Lexium 32C

0198441113761 09/2017

Lexium 32C
Servo Drive
User Guide
09/2017
0198441113761.10

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

2 0198441113761 09/2017
 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Device Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Power Stage Data - General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Power Stage Data - Drive-Specific . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Peak Output Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
DC Bus Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Controller Supply Voltage 24V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Output PTO (CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Input PTI (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Electromagnetic Emission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Non-Volatile Memory and Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Conditions for UL 508C and CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Chapter 3 Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Deactivating the Y Capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.2 Cables and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Cables - General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Overview of the Required Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Logic Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.3 Mains Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Common DC Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Mains Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.4 Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Internal Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
External Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Rating Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.5 Functional Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Requirements for Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Chapter 4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.1 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Mounting the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

0198441113761 09/2017 3
 4.2 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Overview of Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Connection Grounding Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Connection Motor Phases and Holding Brake (CN10 and CN11) . . . . . . . . . . . . . . . . . . . . . 101
Connection DC Bus (CN9, DC Bus). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Connection Braking Resistor (CN8, Braking Resistor). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Connection Power Stage Supply (CN1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Connection Motor Encoder (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Connection PTO (CN4, Pulse Train Out) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Connection PTI (CN5, Pulse Train In) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Connection Controller Supply and STO (CN2, DC Supply and STO) . . . . . . . . . . . . . . . . . . 117
Connection Analog Inputs (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Connection Digital Inputs and Outputs (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Connection PC with Commissioning Software (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.3 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Chapter 5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
5.2 Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Overview of Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Menu Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Making Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.3 External graphic display terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Display and Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Connecting the external graphic display terminal to LXM32 . . . . . . . . . . . . . . . . . . . . . . . . . 143
Using the external graphic display terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
5.4 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Powering on the Device for the First Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Setting Limit Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Verifying the Signals of the Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Verifying the Safety Function STO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Holding Brake (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Verifying the Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Setting Parameters for Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Setting the Braking Resistor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Enhanced Settings for Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
5.5 Controller Optimization with Step Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Optimizing the Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Verifying and Optimizing the P Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Optimizing the Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
5.6 Parameter Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Duplicating Existing Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Resetting the User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Restoring Factory Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

4 0198441113761 09/2017
 Chapter 6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
6.1 Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
6.2 Movement Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Size of the Movement Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
6.3 Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Configuration of position scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Configuration of Velocity Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Configuration of Ramp Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
6.4 Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Parameterization of the Signal Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Parameterization of the Signal Output Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Parameterization of Software Debouncing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
6.5 PTI and PTO Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Setting the PTI Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Setting the PTO Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
6.6 Switching Between Control Loop Parameter Sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Overview of the Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Overview of Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Overview of Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Overview of Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Parameterizable Control Loop Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Selecting a Control Loop Parameter Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Automatically Switching Between Control Loop Parameter Sets . . . . . . . . . . . . . . . . . . . . . 224
Copying a Control Loop Parameter Set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Deactivating the Integral Term . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Control Loop Parameter Set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Control Loop Parameter Set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Chapter 7 Operating States and Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
7.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
State Diagram and State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Indication of the Operating State via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Indication of the Operating State via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Changing the Operating State via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Changing the Operating State via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
7.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
7.3 Operating Mode Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
7.4 Operating Mode Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
7.5 Operating Mode Profile Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
7.6 Operating Mode Profile Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

0198441113761 09/2017 5
 Chapter 8 Functions for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.1 Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Motion Profile for the Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Jerk Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Stop Movement with Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Stop Movement with Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Inverting the Analog Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Limitation of the Velocity via Signal Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Limitation of the Current via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Zero Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Relative Movement After Capture (RMAC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
8.2 Functions for Monitoring Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Load-Dependent Position Deviation (Following Error) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Load-Dependent Velocity Deviation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Motor Standstill and Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Position Deviation Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Velocity Deviation Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Velocity Threshold Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Current Threshold Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
8.3 Functions for Monitoring Internal Device Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Temperature Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Monitoring Load and Overload (I2T Monitoring). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Commutation Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Monitoring of Mains Phases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Ground Fault Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Chapter 9 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Chapter 10 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
10.1 Diagnostics via HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Diagnostics via the Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Acknowledging a Motor Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Displaying error messages via the HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
10.2 Diagnostics via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Indicating the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Indicating Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
10.3 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Description of Error Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Table of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Chapter 11 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Representation of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
Chapter 12 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Commissioning Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Memory Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Application Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32. . . . . . . . . . . . . . . . . . . . . . . . 427
Cables for PTO and PTI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
External Braking Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

6 0198441113761 09/2017
 DC Bus Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
Mains Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
External Mains Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
Spare Parts Connectors, Fans, Cover Plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
Chapter 13 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Service Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
Replacing the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Replacement of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Glossary ..................................................... 445
Index ..................................................... 449

0198441113761 09/2017 7
8 0198441113761 09/2017
 Safety Information

Important Information

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

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

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

0198441113761 09/2017 9
INTENDED USE
The products described or affected by this document are, along with software, accessories and options,
servo-drive systems for three-phase servo motors. The products are intended for industrial use according
to the instructions, directions, examples and safety information contained in the present user guide and
other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the
specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the planned application. Based
on the results, the appropriate safety-related measures must be implemented.
Since the products are used as components in an overall machine or process, you must ensure the safety
of persons by means of the design of this overall machine or process.
Operate the products only with the specified cables and accessories. Use only genuine accessories and
spare parts.
Any use other than the use explicitly permitted as described herein is prohibited and may result in
unanticipated hazards.

BEFORE YOU BEGIN

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

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

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

10 0198441113761 09/2017
START-UP AND TEST
Before using electrical control and automation equipment for regular operation after installation, the system
should be given a start-up test by qualified personnel to verify correct operation of the equipment. It is
important that arrangements for such a check be made and that enough time is allowed to perform
complete and satisfactory testing.

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

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

OPERATION AND ADJUSTMENTS

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

0198441113761 09/2017 11
12 0198441113761 09/2017
 About the Book

At a Glance

Document Scope
This manual describes technical characteristics, installation, commissioning, operation and maintenance
of the servo drive Lexium 32C (LXM32C).

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

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

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

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

Related Documents

Title of documentation Reference number

LXM32C - AC servo drive - Product manual (this manual) 0198441113761 (eng)
0198441113762 (fre)
0198441113760 (ger)
0198441113764 (spa)
0198441113763 (ita)
0198441113765 (chi)
LXM32 - Common DC bus - Application note MNA01M001EN (eng)
MNA01M001DE (ger)

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

0198441113761 09/2017 13
Product Related Information
The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present
during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all
equipment. Verify compliance with any safety information, different electrical requirements, and normative
standards that apply to your machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains voltage, or
present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.

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

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

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

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

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

14 0198441113761 09/2017
 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.

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

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

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

0198441113761 09/2017 15
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that
appear in or on the products themselves, are generally derived from the terms or definitions of international
standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited
to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error
message, dangerous, etc.
Among others, these standards include:

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

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

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

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

16 0198441113761 09/2017
 Lexium 32C
Introduction
0198441113761 09/2017

Chapter 1
Introduction

Introduction

What Is in This Chapter?

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

0198441113761 09/2017 17
Introduction

Device Overview

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

Lexium Servo Drive LXM32C

This product manual describes the LXM32C servo drive.

Overview of some of the features of the servo drive:

 Two analog inputs (+/-10V, pulse/direction) for supplying reference values
 The product is commissioned via the integrated HMI or a PC with commissioning software.
 Operating modes Jog, Electronic Gear, Profile Torque and Profile Velocity.
 The safety function "Safe Torque Off" (STO) as per IEC 61800-5-2 is implemented on board.
 A memory card slot is provided for backup and copying of parameters and fast device replacement.

18 0198441113761 09/2017
 Introduction

Components and Interfaces

CN1 Power stage supply

CN2 24V controller 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 2 analog inputs, 6 digital inputs and 5 digital outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus
CN10 Motor phases
CN11 Motor holding brake

0198441113761 09/2017 19
Introduction

Nameplate

The nameplate contains the following data:

1 Product type, see type code

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

20 0198441113761 09/2017
 Introduction

Type Code

Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type code (example) L X M 3 2 C 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
C = Compact Drive with analog inputs and Pulse Train
7 ... 9 Peak current
U45 = 4.5 Arms
U60 = 6 Arms
U90 = 9 Arms
D12 = 12 Arms
D18 = 18 Arms
D30 = 30 Arms
D72 = 72 Arms
10 ... 11 Power stage supply
M2 = Single-phase, 115/200/240 Vac
N4 = Three-phase, 208/400/480 Vac
12 ... 15 Customized version
S = Customized version

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

Designation Customized Version

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

0198441113761 09/2017 21
Introduction

22 0198441113761 09/2017
 Lexium 32C
Technical Data
0198441113761 09/2017

Chapter 2
Technical Data

Technical Data

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Environmental Conditions 24
Dimensions 26
Power Stage Data - General 28
Power Stage Data - Drive-Specific 30
Peak Output Currents 35
DC Bus Data 36
Controller Supply Voltage 24V 37
Signals 38
Output PTO (CN4) 40
Input PTI (CN5) 41
Braking Resistor 46
Electromagnetic Emission 49
Non-Volatile Memory and Memory Card 51
Conditions for UL 508C and CSA 52
Certifications 53

0198441113761 09/2017 23
Technical Data

Environmental Conditions

Conditions for Operation

The maximum permissible ambient temperature during operation depends on the mounting distances
between the devices and on the required power. Observe the pertinent instructions in the chapter
Installation (see page 91).

Ambient temperature (no icing, °C 0 ... 50

non-condensing) (°F) (32 ... 122)

The following relative humidity is permissible during operation:

Relative humidity (non- % 5 ... 95

condensing)

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

Installation altitude above mean sea level without derating. m <1000

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

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

Conditions for Transportation and Storage

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

Temperature °C -25 ... 70

(°F) (-13 ... 158)

The following relative humidity is permissible during transportation and storage:

Relative humidity (non- % <95

condensing)

Installation Site and Connection

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

24 0198441113761 09/2017
 Technical Data

Pollution Degree and Degree of Protection

Pollution degree 2
Degree of protection IP20

Degree of Protection When the Safety Function Is Used

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

Vibration and Shock

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

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

0198441113761 09/2017 25
Technical Data

Dimensions

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

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

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

Dimensions LXM32•D30N4 and LXM32•D72

26 0198441113761 09/2017
 Technical Data

LXM32•... D30N4 D72

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

Mass

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

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

0198441113761 09/2017 27
Technical Data

Power Stage Data - General

Mains Voltage: Range and Tolerance

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

200 -15% ... 240 +10%

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

Transient overvoltages Overvoltage category III(1)

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

Type of Grounding

TT grounding system, TN Approved

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

Leakage Current

Leakage current (as per mA <30(1)

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

Harmonic Currents and Impedance

The harmonic currents depend on the impedance of the supply mains. This is expressed in terms of the
short-circuit current of the supply mains. If the supply mains has a higher short-circuit current than indicated
in the Technical Data for the device, use upstream mains reactors. See chapter Accessories and Spare
Parts (see page 423) for suitable mains reactors.

Monitoring the Continuous Output Current

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

PWM Frequency Power Stage

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

PWM frequency power stage kHz 8

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

28 0198441113761 09/2017
 Technical Data

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

0198441113761 09/2017 29
Technical Data

Power Stage Data - Drive-Specific

Data for Single-Phase Devices at 115 Vac

LXM32•... U45M2 U90M2 D18M2 D30M2

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

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

Power dissipation(5) W 7 15 28 33

Maximum inrush current(6) A 111 161 203 231

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

Input current (3) Arms 2.6 5.2 9.9 9.9

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

Power dissipation(5) W 8 16 32 33

Maximum inrush current(6) A 22 48 56 61

Time for maximum inrush current ms 3.3 3.1 3.5 3.7
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 52) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

30 0198441113761 09/2017
 Technical Data

Data for Single-Phase Devices at 230 Vac

LXM32•... U45M2 U90M2 D18M2 D30M2

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

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

Power dissipation(5) W 10 18 34 38

Maximum inrush current(6) A 142 197 240 270

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

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

Power dissipation(5) W 11 20 38 42

Maximum inrush current(6) A 42 90 106 116

Time for maximum inrush current ms 3.5 3.2 3.6 4.0
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 52) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

0198441113761 09/2017 31
Technical Data

Data for Three-Phase Devices at 208 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

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

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

Power dissipation(5) W 13 26 48 81 204

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

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

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

Power dissipation(5) W 13 27 51 86 218

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

Time for maximum inrush current ms 1.9 2.6 2.6 3.0 3.6
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 52) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

32 0198441113761 09/2017
 Technical Data

Data for Three-Phase Devices at 400 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

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

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

Power dissipation(5) W 17 37 68 115 283

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

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

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

Power dissipation(5) W 19 40 74 125 308

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

Time for maximum inrush current ms 1.9 2.3 2.3 2.6 3.0
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 52) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

0198441113761 09/2017 33
Technical Data

Data for Three-Phase Devices at 480 Vac

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

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

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

Power dissipation(5) W 20 42 76 129 315

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

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

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

Power dissipation(5) W 21 44 82 137 341

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

Time for maximum inrush current ms 1.9 2.4 2.4 2.7 3.2
(1) As per IEC 60269; Circuit breakers with B or C characteristic; See chapter Conditions for UL 508C and CSA
(see page 52) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse
does not trip at the specified input current.
(2) At a mains impedance corresponding to a short-circuit current of the supply mains of 5 kA
(3) At nominal power and nominal voltage
(4) with reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value
approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time

34 0198441113761 09/2017
 Technical Data

Peak Output Currents

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

Peak output current with hardware version <RS03: 1 second

0198441113761 09/2017 35
Technical Data

DC Bus Data

DC Bus Data for Single-Phase Devices

LXM32•... U45M2 U90M2 D18M2 D30M2

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

DC Bus Data for Three-Phase Devices

LXM32•... U60N4 D12N4 D18N4

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

LXM32•... D30N4 D72N4

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

36 0198441113761 09/2017
 Technical Data

Controller Supply Voltage 24V

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

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

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

Controller Supply in the Case of Motor with Holding Brake

If a motor with holding brake is connected, the 24 Vdc controller supply must be adjusted according to the
connected motor type, the motor cable length and the cross section of the wires for the holding brake. The
following diagram applies to the motor cables available as accessories, see chapter Accessories and
Spare Parts (see page 423). See the diagram for the voltage that must be available at CN2 for releasing
the holding brake. The voltage tolerance is ±5 %.
Controller supply in the case of motor with holding brake: the voltage depends on the motor type, the motor
cable length and the conductor cross section.

1 Maximum voltage of controller supply

0198441113761 09/2017 37
Technical Data

Signals

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

Logic type Active state

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

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

Analog Input Signals

Voltage range of differential input circuit V -10 ... 10

Input resistance, typical kΩ 20
Resolution 14 bits
Sampling period ms 0.25

Digital Input Signals 24 V

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

Input voltage - positive logic

Level 0 Vdc -3 ... 5
Level 1 Vdc 15 ... 30
Input voltage - negative logic (at 24 Vdc)
Level 0 Vdc >19
Level 1 Vdc <9
Input current (at 24 Vdc) mA 5
Debounce time (software)(1)(2) ms 1.5 (default value)

Hardware switching time

Rising edge (level 0 -> 1) µs 15
Falling edge (level 1 -> 0) µs 150
Jitter (capture inputs) µs <2
(1) Adjustable via parameter (sampling period 250µs)
(2) If the capture inputs are used for capture then the debounce time is not applied.

38 0198441113761 09/2017
 Technical Data

Digital Output Signals 24 V

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

Nominal supply voltage Vdc 24

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

Input Signals Safety Function STO

The inputs for the safety function STO (inputs STO_A and STO_B) can only be wired for positive logic.
Observe the information provided in chapter Safety function STO ("Safe Torque Off") (see page 81).

Input voltage - positive logic

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

Holding Brake Output CN11

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

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

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

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

Output voltage for encoder V 10

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

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

0198441113761 09/2017 39
Technical Data

Output PTO (CN4)

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.

The signal level corresponds to RS422. 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

Output Signal PTO

The PTO output signals comply with the RS422 interface specification.

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.

40 0198441113761 09/2017
 Technical Data

Input PTI (CN5)

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 Hz 0 0 0
position synchronization
Minimum input frequency with method Hz 100 100 100
velocity 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

0198441113761 09/2017 41
Technical Data

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

A Pin 7 Reserved Reserved PULSE(24)
ENC_A(24)
CW(24)
Pin 8 Reserved Reserved DIR(24)
ENC_B(24)
CCW(24
B Pin 1 PULSE(5) PULSE(5) Reserved
ENC_A(5) ENC_A(5)
CW(5) CW(5)
Pin4 DIR(5) DIR(5) Reserved
ENC_B(5) ENC_B(5)
CCW(5) CCW(5)
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.

