotuning. usr_p INT32 CANopen 302F:12h

Movement range within which the control 1 R/W Modbus 12068

parameters are automatically optimized. The
movement range is entered with reference to the 32768 - Profibus 12068
actual position.
2147483647 - CIP 147.1.18
In the case of "Movement in one direction only"
(Parameter AT_dir), the specified range is used ModbusTCP 12068
for each optimization step. The movement
typically corresponds to 20 times the value, but it EtherCAT 302F:12h
is not limited.
PROFINET 12068
The minimum value, the factory setting and the
maximum value depend on the scaling factor.

Modified settings become active the next time the

motor moves.

Available with firmware version ≥V01.03.

AT_mechanical Type of coupling of the system. - UINT16 CANopen 302F:Eh

1 / Direct Coupling: Direct coupling 1 R/W Modbus 12060

2 / Belt Axis: Belt axis 2 - Profibus 12060

3 / Spindle Axis: Spindle axis 3 - CIP 147.1.14

Modified settings become active the next time the ModbusTCP 12060
motor moves.
EtherCAT 302F:Eh

PROFINET 12060
AT_n_ref Velocity jump for Autotuning. RPM UINT32 CANopen 302F:6h

The parameter AT_v_ref allows you to enter the 10 R/W Modbus 12044
value in user-defined units.
100 - Profibus 12044
Modified settings become active the next time the
motor moves. 1000 - CIP 147.1.6

ModbusTCP 12044

EtherCAT 302F:6h

PROFINET 12044

0198441113767.13 507
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

AT_start Autotuning start. - UINT16 CANopen 302F:1h

Value 0: Terminate 0 R/W Modbus 12034

Value 1: Activate EasyTuning - - Profibus 12034

Value 2: Activate ComfortTuning 2 - CIP 147.1.1

Modified settings become active immediately. ModbusTCP 12034

EtherCAT 302F:1h

PROFINET 12034
AT_v_ref Velocity jump for Autotuning. usr_v INT32 CANopen 302F:13h

The minimum value, the factory setting and the 1 R/W Modbus 12070
maximum value depend on the scaling factor.
100 - Profibus 12070
Modified settings become active the next time the
motor moves. 2147483647 - CIP 147.1.19

Available with firmware version ≥V01.03. ModbusTCP 12070

EtherCAT 302F:13h

PROFINET 12070
AT_wait Waiting time between Autotuning steps. ms UINT16 CANopen 302F:9h

Modified settings become active the next time the 300 R/W Modbus 12050
motor moves.
500 - Profibus 12050

10000 - CIP 147.1.9

ModbusTCP 12050

EtherCAT 302F:9h

PROFINET 12050
BLSH_Mode Processing mode of backlash compensation. - UINT16 CANopen 3006:41h

0 / Off: Backlash compensation is off 0 R/W Modbus 1666

1 / OnAfterPositiveMovement: Backlash 0 per. Profibus 1666

compensation is on, last movement was in
positive direction 2 - CIP 106.1.65

2 / OnAfterNegativeMovement: Backlash ModbusTCP 1666

compensation is on, last movement was in
negative direction EtherCAT 3006:41h

Modified settings become active immediately. PROFINET 1666

Available with firmware version ≥V01.14.

BLSH_Position Position value for backlash compensation. usr_p INT32 CANopen 3006:42h

Setting can only be modified if power stage is 0 R/W Modbus 1668

disabled.
0 per. Profibus 1668
Modified settings become active the next time the
power stage is enabled. 2147483647 - CIP 106.1.66

Available with firmware version ≥V01.14. ModbusTCP 1668

EtherCAT 3006:42h

PROFINET 1668

508 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

BLSH_Time Processing time for backlash compensation. ms UINT16 CANopen 3006:44h

Value 0: Immediate backlash compensation 0 R/W Modbus 1672

Value >0: Processing time for backlash 0 per. Profibus 1672

compensation
16383 - CIP 106.1.68
Setting can only be modified if power stage is
disabled. ModbusTCP 1672

Modified settings become active the next time the EtherCAT 3006:44h
power stage is enabled.
PROFINET 1672
Available with firmware version ≥V01.14.
BRK_AddT_apply Additional time delay for applying the holding ms INT16 CANopen 3005:8h
brake.
0 R/W Modbus 1296
The overall time delay for applying the holding
brake is the time delay from the electronic 0 per. Profibus 1296
nameplate of the motor and the additional time
delay in this parameter. 1000 - CIP 105.1.8

Setting can only be modified if power stage is ModbusTCP 1296

disabled.
EtherCAT 3005:8h
Modified settings become active the next time the
power stage is enabled. PROFINET 1296

BRK_AddT_release Additional time delay for releasing the holding ms INT16 CANopen 3005:7h
brake.
0 R/W Modbus 1294
The overall time delay for releasing the holding
brake is the time delay from the electronic 0 per. Profibus 1294
nameplate of the motor and the additional time
delay in this parameter. 400 - CIP 105.1.7

Setting can only be modified if power stage is ModbusTCP 1294

disabled.
EtherCAT 3005:7h
Modified settings become active the next time the
power stage is enabled. PROFINET 1294

BRK_release Manual operation of the holding brake. - UINT16 CANopen 3008:Ah

0 / Automatic: Automatic processing 0 R/W Modbus 2068

1 / Manual Release: Manual release of holding 0 - Profibus 2068

brake
2 - CIP 108.1.10
2 / Manual Application: Manual applying of
holding brake ModbusTCP 2068

You can apply or release the holding brake EtherCAT 3008:Ah

manually.
PROFINET 2068
The holding brake can only be manually released
in the operating states 'Switch On Disabled',
'Ready To Switch On' or 'Fault'.

If you have applied the holding brake manually

and then want to release it manually, you must
first set this parameter to Automatic and then to
Manual Release.

Modified settings become active immediately.

Available with firmware version ≥V01.12.

CANaddress CANopen address (node number). - UINT16 -

ConF → CoM- Modified settings become active the next time the 1 R/W
product is powered on.
CoAd - per.

127 -

0198441113767.13 509
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CANbaud CANopen baud rate. - UINT16 -

ConF → CoM- 50 kBaud / 5 0 : 50 kBaud 50 R/W

Cobd 125 kBaud / 1 2 5 : 125 kBaud 250 per.

250 kBaud / 2 5 0 : 250 kBaud 1000 -

500 kBaud / 5 0 0 : 500 kBaud

1 MBaud / 1 0 0 0 : 1 MBaud

Modified settings become active the next time the

product is powered on.

CANpdo1Event PDO 1 event mask. - UINT16 CANopen 3041:Bh

Changes of values in the object trigger an event: 0 R/W Modbus 16662

Bit 0: First PDO object 1 - Profibus 16662

Bit 1: Second PDO object 15 - CIP 165.1.11

Bit 2: Third PDO object ModbusTCP 16662

Bit 3: Fourth PDO object EtherCAT 3041:Bh

Modified settings become active immediately. PROFINET 16662

CANpdo2Event PDO 2 event mask. - UINT16 CANopen 3041:Ch

Changes of values in the object trigger an event: 0 R/W Modbus 16664

Bit 0: First PDO object 1 - Profibus 16664

Bit 1: Second PDO object 15 - CIP 165.1.12

Bit 2: Third PDO object ModbusTCP 16664

Bit 3: Fourth PDO object EtherCAT 3041:Ch

Modified settings become active immediately. PROFINET 16664

CANpdo3Event PDO 3 event mask. - UINT16 CANopen 3041:Dh

Changes of values in the object trigger an event: 0 R/W Modbus 16666

Bit 0: First PDO object 1 - Profibus 16666

Bit 1: Second PDO object 15 - CIP 165.1.13

Bit 2: Third PDO object ModbusTCP 16666

Bit 3: Fourth PDO object EtherCAT 3041:Dh

Modified settings become active immediately. PROFINET 16666

CANpdo4Event PDO 4 event mask. - UINT16 CANopen 3041:Eh

Changes of values in the object trigger an event: 0 R/W Modbus 16668

Bit 0: First PDO object 15 - Profibus 16668

Bit 1: Second PDO object 15 - CIP 165.1.14

Bit 2: Third PDO object ModbusTCP 16668

Bit 3: Fourth PDO object EtherCAT 3041:Eh

Modified settings become active immediately. PROFINET 16668

510 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap1Activate Capture input 1 start/stop. - UINT16 CANopen 300A:4h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2568

1 / Capture Once: Start one-time capture - - Profibus 2568

2 / Capture Continuous: Start continuous 4 - CIP 110.1.4

capture
ModbusTCP 2568
3 / Reserved: Reserved
EtherCAT 300A:4h
4 / Reserved: Reserved
PROFINET 2568
In the case of one-time capture, the function is
terminated when the first value is captured.

In the case of continuous capture, the function

continues to run.

Modified settings become active immediately.

Cap1Config Capture input 1 configuration. - UINT16 CANopen 300A:2h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2564

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2564

2 / Both Edges: Position capture at both edges 2 - CIP 110.1.2

Modified settings become active immediately. ModbusTCP 2564

EtherCAT 300A:2h

PROFINET 2564
Cap1Source Capture input 1 encoder source. - UINT16 CANopen 300A:Ah

0 / Pact Encoder 1: Source for capture input 1 is 0 R/W Modbus 2580

Pact of encoder 1
0 - Profibus 2580
1 / Pact Encoder 2: Source for capture input 1 is
Pact of encoder 2 (module) 1 - CIP 110.1.10

Modified settings become active immediately. ModbusTCP 2580

Available with firmware version ≥V01.01. EtherCAT 300A:Ah

PROFINET 2580
Cap2Activate Capture input 2 start/stop. - UINT16 CANopen 300A:5h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2570

1 / Capture Once: Start one-time capture - - Profibus 2570

2 / Capture Continuous: Start continuous 4 - CIP 110.1.5

capture
ModbusTCP 2570
3 / Reserved: Reserved
EtherCAT 300A:5h
4 / Reserved: Reserved
PROFINET 2570
In the case of one-time capture, the function is
terminated when the first value is captured.

In the case of continuous capture, the function

continues to run.

Modified settings become active immediately.

0198441113767.13 511
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Cap2Config Capture input 2 configuration. - UINT16 CANopen 300A:3h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2566

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2566

2 / Both Edges: Position capture at both edges 2 - CIP 110.1.3

Modified settings become active immediately. ModbusTCP 2566

EtherCAT 300A:3h

PROFINET 2566
Cap2Source Capture input 2 encoder source. - UINT16 CANopen 300A:Bh

0 / Pact Encoder 1: Source for capture input 2 is 0 R/W Modbus 2582

Pact of encoder 1
0 - Profibus 2582
1 / Pact Encoder 2: Source for capture input 2 is
Pact of encoder 2 (module) 1 - CIP 110.1.11

Modified settings become active immediately. ModbusTCP 2582

Available with firmware version ≥V01.01. EtherCAT 300A:Bh

PROFINET 2582
Cap3Activate Capture input 3 start/stop. - UINT16 CANopen 300A:12h

0 / Capture Stop: Cancel capture function 0 R/W Modbus 2596

1 / Capture Once: Start one-time capture - - Profibus 2596

2 / Capture Continuous: Start continuous 2 - CIP 110.1.18

capture
ModbusTCP 2596
In the case of one-time capture, the function is
terminated when the first value is captured. EtherCAT 300A:12h

In the case of continuous capture, the function PROFINET 2596

continues to run.

Available with hardware version ≥RS03.

Modified settings become active immediately.

Cap3Config Capture input 3 configuration. - UINT16 CANopen 300A:11h

0 / Falling Edge: Position capture at falling edge 0 R/W Modbus 2594

1 / Rising Edge: Position capture at rising edge 0 - Profibus 2594

Available with hardware version ≥RS03. 1 - CIP 110.1.17

Modified settings become active immediately. ModbusTCP 2594

EtherCAT 300A:11h

PROFINET 2594
Cap3Source Capture input 3 encoder source. - UINT16 CANopen 300A:15h

0 / Pact Encoder 1: Source for capture input 3 is 0 R/W Modbus 2602

Pact of encoder 1
0 - Profibus 2602
1 / Pact Encoder 2: Source for capture input 3 is
Pact of encoder 2 (module) 1 - CIP 110.1.21

Available with hardware version ≥RS03. ModbusTCP 2602

Modified settings become active immediately. EtherCAT 300A:15h

PROFINET 2602

512 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CLSET_p_DiffWin Position deviation for control loop parameter set revolution UINT16 CANopen 3011:1Ch
switching.
0.0000 R/W Modbus 4408
If the position deviation of the position controller is
less than the value of this parameter, control loop 0.0100 per. Profibus 4408
parameter set 2 is used. Otherwise, control loop
parameter set 1 is used. 2.0000 - CIP 117.1.28

The parameter CLSET_p_DiffWin_usr allows you ModbusTCP 4408

to enter the value in user-defined units.
EtherCAT 3011:1Ch
In increments of 0.0001 revolution.
PROFINET 4408
Modified settings become active immediately.

CLSET_p_DiffWin_ Position deviation for control loop parameter set usr_p INT32 CANopen 3011:25h
usr switching.
0 R/W Modbus 4426
If the position deviation of the position controller is
less than the value of this parameter, control loop 164 per. Profibus 4426
parameter set 2 is used. Otherwise, control loop
parameter set 1 is used. 2147483647 - CIP 117.1.37

The minimum value, the factory setting and the ModbusTCP 4426
maximum value depend on the scaling factor.
EtherCAT 3011:25h
Modified settings become active immediately.
PROFINET 4426
Available with firmware version ≥V01.03.

0198441113767.13 513
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CLSET_ParSwiCond Condition for parameter set switching. - UINT16 CANopen 3011:1Ah

0 / None Or Digital Input: None or digital input 0 R/W Modbus 4404

function selected
0 per. Profibus 4404
1 / Inside Position Deviation: Inside position
deviation (value definition in parameter CLSET_ 4 - CIP 117.1.26
p_DiffWin)
ModbusTCP 4404
2 / Below Reference Velocity: Below reference
velocity (value definition in parameter CLSET_v_ EtherCAT 3011:1Ah
Threshol)
PROFINET 4404
3 / Below Actual Velocity: Below actual velocity
(value definition in parameter CLSET_v_Threshol)

4 / Reserved: Reserved

In the case of parameter set switching, the values

of the following parameters are changed
gradually:

- CTRL_KPn

- CTRL_TNn

- CTRL_KPp

- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

The following parameters are changed

immediately after the time for parameter set
switching (CTRL_ParChgTime):

- CTRL_Nf1damp

- CTRL_Nf1freq

- CTRL_Nf1bandw

- CTRL_Nf2damp

- CTRL_Nf2freq

- CTRL_Nf2bandw

- CTRL_Osupdamp

- CTRL_Osupdelay

- CTRL_Kfric

Modified settings become active immediately.

CLSET_v_Threshol Velocity threshold for control loop parameter set usr_v UINT32 CANopen 3011:1Dh
switching.
0 R/W Modbus 4410
If the reference velocity or the actual velocity are
less than the value of this parameter, control loop 50 per. Profibus 4410
parameter set 2 is used. Otherwise, control loop
parameter set 1 is used. 2147483647 - CIP 117.1.29

Modified settings become active immediately. ModbusTCP 4410

EtherCAT 3011:1Dh

PROFINET 4410

514 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CLSET_winTime Time window for parameter set switching. ms UINT16 CANopen 3011:1Bh

Value 0: Window monitoring deactivated. 0 R/W Modbus 4406

Value >0: Window time for the parameters 0 per. Profibus 4406
CLSET_v_Threshol and CLSET_p_DiffWin.
1000 - CIP 117.1.27
Modified settings become active immediately.
ModbusTCP 4406

EtherCAT 3011:1Bh

PROFINET 4406
CommutCntCred Value for increased threshold for commutation - INT16 CANopen 3005:3Eh
monitoring.
0 R/W Modbus 1404
This parameter contains the value which is added
to the threshold value for commutation monitoring. 0 per. Profibus 1404

Setting can only be modified if power stage is 1000 expert CIP 105.1.62
disabled.
ModbusTCP 1404
Modified settings become active immediately.
EtherCAT 3005:3Eh
Available with firmware version ≥V01.30.
PROFINET 1404
CommutCntMax Maximum value the commutation monitoring - INT16 CANopen 303F:63h
counter has reached.
- R/W Modbus 16326
This parameter contains the maximum value the
commutation monitoring counter has reached - - Profibus 16326
since power on or reset. The maximum value can
be reset by writing the value 0. - expert CIP 163.1.99

Available with firmware version ≥V01.30. ModbusTCP 16326

EtherCAT 303F:63h

PROFINET 16326
CTRL_GlobGain Global gain factor (affects control loop parameter % UINT16 CANopen 3011:15h
set 1).
oP → tun- 5.0 R/W Modbus 4394
The global gain factor affects the following
GAin parameters of control loop parameter set 1: 100.0 per. Profibus 4394

- CTRL_KPn 1000.0 - CIP 117.1.21

- CTRL_TNn ModbusTCP 4394

- CTRL_KPp EtherCAT 3011:15h

- CTRL_TAUnref PROFINET 4394

The global gain factor is set to 100%

- if the control loop parameters are set to default

- at the end of the Autotuning process

- if control loop parameter set 2 is copied to set 1

via the parameter CTRL_ParSetCopy

If a full configuration is transmitted via the fieldbus,

the value for CTRL_GlobGain must be transmitted
prior to the values of the control loop parameters
CTRL_KPn, CTRL_TNn, CTRL_KPp and CTRL_
TAUnref. If CTRL_GlobGain is changed during a
configuration transmission, CTRL_KPn, CTRL_
TNn, CTRL_KPp and CTRL_TAUnref must also
be part of the configuration.

In increments of 0.1 %.

Modified settings become active immediately.

0198441113767.13 515
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_I_max Current limitation. Arms UINT16 CANopen 3011:Ch

ConF → drC- During operation, the actual current limit is one of 0.00 R/W Modbus 4376
the following values (whichever is lowest):
iMAX - per. Profibus 4376
- CTRL_I_max
463.00 - CIP 117.1.12
- _M_I_max
ModbusTCP 4376
- _PS_I_max
EtherCAT 3011:Ch
- Current limitation via analog input (module
IOM1) PROFINET 4376

- Current limitation via digital input

Limitations caused by I2t monitoring are also

taken into account.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

CTRL_I_max_fw Maximum current for field weakening (d Arms UINT16 CANopen 3011:Fh
component).
0.00 R/W Modbus 4382
This value is only limited by the minimum/
maximum parameter range (no limitation of this 0.00 per. Profibus 4382
value by motor/power stage).
300.00 expert CIP 117.1.15
The actually effective field weakening current is
the minimum of CTRL_I_max_fw and one half of ModbusTCP 4382
the lower value of the nominal current of the
power stage and the motor. EtherCAT 3011:Fh

In increments of 0.01 Arms. PROFINET 4382

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

CTRL_KFAcc Acceleration feed-forward control. % UINT16 CANopen 3011:Ah

In increments of 0.1 %. 0.0 R/W Modbus 4372

Modified settings become active immediately. 0.0 per. Profibus 4372

3000.0 expert CIP 117.1.10

ModbusTCP 4372

EtherCAT 3011:Ah

PROFINET 4372
CTRL_ParChgTime Period of time for control loop parameter set ms UINT16 CANopen 3011:14h
switching.
0 R/W Modbus 4392
In the case of control loop parameter set
switching, the values of the following parameters 0 per. Profibus 4392
are changed linearly:
2000 - CIP 117.1.20
- CTRL_KPn
ModbusTCP 4392
- CTRL_TNn
EtherCAT 3011:14h
- CTRL_KPp
PROFINET 4392
- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

Modified settings become active immediately.

516 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_ParSetCopy Control loop parameter set copying. - UINT16 CANopen 3011:16h

Value 1: Copy control loop parameter set 1 to set 0 R/W Modbus 4396
2
- - Profibus 4396
Value 2: Copy control loop parameter set 2 to set
1 2 - CIP 117.1.22

If control loop parameter set 2 is copied to control ModbusTCP 4396

loop parameter set 1, the parameter CTRL_
GlobGain is set to 100%. EtherCAT 3011:16h

Modified settings become active immediately. PROFINET 4396

CTRL_PwrUpParSet Selection of control loop parameter set at power - UINT16 CANopen 3011:18h
up.
0 R/W Modbus 4400
0 / Switching Condition: The switching condition
is used for control loop parameter set switching 1 per. Profibus 4400

1 / Parameter Set 1: Control loop parameter set 1 2 - CIP 117.1.24

is used
ModbusTCP 4400
2 / Parameter Set 2: Control loop parameter set 2
is used EtherCAT 3011:18h

The selected value is also written to CTRL_ PROFINET 4400

SelParSet (non-persistent).

Modified settings become active immediately.

CTRL_SelParSet Selection of control loop parameter set. - UINT16 CANopen 3011:19h

Coding see parameter: CTRL_PwrUpParSet 0 R/W Modbus 4402

Modified settings become active immediately. 1 - Profibus 4402

2 - CIP 117.1.25

ModbusTCP 4402

EtherCAT 3011:19h

PROFINET 4402
CTRL_SmoothCurr Smoothing factor for current controller. % UINT16 CANopen 3011:26h

This parameter decreases the dynamics of the 50 R/W Modbus 4428

current control loop.
100 per. Profibus 4428
Modified settings become active immediately.
100 - CIP 117.1.38
Available with firmware version ≥V01.26.
ModbusTCP 4428

EtherCAT 3011:26h

PROFINET 4428
CTRL_SpdFric Speed of rotation up to which the friction RPM UINT32 CANopen 3011:9h
compensation is linear.
0 R/W Modbus 4370
Modified settings become active immediately.
5 per. Profibus 4370

20 expert CIP 117.1.9

ModbusTCP 4370

EtherCAT 3011:9h

PROFINET 4370

0198441113767.13 517
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_TAUnact Filter time constant to smooth velocity of motor. ms UINT16 CANopen 3011:8h

The default value is calculated on the basis of the 0.00 R/W Modbus 4368
motor data.
- per. Profibus 4368
In increments of 0.01 ms.
30.00 expert CIP 117.1.8
Modified settings become active immediately.
ModbusTCP 4368

EtherCAT 3011:8h

PROFINET 4368
CTRL_v_max Velocity limitation. usr_v UINT32 CANopen 3011:10h

ConF → drC- During operation, the velocity limit is one of the 1 R/W Modbus 4384
following values (whichever is lowest):
nMAX 13200 per. Profibus 4384
- CTRL_v_max
2147483647 - CIP 117.1.16
- M_n_max
ModbusTCP 4384
- Velocity limitation via analog input (module
IOM1) EtherCAT 3011:10h

- Velocity limitation via digital input PROFINET 4384

Modified settings become active immediately.

CTRL_VelObsActiv Activation of velocity observer. - UINT16 CANopen 3011:22h

0 / Velocity Observer Off: Velocity observer is off 0 R/W Modbus 4420

1 / Velocity Observer Passive: Velocity observer 0 per. Profibus 4420

is on, but not used for motor control
2 expert CIP 117.1.34
2 / Velocity Observer Active: Velocity observer is
on and used for motor control ModbusTCP 4420

Velocity observer control reduces velocity ripple EtherCAT 3011:22h

and enhances controller bandwidth.
PROFINET 4420
Set the correct dynamics and inertia values before
activation.

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.01.

CTRL_VelObsDyn Dynamics of velocity observer. ms UINT16 CANopen 3011:23h

The value of this parameter must be less than (for 0.03 R/W Modbus 4422
example, between 5 % and 20 %) the integral
action time of the velocity controller (parameter 0.25 per. Profibus 4422
CTRL1_TNn und CTRL2_TNn).
200.00 expert CIP 117.1.35
In increments of 0.01 ms.
ModbusTCP 4422
Setting can only be modified if power stage is
disabled. EtherCAT 3011:23h

Modified settings become active immediately. PROFINET 4422

Available with firmware version ≥V01.01.

518 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL_VelObsInert Inertia value for velocity observer. g cm2 UINT32 CANopen 3011:24h

System inertia that is used for velocity observer 1 R/W Modbus 4424
calculations.
- per. Profibus 4424
The default value is the inertia of the mounted
motor. 2147483648 expert CIP 117.1.36

In the case of autotuning, the value of this ModbusTCP 4424

parameter can be set equal to that of _AT_J.
EtherCAT 3011:24h
Setting can only be modified if power stage is
disabled. PROFINET 4424

Modified settings become active immediately.

Available with firmware version ≥V01.01.

CTRL_vPIDDPart PID velocity controller: D gain. % UINT16 CANopen 3011:6h

In increments of 0.1 %. 0.0 R/W Modbus 4364

Modified settings become active immediately. 0.0 per. Profibus 4364

400.0 expert CIP 117.1.6

ModbusTCP 4364

EtherCAT 3011:6h

PROFINET 4364
CTRL_vPIDDTime PID velocity controller: Time constant of D term ms UINT16 CANopen 3011:5h
smoothing filter.
0.01 R/W Modbus 4362
In increments of 0.01 ms.
0.25 per. Profibus 4362
Modified settings become active immediately.
10.00 expert CIP 117.1.5

ModbusTCP 4362

EtherCAT 3011:5h

PROFINET 4362
CTRL1_KFPp Velocity feed-forward control. % UINT16 CANopen 3012:6h

ConF → drC- In the case of switching between the two control 0.0 R/W Modbus 4620
loop parameter sets, the values are changed
FPP1 linearly over the time defined in the parameter 0.0 per. Profibus 4620
CTRL_ParChgTime.
200.0 - CIP 118.1.6
In increments of 0.1 %.
ModbusTCP 4620
Modified settings become active immediately.
EtherCAT 3012:6h

PROFINET 4620
CTRL1_Kfric Friction compensation: Gain. Arms UINT16 CANopen 3012:10h

In increments of 0.01 Arms. 0.00 R/W Modbus 4640

Modified settings become active immediately. 0.00 per. Profibus 4640

10.00 expert CIP 118.1.16

ModbusTCP 4640

EtherCAT 3012:10h

PROFINET 4640

0198441113767.13 519
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3012:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4610
motor parameters.
Pn1 - per. Profibus 4610
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 118.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4610

In increments of 0.0001 A/RPM. EtherCAT 3012:1h

Modified settings become active immediately. PROFINET 4610

CTRL1_KPp Position controller P gain. 1/s UINT16 CANopen 3012:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4614

PP1 In the case of switching between the two control - per. Profibus 4614
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 118.1.3
CTRL_ParChgTime.
ModbusTCP 4614
In increments of 0.1 1/s.
EtherCAT 3012:3h
Modified settings become active immediately.
PROFINET 4614
CTRL1_Nf1bandw Notch filter 1: Bandwidth. % UINT16 CANopen 3012:Ah

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4628

In increments of 0.1 %. 70.0 per. Profibus 4628

Modified settings become active immediately. 90.0 expert CIP 118.1.10

ModbusTCP 4628

EtherCAT 3012:Ah

PROFINET 4628
CTRL1_Nf1damp Notch filter 1: Damping. % UINT16 CANopen 3012:8h

In increments of 0.1 %. 55.0 R/W Modbus 4624

Modified settings become active immediately. 90.0 per. Profibus 4624

99.0 expert CIP 118.1.8

ModbusTCP 4624

EtherCAT 3012:8h

PROFINET 4624
CTRL1_Nf1freq Notch filter 1: Frequency. Hz UINT16 CANopen 3012:9h

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4626

In increments of 0.1 Hz. 1500.0 per. Profibus 4626

Modified settings become active immediately. 1500.0 expert CIP 118.1.9

ModbusTCP 4626

EtherCAT 3012:9h

PROFINET 4626

520 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_Nf2bandw Notch filter 2: Bandwidth. % UINT16 CANopen 3012:Dh

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4634

In increments of 0.1 %. 70.0 per. Profibus 4634

Modified settings become active immediately. 90.0 expert CIP 118.1.13

ModbusTCP 4634

EtherCAT 3012:Dh

PROFINET 4634
CTRL1_Nf2damp Notch filter 2: Damping. % UINT16 CANopen 3012:Bh

In increments of 0.1 %. 55.0 R/W Modbus 4630

Modified settings become active immediately. 90.0 per. Profibus 4630

99.0 expert CIP 118.1.11

ModbusTCP 4630

EtherCAT 3012:Bh

PROFINET 4630
CTRL1_Nf2freq Notch filter 2: Frequency. Hz UINT16 CANopen 3012:Ch

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4632

In increments of 0.1 Hz. 1500.0 per. Profibus 4632

Modified settings become active immediately. 1500.0 expert CIP 118.1.12

ModbusTCP 4632

EtherCAT 3012:Ch

PROFINET 4632
CTRL1_Osupdamp Overshoot suppression filter: Damping. % UINT16 CANopen 3012:Eh

The filter is deactivated at a value of 0. 0.0 R/W Modbus 4636

In increments of 0.1 %. 0.0 per. Profibus 4636

Modified settings become active immediately. 50.0 expert CIP 118.1.14

ModbusTCP 4636

EtherCAT 3012:Eh

PROFINET 4636
CTRL1_Osupdelay Overshoot suppression filter: Time delay. ms UINT16 CANopen 3012:Fh

The filter is deactivated at a value of 0. 0.00 R/W Modbus 4638

In increments of 0.01 ms. 0.00 per. Profibus 4638

Modified settings become active immediately. 75.00 expert CIP 118.1.15

ModbusTCP 4638

EtherCAT 3012:Fh

PROFINET 4638

0198441113767.13 521
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL1_TAUiref Filter time constant of the reference current value ms UINT16 CANopen 3012:5h
filter.
0.00 R/W Modbus 4618
In the case of switching between the two control
loop parameter sets, the values are changed 0.50 per. Profibus 4618
linearly over the time defined in the parameter
CTRL_ParChgTime. 4.00 - CIP 118.1.5

In increments of 0.01 ms. ModbusTCP 4618

Modified settings become active immediately. EtherCAT 3012:5h

PROFINET 4618
CTRL1_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3012:4h
filter.
ConF → drC- 0.00 R/W Modbus 4616
In the case of switching between the two control
tAu1 loop parameter sets, the values are changed 9.00 per. Profibus 4616
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 118.1.4

In increments of 0.01 ms. ModbusTCP 4616

Modified settings become active immediately. EtherCAT 3012:4h

PROFINET 4616
CTRL1_TNn Velocity controller integral action time. ms UINT16 CANopen 3012:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4612

tin1 In the case of switching between the two control - per. Profibus 4612
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 118.1.2
CTRL_ParChgTime.
ModbusTCP 4612
In increments of 0.01 ms.
EtherCAT 3012:2h
Modified settings become active immediately.
PROFINET 4612
CTRL2_KFPp Velocity feed-forward control. % UINT16 CANopen 3013:6h

ConF → drC- In the case of switching between the two control 0.0 R/W Modbus 4876
loop parameter sets, the values are changed
FPP2 linearly over the time defined in the parameter 0.0 per. Profibus 4876
CTRL_ParChgTime.
200.0 - CIP 119.1.6
In increments of 0.1 %.
ModbusTCP 4876
Modified settings become active immediately.
EtherCAT 3013:6h

PROFINET 4876
CTRL2_Kfric Friction compensation: Gain. Arms UINT16 CANopen 3013:10h

In increments of 0.01 Arms. 0.00 R/W Modbus 4896

Modified settings become active immediately. 0.00 per. Profibus 4896

10.00 expert CIP 119.1.16

ModbusTCP 4896

EtherCAT 3013:10h

PROFINET 4896

522 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_KPn Velocity controller P gain. A/RPM UINT16 CANopen 3013:1h

ConF → drC- The default value is calculated on the basis of the 0.0001 R/W Modbus 4866
motor parameters.
Pn2 - per. Profibus 4866
In the case of switching between the two control
loop parameter sets, the values are changed 2.5400 - CIP 119.1.1
linearly over the time defined in the parameter
CTRL_ParChgTime. ModbusTCP 4866

In increments of 0.0001 A/RPM. EtherCAT 3013:1h

Modified settings become active immediately. PROFINET 4866

CTRL2_KPp Position controller P gain. 1/s UINT16 CANopen 3013:3h

ConF → drC- The default value is calculated. 2.0 R/W Modbus 4870

PP2 In the case of switching between the two control - per. Profibus 4870
loop parameter sets, the values are changed
linearly over the time defined in the parameter 900.0 - CIP 119.1.3
CTRL_ParChgTime.
ModbusTCP 4870
In increments of 0.1 1/s.
EtherCAT 3013:3h
Modified settings become active immediately.
PROFINET 4870
CTRL2_Nf1bandw Notch filter 1: Bandwidth. % UINT16 CANopen 3013:Ah

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4884

In increments of 0.1 %. 70.0 per. Profibus 4884

Modified settings become active immediately. 90.0 expert CIP 119.1.10

ModbusTCP 4884

EtherCAT 3013:Ah

PROFINET 4884
CTRL2_Nf1damp Notch filter 1: Damping. % UINT16 CANopen 3013:8h

In increments of 0.1 %. 55.0 R/W Modbus 4880

Modified settings become active immediately. 90.0 per. Profibus 4880

99.0 expert CIP 119.1.8

ModbusTCP 4880

EtherCAT 3013:8h

PROFINET 4880
CTRL2_Nf1freq Notch filter 1: Frequency. Hz UINT16 CANopen 3013:9h

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4882

In increments of 0.1 Hz. 1500.0 per. Profibus 4882

Modified settings become active immediately. 1500.0 expert CIP 119.1.9

ModbusTCP 4882

EtherCAT 3013:9h

PROFINET 4882

0198441113767.13 523
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_Nf2bandw Notch filter 2: Bandwidth. % UINT16 CANopen 3013:Dh

Definition of bandwidth: 1 - Fb/F0 1.0 R/W Modbus 4890

In increments of 0.1 %. 70.0 per. Profibus 4890

Modified settings become active immediately. 90.0 expert CIP 119.1.13

ModbusTCP 4890

EtherCAT 3013:Dh

PROFINET 4890
CTRL2_Nf2damp Notch filter 2: Damping. % UINT16 CANopen 3013:Bh

In increments of 0.1 %. 55.0 R/W Modbus 4886

Modified settings become active immediately. 90.0 per. Profibus 4886

99.0 expert CIP 119.1.11

ModbusTCP 4886

EtherCAT 3013:Bh

PROFINET 4886
CTRL2_Nf2freq Notch filter 2: Frequency. Hz UINT16 CANopen 3013:Ch

The filter is deactivated at a value of 15000. 50.0 R/W Modbus 4888

In increments of 0.1 Hz. 1500.0 per. Profibus 4888

Modified settings become active immediately. 1500.0 expert CIP 119.1.12

ModbusTCP 4888

EtherCAT 3013:Ch

PROFINET 4888
CTRL2_Osupdamp Overshoot suppression filter: Damping. % UINT16 CANopen 3013:Eh

The filter is deactivated at a value of 0. 0.0 R/W Modbus 4892

In increments of 0.1 %. 0.0 per. Profibus 4892

Modified settings become active immediately. 50.0 expert CIP 119.1.14

ModbusTCP 4892

EtherCAT 3013:Eh

PROFINET 4892
CTRL2_Osupdelay Overshoot suppression filter: Time delay. ms UINT16 CANopen 3013:Fh

The filter is deactivated at a value of 0. 0.00 R/W Modbus 4894

In increments of 0.01 ms. 0.00 per. Profibus 4894

Modified settings become active immediately. 75.00 expert CIP 119.1.15

ModbusTCP 4894

EtherCAT 3013:Fh

PROFINET 4894

524 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

CTRL2_TAUiref Filter time constant of the reference current value ms UINT16 CANopen 3013:5h
filter.
0.00 R/W Modbus 4874
In the case of switching between the two control
loop parameter sets, the values are changed 0.50 per. Profibus 4874
linearly over the time defined in the parameter
CTRL_ParChgTime. 4.00 - CIP 119.1.5

In increments of 0.01 ms. ModbusTCP 4874

Modified settings become active immediately. EtherCAT 3013:5h

PROFINET 4874
CTRL2_TAUnref Filter time constant of the reference velocity value ms UINT16 CANopen 3013:4h
filter.
ConF → drC- 0.00 R/W Modbus 4872
In the case of switching between the two control
tAu2 loop parameter sets, the values are changed 9.00 per. Profibus 4872
linearly over the time defined in the parameter
CTRL_ParChgTime. 327.67 - CIP 119.1.4

In increments of 0.01 ms. ModbusTCP 4872

Modified settings become active immediately. EtherCAT 3013:4h

PROFINET 4872
CTRL2_TNn Velocity controller integral action time. ms UINT16 CANopen 3013:2h

ConF → drC- The default value is calculated. 0.00 R/W Modbus 4868

tin2 In the case of switching between the two control - per. Profibus 4868
loop parameter sets, the values are changed
linearly over the time defined in the parameter 327.67 - CIP 119.1.2
CTRL_ParChgTime.
ModbusTCP 4868
In increments of 0.01 ms.
EtherCAT 3013:2h
Modified settings become active immediately.
PROFINET 4868
DCbus_compat DC bus compatibility LXM32 and ATV32. - UINT16 CANopen 3005:26h

0 / No DC bus or LXM32 only: DC bus not used 0 R/W Modbus 1356

or only LXM32 connected via the DC bus
0 per. Profibus 1356
1 / DC bus with LXM32 and ATV32: LXM32 and
ATV32 connected via the DC bus 1 - CIP 105.1.38

Setting can only be modified if power stage is ModbusTCP 1356

disabled.
EtherCAT 3005:26h
Modified settings become active the next time the
product is powered on. PROFINET 1356

Available with firmware version ≥V01.03.

0198441113767.13 525
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DCOMcontrol DriveCom control word. - UINT16 CANopen 6040:0h

See Operation, Operating States, for bit - R/W Modbus 6914

assignment information.
- - Profibus 6914
Bit 0: Operating state Switch On
- - CIP 127.1.1
Bit 1: Enable Voltage
ModbusTCP 6914
Bit 2: Operating state Quick Stop
EtherCAT 6040:0h
Bit 3: Enable Operation
PROFINET 6914
Bits 4 … 6: Operating mode-specific

Bit 7: Fault Reset

Bit 8: Halt

Bit 9: Operating mode-specific

Bits 10 … 15: Reserved (must be 0)

Modified settings become active immediately.

DCOMopmode Operating mode. - INT16* CANopen 6060:0h

-6 / Manual Tuning / Autotuning: Manual Tuning -6 R/W Modbus 6918

or Autotuning
- - Profibus 6918
-3 / Motion Sequence: Motion Sequence
10 - CIP 127.1.3
-2 / Electronic Gear: Electronic Gear
ModbusTCP 6918
-1 / Jog: Jog
EtherCAT 6060:0h
0 / Reserved: Reserved
PROFINET 6918
1 / Profile Position: Profile Position

3 / Profile Velocity: Profile Velocity

4 / Profile Torque: Profile Torque

6 / Homing: Homing

7 / Interpolated Position: Interpolated Position

8 / Cyclic Synchronous Position: Cyclic

Synchronous Position

9 / Cyclic Synchronous Velocity: Cyclic

Synchronous Velocity

10 / Cyclic Synchronous Torque: Cyclic

Synchronous Torque

Modified settings become active immediately.

* Datatype for CANopen: INT8

DEVcmdinterf Control mode. - UINT16 CANopen 3005:1h

ConF → ACG- 1 / Local Control Mode / i o : Local control mode - R/W Modbus 1282

nonE 2 / Fieldbus Control Mode / F b u S : Fieldbus - per. Profibus 1282

control mode
dEVC - - CIP 105.1.1
Setting can only be modified if power stage is
disabled. ModbusTCP 1282

Modified settings become active the next time the EtherCAT 3005:1h
product is powered on.
PROFINET 1282

526 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DevNameExtAddr Value for device name extension. - UINT16 CANopen 303E:11h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 15906
product is powered on.
dnEA 0 per. Profibus 15906

65535 - CIP 162.1.17

ModbusTCP 15906

EtherCAT 303E:11h

PROFINET 15906
DI_0_Debounce Debounce time of DI0. - UINT16 CANopen 3008:20h

0 / No: No software debouncing 0 R/W Modbus 2112

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2112

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.32

3 / 0.75 ms: 0.75 ms ModbusTCP 2112

4 / 1.00 ms: 1.00 ms EtherCAT 3008:20h

5 / 1.25 ms: 1.25 ms PROFINET 2112

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_1_Debounce Debounce time of DI1. - UINT16 CANopen 3008:21h

0 / No: No software debouncing 0 R/W Modbus 2114

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2114

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.33

3 / 0.75 ms: 0.75 ms ModbusTCP 2114

4 / 1.00 ms: 1.00 ms EtherCAT 3008:21h

5 / 1.25 ms: 1.25 ms PROFINET 2114

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_2_Debounce Debounce time of DI2. - UINT16 CANopen 3008:22h

0 / No: No software debouncing 0 R/W Modbus 2116

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2116

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.34

3 / 0.75 ms: 0.75 ms ModbusTCP 2116

4 / 1.00 ms: 1.00 ms EtherCAT 3008:22h

5 / 1.25 ms: 1.25 ms PROFINET 2116

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

0198441113767.13 527
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DI_3_Debounce Debounce time of DI3. - UINT16 CANopen 3008:23h

0 / No: No software debouncing 0 R/W Modbus 2118

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2118

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.35

3 / 0.75 ms: 0.75 ms ModbusTCP 2118

4 / 1.00 ms: 1.00 ms EtherCAT 3008:23h

5 / 1.25 ms: 1.25 ms PROFINET 2118

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_4_Debounce Debounce time of DI4. - UINT16 CANopen 3008:24h

0 / No: No software debouncing 0 R/W Modbus 2120

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2120

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.36

3 / 0.75 ms: 0.75 ms ModbusTCP 2120

4 / 1.00 ms: 1.00 ms EtherCAT 3008:24h

5 / 1.25 ms: 1.25 ms PROFINET 2120

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DI_5_Debounce Debounce time of DI5. - UINT16 CANopen 3008:25h

0 / No: No software debouncing 0 R/W Modbus 2122

1 / 0.25 ms: 0.25 ms 6 per. Profibus 2122

2 / 0.50 ms: 0.50 ms 6 - CIP 108.1.37

3 / 0.75 ms: 0.75 ms ModbusTCP 2122

4 / 1.00 ms: 1.00 ms EtherCAT 3008:25h

5 / 1.25 ms: 1.25 ms PROFINET 2122

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

DPL_Activate Activation of Drive Profile Lexium. - UINT16 CANopen 301B:8h

Value 0: Deactivate Drive Profile Lexium 0 R/W Modbus 6928

Value 1: Activate Drive Profile Lexium 0 - Profibus 6928

The access channel via which the drive profile has 1 - CIP 127.1.8
been activated is the only access channel that can
use the drive profile. ModbusTCP 6928

Modified settings become active immediately. EtherCAT 301B:8h

PROFINET 6928

528 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DPL_dmControl Drive Profile Lexium dmControl. - UINT16 CANopen 301B:1Fh

- R/W Modbus 6974

- - Profibus 6974

- - CIP 127.1.31

ModbusTCP 6974

EtherCAT 301B:1Fh

PROFINET 6974
DPL_intLim Setting for bit 9 of _DPL_motionStat and - UINT16 CANopen 301B:35h
_actionStatus.
0 R/W Modbus 7018
0 / None: Not used (reserved)
11 per. Profibus 7018
1 / Current Below Threshold: Current threshold
value 11 - CIP 127.1.53

2 / Velocity Below Threshold: Velocity threshold ModbusTCP 7018

value
EtherCAT 301B:35h
3 / In Position Deviation Window: Position
deviation window PROFINET 7018

4 / In Velocity Deviation Window: Velocity

deviation window

5 / Position Register Channel 1: Position

register channel 1

6 / Position Register Channel 2: Position

register channel 2

7 / Position Register Channel 3: Position

register channel 3

8 / Position Register Channel 4: Position

register channel 4

9 / Hardware Limit Switch: Hardware limit switch

10 / RMAC active or finished: Relative

movement after capture is active or finished

11 / Position Window: Position window

Setting for:

Bit 9 of the parameter _actionStatus

Bit 9 of the parameter _DPL_motionStat

Modified settings become active immediately.

Available with firmware version ≥V01.08.

DPL_RefA16 Drive Profile Lexium RefA16. - INT16 CANopen 301B:22h

- R/W Modbus 6980

- - Profibus 6980

- - CIP 127.1.34

ModbusTCP 6980

EtherCAT 301B:22h

PROFINET 6980

0198441113767.13 529
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DPL_RefA32 Drive Profile Lexium RefA32. - INT32 CANopen 301B:20h

- R/W Modbus 6976

- - Profibus 6976

- - CIP 127.1.32

ModbusTCP 6976

EtherCAT 301B:20h

PROFINET 6976
DPL_RefB32 Drive Profile Lexium RefB32. - INT32 CANopen 301B:21h

- R/W Modbus 6978

- - Profibus 6978

- - CIP 127.1.33

ModbusTCP 6978

EtherCAT 301B:21h

PROFINET 6978
DplParChCheckData- Drive Profile Lexium: Data type verification for - UINT16 CANopen 3005:39h
Typ write access.
0 R/W Modbus 1394
0 / Data Type Verification Off: Data type
verification for write access is off 0 per. Profibus 1394

1 / Data Type Verification On: Data type 1 - CIP 105.1.57

verification for write access is on
ModbusTCP 1394
Modified settings become active immediately.
EtherCAT 3005:39h
Available with firmware version ≥V01.26.
PROFINET 1394
DS402compatib DS402 state machine: State transition from 3 to 4. - UINT16 CANopen 301B:13h

0 / Automatic: Automatic (state transition is 0 R/W Modbus 6950

performed automatically)
0 per. Profibus 6950
1 / DS402-compliant: DS402-compliant (state
transition must be controlled via the fieldbus) 1 - CIP 127.1.19

Determines the state transition between the states ModbusTCP 6950

SwitchOnDisabled (3) and ReadyToSwitchOn (4).
EtherCAT 301B:13h
Setting can only be modified if power stage is
disabled. PROFINET 6950

Modified settings become active immediately.

530 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DS402intLim DS402 status word: Setting for bit 11 (internal - UINT16 CANopen 301B:1Eh
limit).
0 R/W Modbus 6972
0 / None: Not used (reserved)
0 per. Profibus 6972
1 / Current Below Threshold: Current threshold
value 11 - CIP 127.1.30

2 / Velocity Below Threshold: Velocity threshold ModbusTCP 6972

value
EtherCAT 301B:1Eh
3 / In Position Deviation Window: Position
deviation window PROFINET 6972

4 / In Velocity Deviation Window: Velocity

deviation window

5 / Position Register Channel 1: Position

register channel 1

6 / Position Register Channel 2: Position

register channel 2

7 / Position Register Channel 3: Position

register channel 3

8 / Position Register Channel 4: Position

register channel 4

9 / Hardware Limit Switch: Hardware limit switch

10 / RMAC active or finished: Relative

movement after capture is active or finished

11 / Position Window: Position window

Setting for:

Bit 11 of the parameter _DCOMstatus

Bit 10 of the parameter _actionStatus

Bit 10 of the parameter _DPL_motionStat

Modified settings become active immediately.

DSM_ Behavior for disabling the power stage during - INT16 CANopen 605B:0h
ShutDownOption movement.
0 R/W Modbus 1684
ConF → ACG- 0 / Disable Immediately / d i S i : Disable
power stage immediately 0 per. Profibus 1684
Sdty
1 / Disable After Halt / d i S h : Disable power 1 - CIP 106.1.74
stage after deceleration to standstill
ModbusTCP 1684
This parameter specifies the response to a power
stage disable request. EtherCAT 605B:0h

Halt is used for deceleration to standstill. PROFINET 1684

Modified settings become active immediately.

Available with firmware version ≥V01.26.

DVNaddress DeviceNet node address (MAC ID). - UINT16 CANopen 3042:1h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 16898
product is powered on.
dnAd 63 per. Profibus 16898

63 - CIP 166.1.1

ModbusTCP 16898

EtherCAT 3042:1h

PROFINET 16898

0198441113767.13 531
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

DVNbaud DeviceNet baud rate. - UINT16 CANopen 3042:2h

ConF → CoM- 0 / 125 kBaud / 1 2 5 : 125 kBaud 0 R/W Modbus 16900

dnbd 1 / 250 kBaud / 2 5 0 : 250 kBaud 3 per. Profibus 16900

2 / 500 kBaud / 5 0 0 : 500 kBaud 3 - CIP 166.1.2

3 / Autobaud / A u t o : Autobaud ModbusTCP 16900

Modified settings become active the next time the EtherCAT 3042:2h
product is powered on.
PROFINET 16900
DVNbuspower Monitoring of DeviceNet bus power supply. - UINT16 CANopen 3042:3h

0 / Off: Monitoring off 0 R/W Modbus 16902

1 / On: Monitoring on 1 per. Profibus 16902

Modified settings become active immediately. 1 - CIP 166.1.3

ModbusTCP 16902

EtherCAT 3042:3h

PROFINET 16902
DVNioDataIn DeviceNet I/O data input. - UINT16 CANopen 3042:4h

110 / Position Controller Profile: Position 110 R/W Modbus 16904

Controller Profile
110 per. Profibus 16904
111 / Standard Assembly: Standard assembly
112 - CIP 166.1.4
112 / Extended Assembly: Extended assembly
ModbusTCP 16904
Setting can only be modified if power stage is
disabled. EtherCAT 3042:4h

Modified settings become active the next time the PROFINET 16904
product is powered on.

DVNioDataOut DeviceNet I/O data output. - UINT16 CANopen 3042:5h

100 / Position Controller Profile: Position 100 R/W Modbus 16906

Controller Profile
100 per. Profibus 16906
101 / Standard Assembly: Standard assembly
102 - CIP 166.1.5
102 / Extended Assembly: Extended assembly
ModbusTCP 16906
Setting can only be modified if power stage is
disabled. EtherCAT 3042:5h

Modified settings become active the next time the PROFINET 16906
product is powered on.

ECAT2ndaddress Value for an EtherCAT Identification. - UINT16 CANopen 3045:6h

ConF → CoM- Value for an EtherCAT "Identification" (also known 0 R/W Modbus 17676
as "Station Alias"), for example, for the EtherCAT
EcSA function Hot Connect. 0 per. Profibus 17676

Modified settings become active the next time the 65535 - CIP 169.1.6
product is powered on.
ModbusTCP 17676

EtherCAT 3045:6h

PROFINET 17676

532 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENC_abs_source Source for setting absolute encoder position. - UINT16 CANopen 3005:25h

0 / Encoder 1: Absolute position determined from 0 R/W Modbus 1354

encoder 1
0 per. Profibus 1354
1 / Encoder 2 (module): Absolute position
determined from encoder 2 (module) 1 - CIP 105.1.37

This parameter defines the encoder source which ModbusTCP 1354

is used to determine the base absolute position
after power cycling. If this is set to Encoder 1, the EtherCAT 3005:25h
absolute position from encoder 1 is read and
copied to the system values of encoder 2. PROFINET 1354

Modified settings become active the next time the

product is powered on.

ENC_ModeOfMaEnc Selection of mode of machine encoder. - UINT16 CANopen 3050:2h

0 / None: Machine encoder is not used for motor 0 R/W Modbus 20484
control
1 per. Profibus 20484
1 / Position Control: Machine encoder is used for
position control 2 - CIP 180.1.2

2 / Velocity And Position Control: Machine ModbusTCP 20484

encoder is used for velocity and position control
EtherCAT 3050:2h
It is not possible to use the machine encoder for
velocity control and the motor encoder for position PROFINET 20484
control.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

ENC1_adjustment Adjustment of absolute position of encoder 1. usr_p INT32 CANopen 3005:16h

The value range depends on the encoder type. - R/W Modbus 1324

Singleturn encoder: - - Profibus 1324

0 ... x-1 - - CIP 105.1.22

Multiturn encoder: ModbusTCP 1324

0 ... (4096*x)-1 EtherCAT 3005:16h

Singleturn encoder (shifted with parameter PROFINET 1324

ShiftEncWorkRang):

-(x/2) ... (x/2)-1

Multiturn encoder (shifted with parameter

ShiftEncWorkRang):

-(2048*x) ... (2048*x)-1

Definition of 'x': Maximum position for one encoder

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

If processing is to be performed with inversion of

the direction of movement, this must be set before
the encoder position is adjusted.

After the write access, a wait time of at least 1

second is required before the drive can be
powered off.

Modified settings become active the next time the

product is powered on.

0198441113767.13 533
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENC2_adjustment Adjustment of absolute position of encoder 2. usr_p INT32 CANopen 3005:24h

The value range depends on the encoder type at - R/W Modbus 1352
the physical port ENC2.
- - Profibus 1352
This parameter can only be changed if the
parameter ENC_abs_source is set to 'Encoder 2'. - - CIP 105.1.36

Singleturn encoder: ModbusTCP 1352

0 … x-1 EtherCAT 3005:24h

Multiturn encoder: PROFINET 1352

0 … (y*x)-1

Singleturn encoder (shifted with parameter

ShiftEncWorkRang):

-(x/2) … (x/2)-1

Multiturn encoder (shifted with parameter

ShiftEncWorkRang):

-(y/2)*x … ((y/2)*x)-1

Definition of 'x': Maximum position for one encoder

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

Definition of 'y': Revolutions of the multiturn

encoder.

If processing is to be performed with inversion of

the direction of movement, this must be set before
the encoder position is adjusted.

After the write access, the parameter values have

to be saved to the nonvolatile memory and the
drive has to be power cycled, before the change
becomes active.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

ENC2_type Type of encoder at encoder 2 (module). - UINT16 CANopen 3050:3h

0 / None: Undefined 0 R/W Modbus 20486

1 / SinCos Hiperface (rotary): SinCos Hiperface 0 per. Profibus 20486

(rotary)
266 - CIP 180.1.3
2 / SinCos 1Vpp (rotary): SinCos 1Vpp (rotary)
ModbusTCP 20486
3 / Sincos 1Vpp Hall (rotary): SinCos 1Vpp Hall
(rotary) EtherCAT 3050:3h

5 / EnDat 2.2 (rotary): EnDat 2.2 (rotary) PROFINET 20486

6 / Resolver: Resolver

8 / BISS: BISS

9 / A/B/I (rotary): A/B/I (rotary)

10 / SSI (rotary): SSI (rotary)

257 / SinCos Hiperface (linear): SinCos

Hiperface (linear)

258 / SinCos 1Vpp (linear): SinCos 1Vpp (linear)

259 / SinCos 1Vpp Hall (linear): SinCos 1Vpp

Hall (linear)

261 / EnDat 2.2 (linear): EnDat 2.2 (linear)

265 / A/B/I (linear): A/B/I (linear)

534 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

266 / SSI (linear): SSI (linear)

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

ENC2_usage Type of usage of encoder 2 (module). - UINT16 CANopen 3050:1h

0 / None: Undefined 0 R/W Modbus 20482

1 / Motor: Configured as motor encoder 0 per. Profibus 20482

2 / Machine: Configured as machine encoder 2 - CIP 180.1.1

If the parameter is set to "Motor", encoder 1 has ModbusTCP 20482

no functionality.
EtherCAT 3050:1h
Setting can only be modified if power stage is
disabled. PROFINET 20482

Modified settings become active the next time the

product is powered on.

ENCAnaPowSupply Power supply encoder module ANA (analog - UINT16 CANopen 3051:2h
interface).
5 R/W Modbus 20740
5 / 5V: 5 V supply voltage
5 per. Profibus 20740
12 / 12V: 12 V supply voltage
12 - CIP 181.1.2
Power supply of the analog encoder only if the
encoder is used as a machine encoder supplying ModbusTCP 20740
1Vpp encoder signals.
EtherCAT 3051:2h
This parameter is not used for Hiperface
encoders. Hiperface encoders are supplied with PROFINET 20740
12 V.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

ENCDigABIMaxFreq ABI maximum frequency. kHz UINT16 CANopen 3052:6h

The maximum possible ABI frequency is encoder- 1 R/W Modbus 21004

specific (specified by the encoder manufacturer).
The encoder module DIG supports a maximum 1000 per. Profibus 21004
ABI frequency of 1 MHz (this is the default and
maximum value of ENCDigABIMaxFreq). An ABI 1000 - CIP 182.1.6
frequency of 1 MHz means that there are 4000000
encoder increments in 1 second. ModbusTCP 21004

Setting can only be modified if power stage is EtherCAT 3052:6h

disabled.
PROFINET 21004
Modified settings become active the next time the
product is powered on.

Available with firmware version ≥V01.01.

0198441113767.13 535
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENCDigABImaxIx ABI maximum distance for index pulse search. EncInc INT32 CANopen 3052:7h

In the case of a reference movement to the index 1 R/W Modbus 21006

pulse, ENCDigABImaxIx contains the maximum
distance within which the index pulse must be 10000 per. Profibus 21006
found. If no physical index pulse is found over this
range, an error message is generated. 2147483647 - CIP 182.1.7

Example: A rotary ABI encoder with one index ModbusTCP 21006

pulse per revolution is connected. The resolution
of the encoder is 8000 encoder increments per EtherCAT 3052:7h
revolution (this value can be determined using
parameter _Inc_Enc2Raw. _Inc_Enc2Raw and PROFINET 21006
ENCDigABImaxIx have the same scaling). The
maximum distance necessary for a reference
movement to the index pulse is one revolution.
This means that ENCDigABImaxIx should be set
to 8000. Internally, a tolerance of 10% is added.
This means that during a reference movement to
the index pulse, an index pulse must be found
within 8800 encoder increments.

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.01.

ENCDigBISSCoding Position coding of BISS encoder. - UINT16 CANopen 3052:Ah

0 / binary: Binary coding 0 R/W Modbus 21012

1 / gray: Gray coding 0 per. Profibus 21012

This parameter defines the type of position coding 1 - CIP 182.1.10

of the BISS encoder.
ModbusTCP 21012
Setting can only be modified if power stage is
disabled. EtherCAT 3052:Ah

Modified settings become active the next time the PROFINET 21012
product is powered on.

Available with firmware version ≥V01.01.

ENCDigBISSResMul BISS multiturn resolution. bit UINT16 CANopen 3052:9h

This parameter is only relevant for BISS encoders 0 R/W Modbus 21010
(singleturn and multiturn). If a singleturn BISS
encoder is used, ENCDigBISSResMult must be 0 per. Profibus 21010
set to 0.
24 - CIP 182.1.9
Example: If ENCDigBISSResMult is set to 12, the
number of turns of the encoder used must be 2^12 ModbusTCP 21010
= 4096.
EtherCAT 3052:9h
The sum of ENCDigBISSResMult +
ENCDigBISSResSgl must be less than or equal to PROFINET 21010
46 bits.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

536 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENCDigBISSResSgl BISS singleturn resolution. bit UINT16 CANopen 3052:8h

This parameter is only relevant for BISS encoders 8 R/W Modbus 21008
(singleturn and multiturn).
13 per. Profibus 21008
Example: If ENCDigBISSResSgl is set to 13, an
BISS encoder with a singleturn resolution of 2^13 25 - CIP 182.1.8
= 8192 increments must be used.
ModbusTCP 21008
If a multiturn encoder is used, the sum of
ENCDigBISSResMult + ENCDigBISSResSgl must EtherCAT 3052:8h
be less than or equal to 46 bits.
PROFINET 21008
Setting can only be modified if power stage is
disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

ENCDigEnDatBits Evaluation of bits of EnDat 2.2 encoders with - UINT16 CANopen 3052:Fh
more than 32 bits.
0 R/W Modbus 21022
0 / Evaluate32MostSignificantBits: Evaluate the
32 most significant bits (MSB) 0 per. Profibus 21022

1 / Evaluate32LeastSignificantBits: Evaluate 1 - CIP 182.1.15

the 32 least significant bits (LSB)
ModbusTCP 21022
This parameter specifies the way the bits provided
by EnDat 2.2 encoders with more than 32 bits are EtherCAT 3052:Fh
evaluated. The parameter specifies whether the
32 most significant bits (MSB) or the 32 least PROFINET 21022
significant bits (LSB) are evaluated.

If the 32 most significant bits are evaluated, the

entire working range of the encoder is available.
The resolution is reduced.

If the 32 least significant bits are evaluated, the

entire resolution of the encoder is available. The
working range is reduced.

Example for an EnDat 2.2 encoder with 36 bits:

Value 0: Bits 4 to 35 are evaluated.

Value 1: Bits 0 to 31 are evaluated.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.32.

ENCDigLinBitsUsed Linear encoder: Number of bits of the position bit UINT16 CANopen 3052:Eh
resolution used.
0 R/W Modbus 21020
Specifies the number of bits of the position
resolution used for position evaluation. 0 per. Profibus 21020

If ENCDigLinBitsUsed = 0, all position bits of the 31 - CIP 182.1.14

position resolution of the encoder are used.
ModbusTCP 21020
Example:
EtherCAT 3052:Eh
If ENCDigLinBitsUsed = 22, only 22 bits of the
position resolution of the encoder are used. PROFINET 21020

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.26.

0198441113767.13 537
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENCDigPowSupply Power supply encoder module DIG (digital - UINT16 CANopen 3052:4h
interface).
5 R/W Modbus 21000
5 / 5V: 5 V supply voltage
5 per. Profibus 21000
12 / 12V: 12 V supply voltage
12 - CIP 182.1.4
Power supply of the digital encoder.
ModbusTCP 21000
Setting can only be modified if power stage is
disabled. EtherCAT 3052:4h

Modified settings become active the next time the PROFINET 21000
product is powered on.

Available with firmware version ≥V01.01.

ENCDigResMulUsed Number of bits of the multiturn resolution used bit UINT16 CANopen 3052:Bh
from the encoder.
0 R/W Modbus 21014
Specifies the number of bits of the multiturn
resolution used for position evaluation. 0 per. Profibus 21014

If ENCDigResMulUsed = 0, all bits of the multiturn 24 - CIP 182.1.11

resolution of the encoder are used.
ModbusTCP 21014
Example:
EtherCAT 3052:Bh
If ENCDigResMulUsed = 11, only 11 bits of the
multiturn resolution of the encoder are used. PROFINET 21014

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.03.

ENCDigSSICoding Position coding of SSI encoder. - UINT16 CANopen 3052:3h

0 / binary: Binary coding 0 R/W Modbus 20998

1 / gray: Gray coding 0 per. Profibus 20998

This parameter defines the type of position coding 1 - CIP 182.1.3

of the SSI encoder.
ModbusTCP 20998
Setting can only be modified if power stage is
disabled. EtherCAT 3052:3h

Modified settings become active the next time the PROFINET 20998
product is powered on.

Available with firmware version ≥V01.01.

ENCDigSSILinAdd SSI encoder additional bits (linear). bit UINT16 CANopen 3052:Dh

This parameter is used to set the number of 0 R/W Modbus 21018

resolution bits of a linear SSI encoder. The total
number of resolution bits (ENCDigSSILinRes) and 0 per. Profibus 21018
additional bits (ENCDigSSILinAdd) is limited to 32.
3 - CIP 182.1.13
Setting can only be modified if power stage is
disabled. ModbusTCP 21018

Modified settings become active the next time the EtherCAT 3052:Dh
product is powered on.
PROFINET 21018
Available with firmware version ≥V01.26.

538 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENCDigSSILinRes SSI encoder resolution bits (linear). bit UINT16 CANopen 3052:Ch

This parameter is used to set the number of 8 R/W Modbus 21016

resolution bits of a linear SSI encoder. The total
number of resolution bits (ENCDigSSILinRes) and 24 per. Profibus 21016
additional bits (ENCDigSSILinAdd) is limited to 32.
32 - CIP 182.1.12
Setting can only be modified if power stage is
disabled. ModbusTCP 21016

Modified settings become active the next time the EtherCAT 3052:Ch
product is powered on.
PROFINET 21016
Available with firmware version ≥V01.26.
ENCDigSSIMaxFreq SSI maximum transfer frequency. kHz UINT16 CANopen 3052:5h

This parameter is used to set the SSI transfer 200 R/W Modbus 21002
frequency for SSI encoders (singleturn and
multiturn). 200 per. Profibus 21002

The SSI transfer frequency depends on the 1000 - CIP 182.1.5

encoder (maximum frequency specified by the
encoder manufacturer) and on the length of the ModbusTCP 21002
encoder cable.
EtherCAT 3052:5h
The encoder module supports SSI transfer
frequencies of 200 kHz and 1000 kHz. If your SSI PROFINET 21002
encoder supports a maximum frequency of 1000
kHz, set the value of this parameter to 1000.

If the length of the encoder cable in your system

exceeds 50 m, set the value of this parameter to
200, regardless of the maximum possible
frequency specified by the encoder manufacturer.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

ENCDigSSIResMult SSI multiturn resolution (rotary). bit UINT16 CANopen 3052:2h

This parameter is only relevant for SSI encoders 0 R/W Modbus 20996
(singleturn and multiturn). If a singleturn SSI
encoder is used, ENCDigSSIResMult must be set 0 per. Profibus 20996
to 0.
24 - CIP 182.1.2
Example: If ENCDigSSIResMult is set to 12, the
number of turns of the encoder used must be 2^12 ModbusTCP 20996
= 4096.
EtherCAT 3052:2h
The sum of ENCDigSSIResMult +
ENCDigSSIResSgl must be less than or equal to PROFINET 20996
32 bits.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

0198441113767.13 539
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ENCDigSSIResSgl SSI singleturn resolution (rotary). bit UINT16 CANopen 3052:1h

This parameter is only relevant for SSI encoders 8 R/W Modbus 20994
(singleturn and multiturn).
13 per. Profibus 20994
Example: If ENCDigSSIResSgl is set to 13, an SSI
encoder with a singleturn resolution of 2^13 = 25 - CIP 182.1.1
8192 increments must be used.
ModbusTCP 20994
If a multiturn encoder is used, the sum of
ENCDigSSIResMult + ENCDigSSIResSgl must EtherCAT 3052:1h
be less than or equal to 32 bits.
PROFINET 20994
Setting can only be modified if power stage is
disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.01.

ENCSinCosMaxIx Maximum distance for search for index pulse for - INT32 CANopen 3051:4h
SinCos encoder.
1 R/W Modbus 20744
The parameter specifies the maximum number of
periods during which the index pulse must be 1024 per. Profibus 20744
found (search range).
2147483647 - CIP 181.1.4
A tolerance of 10 % is added to this value. If no
index pulse is found within this range (including ModbusTCP 20744
the 10% tolerance), an error message is
generated. EtherCAT 3051:4h

Setting can only be modified if power stage is PROFINET 20744

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.01.

ERR_clear Clear error memory. - UINT16 CANopen 303B:4h

Value 1: Delete entries in the error memory 0 R/W Modbus 15112

The clearing process is completed if a 0 is - - Profibus 15112

returned after a read access.
1 - CIP 159.1.4
Modified settings become active immediately.
ModbusTCP 15112

EtherCAT 303B:4h

PROFINET 15112
ERR_reset Reset error memory read pointer. - UINT16 CANopen 303B:5h

Value 1: Set error memory read pointer to oldest 0 R/W Modbus 15114
error entry.
- - Profibus 15114
Modified settings become active immediately.
1 - CIP 159.1.5

ModbusTCP 15114

EtherCAT 303B:5h

PROFINET 15114

540 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ErrorResp_bit_DE Error response to detected data error (DE bit). - INT16 CANopen 301B:6h

-1 / No Error Response: No error response -1 R/W Modbus 6924

0 / Error Class 0: Error class 0 -1 per. Profibus 6924

1 / Error Class 1: Error class 1 3 - CIP 127.1.6

2 / Error Class 2: Error class 2 ModbusTCP 6924

3 / Error Class 3: Error class 3 EtherCAT 301B:6h

For the Drive Profile Lexium, the error response to PROFINET 6924
a detected data error (DE bit) can be
parameterized.

For EtherCAT RxPDO data error handling, this

parameter is also used to classify the error
response.

ErrorResp_bit_ME Error response to detected mode error (ME bit). - INT16 CANopen 301B:7h

-1 / No Error Response: No error response -1 R/W Modbus 6926

0 / Error Class 0: Error class 0 -1 per. Profibus 6926

1 / Error Class 1: Error class 1 3 - CIP 127.1.7

2 / Error Class 2: Error class 2 ModbusTCP 6926

3 / Error Class 3: Error class 3 EtherCAT 301B:7h

For the Drive Profile Lexium, the error response to PROFINET 6926
a detected mode error (ME bit) can be
parameterized.

ErrorResp_Flt_AC Error response to missing mains phase. - UINT16 CANopen 3005:Ah

0 / Error Class 0: Error class 0 0 R/W Modbus 1300

1 / Error Class 1: Error class 1 2 per. Profibus 1300

2 / Error Class 2: Error class 2 3 - CIP 105.1.10

3 / Error Class 3: Error class 3 ModbusTCP 1300

Setting can only be modified if power stage is EtherCAT 3005:Ah

disabled.
PROFINET 1300
Modified settings become active the next time the
power stage is enabled.

ErrorResp_I2tRES Error response to 100% I2t braking resistor. - UINT16 CANopen 3005:22h

0 / Error Class 0: Error class 0 0 R/W Modbus 1348

1 / Error Class 1: Error class 1 0 per. Profibus 1348

2 / Error Class 2: Error class 2 2 - CIP 105.1.34

Setting can only be modified if power stage is ModbusTCP 1348

disabled.
EtherCAT 3005:22h
Modified settings become active the next time the
power stage is enabled. PROFINET 1348

ErrorResp_p_dif Error response to excessively high load- - UINT16 CANopen 3005:Bh

dependent position deviation.
1 R/W Modbus 1302
1 / Error Class 1: Error class 1
3 per. Profibus 1302
2 / Error Class 2: Error class 2
3 - CIP 105.1.11
3 / Error Class 3: Error class 3
ModbusTCP 1302
Setting can only be modified if power stage is
disabled. EtherCAT 3005:Bh

Modified settings become active the next time the PROFINET 1302
power stage is enabled.

0198441113767.13 541
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ErrorResp_ Error response to position deviation motor - UINT16 CANopen 3005:3Bh

PDiffEncM encoder and machine encoder exceeded.
0 R/W Modbus 1398
1 / Error Class 1: Error class 1
3 per. Profibus 1398
2 / Error Class 2: Error class 2
3 - CIP 105.1.59
3 / Error Class 3: Error class 3
ModbusTCP 1398
Setting can only be modified if power stage is
disabled. EtherCAT 3005:3Bh

Modified settings become active the next time the PROFINET 1398
power stage is enabled.

Available with firmware version ≥V01.26.

ErrorResp_QuasiAbs Error response to detected error with quasi - UINT16 CANopen 3005:3Ah
absolute position.
3 R/W Modbus 1396
3 / Error Class 3: Error class 3
3 per. Profibus 1396
4 / Error Class 4: Error class 4
4 - CIP 105.1.58
Setting can only be modified if power stage is
disabled. ModbusTCP 1396

Modified settings become active the next time the EtherCAT 3005:3Ah
power stage is enabled.
PROFINET 1396
Available with firmware version ≥V01.26.
ErrorResp_v_dif Error response to excessively high load- - UINT16 CANopen 3005:3Ch
dependent velocity deviation.
1 R/W Modbus 1400
1 / Error Class 1: Error class 1
3 per. Profibus 1400
2 / Error Class 2: Error class 2
3 - CIP 105.1.60
3 / Error Class 3: Error class 3
ModbusTCP 1400
Setting can only be modified if power stage is
disabled. EtherCAT 3005:3Ch

Modified settings become active the next time the PROFINET 1400
power stage is enabled.