42 0198441113761 09/2017
 Technical Data

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

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

Times for pulse/direction Minimum value

Cycle duration A, B 1 μs (1)
Pulse duration 0.4 μs (2)
Lead time (A, B) 200 ns (3)

0198441113761 09/2017 43
Technical Data

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

Cycle duration (pulse) 1 μs (1)
Pulse duration (pulse) 0.4 μs (2)
Lead time (Dir-Pulse) 0 μs (3)
Hold time (Pulse-Dir) 0.4 μs (4)

44 0198441113761 09/2017
 Technical Data

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

Cycle duration CW, CCW 1 μs (1)
Pulse duration 0.4 μs (2)
Lead time (CW-CCW, 0 μs (3)
CCW-CW)

0198441113761 09/2017 45
Technical Data

Braking Resistor

Internal Braking Resistor

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

LXM32•... U45M2 U90M2 D18M2 D30M2

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

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

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

Maximum continuous power external W 200 500 800 1500 3000

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

46 0198441113761 09/2017
 Technical Data

LXM32•... U60N4 D12N4 D18N4 D30N4 D72N4

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

External Braking Resistors (Accessories)

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

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

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

0198441113761 09/2017 47
Technical Data

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

48 0198441113761 09/2017
 Technical Data

Electromagnetic Emission

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

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

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

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

NOTE: The following information as per IEC 61800-3 applies if you operate this equipment with a
configuration which does not meet the limits of category C1:

“In a domestic environment this product may cause radio interference in which case supplementary
mitigation measures may be required.”

As a machine designer or system integrator, you may need to include this information in the documentation
to your customer.

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

Emission type Category Category

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

0198441113761 09/2017 49
Technical Data

EMC Categories With External Mains Filter

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

Emission type Category Category

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

Assignment of External Mains Filters

Single-phase drives Mains filter reference

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

Three-phase drives Mains filter reference

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

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

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

50 0198441113761 09/2017
 Technical Data

Non-Volatile Memory and Memory Card

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

Characteristic Value
Minimum number of writing cycles 100000
Type EEPROM

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

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

Memory Card Holder

The following table shows characteristics for the memory card holder:

Characteristic Value
Minimum number of plug-in cycles 5000

0198441113761 09/2017 51
Technical Data

Conditions for UL 508C and CSA

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

Ambient Temperature During Operation

Surrounding air temperature °C 0 ... 50

(°F) (32 ... 122)

Fuses
Use fuses as per UL 248.

LXM32•... •••M2 •••N4

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

Short-Circuit Current Rating (SCCR)

LXM32•... •••M2 •••N4

Short-circuit current rating kA 12 12
(SCCR)

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

400/480 V Three-Phase Devices

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

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

Motor Overload Protection

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

52 0198441113761 09/2017
 Technical Data

Certifications

Product certifications:

Certified by Assigned number

TÜV Nord SAS-192/2008TB-1
UL E116875
CSA 2320425

0198441113761 09/2017 53
Technical Data

54 0198441113761 09/2017
 Lexium 32C
Engineering
0198441113761 09/2017

Chapter 3
Engineering

Engineering

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
3.1 Electromagnetic Compatibility (EMC) 56
3.2 Cables and Signals 62
3.3 Mains Supply 71
3.4 Rating the Braking Resistor 75
3.5 Functional Safety 81

0198441113761 09/2017 55
Engineering

Section 3.1
Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

What Is in This Section?

This section contains the following topics:
Topic Page
General 57
Deactivating the Y Capacitors 61

56 0198441113761 09/2017
 Engineering

General

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

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

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

See chapter Electromagnetic Emission (see page 49) for the EMC categories.

0198441113761 09/2017 57
Engineering

Overview of wiring with EMC details

58 0198441113761 09/2017
 Engineering

EMC Requirements for the Control Cabinet

EMC measures Objective

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

Shielded Cables

EMC measures Objective

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

Cable Installation

EMC measures Objective

Do not route fieldbus cables and signal wires in a single cable duct together with lines Reduces mutual
with DC and AC voltages of more than 60 V. (Fieldbus cables, signal lines and analog interference
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 cable loops, use short Reduces capacitive
cables from the central grounding point in the control cabinet to the external ground and inductive
connection. interference.
Use equipotential bonding conductors in the following cases: wide-area installations, Reduces current in the
different voltage supplies and installation across several buildings. cable shield, reduces
emissions.
Use fine stranded equipotential bonding conductors. Diverts high-frequency
interference currents.
If motor and machine are not conductively connected, for example by an insulated flange Reduces emissions,
or a connection without surface contact, you must ground the motor with a ground strap increases immunity.
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.

0198441113761 09/2017 59
Engineering

Motor and Encoder Cables

Motor and encoder cables require particular attention in terms of EMC. Use only pre-assembled cables
(see chapter Accessories and Spare Parts (see page 423)) or cables that comply with the specifications
(see chapter Cables and Signals (see page 62)) and implement the EMC measures described below.

EMC measures Objective

Do not install switching elements in motor cables or encoder cables. Reduces interference.
Route the motor cable at a distance of at least 20 cm (7.87 in) from Reduces mutual
the signal cable or use shielding plates between the motor cable and interference
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 Improves the EMC limit values.
shielding.

60 0198441113761 09/2017
 Engineering

Deactivating the Y Capacitors

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

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

0198441113761 09/2017 61
Engineering

Section 3.2
Cables and Signals

Cables and Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Cables - General 63
Overview of the Required Cables 65
Cable Specifications 66
Logic Type 69
Configurable Inputs and Outputs 70

62 0198441113761 09/2017
 Engineering

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.
 Shields of the analog cable and the I/O wires to CN6SHLD.
 Other cables: The shields are connected to the shield connection at the bottom of the device.
 Alternative: Connect the shield via shield clamps and rail, for example.

Equipotential Bonding Conductors

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

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

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

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

Conductor Cross Sections According to Method of Installation

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

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

0198441113761 09/2017 63
Engineering

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.

64 0198441113761 09/2017
 Engineering

Overview of the Required Cables

The properties of the required cables are listed in the table below. Use pre-assembled cables to reduce
the risk of wiring errors. Pre-assembled cables can be found in chapter Accessories and Spare Parts
(see page 423). If the product is used to comply with the requirements as per UL 508C, the conditions
specified in chapter Conditions for UL 508C and CSA (see page 52) must be met.

Maximum length: Minimum cross section Shielded, both Twisted PELV

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

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

Power stage supply − −(2)

Motor phases −(3) −(4) Required
External braking resistor 3 m (9.84 ft) As power stage supply Required
Motor encoder 100 m (328.01 ft) 2
6 * 0.14 mm and Required Required Required
2 * 0.34 mm2
(6 * AWG 24 and
2 * AWG 20)
A/B signals 100 m (328.08 ft) 0.25 mm2 (AWG 22) Required Required Required
PULSE / DIR signals 100 m (328.08 ft) 2
0.14 mm (AWG 24) Required Required Required
CW/CCW signals 100 m (328.08 ft) 2
0.14 mm (AWG 24) Required Required Required
ESIM 100 m (328.08 ft) 2
0.14 mm (AWG 24) Required Required Required
Analog inputs 10 m (32.81 ft) 2
0.14 mm (AWG 24) Required Required Required
Digital inputs / outputs 30 m (98.43 ft) 2
0.14 mm (AWG 24) Required
PC, commissioning 20 m (65.62 ft) 0.14 mm2 (AWG 24) Required Required Required
interface
(1) Note the installation requirements (protected cable installation), see chapter Safety function STO ("Safe Torque
Off") (see page 81).
(2) See Connection Power Stage Supply (CN1) (see page 108)
(3) Length depends on the required limit values for conducted interference.
(4) See Connection Motor Phases and Holding Brake (CN10 and CN11) (see page 101)

0198441113761 09/2017 65
Engineering

Cable Specifications

Using pre-assembled cables helps to reduce the possibility of wiring errors. See chapter Accessories and
Spare Parts (see page 423).
The genuine accessories have the following properties:

Motor Cable With Connector

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

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

Motor Cable Without Connector

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

Cable jacket, insulation PUR orange (RAL PUR orange (RAL 2003), polypropylene (PP)
2003), TPM
Capacitance power wires
Wire/wire pF/m 80 80 80 90 85 100
Wire/shield pF/m 145 135 150 150 150 160
Number of contacts (4 x 1 mm2 + (4 x 1.5 mm2 + (4 x 2.5 mm2 + (4 x 4 mm2 + (4 x 6 mm2 + (4 x 10 mm2 +
(shielded) 2 x (2 x 0.75 mm )) (2 x 1 mm2))
2 (2 x 1 mm2)) (2 x 1 mm2)) (2 x 1 mm2)) (2 x 1 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 ± 0.01) (0.47 ± 0.01) (0.55 ± 0.01) (0.64 ± 0.01) (0.74 ± 0.02) (0.93 ± 0.02)
Minimum bend radius with 10 times the cable 5 times the cable diameter
fixed installation diameter
Minimum bend radius with 10 times the cable 7.5 times the cable diameter 10 times the cable diameter
moving installation diameter

66 0198441113761 09/2017
 Engineering

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

Nominal voltage V
Motor phases 1000 600
Holding brake 1000 300
Maximum orderable length m (ft) 100 (328)
Permissible temperature °C (°F) -40 ... 80 (-40 ... 176)
range during operation with
fixed installation
Permissible temperature °C (°F) -20 ... 60 (-4 ... 140) -20 ... 80 (-4 ... 176)
range during operation with
moving installation
Certifications / declaration of CE, c-UR-us, DESINA
conformity

Encoder Cable With and Without Connectors

VW3... M8100R••• M8102R••• M8222R•••

Cable jacket, insulation PUR green (RAL 6018), polypropylene (PP)
Capacitance pF/m Approx. 135 (wire/wire)
Number of contacts (shielded) (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2)
Connector motor side 12-pin circular Y-TEC 12-pin circular M23 Open
Connector drive side 10-pin RJ45 10-pin RJ45 Open
Cable diameter mm 6.8 ± 0.2
(in) (0.27 ± 0.1)
Minimum bend radius mm 68
(in) (2.68)
Nominal voltage V 300
Maximum orderable length m 25 75 100
(ft) (82) (246) (328)
Permissible temperature range °C (°F) -40 ... 80 (-40 ... 176)
during operation with fixed
installation
Permissible temperature range °C (°F) -20 ... 80 (-4 ... 176)
during operation with moving
installation
Certifications / declaration of DESINA c-UR-us, DESINA
conformity

0198441113761 09/2017 67
Engineering

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)

68 0198441113761 09/2017
 Engineering

Logic Type

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

Logic type Active state

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

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

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

Selection of the Logic Type

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

Special Case: Safety Function STO

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

0198441113761 09/2017 69
Engineering

Configurable Inputs and Outputs

This product has digital inputs and outputs that can be configured for specific functional assignments. The
inputs and outputs have a defined standard assignment depending on the operating mode. This
assignment can be adapted to the requirements of the customer's installation. See chapter Digital Inputs
and Outputs (see page 196) for additional information.

70 0198441113761 09/2017
 Engineering

Section 3.3
Mains Supply

Mains Supply

What Is in This Section?

This section contains the following topics:
Topic Page
Residual Current Device 72
Common DC Bus 73
Mains Reactor 74

0198441113761 09/2017 71
Engineering

Residual Current Device

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

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

Further conditions for use of a residual current device:

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

72 0198441113761 09/2017
 Engineering

Common DC Bus

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

Requirements for Use

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

0198441113761 09/2017 73
Engineering

Mains Reactor

A mains reactor must be used under the following conditions:

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

74 0198441113761 09/2017
 Engineering

Section 3.4
Rating the Braking Resistor

Rating the Braking Resistor

What Is in This Section?

This section contains the following topics:
Topic Page
Internal Braking Resistor 76
External Braking Resistor 77
Rating Information 78

0198441113761 09/2017 75
Engineering

Internal Braking Resistor

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

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

76 0198441113761 09/2017
 Engineering

External Braking Resistor

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

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

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

Selection of the External Braking Resistor

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

R = Resistance in Ω
U = Switching threshold for braking resistor V
Pmax = Required peak power in W
If 2 or more braking resistors are connected to one drive, note the following criteria:
 The total resistance of all connected regenerative resistors must comply with the approved resistance.
 The braking resistors can be connected in parallel or in series. Only connect braking resistors with
identical resistance in parallel in order to evenly distribute the load to the braking resistors.
 The total continuous power of all connected braking resistors result must be greater than or equal to the
required continuous power.
Use only resistors that are specified as braking resistors. For suitable braking resistors, see chapter
Accessories and Spare Parts (see page 423).

Mounting and Commissioning of an External Braking Resistor

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

0198441113761 09/2017 77
Engineering

Rating Information

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

Internal Energy Absorption

Braking energy is absorbed internally by:
 DC bus capacitor Evar
 Internal braking resistor EI
 Electrical losses of the drive Eel
 Mechanical losses of the drive Emech
Values for the energy absorption Evar can be found in chapter Braking Resistor (see page 46).

Internal Braking Resistor

Two characteristic values determine the energy absorption of the standard braking resistor.
 The continuous power PPR is the amount of energy that can be continuously absorbed without
overloading the braking resistor.
 The maximum energy ECR limits the maximum short-term power that can be absorbed.
If the continuous power was exceeded for a specific time, the braking resistor must remain without load for
a corresponding period.
The characteristic values PPR and ECR of the internal braking resistor can be found in chapter Braking
Resistor (see page 46).

Electrical Losses Eel

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

Mechanical Losses Emech

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

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

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

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

78 0198441113761 09/2017
 Engineering

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

Rating the External Braking Resistor

Characteristic curves for rating the braking resistor

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

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

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

0198441113761 09/2017 79
Engineering

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

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

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

 If the conditions are not met, you must use an external braking resistor that meets the conditions.
For order data for the external braking resistors, see chapter Accessories and Spare Parts (see page 423).

80 0198441113761 09/2017
 Engineering

Section 3.5
Functional Safety

Functional Safety

What Is in This Section?

This section contains the following topics:
Topic Page
Basics 82
Definitions 85
Function 86
Requirements for Using the Safety Function 87
Application Examples STO 89

0198441113761 09/2017 81
Engineering

Basics

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

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

Hazard and Risk Analysis

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

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

The EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems - Part 1: General
Principles for Design describes an iterative process for the selection and design of safety-related parts of
controllers to reduce the risk to the machine to a reasonable degree.

82 0198441113761 09/2017
 Engineering

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

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

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

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

Safety Integrity Level (SIL)

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

Average Frequency of a Dangerous Failure per Hour (PFH)

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

SIL PFH at high demand or continuous demand

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

0198441113761 09/2017 83
Engineering

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.

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

Lifetime of the safety function STO Years 20

(IEC 61508)(1)
SFF (IEC 61508) % 90
Safe Failure Fraction
HFT (IEC 61508) 1
Hardware Fault Tolerance
Type A subsystem
Safety integrity level
IEC 61508 SIL3
IEC 62061 SILCL3
PFH (IEC 61508) 1/h 1*10-9
Probability of Dangerous Hardware Failure per (FIT) (1)
Hour
PL (ISO 13849-1) e (category 3)
Performance Level
MTTFd (ISO 13849-1) Years >100
Mean Time to Dangerous Failure
DC (ISO 13849-1) % 90
Diagnostic Coverage
(1) See chapter Lifetime Safety Function STO (see page 441).

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

84 0198441113761 09/2017
 Engineering

Definitions

Integrated Safety Function "Safe Torque Off" STO

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

Category 0 Stop (IEC 60204-1)

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

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

Category 1 Stop (IEC 60204-1)

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

0198441113761 09/2017 85
Engineering

Function

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

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

86 0198441113761 09/2017
 Engineering

Requirements for Using the Safety Function

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

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

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

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

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

Holding Brake and Safety Function STO

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

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

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

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

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

0198441113761 09/2017 87
Engineering

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

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

Degree of Protection when the Safety Function is Used

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

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

Protected Cable Installation

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

88 0198441113761 09/2017
 Engineering

Application Examples STO

Example of Category 0 stop

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

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

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

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

If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external brake may also be required. See Holding Brake and Safety Function STO
(see page 87).

0198441113761 09/2017 89
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, for
example by means of the function "Halt". After the time delay set in the EMERGENCY STOP safety relay
module has elapsed, the EMERGENCY STOP safety relay triggers the safety function STO.
The safety function STO is triggered via a simultaneous 0-level at both inputs (time offset of less than 1 s).
The power stage is disabled and an error of error class 3 is detected. The motor can no longer generate
torque.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external brake may also be required. See Holding Brake and Safety Function STO
(see page 87).

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

90 0198441113761 09/2017
 Lexium 32C
Installation
0198441113761 09/2017

Chapter 4
Installation

Installation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Mechanical Installation 92
4.2 Electrical Installation 97
4.3 Verifying Installation 123

0198441113761 09/2017 91
Installation

Section 4.1
Mechanical Installation

Mechanical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Before Mounting 93
Mounting the Drive 95

92 0198441113761 09/2017
 Installation

Before Mounting

An engineering phase is mandatory prior to mechanical and electrical installation. See chapter Engineering
(see page 55) for basic information.

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

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

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

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

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

0198441113761 09/2017 93
Installation

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.