Available with firmware version ≥V01.26.

ErrResp_HeartB_ CANopen error response to detected Heartbeat or - UINT16 CANopen 3041:11h
LifeG Life Guarding error.
1 R/W Modbus 16674
1 / Error Class 1: Error class 1
2 per. Profibus 16674
2 / Error Class 2: Error class 2
3 - CIP 165.1.17
3 / Error Class 3: Error class 3
ModbusTCP 16674
Setting can only be modified if power stage is
disabled. EtherCAT 3041:11h

Modified settings become active the next time the PROFINET 16674
power stage is enabled.

Available with firmware version ≥V01.30.

542 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ESIM_ Encoder simulation: High resolution. EncInc UINT32 CANopen 3005:32h

HighResolution
Specifies the number of increments per revolution 0 R/W Modbus 1380
with 12 bit decimal places. If the parameter is set
to a multiple of 4096, the index pulse will be 0 per. Profibus 1380
generated exactly at the same position within one
revolution. 268431360 expert CIP 105.1.50

The setting of parameter ESIM_scale is only used ModbusTCP 1380

if parameter ESIM_HighResolution is set to 0.
Otherwise, the setting of ESIM_HighResolution is EtherCAT 3005:32h
used.
PROFINET 1380
Example: 1417.322835 encoder simulation pulses
per revolution are required.

Set the parameter to 1417.322835 * 4096 =

5805354.

In this example, the index pulse will be generated

exactly after every 1417 pulses. This means that
the index pulse shifts with each revolution.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

ESIM_PhaseShift Encoder simulation: Phase shift for pulse output. - INT16 CANopen 3005:33h

The generated encoder simulation pulses can be -32768 R/W Modbus 1382
shifted in units of 1/4096 encoder pulses. The shift
results in a position offset at PTO. The index pulse 0 - Profibus 1382
is shifted as well.
32767 expert CIP 105.1.51
Modified settings become active immediately.
ModbusTCP 1382
Available with firmware version ≥V01.10.
EtherCAT 3005:33h

PROFINET 1382
ESIM_scale Resolution of encoder simulation. EncInc UINT16 CANopen 3005:15h

ConF → i-o- Resolution defines the number of increments per 8 R/W Modbus 1322
revolution (AB signal with quadruple evaluation).
ESSC 4096 per. Profibus 1322
The index pulse is created once per revolution at
an interval where signal A and signal B are high. 65535 - CIP 105.1.21

Setting can only be modified if power stage is ModbusTCP 1322

disabled.
EtherCAT 3005:15h
Modified settings become active the next time the
product is powered on. PROFINET 1322

eSM_BaseSetting eSM basic settings. - UINT16 -

None: No function - R/W

Auto Start: Automatic start (ESMSTART) - per.

Ignore GUARD_ACK: GUARD_ACK inactive - -

Ignore /INTERLOCK_IN: INTERLOCK chain

inactive

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

0198441113767.13 543
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

eSM_dec_NC eSM deceleration ramp. RPM/s UINT32 -

Deceleration ramp for monitored deceleration 0 R/W

Value 0: Disabled, no monitoring of deceleration 0 per.

ramp
32786009 -
Value >0: Deceleration ramp in RPM/s

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_dec_Qstop eSM deceleration ramp for Quick Stop. RPM/s UINT32 -

Deceleration ramp for monitored Quick Stop. This 0 R/W

value must be greater than 0.
0 per.
Value 0: eSM module is not configured
32786009 -
Value >0: Deceleration ramp in RPM/s

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_disable eSM disable. - UINT16 CANopen 304C:1Ah

Value 0: No action - R/W Modbus 19508

Value 1: Force a change of eSM state 6 to eSM - - Profibus 19508

state 3
- - CIP 176.1.26
Available with firmware version ≥V01.01.
ModbusTCP 19508

EtherCAT 304C:1Ah

PROFINET 19508

544 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

eSM_FuncAUXOUT1 eSM function of status output AUXOUT1. - UINT32 -

None: No function - R/W

/ESTOP: Signal state /ESTOP - per.

GUARD: Signal state GUARD - -

SETUPMODE: Signal state SETUPMODE

SETUPENABLE: Signal state SETUPENABLE

GUARD_ACK: Signal state GUARD_ACK

/INTERLOCK_IN: Signal state /INTERLOCK_IN

STO by eSM: Signal state of internal STO

RELAY: Signal state RELAY

/INTERLOCK_OUT: Signal state /INTERLOCK_

OUT

Standstill: Standstill (v = 0)

SLS: SLS

Error class 4: Error of error class 4 detected

Error class 1 ... 4: Error of error classes 1 … 4

detected

/ESTOP inv.: Signal state /ESTOP, inverted

GUARD inv.: Signal state GUARD, inverted

SETUPMODE inv.: Signal state SETUPMODE,

inverted

SETUPENABLE inv.: Signal state

SETUPENABLE, inverted

GUARD_ACK inv.: Signal state GUARD_ACK,

inverted

/INTERLOCK_IN inv.: Signal state /INTERLOCK_

IN, inverted

STO by eSM inv.: Signal state of internal STO,

inverted

RELAY inv.: Signal state RELAY, inverted

/INTERLOCK_OUT inv.: Signal state

/INTERLOCK_OUT, inverted

Standstill inv.: Standstill, inverted

SLS inv.: SLS, inverted

Error class 4 inv.: Error of error class 4 detected

(inverted)

Error class 1 ... 4 inv.: Error of error classes 1 …

4 detected (inverted)

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_FuncAUXOUT2 eSM function of status output AUXOUT2. - UINT32 -

None: No function - R/W

/ESTOP: Signal state /ESTOP - per.

GUARD: Signal state GUARD - -

SETUPMODE: Signal state SETUPMODE

0198441113767.13 545
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

SETUPENABLE: Signal state SETUPENABLE

GUARD_ACK: Signal state GUARD_ACK

/INTERLOCK_IN: Signal state /INTERLOCK_IN

STO by eSM: Signal state of internal STO

RELAY: Signal state RELAY

/INTERLOCK_OUT: Signal state /INTERLOCK_

OUT

Standstill: Standstill (v = 0)

SLS: SLS

Error class 4: Error of error class 4 detected

Error class 1 ... 4: Error of error classes 1 … 4

occurred

/ESTOP inv.: Signal state /ESTOP, inverted

GUARD inv.: Signal state GUARD, inverted

SETUPMODE inv.: Signal state SETUPMODE,

inverted

SETUPENABLE inv.: Signal state

SETUPENABLE, inverted

GUARD_ACK inv.: Signal state GUARD_ACK,

inverted

/INTERLOCK_IN inv.: Signal state /INTERLOCK_

IN, inverted

STO by eSM inv.: Signal state of internal STO,

inverted

RELAY inv.: Signal state RELAY, inverted

/INTERLOCK_OUT inv.: Signal state

/INTERLOCK_OUT, inverted

Standstill inv.: Standstill, inverted

SLS inv.: SLS, inverted

Error class 4 inv.: Error of error class 4 detected

(inverted)

Error class 1 ... 4 inv.: Error of error classes 1 …

4 detected (inverted)

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_FuncSwitches eSM switches for functions. - UINT16 -

None: No function 0 R/W

DirectionDependentSLS: SLS dependent on 0 per.

direction of movement
63 -
Reserved (Bit 1): Reserved (bit 1)

Reserved (Bit 2): Reserved (bit 2)

Reserved (Bit 3): Reserved (bit 3)

Reserved (Bit 4): Reserved (bit 4)

Reserved (Bit 5): Reserved (bit 5)

Available as of firmware version safety module

eSM ≥V01.01.

546 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Bit 0 = 0: SLS independent of direction of

movement

Bit 0 = 1: SLS dependent on direction of

movement

Bits 1 … 15: Reserved (must be set to 0)

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_LO_mask eSM digital outputs channel B mask. - UINT16 CANopen 304C:15h

Mask of active digital outputs - R/W Modbus 19498

0: Digital output is not active - - Profibus 19498

1: Digital output is active - - CIP 176.1.21

Bit assignments: ModbusTCP 19498

See digital outputs channel. EtherCAT 304C:15h

Available with firmware version ≥V01.01. PROFINET 19498

eSM_SLSnegDirS eSM speed limit negative direction machine RPM UINT16 -
operating mode Setup Mode.
0 R/W
Firmware version safety module eSM ≥V01.01.
0 per.
Parameter eSM_FuncSwitches Bit 0 = 1: Value =
Monitored speed limit for negative direction of 8000 -
movement.

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_t_NCDel eSM time delay until start of monitored ms UINT16 -
deceleration.
0 R/W
This time can be adjusted to meet the
requirements of a controller. 0 per.

Setting can only be modified if power stage is 10000 -

disabled.

Available with firmware version ≥V01.01.

eSM_t_Relay eSM deactivation of output RELAY. ms UINT16 -

Deactivation of the digital output RELAY: 0 R/W

Value 0: Immediate, no time delay 0 per.

Value 1: At motor standstill (v = 0) 10000 -

Value 2: At motor standstill (v = 0) and

/INTERLOCK_OUT = 1

Value >2: Time delay in ms, deactivation of output

after this time has passed

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

0198441113767.13 547
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

eSM_v_maxAuto eSM speed limit for machine operating mode RPM UINT16 -
Automatic Mode.
0 R/W
This value sets the speed limit for monitoring in
machine operating mode Automatic Mode. 0 per.

Value 0: The speed limit is not monitored 8000 -

Value >0: Monitored speed limit

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

eSM_v_maxSetup eSM speed limit for machine operating mode RPM UINT16 -
Setup Mode.
0 R/W
This value sets the speed limit for monitoring in
machine operating mode Setup Mode. 0 per.

Firmware version safety module eSM ≥V01.01: 8000 -

Parameter eSM_FuncSwitches Bit 0 = 0: Value =

Monitored speed limit for positive and negative
directions of movement.

Parameter eSM_FuncSwitches Bit 0 = 1: Value =

Monitored speed limit for positive direction of
movement.

Setting can only be modified if power stage is

disabled.

Available with firmware version ≥V01.01.

EthIPgate1 IP address gateway, byte 1. - UINT16 CANopen 3044:Fh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17438
product is powered on.
iPG1 0 per. Profibus 17438

255 - CIP 168.1.15

ModbusTCP 17438

EtherCAT 3044:Fh

PROFINET 17438
EthIPgate2 IP address gateway, byte 2. - UINT16 CANopen 3044:10h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17440
product is powered on.
iPG2 0 per. Profibus 17440

255 - CIP 168.1.16

ModbusTCP 17440

EtherCAT 3044:10h

PROFINET 17440
EthIPgate3 IP address gateway, byte 3. - UINT16 CANopen 3044:11h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17442
product is powered on.
iPG3 0 per. Profibus 17442

255 - CIP 168.1.17

ModbusTCP 17442

EtherCAT 3044:11h

PROFINET 17442

548 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthIPgate4 IP address gateway, byte 4. - UINT16 CANopen 3044:12h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17444
product is powered on.
iPG4 0 per. Profibus 17444

255 - CIP 168.1.18

ModbusTCP 17444

EtherCAT 3044:12h

PROFINET 17444
EthIPmask1 IP address subnet mask, byte 1. - UINT16 CANopen 3044:Bh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17430
product is powered on.
iPM1 255 per. Profibus 17430

255 - CIP 168.1.11

ModbusTCP 17430

EtherCAT 3044:Bh

PROFINET 17430
EthIPmask2 IP address subnet mask, byte 2. - UINT16 CANopen 3044:Ch

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17432
product is powered on.
iPM2 255 per. Profibus 17432

255 - CIP 168.1.12

ModbusTCP 17432

EtherCAT 3044:Ch

PROFINET 17432
EthIPmask3 IP address subnet mask, byte 3. - UINT16 CANopen 3044:Dh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17434
product is powered on.
iPM3 255 per. Profibus 17434

255 - CIP 168.1.13

ModbusTCP 17434

EtherCAT 3044:Dh

PROFINET 17434
EthIPmask4 IP address subnet mask, byte 4. - UINT16 CANopen 3044:Eh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17436
product is powered on.
iPM4 0 per. Profibus 17436

255 - CIP 168.1.14

ModbusTCP 17436

EtherCAT 3044:Eh

PROFINET 17436

0198441113767.13 549
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthIPmaster1 IP address master, byte 1. - UINT16 CANopen 3044:29h

IP address of the master that is permitted to 0 R/W Modbus 17490

perform Modbus TCP I/O scanning.
0 per. Profibus 17490
If set to 0.0.0.0 (default), any master can perform
I/O scanning. 255 - CIP 168.1.41

Setting can only be modified if power stage is ModbusTCP 17490

disabled.
EtherCAT 3044:29h
Modified settings become active immediately.
PROFINET 17490
EthIPmaster2 IP address master, byte 2. - UINT16 CANopen 3044:2Ah

Setting can only be modified if power stage is 0 R/W Modbus 17492

disabled.
0 per. Profibus 17492
Modified settings become active immediately.
255 - CIP 168.1.42

ModbusTCP 17492

EtherCAT 3044:2Ah

PROFINET 17492
EthIPmaster3 IP address master, byte 3. - UINT16 CANopen 3044:2Bh

Setting can only be modified if power stage is 0 R/W Modbus 17494

disabled.
0 per. Profibus 17494
Modified settings become active immediately.
255 - CIP 168.1.43

ModbusTCP 17494

EtherCAT 3044:2Bh

PROFINET 17494
EthIPmaster4 IP address master, byte 4. - UINT16 CANopen 3044:2Ch

Setting can only be modified if power stage is 0 R/W Modbus 17496

disabled.
0 per. Profibus 17496
Modified settings become active immediately.
255 - CIP 168.1.44

ModbusTCP 17496

EtherCAT 3044:2Ch

PROFINET 17496
EthIpMode Method of obtaining IP address. - UINT16 CANopen 3044:5h

ConF → CoM- 0 / Manual / M A n u : Manual 0 R/W Modbus 17418

iPMd 1 / BOOTP / b o o t : BOOTP 2 per. Profibus 17418

2 / DHCP / d h c P : DHCP 2 - CIP 168.1.5

Modified settings become active immediately. ModbusTCP 17418

EtherCAT 3044:5h

PROFINET 17418

550 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthIPmodule1 IP address Ethernet module, byte 1. - UINT16 CANopen 3044:7h

ConF → CoM- Byte 1 (x.0.0.0) of the IP address of the Ethernet 0 R/W Modbus 17422
module.
iPc1 0 per. Profibus 17422
Modified settings become active the next time the
product is powered on. 255 - CIP 168.1.7

ModbusTCP 17422

EtherCAT 3044:7h

PROFINET 17422
EthIPmodule2 IP address Ethernet module, byte 2. - UINT16 CANopen 3044:8h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17424
product is powered on.
iPc2 0 per. Profibus 17424

255 - CIP 168.1.8

ModbusTCP 17424

EtherCAT 3044:8h

PROFINET 17424
EthIPmodule3 IP address Ethernet module, byte 3. - UINT16 CANopen 3044:9h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17426
product is powered on.
iPc3 0 per. Profibus 17426

255 - CIP 168.1.9

ModbusTCP 17426

EtherCAT 3044:9h

PROFINET 17426
EthIPmodule4 IP address Ethernet module, byte 4. - UINT16 CANopen 3044:Ah

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 17428
product is powered on.
iPc4 0 per. Profibus 17428

255 - CIP 168.1.10

ModbusTCP 17428

EtherCAT 3044:Ah

PROFINET 17428
EthMbIPswap1 IP address of master for Modbus word swap, byte - UINT16 CANopen 3044:50h
1.
0 R/W Modbus 17568
IP address of a Modbus master device. For this
master, the word order is swapped to "Low word 0 per. Profibus 17568
first", instead of the default "High word first".
255 - CIP 168.1.80
High word first: Modicon Quantum
ModbusTCP 17568
Low word first: Premium, HMI (Schneider Electric)
EtherCAT 3044:50h
Modified settings become active immediately.
PROFINET 17568

0198441113767.13 551
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthMbIPswap2 IP address of master for Modbus word swap, byte - UINT16 CANopen 3044:51h
2.
0 R/W Modbus 17570
Modified settings become active immediately.
0 per. Profibus 17570

255 - CIP 168.1.81

ModbusTCP 17570

EtherCAT 3044:51h

PROFINET 17570
EthMbIPswap3 IP address of master for Modbus word swap, byte - UINT16 CANopen 3044:52h
3.
0 R/W Modbus 17572
Modified settings become active immediately.
0 per. Profibus 17572

255 - CIP 168.1.82

ModbusTCP 17572

EtherCAT 3044:52h

PROFINET 17572
EthMbIPswap4 IP address of master for Modbus word swap, byte - UINT16 CANopen 3044:53h
4.
0 R/W Modbus 17574
Modified settings become active immediately.
0 per. Profibus 17574

255 - CIP 168.1.83

ModbusTCP 17574

EtherCAT 3044:53h

PROFINET 17574
EthMbScanner Modbus TCP I/O scanning. - UINT16 CANopen 3044:28h

0 / Off: Modbus TCP I/O scanning off 0 R/W Modbus 17488

1 / On: Modbus TCP I/O scanning on 1 per. Profibus 17488

I/O scanning only works if the parameter EthMode 1 - CIP 168.1.40

is set to Modbus TCP.
ModbusTCP 17488
Modified settings become active immediately.
EtherCAT 3044:28h

PROFINET 17488
EthMbScanTimeout Modbus TCP I/O scanning timeout. s UINT16 CANopen 3044:2Dh

Communication monitoring timeout for Modbus 0.0 R/W Modbus 17498

TCP.
2.0 per. Profibus 17498
Value 0: Timeout monitoring disabled
60.0 - CIP 168.1.45
In increments of 0.1 s.
ModbusTCP 17498
Modified settings become active immediately.
EtherCAT 3044:2Dh

PROFINET 17498

552 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthMode Protocol. - UINT16 CANopen 3044:1h

ConF → CoM- 0 / Modbus TCP / M t C P : Modbus TCP I/O 0 R/W Modbus 17410
scanning is enabled
EtMd 1 per. Profibus 17410
1 / EtherNet/IP / E t i P : EtherNet/IP
communication is enabled 1 - CIP 168.1.1

Modbus TCP parameter access is possible ModbusTCP 17410

irrespective of the selected setting.
EtherCAT 3044:1h
Modified settings become active the next time the
product is powered on. PROFINET 17410

EthOptMapInp1 Optionally mapped input parameter 1 (drive to - UINT16 CANopen 3044:34h

controller).
- R/W Modbus 17512
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17512
I/O scanner data (drive to controller).
- - CIP 168.1.52
Modified settings become active immediately.
ModbusTCP 17512

EtherCAT 3044:34h

PROFINET 17512
EthOptMapInp2 Optionally mapped input parameter 2 (drive to - UINT16 CANopen 3044:35h
controller).
- R/W Modbus 17514
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17514
I/O scanner data (drive to controller).
- - CIP 168.1.53
Modified settings become active immediately.
ModbusTCP 17514

EtherCAT 3044:35h

PROFINET 17514
EthOptMapInp3 Optionally mapped input parameter 3 (drive to - UINT16 CANopen 3044:36h
controller).
- R/W Modbus 17516
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17516
I/O scanner data (drive to controller).
- - CIP 168.1.54
Modified settings become active immediately.
ModbusTCP 17516

EtherCAT 3044:36h

PROFINET 17516
EthOptMapOut1 Optionally mapped output parameter 1 (controller - UINT16 CANopen 3044:2Eh
to drive).
- R/W Modbus 17500
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17500
I/O scanner data (controller to drive).
- - CIP 168.1.46
Modified settings become active immediately.
ModbusTCP 17500

EtherCAT 3044:2Eh

PROFINET 17500

0198441113767.13 553
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

EthOptMapOut2 Optionally mapped output parameter 2 (controller - UINT16 CANopen 3044:2Fh

to drive).
- R/W Modbus 17502
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17502
I/O scanner data (controller to drive).
- - CIP 168.1.47
Modified settings become active immediately.
ModbusTCP 17502

EtherCAT 3044:2Fh

PROFINET 17502
EthOptMapOut3 Optionally mapped output parameter 3 (controller - UINT16 CANopen 3044:30h
to drive).
- R/W Modbus 17504
Modbus address of parameter which is optionally
mapped to Ethernet/IP assembly or Modbus TCP 0 per. Profibus 17504
I/O scanner data (controller to drive).
- - CIP 168.1.48
Modified settings become active immediately.
ModbusTCP 17504

EtherCAT 3044:30h

PROFINET 17504
EthRateSet Transmission rate setting. - UINT16 CANopen 3044:2h

0 / Autodetect: Autodetect 0 R/W Modbus 17412

1 / 10 Mbps Full: 10 Mbps full duplex 0 per. Profibus 17412

2 / 10 Mbps Half: 10 Mbps half duplex 4 - CIP 168.1.2

3 / 100 Mbps Full: 100 Mbps full duplex ModbusTCP 17412

4 / 100 Mbps Half: 100 Mbps half duplex EtherCAT 3044:2h

Modified settings become active immediately. PROFINET 17412

GEARdenom Denominator of gear ratio. - INT32 CANopen 3026:3h

See description GEARnum 1 R/W Modbus 9734

1 per. Profibus 9734

2147483647 - CIP 138.1.3

ModbusTCP 9734

EtherCAT 3026:3h

PROFINET 9734
GEARdenom2 Denominator of gear ratio number 2. - INT32 CANopen 3026:Ch

See description GEARnum 1 R/W Modbus 9752

1 per. Profibus 9752

2147483647 - CIP 138.1.12

ModbusTCP 9752

EtherCAT 3026:Ch

PROFINET 9752

554 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARdir_enabl Enabled direction of movement for operating - UINT16 CANopen 3026:5h

mode Electronic Gear.
1 R/W Modbus 9738
1 / Positive: Positive direction
3 per. Profibus 9738
2 / Negative: Negative direction
3 - CIP 138.1.5
3 / Both: Both directions
ModbusTCP 9738
This allows you to activate a return movement lock
function. EtherCAT 3026:5h

Modified settings become active immediately. PROFINET 9738

GEARjerklim Activation of jerk limitation. - UINT16 CANopen 3026:7h

ConF → i-o- 0 / Off / o F F : Jerk limitation deactivated. 0 R/W Modbus 9742

GFiL 1 / PosSyncOn / P _ o n : Jerk limitation active 0 per. Profibus 9742

(only with position synchronization).
1 - CIP 138.1.7
The time for jerk limitation must be set via
parameter RAMP_v_jerk. ModbusTCP 9742

Setting can only be modified if power stage is EtherCAT 3026:7h

disabled.
PROFINET 9742
Modified settings become active immediately.

Available with firmware version ≥V01.02.

GEARnum Numerator of gear ratio. - INT32 CANopen 3026:4h

Gear ratio = GEARnum / GEARdenom -2147483648 R/W Modbus 9736

The new gear ratio is applied when the numerator 1 per. Profibus 9736
value is supplied.
2147483647 - CIP 138.1.4
Modified settings become active immediately.
ModbusTCP 9736

EtherCAT 3026:4h

PROFINET 9736
GEARnum2 Numerator of gear ratio number 2. - INT32 CANopen 3026:Dh

Gear ratio = GEARnum2 / GEARdenom2 -2147483648 R/W Modbus 9754

The new gear ratio is applied when the numerator 1 per. Profibus 9754
value is supplied.
2147483647 - CIP 138.1.13
Modified settings become active immediately.
ModbusTCP 9754

EtherCAT 3026:Dh

PROFINET 9754
GEARpos_v_max Velocity limitation for the method Position usr_v UINT32 CANopen 3026:9h
Synchronization.
0 R/W Modbus 9746
Value 0: No velocity limitation
0 per. Profibus 9746
Value >0: Velocity limitation in usr_v
2147483647 - CIP 138.1.9
Modified settings become active immediately.
ModbusTCP 9746
Available with firmware version ≥V01.10.
EtherCAT 3026:9h

PROFINET 9746

0198441113767.13 555
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

GEARposChgMode Treatment of position changes with inactive power - UINT16 CANopen 3026:Bh
stage.
0 R/W Modbus 9750
0 / Off: Position changes in states with disabled
power stage are ignored. 0 per. Profibus 9750

1 / On: Position changes in states with disabled 1 - CIP 138.1.11

power stage are taken into account.
ModbusTCP 9750
This setting has an effect only if gear processing is
started in the mode 'Synchronization with EtherCAT 3026:Bh
compensation movement'.
PROFINET 9750
Modified settings become active the next time the
power stage is enabled.

GEARratio Selection of gear ratio. - UINT16 CANopen 3026:6h

ConF → i-o- 0 / Gear Factor / F A c t : Usage of gear ratio 0 R/W Modbus 9740
adjusted with GEARnum/GEARdenom
GFAC 0 per. Profibus 9740
1 / 200 / 2 0 0 : 200
11 - CIP 138.1.6
2 / 400 / 4 0 0 : 400
ModbusTCP 9740
3 / 500 / 5 0 0 : 500
EtherCAT 3026:6h
4 / 1000 / 1 0 0 0 : 1000
PROFINET 9740
5 / 2000 / 2 0 0 0 : 2000

6 / 4000 / 4 0 0 0 : 4000

7 / 5000 / 5 0 0 0 : 5000

8 / 10000 / 1 0 . 0 0 : 10000

9 / 4096 / 4 0 9 6 : 4096

10 / 8192 / 8 1 9 2 : 8192

11 / 16384 / 1 6 . 3 8 : 16384

A change of the reference value by the specified

value causes one motor revolution.

Modified settings become active immediately.

GEARreference Synchronization method for operating mode - UINT16 CANopen 301B:12h

Electronic Gear.
0 R/W Modbus 6948
0 / Deactivated: Deactivated
0 - Profibus 6948
1 / Position Synchronization Immediate:
Position synchronization without compensation 3 - CIP 127.1.18
movement
ModbusTCP 6948
2 / Position Synchronization Compensated:
Position synchronization with compensation EtherCAT 301B:12h
movement
PROFINET 6948
3 / Velocity Synchronization: Velocity
synchronization

Modified settings become active immediately.

GEARselect Gear ratio selection. - UINT16 CANopen 3026:Eh

Switches between two gear ratios: 0 R/W Modbus 9756

Value 0: Use gear ratio defined by parameter 0 - Profibus 9756

GEARratio
1 - CIP 138.1.14
Value 1: Use gear ratio from parameters
GEARnum2/GEARdenom2 ModbusTCP 9756

Modified settings become active immediately. EtherCAT 3026:Eh

PROFINET 9756

556 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMdis Distance from switching point. usr_p INT32 CANopen 3028:7h

The distance from the switching point is defined as 1 R/W Modbus 10254
the reference point.
200 per. Profibus 10254
The parameter is only effective during a reference
movement without index pulse. 2147483647 - CIP 140.1.7

Modified settings become active the next time the ModbusTCP 10254
motor moves.
EtherCAT 3028:7h

PROFINET 10254
HMIDispPara HMI display when motor moves. - UINT16 CANopen 303A:2h

Mon 0 / OperatingState / S t A t : Operating state 0 R/W Modbus 14852

SuPV 1 / v_act / V A c t : Actual motor velocity 0 per. Profibus 14852

2 / I_act / i A c t : Actual motor current 2 - CIP 158.1.2

Modified settings become active immediately. ModbusTCP 14852

EtherCAT 303A:2h

PROFINET 14852
HMIlocked Lock HMI. - UINT16 CANopen 303A:1h

0 / Not Locked / n L o c : HMI not locked 0 R/W Modbus 14850

1 / Locked / L o c : HMI locked 0 per. Profibus 14850

The following functions can no longer be started 1 - CIP 158.1.1

when the HMI is locked:
ModbusTCP 14850
- Parameter change
EtherCAT 303A:1h
- Jog
PROFINET 14850
- Autotuning

- Fault Reset

Modified settings become active immediately.

0198441113767.13 557
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMmethod Homing method. - INT16* CANopen 6098:0h

1: LIMN with index pulse 1 R/W Modbus 6936

2: LIMP with index pulse 18 - Profibus 6936

7: REF+ with index pulse, inv., outside 35 - CIP 127.1.12

8: REF+ with index pulse, inv., inside ModbusTCP 6936

9: REF+ with index pulse, not inv., inside EtherCAT 6098:0h

10: REF+ with index pulse, not inv., outside PROFINET 6936

11: REF- with index pulse, inv., outside

12: REF- with index pulse, inv., inside

13: REF- with index pulse, not inv., inside

14: REF- with index pulse, not inv., outside

17: LIMN

18: LIMP

23: REF+, inv., outside

24: REF+, inv., inside

25: REF+, not inv., inside

26: REF+, not inv., outside

27: REF-, inv., outside

28: REF-, inv., inside

29: REF-, not inv., inside

30: REF-, not inv., outside

33: Index pulse negative direction

34: Index pulse positive direction

35: Position setting

Abbreviations:

REF+: Search movement in positive direction

REF-: Search movement in negative direction

inv.: Invert direction in switch

not inv.: Direction not inverted in switch

outside: Index pulse / distance outside switch

inside: Index pulse / distance inside switch

Modified settings become active immediately.

* Datatype for CANopen: INT8

HMoutdis Maximum distance for search for switching point. usr_p INT32 CANopen 3028:6h

0: Monitoring of distance inactive 0 R/W Modbus 10252

>0: Maximum distance 0 per. Profibus 10252

After detection of the switch, the drive starts to 2147483647 - CIP 140.1.6
search for the defined switching point. If the
defined switching point is not found within the ModbusTCP 10252
distance defined here, the reference movement is
canceled and an error is detected. EtherCAT 3028:6h

Modified settings become active the next time the PROFINET 10252
motor moves.

558 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMp_home Position at reference point. usr_p INT32 CANopen 3028:Bh

After a successful reference movement, this -2147483648 R/W Modbus 10262

position is automatically set at the reference point.
0 per. Profibus 10262
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.11

ModbusTCP 10262

EtherCAT 3028:Bh

PROFINET 10262
HMp_setP Position for Position Setting. usr_p INT32 CANopen 301B:16h

Position for operating mode Homing, method 35. - R/W Modbus 6956

Modified settings become active immediately. 0 - Profibus 6956

- - CIP 127.1.22

ModbusTCP 6956

EtherCAT 301B:16h

PROFINET 6956
HMprefmethod Preferred homing method. - INT16 CANopen 3028:Ah

oP → hoM- Modified settings become active immediately. 1 R/W Modbus 10260

MEth 18 per. Profibus 10260

35 - CIP 140.1.10

ModbusTCP 10260

EtherCAT 3028:Ah

PROFINET 10260
HMsrchdis Maximum search distance after overtravel of usr_p INT32 CANopen 3028:Dh
switch.
0 R/W Modbus 10266
0: Search distance monitoring disabled
0 per. Profibus 10266
>0: Search distance
2147483647 - CIP 140.1.13
The switch must be activated again within this
search distance, otherwise the reference ModbusTCP 10266
movement is canceled.
EtherCAT 3028:Dh
Modified settings become active the next time the
motor moves. PROFINET 10266

HMv Target velocity for searching the switch. usr_v UINT32 CANopen 6099:1h

oP → hoM- The adjustable value is internally limited to the 1 R/W Modbus 10248
parameter setting in RAMP_v_max.
hMn 60 per. Profibus 10248
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.4

ModbusTCP 10248

EtherCAT 6099:1h

PROFINET 10248

0198441113767.13 559
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

HMv_out Target velocity for moving away from switch. usr_v UINT32 CANopen 6099:2h

The adjustable value is internally limited to the 1 R/W Modbus 10250

parameter setting in RAMP_v_max.
6 per. Profibus 10250
Modified settings become active the next time the
motor moves. 2147483647 - CIP 140.1.5

ModbusTCP 10250

EtherCAT 6099:2h

PROFINET 10250
InvertDirOfCount Inversion of direction of counting at PTI interface. - UINT16 CANopen 3008:7h

0 / Inversion Off: Inversion of direction of 0 R/W Modbus 2062

counting is off
0 per. Profibus 2062
1 / Inversion On: Inversion of direction of
counting is on 1 - CIP 108.1.7

Modified settings become active immediately. ModbusTCP 2062

EtherCAT 3008:7h

PROFINET 2062
InvertDirOfMaEnc Inversion of direction of machine encoder. - UINT16 CANopen 3050:8h

0 / Inversion Off: Inversion of direction is off 0 R/W Modbus 20496

1 / Inversion On: Inversion of direction is on 0 per. Profibus 20496

Setting can only be modified if power stage is 1 - CIP 180.1.8

disabled.
ModbusTCP 20496
Modified settings become active immediately.
EtherCAT 3050:8h

PROFINET 20496
InvertDirOfMove Inversion of direction of movement. - UINT16 CANopen 3006:Ch

ConF → ACG- 0 / Inversion Off / o F F : Inversion of direction of 0 R/W Modbus 1560

movement is off
inMo 0 per. Profibus 1560
1 / Inversion On / o n : Inversion of direction of
movement is on 1 - CIP 106.1.12

The limit switch which is reached with a movement ModbusTCP 1560

in positive direction must be connected to the
positive limit switch input and vice versa. EtherCAT 3006:Ch

Setting can only be modified if power stage is PROFINET 1560

disabled.

Modified settings become active the next time the

product is powered on.

IO_AutoEnable Enabling the power stage at PowerOn. - UINT16 CANopen 3005:6h

ConF → ACG- 0 / RisingEdge / r i S E : A rising edge with the 0 R/W Modbus 1292
signal input function "Enable" enables the power
ioAE stage 0 per. Profibus 1292

1 / HighLevel / L E V L : An active signal input 2 - CIP 105.1.6

with signal input function "Enable" enables the
power stage ModbusTCP 1292

2 / AutoOn / A u t o : The power stage is EtherCAT 3005:6h

automatically enabled
PROFINET 1292
Modified settings become active the next time the
power stage is enabled.

560 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_AutoEnaConfig Enabling the power stage as set via IO_ - UINT16 CANopen 3005:4h
AutoEnable even after error.
ConF → ACG- 0 R/W Modbus 1288
0 / Off / _ o F F : Setting in parameter IO_
ioEM AutoEnable is only used after start-up 0 per. Profibus 1288

1 / On / o n : Setting in parameter IO_AutoEnable 1 - CIP 105.1.4

is used after start-up and after detected error
ModbusTCP 1288
Modified settings become active the next time the
power stage is enabled. EtherCAT 3005:4h

PROFINET 1288
IO_DQ_set Setting the digital outputs directly. - UINT16 CANopen 3008:11h

Digital outputs can only be set directly if the signal - R/W Modbus 2082
output function has been set to 'Freely Available'.
- - Profibus 2082
Bit assignments:
- - CIP 108.1.17
Bit 0: DQ0
ModbusTCP 2082
Bit 1: DQ1
EtherCAT 3008:11h
Bit 2: DQ2
PROFINET 2082
IO_ Additional 'Fault Reset' for the signal input - UINT16 CANopen 3005:34h
FaultResOnEnaInp function 'Enable'.
0 R/W Modbus 1384
ConF → ACG- 0 / Off / o F F : No additional 'Fault Reset'
0 per. Profibus 1384
iEFr 1 / OnFallingEdge / F A L L : Additional 'Fault
Reset' with falling edge 2 - CIP 105.1.52

2 / OnRisingEdge / r i S E : Additional 'Fault ModbusTCP 1384

Reset' with rising edge
EtherCAT 3005:34h
Modified settings become active the next time the
power stage is enabled. PROFINET 1384

Available with firmware version ≥V01.12.

IO_GEARmethod Processing mode for operating mode Electronic - UINT16 CANopen 3005:17h
Gear.
ConF → ACG- 1 R/W Modbus 1326
1 / Position Synchronization Immediate /
ioGM P o i M : Position synchronization without 1 per. Profibus 1326
compensation movement
3 - CIP 105.1.23
2 / Position Synchronization Compensated /
P o c o : Position synchronization with ModbusTCP 1326
compensation movement
EtherCAT 3005:17h
3 / Velocity Synchronization / V E L o : Velocity
synchronization PROFINET 1326

Modified settings become active the next time the

motor moves.
IO_I_limit Current limitation via input. Arms UINT16 CANopen 3006:27h

ConF → i-o- A current limit can be activated via a digital input. 0.00 R/W Modbus 1614

iLiM In increments of 0.01 Arms. 0.20 per. Profibus 1614

Modified settings become active immediately. 300.00 - CIP 106.1.39

ModbusTCP 1614

EtherCAT 3006:27h

PROFINET 1614

0198441113767.13 561
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IO_JOGmethod Selection of jog method. - UINT16 CANopen 3005:18h

ConF → ACG- 0 / Continuous Movement / c o M o : Jog with 0 R/W Modbus 1328

continuous movement
ioJG 0 per. Profibus 1328
1 / Step Movement / S t M o : Jog with step
movement 1 - CIP 105.1.24

Modified settings become active the next time the ModbusTCP 1328
motor moves.
EtherCAT 3005:18h

PROFINET 1328
IO_ModeSwitch Operating mode for signal input function - UINT16 CANopen 3006:2Fh
Operating Mode Switch.
ConF → ACG- 0 R/W Modbus 1630
0 / None / n o n E : None
ioMS 0 per. Profibus 1630
1 / Profile Torque / t o r q : Profile Torque
3 - CIP 106.1.47
2 / Profile Velocity / V E L P : Profile Velocity
ModbusTCP 1630
3 / Electronic Gear / G E A r : Electronic Gear
EtherCAT 3006:2Fh
Modified settings become active immediately.
PROFINET 1630
IO_PTtq_reference Reference value source for operating mode Profile - UINT16 CANopen 3005:38h
Torque.
ConF → ACG- 0 R/W Modbus 1392
0 / Analog Input / i A n A : Reference value via
iotq analog input 0 per. Profibus 1392

1 / PTI Interface / i P t i : Reference value via 1 - CIP 105.1.56

PTI interface
ModbusTCP 1392
Setting can only be modified if power stage is
disabled. EtherCAT 3005:38h

Modified settings become active the next time the PROFINET 1392
power stage is enabled.

Available with firmware version ≥V01.20.

IO_v_limit Velocity limitation via input. usr_v UINT32 CANopen 3006:1Eh

A velocity limitation can be activated via a digital 0 R/W Modbus 1596

input.
10 per. Profibus 1596
In operating mode Profile Torque, the minimum
velocity is internally limited to 100 RPM. 2147483647 - CIP 106.1.30

Modified settings become active immediately. ModbusTCP 1596

EtherCAT 3006:1Eh

PROFINET 1596
IOdefaultMode Operating mode. - UINT16 CANopen 3005:3h

ConF → ACG- 0 / None / n o n E : None 0 R/W Modbus 1286

io-M 1 / Profile Torque / t o r q : Profile Torque 6 per. Profibus 1286

2 / Profile Velocity / V E L P : Profile Velocity 6 - CIP 105.1.3

3 / Electronic Gear / G E A r : Electronic Gear ModbusTCP 1286

5 / Jog / J o G : Jog EtherCAT 3005:3h

6 / Motion Sequence / M o t S : Motion PROFINET 1286

Sequence

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

562 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOfunct_DI0 Function Input DI0. - UINT16 CANopen 3007:1h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1794

required
di0 - per. Profibus 1794
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.1
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1794
4 / Halt / h A L t : Halt
EtherCAT 3007:1h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1794

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

0198441113767.13 563
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DI1 Function Input DI1. - UINT16 CANopen 3007:2h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1796

required
di1 - per. Profibus 1796
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.2
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1796
4 / Halt / h A L t : Halt
EtherCAT 3007:2h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1796

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

564 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DI2 Function Input DI2. - UINT16 CANopen 3007:3h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1798

required
di2 - per. Profibus 1798
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.3
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1798
4 / Halt / h A L t : Halt
EtherCAT 3007:3h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1798

0198441113767.13 565
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

566 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DI3 Function Input DI3. - UINT16 CANopen 3007:4h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1800

required
di3 - per. Profibus 1800
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.4
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1800
4 / Halt / h A L t : Halt
EtherCAT 3007:4h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1800

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

0198441113767.13 567
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DI4 Function Input DI4. - UINT16 CANopen 3007:5h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1802

required
di4 - per. Profibus 1802
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.5
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1802
4 / Halt / h A L t : Halt
EtherCAT 3007:5h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1802

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

568 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

0198441113767.13 569
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

Modified settings become active the next time the

product is powered on.

IOfunct_DI5 Function Input DI5. - UINT16 CANopen 3007:6h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1804

required
di5 - per. Profibus 1804
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 107.1.6
3 / Enable / E n A b : Enables the power stage
ModbusTCP 1804
4 / Halt / h A L t : Halt
EtherCAT 3007:6h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 1804

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

570 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

30 / Start Signal Of RMAC / S r M c : Start signal

of relative movement after capture (RMAC)

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DQ0 Function Output DQ0. - UINT16 CANopen 3007:9h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1810

required
do0 - per. Profibus 1810
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 107.1.9
Enabled
ModbusTCP 1810
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 3007:9h

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 1810

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

0198441113767.13 571
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DQ1 Function Output DQ1. - UINT16 CANopen 3007:Ah

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1812

required
do1 - per. Profibus 1812
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 107.1.10
Enabled
ModbusTCP 1812
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 3007:Ah

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 1812

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

572 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOfunct_DQ2 Function Output DQ2. - UINT16 CANopen 3007:Bh

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 1814

required
do2 - per. Profibus 1814
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 107.1.11
Enabled
ModbusTCP 1814
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 3007:Bh

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 1814

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

0198441113767.13 573
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

IOM1_AI11_I_max IOM1 Limitation of current at 10 V of AI11. Arms UINT16 CANopen 304F:Fh

ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20254

L11i Setting can only be modified if power stage is 3.00 per. Profibus 20254
disabled.
463.00 - CIP 179.1.15
Modified settings become active the next time the
power stage is enabled. ModbusTCP 20254

Available with firmware version ≥V01.06. EtherCAT 304F:Fh

PROFINET 20254
IOM1_AI11_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:12h
Profile Torque of AI11.
ConF → i-o- -3000.0 R/W Modbus 20260
100.0 % correspond to the continuous stall torque
t11t _M_M_0. 100.0 per. Profibus 20260

By using a negative sign, you can invert the 3000.0 - CIP 179.1.18
evaluation of the analog signal.
ModbusTCP 20260
In increments of 0.1 %.
EtherCAT 304F:12h
Modified settings become active immediately.
PROFINET 20260
Available with firmware version ≥V01.06.
IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252

A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

574 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI11_offset IOM1 Offset voltage of AI11. mV INT16 CANopen 304F:Bh

ConF → i-o- The analog input AI11 is corrected/offset by the -5000 R/W Modbus 20246
offset value. If you have defined a zero voltage
A11o window, this window is effective in the zero pass 0 per. Profibus 20246
range of the corrected analog input AI11.
5000 - CIP 179.1.11
Modified settings become active immediately.
ModbusTCP 20246
Available with firmware version ≥V01.06.
EtherCAT 304F:Bh

PROFINET 20246
IOM1_AI11_Tau IOM1 Filter time constant of AI11. ms UINT16 CANopen 304F:2h

ConF → i-o- First-order low pass (PT1) filter time constant for 0.00 R/W Modbus 20228
analog input AI11.
A11F 0.00 per. Profibus 20228
In increments of 0.01 ms.
327.67 - CIP 179.1.2
Modified settings become active immediately.
ModbusTCP 20228
Available with firmware version ≥V01.06.
EtherCAT 304F:2h

PROFINET 20228
IOM1_AI11_v_max IOM1 Limitation of velocity at 10 V of AI11. usr_v UINT32 CANopen 304F:10h

The maximum velocity is limited to the setting in 1 R/W Modbus 20256

CTRL_v_max.
3000 per. Profibus 20256
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.16

Setting can only be modified if power stage is ModbusTCP 20256

disabled.
EtherCAT 304F:10h
Modified settings become active the next time the
power stage is enabled. PROFINET 20256

Available with firmware version ≥V01.06.

IOM1_AI11_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:11h
Profile Velocity of AI11.
-2147483648 R/W Modbus 20258
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20258

By using a negative sign, you can invert the 2147483647 - CIP 179.1.17
evaluation of the analog signal.
ModbusTCP 20258
Modified settings become active immediately.
EtherCAT 304F:11h
Available with firmware version ≥V01.06.
PROFINET 20258
IOM1_AI11_win IOM1 Zero voltage window of AI11. mV UINT16 CANopen 304F:9h

ConF → i-o- Threshold value up to which an input voltage 0 R/W Modbus 20242
value is treated as 0 V.
A11W 0 per. Profibus 20242
Example: Value 20, this means a range from -20
... +20 mV is treated as 0 mV. 1000 - CIP 179.1.9

Modified settings become active immediately. ModbusTCP 20242

Available with firmware version ≥V01.06. EtherCAT 304F:9h

PROFINET 20242

0198441113767.13 575
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI12_I_max IOM1 Limitation of current at 10 V of AI12. Arms UINT16 CANopen 304F:14h

ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20264

L12i Setting can only be modified if power stage is 3.00 per. Profibus 20264
disabled.
463.00 - CIP 179.1.20
Modified settings become active the next time the
power stage is enabled. ModbusTCP 20264

Available with firmware version ≥V01.06. EtherCAT 304F:14h

PROFINET 20264
IOM1_AI12_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:17h
Profile Torque of AI12.
ConF → i-o- -3000.0 R/W Modbus 20270
100.0 % correspond to the continuous stall torque
t12i _M_M_0. 100.0 per. Profibus 20270

By using a negative sign, you can invert the 3000.0 - CIP 179.1.23
evaluation of the analog signal.
ModbusTCP 20270
In increments of 0.1 %.
EtherCAT 304F:17h
Modified settings become active immediately.
PROFINET 20270
Available with firmware version ≥V01.06.
IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20262

A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262

3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.06.

IOM1_AI12_offset IOM1 Offset voltage of AI12. mV INT16 CANopen 304F:Ch

ConF → i-o- The analog input AI12 is corrected/offset by the -5000 R/W Modbus 20248
offset value. If you have defined a zero voltage
A12o window, this window is effective in the zero pass 0 per. Profibus 20248
range of the corrected analog input AI12.
5000 - CIP 179.1.12
Modified settings become active immediately.
ModbusTCP 20248
Available with firmware version ≥V01.06.
EtherCAT 304F:Ch

PROFINET 20248
IOM1_AI12_Tau IOM1 Filter time constant of AI12. ms UINT16 CANopen 304F:18h

ConF → i-o- First-order low pass (PT1) filter time constant for 0.00 R/W Modbus 20272
analog input AI12.
A12F 0.00 per. Profibus 20272
In increments of 0.01 ms.
327.67 - CIP 179.1.24
Modified settings become active immediately.
ModbusTCP 20272
Available with firmware version ≥V01.06.
EtherCAT 304F:18h

PROFINET 20272

576 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AI12_v_max IOM1 Limitation of velocity at 10 V of AI12. usr_v UINT32 CANopen 304F:15h

The maximum velocity is limited to the setting in 1 R/W Modbus 20266

CTRL_v_max.
3000 per. Profibus 20266
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.21

Setting can only be modified if power stage is ModbusTCP 20266

disabled.
EtherCAT 304F:15h
Modified settings become active the next time the
power stage is enabled. PROFINET 20266

Available with firmware version ≥V01.06.

IOM1_AI12_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:16h
Profile Velocity of AI12.
-2147483648 R/W Modbus 20268
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20268

By using a negative sign, you can invert the 2147483647 - CIP 179.1.22
evaluation of the analog signal.
ModbusTCP 20268
Modified settings become active immediately.
EtherCAT 304F:16h
Available with firmware version ≥V01.06.
PROFINET 20268
IOM1_AI12_win IOM1 Zero voltage window of AI12. mV UINT16 CANopen 304F:Ah

ConF → i-o- Threshold value up to which an input voltage 0 R/W Modbus 20244
value is treated as 0 V.
A12W 0 per. Profibus 20244
Example: Value 20, this means a range from -20
... +20 mV is treated as 0 mV. 1000 - CIP 179.1.10

Modified settings become active immediately. ModbusTCP 20244

Available with firmware version ≥V01.06. EtherCAT 304F:Ah

PROFINET 20244
IOM1_AQ_ErrResp IOM1 Error response to overload of analog - UINT16 CANopen 304F:1Fh
outputs.
0 R/W Modbus 20286
0 / Error Class 0: Error class 0
1 per. Profibus 20286
1 / Error Class 1: Error class 1
3 - CIP 179.1.31
2 / Error Class 2: Error class 2
ModbusTCP 20286
3 / Error Class 3: Error class 3
EtherCAT 304F:1Fh
Setting can only be modified if power stage is
disabled. PROFINET 20286

Modified settings become active the next time the

power stage is enabled.

IOM1_AQ_mode IOM1 Type of usage of analog outputs. - UINT16 CANopen 304F:20h

ConF → i-o- 0 / none / n o n E : Analog outputs are 0 R/W Modbus 20288

deactivated
Aoty 0 per. Profibus 20288
1 / Voltage / V o L t : Both analog outputs are
voltage outputs 2 - CIP 179.1.32

2 / Current / C u r r : Both analog outputs are ModbusTCP 20288

current outputs
EtherCAT 304F:20h
Setting can only be modified if power stage is
disabled. PROFINET 20288

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

0198441113767.13 577
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AQ11_FixVal IOM1 Fixed value for AQ11. - INT16 CANopen 304F:24h

Only available if parameter IOM1_AQ11_func is -10000 R/W Modbus 20296

set to 'Fixed Value'.
0 - Profibus 20296
Unit and range depend on setting in parameter
IOM1_AQ_mode. 20000 - CIP 179.1.36

If setting is 'Voltage': ModbusTCP 20296

Unit: mV EtherCAT 304F:24h

Range: -10000 … 10000 PROFINET 20296

If setting is 'Current':

Unit: µA

Range: 0 … 20000

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_AQ11_func IOM1 Function of AQ11. - UINT16 CANopen 304F:21h

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20290

A11M 1 / Actual Velocity / V A C t : Actual velocity (10 0 per. Profibus 20290

V / 20 mA correspond to value in CTRL_v_max)
7 - CIP 179.1.33
2 / Actual Torque / t A c t : Actual torque (10 V /
20 mA correspond to value in CTRL_I_max) ModbusTCP 20290

3 / Reference Velocity / V r E F : Reference EtherCAT 304F:21h

velocity (10 V / 20 mA correspond to value in
CTRL_v_max) PROFINET 20290

4 / Reference Torque / t r E F : Reference

torque (10 V / 20 mA correspond to value in
CTRL_I_max)

5 / Position Deviation / P d i F : Position

deviation (10 V / 20 mA correspond to value in
MON_p_dif_load_usr)

6 / Fixed Value / F i V A : Fixed value (setting in

parameter IOM1_AQ11_FixVal)

7 / Actual Position / P A c t : Actual position in

the modulo range (10 V / 20 mA correspond to
value in MOD_Max)

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_AQ11_I_range IOM1 Range of current of AQ11. - UINT16 CANopen 304F:22h

ConF → i-o- 0 / 0-20mA / 0 - 2 : 0 mA … 20 mA (0 mA 0 R/W Modbus 20292

correspond to 0 user-defined units)
A11C 0 per. Profibus 20292
1 / 4-20mA unsigned / 4 - 2 u : 4 mA … 20 mA
(4 mA correspond to 0 user-defined units) 2 - CIP 179.1.34

2 / 4-20mA signed / 4 - 2 S : 4 mA … 20 mA (12 ModbusTCP 20292

mA correspond to 0 user-defined units)
EtherCAT 304F:22h
Setting can only be modified if power stage is
disabled. PROFINET 20292

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

578 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AQ11_invert IOM1 Inversion of AQ11. - UINT16 CANopen 304F:23h

Only available if output is set to a voltage output. 0 R/W Modbus 20294

Value 0: No inversion 0 per. Profibus 20294

Value 1: Inversion active 1 - CIP 179.1.35

Modified settings become active immediately. ModbusTCP 20294

Available with firmware version ≥V01.06. EtherCAT 304F:23h

PROFINET 20294
IOM1_AQ12_FixVal IOM1 Fixed value for AQ12. - INT16 CANopen 304F:2Eh

Only available if parameter IOM1_AQ12_func is -10000 R/W Modbus 20316

set to 'Fixed Value'.
0 - Profibus 20316
Unit and range depend on setting in parameter
IOM1_AQ_mode. 20000 - CIP 179.1.46

If setting is 'Voltage': ModbusTCP 20316

Unit: mV EtherCAT 304F:2Eh

Range: -10000 … 10000 PROFINET 20316

If setting is 'Current':

Unit: µA

Range: 0 … 20000

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_AQ12_func IOM1 Function of AQ12. - UINT16 CANopen 304F:2Bh

ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20310

A12M 1 / Actual Velocity / V A C t : Actual velocity (10 0 per. Profibus 20310

V / 20 mA correspond to value in CTRL_v_max)
7 - CIP 179.1.43
2 / Actual Torque / t A c t : Actual torque (10 V /
20 mA correspond to value in CTRL_I_max) ModbusTCP 20310

3 / Reference Velocity / V r E F : Reference EtherCAT 304F:2Bh

velocity (10 V / 20 mA correspond to value in
CTRL_v_max) PROFINET 20310

4 / Reference Torque / t r E F : Reference

torque (10 V / 20 mA correspond to value in
CTRL_I_max)

5 / Position Deviation / P d i F : Position

deviation (10 V / 20 mA correspond to value in
MON_p_dif_load_usr)

6 / Fixed Value / F i V A : Fixed value (setting in

parameter IOM1_AQ12_FixVal)

7 / Actual Position / P A c t : Actual position in

the modulo range (10 V / 20 mA correspond to
value in MOD_Max)

Modified settings become active immediately.

Available with firmware version ≥V01.06.

0198441113767.13 579
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_AQ12_I_range IOM1 Range of current of AQ12. - UINT16 CANopen 304F:2Ch

ConF → i-o- 0 / 0-20mA / 0 - 2 : 0 mA … 20 mA (0 mA 0 R/W Modbus 20312

correspond to 0 user-defined units)
A12C 0 per. Profibus 20312
1 / 4-20mA unsigned / 4 - 2 u : 4 mA … 20 mA
(4 mA correspond to 0 user-defined units) 2 - CIP 179.1.44

2 / 4-20mA signed / 4 - 2 S : 4 mA … 20 mA (12 ModbusTCP 20312

mA correspond to 0 user-defined units)
EtherCAT 304F:2Ch
Setting can only be modified if power stage is
disabled. PROFINET 20312

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_AQ12_invert IOM1 Inversion of AQ12. - UINT16 CANopen 304F:2Dh

Only available if output is set to a voltage output. 0 R/W Modbus 20314

Value 0: No inversion 0 per. Profibus 20314

Value 1: Inversion active 1 - CIP 179.1.45

Modified settings become active immediately. ModbusTCP 20314

Available with firmware version ≥V01.06. EtherCAT 304F:2Dh

PROFINET 20314
IOM1_DI_10_Deb IOM1 Debounce time of DI10. - UINT16 CANopen 304F:40h

0 / No: No software debouncing 0 R/W Modbus 20352

1 / 0.25 ms: 0.25 ms 6 per. Profibus 20352

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.64

3 / 0.75 ms: 0.75 ms ModbusTCP 20352

4 / 1.00 ms: 1.00 ms EtherCAT 304F:40h

5 / 1.25 ms: 1.25 ms PROFINET 20352

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_DI_11_Deb IOM1 Debounce time of DI11. - UINT16 CANopen 304F:41h

0 / No: No software debouncing 0 R/W Modbus 20354

1 / 0.25 ms: 0.25 ms 6 per. Profibus 20354

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.65

3 / 0.75 ms: 0.75 ms ModbusTCP 20354

4 / 1.00 ms: 1.00 ms EtherCAT 304F:41h

5 / 1.25 ms: 1.25 ms PROFINET 20354

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.06.

580 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_DI_12_Deb IOM1 Debounce time of DI12. - UINT16 CANopen 304F:42h

0 / No: No software debouncing 0 R/W Modbus 20356

1 / 0.25 ms: 0.25 ms 6 per. Profibus 20356

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.66

3 / 0.75 ms: 0.75 ms ModbusTCP 20356

4 / 1.00 ms: 1.00 ms EtherCAT 304F:42h

5 / 1.25 ms: 1.25 ms PROFINET 20356

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_DI_13_Deb IOM1 Debounce time of DI13. - UINT16 CANopen 304F:43h

0 / No: No software debouncing 0 R/W Modbus 20358

1 / 0.25 ms: 0.25 ms 6 per. Profibus 20358

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.67

3 / 0.75 ms: 0.75 ms ModbusTCP 20358

4 / 1.00 ms: 1.00 ms EtherCAT 304F:43h

5 / 1.25 ms: 1.25 ms PROFINET 20358

6 / 1.50 ms: 1.50 ms

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.06.

IOM1_DQ_set IOM1 Setting the digital outputs directly. - UINT16 CANopen 304F:37h

Digital outputs can only be set directly if the signal - R/W Modbus 20334
output function has been set to 'Available as
required'. - - Profibus 20334

Bit assignments: - - CIP 179.1.55

Bit 0: DQ10 ModbusTCP 20334

Bit 1: DQ11 EtherCAT 304F:37h

PROFINET 20334

0198441113767.13 581
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOM1_IOfunct_DI10 IOM1 Function Input DI10. - UINT16 CANopen 304F:50h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20384

required
di10 - per. Profibus 20384
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 179.1.80
3 / Enable / E n A b : Enables the power stage
ModbusTCP 20384
4 / Halt / h A L t : Halt
EtherCAT 304F:50h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 20384

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

582 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_IOfunct_DI11 IOM1 Function Input DI11. - UINT16 CANopen 304F:51h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20386

required
di11 - per. Profibus 20386
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 179.1.81
3 / Enable / E n A b : Enables the power stage
ModbusTCP 20386
4 / Halt / h A L t : Halt
EtherCAT 304F:51h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 20386

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

0198441113767.13 583
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_IOfunct_DI12 IOM1 Function Input DI12. - UINT16 CANopen 304F:52h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20388

required
di12 - per. Profibus 20388
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 179.1.82
3 / Enable / E n A b : Enables the power stage
ModbusTCP 20388
4 / Halt / h A L t : Halt
EtherCAT 304F:52h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 20388

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

584 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

0198441113767.13 585
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_IOfunct_DI13 IOM1 Function Input DI13. - UINT16 CANopen 304F:53h

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20390

required
di13 - per. Profibus 20390
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 179.1.83
3 / Enable / E n A b : Enables the power stage
ModbusTCP 20390
4 / Halt / h A L t : Halt
EtherCAT 304F:53h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 20390

6 / Current Limitation / i L i M : Limits the

current to parameter value

7 / Zero Clamp / C L M P : Zero clamping

8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value

9 / Jog Positive / J o G P : Jog: Moves in positive

direction

10 / Jog Negative / J o G n : Jog: Moves in

negative direction

11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement

12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios

13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set

14 / Data Set Select / d S E L : Motion Sequence:

Data set selection

15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

16 / Data Set Bit 1 / d S b 1 : Motion Sequence:

Data set bit 1

17 / Data Set Bit 2 / d S b 2 : Motion Sequence:

Data set bit 2

18 / Data Set Bit 3 / d S b 3 : Motion Sequence:

Data set bit 3

19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

20 / Gear Offset 2 / G o F 2 : Electronic Gear:

Adds second gear offset

21 / Reference Switch (REF) / r E F : Reference

switch

22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch

23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch

586 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set

27 / Operating Mode Switch / M S W t : Switches

operating mode

28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term

29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence

31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)

32 / Activate Operating Mode / A c o P :

Activates operating mode

35 / Data Set Bit 4 / d S b 4 : Motion Sequence:

Data set bit 4

36 / Data Set Bit 5 / d S b 5 : Motion Sequence:

Data set bit 5

37 / Data Set Bit 6 / d S b 6 : Motion Sequence:

Data set bit 6

38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

39 / Inversion AI12 (IO Module) / A 1 2 i :

Inverts analog input AI12 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_IOfunct_DQ10 IOM1 Function Output DQ10. - UINT16 CANopen 304F:5Ah

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20404

required
do10 - per. Profibus 20404
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 179.1.90
Enabled
ModbusTCP 20404
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 304F:5Ah

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 20404

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

0198441113767.13 587
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOM1_IOfunct_DQ11 IOM1 Function Output DQ11. - UINT16 CANopen 304F:5Bh

ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20406

required
do11 - per. Profibus 20406
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 179.1.91
Enabled
ModbusTCP 20406
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 304F:5Bh

4 / RMAC Active Or Finished / r M c A : Relative PROFINET 20406

movement after capture active or finished (RMAC)

5 / In Position Deviation Window / i n - P :

Position deviation is within window

6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window

7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold

8 / Current Below Threshold / i t h r : Motor

current below threshold

9 / Halt Acknowledge / h A L t : Halt

acknowledgement

11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request

13 / Motor Standstill / M S t d : Motor at a

standstill

14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active

15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)

588 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active

17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done

18 / Position Register Channel 1 / P r C 1 :

Position register channel 1

19 / Position Register Channel 2 / P r C 2 :

Position register channel 2

20 / Position Register Channel 3 / P r C 3 :

Position register channel 3

21 / Position Register Channel 4 / P r C 4 :

Position register channel 4

22 / Motor Moves Positive / M P o S : Motor

moves in positive direction

23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

product is powered on.

Available with firmware version ≥V01.06.

IOsigCurrLim Signal evaluation for signal input function Current - UINT16 CANopen 3008:28h
Limitation.
1 R/W Modbus 2128
1 / Normally Closed: Normally closed NC
2 per. Profibus 2128
2 / Normally Open: Normally open NO
2 - CIP 108.1.40
Setting can only be modified if power stage is
disabled. ModbusTCP 2128

Modified settings become active the next time the EtherCAT 3008:28h
power stage is enabled.
PROFINET 2128
Available with firmware version ≥V01.24.
IOsigLIMN Signal evaluation for negative limit switch. - UINT16 CANopen 3006:Fh

0 / Inactive: Inactive 0 R/W Modbus 1566

1 / Normally Closed: Normally closed NC 1 per. Profibus 1566

2 / Normally Open: Normally open NO 2 - CIP 106.1.15

Setting can only be modified if power stage is ModbusTCP 1566

disabled.
EtherCAT 3006:Fh
Modified settings become active the next time the
power stage is enabled. PROFINET 1566

IOsigLIMP Signal evaluation for positive limit switch. - UINT16 CANopen 3006:10h

0 / Inactive: Inactive 0 R/W Modbus 1568

1 / Normally Closed: Normally closed NC 1 per. Profibus 1568

2 / Normally Open: Normally open NO 2 - CIP 106.1.16

Setting can only be modified if power stage is ModbusTCP 1568

disabled.
EtherCAT 3006:10h
Modified settings become active the next time the
power stage is enabled. PROFINET 1568

0198441113767.13 589
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IOsigREF Signal evaluation for reference switch. - UINT16 CANopen 3006:Eh

1 / Normally Closed: Normally closed NC 1 R/W Modbus 1564

2 / Normally Open: Normally open NO 1 per. Profibus 1564

The reference switch is only active while a 2 - CIP 106.1.14

reference movement to the reference switch is
processed. ModbusTCP 1564

Setting can only be modified if power stage is EtherCAT 3006:Eh

disabled.
PROFINET 1564
Modified settings become active the next time the
power stage is enabled.

IOsigRespOfPS Response to active limit switch during enabling of - UINT16 CANopen 3006:6h
power stage.
0 R/W Modbus 1548
0 / Error: Active limit switch triggers an error.
0 per. Profibus 1548
1 / No Error: Active limit switch does not trigger an
error. 1 - CIP 106.1.6

Defines the response when the power stage is ModbusTCP 1548

enabled while a hardware limit switch is active.
EtherCAT 3006:6h
Modified settings become active immediately.
PROFINET 1548
IOsigVelLim Signal evaluation for signal input function Velocity - UINT16 CANopen 3008:27h
Limitation.
1 R/W Modbus 2126
1 / Normally Closed: Normally closed NC
2 per. Profibus 2126
2 / Normally Open: Normally open NO
2 - CIP 108.1.39
Setting can only be modified if power stage is
disabled. ModbusTCP 2126

Modified settings become active the next time the EtherCAT 3008:27h
power stage is enabled.
PROFINET 2126
Available with firmware version ≥V01.24.
IP_IntTimInd Interpolation time index. - INT16* CANopen 60C2:2h

Available with firmware version ≥V01.08. -128 R/W Modbus 7002

* Datatype for CANopen: INT8 -3 - Profibus 7002

63 - CIP 127.1.45

ModbusTCP 7002

EtherCAT 60C2:2h

PROFINET 7002
IP_IntTimPerVal Interpolation time period value. s UINT16* CANopen 60C2:1h

Available with firmware version ≥V01.08. 0 R/W Modbus 7000

* Datatype for CANopen: UINT8 1 - Profibus 7000

255 - CIP 127.1.44

ModbusTCP 7000

EtherCAT 60C2:1h

PROFINET 7000

590 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

IPp_target Position reference value for operating mode - INT32 CANopen 60C1:1h
Interpolated Position.
-2147483648 R/W Modbus 7004
Available with firmware version ≥V01.08.
- - Profibus 7004

2147483647 - CIP 127.1.46

ModbusTCP 7004

EtherCAT 60C1:1h

PROFINET 7004
Iref_PTIFreqMax Reference current for operating mode Profile Arms UINT16 CANopen 3020:4h
Torque via PTI interface.
0.00 R/W Modbus 8200
Reference current corresponding to 1.6 million
increments per second at the PTI interface for - per. Profibus 8200
operating mode Profile Torque.
463.00 - CIP 132.1.4
In increments of 0.01 Arms.
ModbusTCP 8200
Modified settings become active immediately.
EtherCAT 3020:4h
Available with firmware version ≥V01.20.
PROFINET 8200
JOGactivate Activation of operating mode Jog. - UINT16 CANopen 301B:9h

Bit 0: Positive direction of movement 0 R/W Modbus 6930

Bit 1: Negative direction of movement 0 - Profibus 6930

Bit 2: 0=slow 1=fast 7 - CIP 127.1.9

Modified settings become active immediately. ModbusTCP 6930

EtherCAT 301B:9h

PROFINET 6930
JOGmethod Selection of jog method. - UINT16 CANopen 3029:3h

0 / Continuous Movement / c o M o : Jog with 0 R/W Modbus 10502

continuous movement
1 - Profibus 10502
1 / Step Movement / S t M o : Jog with step
movement 1 - CIP 141.1.3

Modified settings become active immediately. ModbusTCP 10502

EtherCAT 3029:3h

PROFINET 10502
JOGstep Distance for step movement. usr_p INT32 CANopen 3029:7h

Modified settings become active the next time the 1 R/W Modbus 10510
motor moves.
20 per. Profibus 10510

2147483647 - CIP 141.1.7

ModbusTCP 10510

EtherCAT 3029:7h

PROFINET 10510

0198441113767.13 591
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

JOGtime Wait time for step movement. ms UINT16 CANopen 3029:8h

Modified settings become active the next time the 1 R/W Modbus 10512
motor moves.
500 per. Profibus 10512

32767 - CIP 141.1.8

ModbusTCP 10512

EtherCAT 3029:8h

PROFINET 10512
JOGv_fast Velocity for fast movement. usr_v UINT32 CANopen 3029:5h

oP → JoG- The adjustable value is internally limited to the 1 R/W Modbus 10506
parameter setting in RAMP_v_max.
JGhi 180 per. Profibus 10506
Modified settings become active immediately.
2147483647 - CIP 141.1.5

ModbusTCP 10506

EtherCAT 3029:5h

PROFINET 10506
JOGv_slow Velocity for slow movement. usr_v UINT32 CANopen 3029:4h

oP → JoG- The adjustable value is internally limited to the 1 R/W Modbus 10504
parameter setting in RAMP_v_max.
JGLo 60 per. Profibus 10504
Modified settings become active immediately.
2147483647 - CIP 141.1.4

ModbusTCP 10504

EtherCAT 3029:4h

PROFINET 10504
LIM_HaltReaction Halt option code. - INT16 CANopen 605D:0h

ConF → ACG- 1 / Deceleration Ramp / d E c E : Deceleration 1 R/W Modbus 1582

ramp
htyP 1 per. Profibus 1582
3 / Torque Ramp / t o r q : Torque ramp
3 - CIP 106.1.23
Set the deceleration ramp with parameter RAMP_
v_dec. ModbusTCP 1582

Set the torque ramp with parameter LIM_I_ EtherCAT 605D:0h

maxHalt.
PROFINET 1582
If a deceleration ramp is already active, the
parameter cannot be written.

Modified settings become active immediately.

592 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_I_maxHalt Current for Halt. Arms UINT16 CANopen 3011:Eh

ConF → ACG- This value is only limited by the minimum/ - R/W Modbus 4380
maximum value range (no limitation of this value
hcur by motor/power stage). - per. Profibus 4380

In the case of a Halt, the current limit (_Imax_act) - - CIP 117.1.14

is one of the following values (whichever is
lowest): ModbusTCP 4380

- LIM_I_maxHalt EtherCAT 3011:Eh

- _M_I_max PROFINET 4380

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Halt.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

LIM_I_maxQSTP Current for Quick Stop. Arms UINT16 CANopen 3011:Dh

ConF → FLt- This value is only limited by the minimum/ - R/W Modbus 4378
maximum value range (no limitation of this value
qcur by motor/power stage). - per. Profibus 4378

In the case of a Quick Stop, the current limit - - CIP 117.1.13

(_Imax_act) is one of the following values
(whichever is lowest): ModbusTCP 4378

- LIM_I_maxQSTP EtherCAT 3011:Dh

- _M_I_max PROFINET 4378

- _PS_I_max

Further current limitations caused by I2t

monitoring are also taken into account during a
Quick Stop.

Default: _PS_I_max at 8 kHz PWM frequency and

230/480 V mains voltage

In increments of 0.01 Arms.

Modified settings become active immediately.

0198441113767.13 593
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

LIM_QStopReact Quick Stop option code. - INT16 CANopen 3006:18h

-2 / Torque ramp (Fault): Use torque ramp and -2 R/W Modbus 1584
transit to operating state 9 Fault
6 per. Profibus 1584
-1 / Deceleration Ramp (Fault): Use deceleration
ramp and transit to operating state 9 Fault 7 - CIP 106.1.24

6 / Deceleration ramp (Quick Stop): Use ModbusTCP 1584

deceleration ramp and remain in operating state 7
Quick Stop EtherCAT 3006:18h

7 / Torque ramp (Quick Stop): Use torque ramp PROFINET 1584

and remain in operating state 7 Quick Stop

Type of deceleration for Quick Stop.

Setting of deceleration ramp with parameter

RAMPquickstop.

Setting of torque ramp with parameter LIM_I_

maxQSTP.

If a deceleration ramp is already active, the

parameter cannot be written.

Modified settings become active immediately.

Mains_reactor Mains reactor. - UINT16 CANopen 3005:20h

0 / No: No 0 R/W Modbus 1344

1 / Yes: Yes 0 per. Profibus 1344

Value 0: No mains reactor connected. The 1 - CIP 105.1.32

nominal power of the power stage is reduced.
ModbusTCP 1344
Value 1: A mains reactor is connected.
EtherCAT 3005:20h
Setting can only be modified if power stage is
disabled. PROFINET 1344

Modified settings become active immediately.