Inspecting the Product

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

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

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

94 0198441113761 09/2017
 Installation

Mounting the Drive

Attaching a Hazard Label with Safety Instructions

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

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

Mounting Distances, Ventilation

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

0198441113761 09/2017 95
Installation

Free space a mm ≥100

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

Mounting the Device

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

96 0198441113761 09/2017
 Installation

Section 4.2
Electrical Installation

Electrical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Procedure 98
Connection Overview 99
Connection Grounding Screw 100
Connection Motor Phases and Holding Brake (CN10 and CN11) 101
Connection DC Bus (CN9, DC Bus) 105
Connection Braking Resistor (CN8, Braking Resistor) 106
Connection Power Stage Supply (CN1) 108
Connection Motor Encoder (CN3) 111
Connection PTO (CN4, Pulse Train Out) 113
Connection PTI (CN5, Pulse Train In) 114
Connection Controller Supply and STO (CN2, DC Supply and STO) 117
Connection Analog Inputs (CN6) 119
Connection Digital Inputs and Outputs (CN6) 120
Connection PC with Commissioning Software (CN7) 122

0198441113761 09/2017 97
Installation

Overview of Procedure

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

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

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

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

The entire installation procedure must be performed without voltage present.

98 0198441113761 09/2017
 Installation

Connection Overview

Connection Assignment
CN1 Power stage supply
CN2 24 controller 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 Analog inputs and digital inputs/outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus connection for parallel operation
CN10 Motor phases
CN11 Holding brake

0198441113761 09/2017 99
Installation

Connection Grounding Screw

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

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

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

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

LXM32•... U45, U60, U90, D12, D18,

D30, D72
Tightening torque of grounding Nm 3.5
screw (lb.in) (31)

100 0198441113761 09/2017

 Installation

Connection Motor Phases and Holding Brake (CN10 and CN11)

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

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

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

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

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

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

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

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -
PELV: The wires for the holding brake must be PELV-
compliant.
Cable composition: 3 wires for motor phases
2 wires for holding brake
The conductors must have a sufficiently large cross
section so that the fuse at the mains connection can
trip if required.
Maximum cable length: Depends on the required limit values for conducted
interference, see chapter Electromagnetic Emission
(see page 49).

0198441113761 09/2017 101

Installation

Note the following information:

 You may only connect the original motor cable (with two wires for the holding brake).
 The wires for the holding brake must also be connected to the device at connection CN11 in the case
of motors without holding brakes. At the motor end, connect the wires to the appropriate pins for the
holding brake; the cable can then be used for motors with or without holding brake. If you do not connect
the wires at the motor end, you must isolate each wire individually (inductive voltages).
 Observe the polarity of the holding brake voltage.
 The voltage for the holding brake depends on the controller supply (PELV). Observe the tolerance for
the controller supply and the specified voltage for the holding brake, see chapter Controller Supply
Voltage 24V (see page 37).
 Use pre-assembled cables to reduce the risk of wiring errors, see chapter Accessories and Spare Parts
(see page 423).
The optional holding brake of a motor is connected to connection CN11. The integrated holding brake
controller releases the holding brake when the power stage is enabled. When the power stage is disabled,
the holding brake is re-applied.

Properties of the Connection Terminals CN10

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

LXM32•... U45, U60, U90, D12, D72

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

Properties of the Connection Terminals CN11

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

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

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

102 0198441113761 09/2017

 Installation

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

1 Strip the cable jacket, length A.

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

A mm (in) 140 (5.51)

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

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

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

0198441113761 09/2017 103

Installation

Wiring Diagram Motor and Holding Brake

Wiring diagram motor with holding brake

Connection Meaning Color

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

Connecting the Motor Cable

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

104 0198441113761 09/2017

 Installation

Connection DC Bus (CN9, DC Bus)

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

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

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

Requirements for Use

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

0198441113761 09/2017 105

Installation

Connection Braking Resistor (CN8, Braking Resistor)

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

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

Internal Braking Resistor

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

External Braking Resistor

An external braking resistor is required for applications in which the motor must be decelerated quickly and
the internal braking resistor cannot absorb the excess braking energy.
Selection and rating of the external braking resistor are described in chapter Rating the Braking Resistor
(see page 75). For suitable braking resistors, see chapter Accessories and Spare Parts (see page 423).

Cable Specifications

Shield: Required, both ends grounded

Twisted Pair: -
PELV: -
Cable composition: Minimum conductor cross section:
Same cross section as power stage
supply, see chapter Connection
Power Stage Supply (CN1)
(see page 108).
The conductors must have a
sufficiently large cross section so
that the fuse at the mains connection
can trip if required.
Maximum cable length: 3 m (9.84 ft)

Properties of the Connection Terminals CN8

LXM32•... U45, U60, U90, D12, D18,

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

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

106 0198441113761 09/2017

 Installation

Wiring Diagram

Connecting the External Braking Resistor

 Verify that no voltages are present.
 Remove the cover from the connection.
 Ground the ground connection (PE) of the braking resistor.
 Connect the external braking resistor to the device. Note the tightening torque specified for the terminal
screws.
 Connect the cable shield to the shield connection at the bottom of the device (large surface area
contact).
The parameter RESint_ext is used to switch between the internal and an external braking resistor. See
chapter Setting the Braking Resistor Parameters (see page 161) for the parameter settings for the braking
resistor. Verify correct operation of the braking resistor during commissioning.

0198441113761 09/2017 107

Installation

Connection Power Stage Supply (CN1)

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

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

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

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

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

Cable Specifications

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

108 0198441113761 09/2017

 Installation

Properties of Connection Terminals CN1

LXM32•... U45, U60, D72

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

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

Prerequisites for Connecting the Power Stage Supply

Note the following information:
 Three-phase devices may only be connected and operated via three phases.
 Use upstream mains fuses.
 If you use an external mains filter, the mains cable must be shielded and grounded at both ends if the
length between the external mains filter and the device exceeds 200 mm (7.87 in).
 See page Conditions for UL 508C and CSA (see page 52) for a UL-compliant design.

Power Stage Supply Single-Phase Device

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

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive

Wiring diagram power stage supply for single-phase device.

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

0198441113761 09/2017 109

Installation

Power Stage Supply Three-Phase Device

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

1 Mains reactor (accessory)

2 External mains filter (accessory)
3 Drive

Wiring diagram power stage supply for three-phase device.

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

110 0198441113761 09/2017

 Installation

Connection Motor Encoder (CN3)

Function and Encoder Type

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

Cable Specifications

Shield: Required, both ends grounded

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

Use pre-assembled cables to reduce the risk of wiring errors, see chapter Accessories and Spare Parts
(see page 423).

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.

0198441113761 09/2017 111

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.
Route the cables from the motor and the encoder to the device (starting from the motor). Due to the pre-
assembled connectors, this direction is often faster and easier.

112 0198441113761 09/2017

 Installation

Connection PTO (CN4, Pulse Train Out)

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
device. The signal level corresponds to RS422, see chapter Output PTO (CN4) (see page 40). 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 chapter Accessories and Spare Parts
(see page 423).

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
7 4 Reference potential
8 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 device (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.

0198441113761 09/2017 113

Installation

Connection PTI (CN5, Pulse Train In)

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 chapter Input PTI (CN5) (see page 41). 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 chapter Accessories and Spare Parts
(see page 423).

114 0198441113761 09/2017

 Installation

Connection Assignment PTI 5 V

Wiring diagram Pulse Train In (PTI) 5 V

P/D signals 5 V

Pin Signal Pair Meaning

1 PULSE(5) 2 Pulse 5V
2 PULSE 2 Pulse, inverted
4 DIR(5) 1 Direction 5V
5 DIR 1 Direction, inverted

A/B signals 5 V

Pin Signal Pair Meaning

1 ENC_A(5) 2 Encoder channel A 5V
2 ENC_A 2 Encoder channel A, inverted
4 ENC_B(5) 1 Encoder channel B 5V
5 ENC_B 1 Encoder channel B, inverted

CW/CCW signals 5 V

Pin Signal Pair Meaning

1 CW(5) 2 Pulse positive 5V
2 CW 2 Pulse positive, inverted
4 CCW(5) 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.

0198441113761 09/2017 115

Installation

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(24) A Pulse 24V
2 PULSE A Pulse, inverted
8 DIR(24) B Direction 24V
5 DIR B Direction, inverted

A/B signals 24 V

Pin Signal Pair Meaning

7 ENC_A(24) A Encoder channel A 24V
2 ENC_A A Encoder channel A, inverted
8 ENC_B(24) B Encoder channel B 24V
5 ENC_B B Encoder channel B, inverted

CW/CCW signals 24 V

Pin Signal Pair Meaning

7 CW(24) A Pulse positive 24V
2 CW A Pulse positive, inverted
8 CCW(24) 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.

116 0198441113761 09/2017

 Installation

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

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

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

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

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

Safety Function STO

Information on the signals of the safety function STO can be found in chapter Safety function STO ("Safe
Torque Off") (see page 81). If the safety function is not required, the inputs STO_A and STO_B must be
connected to +24VDC.

Cable Specifications CN2

Shield: -(1)
Twisted Pair: -
PELV: Required
Minimum conductor cross section: 0.75 mm2 (AWG 18)
Maximum cable length: 100 m (328 ft)
(1) See chapter Safety function STO ("Safe Torque Off") (see page 81)

Properties of Connection Terminals CN2

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

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

0198441113761 09/2017 117

Installation

Permissible Terminal Current of Controller Supply

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

Wiring Diagram

Pin Signal Meaning

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

Connecting the Safety Function STO

 Verify that wiring, cables and connected interfaces meet the PELV requirements.
 Connect the safety function in accordance with the specifications in chapter Safety function STO ("Safe
Torque Off") (see page 81).

Connecting the Controller Supply

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

118 0198441113761 09/2017

 Installation

Connection Analog Inputs (CN6)

Cable Specifications

Shield: Required, grounded at the device,

other end isolated or grounded via
capacitor (for example, 10nF)
PELV: Required
Cable composition: 2 * 2 * 0.25 mm2, (2 * 2 * AWG 22)
Maximum cable length: 10 m (32.8 ft)

Properties of Connection Terminals CN6

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

Wiring Diagram

Signal Meaning
AI1+ Analog input 1, ±10 V
AI1- Reference potential to AI1+
AI2+ Analog input 2, ±10 V
AI2- Reference potential to AI2+
SHLD Shield connection

The connectors are coded. Verify correct assignment when connecting them.

Reference Values and Limits

The ±10 V scaling of the analog reference values and analog limits can be specified for operation, see
chapter Analog Inputs (see page 149).

Connecting the Analog Inputs

 Wire the analog inputs at CN6.
 Ground the shield to SHLD.
 Verify that the connector locks snap in properly.

0198441113761 09/2017 119

Installation

Connection Digital Inputs and Outputs (CN6)

The device has configurable inputs and configurable outputs. The standard assignment and the
configurable assignment depend on the selected operating mode. For more information, see chapter
Digital Inputs and Outputs (see page 196).

Cable Specifications

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

Properties of Connection Terminals CN6

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

Wiring Diagram

Signal Meaning
DI_COM Reference potential to DI0 ... DI5
DQ_COM Reference potential to DQ0 ... DQ4
DQ0 Digital output 0
DQ1 Digital output 1
DQ2 Digital output 2
DQ3 Digital output 3
DQ4 Digital output 4
DI0 Digital input 0
DI1 Digital input 1
DI2 Digital input 2
DI3 Digital input 3
DI4 Digital input 4
DI5 Digital input 5

The connectors are coded. Verify correct assignment when connecting them.
The configuration and the standard assignment of the inputs and outputs are described in chapter Digital
Inputs and Outputs (see page 196).

120 0198441113761 09/2017

 Installation

Connecting the Digital Inputs/Outputs

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

0198441113761 09/2017 121

Installation

Connection PC with Commissioning Software (CN7)

A PC with the commissioning software Lexium DTM Library can be connected for commissioning. The PC
is connected via a bidirectional USB/RS485 converter, see chapter Accessories and Spare Parts
(see page 423).
If the commissioning interface at the product is directly connected to an Ethernet interface at the PC, the
PC interface may be damaged and rendered inoperable.

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

Cable Specifications

Shield: Required, both ends grounded

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

Wiring Diagram

Pin Signal Meaning

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

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

 Verify that the connector locks snap in properly.

122 0198441113761 09/2017

 Installation

Section 4.3
Verifying Installation

Verifying Installation

Verifying Installation

Verify proper installation:

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

0198441113761 09/2017 123

Installation

124 0198441113761 09/2017

 Lexium 32C
Commissioning
0198441113761 09/2017

Chapter 5
Commissioning

Commissioning

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Overview 126
5.2 Integrated HMI 131
5.3 External graphic display terminal 140
5.4 Commissioning Procedure 145
5.5 Controller Optimization with Step Response 168
5.6 Parameter Management 179

0198441113761 09/2017 125

Commissioning

Section 5.1
Overview

Overview

What Is in This Section?

This section contains the following topics:
Topic Page
General 127
Preparation 130

126 0198441113761 09/2017

 Commissioning

General

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

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

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

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

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

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

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

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

0198441113761 09/2017 127

Commissioning

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, like for example, a falling load in the case of vertical axes.

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

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

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

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

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

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

128 0198441113761 09/2017

 Commissioning

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

0198441113761 09/2017 129

Commissioning

Preparation

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

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

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

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

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

Connecting a PC
A PC with commissioning software can be connected for commissioning. The PC is connected to a
bidirectional USB/RS485 converter, see chapter Accessories and Spare Parts (see page 423).

130 0198441113761 09/2017

 Commissioning

Section 5.2
Integrated HMI

Integrated HMI

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Integrated HMI 132
Menu Structure 134
Making Settings 139

0198441113761 09/2017 131

Commissioning

Overview of Integrated HMI

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

Overview

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

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

Character Set on the HMI

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

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

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

132 0198441113761 09/2017

 Commissioning

Indication of the Device Status

1 Four status LEDs

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

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

Fault Edit Value Unit Meaning

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

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

LED Meaning
Op Operation
Mon Status information
Conf Configuration

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

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

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

0198441113761 09/2017 133

Commissioning

Menu Structure

Overview
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 op→jog-.

134 0198441113761 09/2017

 Commissioning

HMI menu op Description

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

HMI menu Jog- Description

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

HMI menu tun- Description

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

HMI menu Mon Description

Mon Monitoring (Monitoring)
Supu HMI display when motor moves
nact Actual speed of rotation
Vact Actual velocity
nref Reference speed of rotation
Vref Reference velocity
Qref Reference motor current (q component, generating torque)
qact Actual motor current (q component, generating torque)
iact Total motor current
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

0198441113761 09/2017 135

Commissioning

HMI menu Conf 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 INF- Description

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

HMI menu acg- Description

acg- Axis configuration (Axis Configuration)
io-m Operating Mode
ioae Enabling the power stage at PowerOn
inmo Inversion of direction of movement
qabs Simulation of absolute position at power cycling
iogm Processing mode for operating mode Electronic Gear
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
iojg Selection of jog method
ioms Operating mode for signal input function Operating Mode Switch
Card Memory card management

HMI menu DRC- Description

drC- Device configuration (DRive Configuration)
nmax Velocity limitation
imax Current limitation

136 0198441113761 09/2017

 Commissioning

HMI menu DRC- Description

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
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
do3 Function Output DQ3
do4 Function Output DQ4
a1mo Analog 1: Type of usage
a1wn Analog 1: Zero voltage window
a1of Analog 1: Offset voltage
a1il Analog 1: Limitation of current at 10 V
a1is Analog 1: Target torque at 10 V in operating mode Profile Torque
a1ft Analog 1: Filter time constant
a2mo Analog 2: Type of usage
A2wn Analog 2: Zero voltage window
A2of Analog 2: Offset voltage
A2il Analog 2: Limitation of current at 10 V
A2is Analog 2: Target torque at 10 V in operating mode Profile Torque
A2ft Analog 2: Filter time constant
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 FLT- Description

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

0198441113761 09/2017 137

Commissioning

HMI menu Com- Description

Com- Communication (COMmunication)
mbad Modbus address
mbbd Modbus baud rate

HMI menu fcs- Description

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

138 0198441113761 09/2017

 Commissioning

Making Settings

Displaying and Setting Parameters

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

 Go to the parameter imax (iMax).

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

Setting the 7-segment Display

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

0198441113761 09/2017 139

Commissioning

Section 5.3
External graphic display terminal

External graphic display terminal

What Is in This Section?

This section contains the following topics:
Topic Page
Display and Controls 141
Connecting the external graphic display terminal to LXM32 143
Using the external graphic display terminal 144

140 0198441113761 09/2017

 Commissioning

Display and Controls

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

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

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

Display Field (1)

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

1.1 Status information of the drive

1.2 Menu bar
1.3 Data field
1.4 Function bar
1.5 Navigation

Status Information of the Drive (1.1)

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

0198441113761 09/2017 141

Commissioning

Menu Bar (1.2)

The menu bar displays the name of the menu.

Data Field (1.3)

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

Function Bar (1.4)

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

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

Navigation Button (2)

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

Key STOP/RESET (3)

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

Key RUN (4)

The key RUN allows you to start a movement.

Key FWD/REV (5)

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

Key ESC (6)

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

Function Keys F1 ... F4 (7)

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

142 0198441113761 09/2017

 Commissioning

Connecting the external graphic display terminal to LXM32

The external graphic display terminal is an accessory for the drive, see chapter Accessories and Spare
Parts (see page 423). The external graphic display terminal is connected to CN7 (commissioning
interface). Only use the cable shipped with the external graphic display terminal to connect it. If the external
graphic display terminal is connected to LXM32, the integrated HMI is deactivated. The integrated HMI
shows disp (Display).