MBaddress Modbus address. - UINT16 CANopen 3016:4h

ConF → CoM- Valid addresses: 1 to 247 1 R/W Modbus 5640

MbAd Modified settings become active the next time the 1 per. Profibus 5640
product is powered on.
247 - CIP 122.1.4

ModbusTCP 5640

EtherCAT 3016:4h

PROFINET 5640
MBbaud Modbus baud rate. - UINT32 CANopen 3016:3h

ConF → CoM- 9600 / 9600 Baud / 9 . 6 : 9600 Baud 9600 R/W Modbus 5638

Mbbd 19200 / 19200 Baud / 1 9 . 2 : 19200 Baud 19200 per. Profibus 5638

38400 / 38400 Baud / 3 8 . 4 : 38400 Baud 38400 - CIP 122.1.3

Modified settings become active the next time the ModbusTCP 5638
product is powered on.
EtherCAT 3016:3h

PROFINET 5638

594 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MBnode_guard Modbus Node Guarding. ms UINT16 CANopen 3016:6h

Value 0: Node Guarding inactive 0 R/W Modbus 5644

Value >0: Monitoring time 0 - Profibus 5644

A read request or a write request must be 10000 - CIP 122.1.6

performed during the monitoring time.
ModbusTCP 5644
Modified settings become active immediately.
EtherCAT 3016:6h

PROFINET 5644
MOD_AbsDirection Direction of absolute movement with Modulo. - UINT16 CANopen 3006:3Bh

0 / Shortest Distance: Movement with shortest 0 R/W Modbus 1654

distance
0 per. Profibus 1654
1 / Positive Direction: Movement only in positive
direction 2 - CIP 106.1.59

2 / Negative Direction: Movement only in ModbusTCP 1654

negative direction
EtherCAT 3006:3Bh
If the parameter is set to 0, the drive calculates the
shortest way to the new target position and starts PROFINET 1654
the movement in the corresponding direction. If
the distance to the target position is identical in
positive and negative directions, the movement
takes place in positive direction.

Modified settings become active immediately.

Available with firmware version ≥V01.01.

MOD_AbsMultiRng Multiple ranges for absolute movement with - UINT16 CANopen 3006:3Ch
Modulo.
0 R/W Modbus 1656
0 / Multiple Ranges Off: Absolute movement in
one modulo range 0 per. Profibus 1656

1 / Multiple Ranges On: Absolute movement in 1 - CIP 106.1.60

multiple modulo ranges
ModbusTCP 1656
Modified settings become active immediately.
EtherCAT 3006:3Ch
Available with firmware version ≥V01.01.
PROFINET 1656
MOD_Enable Activation of Modulo function. - UINT16 CANopen 3006:38h

ConF → ACG- 0 / Modulo Off / o F F : Modulo is off 0 R/W Modbus 1648

AtyP 1 / Modulo On / o n : Modulo is on 0 per. Profibus 1648

Setting can only be modified if power stage is 1 - CIP 106.1.56

disabled.
ModbusTCP 1648
Modified settings become active immediately.
EtherCAT 3006:38h
Available with firmware version ≥V01.01.
PROFINET 1648
MOD_Max Maximum position of modulo range. usr_p INT32 CANopen 3006:3Ah

The maximum position value of the modulo range - R/W Modbus 1652
must be greater than the minimum position value
of the modulo range. 3600 per. Profibus 1652

The value must not exceed the maximum possible - - CIP 106.1.58
value of position scaling _ScalePOSmax.
ModbusTCP 1652
Setting can only be modified if power stage is
disabled. EtherCAT 3006:3Ah

Modified settings become active immediately. PROFINET 1652

Available with firmware version ≥V01.01.

0198441113767.13 595
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MOD_Min Minimum position of modulo range. usr_p INT32 CANopen 3006:39h

The minimum position value of the modulo range - R/W Modbus 1650
must be less than the maximum position value of
the modulo range. 0 per. Profibus 1650

The value must not exceed the maximum possible - - CIP 106.1.57
value of position scaling _ScalePOSmax.
ModbusTCP 1650
Setting can only be modified if power stage is
disabled. EtherCAT 3006:39h

Modified settings become active immediately. PROFINET 1650

Available with firmware version ≥V01.01.

MON_ChkTime Monitoring of time window. ms UINT16 CANopen 3006:1Dh

ConF → i-o- Adjustment of a time for monitoring of position 0 R/W Modbus 1594
deviation, velocity deviation, velocity value and
tthr current value. If the monitored value is in the 0 per. Profibus 1594
permissible range during the adjusted time, the
monitoring function delivers a positive result. 9999 - CIP 106.1.29

The status can be output via a parameterizable ModbusTCP 1594

output.
EtherCAT 3006:1Dh
Modified settings become active immediately.
PROFINET 1594
MON_commutat Commutation monitoring. - UINT16 CANopen 3005:5h

0 / Off: Commutation monitoring off 0 R/W Modbus 1290

1 / On: Commutation monitoring on in operating 1 per. Profibus 1290

states 6, 7 and 8
2 - CIP 105.1.5
2 / On (OpState6+7): Commutation monitoring on
in operating states 6 and 7 ModbusTCP 1290

Setting can only be modified if power stage is EtherCAT 3005:5h

disabled.
PROFINET 1290
Modified settings become active the next time the
power stage is enabled.

MON_ Configuration modification monitoring. - UINT16 CANopen 3004:1Dh

ConfModification
Value 0: Modification detected for each write 0 R/W Modbus 1082
access.
2 per. Profibus 1082
Value 1: Modification detected for each write
access which modifies a value. 2 - CIP 104.1.29

Value 2: Identical to value 0 if commissioning ModbusTCP 1082

software is not connected. Identical to value 1 if
commissioning software is connected. EtherCAT 3004:1Dh

Modified settings become active immediately. PROFINET 1082

Available with firmware version ≥V01.26.

596 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_ DC bus overvoltage monitoring threshold. - UINT16 CANopen 3005:3Dh

DCbusVdcThresh
0 / Reduction Off: Reduction is off 0 R/W Modbus 1402

1 / Reduction On: Reduction is on 0 per. Profibus 1402

This parameter is used to reduce the threshold for 1 - CIP 105.1.61

DC bus overvoltage monitoring. The parameter
only affects single-phase devices supplied with ModbusTCP 1402
115 V and three-phase devices supplied with 208
V. EtherCAT 3005:3Dh

Value 0: PROFINET 1402

Single-phase: 450 Vdc

Three-phase: 820 Vdc

Value 1:

Single-phase: 260 Vdc

Three-phase: 450 Vdc

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.26.

MON_ENC_Ampl Activation of monitoring of SinCos amplitude. - UINT16 CANopen 303F:61h

Value 0: Deactivate monitoring 0 R/W Modbus 16322

Value 1: Activate monitoring 0 - Profibus 16322

Modified settings become active immediately. 1 - CIP 163.1.97

Available with firmware version ≥V01.26. ModbusTCP 16322

EtherCAT 303F:61h

PROFINET 16322
MON_GroundFault Ground monitoring. - UINT16 CANopen 3005:10h

0 / Off: Ground monitoring off 0 R/W Modbus 1312

1 / On: Ground monitoring on 1 per. Profibus 1312

Modified settings become active the next time the 1 expert CIP 105.1.16
product is powered on.
ModbusTCP 1312

EtherCAT 3005:10h

PROFINET 1312

0198441113767.13 597
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_HW_Limits Temporary deactivation of hardware limit - UINT16 CANopen 3006:11h

switches.
0 R/W Modbus 1570
0 / None: No limit switch deactivated
0 - Profibus 1570
1 / Positive Limit Switch: Deactivate positive
limit switch 3 - CIP 106.1.17

2 / Negative Limit Switch: Deactivate negative ModbusTCP 1570

limit switch
EtherCAT 3006:11h
3 / Both Limit Switches: Deactivate both limit
switches PROFINET 1570

With this parameter, a controller can temporarily

deactivate hardware limit switches. This is useful if
a homing procedure controlled by a controller is to
use a limit switch as a reference switch without an
error response of the drive.

The parameter is only available with the EtherCAT

module.

Modified settings become active immediately.

MON_I_Threshold Monitoring of current threshold. Arms UINT16 CANopen 3006:1Ch

ConF → i-o- The system monitors whether the drive is below 0.00 R/W Modbus 1592
the defined value during the period set with MON_
ithr ChkTime. 0.20 per. Profibus 1592

The status can be output via a parameterizable 300.00 - CIP 106.1.28

output.
ModbusTCP 1592
The parameter _Iq_act_rms is used as
comparison value. EtherCAT 3006:1Ch

In increments of 0.01 Arms. PROFINET 1592

Modified settings become active immediately.

MON_IO_SelErr1 Signal output function Selected Error (error - UINT16 CANopen 303B:6h
classes 1 to 4): First error code.
0 R/W Modbus 15116
This parameter specifies the error code of an error
of error classes 1 ... 4 which is to activate the 0 per. Profibus 15116
signal output function.
65535 - CIP 159.1.6
Modified settings become active immediately.
ModbusTCP 15116

EtherCAT 303B:6h

PROFINET 15116
MON_IO_SelErr2 Signal output function Selected Error (error - UINT16 CANopen 303B:7h
classes 1 to 4): Second error code.
0 R/W Modbus 15118
This parameter specifies the error code of an error
of error classes 1 ... 4 which is to activate the 0 per. Profibus 15118
signal output function.
65535 - CIP 159.1.7
Modified settings become active immediately.
ModbusTCP 15118

EtherCAT 303B:7h

PROFINET 15118

598 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_IO_SelWar1 Signal output function Selected Warning (error - UINT16 CANopen 303B:8h
class 0): First error code.
0 R/W Modbus 15120
This parameter specifies the error code of an error
of error class 0 which is to activate the signal 0 per. Profibus 15120
output function.
65535 - CIP 159.1.8
Modified settings become active immediately.
ModbusTCP 15120

EtherCAT 303B:8h

PROFINET 15120
MON_IO_SelWar2 Signal output function Selected Warning (error - UINT16 CANopen 303B:9h
class 0): Second error code.
0 R/W Modbus 15122
This parameter specifies the error code of an error
of error class 0 which is to activate the signal 0 per. Profibus 15122
output function.
65535 - CIP 159.1.9
Modified settings become active immediately.
ModbusTCP 15122

EtherCAT 303B:9h

PROFINET 15122
MON_MainsVolt Detection and monitoring of mains phases. - UINT16 CANopen 3005:Fh

0 / Automatic Mains Detection: Automatic 0 R/W Modbus 1310

detection and monitoring of mains voltage
0 per. Profibus 1310
1 / DC-Bus Only (Mains 1~230 V / 3~480 V): DC
bus supply only, corresponding to mains voltage 5 expert CIP 105.1.15
230 V (single-phase) or 480 V (three phases)
ModbusTCP 1310
2 / DC-Bus Only (Mains 1~115 V / 3~208 V): DC
bus supply only, corresponding to mains voltage EtherCAT 3005:Fh
115 V (single-phase) or 208 V (three phases)
PROFINET 1310
3 / Mains 1~230 V / 3~480 V: Mains voltage 230 V
(single-phase) or 480 V (three phases)

4 / Mains 1~115 V / 3~208 V: Mains voltage 115 V

(single-phase) or 208 V (three phases)

5 / Reserved: Reserved

Value 0: As soon as mains voltage detected, the

device automatically verifies whether the mains
voltage is 115 V or 230 V in the case of single-
phase devices or 208 V or 400/480 V in the case
of three-phase devices.

Values 1 … 2: If the device is supplied only via the

DC bus, the parameter has to be set to the voltage
value corresponding to the mains voltage of the
supplying device. There is no mains voltage
monitoring.

Values 3 … 4: If the mains voltage is not detected

properly during start-up, the mains voltage to be
used can be selected manually.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

0198441113767.13 599
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_ Motor overload and overtemperature monitoring. - UINT16 CANopen 303F:68h

MotOvLoadOvTemp
Value 0: Motor overload and overtemperature 0 R/W Modbus 16336
monitoring using thermal retention and speed
sensitivity (as per IEC 61800-5-1:2007/ 0 per. Profibus 16336
AMD1:2016)
1 expert CIP 163.1.104
Value 1: Motor overload and overtemperature
monitoring using the nominal stall torque of the ModbusTCP 16336
motor, without thermal retention and speed
sensitivity. Additional external measures may EtherCAT 303F:68h
have to be implemented.
PROFINET 16336
Setting can only be modified if power stage is
disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.32.

MON_p_dif_load Maximum load-dependent position deviation. revolution UINT32 CANopen 6065:0h

The load-dependent position deviation is the 0.0001 R/W Modbus 1606

difference between the reference position and the
actual position caused by the load. 1.0000 per. Profibus 1606

The parameter MON_p_dif_load_usr allows you 200.0000 - CIP 106.1.35

to enter the value in user-defined units.
ModbusTCP 1606
In increments of 0.0001 revolution.
EtherCAT 6065:0h
Modified settings become active immediately.
PROFINET 1606
MON_p_dif_load_usr Maximum load-dependent position deviation. usr_p INT32 CANopen 3006:3Eh

The load-dependent position deviation is the 1 R/W Modbus 1660

difference between the reference position and the
actual position caused by the load. 16384 per. Profibus 1660

The minimum value, the factory setting and the 2147483647 - CIP 106.1.62
maximum value depend on the scaling factor.
ModbusTCP 1660
Modified settings become active immediately.
EtherCAT 3006:3Eh
Available with firmware version ≥V01.03.
PROFINET 1660
MON_p_dif_warn Advisory limit of the load-dependent position % UINT16 CANopen 3006:29h
deviation (error class 0).
0 R/W Modbus 1618
100.0 % correspond to the maximum position
deviation (following error) as specified by means 75 per. Profibus 1618
of parameter MON_p_dif_load.
100 - CIP 106.1.41
Modified settings become active immediately.
ModbusTCP 1618

EtherCAT 3006:29h

PROFINET 1618
MON_p_DiffWin Monitoring of position deviation. revolution UINT16 CANopen 3006:19h

The system verifies whether the drive is within the 0.0000 R/W Modbus 1586
defined deviation during the period set with MON_
ChkTime. 0.0010 per. Profibus 1586

The status can be output via a parameterizable 0.9999 - CIP 106.1.25

output.
ModbusTCP 1586
The parameter MON_p_DiffWin_usr allows you to
enter the value in user-defined units. EtherCAT 3006:19h

In increments of 0.0001 revolution. PROFINET 1586

Modified settings become active immediately.

600 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_p_DiffWin_usr Monitoring of position deviation. usr_p INT32 CANopen 3006:3Fh

The system verifies whether the drive is within the 0 R/W Modbus 1662
defined deviation during the period set with MON_
ChkTime. 16 per. Profibus 1662

The status can be output via a parameterizable 2147483647 - CIP 106.1.63

output.
ModbusTCP 1662
The minimum value, the factory setting and the
maximum value depend on the scaling factor. EtherCAT 3006:3Fh

Modified settings become active immediately. PROFINET 1662

Available with firmware version ≥V01.03.

MON_p_win Standstill window, permissible control deviation. revolution UINT16* CANopen 6067:0h

The control deviation for the standstill window time 0.0000 R/W Modbus 1608
must be within this range for a standstill of the
drive to be detected. 0.0010 per. Profibus 1608

Processing of the standstill window must be 3.2767 - CIP 106.1.36

activated via the parameter MON_p_winTime.
ModbusTCP 1608
The parameter MON_p_win_usr allows you to
enter the value in user-defined units. EtherCAT 6067:0h

In increments of 0.0001 revolution. PROFINET 1608

Modified settings become active immediately.

* Datatype for CANopen: UINT32

MON_p_win_usr Standstill window, permissible control deviation. usr_p INT32 CANopen 3006:40h

The control deviation for the standstill window time 0 R/W Modbus 1664
must be within this range for a standstill of the
drive to be detected. 16 per. Profibus 1664

Processing of the standstill window must be 2147483647 - CIP 106.1.64

activated via the parameter MON_p_winTime.
ModbusTCP 1664
The minimum value, the factory setting and the
maximum value depend on the scaling factor. EtherCAT 3006:40h

Modified settings become active immediately. PROFINET 1664

Available with firmware version ≥V01.03.

MON_p_winTime Standstill window, time. ms UINT16 CANopen 6068:0h

Value 0: Monitoring of standstill window 0 R/W Modbus 1610

deactivated
0 per. Profibus 1610
Value >0: Time in ms during which the control
deviation must be in the standstill window 32767 - CIP 106.1.37

Modified settings become active immediately. ModbusTCP 1610

EtherCAT 6068:0h

PROFINET 1610
MON_p_winTout Timeout time for standstill window monitoring. ms UINT16 CANopen 3006:26h

Value 0: Timeout monitoring deactivated 0 R/W Modbus 1612

Value >0: Timeout time in ms 0 per. Profibus 1612

Standstill window processing values are set via 16000 - CIP 106.1.38
MON_p_win and MON_p_winTime.
ModbusTCP 1612
Time monitoring starts when the target position
(reference position of position controller) is EtherCAT 3006:26h
reached or when the profile generator has finished
processing. PROFINET 1612

Modified settings become active immediately.

0198441113767.13 601
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_SW_Limits Activation of software limit switches. - UINT16 CANopen 3006:3h

0 / None: Deactivated 0 R/W Modbus 1542

1 / SWLIMP: Activation of software limit switches 0 per. Profibus 1542

positive direction
3 - CIP 106.1.3
2 / SWLIMN: Activation of software limit switches
negative direction ModbusTCP 1542

3 / SWLIMP+SWLIMN: Activation of software limit EtherCAT 3006:3h

switches both directions
PROFINET 1542
Software limit switches can only be activated if the
zero point is valid.

Modified settings become active immediately.

MON_SWLimMode Behavior when position limit is reached. - UINT16 CANopen 3006:47h

0 / Standstill Behind Position Limit: Quick Stop 0 R/W Modbus 1678

is triggered at position limit and standstill is
reached behind position limit 0 per. Profibus 1678

1 / Standstill At Position Limit: Quick Stop is 1 - CIP 106.1.71

triggered in front of position limit and standstill is
reached at position limit ModbusTCP 1678

Modified settings become active immediately. EtherCAT 3006:47h

Available with firmware version ≥V01.16. PROFINET 1678

MON_swLimN Negative position limit for software limit switch. usr_p INT32 CANopen 607D:1h

See description 'MON_swLimP'. - R/W Modbus 1546

Setting can only be modified if power stage is -2147483648 per. Profibus 1546
disabled.
- - CIP 106.1.5
Modified settings become active the next time the
power stage is enabled. ModbusTCP 1546

EtherCAT 607D:1h

PROFINET 1546
MON_swLimP Positive position limit for software limit switch. usr_p INT32 CANopen 607D:2h

If a user-defined value entered is outside of the - R/W Modbus 1544

permissible range, the limit switch limits are
automatically set to the maximum user-defined 2147483647 per. Profibus 1544
value.
- - CIP 106.1.4
Setting can only be modified if power stage is
disabled. ModbusTCP 1544

Modified settings become active the next time the EtherCAT 607D:2h
power stage is enabled.
PROFINET 1544
MON_tq_win Torque window, permissible deviation. % UINT16 CANopen 3006:2Dh

The torque window can only be activated in 0.0 R/W Modbus 1626
operating mode Profile Torque.
3.0 per. Profibus 1626
In increments of 0.1 %.
3000.0 - CIP 106.1.45
Modified settings become active immediately.
ModbusTCP 1626

EtherCAT 3006:2Dh

PROFINET 1626

602 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_tq_winTime Torque window, time. ms UINT16 CANopen 3006:2Eh

Value 0: Torque window monitoring deactivated 0 R/W Modbus 1628

Changing the value causes a restart of torque 0 per. Profibus 1628

monitoring.
16383 - CIP 106.1.46
Torque window is only used in operating mode
Profile Torque. ModbusTCP 1628

Modified settings become active immediately. EtherCAT 3006:2Eh

PROFINET 1628
MON_v_DiffWin Monitoring of velocity deviation. usr_v UINT32 CANopen 3006:1Ah

The system monitors whether the drive is within 1 R/W Modbus 1588
the defined deviation during the period set with
MON_ChkTime. 10 per. Profibus 1588

The status can be output via a parameterizable 2147483647 - CIP 106.1.26

output.
ModbusTCP 1588
Modified settings become active immediately.
EtherCAT 3006:1Ah

PROFINET 1588
MON_v_Threshold Monitoring of velocity threshold. usr_v UINT32 CANopen 3006:1Bh

The system monitors whether the drive is below 1 R/W Modbus 1590
the defined value during the period set with MON_
ChkTime. 10 per. Profibus 1590

The status can be output via a parameterizable 2147483647 - CIP 106.1.27

output.
ModbusTCP 1590
Modified settings become active immediately.
EtherCAT 3006:1Bh

PROFINET 1590
MON_v_win Velocity window, permissible deviation. usr_v UINT32* CANopen 606D:0h

Modified settings become active immediately. 1 R/W Modbus 1576

* Datatype for CANopen: UINT16 10 per. Profibus 1576

2147483647 - CIP 106.1.20

ModbusTCP 1576

EtherCAT 606D:0h

PROFINET 1576
MON_v_winTime Velocity window, time. ms UINT16 CANopen 606E:0h

Value 0: Velocity window monitoring deactivated 0 R/W Modbus 1578

Changing the value causes a restart of velocity 0 per. Profibus 1578

monitoring.
16383 - CIP 106.1.21
Modified settings become active immediately.
ModbusTCP 1578

EtherCAT 606E:0h

PROFINET 1578

0198441113767.13 603
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MON_v_zeroclamp Velocity limit for Zero Clamp. usr_v UINT32 CANopen 3006:28h

A Zero Clamp operation is only possible if the 0 R/W Modbus 1616

reference velocity is below the Zero Clamp
velocity limit. 10 per. Profibus 1616

Modified settings become active immediately. 2147483647 - CIP 106.1.40

ModbusTCP 1616

EtherCAT 3006:28h

PROFINET 1616
MON_VelDiff Maximum load-dependent velocity deviation. usr_v UINT32 CANopen 3006:4Bh

Value 0: Monitoring deactivated. 0 R/W Modbus 1686

Value >0: Maximum value 0 per. Profibus 1686

Modified settings become active immediately. 2147483647 - CIP 106.1.75

Available with firmware version ≥V01.26. ModbusTCP 1686

EtherCAT 3006:4Bh

PROFINET 1686
MON_VelDiff_Time Time window for maximum load-dependent ms UINT16 CANopen 3006:4Ch
velocity deviation.
0 R/W Modbus 1688
Value 0: Monitoring deactivated.
10 per. Profibus 1688
Value >0: Time window for maximum value
- - CIP 106.1.76
Modified settings become active immediately.
ModbusTCP 1688
Available with firmware version ≥V01.26.
EtherCAT 3006:4Ch

PROFINET 1688
MON_ Maximum load-dependent velocity deviation for usr_v UINT32 CANopen 3006:48h
VelDiffOpSt578 operating states 5, 7 and 8.
0 R/W Modbus 1680
Maximum load-dependent velocity deviation for
operating states 5 Switch On, 7 Quick Stop Active 0 per. Profibus 1680
and 8 Fault Reaction Active.
2147483647 - CIP 106.1.72
Value 0: Monitoring deactivated.
ModbusTCP 1680
Value >0: Maximum value.
EtherCAT 3006:48h
Monitoring is active if parameter LIM_QStopReact
is set to "Deceleration Ramp (Fault)" or to PROFINET 1680
"Deceleration ramp (Quick Stop)".

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.30.

MSM_AddtlSettings Additional settings for operating mode Motion - UINT16 CANopen 302D:21h
Sequence.
0 R/W Modbus 11586
Bit 0 = 0: After Relative Movement After Capture
(RMAC), the operating mode Motion Sequence is 0 per. Profibus 11586
resumed without a rising edge or a falling edge of
the signal input function Start Motion Sequence. 65535 - CIP 145.1.33

Bit 0 = 1: After Relative Movement After Capture ModbusTCP 11586

(RMAC), the operating mode Motion Sequence is
resumed with a rising edge or a falling edge of the EtherCAT 302D:21h
signal input function Start Motion Sequence.
PROFINET 11586
Modified settings become active immediately.

Available with firmware version ≥V01.26.

604 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_CondSequ Start condition for the start of a sequence via a - UINT16 CANopen 302D:8h
signal input.
0 R/W Modbus 11536
0 / Rising Edge: Rising edge
0 per. Profibus 11536
1 / Falling Edge: Falling edge
3 - CIP 145.1.8
2 / 1-level: 1 level
ModbusTCP 11536
3 / 0-level: 0 level
EtherCAT 302D:8h
The start condition defines the way the start
request is to be processed. This setting is used for PROFINET 11536
the first start after activation of the operating
mode.

Modified settings become active the next time the

motor moves.
MSM_datasetnum Selection of data set number in data set table. - UINT16 CANopen 302D:10h

Before an entry in the data set table can be read 0 R/W Modbus 11552
or written, the corresponding data set number
must be selected. 0 - Profibus 11552

Modified settings become active immediately. 127 - CIP 145.1.16

ModbusTCP 11552

EtherCAT 302D:10h

PROFINET 11552
MSM_DebDigInNum Debounce time for data set selection. - UINT16 CANopen 302D:20h

Debounce time for which the signal at the digital 0 R/W Modbus 11584
input must be stable before the data set is
considered to be valid. 0 per. Profibus 11584

The debounce time is the value of this parameter 32767 - CIP 145.1.32
multiplied by 250 µs.
ModbusTCP 11584
The value 0 deactivates debouncing.
EtherCAT 302D:20h
Modified settings become active immediately.
PROFINET 11584
Available with firmware version ≥V01.20.
MSM_ds_logopera Logical operator. - UINT16 CANopen 302D:1Ah

0 / None: None 0 R/W Modbus 11572

1 / Logical AND: Logical AND 0 per. Profibus 11572

2 / Logical OR: Logical OR 2 - CIP 145.1.26

Transition condition 1 and transition condition 2 ModbusTCP 11572

can be logically combined.
EtherCAT 302D:1Ah
Modified settings become active immediately.
PROFINET 11572

0198441113767.13 605
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_ds_setA Setting A. - INT32 CANopen 302D:12h

The value depends on the type of data set as -2147483648 R/W Modbus 11556
selected with parameter MSM_ds_type:
0 per. Profibus 11556
- Move Absolute: Acceleration
2147483647 - CIP 145.1.18
- Move Relative: Acceleration
ModbusTCP 11556
- Reference Movement: Homing method (except
method 35) EtherCAT 302D:12h

- Position Setting: Position for Position Setting PROFINET 11556

- Repeat: Loop counter (1 … 65535)

- Move Additive: Acceleration

- Move Velocity: Acceleration

- Gear: Synchronization method

- Write Parameter: Modbus address of the

parameter

Modified settings become active immediately.

MSM_ds_setB Setting B. - INT32 CANopen 302D:13h

The value depends on the type of data set as -2147483648 R/W Modbus 11558
selected with parameter MSM_ds_type:
0 per. Profibus 11558
- Move Absolute: Velocity
2147483647 - CIP 145.1.19
- Move Relative: Velocity
ModbusTCP 11558
- Reference Movement: Position at reference point
after a successful reference movement EtherCAT 302D:13h

- Position Setting: - PROFINET 11558

- Repeat: Number of data set to be executed

- Move Additive: Velocity

- Move Velocity: Velocity

- Gear: Numerator

- Write Parameter: Value of the parameter

Modified settings become active immediately.

606 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_ds_setC Setting C. - INT32 CANopen 302D:14h

The value depends on the type of data set as -2147483648 R/W Modbus 11560
selected with parameter MSM_ds_type:
0 per. Profibus 11560
- Move Absolute: Absolute position
2147483647 - CIP 145.1.20
- Move Relative: Relative position
ModbusTCP 11560
- Reference Movement: -
EtherCAT 302D:14h
- Position Setting: -
PROFINET 11560
- Repeat: -

- Move Additive: Relative position

- Move Velocity: Selection of direction

Value 0: Positive

Value 1: Negative

Value 2: Active direction

- Gear: Denominator

- Write Parameter: -

Modified settings become active immediately.

MSM_ds_setD Setting D. - INT32 CANopen 302D:15h

The value depends on the type of data set as -2147483648 R/W Modbus 11562
selected with parameter MSM_ds_type:
0 per. Profibus 11562
- Move Absolute: Decelaration
2147483647 - CIP 145.1.21
- Move Relative: Decelaration
ModbusTCP 11562
- Reference Movement: -
EtherCAT 302D:15h
- Position Setting: -
PROFINET 11562
- Repeat: -

- Move Additive: Decelaration

- Move Velocity: Deceleration

- Gear: -

- Write Parameter: -

Modified settings become active immediately.

MSM_ds_sub_ds Subsequent data set. - UINT16 CANopen 302D:17h

Number of the next data set to be started. 0 R/W Modbus 11566

Modified settings become active immediately. 0 per. Profibus 11566

127 - CIP 145.1.23

ModbusTCP 11566

EtherCAT 302D:17h

PROFINET 11566

0198441113767.13 607
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_ds_trancon1 Transition condition 1. - UINT16 CANopen 302D:18h

0 / Continue Without Condition: Continue 0 R/W Modbus 11568

without condition
0 per. Profibus 11568
1 / Wait Time: Wait time
3 - CIP 145.1.24
2 / Start Request Edge: Start request edge
ModbusTCP 11568
3 / Start Request Level: Start request level
EtherCAT 302D:18h
Modified settings become active immediately.
PROFINET 11568
MSM_ds_trancon2 Transition condition 2. - UINT16 CANopen 302D:1Ch

0 / Continue Without Condition: Continue 0 R/W Modbus 11576

without condition
0 per. Profibus 11576
2 / Start Request Edge: Start request edge
3 - CIP 145.1.28
3 / Start Request Level: Start request level
ModbusTCP 11576
Modified settings become active immediately.
EtherCAT 302D:1Ch

PROFINET 11576
MSM_ds_transiti Transition type. - UINT16 CANopen 302D:16h

0 / No Transition: No transition 0 R/W Modbus 11564

1 / Abort And Go Next: Abort and go next 0 per. Profibus 11564

2 / Buffer And Start Next: Buffer and start next 4 - CIP 145.1.22

3 / Blending Previous: Blending previous ModbusTCP 11564

4 / Blending Next: Blending next EtherCAT 302D:16h

Modified settings become active immediately. PROFINET 11564

MSM_ds_tranval1 Value for transition condition 1. - INT32 CANopen 302D:19h

The value depends on the type of data set as 0 R/W Modbus 11570
selected with parameter MSM_ds_trancon1:
0 per. Profibus 11570
- Continue Without Condition: No transition
condition value 30000 - CIP 145.1.25

- Waiting Time: Wait time in ms ModbusTCP 11570

Values: 0 … 30000 EtherCAT 302D:19h

- Start Request Edge: Start request edge PROFINET 11570

Value 0: Rising edge

Value 1: Falling edge

Value 4: Rising or falling edge

- Start Request Level: Start request level

Value 2: 1 level

Value 3: 0 level

Modified settings become active immediately.

608 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSM_ds_tranval2 Value for transition condition 2. - INT32 CANopen 302D:1Dh

The value depends on the type of data set as 0 R/W Modbus 11578
selected with parameter MSM_ds_trancon2:
0 per. Profibus 11578
- Continue Without Condition: No transition
condition value 4 - CIP 145.1.29

- Start Request Edge: Start request edge ModbusTCP 11578

Value 0: Rising edge EtherCAT 302D:1Dh

Value 1: Falling edge PROFINET 11578

Value 4: Rising or falling edge

- Start Request Level: Start request level

Value 2: 1 level

Value 3: 0 level

Modified settings become active immediately.

MSM_ds_type Data set type. - UINT16 CANopen 302D:11h

0 / None: None 0 R/W Modbus 11554

1 / Move Absolute: Absolute movement 0 per. Profibus 11554

2 / Move Additive: Additive movement 9 - CIP 145.1.17

3 / Reference Movement: Reference movement ModbusTCP 11554

4 / Position Setting: Position setting EtherCAT 302D:11h

5 / Repeat: Repeat PROFINET 11554

6 / Move Relative: Relative movement

7 / Move Velocity: Movement with a defined

velocity

8 / Gear: Movement with a defined gear factor

9 / Write Parameter: Write a parameter

The values for the selected data set type are

specified by means of the parameters MSM_ds_
set1 to MSM_ds_set4.

Modified settings become active immediately.

MSM_start_ds Selection of a data set to be started for operating - UINT16 CANopen 301B:Ah
mode Motion Sequence.
0 R/W Modbus 6932
Modified settings become active immediately.
0 - Profibus 6932

127 - CIP 127.1.10

ModbusTCP 6932

EtherCAT 301B:Ah

PROFINET 6932

0198441113767.13 609
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

MSMendNumSe- Selection of the data set number after the end of a - UINT16 CANopen 302D:9h
quence sequence.
0 R/W Modbus 11538
0 / DataSetSelect: Data set is set via the signal
input function "Data Set Select" 0 per. Profibus 11538

1 / Automatic: Data set is set automatically 1 - CIP 145.1.9

Value 0: After the end of a sequence, the selected ModbusTCP 11538

data set must be set via the signal input function
"Data Set Select". EtherCAT 302D:9h

Value 1: After the end of a sequence, the selected PROFINET 11538

data set is set automatically.

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.09.

MSMstartSignal Response to falling edge at signal input for 'Start - UINT16 CANopen 302D:Ch
Signal Data Set'.
0 R/W Modbus 11544
0 / No Reaction: No response
0 per. Profibus 11544
1 / Cancel Movement: Cancel active movement
1 - CIP 145.1.12
Setting can only be modified if power stage is
disabled. ModbusTCP 11544

Modified settings become active immediately. EtherCAT 302D:Ch

Available with firmware version ≥V01.09. PROFINET 11544

MT_dismax Maximum permissible distance. revolution UINT16 CANopen 302E:3h

If the reference value is active and the maximum 0.0 R/W Modbus 11782
permissible distance is exceeded, an error of error
class 1 is detected. 1.0 - Profibus 11782

The value 0 switches off monitoring. 999.9 - CIP 146.1.3

The parameter MT_dismax_usr allows you to ModbusTCP 11782

enter the value in user-defined units.
EtherCAT 302E:3h
In increments of 0.1 revolution.
PROFINET 11782
Modified settings become active the next time the
motor moves.
MT_dismax_usr Maximum permissible distance. usr_p INT32 CANopen 302E:Ah

If the reference value is active and the maximum 0 R/W Modbus 11796
permissible distance is exceeded, an error of error
class 1 is detected. 16384 - Profibus 11796

The value 0 switches off monitoring. 2147483647 - CIP 146.1.10

The minimum value, the factory setting and the ModbusTCP 11796
maximum value depend on the scaling factor.
EtherCAT 302E:Ah
Modified settings become active the next time the
motor moves. PROFINET 11796

Available with firmware version ≥V01.03.

610 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

OFS_PosActivate Offset movement with relative offset position. - UINT16 CANopen 3027:Bh

This parameter starts an offset movement with 0 R/W Modbus 10006

one of the relative offset positions specified by
means of the parameters OFSp_RelPos1 and 0 - Profibus 10006
OFSp_RelPos2.
3 - CIP 139.1.11
Value 0: No offset movement
ModbusTCP 10006
Value 1: Start offset movement with relative offset
position 1 (OFSp_RelPos1) EtherCAT 3027:Bh

Value 2: Start offset movement with relative offset PROFINET 10006

position 2 (OFSp_RelPos2)

Modified settings become active immediately.

OFS_Ramp Acceleration and deceleration for offset usr_a UINT32 CANopen 3027:6h
movement.
1 R/W Modbus 9996
Setting can only be modified if power stage is
disabled. 600 per. Profibus 9996

Modified settings become active the next time the 2147483647 - CIP 139.1.6
power stage is enabled.
ModbusTCP 9996

EtherCAT 3027:6h

PROFINET 9996
OFSp_abs Start absolute offset movement. Inc INT32 CANopen 3027:1h

Modified settings become active immediately. -2147483648 R/W Modbus 9986

- - Profibus 9986

2147483647 - CIP 139.1.1

ModbusTCP 9986

EtherCAT 3027:1h

PROFINET 9986
OFSp_rel Start relative offset movement. Inc INT32 CANopen 3027:3h

Modified settings become active immediately. -2147483648 R/W Modbus 9990

0 - Profibus 9990

2147483647 - CIP 139.1.3

ModbusTCP 9990

EtherCAT 3027:3h

PROFINET 9990
OFSp_RelPos1 Relative offset position 1 for offset movement. Inc INT32 CANopen 3027:8h

Modified settings become active immediately. -2147483648 R/W Modbus 10000

0 per. Profibus 10000

2147483647 - CIP 139.1.8

ModbusTCP 10000

EtherCAT 3027:8h

PROFINET 10000

0198441113767.13 611
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

OFSp_RelPos2 Relative offset position 2 for offset movement. Inc INT32 CANopen 3027:Ah

Modified settings become active immediately. -2147483648 R/W Modbus 10004

0 per. Profibus 10004

2147483647 - CIP 139.1.10

ModbusTCP 10004

EtherCAT 3027:Ah

PROFINET 10004
OFSp_SetPos Set offset position. Inc INT32 CANopen 3027:5h

Modified settings become active immediately. -2147483648 R/W Modbus 9994

0 - Profibus 9994

2147483647 - CIP 139.1.5

ModbusTCP 9994

EtherCAT 3027:5h

PROFINET 9994
OFSv_target Target velocity for offset movement. usr_v UINT32 CANopen 3027:4h

The maximum value is 5000 if the user-defined 1 R/W Modbus 9992

scaling factor of the velocity scaling is 1.
60 per. Profibus 9992
This applies to the user-defined scaling factors.
Example: If the user-defined scaling factor of the 2147483647 - CIP 139.1.4
velocity scaling is 2 (ScaleVELnum = 2,
ScaleVELdenom = 1), the maximum value is ModbusTCP 9992
2500.
EtherCAT 3027:4h
Modified settings become active immediately.
PROFINET 9992
p_MaxDifToENC2 Maximum permissible deviation of encoder Inc INT32 CANopen 3050:7h
positions.
1 R/W Modbus 20494
The maximum permissible position deviation
between the encoder positions is cyclically 65536 per. Profibus 20494
monitored. If the limit is exceeded, an error is
detected. 13107200 - CIP 180.1.7

The position deviation is available via the ModbusTCP 20494

parameter '_p_DifEnc1ToEnc2'.
EtherCAT 3050:7h
The default value corresponds to 1/2 motor
revolution. PROFINET 20494

The maximum value corresponds to 100 motor

revolutions.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

p_PTI_act_set Position value at PTI interface. Inc INT32 CANopen 3008:29h

Available with firmware version ≥V01.26. -2147483648 R/W Modbus 2130

- - Profibus 2130

2147483647 - CIP 108.1.41

ModbusTCP 2130

EtherCAT 3008:29h

PROFINET 2130

612 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PAR_CTRLreset Reset control loop parameters. - UINT16 CANopen 3004:7h

ConF → FCS- 0 / No / n o : No 0 R/W Modbus 1038

rESC 1 / Yes / y E S : Yes 0 - Profibus 1038

Reset of the control loop parameters. The control 1 - CIP 104.1.7

loop parameters are recalculated on the basis of
the motor data of the connected motor. ModbusTCP 1038

Current and velocity limitations are not reset. EtherCAT 3004:7h

Therefore, a user parameter reset is required.
PROFINET 1038
The new settings are not saved to the nonvolatile
memory.

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

PAR_ScalingStart Recalculation of parameters with user-defined - UINT16 CANopen 3004:14h

units.
0 R/W Modbus 1064
The parameters with user-defined units can be
recalculated with a changed scaling factor. 0 - Profibus 1064

Value 0: Inactive 2 - CIP 104.1.20

Value 1: Initialize recalculation ModbusTCP 1064

Value 2: Start recalculation EtherCAT 3004:14h

Setting can only be modified if power stage is PROFINET 1064

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.03.

PAReeprSave Save parameter values to the nonvolatile memory. - UINT16 CANopen 3004:1h

Value 1: Save persistent parameters - R/W Modbus 1026

The currently set parameters are saved to the - - Profibus 1026

nonvolatile memory.
- - CIP 104.1.1
The saving process is complete when the
parameter is read and 0 is returned. ModbusTCP 1026

Parameters for the safety module eSM are EtherCAT 3004:1h

modified using the commissioning software. The
parameter values are saved persistently after PROFINET 1026
transfer. Explicit saving to the persistent memory
is not required in the case of the safety module
eSM.

Modified settings become active immediately.

0198441113767.13 613
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PARuserReset Reset user parameters. - UINT16 CANopen 3004:8h

ConF → FCS- 0 / No / n o : No 0 R/W Modbus 1040

rESu 65535 / Yes / y E S : Yes - - Profibus 1040

Bit 0: Reset persistent user parameters and 65535 - CIP 104.1.8

control loop parameters to default values
ModbusTCP 1040
Bit 1: Reset Motion Sequence parameters to
default values EtherCAT 3004:8h

Bits 2 … 15: Reserved PROFINET 1040

The parameters are reset with the exception of:

- Communication parameters

- Inversion of direction of movement

- Type of reference value signal for PTI interface

- Settings of encoder simulation

- Functions of digital inputs and outputs

- Safety module eSM

The new settings are not saved to the nonvolatile

memory.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

PBaddress Profibus address. - UINT16 CANopen 3043:2h

ConF → CoM- Setting can only be modified if power stage is 1 R/W Modbus 17156
disabled.
PbAd 126 per. Profibus 17156
Modified settings become active the next time the
product is powered on. 126 - CIP 167.1.2

ModbusTCP 17156

EtherCAT 3043:2h

PROFINET 17156
PDOmask Deactivate receive PDO. - UINT16 CANopen 3040:42h

Value 0: Activate receive PDO 0 R/W Modbus 16516

Value 1: Deactivate receive PDO 0 - Profibus 16516

Modified settings become active immediately. 1 - CIP 164.1.66

ModbusTCP 16516

EtherCAT 3040:42h

PROFINET 16516
PntIPAddress1 IP address, byte 1. - UINT16 CANopen 3048:7h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18446
product is powered on.
iPc1 0 per. Profibus 18446

255 - CIP 172.1.7

ModbusTCP 18446

EtherCAT 3048:7h

PROFINET 18446

614 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PntIPAddress2 IP address, byte 2. - UINT16 CANopen 3048:8h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18448
product is powered on.
iPc2 0 per. Profibus 18448

255 - CIP 172.1.8

ModbusTCP 18448

EtherCAT 3048:8h

PROFINET 18448
PntIPAddress3 IP address, byte 3. - UINT16 CANopen 3048:9h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18450
product is powered on.
iPc3 0 per. Profibus 18450

255 - CIP 172.1.9

ModbusTCP 18450

EtherCAT 3048:9h

PROFINET 18450
PntIPAddress4 IP address, byte 4. - UINT16 CANopen 3048:Ah

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18452
product is powered on.
iPc4 0 per. Profibus 18452

255 - CIP 172.1.10

ModbusTCP 18452

EtherCAT 3048:Ah

PROFINET 18452
PntIPgate1 IP address gateway, byte 1. - UINT16 CANopen 3048:Fh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18462
product is powered on.
iPG1 0 per. Profibus 18462

255 - CIP 172.1.15

ModbusTCP 18462

EtherCAT 3048:Fh

PROFINET 18462
PntIPgate2 IP address gateway, byte 2. - UINT16 CANopen 3048:10h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18464
product is powered on.
iPG2 0 per. Profibus 18464

255 - CIP 172.1.16

ModbusTCP 18464

EtherCAT 3048:10h

PROFINET 18464

0198441113767.13 615
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PntIPgate3 IP address gateway, byte 3. - UINT16 CANopen 3048:11h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18466
product is powered on.
iPG3 0 per. Profibus 18466

255 - CIP 172.1.17

ModbusTCP 18466

EtherCAT 3048:11h

PROFINET 18466
PntIPgate4 IP address gateway, byte 4. - UINT16 CANopen 3048:12h

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18468
product is powered on.
iPG4 0 per. Profibus 18468

255 - CIP 172.1.18

ModbusTCP 18468

EtherCAT 3048:12h

PROFINET 18468
PntIPmask1 IP address subnet mask, byte 1. - UINT16 CANopen 3048:Bh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18454
product is powered on.
iPM1 255 per. Profibus 18454

255 - CIP 172.1.11

ModbusTCP 18454

EtherCAT 3048:Bh

PROFINET 18454
PntIPmask2 IP address subnet mask, byte 2. - UINT16 CANopen 3048:Ch

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18456
product is powered on.
iPM2 255 per. Profibus 18456

255 - CIP 172.1.12

ModbusTCP 18456

EtherCAT 3048:Ch

PROFINET 18456
PntIPmask3 IP address subnet mask, byte 3. - UINT16 CANopen 3048:Dh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18458
product is powered on.
iPM3 255 per. Profibus 18458

255 - CIP 172.1.13

ModbusTCP 18458

EtherCAT 3048:Dh

PROFINET 18458

616 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PntIPmask4 IP address subnet mask, byte 4. - UINT16 CANopen 3048:Eh

ConF → CoM- Modified settings become active the next time the 0 R/W Modbus 18460
product is powered on.
iPM4 0 per. Profibus 18460

255 - CIP 172.1.14

ModbusTCP 18460

EtherCAT 3048:Eh

PROFINET 18460
PntIpMode Method of obtaining IP address. - UINT16 CANopen 3048:2h

ConF → CoM- 0 / Manual / M A n u : Manual 0 R/W Modbus 18436

iPMd 3 / DCP / d c P : DCP 3 per. Profibus 18436

3 - CIP 172.1.2

ModbusTCP 18436

EtherCAT 3048:2h

PROFINET 18436
PosReg1Mode Selection of comparison criterion for position - UINT16 CANopen 300B:4h
register channel 1.
0 R/W Modbus 2824
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2824
position register channel 1
5 - CIP 111.1.4
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2824
register channel 1
EtherCAT 300B:4h
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2824

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

PosReg1Source Selection of source for position register channel 1. - UINT16 CANopen 300B:6h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2828

channel 1 is Pact of encoder 1
0 per. Profibus 2828
1 / Pact Encoder 2: Source for position register
channel 1 is Pact of encoder 2 (module) 1 - CIP 111.1.6

Modified settings become active immediately. ModbusTCP 2828

EtherCAT 300B:6h

PROFINET 2828

0198441113767.13 617
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg1Start Start/stop of position register channel 1. - UINT16 CANopen 300B:2h

0 / Off (keep last state): Position Register 0 R/W Modbus 2820

channel 1 is off and status bit keeps last state
0 - Profibus 2820
1 / On: Position Register channel 1 is on
3 - CIP 111.1.2
2 / Off (set state 0): Position Register channel 1 is
off and status bit is set to 0 ModbusTCP 2820

3 / Off (set state 1): Position Register channel 1 is EtherCAT 300B:2h

off and status bit is set to 1
PROFINET 2820
Modified settings become active immediately.

PosReg1ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:8h
1.
- R/W Modbus 2832

0 per. Profibus 2832

- - CIP 111.1.8

ModbusTCP 2832

EtherCAT 300B:8h

PROFINET 2832
PosReg1ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:9h
1.
- R/W Modbus 2834

0 per. Profibus 2834

- - CIP 111.1.9

ModbusTCP 2834

EtherCAT 300B:9h

PROFINET 2834
PosReg2Mode Selection of comparison criterion for position - UINT16 CANopen 300B:5h
register channel 2.
0 R/W Modbus 2826
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2826
position register channel 2
5 - CIP 111.1.5
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2826
register channel 2
EtherCAT 300B:5h
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2826

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

618 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg2Source Selection of source for position register channel 2. - UINT16 CANopen 300B:7h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2830

channel 2 is Pact of encoder 1
0 per. Profibus 2830
1 / Pact Encoder 2: Source for position register
channel 2 is Pact of encoder 2 (module) 1 - CIP 111.1.7

Modified settings become active immediately. ModbusTCP 2830

EtherCAT 300B:7h

PROFINET 2830
PosReg2Start Start/stop of position register channel 2. - UINT16 CANopen 300B:3h

0 / Off (keep last state): Position Register 0 R/W Modbus 2822

channel 2 is off and status bit keeps last state
0 - Profibus 2822
1 / On: Position Register channel 2 is on
3 - CIP 111.1.3
2 / Off (set state 0): Position Register channel 2 is
off and status bit is set to 0 ModbusTCP 2822

3 / Off (set state 1): Position Register channel 2 is EtherCAT 300B:3h

off and status bit is set to 1
PROFINET 2822
Modified settings become active immediately.

PosReg2ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:Ah
2.
- R/W Modbus 2836

0 per. Profibus 2836

- - CIP 111.1.10

ModbusTCP 2836

EtherCAT 300B:Ah

PROFINET 2836
PosReg2ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:Bh
2.
- R/W Modbus 2838

0 per. Profibus 2838

- - CIP 111.1.11

ModbusTCP 2838

EtherCAT 300B:Bh

PROFINET 2838

0198441113767.13 619
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg3Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Eh

register channel 3.
0 R/W Modbus 2844
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2844
position register channel 3
5 - CIP 111.1.14
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2844
register channel 3
EtherCAT 300B:Eh
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2844

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

Available with firmware version ≥V01.04.

PosReg3Source Selection of source for position register channel 3. - UINT16 CANopen 300B:10h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2848

channel 3 is Pact of encoder 1
0 per. Profibus 2848
1 / Pact Encoder 2: Source for position register
channel 3 is Pact of encoder 2 (module) 1 - CIP 111.1.16

Modified settings become active immediately. ModbusTCP 2848

Available with firmware version ≥V01.04. EtherCAT 300B:10h

PROFINET 2848
PosReg3Start Start/stop of position register channel 3. - UINT16 CANopen 300B:Ch

0 / Off (keep last state): Position Register 0 R/W Modbus 2840

channel 3 is off and status bit keeps last state
0 - Profibus 2840
1 / On: Position Register channel 3 is on
3 - CIP 111.1.12
2 / Off (set state 0): Position Register channel 3 is
off and status bit is set to 0 ModbusTCP 2840

3 / Off (set state 1): Position Register channel 3 is EtherCAT 300B:Ch

off and status bit is set to 1
PROFINET 2840
Modified settings become active immediately.

Available with firmware version ≥V01.04.

PosReg3ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:12h
3.
- R/W Modbus 2852
Available with firmware version ≥V01.04.
0 per. Profibus 2852

- - CIP 111.1.18

ModbusTCP 2852

EtherCAT 300B:12h

PROFINET 2852

620 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg3ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:13h
3.
- R/W Modbus 2854
Available with firmware version ≥V01.04.
0 per. Profibus 2854

- - CIP 111.1.19

ModbusTCP 2854

EtherCAT 300B:13h

PROFINET 2854
PosReg4Mode Selection of comparison criterion for position - UINT16 CANopen 300B:Fh
register channel 4.
0 R/W Modbus 2846
0 / Pact greater equal A: Actual position is
greater than or equal to comparison value A for 0 per. Profibus 2846
position register channel 4
5 - CIP 111.1.15
1 / Pact less equal A: Actual position is less than
or equal to comparison value A for position ModbusTCP 2846
register channel 4
EtherCAT 300B:Fh
2 / Pact in [A-B] (basic): Actual position is in the
range A-B including limits (basic) PROFINET 2846

3 / Pact out [A-B] (basic): Actual position is out of

the range A-B excluding limits (basic)

4 / Pact in [A-B] (extended): Actual position is in

the range A-B including limits (extended)

5 / Pact out [A-B] (extended): Actual position is

out of the range A-B excluding limits (extended)

Modified settings become active immediately.

Available with firmware version ≥V01.04.

PosReg4Source Selection of source for position register channel 4. - UINT16 CANopen 300B:11h

0 / Pact Encoder 1: Source for position register 0 R/W Modbus 2850

channel 4 is Pact of encoder 1
0 per. Profibus 2850
1 / Pact Encoder 2: Source for position register
channel 4 is Pact of encoder 2 (module) 1 - CIP 111.1.17

Modified settings become active immediately. ModbusTCP 2850

Available with firmware version ≥V01.04. EtherCAT 300B:11h

PROFINET 2850
PosReg4Start Start/stop of position register channel 4. - UINT16 CANopen 300B:Dh

0 / Off (keep last state): Position Register 0 R/W Modbus 2842

channel 4 is off and status bit keeps last state
0 - Profibus 2842
1 / On: Position Register channel 4 is on
3 - CIP 111.1.13
2 / Off (set state 0): Position Register channel 4 is
off and status bit is set to 0 ModbusTCP 2842

3 / Off (set state 1): Position Register channel 4 is EtherCAT 300B:Dh

off and status bit is set to 1
PROFINET 2842
Modified settings become active immediately.

Available with firmware version ≥V01.04.

0198441113767.13 621
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PosReg4ValueA Comparison value A for position register channel usr_p INT32 CANopen 300B:14h
4.
- R/W Modbus 2856
Available with firmware version ≥V01.04.
0 per. Profibus 2856

- - CIP 111.1.20

ModbusTCP 2856

EtherCAT 300B:14h

PROFINET 2856
PosReg4ValueB Comparison value B for position register channel usr_p INT32 CANopen 300B:15h
4.
- R/W Modbus 2858
Available with firmware version ≥V01.04.
0 per. Profibus 2858

- - CIP 111.1.21

ModbusTCP 2858

EtherCAT 300B:15h

PROFINET 2858
PosRegGroupStart Start/stop of position register channels. - UINT16 CANopen 300B:16h

0 / No Channel: No channel activated 0 R/W Modbus 2860

1 / Channel 1: Channel 1 activated 0 per. Profibus 2860

2 / Channel 2: Channel 2 activated 15 - CIP 111.1.22

3 / Channel 1 & 2: Channels 1 and 2 activated ModbusTCP 2860

4 / Channel 3: Channel 3 activated EtherCAT 300B:16h

5 / Channel 1 & 3: Channels 1 and 3 activated PROFINET 2860

6 / Channel 2 & 3: Channels 2 and 3 activated

7 / Channel 1 & 2 & 3: Channels 1, 2 and 3

activated

8 / Channel 4: Channel 4 activated

9 / Channel 1 & 4: Channels 1 and 4 activated

10 / Channel 2 & 4: Channels 2 and 4 activated

11 / Channel 1 & 2 & 4: Channels 1, 2 and 4

activated

12 / Channel 3 & 4: Channels 3 and 4 activated

13 / Channel 1 & 3 & 4: Channels 1, 3 and 4

activated

14 / Channel 2 & 3 & 4: Channels 2, 3 and 4

activated

15 / Channel 1 & 2 & 3 & 4: Channels 1, 2, 3 and

4 activated

Modified settings become active immediately.

Available with firmware version ≥V01.14.

622 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PP_ModeRangeLim Absolute movement beyond movement range. - UINT16 CANopen 3023:7h

0 / NoAbsMoveAllowed: Absolute movement 0 R/W Modbus 8974

beyond movement range is not possible
0 per. Profibus 8974
1 / AbsMoveAllowed: Absolute movement
beyond movement range is possible 1 - CIP 135.1.7

Setting can only be modified if power stage is ModbusTCP 8974

disabled.
EtherCAT 3023:7h
Modified settings become active the next time the
power stage is enabled. PROFINET 8974

Available with firmware version ≥V01.04.

PP_OpmChgType Change to operating mode Profile Position during - UINT16 CANopen 3023:9h
movements.
0 R/W Modbus 8978
0 / WithStandStill: Change with standstill
0 per. Profibus 8978
1 / OnTheFly: Change without standstill
1 - CIP 135.1.9
If Modulo is active, a transition to the operating
mode Profile Position is performed with the setting ModbusTCP 8978
WithStandStill, regardless of the setting of this
parameter. EtherCAT 3023:9h

Setting can only be modified if power stage is PROFINET 8978

disabled.

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.04.

PPoption Options for operating mode Profile Position. - UINT16 CANopen 60F2:0h

Determines the reference position for relative 0 R/W Modbus 6960

positioning:
0 - Profibus 6960
0: Relative with reference to the previous target
position of the profile generator 2 - CIP 127.1.24

1: Not supported ModbusTCP 6960

2: Relative with reference to the actual position of EtherCAT 60F2:0h

the motor
PROFINET 6960
Modified settings become active the next time the
motor moves.
PPp_target Target position for operating mode Profile usr_p INT32 CANopen 607A:0h
Position.
- R/W Modbus 6940
Minimum/maximum values depend on:
- - Profibus 6940
- Scaling factor
- - CIP 127.1.14
- Software limit switches (if they are activated)
ModbusTCP 6940
Modified settings become active immediately.
EtherCAT 607A:0h

PROFINET 6940
PPv_target Target velocity for operating mode Profile Position. usr_v UINT32 CANopen 6081:0h

The target velocity is limited to the setting in 1 R/W Modbus 6942

CTRL_v_max and RAMP_v_max.
60 - Profibus 6942
Modified settings become active the next time the
motor moves. 4294967295 - CIP 127.1.15

ModbusTCP 6942

EtherCAT 6081:0h

PROFINET 6942

0198441113767.13 623
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PTI_pulse_filter Filter time for input signals at the PTI interface. µs UINT16 CANopen 3005:2Fh

A signal at the PTI interface is only evaluated if it 0.00 R/W Modbus 1374
is available for a time that is longer than the set
filter time. 0.25 per. Profibus 1374

For example, if an interference pulse is available 13.00 expert CIP 105.1.47

for a period shorter than the set filter time, the
interference pulse is not evaluated. ModbusTCP 1374

The interval between 2 signals must also be EtherCAT 3005:2Fh

greater than the set filter time.
PROFINET 1374
Available with hardware version ≥RS03.

In increments of 0.01 µs.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

PTI_signal_type Type of reference value signal for PTI interface. - UINT16 CANopen 3005:2h

ConF → i-o- 0 / A/B Signals / A b : Signals ENC_A and ENC_ 0 R/W Modbus 1284
B (quadruple evaluation)
ioPi 0 per. Profibus 1284
1 / P/D Signals / P d : Signals PULSE and DIR
2 - CIP 105.1.2
2 / CW/CCW Signals / c W c c : Signals
clockwise and counterclockwise ModbusTCP 1284

Setting can only be modified if power stage is EtherCAT 3005:2h

disabled.
PROFINET 1284
Modified settings become active the next time the
product is powered on.

PTO_mode Type of usage of PTO interface. - UINT16 CANopen 3005:1Fh

ConF → ACG- 0 / Off / o F F : PTO interface disabled 0 R/W Modbus 1342

PtoM 1 / Esim pAct Enc 1 / P E n 1 : Encoder 0 per. Profibus 1342

simulation based on actual position of encoder 1
6 - CIP 105.1.31
2 / Esim pRef / P r E F : Encoder simulation
based on reference position (_p_ref) ModbusTCP 1342

3 / PTI Signal / P t i : Directly the signal from PTI EtherCAT 3005:1Fh

interface
PROFINET 1342
4 / Esim pAct Enc 2 / P E n 2 : Encoder
simulation based on actual position of encoder 2
(module)

5 / Esim iqRef / i r E F : Encoder simulation

based on reference current

6 / Esim pActRaw Enc2 / E n c 2 : Encoder

simulation based on raw position value of encoder
2 (module)

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

624 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PTtq_reference Reference value source for operating mode Profile - UINT16 CANopen 301B:38h
Torque.
0 R/W Modbus 7024
0 / None: None
1 - Profibus 7024
1 / Parameter 'PTtq_target': Reference value via
parameter PTtq_target 3 - CIP 127.1.56

2 / Analog Input: Reference value via analog ModbusTCP 7024

input
EtherCAT 301B:38h
3 / PTI Interface: Reference value via PTI
interface PROFINET 7024

Modified settings become active immediately.

Available with firmware version ≥V01.10.

PTtq_target Target torque. % INT16 CANopen 6071:0h

100.0 % correspond to the continuous stall torque -3000.0 R/W Modbus 6944
_M_M_0.
0.0 - Profibus 6944
In increments of 0.1 %.
3000.0 - CIP 127.1.16
Modified settings become active immediately.
ModbusTCP 6944

EtherCAT 6071:0h

PROFINET 6944
PVv_reference Reference value source for operating mode Profile - UINT16 CANopen 301B:39h
Velocity.
0 R/W Modbus 7026
0 / None: None
1 - Profibus 7026
1 / Parameter 'PVv_target': Reference value via
parameter PVv_target 2 - CIP 127.1.57

2 / Analog Input: Reference value via analog ModbusTCP 7026

input
EtherCAT 301B:39h
Modified settings become active immediately.
PROFINET 7026
Available with firmware version ≥V01.10.
PVv_target Target velocity. usr_v INT32 CANopen 60FF:0h

The target velocity is limited to the setting in - R/W Modbus 6938

CTRL_v_max and RAMP_v_max.
0 - Profibus 6938
Modified settings become active immediately.
- - CIP 127.1.13

ModbusTCP 6938

EtherCAT 60FF:0h

PROFINET 6938

0198441113767.13 625
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

PWM_fChop PWM frequency of power stage. - UINT16 CANopen 3005:Eh

4 / 4 kHz: 4 kHz 4 R/W Modbus 1308

8 / 8 kHz: 8 kHz - per. Profibus 1308

16 / 16 kHz: 16 kHz 16 expert CIP 105.1.14

Factory setting: ModbusTCP 1308

Peak output current ≤72 Arms: 8 kHz EtherCAT 3005:Eh

Peak output current >72 Arms: 4 kHz PROFINET 1308

Changing this setting is only possible in the case

of devices with a peak output current >72 Arms.

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

RAMP_tq_enable Activation of the motion profile for torque. - UINT16 CANopen 3006:2Ch

0 / Profile Off: Profile off 0 R/W Modbus 1624

1 / Profile On: Profile on 1 per. Profibus 1624

In the operating mode Profile Torque, the motion 1 - CIP 106.1.44

profile for torque can be activated or deactivated.
ModbusTCP 1624
In the other operating modes, the motion profile
for torque is inactive. EtherCAT 3006:2Ch

Setting can only be modified if power stage is PROFINET 1624

disabled.

Modified settings become active immediately.

RAMP_tq_slope Slope setting of the motion profile for torque. %/s UINT32 CANopen 6087:0h

100.00 % of the torque setting correspond to the 0.1 R/W Modbus 1620
continuous stall torque _M_M_0.
10000.0 per. Profibus 1620
Example:
3000000.0 - CIP 106.1.42
A ramp setting of 10000.00 %/s results in a torque
change of 100.0% of _M_M_0 in 0.01s. ModbusTCP 1620

In increments of 0.1 %/s. EtherCAT 6087:0h

Modified settings become active immediately. PROFINET 1620

RAMP_v_acc Acceleration of the motion profile for velocity. usr_a UINT32 CANopen 6083:0h

Writing the value 0 has no effect on the parameter. 1 R/W Modbus 1556

Modified settings become active the next time the 600 per. Profibus 1556
motor moves.
2147483647 - CIP 106.1.10

ModbusTCP 1556

EtherCAT 6083:0h

PROFINET 1556

626 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMP_v_dec Deceleration of the motion profile for velocity. usr_a UINT32 CANopen 6084:0h

The minimum value depends on the operating 1 R/W Modbus 1558

mode:
600 per. Profibus 1558
Operating modes with minimum value 1:
2147483647 - CIP 106.1.11
Electronic Gear (velocity synchronization)
ModbusTCP 1558
Profile Velocity
EtherCAT 6084:0h
Motion Sequence (Move Velocity)
PROFINET 1558
Operating modes with minimum value 120:

Jog

Profile Position

Homing

Motion Sequence (Move Absolute, Move Additive,

Move Relative and Reference Movement)

Writing the value 0 has no effect on the parameter.

Modified settings become active the next time the

motor moves.
RAMP_v_enable Activation of the motion profile for velocity. - UINT16 CANopen 3006:2Bh

0 / Profile Off: Profile off 0 R/W Modbus 1622

1 / Profile On: Profile on 1 per. Profibus 1622

Setting can only be modified if power stage is 1 - CIP 106.1.43

disabled.
ModbusTCP 1622
Modified settings become active immediately.
EtherCAT 3006:2Bh

PROFINET 1622
RAMP_v_jerk Jerk limitation of the motion profile for velocity. ms UINT16 CANopen 3006:Dh

ConF → drC- 0 / Off / o F F : Off 0 R/W Modbus 1562

JEr 1 / 1 / 1 : 1 ms 0 per. Profibus 1562

2 / 2 / 2 : 2 ms 128 - CIP 106.1.13

4 / 4 / 4 : 4 ms ModbusTCP 1562

8 / 8 / 8 : 8 ms EtherCAT 3006:Dh

16 / 16 / 1 6 : 16 ms PROFINET 1562

32 / 32 / 3 2 : 32 ms

64 / 64 / 6 4 : 64 ms

128 / 128 / 1 2 8 : 128 ms

Adjustments can only be made if the operating

mode is inactive (x_end=1).

Modified settings become active the next time the

motor moves.

0198441113767.13 627
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RAMP_v_max Maximum velocity of the motion profile for velocity. usr_v UINT32 CANopen 607F:0h

ConF → ACG- If a greater reference velocity is set in one of these 1 R/W Modbus 1554
operating modes, it is automatically limited to
nrMP RAMP_v_max. 13200 per. Profibus 1554

This way, commissioning at limited velocity is 2147483647 - CIP 106.1.9

easier to perform.
ModbusTCP 1554
Setting can only be modified if power stage is
disabled. EtherCAT 607F:0h

Modified settings become active the next time the PROFINET 1554
motor moves.
RAMP_v_sym Acceleration and deceleration of the motion profile - UINT16 CANopen 3006:1h
for velocity.
- R/W Modbus 1538
The values are internally multiplied by 10
(example: 1 = 10 RPM/s). - - Profibus 1538

Write access changes the values of RAMP_v_acc - - CIP 106.1.1

and RAMP_v_dec. The limit values are verified on
the basis of the values indicated for these ModbusTCP 1538
parameters.
EtherCAT 3006:1h
Read access returns the greater value from
RAMP_v_acc/RAMP_v_dec. PROFINET 1538

If the value cannot be represented as a 16 bit

value, the value is set to 65535 (maximum
UINT16 value)

Modified settings become active the next time the

motor moves.
RAMPaccdec Acceleration and deceleration for the Drive Profile - UINT32 CANopen 3006:2h
Lexium.
- R/W Modbus 1540
High word: Acceleration
- - Profibus 1540
Low word: Deceleration
- - CIP 106.1.2
The values are internally multiplied by 10
(example: 1 = 10 RPM/s). ModbusTCP 1540

Write access changes the values of RAMP_v_acc EtherCAT 3006:2h

and RAMP_v_dec. The limit values are verified on
the basis of the values indicated for these PROFINET 1540
parameters.

If the value cannot be represented as a 16 bit

value, the value is set to 65535 (maximum
UINT16 value).

Modified settings become active the next time the

motor moves.
RAMPquickstop Deceleration ramp for Quick Stop. usr_a UINT32 CANopen 3006:12h

Deceleration ramp for a software stop or an error 1 R/W Modbus 1572

with error class 1 or 2.
6000 per. Profibus 1572
Modified settings become active the next time the
motor moves. 2147483647 - CIP 106.1.18

ModbusTCP 1572

EtherCAT 3006:12h

PROFINET 1572

628 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RESext_P Nominal power of external braking resistor. W UINT16 CANopen 3005:12h

ConF → ACG- The maximum value depends on the power stage. 1 R/W Modbus 1316

Pobr Setting can only be modified if power stage is 10 per. Profibus 1316
disabled.
- - CIP 105.1.18
Modified settings become active the next time the
power stage is enabled. ModbusTCP 1316

EtherCAT 3005:12h

PROFINET 1316
RESext_R Resistance value of external braking resistor. Ω UINT16 CANopen 3005:13h

ConF → ACG- The minimum value depends on the power stage. - R/W Modbus 1318

rbr In increments of 0.01 Ω. 100.00 per. Profibus 1318

Setting can only be modified if power stage is 327.67 - CIP 105.1.19

disabled.
ModbusTCP 1318
Modified settings become active the next time the
power stage is enabled. EtherCAT 3005:13h

PROFINET 1318
RESext_ton Maximum permissible switch-on time of external ms UINT16 CANopen 3005:11h
braking resistor.
ConF → ACG- 1 R/W Modbus 1314
Setting can only be modified if power stage is
tbr disabled. 1 per. Profibus 1314

Modified settings become active the next time the 30000 - CIP 105.1.17
power stage is enabled.
ModbusTCP 1314

EtherCAT 3005:11h

PROFINET 1314
RESint_ext Selection of type of braking resistor. - UINT16 CANopen 3005:9h

ConF → ACG- 0 / Internal Braking Resistor / i n t : Internal 0 R/W Modbus 1298

braking resistor
Eibr 0 per. Profibus 1298
1 / External Braking Resistor / E h t : External
braking resistor 2 - CIP 105.1.9

2 / Reserved / r S V d : Reserved ModbusTCP 1298

Setting can only be modified if power stage is EtherCAT 3005:9h

disabled.
PROFINET 1298
Modified settings become active the next time the
power stage is enabled.

ResolENC2 Raw resolution of encoder 2. EncInc UINT32 CANopen 3050:Fh

Digital encoders: 1 R/W Modbus 20510

Number of encoder increments per encoder 10000 per. Profibus 20510

revolution.
2147483647 - CIP 180.1.15
Analog encoders:
ModbusTCP 20510
Number of analog periods per encoder revolution.
EtherCAT 3050:Fh
Setting can only be modified if power stage is
disabled. PROFINET 20510

Modified settings become active the next time the

power stage is enabled.

Available with firmware version ≥V01.26.

0198441113767.13 629
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ResolENC2Denom Resolution of encoder 2, denominator. revolution INT32 CANopen 3050:5h

See numerator (ResolEnc2Num) for a description. 1 R/W Modbus 20490

Setting can only be modified if power stage is 1 per. Profibus 20490

disabled.
16383 - CIP 180.1.5
Modified settings become active the next time the
power stage is enabled. ModbusTCP 20490

EtherCAT 3050:5h

PROFINET 20490
ResolENC2Num Resolution of encoder 2, numerator. EncInc INT32 CANopen 3050:6h

Digital encoders: 1 R/W Modbus 20492

Specification of the encoder increments the 10000 per. Profibus 20492

external encoder returns for one or several
revolutions of the motor shaft. 2147483647 - CIP 180.1.6

The value is indicated with a numerator and a ModbusTCP 20492

denominator so that it is possible, for example, to
take into account the gear ratio of a mechanical EtherCAT 3050:6h
gearing.
PROFINET 20492
The value must not be set to 0.

The resolution factor is not applied until this

numerator value is specified.

Example: One motor revolution causes 1/3

encoder revolution at an encoder resolution of
16384 EncInc/revolution.

ResolENC2Num = 16384 EncInc

ResolENC2Denom = 3 revolutions

Analog encoders:

Num/Denom must be set equivalent to the number

of analog periods per 1 motor revolution.

Example: One motor revolution causes 1/3

encoder revolution at an encoder resolution of 16
analog periods per revolution.

ResolENC2Num = 16 periods

ResolENC2Denom = 3 revolutions

Setting can only be modified if power stage is

disabled.

Modified settings become active the next time the

power stage is enabled.

ResWriComNotOpEn Response to write command (operating state is - UINT16 CANopen 3006:49h

not Operation Enabled).
0 R/W Modbus 1682
0 / Emergency Message: An Emergency
message is sent 0 per. Profibus 1682

1 / Error class 0: An error with error class 0 is 1 - CIP 106.1.73

sent
ModbusTCP 1682
This parameter specifies the response of the drive
to a write command that cannot be executed EtherCAT 3006:49h
because the operating state is not Operation
Enabled. PROFINET 1682

Modified settings become active immediately.