0198441113761 09/2017 143

Commissioning

Using the external graphic display terminal

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

Example 'Setting the Language'

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

144 0198441113761 09/2017

 Commissioning

Section 5.4
Commissioning Procedure

Commissioning Procedure

What Is in This Section?

This section contains the following topics:
Topic Page
Powering on the Device for the First Time 146
Setting Limit Values 147
Analog Inputs 149
Digital Inputs and Outputs 151
Verifying the Signals of the Limit Switches 152
Verifying the Safety Function STO 153
Holding Brake (Option) 154
Verifying the Direction of Movement 157
Setting Parameters for Encoder 158
Setting the Braking Resistor Parameters 161
Autotuning 163
Enhanced Settings for Autotuning 166

0198441113761 09/2017 145

Commissioning

Powering on the Device for the First Time

Automatic Reading of the Motor Data Record

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

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

Powering On the Device

 Verify that the power stage supply and the controller supply are powered off.
 Power on the controller supply.
The device goes through an initialization routine. The segments of the 7-segment display and the status
LEDs light up.
If a memory card is in the slot of the device, the message CARD is displayed by the 7-segment display
for a short period of time. This indicates that a memory card has been detected. If the message CARD is
permanently displayed by the 7-segment display, there are differences between the content of the memory
card and the parameter values stored in the device. See chapter Memory Card (see page 180) for
additional information.

Restarting the Device

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

Further Steps
 Attach a label to the device that contains information for servicing the device such as fieldbus type and
device address.
 Make the settings described below for commissioning.
NOTE: For more information on the presentation of parameters and a list of all operational parameters of
the drive, see chapter Parameters (see page 355).

146 0198441113761 09/2017

 Commissioning

Setting Limit Values

Setting Limit Values

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

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

Parameter name Description Unit Data type Parameter

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

Default: _PS_I_max at 8 kHz PWM

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

In the case of a Quick Stop, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Quick Stop.

Default: _PS_I_max at 8 kHz PWM

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

0198441113761 09/2017 147

Commissioning

Parameter name Description Unit Data type Parameter

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

In the case of a Halt, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Halt.

Default: _PS_I_max at 8 kHz PWM

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

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

Parameter name Description Unit Data type Parameter

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

148 0198441113761 09/2017

 Commissioning

Analog Inputs

Overview
The two analog inputs are referred to as AI1 and AI2. The following descriptions use the notation AI1
(AI2) if there are no functional differences between the two inputs.
Analog input voltages between -10 Vdc and +10 Vdc can be read via the analog inputs. The current voltage
value at AI1+ (AI2+) can be read with the parameter _AI1_act (_AI2_act).
 Power off the power stage supply.
 Power on the controller supply.
 Apply a voltage in the range from ±10Vdc to the analog input AI1 (AI2).
 Check the applied voltage with the parameter _AI1_act (_AI2_act).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AI1_act Analog 1: Value of input voltage mV INT16 Modbus 2306
Mon -10000 R/-
AnA1 - -
10000 -
_AI2_act Analog 2: Value of input voltage mV INT16 Modbus 2314
Mon -10000 R/-
AnA2 - -
10000 -

Offset and Zero Voltage Window

The parameter AI1_offset (AI2_offset) can be used to define an offset and the parameter AI1_win
(AI2_win) to define a zero voltage window for the input voltage at AI1 (AI2).
This corrected input voltage is the voltage value for the operating modes Profile Torque and Profile Velocity
as well as the read value of the parameter AI1_act (AI1_act).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_offset Analog 1: Offset voltage mV INT16 Modbus 2326
ConF → i The analog input AI1 is corrected/offset by -5000 R/W
-o- the offset value. If you have defined a zero 0 per.
A1oF voltage window, this window is effective in 5000 -
the zero pass range of the corrected analog
input AI1.
Changed settings become active
immediately.
AI2_offset Analog 2: Offset voltage mV INT16 Modbus 2328
ConF → i The analog input AI2 is corrected/offset by -5000 R/W
-o- the offset value. If you have defined a zero 0 per.
A2oF voltage window, this window is effective in 5000 -
the zero pass range of the corrected analog
input AI2.
Changed settings become active
immediately.
AI1_win Analog 1: Zero voltage window mV UINT16 Modbus 2322
ConF → i Threshold value up to which an input 0 R/W
-o- voltage value is treated as 0 V. 0 per.
A1Wn Example: Value 20, this means a range 1000 -
from -20 ... +20 mV is treated as 0 mV.
Changed settings become active
immediately.

0198441113761 09/2017 149

Commissioning

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI2_win Analog 2: Zero voltage window mV UINT16 Modbus 2324
ConF → i Threshold value up to which an input 0 R/W
-o- voltage value is treated as 0 V. 0 per.
A2Wn Example: Value 20, this means a range 1000 -
from -20 ... +20 mV is treated as 0 mV.
Changed settings become active
immediately.

Offset and zero voltage window

1 Input voltage at AI1 (AI2)

2 Voltage value for operating modes Profile Torque and Profile Velocity as well as read value of the parameter
AI1_act (AI2_act)
3 Input voltage without processing
4 Input voltage with offset
5 Input voltage with offset and zero voltage window

150 0198441113761 09/2017

 Commissioning

Digital Inputs and Outputs

The device has configurable inputs and configurable outputs. See chapter Digital Inputs and Outputs
(see page 196) for additional information.
The signal states of the digital inputs and digital outputs can be displayed on the HMI and via the fieldbus.

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

Inputs (parameter _IO_DI_act):

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

Bit Signal
0 DI0
1 DI1
2 DI2
3 DI3
4 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 -MON → domo.
The digital outputs are displayed in a bit-coded way.

Bit Signal
0 DQ0
1 DQ1
2 DQ2
3 DQ3
4 DQ4
5 .. 7 -

0198441113761 09/2017 151

Commissioning

Verifying the Signals of the Limit Switches

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

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

 Set up the limit switches in such a way as to keep the motor from overtraveling the limit switches.
 Trigger the limit switches manually.
If an error message is indicated, the limit switches were triggered.
Parameters can be used to release the limit switches and to set them up as normally closed contacts or
normally open contacts, see chapter Limit Switches (see page 296).

152 0198441113761 09/2017

 Commissioning

Verifying the Safety Function STO

Operation with Safety Function STO

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

Operation without Safety Function STO

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

0198441113761 09/2017 153

Commissioning

Holding Brake (Option)

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

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

Releasing the Holding Brake

When the power stage is enabled, current is applied to the motor. When current is applied to the motor,
the holding brake is automatically released.
Releasing the holding brake requires a certain amount of time. This time is contained in the electronic
nameplate of the motor. Transition to the operating state 6 Operation Enabled is only possible after this
time delay has elapsed.
An additional time delay can be set via parameters, see chapter Additional Time Delay for Releasing the
Holding Brake (see page 154).

Applying the Holding Brake

When the power stage is disabled, the holding brake is automatically applied.
However, applying the holding brake requires a certain amount of time. This time is contained in the
electronic nameplate of the motor. Current remains to be applied to the motor during this time delay.
See chapter Safety function STO ("Safe Torque Off") (see page 81) for additional information on the
behavior of the holding brake when the safety function STO is triggered.
An additional time delay can be set via parameters, see chapter Additional Time Delay for Applying the
Holding Brake (see page 155).

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.

154 0198441113761 09/2017

 Commissioning

Parameter name Description Unit Data type Parameter

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

Additional Time Delay for Applying the Holding Brake

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

Parameter name Description Unit Data type Parameter

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

Verifying the Function of the Holding Brake

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

0198441113761 09/2017 155

Commissioning

Releasing the Holding Brake Manually

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

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

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

Applying the Holding Brake Manually

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

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

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

Releasing the Holding Brake Manually via a Signal Input

In order to release the holding brake via a signal input, you must first parameterize the signal input function
"Release Holding Brake", see chapter Digital Inputs and Outputs (see page 196).

156 0198441113761 09/2017

 Commissioning

Verifying the Direction of Movement

Definition of Direction of Movement

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

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

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

Verifying the Direction of Movement

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

Changing the Direction of Movement

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

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 157

Commissioning

Setting Parameters for Encoder

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

Parameter name Description Unit Data type Parameter

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

Working Range of the Encoder

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

Underrun of Absolute Position

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

158 0198441113761 09/2017

 Commissioning

Adjustment of the Absolute Position

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

Parameter name Description Unit Data type Parameter

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

Singleturn encoder:
0 ... x-1

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

Singleturn encoder (shifted with parameter

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

Multiturn encoder (shifted with parameter

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

Definition of 'x': Maximum position for one

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

If processing is to be performed with

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

Shifting the Working Range

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

Singleturn encoder 0 ... 131071 increments

Multiturn encoder 0 ... 4095 revolutions

0198441113761 09/2017 159

Commissioning

The working range with shift comprises:

Singleturn encoder -65536 ... 65535 increments

Multiturn encoder -2048 ... 2047 revolutions

Parameter name Description Unit Data type Parameter

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

160 0198441113761 09/2017

 Commissioning

Setting the Braking Resistor Parameters

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

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

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

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

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

 Set the parameter RESint_ext to "External Braking Resistor".
 Set the parameters RESext_P, RESext_R and RESext_ton.
See chapter Rating the Braking Resistor (see page 75) for additional information.
If the regenerated power becomes greater than the power that can be absorbed by the braking resistor, an
error message is generated and the power stage is disabled.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RESint_ext Selection of type of braking resistor - UINT16 Modbus 1298
ConF → 0 / Internal Braking Resistor / int: 0 R/W
ACG- Internal braking resistor 0 per.
Eibr 1 / External Braking Resistor / Eht: 2 -
External braking resistor
2 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
RESext_P Nominal power of external braking resistor W UINT16 Modbus 1316
ConF → Setting can only be changed if power stage 1 R/W
ACG- is disabled. 10 per.
Pobr Changed settings become active the next 32767 -
time the power stage is enabled.
RESext_R Resistance value of external braking Ω UINT16 Modbus 1318
ConF → resistor 0.00 R/W
ACG- The minimum value depends on the power 100.00 per.
rbr stage. 327.67 -
In increments of 0.01 Ω.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

0198441113761 09/2017 161

Commissioning

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RESext_ton Maximum permissible switch-on time of ms UINT16 Modbus 1314
ConF → external braking resistor 1 R/W
ACG- Setting can only be changed if power stage 1 per.
tbr is disabled. 30000 -
Changed settings become active the next
time the power stage is enabled.

162 0198441113761 09/2017

 Commissioning

Autotuning

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

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

Autotuning
Autotuning determines the friction torque as a constantly acting load torque and considers it in the
calculation of the moment of inertia of the entire system.
External factors such as a load at the motor are considered. Autotuning optimizes the settings of the control
loop parameters; see chapter Controller Optimization with Step Response (see page 168).
Autotuning also supports vertical axes.

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

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

0198441113761 09/2017 163

Commissioning

If autotuning cancels with an error message, the default values are used. Change the mechanical position
and restart autotuning. If you want to verify the plausibility of the calculated values, you can have them
displayed; see chapter Enhanced Settings for Autotuning (see page 166).

Parameter name Description Unit Data type Parameter

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

The minimum value, the factory setting and

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

The parameter AT_dis_usr allows you to

enter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the next
time the motor moves.
AT_mechanical Type of coupling of the system - UINT16 Modbus 12060
oP → tun- 1 / Direct Coupling: Direct coupling 1 R/W
MECh 2 / Belt Axis: Belt axis 2 -
3 / Spindle Axis: Spindle axis 3 -
Changed settings become active the next
time the motor moves.

164 0198441113761 09/2017

 Commissioning

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_start Autotuning start - UINT16 Modbus 12034
Value 0: Terminate 0 R/W
Value 1: Activate EasyTuning - -
Value 2: Activate ComfortTuning 2 -
Changed settings become active
immediately.

0198441113761 09/2017 165

Commissioning

Enhanced Settings for Autotuning

The following parameters allow you to monitor and influence autotuning.

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

Parameter name Description Unit Data type Parameter

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

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

Parameter name Description Unit Data type Parameter

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

The global gain factor is set to 100%

- if the control loop parameters are set to
default
- at the end of the Autotuning process
- if control loop parameter set 2 is copied to
set 1 via the parameter CTRL_ParSetCopy
In increments of 0.1 %.
Changed settings become active
immediately.
_AT_M_friction Friction torque of the system Arms UINT16 Modbus 12046
Is determined during Autotuning. - R/-
In increments of 0.01 Arms. - -
- -
_AT_M_load Constant load torque Arms INT16 Modbus 12048
Is determined during Autotuning. - R/-
In increments of 0.01 Arms. - -
- -
_AT_J Moment of inertia of the entire system kg cm2 UINT16 Modbus 12056
Is automatically calculated during 0.1 R/-
Autotuning. 0.1 per.
In increments of 0.1 kg cm2. 6553.5 -

166 0198441113761 09/2017

 Commissioning

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

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 167

Commissioning

Section 5.5
Controller Optimization with Step Response

Controller Optimization with Step Response

What Is in This Section?

This section contains the following topics:
Topic Page
Controller Structure 169
Optimization 171
Optimizing the Velocity Controller 172
Verifying and Optimizing the P Gain 176
Optimizing the Position Controller 177

168 0198441113761 09/2017

 Commissioning

Controller Structure

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

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

See chapter Overview of the Controller Structure (see page 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

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.

0198441113761 09/2017 169

Commissioning

Control Loop Parameters

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

Parameter name Description Unit Data type Parameter

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

A control loop parameter set is active after

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

Such a switching can be caused by

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

170 0198441113761 09/2017

 Commissioning

Optimization

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

Setting Reference Value Signals

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

Entering Values for Optimization

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

Control Loop Parameters

This device allows you to use two control loop parameter sets. It is possible to switch form one set of control
loop parameter sets to the other during operation. The active control loop parameter set is selected with
the parameter CTRL_SelParSet.
The corresponding parameters are CTRL1_xx for the first control loop parameter set and CTRL2_xx for
the second control loop parameter set. The following descriptions use the notation CTRL1_xx (CTRL2_xx)
if there are no functional differences between the two control loop parameter sets.
For details see chapter Switching Between Control Loop Parameter Sets (see page 217).

0198441113761 09/2017 171

Commissioning

Optimizing the Velocity Controller

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

Parameter name Description Unit Data type Parameter

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

Verify and optimize the calculated values in a second step, see chapter Verifying and Optimizing the P
Gain (see page 176).

172 0198441113761 09/2017

 Commissioning

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".

Parameter name Description Unit Data type Parameter

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

Determining the Type of Mechanical System

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

0198441113761 09/2017 173

Commissioning

Determining Values for Rigid Mechanical Systems

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

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

1 kgcm2 0.0125 8 0.008 12 0.007 16

2 kgcm2 0.0250 8 0.015 12 0.014 16

5 kgcm2 0.0625 8 0.038 12 0.034 16

10 kgcm2 0.125 8 0.075 12 0.069 16

20 kgcm2 0.250 8 0.150 12 0.138 16

Determining Values for Less Rigid Mechanical Systems

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

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

 Trigger a step function.

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

174 0198441113761 09/2017

 Commissioning

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

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

0198441113761 09/2017 175

Commissioning

Verifying and Optimizing the P Gain

Step responses with good control performance

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

176 0198441113761 09/2017

 Commissioning

Optimizing the Position Controller

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

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

Parameter name Description Unit Data type Parameter

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

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

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

Setting the Reference Value Signal

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

Selecting the Trace Signals

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

0198441113761 09/2017 177

Commissioning

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

178 0198441113761 09/2017

 Commissioning

Section 5.6
Parameter Management

Parameter Management

What Is in This Section?

This section contains the following topics:
Topic Page
Memory Card 180
Duplicating Existing Parameter Values 183
Resetting the User Parameters 184
Restoring Factory Settings 185

0198441113761 09/2017 179

Commissioning

Memory Card

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

Note the following:

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

Inserting a Memory Card

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

Card is Displayed for a Short Period of Time

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

Card is Displayed Permanently

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

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

180 0198441113761 09/2017

 Commissioning

Card is Not Displayed

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

Data Exchange with the Memory Card

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

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

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

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

Memory Card has Been Removed (CARDmiss)

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

0198441113761 09/2017 181

Commissioning

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

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

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

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

182 0198441113761 09/2017

 Commissioning

Duplicating Existing Parameter Values

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

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

 The controller supply must be powered on.

Duplication Using a Memory Card

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

Duplication Using the Commissioning Software

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

0198441113761 09/2017 183

Commissioning

Resetting the User Parameters

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

 Disconnect the drive from the fieldbus.

Parameter name Description Unit Data type Parameter

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

The parameters are reset with the

exception of:
- Communication parameters
- Inversion of direction of movement
- Type of reference value signal for PTI
interface
- Operating mode
- Settings of encoder simulation
- Functions of digital inputs and outputs

The new settings are not saved to the

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

Resetting via the HMI

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

Resetting via the Commissioning Software

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

184 0198441113761 09/2017

 Commissioning

Restoring Factory Settings

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

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

The commissioning software allows you to save the parameter values set for a device as a configuration
file. For information on saving the existing parameters in the drive, see chapter Parameter Management
(see page 179).
The factory settings are restored by means of the parameter PARfactorySet.