Available with firmware version ≥V01.26.

630 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

RMAC_Activate Activation of relative movement after capture. - UINT16 CANopen 3023:Ch

0 / Off: Off 0 R/W Modbus 8984

1 / On: On 0 - Profibus 8984

Modified settings become active immediately. 1 - CIP 135.1.12

Available with firmware version ≥V01.10. ModbusTCP 8984

EtherCAT 3023:Ch

PROFINET 8984
RMAC_Edge Edge of capture signal for relative movement after - UINT16 CANopen 3023:10h
capture.
0 R/W Modbus 8992
0 / Falling edge: Falling edge
0 per. Profibus 8992
1 / Rising edge: Rising edge
1 - CIP 135.1.16
Available with firmware version ≥V01.10.
ModbusTCP 8992

EtherCAT 3023:10h

PROFINET 8992
RMAC_Position Target position of relative movement after capture. usr_p INT32 CANopen 3023:Dh

Minimum/maximum values depend on: - R/W Modbus 8986

- Scaling factor 0 per. Profibus 8986

Modified settings become active the next time the - - CIP 135.1.13
motor moves.
ModbusTCP 8986
Available with firmware version ≥V01.10.
EtherCAT 3023:Dh

PROFINET 8986
RMAC_Response Response if target position is overtraveled. - UINT16 CANopen 3023:Fh

0 / Error Class 1: Error class 1 0 R/W Modbus 8990

1 / No Movement To Target Position: No 0 per. Profibus 8990

movement to target position
2 - CIP 135.1.15
2 / Movement To Target Position: Movement to
target position ModbusTCP 8990

Modified settings become active immediately. EtherCAT 3023:Fh

Available with firmware version ≥V01.10. PROFINET 8990

RMAC_Velocity Velocity of relative movement after capture. usr_v UINT32 CANopen 3023:Eh

Value 0: Use actual motor velocity 0 R/W Modbus 8988

Value >0: Value is the target velocity 0 per. Profibus 8988

The adjustable value is internally limited to the 2147483647 - CIP 135.1.14

setting in RAMP_v_max.
ModbusTCP 8988
Modified settings become active the next time the
motor moves. EtherCAT 3023:Eh

Available with firmware version ≥V01.10. PROFINET 8988

0198441113767.13 631
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ScalePOSdenom Position scaling: Denominator. usr_p INT32 CANopen 3006:7h

Refer to numerator (ScalePOSnum) for a 1 R/W Modbus 1550

description.
16384 per. Profibus 1550
A new scaling is activated when the numerator
value is supplied. 2147483647 - CIP 106.1.7

Setting can only be modified if power stage is ModbusTCP 1550

disabled.
EtherCAT 3006:7h

PROFINET 1550
ScalePOSnum Position scaling: Numerator. revolution INT32 CANopen 3006:8h

Specification of the scaling factor: 1 R/W Modbus 1552

Motor revolutions 1 per. Profibus 1552

--------------- 2147483647 - CIP 106.1.8

User-defined units [usr_p] ModbusTCP 1552

A new scaling is activated when the numerator EtherCAT 3006:8h

value is supplied.
PROFINET 1552
Setting can only be modified if power stage is
disabled.

Modified settings become active immediately.

ScaleRAMPdenom Ramp scaling: Denominator. usr_a INT32 CANopen 3006:30h

See numerator (ScaleRAMPnum) for a 1 R/W Modbus 1632

description.
1 per. Profibus 1632
A new scaling is activated when the numerator
value is supplied. 2147483647 - CIP 106.1.48

Setting can only be modified if power stage is ModbusTCP 1632

disabled.
EtherCAT 3006:30h

PROFINET 1632
ScaleRAMPnum Ramp scaling: Numerator. RPM/s INT32 CANopen 3006:31h

Setting can only be modified if power stage is 1 R/W Modbus 1634

disabled.
1 per. Profibus 1634
Modified settings become active immediately.
2147483647 - CIP 106.1.49

ModbusTCP 1634

EtherCAT 3006:31h

PROFINET 1634
ScaleVELdenom Velocity scaling: Denominator. usr_v INT32 CANopen 3006:21h

See numerator (ScaleVELnum) for a description. 1 R/W Modbus 1602

A new scaling is activated when the numerator 1 per. Profibus 1602

value is supplied.
2147483647 - CIP 106.1.33
Setting can only be modified if power stage is
disabled. ModbusTCP 1602

EtherCAT 3006:21h

PROFINET 1602

632 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

ScaleVELnum Velocity scaling: Numerator. RPM INT32 CANopen 3006:22h

Specification of the scaling factor: 1 R/W Modbus 1604

Speed of rotation of motor [RPM] 1 per. Profibus 1604

--------------- 2147483647 - CIP 106.1.34

User-defined units [usr_v] ModbusTCP 1604

A new scaling is activated when the numerator EtherCAT 3006:22h

value is supplied.
PROFINET 1604
Setting can only be modified if power stage is
disabled.

Modified settings become active immediately.

ShiftEncWorkRang Shifting of the encoder working range. - UINT16 CANopen 3005:21h

0 / Off: Shifting off 0 R/W Modbus 1346

1 / On: Shifting on 0 per. Profibus 1346

After activating the shifting function, the position 1 - CIP 105.1.33

range of a multiturn encoder is shifted by one half
of the range. ModbusTCP 1346

Example for the position range of a multiturn EtherCAT 3005:21h

encoder with 4096 revolutions:
PROFINET 1346
Value 0: Position values are between 0 … 4096
revolutions.

Value 1: Position values are between -2048 …

2048 revolutions.

Modified settings become active the next time the

product is powered on.

SimAbsolutePos Simulation of absolute position at power cycling. - UINT16 CANopen 3005:23h

ConF → ACG- 0 / Simulation Off / o F F : Do not use the last 0 R/W Modbus 1350
mechanical position after power cycling
qAbS 0 per. Profibus 1350
1 / Simulation On / o n : Use last mechanical
position after power cycling 1 - CIP 105.1.35

This parameter specifies the way position values ModbusTCP 1350

are handled over a power cycle and allows for the
simulation of an absolute position encoder using EtherCAT 3005:23h
singleturn encoders.
PROFINET 1350
If this function is activated, the drive saves the
pertinent position data prior to a power removal so
that the drive can restore the mechanical position
the next time it is powered on.

In the case of singleturn encoders, the position

can be restored if the motor shaft has not been
moved by more than 0.25 revolutions while the
drive was powered off.

In the case of multiturn encoders, the permissible

shaft movement while the drive is off can be much
greater, depending on the type of multiturn
encoder.

For this function to work, the drive may only be

powered off while the motor is at a standstill and
the motor shaft must not be moved outside of the
permissible range (for example, use a holding
brake).

Modified settings become active immediately.

Available with firmware version ≥V01.01.

0198441113767.13 633
Servo Drive Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

SyncMechStart Activation of synchronization mechanism. - UINT16 CANopen 3022:5h

Value 0: Deactivate synchronization mechanism 0 R/W Modbus 8714

Value 1: Activate synchronization mechanism 0 - Profibus 8714

(CANmotion).
2 - CIP 134.1.5
Value 2: Activate synchronization mechanism,
standard CANopen mechanism. ModbusTCP 8714

The cycle time of the synchronization signal is EtherCAT 3022:5h

derived from the parameters intTimPerVal and
intTimInd. PROFINET 8714

Modified settings become active immediately.

SyncMechStatus Status of synchronization mechanism. - UINT16 CANopen 3022:6h

Status of synchronization mechanism: - R/- Modbus 8716

Value 1: Synchronization mechanism of drive is - - Profibus 8716

inactive.
- - CIP 134.1.6
Value 32: Drive is synchronizing with external
sync signal. ModbusTCP 8716

Value 64: Drive is synchronized with external sync EtherCAT 3022:6h

signal.
PROFINET 8716
Available with firmware version ≥V01.08.
SyncMechTol Synchronization tolerance. - UINT16 CANopen 3022:4h

The value is applied when the synchronization 1 R/W Modbus 8712

mechanism is activated via the parameter
SyncMechStart. 1 - Profibus 8712

Modified settings become active immediately. 20 - CIP 134.1.4

Available with firmware version ≥V01.08. ModbusTCP 8712

EtherCAT 3022:4h

PROFINET 8712
TouchProbeFct Touch Probe function (DS402). - UINT16 CANopen 60B8:0h

Modified settings become active immediately. - R/W Modbus 7028

Available with firmware version ≥V01.16. - - Profibus 7028

- - CIP 127.1.58

ModbusTCP 7028

EtherCAT 60B8:0h

PROFINET 7028
UsrAppDataMem1 User-specific data 1. - UINT32 CANopen 3001:43h

This parameter can be used to store user-specific - R/W Modbus 390

data.
- per. Profibus 390
Modified settings become active immediately.
- - CIP 101.1.67
Available with firmware version ≥V01.20.
ModbusTCP 390

EtherCAT 3001:43h

PROFINET 390

634 0198441113767.13
Parameters Servo Drive

Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W

HMI name Factory setting Persistent

Maximum value Expert

UsrAppDataMem2 User-specific data 2. - UINT32 CANopen 3001:44h

This parameter can be used to store user-specific - R/W Modbus 392

data.
0 per. Profibus 392
Modified settings become active immediately.
- - CIP 101.1.68
Available with firmware version ≥V01.20.
ModbusTCP 392

EtherCAT 3001:44h

PROFINET 392
WakesAndShake- Gain for wake and shake. % UINT16 CANopen 3050:Eh
Gain
If wake and shake does not work properly, this 1.0 R/W Modbus 20508
parameter can be used to adapt the dynamics of
the wake and shake procedure. 100.0 per. Profibus 20508

Value >100 %: Increases dynamics which leads to 400.0 - CIP 180.1.14

less motor movement.
ModbusTCP 20508
Value <100 %: Reduces dynamics which leads to
more motor movement. EtherCAT 3050:Eh

In increments of 0.1 %. PROFINET 20508

Setting can only be modified if power stage is

disabled.

Modified settings become active immediately.

Available with firmware version ≥V01.10.

0198441113767.13 635
Servo Drive Accessories and Spare Parts

Accessories and Spare Parts

Commissioning Tools
Description Reference

PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P

Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121

Modbus cable, 1 m (3.28 ft), 2 x RJ45 VW3A8306R10

External graphic display terminal VW3A1101

Memory Cards
Description Reference

Memory card for copying parameter settings VW3M8705

25 memory cards for copying parameter settings VW3M8704

Additional Modules
Description Reference

I/O module (module identification IOM1), additional analog and digital inputs and outputs with spring terminals VW3M3302

Fieldbus module CANopen (module identification CAN) with 2 x RJ45 connection VW3A3608

Fieldbus module CANopen (module identification CAN) with DE9 D-SUB connection (male) VW3A3618

Fieldbus module CANopen (module identification CAN) with Open Style Connection (female) VW3A3628

Fieldbus module Profibus DP (module identification PDP) with DE9 D-SUB connection (female) VW3A3607

Fieldbus module PROFINET (module identification PNT) with 2 x RJ45 connection VW3M3308

Fieldbus module DeviceNet (module identification DNT) with Open Style Connection (female) VW3M3301

Fieldbus module EtherNet/IP (module identification ETH) with 2 x RJ45 connection. For EtherNet/IP and VW3A3616
Modbus-TCP
Fieldbus module EtherCAT (module identification ECT) with 2 x RJ45 connection VW3A3601

Encoder module RSR (resolver interface) with DE9 D-SUB connection (female) VW3M3401

Encoder module DIG (digital interface) with HD15 D-SUB connection (female) VW3M3402

Encoder module ANA (analog interface) with HD15 D-SUB connection (female) VW3M3403

Safety Module eSM

Description Reference

Safety module eSM with safety functions SOS, SLS, SS1, SS2 as per IEC/EN 61800-5-2 VW3M3501

Cable for safety module eSM, 3 m (9.84 ft); 24-pin connector, other cable end open VW3M8801R30

Cable for safety module eSM, 1.5 m (4.92 ft); 2 x 24-pin connector VW3M8802R15

Cable for safety module eSM, 3 m (9.84 ft); 2 x 24-pin connector VW3M8802R30

Connection terminal adapter for eSM safety module, for wiring of several safety modules in the control cabinet VW3M8810

Connector with wire jumper (for INTERLOCK signal) for eSM terminal adapter; 4 pieces VW3M8820

636 0198441113767.13
Accessories and Spare Parts Servo Drive

Mounting Accessories
Description Reference

EMC plate for LXM32MD85/C10 VW3M2106

Metal kit for flush mounting for LXM32MD85/C10 VW3M2606

CANopen Cable With Connectors

Description Reference

CANopen cable, 0.3 m (0.98 ft), 2 x RJ45 VW3CANCARR03

CANopen cable, 1 m (3.28 ft), 2 x RJ45 VW3CANCARR1

CANopen cable, 2 m (6.56 ft), 2 x RJ45, shielded twisted pair cable 490NTW00002

CANopen cable, 5 m (16.4 ft), 2 x RJ45, shielded twisted pair cable 490NTW00005

CANopen cable, 12 m (39.4 ft), 2 x RJ45, shielded twisted pair cable 490NTW00012

CANopen cable, 2 m (6.56 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00002U

CANopen cable, 5 m (16.4 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00005U

CANopen cable, 12 m (39.4 ft), 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00012U

CANopen cable, 1 m (3.28 ft), D9-SUB (female) to RJ45 TCSCCN4F3M1T

CANopen cable, 1 m (3.28 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R010

CANopen cable, 3 m (9.84 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R030

CANopen cable, 0.3 m (0.98 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen, flame- TSXCANCADD03
retardant, tested as per IEC 60332-1)

CANopen cable, 1 m (3.28 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen, flame- TSXCANCADD1
retardant, tested as per IEC 60332-1)

CANopen cable, 3 m (9.84 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen, flame- TSXCANCADD3
retardant, tested as per IEC 60332-1)

CANopen cable, 5 m (16.4 ft), 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen, flame- TSXCANCADD5
retardant, tested as per IEC 60332-1)

CANopen cable, 0.3 m (0.98 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, UL TSXCANCBDD03
certification
CANopen cable, 1 m (3.28 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, UL TSXCANCBDD1
certification
CANopen cable, 3 m (9.84 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, UL TSXCANCBDD3
certification
CANopen cable, 5 m (16.4 ft), 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, UL TSXCANCBDD5
certification

CANopen Connectors, Distributors, Terminating Resistors

Description Reference

CANopen terminating resistor, 120 Ohm, integrated in RJ45 connector TCSCAR013M120

CANopen connector with PC interface, D9-SUB (female), with switchable terminating resistor and additional TSXCANKCDF90TP
D9-SUB (male) to connect a PC to the bus, PC interface straight, bus cable angled 90°

CANopen connector, D9-SUB (female), with switchable terminating resistor, angled 90° TSXCANKCDF90T

CANopen connector, D9-SUB (female), with switchable terminating resistor, straight TSXCANKCDF180T

Four-port tap, for connection of 4 drop lines to trunk line, 4 x D9-SUB (male) with switchable terminating TSXCANTDM4
resistor

0198441113767.13 637
Servo Drive Accessories and Spare Parts

Description Reference

Two-port tap for connection of 2 drop lines to trunk line, with additional commissioning interface, 3 x RJ45 VW3CANTAP2
(female), with switchable terminating resistor

CANopen adapter cable D9-SUB to RJ45, 3 m (9.84 ft) TCSCCN4F3M3T

CANopen Cables With Open Cable Ends

Cables with open cable ends are suitable for connection of D-SUB connectors.
Observe the cable cross section and the connection cross section of the required
connector.

Description Reference

CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke, zero TSXCANCA50
halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open

CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke, zero TSXCANCA100
halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open

CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke, zero TSXCANCA300
halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open

CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as per IEC 60332-2, TSXCANCB50
UL certification, both cable ends open

CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as per IEC 60332-2, TSXCANCB100
UL certification, both cable ends open

CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as per IEC 60332-2, TSXCANCB300
UL certification, both cable ends open

CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable (low-smoke, TSXCANCD50
zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexible installation, oil-resistant,
both cable ends open

CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable (low- TSXCANCD100
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexible installation, oil-
resistant, both cable ends open

CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable (low- TSXCANCD300
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexible installation, oil-
resistant, both cable ends open

Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32

Description Reference

Encoder adapter cable Molex 12-pin (LXM05) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8111R10

Encoder adapter cable D15-SUB (LXM15) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8112R10

Cables for PTO and PTI

Description Reference

Signal cable 2 x RJ45, PTO to PTI, 0.3 m (0.98 ft) VW3M8502R03

Signal cable 2 x RJ45, PTO to PTI, 1.5 m (4.92 ft) VW3M8502R15

Signal cable 1 x RJ45, other cable end open, for connecting PTI in the control cabinet, 3 m (9.84 ft) VW3M8223R30

638 0198441113767.13
Accessories and Spare Parts Servo Drive

Motor Cables
Motor cables 1.0 mm2
Description Reference

Motor cable 3 m (9.84 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular connector Y- VW3M5100R30
TEC, other cable end open

Motor cable 5 m (16.4 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular connector Y- VW3M5100R50
TEC, other cable end open

Motor cable 10 m (32.8 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular connector Y- VW3M5100R100
TEC, other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular connector Y- VW3M5100R150
TEC, other cable end open

Motor cable 25 m (82 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular connector Y- VW3M5100R250
TEC, other cable end open

Motor cable 100 m (328 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; both cable ends open VW3M5300R1000

Motor cables 1.5 mm2

Description Reference

Motor cable 1.5 m (4.92 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R15
other cable end open

Motor cable 3 m (9.84 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5101R30
cable end open

Motor cable 5 m (16.4 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5101R50
cable end open

Motor cable 10 m (32.8 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R100
other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R150
other cable end open

Motor cable 20 m (65.6 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R200
other cable end open

Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5101R250
cable end open

Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R500
other cable end open

Motor cable 75 m (246 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5101R750
other cable end open

Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R250

Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R500

Motor cable 100 m (328 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R1000

Motor cables 2.5 mm2

Description Reference

Motor cable 3 m (9.84 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5102R30
cable end open

Motor cable 5 m (16.4 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5102R50
cable end open

Motor cable 10 m (32.8 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5102R100
other cable end open

Motor cable 15 m (49.2 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5102R150
other cable end open

0198441113767.13 639
Servo Drive Accessories and Spare Parts

Description Reference

Motor cable 20 m (65.6 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5102R200
other cable end open

Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, other VW3M5102R250
cable end open

Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5102R500
other cable end open

Motor cable 75 m (246 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M23, VW3M5102R750
other cable end open

Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R250

Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R500

Motor cable 100 m (328 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R1000

Motor cables 4 mm2

Description Reference

Motor cable 3 m (9.84 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R30
cable end open

Motor cable 5 m (16.4 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R50
cable end open

Motor cable 10 m (32.8 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R100
cable end open

Motor cable 15 m (49.2 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R150
cable end open

Motor cable 20 m (65.6 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R200
cable end open

Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R250
cable end open

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R500
cable end open

Motor cable 75 m (246 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5103R750
cable end open

Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R250

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R500

Motor cable 100 m (328 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R1000

Motor cables 6 mm2

Description Reference

Motor cable 3 m (9.84 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R30
cable end open

Motor cable 5 m (16.4 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R50
cable end open

Motor cable 10 m (32.8 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R100
cable end open

Motor cable 15 m (49.2 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R150
cable end open

Motor cable 20 m (65.6 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R200
cable end open

Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R250
cable end open

Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R500
cable end open

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Accessories and Spare Parts Servo Drive

Description Reference

Motor cable 75 m (246 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5105R750
cable end open

Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R250

Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R500

Motor cable 100 m (328 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R1000

Motor cables 10 mm2

Description Reference

Motor cable 3 m (9.84 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5104R30
cable end open

Motor cable 5 m (16.4 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5104R50
cable end open

Motor cable 10 m (32.8 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, VW3M5104R100
other cable end open

Motor cable 15 m (49.2 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, VW3M5104R150
other cable end open

Motor cable 20 m (65.6 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, VW3M5104R200
other cable end open

Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5104R250
cable end open

Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5104R500
cable end open

Motor cable 75 m (246 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular connector M40, other VW3M5104R750
cable end open

Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R250

Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R500

Motor cable 100 m (328 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R1000

Encoder Cables
Description Reference

Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8100R30
Y-TEC, device end 10-pin connector RJ45

Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8100R50
Y-TEC, device end 10-pin connector RJ45

Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8100R100
Y-TEC, device end 10-pin connector RJ45

Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8100R150
Y-TEC, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8100R250
Y-TEC, device end 10-pin connector RJ45

Encoder cable 1.5 m (4.92 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular VW3M8102R15
connector M23, device end 10-pin connector RJ45

Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R30
M23, device end 10-pin connector RJ45

Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R50
M23, device end 10-pin connector RJ45

Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R100
M23, device end 10-pin connector RJ45

Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R150
M23, device end 10-pin connector RJ45

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Servo Drive Accessories and Spare Parts

Description Reference

Encoder cable 20 m (65.6 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R200
M23, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R250
M23, device end 10-pin connector RJ45

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R500
M23, device end 10-pin connector RJ45

Encoder cable 75 m (246 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin circular connector VW3M8102R750
M23, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends open VW3M8222R250

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends open VW3M8222R500

Encoder cable 100 m (328 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends open VW3M8222R1000

Encoder cable 100 m (328 ft), (5 x 2 x 0.25 mm2 + 2 x 0.5 mm2) shielded; both cable ends open VW3M8221R1000

Encoder cable 1 m (3.28 ft), shielded; HD15 D-SUB (male); other cable end open VW3M4701

Connectors
Description Reference

Connector for motor cable, motor end Y-TEC, 1 mm2, 5 pieces VW3M8219

Connector for motor cable, motor end M23, 1.5 ... 2.5 mm2, 5 pieces VW3M8215

Connector for motor cable, motor end M40, 4 mm2, 5 pieces VW3M8217

Connector for motor cable, motor end M40, 6...10 mm2, 5 pieces VW3M8218

Connector for encoder cable, motor end Y-TEC, 5 pieces VW3M8220

Connector for encoder cable, motor end M23, 5 pieces VW3M8214

Connector for encoder cable, drive end RJ45 (10 pins), 5 pieces VW3M2208

The tools required for cable assembly can be ordered directly from the
manufacturer.
• Crimping tool for power connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
• Crimping tool for power connector M23/M40:
Coninvers SF-Z0025, SF-Z0026
www.coninvers.com
• Crimping tool for encoder connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
• Crimping tool for encoder connector M23:
Coninvers RC-Z2514
www.coninvers.com
• Crimping tools for encoder connector RJ45 10 pins:
Yamaichi Y-ConTool-11, Y-ConTool-20, Y-ConTool-30
www.yamaichi.com

642 0198441113767.13
Accessories and Spare Parts Servo Drive

External Braking Resistors

Description Reference

Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7601R07
(AWG 14)

Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7601R20
(AWG 14)

Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7601R30
(AWG 14)

Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7602R07
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7602R20
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7602R30
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7603R07
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7603R20
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7603R30
(AWG 14), UL

Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7604R07
(AWG 14)

Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7604R20
(AWG 14)

Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7604R30
(AWG 14)

Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7605R07
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7605R20
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7605R30
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7606R07
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7606R20
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7606R30
(AWG 14), UL

Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7607R07
(AWG 14)

Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7607R20
(AWG 14)

Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7607R30
(AWG 14)

Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection cable, 2.1 mm2 VW3A7608R07
(AWG 14), UL

Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection cable, 2.1 mm2 VW3A7608R20
(AWG 14), UL

Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection cable, 2.1 mm2 VW3A7608R30
(AWG 14), UL

Braking resistor IP20; 16 Ω; maximum continuous power 960 W; M6 terminals, UL VW3A7733

Braking resistor IP20; 10 Ω; maximum continuous power 960 W; M6 terminals, UL VW3A7734

0198441113767.13 643
Servo Drive Accessories and Spare Parts

DC Bus Accessories
Description Reference

DC bus connection cable, 0.1 m (0.33 ft), 2 * 6 mm2 (2 * AWG 10), pre-assembled, 5 pieces VW3M7101R01

DC bus connection cable, 15 m (49.2 ft), 2 * 6 mm2 (2 * AWG 10), Twisted Pair, shielded VW3M7102R150

DC bus connector kit, connector housing and crimp contacts for 3 ... 6 mm2 (AWG 12 ... 10), 10 pieces VW3M2207

A crimping tool is required for the crimp contacts of the connector kit.
Manufacturer:
Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250

Mains Reactors
Description Reference

Mains reactor single-phase; 50-60 Hz; 7 A; 5 mH; IP00 VZ1L007UM50

Mains reactor single-phase; 50-60 Hz; 18 A; 2 mH; IP00 VZ1L018UM20

Mains reactor three-phase; 50-60 Hz; 16 A; 2 mH; IP00 VW3A4553

Mains reactor three-phase; 50-60 Hz; 30 A; 1 mH; IP00 VW3A4554

Mains reactor three-phase; 50-60 Hz; 60 A; 0.5 mH; IP00 VW3A4555

External Mains Filters

Description Reference

Mains filter single-phase; 9 A; 115/230 Vac VW3A4420

Mains filter single-phase; 16 A; 115/230 Vac VW3A4421

Mains filter three-phase; 15 A; 208/400/480 Vac VW3A4422

Mains filter three-phase; 25 A; 208/400/480 Vac VW3A4423

Mains filter three-phase; 47 A; 208/400/480 Vac VW3A4424

Spare Parts Connectors, Fans, Cover Plates

Description Reference

Connector kit LXM32M: 3 x AC power stage supply (230/400 Vac), 1 x control supply, 2 x digital inputs/outputs VW3M2203
(6-pin), 2 x motor (10 A / 24 A), 1 x holding brake

Cover plate for module slot, spare part to replace damaged/lost cover plates, 10 pieces VW3M2405

Cooling fan kit 40 x 40 mm (1.57 x 1.57 in), plastic housing, with connection cable VW3M2401

Cooling fan kit 60 x 60 mm (2.36 x 2.36 in), plastic housing, with connection cable VW3M2402

Cooling fan kit 80 x 80 mm (3.15 x 3.15 in), plastic housing, with connection cable VW3M2403

644 0198441113767.13
Service, Maintenance, and Disposal Servo Drive

Service, Maintenance, and Disposal

Maintenance
Maintenance Plan
Inspect the product for pollution or damage at regular intervals.
Repairs may only be made by the manufacturer.
Prior to any type of work on the drive system, consult the sections on Installation
and Commissioning for information on the precautions and processes to be
observed.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

• Inspect all connection cables and connectors regularly for damage. Replace
damaged cables immediately.
• Verify that all output elements are firmly seated.
• Tighten all mechanical and electrical threaded connections to the specified
torque.

Lifetime Safety Function STO

The STO safety function is designed for a lifetime of 20 years. After this period,
the data of the safety function are no longer valid. The expiry date is determined
by adding 20 years to the DOM shown on the nameplate of the product.
This date must be included in the maintenance plan of the system.
Do not use the safety function after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for
example 31.12.20. (31 December 2020). This means: Do not use the safety
function after December 31, 2040.

0198441113767.13 645
Servo Drive Service, Maintenance, and Disposal

Replacing the Product

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

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

Follow the procedure below for replacing devices.

• Save all parameter settings. To do so, use a memory card or save the data to
a PC using the commissioning software, see Parameter Management, page
171.
• Power off all supply voltages. Verify that no voltages are present (safety
instructions), see Product Related Information, page 14.
• Label all connections and remove all connection cables (unlock connector
locks).
• Uninstall the product.
• Note the identification number and the serial number shown on the product
nameplate for later identification.
• Install the new product as per section Installation, page 85.
• If the product to be installed has previously been used in a different system or
application, you must restore the factory settings before commissioning the
product.
• Commission the product as per section Commissioning, page 120.

646 0198441113767.13
Service, Maintenance, and Disposal Servo Drive

Replacement of the Motor

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

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

• Power off all supply voltages. Verify that no voltages are present (safety
instructions), see Product Related Information, page 14.
• Label all connections and uninstall the product.
• Note the identification number and the serial number shown on the product
nameplate for later identification.
• Install the new product as per section Installation, page 85.
If the connected motor is replaced by another motor, the motor data set is read
again. If the device detects a different motor type, the control loop parameters are
recalculated and the HMI displays M O T . See section Acknowledging a Motor
Change, page 387 for additional information.
If the motor is replaced, the encoder parameters must also be re-adjusted, see
Setting Parameters for Encoder, page 150.
If a motor encoder is connected via encoder 2 (module), a motor replacement is
not detected. Observe the information provided in the encoder manual.

Changing the Motor Type Temporarily

If you want to operate the new motor type only temporarily via the device, press
ESC at the HMI.
The newly calculated control loop parameters are not saved to the nonvolatile
memory. This way, you can resume operation with the original motor using the
saved control loop parameters.

Changing the Motor Type Permanently

If you want to operate the new motor type permanently via this device, press the
navigation button at the HMI.
The newly calculated control loop parameters are saved to the nonvolatile
memory.
See also Acknowledging a Motor Change, page 387.

Shipping, Storage, Disposal

Shipping
The product must be protected against shocks during transportation. If possible,
use the original packaging for shipping.

0198441113767.13 647
Servo Drive Service, Maintenance, and Disposal

Storage
The product may only be stored in spaces where the specified permissible
ambient conditions are met.
Protect the product from dust and dirt.

Disposal
The product consists of various materials that can be recycled. Dispose of the
product in accordance with local regulations.
Visit https://www.se.com/green-premium for information and documents on
environmental protection as per ISO 14025 such as:
• EoLi (Product End-of-Life Instructions)
• PEP (Product Environmental Profile)

648 0198441113767.13
 Servo Drive

Glossary
A
Actual value:
In control engineering, the actual value is the value of the controlled variable at a
given instant (for example, actual velocity, actual torque, actual position, actual
current, and so on). An actual value can be a measured value (for example, the
actual position can be a value measured by an encoder) or a derived value (for
example, the actual torque can be a value derived from the actual current). The
actual value is an input value used by the control loops of the drive to reach the
reference value. Definition as per IEC 61800-7 series and IEC 60050.

C
CCW:
Counter Clockwise.

CW:
Clockwise.

D
DC bus:
Circuit that supplies the power stage with energy (direct voltage).

Degree of protection:
The degree of protection is a standardized specification for electrical equipment
that describes the protection against the ingress of foreign objects and water (for
example: IP 20).

Direction of movement :
In the case of a rotary motors, direction of movement is defined in accordance
with IEC 61800-7-204: Positive direction is when the motor shaft rotates
clockwise as you look at the end of the protruding motor shaft.

DOM:
Date of manufacturing: The nameplate of the product shows the date of
manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. For
example:
31.12.19 corresponds to December 31, 2019.
31.12.2019 corresponds to December 31, 2019.

Drive system:
System consisting of controller, drive and motor.

E
Electronic gear:
Calculation of a new output velocity for the motor movement based on the input
velocity and the values of an adjustable gear ratio; calculated by the drive system.

EMC:
Electromagnetic compatibility

Encoder :

0198441113767.13 649
Servo Drive

Sensor that converts a measured distance or angle into an electrical signal. This
signal is evaluated by the drive to determine the actual position of a shaft (rotor)
or a driving unit.

Error class :
Classification of errors into groups. The different error classes allow for specific
responses to errors, for example by severity.

Error:
Discrepancy between a detected (computed, measured or signaled) value or
condition and the specified or theoretically correct value or condition.

F
Factory settings:
Settings when the product is shipped.

Fault Reset:
Function used to exit the operating state Fault. Before the function is used, the
cause of the detected error must be removed.

Fault:
Fault is an operating state. If the monitoring functions detect an error, a transition
to this operating state is triggered, depending on the error class. A "Fault Reset"
or a power cycle are required to exit this operating state. Prior to this, the cause of
the detected error must be removed. Further information can be found in the
pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol
(CIP).

I
I/O:
Inputs/outputs

I2t monitoring:
Anticipatory temperature monitoring. The expected temperature rise of
components is calculated in advance on the basis of the motor current. If a limit
value is exceeded, the drive reduces the motor current.

Inc:
Increments

Index pulse:
Signal of an encoder to reference the rotor position in the motor. The encoder
returns one index pulse per revolution.

Internal units:
Resolution of the power stage at which the motor can be positioned. Internal units
are specified in increments.

L
Limit switch:
Switches that signal overtravel of the permissible range of travel.

M
Monitoring function:

650 0198441113767.13
 Servo Drive

Monitoring functions acquire a value continuously or cyclically (for example, by

measuring) in order to check whether it is within permissible limits. Monitoring
functions are used for error detection. Monitoring functions are not safety
functions.

N
NMT:
Network Management (NMT), part of the CANopen communication profile; tasks
include initialization of the network and devices, starting, stopping and monitoring
of devices

Node guarding:
Monitoring of the connection to the slave at an interface for cyclic data traffic.

P
Parameter :
Device data and values that can be read and set (to a certain extent) by the user.

PELV:
Protective Extra Low Voltage, low voltage with isolation. For more information:
IEC 60364-4-41

Persistent:
Indicates whether the value of the parameter remains in the memory after the
device is switched off.

Power stage :
The power stage controls the motor. The power stage generates current for
controlling the motor on the basis of the motion signals from the controller.

Pulse/direction signals:
Digital signals with variable pulse frequencies which signal changes in position
and direction of movement via separate signal wires.

Q
Quick Stop:
The function can be used for fast deceleration of a movement as a response to a
detected error or via a command.

R
RCD:
RCD residual current device.

rms:
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)

RS485 :
Fieldbus interface as per EIA-485 which enables serial data transmission with
multiple devices.

S
Safety-related function:

0198441113767.13 651
Servo Drive

Safety-related functions are defined in the standard IEC 61800-5-2 (for example,
Safe Torque Off (STO), Safe Operating Stop (SOS) or Safe Stop 1 (SS1)).

Scaling factor:
This factor is the ratio between an internal unit and a user-defined unit.

U
User-defined unit:
Unit whose reference to motor movement can be determined by the user via
parameters.

652 0198441113767.13
 Servo Drive

Index parameter _AT_J..........................................160, 444

parameter _AT_M_friction .............................159, 444
parameter _AT_M_load ................................160, 444
24 Vdc control supply ............................................39 parameter _AT_progress ..............................158, 444
parameter _AT_state ....................................158, 444
parameter _CanDiag ........................................... 445
A parameter _Cap1CntFall...............................337, 445
parameter _Cap1CntRise .............................337, 445
access channels ................................................. 176 parameter _Cap1Count ....................................... 445
approved motors ...................................................29 parameter _Cap1CountCons.........................332, 446
automatic reading of the motor data record............ 138 parameter _Cap1Pos ...................................331, 446
parameter _Cap1PosCons............................332, 446
parameter _Cap1PosFallEdge ......................337, 446
B parameter _Cap1PosRisEdge .......................337, 446
Braking resistor:Selection ......................................72 parameter _Cap2CntFall...............................338, 447
parameter _Cap2CntRise .............................338, 447
parameter _Cap2Count ....................................... 447
C parameter _Cap2CountCons.........................332, 447
parameter _Cap2Pos ...................................331, 447
cable specifications ...............................................65 parameter _Cap2PosCons............................332, 448
capacitor and braking resistor.................................48 parameter _Cap2PosFallEdge ......................338, 448
category 0 stop .....................................................79 parameter _Cap2PosRisEdge .......................337, 448
category 1 stop .....................................................80 parameter _Cap3Count ....................................... 448
components and interfaces ....................................21 parameter _Cap3CountCons.........................333, 448
controller structure............................................... 161 parameter _Cap3Pos ...................................331, 449
parameter _Cap3PosCons............................333, 449
parameter _CapEventCounters .....................338, 449
D parameter _CapStatus..................................331, 449
parameter _CommutCntAct.................................. 449
device overview ....................................................20
parameter _Cond_State4..................................... 450
disposal.............................................................. 648
parameter _CTRL_ActParSet................ 162, 223, 450
parameter _CTRL_KPid....................................... 450
parameter _CTRL_KPiq....................................... 450
E parameter _CTRL_TNid....................................... 450
emission ...............................................................52 parameter _CTRL_TNiq....................................... 451
equipotential bonding conductors ...........................63 parameter _DataError.......................................... 451
error class........................................................... 236 parameter _DataErrorInfo .................................... 451
error class of error messages ............................... 401 parameter _DCOMopmd_act ............................... 451
error memory ...................................................... 396 parameter _DCOMstatus ...................... 372, 393, 452
error response .................................................... 236 parameter _DEV_T_current ................................. 452
external braking resistors (accessories) ..................50 parameter _DPL_BitShiftRefA16 .......................... 452
parameter _DPL_driveInput ................................. 452
parameter _DPL_driveStat................................... 453
F parameter _DPL_mfStat ...................................... 453
parameter _DPL_motionStat .........................373, 453
function A/B signals ...............................................45 parameter _ECATaddress .................................... 453
function CW/CCW signals ......................................47 parameter _ECATslavestate................................. 453
function P/D signals...............................................46 parameter _ENC_AmplMax ................................. 454
parameter _ENC_AmplMean ............................... 454
parameter _ENC_AmplMin .................................. 454
I parameter _ENC_AmplVal ................................... 454
input circuit ...........................................................44 parameter _Enc2Cos........................................... 454
installation site and connection ...............................25 parameter _Enc2Sin............................................ 455
intended use .........................................................10 parameter _ENCAnaHallStatu.............................. 455
parameter _ERR_class.................................397, 455
parameter _ERR_DCbus ..............................399, 455
M parameter _ERR_enable_cycl.......................399, 455
parameter _ERR_enable_time ......................399, 456
Monitoring:Braking resistor ....................................71 parameter _ERR_motor_I .............................398, 456
parameter _ERR_motor_v ............................399, 456
parameter _ERR_number .............................397, 456
N parameter _ERR_powerOn...........................398, 456
nameplate ............................................................22 parameter _ERR_qual ..................................398, 457
parameter _ERR_temp_dev..........................398, 457
parameter _ERR_temp_ps ...........................398, 457
parameter _ERR_time ..................................399, 457
P parameter _ErrNumFbParSvc .............................. 457
parameter _AccessInfo .................................177, 443 parameter _eSM_funct ........................................ 458
parameter _actionStatus...............................372, 443 parameter _eSM_LI_act ...................................... 458

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parameter _eSM_LI_mask ................................... 458 parameter _IPAddressAct4 .................................. 473

parameter _eSM_LO_act..................................... 459 parameter _IPgateAct1 ........................................ 473
parameter _eSM_state ........................................ 459 parameter _IPgateAct2 ........................................ 473
parameter _eSMVer ............................................ 459 parameter _IPgateAct3 ........................................ 473
parameter _EthIPgateAct1 ................................... 460 parameter _IPgateAct4 ........................................ 473
parameter _EthIPgateAct2 ................................... 460 parameter _IPmaskAct1 ...................................... 474
parameter _EthIPgateAct3 ................................... 460 parameter _IPmaskAct2 ...................................... 474
parameter _EthIPgateAct4 ................................... 460 parameter _IPmaskAct3 ...................................... 474
parameter _EthIPmaskAct1 ................................. 460 parameter _IPmaskAct4 ...................................... 474
parameter _EthIPmaskAct2 ................................. 461 parameter _Iq_act_rms........................................ 474
parameter _EthIPmaskAct3 ................................. 461 parameter _Iq_ref_rms ........................................ 475
parameter _EthIPmaskAct4 ................................. 461 parameter _LastError ...................................396, 475
parameter _EthIPmoduleAct1 .............................. 461 parameter _LastError_Qual.................................. 475
parameter _EthIPmoduleAct2 .............................. 461 parameter _LastWarning ..............................396, 475
parameter _EthIPmoduleAct3 .............................. 462 parameter _M_BRK_T_apply ............................... 475
parameter _EthIPmoduleAct4 .............................. 462 parameter _M_BRK_T_release ............................ 476
parameter _EthMAC1 .......................................... 462 parameter _M_Enc_Cosine.................................. 476
parameter _EthMAC2 .......................................... 462 parameter _M_Enc_Sine ..................................... 476
parameter _EthMAC3 .......................................... 462 parameter _M_Encoder ....................................... 476
parameter _EthMAC4 .......................................... 463 parameter _M_HoldingBrake................................ 477
parameter _EthMAC5 .......................................... 463 parameter _M_I_0 ............................................... 477
parameter _EthMAC6 .......................................... 463 parameter _M_I_max .......................................... 477
parameter _fwNoSlot1 ......................................... 463 parameter _M_I_nom .......................................... 477
parameter _fwNoSlot2 ......................................... 463 parameter _M_I2t................................................ 477
parameter _fwNoSlot3 ......................................... 464 parameter _M_Jrot .............................................. 478
parameter _fwNoSlot3Boot .................................. 464 parameter _M_kE................................................ 478
parameter _fwNoSlot3FPGA ................................ 464 parameter _M_L_d .............................................. 478
parameter _fwRevSlot1 ....................................... 464 parameter _M_load ......................................378, 478
parameter _fwRevSlot2 ....................................... 464 parameter _M_L_q .............................................. 478
parameter _fwRevSlot3 ....................................... 465 parameter _M_M_0 ............................................. 479
parameter _fwRevSlot3Boot ................................ 465 parameter _M_maxoverload .........................379, 479
parameter _fwRevSlot3FPGA .............................. 465 parameter _M_M_max......................................... 479
parameter _fwVersSlot1 ...................................... 465 parameter _M_M_nom ........................................ 479
parameter _fwVersSlot2 ...................................... 465 parameter _M_n_max.......................................... 479
parameter _fwVersSlot3 ...................................... 466 parameter _M_n_nom ......................................... 480
parameter _fwVersSlot3Boot................................ 466 parameter _M_overload................................379, 480
parameter _fwVersSlot3FPGA ............................. 466 parameter _M_Polepair ....................................... 480
parameter _GEAR_p_diff..................................... 466 parameter _M_PolePairPitch................................ 480
parameter _HMdisREFtoIDX................................ 466 parameter _M_R_UV........................................... 480
parameter _HMdisREFtoIDX_usr ..................294, 467 parameter _M_T_current ..............................377, 481
parameter _hwVersCPU ...................................... 467 parameter _M_T_max ..................................377, 481
parameter _hwVersPS......................................... 467 parameter _M_Type ............................................ 481
parameter _hwVersSlot1...................................... 467 parameter _M_U_max ......................................... 481
parameter _hwVersSlot2...................................... 467 parameter _M_U_nom......................................... 481
parameter _hwVersSlot3...................................... 468 parameter _ManuSdoAbort .................................. 482
parameter _I_act ................................................. 468 parameter _ModeError ........................................ 482
parameter _Id_act_rms........................................ 468 parameter _ModeErrorInfo ................................... 482
parameter _Id_ref_rms ........................................ 468 parameter _ModuleSlot1...................................... 482
parameter _Imax_act........................................... 468 parameter _ModuleSlot2...................................... 482
parameter _Imax_system..................................... 469 parameter _ModuleSlot3...................................... 483
parameter _Inc_ENC2Raw .................................. 469 parameter _MSM_avail_ds .................................. 483
parameter _InvalidParam..................................... 469 parameter _MSM_error_field......................... 311, 483
parameter _IO_act .......................................143, 469 parameter _MSM_error_num ........................ 311, 484
parameter _IO_DI_act ..................................143, 469 parameter _MSM_used_data_sets ....................... 484
parameter _IO_DQ_act ................................143, 470 parameter _MSMactNum ..................................... 484
parameter _IO_STO_act...............................143, 470 parameter _MSMnextNum ................................... 484
parameter _IOdataMtoS01................................... 470 parameter _MSMNumFinish ......................... 311, 484
parameter _IOdataStoM01................................... 470 parameter _n_act ................................................ 485
parameter _IOM1_AI11_act ................................. 470 parameter _n_act_ENC1 ..................................... 485
parameter _IOM1_AI12_act ................................. 471 parameter _n_act_ENC2 ..................................... 485
parameter _IOM1_AQ11_ref ................................ 471 parameter _n_ref................................................. 485
parameter _IOM1_AQ12_ref ................................ 471 parameter _OFSp_act ......................................... 485
parameter _IOM1_DI_act..................................... 471 parameter _OpHours........................................... 486
parameter _IOM1_DQ_act ................................... 471 parameter _p_absENC .................................150, 486
parameter _IOmappingMtoS01 ............................ 472 parameter _p_absmodulo .................................... 486
parameter _IOmappingStoM01 ............................ 472 parameter _p_act .........................................288, 486
parameter _IPAddressAct1 .................................. 472 parameter _p_act_ENC1 ..................................... 486
parameter _IPAddressAct2 .................................. 472 parameter _p_act_ENC1_int ................................ 487
parameter _IPAddressAct3 .................................. 472 parameter _p_act_ENC2 ..................................... 487

654 0198441113767.13
 Servo Drive

parameter _p_act_ENC2_int ................................ 487 parameter _Uq_ref .............................................. 502

parameter _p_act_int........................................... 487 parameter _v_act ................................................ 502
parameter _p_addGEAR ..................................... 487 parameter _v_act_ENC1 ..................................... 502
parameter _PAR_ScalingError ............................. 490 parameter _v_act_ENC2 ..................................... 503
parameter _PAR_ScalingState ............................. 490 parameter _v_dif_usr....................................351, 503
parameter _PBbaud ............................................ 490 parameter _Vmax_act ......................................... 503
parameter _PBprofile........................................... 491 parameter _VoltUtil.............................................. 504
parameter _p_dif ................................................. 488 parameter _v_PTI_act ......................................... 503
parameter _p_dif_load......................................... 488 parameter _v_ref................................................. 503
parameter _p_dif_load_peak................................ 488 parameter _WarnActive ....................................... 504
parameter _p_dif_load_peak_usr ..................349, 488 parameter _WarnLatched .............................394, 505
parameter _p_dif_load_usr ...........................349, 488 parameter AbsHomeRequest ............................... 505
parameter _p_dif_usr .......................................... 489 parameter AccessExcl ......................................... 506
parameter _p_DifENC1toENC2............................ 489 parameter AccessLock .................................177, 506
parameter _PntMAC1 .......................................... 491 parameter AT_dir .........................................157, 506
parameter _PntMAC2 .......................................... 491 parameter AT_dis ................................................ 507
parameter _PntMAC3 .......................................... 491 parameter AT_dis_usr ..................................157, 507
parameter _PntMAC4 .......................................... 491 parameter AT_mechanical ............................158, 507
parameter _PntMAC5 .......................................... 492 parameter AT_n_ref............................................. 507
parameter _PntMAC6 .......................................... 492 parameter AT_start.......................................158, 508
parameter _PntProfile.......................................... 492 parameter AT_v_ref............................................. 508
parameter _PosRegStatus ............................358, 492 parameter AT_wait .......................................160, 508
parameter _Power_act ........................................ 492 parameter BLSH_Mode ................................344, 508
parameter _Power_mean..................................... 493 parameter BLSH_Position.............................343, 508
parameter _p_PTI_act ......................................... 489 parameter BLSH_Time .................................343, 509
parameter _p_ref................................................. 489 parameter BRK_AddT_apply.........................146, 509
parameter _p_ref_int ........................................... 489 parameter BRK_AddT_release......................146, 509
parameter _pref_acc ........................................... 493 parameter BRK_release ...............................148, 509
parameter _pref_v ............................................... 493 parameter CANaddress ....................................... 509
parameter _prgNoDEV ........................................ 493 parameter CANbaud............................................ 510
parameter _prgRevDEV....................................... 493 parameter CANpdo1Event ................................... 510
parameter _prgVerDEV ....................................... 494 parameter CANpdo2Event ................................... 510
parameter _PS_I_max......................................... 494 parameter CANpdo3Event ................................... 510
parameter _PS_I_nom......................................... 494 parameter CANpdo4Event ................................... 510
parameter _PS_load.....................................378, 494 parameter Cap1Activate ............................... 330, 511
parameter _PS_maxoverload........................379, 494 parameter Cap1Config ................................. 329, 511
parameter _PS_overload ..............................379, 495 parameter Cap1Source .........................328, 335, 511
parameter _PS_overload_cte............................... 495 parameter Cap2Activate ............................... 330, 511
parameter _PS_overload_I2t................................ 495 parameter Cap2Config .................................329, 512
parameter _PS_overload_psq .............................. 495 parameter Cap2Source ........................ 328, 335, 512
parameter _PS_T_current.............................376, 495 parameter Cap3Activate ...............................330, 512
parameter _PS_T_max.................................376, 496 parameter Cap3Config .................................329, 512
parameter _PS_T_warn................................376, 496 parameter Cap3Source ................................328, 512
parameter _PS_U_maxDC .................................. 496 parameter CLSET_ParSwiCond ....................225, 514
parameter _PS_U_minDC ................................... 496 parameter CLSET_p_DiffWin ............................... 513
parameter _PS_U_minStopDC............................. 496 parameter CLSET_p_DiffWin_usr .................225, 513
parameter _PT_max_val...................................... 497 parameter CLSET_v_Threshol ......................226, 514
parameter _RAMP_p_act..................................... 497 parameter CLSET_winTime ..........................226, 515
parameter _RAMP_p_target ................................ 497 parameter CommutCntCred ................................. 515
parameter _RAMP_v_act..................................... 497 parameter CommutCntMax .................................. 515
parameter _RAMP_v_target................................. 497 parameter CTRL_GlobGain ..........................159, 515
parameter _RES_load ..................................378, 498 parameter CTRL_I_max ...............................140, 516
parameter _RES_maxoverload .....................380, 498 parameter CTRL_I_max_fw ................................. 516
parameter _RES_overload............................380, 498 parameter CTRL_KFAcc ...................................... 516
parameter _RESint_P.......................................... 498 parameter CTRL_ParChgTime.............. 162, 226, 516
parameter _RESint_R.......................................... 498 parameter CTRL_ParSetCopy ......................227, 517
parameter _RMAC_DetailStatus....................340, 499 parameter CTRL_PwrUpParSet ....................223, 517
parameter _RMAC_Status ............................340, 499 parameter CTRL_SelParSet ................. 162, 223, 517
parameter _ScalePOSmax .................................. 499 parameter CTRL_SmoothCurr ............................. 517
parameter _ScaleRAMPmax ................................ 499 parameter CTRL_SpdFric .................................... 517
parameter _ScaleVELmax ................................... 499 parameter CTRL_TAUnact................................... 518
parameter _SigActive .......................................... 500 parameter CTRL_VelObsActiv ............................. 518
parameter _SigLatched ................................394, 500 parameter CTRL_VelObsDyn............................... 518
parameter _SuppDriveModes............................... 501 parameter CTRL_VelObsInert .............................. 519
parameter _TouchProbeStat .........................336, 501 parameter CTRL_v_max...............................141, 518
parameter _tq_act ............................................... 501 parameter CTRL_vPIDDPart................................ 519
parameter _UDC_act........................................... 502 parameter CTRL_vPIDDTime .............................. 519
parameter _Ud_ref .............................................. 501 parameter CTRL1_KFPp ..............................228, 519
parameter _Udq_ref ............................................ 502 parameter CTRL1_Kfric ................................230, 519

0198441113767.13 655
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parameter CTRL1_KPn ........................ 164, 227, 520 parameter ENCDigPowSupply ............................. 538
parameter CTRL1_KPp ........................ 169, 228, 520 parameter ENCDigResMulUsed ........................... 538
parameter CTRL1_Nf1bandw........................229, 520 parameter ENCDigSSICoding .............................. 538
parameter CTRL1_Nf1damp .........................228, 520 parameter ENCDigSSILinAdd .............................. 538
parameter CTRL1_Nf1freq............................229, 520 parameter ENCDigSSILinRes .............................. 539
parameter CTRL1_Nf2bandw........................229, 521 parameter ENCDigSSIMaxFreq ........................... 539
parameter CTRL1_Nf2damp .........................229, 521 parameter ENCDigSSIResMult ............................ 539
parameter CTRL1_Nf2freq............................229, 521 parameter ENCDigSSIResSgl .............................. 540
parameter CTRL1_Osupdamp ......................230, 521 parameter ENCSinCosMaxIx ............................... 540
parameter CTRL1_Osupdelay.......................230, 521 parameter ERR_clear ...................................400, 540
parameter CTRL1_TAUiref............................228, 522 parameter ERR_reset...................................400, 540
parameter CTRL1_TAUnref .................. 165, 228, 522 parameter ErrorResp_bit_DE ............................... 541
parameter CTRL1_TNn ................. 164, 167, 227, 522 parameter ErrorResp_bit_ME............................... 541
parameter CTRL2_KFPp ..............................232, 522 parameter ErrorResp_Flt_AC........................381, 541
parameter CTRL2_Kfric ................................233, 522 parameter ErrorResp_I2tRES .............................. 541
parameter CTRL2_KPn ........................ 164, 231, 523 parameter ErrorResp_p_dif...........................350, 541
parameter CTRL2_KPp ........................ 169, 231, 523 parameter ErrorResp_PDiffEncM ......................... 542
parameter CTRL2_Nf1bandw........................232, 523 parameter ErrorResp_QuasiAbs........................... 542
parameter CTRL2_Nf1damp .........................232, 523 parameter ErrorResp_v_dif ...........................352, 542
parameter CTRL2_Nf1freq............................232, 523 parameter ErrResp_HeartB_LifeG........................ 542
parameter CTRL2_Nf2bandw........................233, 524 parameter ESIM_HighResolution ..................216, 543
parameter CTRL2_Nf2damp .........................232, 524 parameter ESIM_PhaseShift .........................217, 543
parameter CTRL2_Nf2freq............................233, 524 parameter ESIM_scale .................................216, 543
parameter CTRL2_Osupdamp ......................233, 524 parameter eSM_BaseSetting ............................... 543
parameter CTRL2_Osupdelay.......................233, 524 parameter eSM_dec_NC ..................................... 544
parameter CTRL2_TAUiref............................231, 525 parameter eSM_dec_Qstop ................................. 544
parameter CTRL2_TAUnref .................. 165, 231, 525 parameter eSM_disable....................................... 544
parameter CTRL2_TNn ................. 164, 167, 231, 525 parameter eSM_FuncAUXOUT1 .......................... 545
parameter DCbus_compat ................................... 525 parameter eSM_FuncAUXOUT2 .......................... 545
parameter DCOMcontrol...................................... 526 parameter eSM_FuncSwitches............................. 546
parameter DCOMopmode.................................... 526 parameter eSM_LO_mask ................................... 547
parameter DEVcmdinterf ..............................178, 526 parameter eSM_SLSnegDirS ............................... 547
parameter DevNameExtAddr ............................... 527 parameter eSM_t_NCDel..................................... 547
parameter DI_0_Debounce ...........................212, 527 parameter eSM_t_Relay ...................................... 547
parameter DI_1_Debounce ...........................212, 527 parameter eSM_v_maxAuto................................. 548
parameter DI_2_Debounce ...........................212, 527 parameter eSM_v_maxSetup............................... 548
parameter DI_3_Debounce ...........................213, 528 parameter EthIPgate1.......................................... 548
parameter DI_4_Debounce ...........................213, 528 parameter EthIPgate2.......................................... 548
parameter DI_5_Debounce ...........................213, 528 parameter EthIPgate3.......................................... 548
parameter DPL_Activate...................................... 528 parameter EthIPgate4.......................................... 549
parameter DPL_dmControl .................................. 529 parameter EthIPmask1 ........................................ 549
parameter DPL_intLim..................................374, 529 parameter EthIPmask2 ........................................ 549
parameter DPL_RefA16....................................... 529 parameter EthIPmask3 ........................................ 549
parameter DPL_RefA32....................................... 530 parameter EthIPmask4 ........................................ 549
parameter DPL_RefB32....................................... 530 parameter EthIPmaster1...................................... 550
parameter DplParChCheckDataTyp...................... 530 parameter EthIPmaster2...................................... 550
parameter DS402compatib .................................. 530 parameter EthIPmaster3...................................... 550
parameter DS402intLim ................................374, 531 parameter EthIPmaster4...................................... 550
parameter DSM_ShutDownOption.................238, 531 parameter EthIpMode .......................................... 550
parameter DVNaddress ....................................... 531 parameter EthIPmodule1 ..................................... 551
parameter DVNbaud............................................ 532 parameter EthIPmodule2 ..................................... 551
parameter DVNbuspower..................................... 532 parameter EthIPmodule3 ..................................... 551
parameter DVNioDataIn....................................... 532 parameter EthIPmodule4 ..................................... 551
parameter DVNioDataOut .................................... 532 parameter EthMbIPswap1.................................... 551
parameter ECAT2ndaddress ................................ 532 parameter EthMbIPswap2.................................... 552
parameter ENC_abs_source ................................ 533 parameter EthMbIPswap3.................................... 552
parameter ENC_ModeOfMaEnc ........................... 533 parameter EthMbIPswap4.................................... 552
parameter ENC1_adjustment ........................152, 533 parameter EthMbScanner .................................... 552
parameter ENC2_adjustment ........................152, 534 parameter EthMbScanTimeout............................. 552
parameter ENC2_type ......................................... 534 parameter EthMode............................................. 553
parameter ENC2_usage ...................................... 535 parameter EthOptMapInp1................................... 553
parameter ENCAnaPowSupply ............................ 535 parameter EthOptMapInp2................................... 553
parameter ENCDigABIMaxFreq ........................... 535 parameter EthOptMapInp3................................... 553
parameter ENCDigABImaxIx................................ 536 parameter EthOptMapOut1 .................................. 553
parameter ENCDigBISSCoding............................ 536 parameter EthOptMapOut2 .................................. 554
parameter ENCDigBISSResMul ........................... 536 parameter EthOptMapOut3 .................................. 554
parameter ENCDigBISSResSgl............................ 537 parameter EthRateSet ......................................... 554
parameter ENCDigEnDatBits ............................... 537 parameter GEARdenom ...............................257, 554
parameter ENCDigLinBitsUsed ............................ 537 parameter GEARdenom2..............................258, 554

656 0198441113767.13
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parameter GEARdir_enabl ............................261, 555 parameter IOM1_AQ12_invert ............................. 580

parameter GEARjerklim ................................316, 555 parameter IOM1_AQ12_I_range .......................... 580
parameter GEARnum ...................................257, 555 parameter IOM1_DI_10_Deb ............................... 580
parameter GEARnum2 .................................258, 555 parameter IOM1_DI_11_Deb ............................... 580
parameter GEARpos_v_max.........................261, 555 parameter IOM1_DI_12_Deb ............................... 581
parameter GEARposChgMode......................259, 556 parameter IOM1_DI_13_Deb ............................... 581
parameter GEARratio ...................................257, 556 parameter IOM1_DQ_set..................................... 581
parameter GEARreference ...........................258, 556 parameter IOM1_IOfunct_DI10 ............................ 582
parameter GEARselect .................................257, 556 parameter IOM1_IOfunct_DI11............................. 583
parameter HMdis..........................................293, 557 parameter IOM1_IOfunct_DI12 ............................ 584
parameter HMIDispPara ...................................... 557 parameter IOM1_IOfunct_DI13 ............................ 586
parameter HMIlocked ...................................177, 557 parameter IOM1_IOfunct_DQ10........................... 587
parameter HMmethod...................................292, 558 parameter IOM1_IOfunct_DQ11 ........................... 588
parameter HMoutdis .....................................294, 558 parameter IOsigCurrLim ...............................325, 589
parameter HMp_home..................................293, 559 parameter IOsigLIMN ...................................345, 589
parameter HMp_setP ...................................299, 559 parameter IOsigLIMP ...................................345, 589
parameter HMprefmethod .............................292, 559 parameter IOsigREF.....................................346, 590
parameter HMsrchdis ...................................294, 559 parameter IOsigRespOfPS .................................. 590
parameter HMv ............................................295, 559 parameter IOsigVelLim .................................322, 590
parameter HMv_out......................................295, 560 parameter IP_IntTimInd ................................287, 590
parameter InvertDirOfCount ..........................214, 560 parameter IP_IntTimPerVal ...........................287, 590
parameter InvertDirOfMaEnc................................ 560 parameter IPp_target....................................288, 591
parameter InvertDirOfMove...........................149, 560 parameter Iref_PTIFreqMax ..........................271, 591
parameter IO_AutoEnable ................................... 560 parameter JOGactivate........................................ 591
parameter IO_AutoEnaConfig .............................. 561 parameter JOGmethod .................................250, 591
parameter IO_DQ_set ..................................326, 561 parameter JOGstep ......................................250, 591
parameter IO_FaultResOnEnaInp .................240, 561 parameter JOGtime ......................................250, 592
parameter IO_GEARmethod ................................ 561 parameter JOGv_fast ...................................249, 592
parameter IO_I_limit .....................................324, 561 parameter JOGv_slow ..................................249, 592
parameter IO_JOGmethod............................250, 562 parameter LIM_HaltReaction.........................317, 592
parameter IO_ModeSwitch ...........................243, 562 parameter LIM_I_maxHalt..................... 140, 317, 593
parameter IO_PTtq_reference.......................268, 562 parameter LIM_I_maxQSTP ................. 140, 319, 593
parameter IO_v_limit ....................................321, 562 parameter LIM_QStopReact .........................318, 594
parameter IOdefaultMode .............................241, 562 parameter Mains_reactor ..................................... 594
parameter IOfunct_DI0 .................................198, 563 parameter MBaddress ......................................... 594
parameter IOfunct_DI1 .................................199, 564 parameter MBbaud.............................................. 594
parameter IOfunct_DI2 .................................200, 565 parameter MBnode_guard ................................... 595
parameter IOfunct_DI3 .................................201, 567 parameter MOD_AbsDirection ......................185, 595
parameter IOfunct_DI4 .................................203, 568 parameter MOD_AbsMultiRng ......................186, 595
parameter IOfunct_DI5 .................................204, 570 parameter MOD_Enable ...............................184, 595
parameter IOfunct_DQ0................................209, 571 parameter MOD_Max ...................................185, 595
parameter IOfunct_DQ1................................209, 572 parameter MOD_Min ....................................185, 596
parameter IOfunct_DQ2................................210, 573 parameter MON_ChkTime ..... 367–368, 370–371, 596
parameter IOM1_AI11_I_max .......................324, 574 parameter MON_commutat...........................381, 596
parameter IOM1_AI11_mode ........ 269, 277, 320, 323, parameter MON_ConfModification........................ 596
574 parameter MON_DCbusVdcThresh ...................... 597
parameter IOM1_AI11_M_scale ....................270, 574 parameter MON_ENC_Ampl ................................ 597
parameter IOM1_AI11_offset ............................... 575 parameter MON_GroundFault .......................383, 597
parameter IOM1_AI11_Tau .................................. 575 parameter MON_HW_Limits ................................ 598
parameter IOM1_AI11_v_max.......................321, 575 parameter MON_I_Threshold........................371, 598
parameter IOM1_AI11_v_scale .....................278, 575 parameter MON_IO_SelErr1 .........................391, 598
parameter IOM1_AI11_win................................... 575 parameter MON_IO_SelErr2 .........................391, 598
parameter IOM1_AI12_I_max .......................324, 576 parameter MON_IO_SelWar1 .......................391, 599
parameter IOM1_AI12_mode ........ 269, 277, 320, 323, parameter MON_IO_SelWar2 .......................391, 599
576 parameter MON_MainsVolt ...........................382, 599
parameter IOM1_AI12_M_scale ....................270, 576 parameter MON_MotOvLoadOvTemp................... 600
parameter IOM1_AI12_offset ............................... 576 parameter MON_p_dif_load ................................. 600
parameter IOM1_AI12_Tau .................................. 576 parameter MON_p_dif_load_usr....................350, 600
parameter IOM1_AI12_v_max ......................321, 577 parameter MON_p_dif_warn .........................350, 600
parameter IOM1_AI12_v_scale .....................278, 577 parameter MON_p_DiffWin .................................. 600
parameter IOM1_AI12_win .................................. 577 parameter MON_p_DiffWin_usr ....................367, 601
parameter IOM1_AQ_ErrResp ............................. 577 parameter MON_p_win.................................357, 601
parameter IOM1_AQ_mode ................................. 577 parameter MON_p_win_usr ..........................357, 601
parameter IOM1_AQ11_FixVal............................. 578 parameter MON_p_winTime .........................357, 601
parameter IOM1_AQ11_func................................ 578 parameter MON_p_winTout ..........................357, 601
parameter IOM1_AQ11_invert.............................. 579 parameter MON_SW_Limits .........................348, 602
parameter IOM1_AQ11_I_range........................... 578 parameter MON_SWLimMode ......................347, 602
parameter IOM1_AQ12_FixVal ............................ 579 parameter MON_swLimN..............................348, 602
parameter IOM1_AQ12_func ............................... 579 parameter MON_swLimP..............................348, 602

0198441113767.13 657
Servo Drive

parameter MON_tq_win................................354, 602 parameter PosReg3Mode .............................363, 620

parameter MON_tq_winTime ........................354, 603 parameter PosReg3Source...........................361, 620
parameter MON_v_DiffWin ...........................368, 603 parameter PosReg3Start ..............................359, 620
parameter MON_VelDiff................................352, 604 parameter PosReg3ValueA...........................364, 620
parameter MON_VelDiff_Time ......................352, 604 parameter PosReg3ValueB...........................365, 621
parameter MON_VelDiffOpSt578.......................... 604 parameter PosReg4Mode .............................363, 621
parameter MON_v_Threshold .......................370, 603 parameter PosReg4Source...........................361, 621
parameter MON_v_win .................................355, 603 parameter PosReg4Start ..............................360, 621
parameter MON_v_winTime .........................355, 603 parameter PosReg4ValueA...........................365, 622
parameter MON_v_zeroclamp ......................325, 604 parameter PosReg4ValueB...........................365, 622
parameter MSM_AddtlSettings............................. 604 parameter PosRegGroupStart .......................360, 622
parameter MSM_CondSequ..........................304, 605 parameter PP_ModeRangeLim .....................180, 623
parameter MSM_datasetnum ............................... 605 parameter PP_OpmChgType ........................242, 623
parameter MSM_DebDigInNum ........................... 605 parameter PPoption .....................................282, 623
parameter MSM_ds_logopera .............................. 605 parameter PPp_target ..................................282, 623
parameter MSM_ds_setA .................................... 606 parameter p_PTI_act_set..............................215, 612
parameter MSM_ds_setB .................................... 606 parameter PPv_target...................................282, 623
parameter MSM_ds_setC .................................... 607 parameter PTI_pulse_filter ................................... 624
parameter MSM_ds_setD .................................... 607 parameter PTI_signal_type ...........................214, 624
parameter MSM_ds_sub_ds ................................ 607 parameter PTO_mode ..................................215, 624
parameter MSM_ds_trancon1 .............................. 608 parameter PTtq_reference ............................268, 625
parameter MSM_ds_trancon2 .............................. 608 parameter PTtq_target..................................270, 625
parameter MSM_ds_transiti ................................. 608 parameter PVv_reference .............................278, 625
parameter MSM_ds_tranval1 ............................... 608 parameter PVv_target...................................278, 625
parameter MSM_ds_tranval2 ............................... 609 parameter PWM_fChop ................................234, 626
parameter MSM_ds_type..................................... 609 parameter RAMP_tq_enable .........................271, 626
parameter MSM_start_ds..................................... 609 parameter RAMP_tq_slope ...........................271, 626
parameter MSMendNumSequence................305, 610 parameter RAMP_v_acc...............................314, 626
parameter MSMstartSignal ...........................306, 610 parameter RAMP_v_dec...............................314, 627
parameter MT_dismax......................................... 610 parameter RAMP_v_enable ..........................314, 627
parameter MT_dismax_usr .................................. 610 parameter RAMP_v_jerk...............................315, 627
parameter OFS_PosActivate......................... 260, 611 parameter RAMP_v_max..............................314, 628
parameter OFS_Ramp ................................. 260, 611 parameter RAMP_v_sym ..................................... 628
parameter OFSp_abs .......................................... 611 parameter RAMPaccdec...................................... 628
parameter OFSp_rel............................................ 611 parameter RAMPquickstop ...........................318, 628
parameter OFSp_RelPos1 ............................ 260, 611 parameter RESext_P....................................155, 629
parameter OFSp_RelPos2 ............................260, 612 parameter RESext_R ...................................155, 629
parameter OFSp_SetPos..................................... 612 parameter RESext_ton .................................155, 629
parameter OFSv_target ................................260, 612 parameter RESint_ext ..................................155, 629
parameter PAR_CTRLreset ................................. 613 parameter ResolENC2......................................... 629
parameter PAR_ScalingStart................................ 613 parameter ResolENC2Denom .............................. 630
parameter PAReeprSave ..................................... 613 parameter ResolENC2Num.................................. 630
parameter PARuserReset .............................174, 614 parameter ResWriComNotOpEn .......................... 630
parameter PBaddress.......................................... 614 parameter RMAC_Activate ...........................341, 631
parameter PDOmask........................................... 614 parameter RMAC_Edge................................342, 631
parameter p_MaxDifToENC2 ............................... 612 parameter RMAC_Position ...........................341, 631
parameter PntIPAddress1 .................................... 614 parameter RMAC_Response ........................342, 631
parameter PntIPAddress2 .................................... 615 parameter RMAC_Velocity............................341, 631
parameter PntIPAddress3 .................................... 615 parameter ScalePOSdenom .........................192, 632
parameter PntIPAddress4 .................................... 615 parameter ScalePOSnum .............................192, 632
parameter PntIPgate1.......................................... 615 parameter ScaleRAMPdenom .......................194, 632
parameter PntIPgate2.......................................... 615 parameter ScaleRAMPnum...........................194, 632
parameter PntIPgate3.......................................... 616 parameter ScaleVELdenom ..........................193, 632
parameter PntIPgate4.......................................... 616 parameter ScaleVELnum ..............................193, 633
parameter PntIPmask1 ........................................ 616 parameter ShiftEncWorkRang .......................154, 633
parameter PntIPmask2 ........................................ 616 parameter SimAbsolutePos.................................. 633
parameter PntIPmask3 ........................................ 616 parameter SyncMechStart ............................286, 634
parameter PntIPmask4 ........................................ 617 parameter SyncMechStatus ..........................286, 634
parameter PntIpMode .......................................... 617 parameter SyncMechTol ...............................286, 634
parameter PosReg1Mode .............................362, 617 parameter TouchProbeFct ............................335, 634
parameter PosReg1Source...........................361, 617 parameter UsrAppDataMem1............................... 634
parameter PosReg1Start ..............................359, 618 parameter UsrAppDataMem2............................... 635
parameter PosReg1ValueA...........................364, 618 parameter WakesAndShakeGain ......................... 635
parameter PosReg1ValueB...........................364, 618 pollution degree and degree of protection................25
parameter PosReg2Mode .............................362, 618 powering on the drive .......................................... 138
parameter PosReg2Source...........................361, 619 PWM frequency power stage..................................29
parameter PosReg2Start ..............................359, 619
parameter PosReg2ValueA...........................364, 619
parameter PosReg2ValueB...........................364, 619

658 0198441113767.13
 Servo Drive

Q
qualification of personnel .........................................9

R
replacing the product ........................................... 646
representation of the parameters .......................... 440
restoring factory settings ...................................... 175

S
sampling period............................................219–221
scaling factor ...................................................... 191
setting limit values ............................................... 139
shipping.............................................................. 647
state transitions................................................... 236
storage ............................................................... 648

T
type code..............................................................23

U
user-defined units................................................ 191
usr_a.................................................................. 191
usr_p.................................................................. 191
usr_v .................................................................. 191

0198441113767.13 659
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0198441113767.13