Parameter name Description Unit Data type Parameter

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

Factory Settings via HMI

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

Factory Settings via Commissioning Software

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

0198441113761 09/2017 185

Commissioning

186 0198441113761 09/2017

 Lexium 32C
Operation
0198441113761 09/2017

Chapter 6
Operation

Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Access Channels 188
6.2 Movement Range 190
6.3 Scaling 191
6.4 Digital Inputs and Outputs 196
6.5 PTI and PTO Interface 213
6.6 Switching Between Control Loop Parameter Sets 217

0198441113761 09/2017 187

Operation

Section 6.1
Access Channels

Access Channels

Access Channels

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

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

The product can be addressed via different access channels. Access channels are:
 Integrated HMI
 External graphic display terminal
 Commissioning software
 Analog signal inputs
 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 the commissioning software:
The commissioning software receives exclusive access via the switch "Exclusive access" in position
"On".
When the product is powered on, there is no exclusive access via an access channel.
The reference values are effective at the analog inputs and at the PTI interface when the product is
powered on. If exclusive access has been assigned to an access channel, signals at the analog inputs and
the PTI interface are ignored.

188 0198441113761 09/2017

 Operation

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

Parameter name Description Unit Data type Parameter

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

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

The access channel can only be locked

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

0198441113761 09/2017 189

Operation

Section 6.2
Movement Range

Movement Range

Size of the Movement Range

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

A -268435456 user-defined units (usr_p)

B 268435455 user-defined units (usr_p)

Availability
The movement range is only relevant in the operating mode Jog.

190 0198441113761 09/2017

 Operation

Section 6.3
Scaling

Scaling

What Is in This Section?

This section contains the following topics:
Topic Page
General 192
Configuration of position scaling 193
Configuration of Velocity Scaling 194
Configuration of Ramp Scaling 195

0198441113761 09/2017 191

Operation

General

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

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

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

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

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

192 0198441113761 09/2017

 Operation

Configuration of position scaling

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

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

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

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

Parameter name Description Unit Data type Parameter

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

A new scaling is activated when the

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

0198441113761 09/2017 193

Operation

Configuration of Velocity Scaling

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

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

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

Parameter name Description Unit Data type Parameter

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

A new scaling is activated when the

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

194 0198441113761 09/2017

 Operation

Configuration of Ramp Scaling

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

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

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

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 195

Operation

Section 6.4
Digital Inputs and Outputs

Digital Inputs and Outputs

What Is in This Section?

This section contains the following topics:
Topic Page
Parameterization of the Signal Input Functions 197
Parameterization of the Signal Output Functions 205
Parameterization of Software Debouncing 211

196 0198441113761 09/2017

 Operation

Parameterization of the Signal Input Functions

Signal Input Function

Various signal input functions can be assigned to the digital signal inputs.
Depending on the selected operating mode, different signal input functions are assigned to the digital
signal inputs.

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

Factory Settings
The table below shows the factory settings of the digital signal inputs depending on the selected operating
mode:

Signal Jog Electronic Gear Profile Torque Profile Velocity

DI0 Enable Enable Enable Enable
DI1 Fault Reset Fault Reset Fault Reset Fault Reset
DI2 Positive Limit Switch Positive Limit Switch Operating Mode Switch Operating Mode Switch
(LIMP) (LIMP)
DI3 Negative Limit Switch Negative Limit Switch Velocity Limitation Velocity Limitation
(LIMN) (LIMN)
DI4 Jog negative Gear Ratio Switch Current Limitation Zero Clamp
DI5 Jog positive Halt Halt Halt

When the operating mode is changed and after the product is powered off and on, the factory settings are
assigned to the digital signal inputs and digital signal outputs.

Parameterization
The table below provides an overview of the possible signal input functions depending on the selected
operating mode:

Signal input function Jog Electronic Profile Profile Description in chapter

Gear Torque Velocity
Freely Available • • • • Setting a Signal Output via
Parameter
Fault Reset • • • • Changing the Operating State via
Signal Inputs (see page 241)
Enable • • • • Changing the Operating State via
Signal Inputs (see page 241)
Halt • • • • Stop Movement with Halt
(see page 281)
Current Limitation • • • • Limitation of the Current via
Signal Inputs (see page 288)
Zero Clamp • • Zero Clamp (see page 290)
Velocity Limitation • • • • Limitation of the Velocity via
Signal Inputs (see page 286)
Jog Positive • Operating Mode Jog
(see page 244)
Jog Negative • Operating Mode Jog
(see page 244)
Jog Fast/Slow • Operating Mode Jog
(see page 244)

0198441113761 09/2017 197

Operation

Signal input function Jog Electronic Profile Profile Description in chapter

Gear Torque Velocity
Gear Ratio Switch • Operating Mode Electronic Gear
(see page 251)
Gear Offset 1 • Operating Mode Electronic Gear
(see page 251)
Gear Offset 2 • Operating Mode Electronic Gear
(see page 251)
Positive Limit Switch (LIMP) • • • • Limit Switches (see page 296)
Negative Limit Switch (LIMN) • • • • Limit Switches (see page 296)
Switch Controller Parameter Set • • • • Switching Between Control Loop
Parameter Sets (see page 217)
Inversion AI1 • • Inverting the Analog Signal
Inputs (see page 285)
Inversion AI2 • • Inverting the Analog Signal
Inputs (see page 285)
Operating Mode Switch • • • • Starting and Changing an
Operating Mode (see page 242)
Velocity Controller Integral Off • • • • Switching Between Control Loop
Parameter Sets (see page 217)
Start Signal Of RMAC • • • • Relative Movement After Capture
(RMAC) (see page 291)
Activate RMAC • • • • Relative Movement After Capture
(RMAC) (see page 291)
Activate Operating Mode • • • • Relative Movement After Capture
(RMAC) (see page 291)
Release Holding Brake • • • • Releasing the Holding Brake
Manually (see page 156)

198 0198441113761 09/2017

 Operation

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

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI0 Function Input DI0 - UINT16 Modbus 1794
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di0 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 199

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI1 Function Input DI1 - UINT16 Modbus 1796
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di1 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

200 0198441113761 09/2017

 Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI2 Function Input DI2 - UINT16 Modbus 1798
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di2 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 201

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI3 Function Input DI3 - UINT16 Modbus 1800
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di3 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

202 0198441113761 09/2017

 Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI4 Function Input DI4 - UINT16 Modbus 1802
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di4 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 203

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI5 Function Input DI5 - UINT16 Modbus 1804
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
di5 2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

204 0198441113761 09/2017

 Operation

Parameterization of the Signal Output Functions

Signal Function
Various signal output functions can be assigned to the digital signal outputs.
Depending on the selected operating mode, different signal output functions are assigned to the digital
signal outputs.
In the case of a detected error the state of the signal outputs remains active according to assigned signal
output function.

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

Factory Settings
The table below shows the factory settings of the digital signal outputs depending on the selected operating
mode:

Signal Jog Electronic Gear Profile Torque Profile Velocity

DQ0 No Fault No Fault No Fault No Fault
DQ1 Active Active Active Active
DQ2 In Position Deviation In Position Deviation Current Below In Velocity Deviation
Window Window Threshold Window
DQ3 Motor Standstill Motor Standstill Motor Standstill Motor Standstill
DQ4 Selected Error Output Selected Error Output Selected Error Output Selected Error Output

When the operating mode is changed and after the product is powered off and on, the factory settings are
assigned to the digital signal inputs and digital signal outputs.

Parameterization
The table below provides an overview of the possible signal output functions depending on the selected
operating mode:

Signal output function Jog Electronic Profile Profile Description in chapter

Gear Torque Velocity
Freely Available • • • • Setting a Signal Output via
Parameter
No Fault • • • • Indication of the Operating State
via Signal Inputs (see page 239)
Active • • • • Indication of the Operating State
via Signal Inputs (see page 239)
RMAC Active Or Finished • • • • Relative Movement After Capture
(RMAC) (see page 291)
In Position Deviation Window • • Position Deviation Window
(see page 303)
In Velocity Deviation Window • • • Velocity Deviation Window
(see page 305)
Velocity Below Threshold • • • • Velocity Threshold Value
(see page 307)
Current Below Threshold • • • • Current Threshold Value
(see page 308)
Halt Acknowledge • • • • Stop Movement with Halt
(see page 281)

0198441113761 09/2017 205

Operation

Signal output function Jog Electronic Profile Profile Description in chapter

Gear Torque Velocity
Motor Standstill • • • • Motor Standstill and Direction of
Movement (see page 302)
Selected Error • • • • Indicating Error Messages
(see page 330)
Selected Warning • • • • Indicating Error Messages
(see page 330)
Motor Moves Positive • • • • Motor Standstill and Direction of
Movement (see page 302)
Motor Moves Negative • • • • Motor Standstill and Direction of
Movement (see page 302)

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

Parameter name Description Unit Data type Parameter

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

206 0198441113761 09/2017

 Operation

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 207

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ2 Function Output DQ2 - UINT16 Modbus 1814
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
do2 2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

208 0198441113761 09/2017

 Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ3 Function Output DQ3 - UINT16 Modbus 1816
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
do3 2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 209

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ4 Function Output DQ4 - UINT16 Modbus 1818
ConF → i 1 / Freely Available / nonE: Available as - R/W
-o- required - per.
do4 2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

210 0198441113761 09/2017

 Operation

Parameterization of Software Debouncing

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

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 211

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DI_4_Debounce Debounce time of DI4 - UINT16 Modbus 2120
ConF → i 0 / No: No software debouncing 0 R/W
-o- 1 / 0.25 ms: 0.25 ms 6 per.
tdi4 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_5_Debounce Debounce time of DI5 - UINT16 Modbus 2122
ConF → i 0 / No: No software debouncing 0 R/W
-o- 1 / 0.25 ms: 0.25 ms 6 per.
tdi5 2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.

212 0198441113761 09/2017

 Operation

Section 6.5
PTI and PTO Interface

PTI and PTO Interface

What Is in This Section?

This section contains the following topics:
Topic Page
Setting the PTI Interface 214
Setting the PTO Interface 215

0198441113761 09/2017 213

Operation

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

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PTI_signal_ Type of reference value signal for PTI - UINT16 Modbus 1284
type interface 0 R/W
ConF → i 0 / A/B Signals / Ab: Signals ENC_A and 0 per.
-o- ENC_B (quadruple evaluation) 2 -
ioPi 1 / P/D Signals / Pd: Signals PULSE and
DIR
2 / CW/CCW Signals / cWcc: Signals
CW and CCW
Setting can only be changed if power stage
is disabled.
Changed 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.
 Activate or deactivate inversion of the direction of counting by means of the parameter
InvertDirOfCount.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
InvertDirOfCount Inversion of direction of counting at PTI - UINT16 Modbus 2062
ConF → ACG- interface 0 R/W
inCo 0 / Inversion Off: Inversion of direction of 0 per.
counting is off 1 -
1 / Inversion On: Inversion of direction of
counting is on
Changed settings become active
immediately.

Setting the Position Value

The position value at the PTI interface can be set manually by means of the parameter p_PTI_act_set.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
p_PTI_act_set Position value at PTI interface Inc INT32 Modbus 2130
Available with firmware version ≥V01.26. -2147483648 R/W
- -
2147483647 -

214 0198441113761 09/2017

 Operation

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

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PTO_mode Type of usage of PTO interface - UINT16 Modbus 1342
ConF → 0 / Off: PTO interface disabled 0 R/W
ACG- 1 / Esim pAct Enc 1: Encoder simulation 1 per.
PtoM based on actual position of encoder 1 5 -
2 / Esim pRef: Encoder simulation based
on reference position (_p_ref)
3 / PTI Signal: Directly the signal from PTI
interface
5 / Esim iqRef: Encoder simulation based
on reference current
Setting can only be changed if power stage
is disabled.
Changed 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:
 Encoder simulation based on actual position of encoder 1
 Encoder simulation based on the reference position values (_p_ref)
The resolution for the encoder simulation is set with the parameter ESIM_scale.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ESIM_scale Resolution of encoder simulation EncInc UINT16 Modbus 1322
ConF → i Resolution defines the number of 8 R/W
-o- increments per revolution (AB signal with 4096 per.
ESSC quadruple evaluation). 65535 -

The index pulse is created once per

revolution at an interval where signal A and
signal B are high.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

With firmware version ≥V01.10, you can set the resolution with decimal places.

0198441113761 09/2017 215

Operation

The parameter ESIM_HighResolution lets you set the resolution with decimal places.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ESIM_HighReso- Encoder simulation: High resolution EncInc UINT32 Modbus 1380
lution Specifies the number of increments per 0 R/W
revolution with 12 bit decimal places. If the 0 per.
parameter is set to a multiple of 4096, the 268431360 expert
index pulse will be generated exactly at the
same position within one revolution.

The setting of parameter ESIM_scale is

only used if parameter
ESIM_HighResolution is set to 0.
Otherwise, the setting of
ESIM_HighResolution is used.

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 changed if power stage
is disabled.
Changed 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.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ESIM_Phase- Encoder simulation: Phase shift for pulse - INT16 Modbus 1382
Shift output -32768 R/W
The generated encoder simulation pulses 0 -
can be shifted in units of 1/4096 encoder 32767 expert
pulses. The shift results in a position offset
at PTO. The index pulse is shifted as well.
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

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.

216 0198441113761 09/2017

 Operation

Section 6.6
Switching Between Control Loop Parameter Sets

Switching Between Control Loop Parameter Sets

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of the Controller Structure 218
Overview of Position Controller 219
Overview of Velocity Controller 220
Overview of Current Controller 221
Parameterizable Control Loop Parameters 222
Selecting a Control Loop Parameter Set 223
Automatically Switching Between Control Loop Parameter Sets 224
Copying a Control Loop Parameter Set 227
Deactivating the Integral Term 228
Control Loop Parameter Set 1 229
Control Loop Parameter Set 2 231

0198441113761 09/2017 217

Operation

Overview of the Controller Structure

The illustration below provides an overview of the controller structure.

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

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

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

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

218 0198441113761 09/2017

 Operation

Overview of Position Controller

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 mode Jog
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.

0198441113761 09/2017 219

Operation

Overview of Velocity Controller

The illustration below provides an overview of the velocity controller.

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.

220 0198441113761 09/2017

 Operation

Overview of Current Controller

The illustration below provides an overview of the current controller.

1 Target values for the operating mode Profile Torque

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

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

0198441113761 09/2017 221

Operation

Parameterizable Control Loop Parameters

Control Loop Parameter Set

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

Control loop parameter set 1 Control loop parameter set 2

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

See chapters Control Loop Parameter Set 1 (see page 229) and Control Loop Parameter Set 2
(see page 231).

Parameterization
 Selecting a control loop parameter set
Select a control loop parameter set after switching on.
See chapter Selecting a Control Loop Parameter Set (see page 223).
 Automatically switching between control loop parameter sets
It is possible to switch between the two control loop parameter sets.
See chapter Automatically Switching Between Control Loop Parameter Sets (see page 224).
 Copying a control loop parameter set
The values of control loop parameter set 1 can be copied to control loop parameter set 2.
See chapter Copying a Control Loop Parameter Set (see page 227).
 Deactivating the integral term
The integral term and, by implication, the integral action time, can be deactivated via a digital signal
input.
See chapter Deactivating the Integral Term (see page 228).

222 0198441113761 09/2017

 Operation

Selecting a Control Loop Parameter Set

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

Parameter name Description Unit Data type Parameter

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

A control loop parameter set is active after

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

0198441113761 09/2017 223

Operation

Automatically Switching Between Control Loop Parameter Sets

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

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

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

224 0198441113761 09/2017

 Operation

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

Parameter name Description Unit Data type Parameter address

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

The following parameters are changed immediately after the

time for parameter set switching (CTRL_ParChgTime):
- CTRL_Nf1damp
- CTRL_Nf1freq
- CTRL_Nf1bandw
- CTRL_Nf2damp
- CTRL_Nf2freq
- CTRL_Nf2bandw
- CTRL_Osupdamp
- CTRL_Osupdelay
- CTRL_Kfric
Changed settings become active immediately.

0198441113761 09/2017 225

Operation

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
CLSET_p_ Position deviation for control loop parameter set switching usr_p INT32 Modbus 4426
DiffWin_usr If the position deviation of the position controller is less than 0 R/W
the value of this parameter, control loop parameter set 2 is 164 per.
used. Otherwise, control loop parameter set 1 is used. 2147483647 -

The minimum value, the factory setting and the maximum

value depend on the scaling factor.
Changed settings become active immediately.
Available with firmware version ≥V01.05.
CLSET_p_ Position deviation for control loop parameter set switching revolution UINT16 Modbus 4408
DiffWin If the position deviation of the position controller is less than 0.0000 R/W
the value of this parameter, control loop parameter set 2 is 0.0100 per.
used. Otherwise, control loop parameter set 1 is used. 2.0000 -

The parameter CLSET_p_DiffWin_usr allows you to enter

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

Such a switching can be caused by

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

226 0198441113761 09/2017

 Operation

Copying a Control Loop Parameter Set

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

Parameter name Description Unit Data type Parameter

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

If control loop parameter set 2 is copied to

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

0198441113761 09/2017 227

Operation

Deactivating the Integral Term

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

228 0198441113761 09/2017

 Operation

Control Loop Parameter Set 1

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_KPn Velocity controller P gain A/rpm UINT16 Modbus 4610
ConF → The default value is calculated on the basis 0.0001 R/W
drC- of the motor parameters. - per.
Pn1 2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL1_TNn Velocity controller integral action time ms UINT16 Modbus 4612
ConF → The default value is calculated. 0.00 R/W
drC- - per.
tin1 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_KPp Position controller P gain 1/s UINT16 Modbus 4614
ConF → The default value is calculated. 2.0 R/W
drC- - per.
PP1 In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL1_TAUiref Filter time constant of the reference current ms UINT16 Modbus 4618
value filter 0.00 R/W
In the case of switching between the two 0.50 per.
control loop parameter sets, the values are 4.00 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TAUnref Filter time constant of the reference ms UINT16 Modbus 4616
ConF → velocity value filter 0.00 R/W
drC- In the case of switching between the two 9.00 per.
tAu1 control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_KFPp Velocity feed-forward control % UINT16 Modbus 4620
ConF → In the case of switching between the two 0.0 R/W
drC- control loop parameter sets, the values are 0.0 per.
FPP1 changed linearly over the time defined in 200.0 -
the parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.

0198441113761 09/2017 229

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_Nf1damp Notch filter 1: Damping % UINT16 Modbus 4624
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf1freq Notch filter 1: Frequency Hz UINT16 Modbus 4626
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL1_Nf1bandw Notch filter 1: Bandwidth % UINT16 Modbus 4628
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf2damp Notch filter 2: Damping % UINT16 Modbus 4630
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf2freq Notch filter 2: Frequency Hz UINT16 Modbus 4632
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL1_Nf2bandw Notch filter 2: Bandwidth % UINT16 Modbus 4634
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Osupdamp Overshoot suppression filter: Damping % UINT16 Modbus 4636
The filter is deactivated at a value of 0. 0.0 R/W
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL1_ Overshoot suppression filter: Time delay ms UINT16 Modbus 4638
Osupdelay The filter is deactivated at a value of 0. 0.00 R/W
In increments of 0.01 ms. 0.00 per.
Changed settings become active 75.00 expert
immediately.
CTRL1_Kfric Friction compensation: Gain Arms UINT16 Modbus 4640
In increments of 0.01 Arms. 0.00 R/W
Changed settings become active 0.00 per.
immediately. 10.00 expert

230 0198441113761 09/2017

 Operation

Control Loop Parameter Set 2

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_KPn Velocity controller P gain A/rpm UINT16 Modbus 4866
ConF → The default value is calculated on the basis 0.0001 R/W
drC- of the motor parameters. - per.
Pn2 2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action time ms UINT16 Modbus 4868
ConF → The default value is calculated. 0.00 R/W
drC- - per.
tin2 In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_KPp Position controller P gain 1/s UINT16 Modbus 4870
ConF → The default value is calculated. 2.0 R/W
drC- - per.
PP2 In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL2_TAUiref Filter time constant of the reference current ms UINT16 Modbus 4874
value filter 0.00 R/W
In the case of switching between the two 0.50 per.
control loop parameter sets, the values are 4.00 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUnref Filter time constant of the reference ms UINT16 Modbus 4872
ConF → velocity value filter 0.00 R/W
drC- In the case of switching between the two 9.00 per.
tAu2 control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_KFPp Velocity feed-forward control % UINT16 Modbus 4876
ConF → In the case of switching between the two 0.0 R/W
drC- control loop parameter sets, the values are 0.0 per.
FPP2 changed linearly over the time defined in 200.0 -
the parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.

0198441113761 09/2017 231

Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_Nf1damp Notch filter 1: Damping % UINT16 Modbus 4880
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf1freq Notch filter 1: Frequency Hz UINT16 Modbus 4882
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL2_Nf1bandw Notch filter 1: Bandwidth % UINT16 Modbus 4884
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf2damp Notch filter 2: Damping % UINT16 Modbus 4886
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf2freq Notch filter 2: Frequency Hz UINT16 Modbus 4888
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL2_Nf2bandw Notch filter 2: Bandwidth % UINT16 Modbus 4890
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Osupdamp Overshoot suppression filter: Damping % UINT16 Modbus 4892
The filter is deactivated at a value of 0. 0.0 R/W
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL2_ Overshoot suppression filter: Time delay ms UINT16 Modbus 4894
Osupdelay The filter is deactivated at a value of 0. 0.00 R/W
In increments of 0.01 ms. 0.00 per.
Changed settings become active 75.00 expert
immediately.
CTRL2_Kfric Friction compensation: Gain Arms UINT16 Modbus 4896
In increments of 0.01 Arms. 0.00 R/W
Changed settings become active 0.00 per.
immediately. 10.00 expert

232 0198441113761 09/2017

 Lexium 32C
Operating States and Operating Modes
0198441113761 09/2017

Chapter 7
Operating States and Operating Modes

Operating States and Operating Modes

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
7.1 Operating States 234
7.2 Operating Modes 242
7.3 Operating Mode Jog 244
7.4 Operating Mode Electronic Gear 251
7.5 Operating Mode Profile Torque 260
7.6 Operating Mode Profile Velocity 268

0198441113761 09/2017 233

Operating States and Operating Modes

Section 7.1
Operating States

Operating States

What Is in This Section?

This section contains the following topics:
Topic Page
State Diagram and State Transitions 235
Indication of the Operating State via HMI 238
Indication of the Operating State via Signal Outputs 239
Changing the Operating State via HMI 240
Changing the Operating State via Signal Inputs 241

234 0198441113761 09/2017

 Operating States and Operating Modes

State Diagram and State Transitions

State Diagram
When the product is powered on and when an operating mode is started, the product goes through a
number of operating states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions.
The operating states are internally monitored and influenced by monitoring functions.

Operating States

Operating state Description

1 Start Electronics are initialized
2 Not Ready To Switch On The power stage is not ready to switch on
3 Switch On Disabled Impossible to enable the power stage
4 Ready To Switch On The power stage is ready to switch on.
5 Switched On Power stage is switched on
6 Operation Enabled Power stage is enabled
Selected operating mode is active
7 Quick Stop Active "Quick Stop" is being executed
8 Fault Reaction Active Error response is active
9 Fault Error response terminated
Power stage is disabled

0198441113761 09/2017 235

Operating States and Operating Modes

Error Class
The errors are classified according to the following error classes:

Error class State transition Error response Resetting an error message

0 - No interruption of the movement Function "Fault Reset"
1 T11 Stop movement with "Quick Stop" Function "Fault Reset"
2 T13, T14 Stop movement with "Quick Stop" and disable Function "Fault Reset"
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function "Fault Reset"
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first

Error Response
The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence
signals an error to which the device must react.

Error class Response

2 Movement is stopped with "Quick Stop"
Holding brake is applied
Power stage is disabled
3, 4 or Safety function Power stage is immediately disabled
STO

An error can be triggered by a temperature sensor, for example. The product cancels the current
movement and triggers an error response. Subsequently, the operating state changes to 9 Fault.

Resetting an Error Message

A "Fault Reset" resets an error message.
In the event of a "Quick Stop" triggered by a detected error of class 1 (operating state 7 Quick Stop Active),
a "Fault Reset" causes a direct transition to operating state 6 Operation Enabled.

State Transitions
State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring
function.

State Operating Condition / event(1) Response

transition state
T0 1-> 2  Device electronics successfully initialized

T1 2-> 3  Parameter successfully initialized

T2 3 -> 4  No undervoltage
Encoder successfully checked
Actual velocity: <1000 rpm
STO signals = +24V
T3 4 -> 5  Request for enabling the power stage

T4 5 -> 6  Automatic transition Power stage is enabled.

User parameters are checked.
Holding brake is released (if available).
T7 4 -> 3  Undervoltage -
 STO signals = 0V
 Actual velocity: >1000 rpm (for example by
external driving force)
T9 6 -> 3  Request for disabling the power stage Movement is canceled with "Halt" or
power stage is immediately disabled.
Can be set via parameter
DSM_ShutDownOption.
(1) In order to trigger a state transition it is sufficient if one condition is met

236 0198441113761 09/2017

 Operating States and Operating Modes

State Operating Condition / event(1) Response

transition state
T10 5 -> 3  Request for disabling the power stage

T11 6 -> 7  Error of error class 1 Movement is canceled with "Quick

Stop".
T12 7 -> 3  Request for disabling the power stage Power stage is disabled immediately,
even if "Quick Stop" is still active.
T13 x -> 8  Error of error classes 2, 3 or 4 Error response is carried out, see "Error
Response".
T14 8 -> 9  Error response terminated (error class 2)
 Error of error classes 3 or 4

T15 9 -> 3  Function: "Fault Reset" Error is reset (cause of error must have
been corrected).
T16 7 -> 6  Function: "Fault Reset" In the event of a "Quick Stop" triggered
by a detected error of class 1, a "Fault
Reset" causes a direct transition to the
operating state 6 Operation Enabled.
(1) In order to trigger a state transition it is sufficient if one condition is met

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DSM_ShutDown- Behavior for disabling the power stage - INT16 Modbus 1684
Option during movement 0 R/W
ConF → 0 / Disable Immediately / diSi: Disable 0 per.
ACG- power stage immediately 1 -
Sdty 1 / Disable After Halt / diSh: Disable
power stage after deceleration to standstill
This parameter specifies the response to a
power stage disable request.
Halt is used for deceleration to standstill.
Changed settings become active
immediately.
Available with firmware version ≥V01.26.

0198441113761 09/2017 237

Operating States and Operating Modes

Indication of the Operating State via HMI

The operating state is displayed by the HMI. The table below provides an overview:

Operating state HMI

1 Start Init
2 Not Ready To Switch On nrdy
3 Switch On Disabled dis
4 Ready To Switch On rdy
5 Switched On Son
6 Operation Enabled run
7 Quick Stop Active Stop
8 Fault Reaction Active FLt
9 Fault FLt

238 0198441113761 09/2017

 Operating States and Operating Modes

Indication of the Operating State via Signal Outputs

Information on the operating state is available via the signal outputs. The table below provides an overview:

Operating state Signal output function "No fault"(1) Signal output function "Active"(2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0
(1) The signal output function is factory setting for DQ0
(2) The signal output function is the factory setting for DQ1

0198441113761 09/2017 239

Operating States and Operating Modes

Changing the Operating State via HMI

An error message can be reset via the HMI.

In the case of a detected error of error class 1, resetting the error message causes a transition from
operating state 7 Quick Stop Active back to operating state 6 Operation Enabled.
In the case of a detected error of error classes 2 or 3, resetting the error message causes a transition from
operating state 9 Fault back to operating state 3 Switch On Disable.

240 0198441113761 09/2017

 Operating States and Operating Modes

Changing the Operating State via Signal Inputs

It is possible to switch between operating states via the signal inputs.

 Signal input function "Enable"
 Signal input function "Fault Reset"

Signal Input Function "Enable"

The power stage is enabled by means of the signal input function "Enable".

"Enable" State transition

Rising edge Enable power stage (T3)
Falling edge Disabling the power stage (T9 and T12)

The signal input function "Enable" is the factory setting for DI0.
As of firmware version ≥V01.12, it is possible to also reset an error message with a rising or a falling edge
at the signal input.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_- Additional 'Fault Reset' for the signal input - UINT16 Modbus 1384
FaultResOnE- function 'Enable' 0 R/W
naInp 0 / Off / oFF: No additional 'Fault Reset' 0 per.
ConF → 1 / OnFallingEdge / FALL: Additional 2 -
ACG- 'Fault Reset' with falling edge
iEFr 2 / OnRisingEdge / riSE: Additional
'Fault Reset' with rising edge
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.12.

Signal Input Function "Fault Reset"

The signal input function "Fault Reset" is used to reset an error message.

"Fault Reset" State transition

Rising edge Resetting an error message (T15 and T16)

The signal input function "Fault Reset" is the factory setting for DI1.

0198441113761 09/2017 241

Operating States and Operating Modes

Section 7.2
Operating Modes

Operating Modes

Starting and Changing an Operating Mode

Starting the Operating Mode

The parameter IOdefaultMode is used to set the desired operating mode.
The set operating mode is automatically started by enabling the power stage.
 Set the operating mode with the parameter IOdefaultMode.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOdefaultMode Operating mode - UINT16 Modbus 1286
ConF → 0 / None / nonE: None 0 R/W
ACG- 1 / Profile Torque / torq: Profile Torque 5 per.
io-M 2 / Profile Velocity / VELP: Profile 5 -
Velocity
3 / Electronic Gear / GEAr: Electronic
Gear
5 / Jog / JoG: Jog
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

Starting the Operating Mode via Signal Input

As of firmware version ≥V01.08, the signal input function "Activate Operating Mode" is available.
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 chapter Digital Inputs and Outputs (see page 196).

Changing the Operating Mode

The operating mode can be changed after the active operating mode has been terminated.
In addition, it is also possible to change the operating mode during a running movement; however, this is
only possible in certain operating modes.

Changing the Operating Mode During a Movement

You can switch between the following operating modes during a running movement.
 Jog
 Electronic Gear
 Profile Torque
 Profile Velocity

242 0198441113761 09/2017

 Operating States and Operating Modes

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
(1) Parameter PP_OpmChgType must be set to the value 0.

The motor is decelerated to a standstill via the ramp set in the parameter LIM_HaltReaction, see
chapter Stop Movement with Halt (see page 281).

Changing the Operating Mode via Signal Input

The product features the signal input function "Operating Mode Switch".
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.
In order to switch between two operating modes, you must first parameterize the signal input function
"Operating Mode Switch", see chapter Digital Inputs and Outputs (see page 196).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_ModeSwitch Operating mode for signal input function - UINT16 Modbus 1630
ConF → Operating Mode Switch 0 R/W
ACG- 0 / None / nonE: None 0 per.
ioMS 1 / Profile Torque / torq: Profile Torque 3 -
2 / Profile Velocity / VELP: Profile
Velocity
3 / Electronic Gear / GEAr: Electronic
Gear
Changed settings become active
immediately.

0198441113761 09/2017 243

Operating States and Operating Modes

Section 7.3
Operating Mode Jog

Operating Mode Jog

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 245
Parameterization 248
Additional Settings 250

244 0198441113761 09/2017

 Operating States and Operating Modes

Overview

Description
In the operating mode Jog, a movement is made from the actual motor position in the specified direction.
A movement can be made using one of 2 methods:
 Continuous movement
 Step movement
In addition, the product features 2 parameterizable velocities.

Continuous Movement
As long as the signal for the direction is available, a continuous movement is made in the desired direction.
The illustration below provides an overview of continuous movement:

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction

Step Movement
If the signal for the direction is available for a short period of time, a movement with a parameterizable
number of user-defined units is made in the desired direction.
If the signal for the direction is available continuously, a movement with a parameterizable number of user-
defined units is made in the desired direction. After this movement, the motor stops for a defined period of
time. Then a continuous movement is made in the desired direction.
The illustration provides an overview of step movement:

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstep
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction

0198441113761 09/2017 245

Operating States and Operating Modes

Starting the Operating Mode

The operating mode must first have been selected, see chapter Starting and Changing an Operating Mode
(see page 242). 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 chapter Limit Switches (see page 296)
DI3 "Negative Limit Switch (LIMN)"
See chapter Limit Switches (see page 296)
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
chapter Digital Inputs and Outputs (see page 196).

Integrated HMI
It is also possible to start the operating mode via the HMI. Calling →OP→jog-→JGST enables
the power stage and starts the operating mode.
The method Continuous Movement is controlled via the HMI.
Turn the navigation button to select one of 4 types of movement:
 JG- : slow movement in positive direction
 JG= : fast movement in positive direction
 -JG : slow movement in negative direction
 =JG : fast movement in negative direction
Press the navigation button to start the movement.

Status Messages
Information on the operating state and the ongoing movement is available via signal outputs.
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 "In Position Deviation Window"
See chapter Position Deviation Window
(see page 303)
DQ3 "Motor Standstill"
See chapter Motor Standstill and Direction of
Movement (see page 302)
DQ4 "Selected Error"
See chapter Diagnostics via Signal Outputs
(see page 328)

The factory settings of the signal outputs depend on the selected operating mode; they can be adapted,
see chapter Digital Inputs and Outputs (see page 196).

246 0198441113761 09/2017

 Operating States and Operating Modes

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

0198441113761 09/2017 247

Operating States and Operating Modes

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Velocities
Two parameterizable velocities are available.
 Set the desired values with the parameters JOGv_slow and JOGv_fast.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
JOGv_slow Velocity for slow movement usr_v UINT32 Modbus 10504
oP → JoG- The adjustable value is internally limited to 1 R/W
JGLo the parameter setting in RAMP_v_max. 60 per.
Changed settings become active 2147483647 -
immediately.
JOGv_fast Velocity for fast movement usr_v UINT32 Modbus 10506
oP → JoG- The adjustable value is internally limited to 1 R/W
JGhi the parameter setting in RAMP_v_max. 180 per.
Changed settings become active 2147483647 -
immediately.

Switching Between Velocities

The product features the signal input function "Jog Fast/Slow". 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 chapter Digital Inputs and Outputs (see page 196).

248 0198441113761 09/2017

 Operating States and Operating Modes

Selection of the Method

The parameter IO_JOGmethod lets you set the method.
 Set the desired method with the parameter IO_JOGmethod.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_JOGmethod Selection of jog method - UINT16 Modbus 1328
ConF → 0 / Continuous Movement / coMo: Jog 0 R/W
ACG- with continuous movement 0 per.
ioJG 1 / Step Movement / StMo: Jog with step 1 -
movement
Changed settings become active the next
time the motor moves.

Setting the Step Movement

The parameters JOGstep and JOGtime are used to set the parameterizable number of user-defined units
and the time for which the motor is stopped.
 Set the desired values with the parameters JOGstep and JOGtime.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
JOGstep Distance for step movement usr_p INT32 Modbus 10510
Changed settings become active the next 1 R/W
time the motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement ms UINT16 Modbus 10512
Changed settings become active the next 1 R/W
time the motor moves. 500 per.
32767 -

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 277).

0198441113761 09/2017 249

Operating States and Operating Modes

Additional Settings

The following functions can be used for target value processing:

 Chapter Jerk Limitation (see page 279)
 Chapter Stop Movement with Halt (see page 281)
 Chapter Stop Movement with Quick Stop (see page 283)
 Chapter Limitation of the Velocity via Signal Inputs (see page 286)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Relative Movement After Capture (RMAC) (see page 291)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 296)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 297)
 Chapter Motor Standstill and Direction of Movement (see page 302)
 Chapter Position Deviation Window (see page 303)
 Chapter Velocity Deviation Window (see page 305)
 Chapter Velocity Threshold Value (see page 307)
 Chapter Current Threshold Value (see page 308)

250 0198441113761 09/2017

 Operating States and Operating Modes

Section 7.4
Operating Mode Electronic Gear

Operating Mode Electronic Gear

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 252
Parameterization 254
Additional Settings 259

0198441113761 09/2017 251

Operating States and Operating Modes

Overview

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

The operating mode must first have been selected, see chapter Starting and Changing an Operating Mode
(see page 242). 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 chapter Limit Switches (see page 296)
DI3 "Negative Limit Switch (LIMN)"
See chapter Limit Switches (see page 296)
DI4 "Gear Ratio Switch"
Switch between 2 parameterizable gear ratios
DI5 "Halt"
See chapter Stop Movement with Halt (see page 281)

The factory settings of the signal inputs depend on the selected operating mode; they can be adapted, see
chapter Digital Inputs and Outputs (see page 196).

Terminating the Operating Mode

The operating mode is automatically terminated by disabling the power stage.

252 0198441113761 09/2017

 Operating States and Operating Modes

Status Messages
Information on the operating state and the ongoing movement is available via signal outputs.
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 "In Position Deviation Window"
See chapter Position Deviation Window
(see page 303)
DQ3 "Motor Standstill"
See chapter Motor Standstill and Direction of
Movement (see page 302)
DQ4 "Selected Error"
See chapter Diagnostics via Signal Outputs
(see page 328)

The factory settings of the signal outputs depend on the selected operating mode; they can be adapted,
see chapter Digital Inputs and Outputs (see page 196).

0198441113761 09/2017 253

Operating States and Operating Modes

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

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
See chapter Setting the PTI Interface (see page 214) for information on setting the PTI interface.

254 0198441113761 09/2017

 Operating States and Operating Modes

Gear Ratio
The gear ratio is the ratio of the number of motor increments and the number of externally supplied
reference increments.

The signal input function "Gear Ratio Switch" 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 parameter-
izable 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.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARratio Selection of gear ratio - UINT16 Modbus 9740
ConF → i 0 / Gear Factor / FAct: Usage of gear 0 R/W
-o- ratio adjusted with 0 per.
GFAC GEARnum/GEARdenom 11 -
1 / 200 / 200: 200
2 / 400 / 400: 400
3 / 500 / 500: 500
4 / 1000 / 1000: 1000
5 / 2000 / 2000: 2000
6 / 4000 / 4000: 4000
7 / 5000 / 5000: 5000
8 / 10000 / 10.00: 10000
9 / 4096 / 4096: 4096
10 / 8192 / 8192: 8192
11 / 16384 / 16.38: 16384
A change of the reference value by the
specified value causes one motor
revolution.
Changed settings become active
immediately.
GEARnum Numerator of gear ratio - INT32 Modbus 9736
GEARnum -2147483648 R/W
---------------------- = Gear ratio 1 per.
GEARdenom 2147483647 -

The new gear ratio is applied when the

numerator value is supplied.
Changed settings become active
immediately.
GEARdenom Denominator of gear ratio - INT32 Modbus 9734
See description GEARnum 1 R/W
1 per.
2147483647 -
GEARnum2 Numerator of gear ratio number 2 - INT32 Modbus 9754
GEARnum2 -2147483648 R/W
---------------------- = Gear ratio 1 per.
GEARdenom2 2147483647 -

The new gear ratio is applied when the

numerator value is supplied.
Changed settings become active
immediately.

0198441113761 09/2017 255

Operating States and Operating Modes

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARdenom2 Denominator of gear ratio number 2 - INT32 Modbus 9752
See description GEARnum 1 R/W
1 per.
2147483647 -

Selection of the Method

The method specifies the way the movement is to be performed.
 Set the desired method with the parameter IO_GEARmethod.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_GEARmethod Processing mode for operating mode - UINT16 Modbus 1326
ConF → ACG- Electronic Gear 1 R/W
ioGM 1 / Position Synchronization Immediate / 1 per.
PoiM: Position synchronization without 3 -
compensation movement
2 / Position Synchronization Compensated
/ Poco: Position synchronization with
compensation movement
3 / Velocity Synchronization / VELo:
Velocity synchronization
Changed settings become active the next
time the motor moves.

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.
 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

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARposChgMode Treatment of position changes with inactive - UINT16 Modbus 9750
power stage 0 R/W
0 / Off: Position changes in states with 0 per.
disabled power stage are ignored. 1 -
1 / On: Position changes in states with
disabled power stage are taken into
account.
This setting has an effect only if gear
processing is started in the mode
'Synchronization with compensation
movement'.
Changed settings become active the next
time the power stage is enabled.

256 0198441113761 09/2017

 Operating States and Operating Modes

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.
An offset movement is started via a signal input.
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 chapter Digital Inputs and Outputs (see page 196).
The velocity and the acceleration for the offset movement are set via the parameters OFSv_target and
OFS_Ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
OFSp_RelPos1 Relative offset position 1 for offset Inc INT32 Modbus 10000
movement -2147483648 R/W
Changed settings become active 0 per.
immediately. 2147483647 -
OFSp_RelPos2 Relative offset position 2 for offset Inc INT32 Modbus 10004
movement -2147483648 R/W
Changed settings become active 0 per.
immediately. 2147483647 -
OFSv_target Target velocity for offset movement usr_v UINT32 Modbus 9992
The maximum value is 5000 if the user- 1 R/W
defined scaling factor of the velocity scaling 60 per.
is 1. 2147483647 -

This applies to the user-defined scaling

factors. Example: If the user-defined
scaling factor of the velocity scaling is 2
(ScaleVELnum = 2, ScaleVELdenom = 1),
the maximum value is 2500.
Changed settings become active
immediately.
OFS_Ramp Acceleration and deceleration for offset usr_a UINT32 Modbus 9996
movement 1 R/W
Setting can only be changed if power stage 600 per.
is disabled. 2147483647 -
Changed settings become active the next
time the power stage is enabled.

Changing the Motion Profile for the Velocity

If the method "Velocity Synchronization" is selected, the motion profile for the velocity can be changed.
It is possible to change the parameterization of the motion profile for the velocity, see chapter Motion Profile
for the Velocity (see page 277).

0198441113761 09/2017 257

Operating States and Operating Modes

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

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARpos_v_max Velocity limitation for the method Position usr_v UINT32 Modbus 9746
Synchronization 0 R/W
Value 0: No velocity limitation 0 per.
Value >0: Velocity limitation in usr_v 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

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.
 Set the desired directions of movement with the parameter GEARdir_enabl.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARdir_enabl Enabled direction of movement for - UINT16 Modbus 9738
operating mode Electronic Gear 1 R/W
1 / Positive: Positive direction 3 per.
2 / Negative: Negative direction 3 -
3 / Both: Both directions
This allows you to activate a return
movement lock function.
Changed settings become active
immediately.

258 0198441113761 09/2017

 Operating States and Operating Modes

Additional Settings

The following functions can be used for target value processing:

 Chapter Stop Movement with Halt (see page 281)
 Chapter Stop Movement with Quick Stop (see page 283)
 Chapter Limitation of the Velocity via Signal Inputs (see page 286)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Jerk Limitation (see page 279)
This function is only available for the methods "Position Synchronization Without Compensation
Movement" and "Position Synchronization With Compensation Movement".
 Chapter Zero Clamp (see page 290)
This function is only available with the method "Velocity Synchronization".
 Chapter Relative Movement After Capture (RMAC) (see page 291)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 296)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 297)
This function is only available for the methods "Position Synchronization Without Compensation
Movement" and "Position Synchronization With Compensation Movement".
 Chapter Motor Standstill and Direction of Movement (see page 302)
 Chapter Position Deviation Window (see page 303)
This function is only available for the methods "Position Synchronization Without Compensation
Movement" and "Position Synchronization With Compensation Movement".
 Chapter Velocity Deviation Window (see page 305)
This function is only available with the method "Velocity Synchronization".
 Chapter Velocity Threshold Value (see page 307)
 Chapter Current Threshold Value (see page 308)

0198441113761 09/2017 259

Operating States and Operating Modes

Section 7.5
Operating Mode Profile Torque

Operating Mode Profile Torque

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 261
Parameterization 263
Additional Settings 267

260 0198441113761 09/2017

 Operating States and Operating Modes

Overview

Description
In the operating mode Profile Torque, a movement is made with a specified target torque.
The torque can be set via the following interface:
 Target torque via analog inputs
 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

The operating mode must first have been selected, see chapter Starting and Changing an Operating Mode
(see page 242). 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 chapter Starting and Changing an Operating Mode (see page 242)
DI3 "Velocity Limitation"
See chapter Limitation of the Velocity via Signal Inputs (see page 286)
DI4 "Current Limitation"
See chapter Limitation of the Current via Signal Inputs (see page 288)
DI5 "Halt"
See chapter Stop Movement with Halt (see page 281)

The factory settings of the signal inputs depend on the selected operating mode; they can be adapted, see
chapter Digital Inputs and Outputs (see page 196).

Status Messages
Information on the operating state and the ongoing movement is available via signal outputs.
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 "Current Below Threshold"
See chapter Current Threshold Value (see page 308)
DQ3 "Motor Standstill"
See chapter Motor Standstill and Direction of Movement (see page 302)
DQ4 "Selected Error"
See chapter Diagnostics via Signal Outputs (see page 328)

The factory settings of the signal outputs depend on the selected operating mode; they can be adapted,
see chapter Digital Inputs and Outputs (see page 196).

0198441113761 09/2017 261

Operating States and Operating Modes

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

262 0198441113761 09/2017

 Operating States and Operating Modes

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Setting the Source of the Reference Value

The parameter IO_PTtq_reference is used to set the source of the reference value.
 Set the desired source of the reference value with the parameter IO_PTtq_reference.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_PTtq_ Reference value source for operating - UINT16 Modbus 1392
reference mode Profile Torque 0 R/W
ConF → 0 / Analog Input / iAnA: Reference value 0 per.
ACG- via analog input 1 -
iotq 1 / PTI Interface / iPti: Reference value
via PTI interface
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.20.

0198441113761 09/2017 263

Operating States and Operating Modes

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
See chapter Inverting the Analog Signal Inputs (see page 285) for settings for the analog inputs.

Setting the Type of Usage (for Analog Inputs Only)

The parameters AI1_mode and AI2_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 AI1_mode to the value "Target
Torque".
If you want to use the analog signal input AI2, set the parameter AI2_mode to the value "Target
Torque".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_mode Analog 1: Type of usage - UINT16 Modbus 2332
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 1 per.
A1Mo velocity for the velocity controller 4 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_mode Analog 2: Type of usage - UINT16 Modbus 2342
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 0 per.
A2Mo velocity for the velocity controller 5 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
5 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

264 0198441113761 09/2017

 Operating States and Operating Modes

Setting the Target Torque (for Analog Inputs Only)

The parameters AI1_M_scale and AI2_M_scale let you set the target torque for a voltage value of
10 V.
 If you want to use the analog signal input AI1, use the parameter AI1_M_scale to set the desired
target torque for a voltage value of 10 V.
If you want to use the analog signal input AI2, use the parameter AI2_M_scale to set the desired
target torque for a voltage value of 10 V.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_M_scale Analog 1: Target torque at 10 V in % INT16 Modbus 2340
ConF → i operating mode Profile Torque -3000.0 R/W
-o- 100.0 % correspond to the continuous stall 100.0 per.
A1iS torque _M_M_0. 3000.0 -

By using a negative sign, you can invert the

evaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active
immediately.
AI2_M_scale Analog 2: Target torque at 10 V in % INT16 Modbus 2350
ConF → i operating mode Profile Torque -3000.0 R/W
-o- 100.0 % correspond to the continuous stall 100.0 per.
A2iS torque _M_M_0. 3000.0 -

By using a negative sign, you can invert the

evaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active
immediately.

Changing the Motion Profile for the Torque (for Analog Inputs Only)
It is possible to change the parameterization of the motion profile for the torque.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_tq_enable Activation of the motion profile for torque - UINT16 Modbus 1624
0 / Profile Off: Profile off 0 R/W
1 / Profile On: Profile on 0 per.
In the operating mode Profile Torque, the 1 -
motion profile for torque can be activated or
deactivated.
In the other operating modes, the motion
profile for torque is inactive.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
RAMP_tq_slope Slope setting of the motion profile for %/s UINT32 Modbus 1620
torque 0.1 R/W
100.00 % of the torque setting correspond 10000.0 per.
to the continuous stall torque _M_M_0. 3000000.0 -

Example:
A ramp setting of 10000.00 %/s results in a
torque change of 100.0% of _M_M_0 in
0.01s.
In increments of 0.1 %/s.
Changed settings become active
immediately.

0198441113761 09/2017 265

Operating States and Operating Modes

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 chapter Setting the PTI Interface (see 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.
 Set the desired reference current with the parameter Iref_PTIFreqMax.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
Iref_PTIFreqMax Reference current for operating mode Arms UINT16 Modbus 8200
Profile Torque via PTI interface 0.00 R/W
Reference current corresponding to 1.6 - per.
million increments per second at the PTI 463.00 -
interface for operating mode Profile
Torque.
In increments of 0.01 Arms.
Changed settings become active
immediately.
Available with firmware version ≥V01.20.

266 0198441113761 09/2017

 Operating States and Operating Modes

Additional Settings

The following functions can be used for target value processing:

 Chapter Stop Movement with Halt (see page 281)
 Chapter Stop Movement with Quick Stop (see page 283)
 Chapter Inverting the Analog Signal Inputs (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 286)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Relative Movement After Capture (RMAC) (see page 291)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 296)
 Chapter Motor Standstill and Direction of Movement (see page 302)
 Chapter Velocity Threshold Value (see page 307)
 Chapter Current Threshold Value (see page 308)

0198441113761 09/2017 267

Operating States and Operating Modes

Section 7.6
Operating Mode Profile Velocity

Operating Mode Profile Velocity

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 269
Parameterization 270
Additional Settings 273

268 0198441113761 09/2017

 Operating States and Operating Modes

Overview

Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.

Starting the Operating Mode

The operating mode must first have been selected, see chapter Starting and Changing an Operating Mode
(see page 242). 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 chapter Starting and Changing an Operating
Mode (see page 242)
DI3 "Velocity Limitation"
See chapter Limitation of the Velocity via Signal Inputs
(see page 286)
DI4 "Zero Clamp"
See chapter Zero Clamp (see page 290)
DI5 "Halt"
See chapter Stop Movement with Halt (see page 281)

The factory settings of the signal inputs depend on the selected operating mode; they can be adapted, see
chapter Digital Inputs and Outputs (see page 196).

Status Messages
Information on the operating state and the ongoing movement is available via signal outputs.
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 "In Velocity Deviation Window"
See chapter Velocity Deviation Window
(see page 305)
DQ3 "Motor Standstill"
See chapter Motor Standstill and Direction of
Movement (see page 302)
DQ4 "Selected Error"
See chapter Diagnostics via Signal Outputs
(see page 328)

The factory settings of the signal outputs depend on the selected operating mode; they can be adapted,
see chapter Digital Inputs and Outputs (see page 196).

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

0198441113761 09/2017 269

Operating States and Operating Modes

Parameterization

Overview
The illustration below provides an overview of the adjustable parameters.

Offset and Zero Voltage Window

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
See chapter Inverting the Analog Signal Inputs (see page 285) for settings for the analog inputs.

270 0198441113761 09/2017

 Operating States and Operating Modes

Setting the Type of Usage

The parameters AI1_mode and AI2_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 AI1_mode to the value "Target
Velocity".
If you want to use the analog signal input AI2, set the parameter AI2_mode to the value "Target
Velocity".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_mode Analog 1: Type of usage - UINT16 Modbus 2332
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 1 per.
A1Mo velocity for the velocity controller 4 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_mode Analog 2: Type of usage - UINT16 Modbus 2342
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 0 per.
A2Mo velocity for the velocity controller 5 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
5 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

0198441113761 09/2017 271

Operating States and Operating Modes

Setting the Target Velocity

The parameters AI1_v_scale and AI2_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 AI1, use the parameter AI1_v_scale to set the desired
target velocity for a voltage value of 10 V.
If you want to use the analog signal input AI2, use the parameter AI2_v_scale to set the desired
target velocity for a voltage value of 10 V.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_v_scale Analog 1: Target velocity at 10 V in usr_v INT32 Modbus 2338
ConF → i operating mode Profile Velocity -2147483648 R/W
-o- The maximum velocity is limited to the 6000 per.
A1nS setting in CTRL_v_max. 2147483647 -

By using a negative sign, you can invert the

evaluation of the analog signal.
Changed settings become active
immediately.
AI2_v_scale Analog 2: Target velocity at 10 V in usr_v INT32 Modbus 2348
ConF → i operating mode Profile Velocity -2147483648 R/W
-o- The maximum velocity is limited to the 6000 per.
A2nS setting in CTRL_v_max. 2147483647 -

By using a negative sign, you can invert the

evaluation of the analog signal.
Changed settings become active
immediately.

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity (see page 277).

272 0198441113761 09/2017

 Operating States and Operating Modes

Additional Settings

The following functions can be used for target value processing:

 Chapter Stop Movement with Halt (see page 281)
 Chapter Stop Movement with Quick Stop (see page 283)
 Chapter Inverting the Analog Signal Inputs (see page 285)
 Chapter Limitation of the Velocity via Signal Inputs (see page 286)
 Chapter Limitation of the Current via Signal Inputs (see page 288)
 Chapter Zero Clamp (see page 290)
 Chapter Relative Movement After Capture (RMAC) (see page 291)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 296)
 Chapter Motor Standstill and Direction of Movement (see page 302)
 Chapter Velocity Deviation Window (see page 305)
 Chapter Velocity Threshold Value (see page 307)
 Chapter Current Threshold Value (see page 308)

0198441113761 09/2017 273

Operating States and Operating Modes

274 0198441113761 09/2017

 Lexium 32C
Functions for Operation
0198441113761 09/2017

Chapter 8
Functions for Operation

Functions for Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
8.1 Functions for Target Value Processing 276
8.2 Functions for Monitoring Movements 295
8.3 Functions for Monitoring Internal Device Signals 310

0198441113761 09/2017 275

Functions for Operation

Section 8.1
Functions for Target Value Processing

Functions for Target Value Processing

What Is in This Section?

This section contains the following topics:
Topic Page
Motion Profile for the Velocity 277
Jerk Limitation 279
Stop Movement with Halt 281
Stop Movement with Quick Stop 283
Inverting the Analog Signal Inputs 285
Limitation of the Velocity via Signal Inputs 286
Limitation of the Current via Signal Inputs 288
Zero Clamp 290
Relative Movement After Capture (RMAC) 291
Backlash Compensation 293

276 0198441113761 09/2017

 Functions for Operation

Motion Profile for the Velocity

Target position and target velocity are input values specified by the user. A motion profile for the velocity
is calculated on the basis of these input values.
The motion profile for the velocity consists of an acceleration, a deceleration and a maximum velocity.
A linear ramp for both directions of movement is available.

Availability
The availability of the motion profile for the velocity depends on the operating mode.
In the following operating modes, the motion profile for the velocity is permanently active:
 Jog
In the following operating modes, the motion profile for the velocity can be activated and deactivated:
 Electronic Gear (velocity synchronization)
 Profile Velocity

In the following operating modes, the motion profile for the velocity is unavailable:
 Electronic Gear (position synchronization)
 Profile Torque

Ramp Slope
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can be set for
acceleration and deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_enable Activation of the motion profile for velocity - UINT16 Modbus 1622
0 / Profile Off: Profile off 0 R/W
1 / Profile On: Profile on 0 per.
Setting can only be changed if power stage 1 -
is disabled.
Changed settings become active
immediately.
RAMP_v_max Maximum velocity of the motion profile for usr_v UINT32 Modbus 1554
ConF → velocity 1 R/W
ACG- If a greater reference velocity is set in one 13200 per.
nrMP of these operating modes, it is 2147483647 -
automatically limited to RAMP_v_max.
This way, commissioning at limited velocity
is easier to perform.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the motor moves.

0198441113761 09/2017 277

Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_acc Acceleration of the motion profile for usr_a UINT32 Modbus 1556
velocity 1 R/W
Writing the value 0 has no effect on the 600 per.
parameter. 2147483647 -
Changed settings become active the next
time the motor moves.
RAMP_v_dec Deceleration of the motion profile for usr_a UINT32 Modbus 1558
velocity 1 R/W
The minimum value depends on the 600 per.
operating mode: 2147483647 -

Operating modes with minimum value 1:

Electronic Gear (velocity synchronization)
Profile Velocity

Operating modes with minimum value 120:

Jog

Writing the value 0 has no effect on the

parameter.
Changed settings become active the next
time the motor moves.

278 0198441113761 09/2017

 Functions for Operation

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)

Settings
Jerk limitation is activated and set via the parameter RAMP_v_jerk.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_jerk Jerk limitation of the motion profile for ms UINT16 Modbus 1562
ConF → velocity 0 R/W
drC- 0 / Off / oFF: Off 0 per.
JEr 1 / 1 / 1: 1 ms 128 -
2 / 2 / 2: 2 ms
4 / 4 / 4: 4 ms
8 / 8 / 8: 8 ms
16 / 16 / 16: 16 ms
32 / 32 / 32: 32 ms
64 / 64 / 64: 64 ms
128 / 128 / 128: 128 ms
Adjustments can only be made if the
operating mode is inactive (x_end=1).
Changed settings become active the next
time the motor moves.

0198441113761 09/2017 279

Functions for Operation

Operating Mode Electronic Gear

Jerk limitation is activated for the operating mode Electronic Gear (position synchronization) by means of
the parameter GEARjerklim.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARjerklim Activation of jerk limitation - UINT16 Modbus 9742
ConF → i 0 / Off / oFF: Jerk limitation deactivated. 0 R/W
-o- 1 / PosSyncOn / P_on: Jerk limitation 0 per.
GFiL active (only with position synchronization). 1 -
The time for jerk limitation must be set via
parameter RAMP_v_jerk.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.02.

280 0198441113761 09/2017

 Functions for Operation

Stop Movement with Halt

With a Halt, the ongoing movement is interrupted; it can be resumed.

A Halt can be triggered via a digital signal input or a fieldbus command.
In order to interrupt a movement via a signal input, you must first parameterize the signal input function
“Halt”, see chapter Digital Inputs and Outputs (see page 196).
The movement can be interrupted with 2 different deceleration types.
 Deceleration via deceleration ramp
 Deceleration via torque ramp

Setting the Type of Deceleration

The parameter LIM_HaltReaction lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_HaltReaction Halt option code - INT16 Modbus 1582
ConF → ACG- 1 / Deceleration Ramp / dEcE: 1 R/W
htyP Deceleration ramp 1 per.
3 / Torque Ramp / torq: Torque ramp 3 -
Type of deceleration for Halt.

Setting of deceleration ramp with

parameter RAMP_v_dec.
Setting of torque ramp with parameter
LIM_I_maxHalt.

If a deceleration ramp is already active, the

parameter cannot be written.
Changed settings become active
immediately.

Setting the Deceleration Ramp

The deceleration ramp is set with the parameter Ramp_v_dec via the Motion Profile for the Velocity
(see page 277).

0198441113761 09/2017 281

Functions for Operation

Setting the Torque Ramp

The parameter LIM_I_maxHalt lets you set the torque ramp.

Parameter name Description Unit Data type Parameter

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

In the case of a Halt, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Halt.

Default: _PS_I_max at 8 kHz PWM

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

282 0198441113761 09/2017

 Functions for Operation

Stop Movement with Quick Stop

With a Quick Stop, the ongoing movement is stopped.

A Quick Stop can be triggered by a detected error of error classes 1 or 2 or via a fieldbus command.
The movement can be stopped with 2 different deceleration types.
 Deceleration via deceleration ramp
 Deceleration via torque ramp
In addition, you can set the operating state to switch to after the deceleration.
 Transition to operating state 9 Fault
 Transition to operating state 7 Quick Stop Active

Setting the Type of Deceleration

The parameter LIM_QStopReact lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_QStopReact Quick Stop option code - INT16 Modbus 1584
ConF → 6 / Deceleration ramp (Quick Stop) / dEc: 6 R/W
FLt- Use deceleration ramp and remain in 6 per.
qtyP operating state 7 Quick Stop 7 -
7 / Torque ramp (Quick Stop) / tor: Use
torque ramp and remain in operating state
7 Quick Stop
Type of deceleration for Quick Stop.

Setting of deceleration ramp with

parameter RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

If a deceleration ramp is already active, the

parameter cannot be written.
Changed settings become active
immediately.

Setting the Deceleration Ramp

The parameter RAMPquickstop lets you set the deceleration ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMPquickstop Deceleration ramp for Quick Stop usr_a UINT32 Modbus 1572
Deceleration ramp for a software stop or an 1 R/W
error with error class 1 or 2. 6000 per.
Changed settings become active the next 2147483647 -
time the motor moves.

0198441113761 09/2017 283

Functions for Operation

Setting the Torque Ramp

The parameter LIM_I_maxQSTP lets you set the torque ramp.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
LIM_I_maxQSTP Current for Quick Stop Arms UINT16 Modbus 4378
ConF → This value is only limited by the - R/W
FLt- minimum/maximum value range (no - per.
qcur limitation of this value by motor/power - -
stage).

In the case of a Quick Stop, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Quick Stop.

Default: _PS_I_max at 8 kHz PWM

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

284 0198441113761 09/2017

 Functions for Operation

Inverting the Analog Signal Inputs

The evaluation of the analog signal inputs can be inverted via the digital signal inputs.
 The signal input function "Inversion AI1" inverts the signal evaluation of the analog signal input AI1.
 The signal input function "Inversion AI2" inverts the signal evaluation of the analog signal input AI2.
In order to invert the signal evaluation of the analog signal inputs, you must first parameterize the signal
input functions "Inversion AI1" or "Inversion AI2", see chapter Digital Inputs and Outputs (see page 196).

Availability
The signal input functions are available in the following operating modes:
 Profile Torque
 Profile Velocity

0198441113761 09/2017 285

Functions for Operation

Limitation of the Velocity via Signal Inputs

The velocity can be limited via an analog signal input.

The parameters AI1_mode and AI2_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 AI1_mode to the value "Velocity
Limitation".
If you want to use the analog signal input AI2, set the parameter AI2_mode to the value "Velocity
Limitation".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_mode Analog 1: Type of usage - UINT16 Modbus 2332
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 1 per.
A1Mo velocity for the velocity controller 4 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_mode Analog 2: Type of usage - UINT16 Modbus 2342
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 0 per.
A2Mo velocity for the velocity controller 5 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
5 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

286 0198441113761 09/2017

 Functions for Operation

The parameters AI1_v_max and AI2_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 AI1, use the parameter AI1_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 AI2, use the parameter AI2_v_max to set the value of the
limitation for a voltage value of 10 V.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_v_max Analog 1: Limitation of velocity at 10 V usr_v UINT32 Modbus 2336
ConF → i The maximum velocity is limited to the 1 R/W
-o- setting in CTRL_v_max. 3000 per.
A1nL The minimum velocity is internally limited to 2147483647 -
100 min-1.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_v_max Analog 2: Limitation of velocity at 10 V usr_v UINT32 Modbus 2346
ConF → i The maximum velocity is limited to the 1 R/W
-o- setting in CTRL_v_max. 3000 per.
A2nL The minimum velocity is internally limited to 2147483647 -
100 min-1.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

Limitation via Digital Signal Input

The velocity can be limited to a specific value via a digital signal input.
The parameter IO_v_limit lets you set the velocity limitation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_v_limit Velocity limitation via input usr_v UINT32 Modbus 1596
ConF → i A velocity limitation can be activated via a 0 R/W
-o- digital input. 10 per.
nLiM In operating mode Profile Torque, the 2147483647 -
minimum velocity is internally limited to 100
min-1.
Changed settings become active
immediately.

In order to limit the velocity via a digital signal input, you must first parameterize the signal input function
“Velocity Limitation”, see chapter Digital Inputs and Outputs (see page 196).

0198441113761 09/2017 287

Functions for Operation

Limitation of the Current via Signal Inputs

Limitation via Analog Signal Input

The current can be limited via an analog signal input.
The parameters AI1_mode and AI2_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 AI1_mode to the value "Current
Limitation".
If you want to use the analog signal input AI2, set the parameter AI2_mode to the value "Current
Limitation".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_mode Analog 1: Type of usage - UINT16 Modbus 2332
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 1 per.
A1Mo velocity for the velocity controller 4 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_mode Analog 2: Type of usage - UINT16 Modbus 2342
ConF → i 0 / None / nonE: No function 0 R/W
-o- 1 / Target Velocity / SPdS: Target 0 per.
A2Mo velocity for the velocity controller 5 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
5 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

288 0198441113761 09/2017

 Functions for Operation

The parameters AI1_I_max and AI2_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 AI1, use the parameter AI1_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 AI2, use the parameter AI2_I_max to set the value of the
limitation for a voltage value of 10 V.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_I_max Analog 1: Limitation of current at 10 V Arms UINT16 Modbus 2334
ConF → i In increments of 0.01 Arms. 0.00 R/W
-o- Setting can only be changed if power stage 3.00 per.
A1iL is disabled. 463.00 -
Changed settings become active the next
time the power stage is enabled.
AI2_I_max Analog 2: Limitation of current at 10 V Arms UINT16 Modbus 2344
ConF → i In increments of 0.01 Arms. 0.00 R/W
-o- Setting can only be changed if power stage 3.00 per.
A2iL is disabled. 463.00 -
Changed settings become active the next
time the power stage is enabled.

Limitation via Digital Signal Input

The current can be limited to a specific value via a digital signal input.
The parameter IO_I_limit lets you set the current limitation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_I_limit Current limitation via input Arms UINT16 Modbus 1614
ConF → i A current limit can be activated via a digital 0.00 R/W
-o- input. 0.20 per.
iLiM In increments of 0.01 Arms. 300.00 -
Changed settings become active
immediately.

In order to limit the current via a digital signal input, you must first parameterize the signal input function
“Current Limitation”, see chapter Digital Inputs and Outputs (see page 196).

0198441113761 09/2017 289

Functions for Operation

Zero Clamp

Description
The motor can be stopped via a digital signal input. The velocity of the motor must be below a parameter-
izable velocity value.

Availability
The signal input function “Zero Clamp” is available in the following operating mode:
 Electronic Gear (velocity synchronization)
 Profile 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

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_zeroclamp Velocity limit for Zero Clamp usr_v UINT32 Modbus 1616
ConF → i A Zero Clamp operation is only possible if 0 R/W
-o- the reference velocity is below the Zero 10 per.
ScLP Clamp velocity limit. 2147483647 -
Changed settings become active
immediately.

In order to stop the motor via a digital signal input, you must first parameterize the signal input function
“Zero Clamp”, see chapter Digital Inputs and Outputs (see page 196).

290 0198441113761 09/2017

 Functions for Operation

Relative Movement After Capture (RMAC)

Description
Relative Movement After Capture (RMAC) starts a relative movement via a signal input while another
movement is running.
The target position and the velocity can be parameterized.

1 Movement with set operating mode (for example operating mode Profile Velocity)
2 Start of the relative movement after capture with the signal input function Start Signal Of RMAC
3a Relative movement after capture is performed with unchanged velocity
3b Relative movement after capture is performed with parameterized velocity
4 Target position reached

Availability
A Relative Movement After Capture (RMAC) can be started in the following operating modes:
 Jog
 Electronic Gear
 Profile Torque
 Profile Velocity
Available with hardware version ≥RS03.

Signal Input Functions

The following signal input functions are required to start the relative movement:

Signal input function Meaning Activation

Activate RMAC Activation of relative 1 level
movement after capture
Start Signal Of RMAC Start signal for relative Adjustable via
movement parameter
RMAC_Edge
Activate Operating Mode When the relative Rising edge
movement has
terminated, the operating
mode is resumed.

The signal input functions must have been parameterized, see chapter Digital Inputs and Outputs
(see page 196).

Status Indication
The status is available via a signal output. In order to read the status, you must first parameterize the signal
output function "RMAC Active Or Finished", see chapter Digital Inputs and Outputs (see page 196).

Activates Relative Movement After Capture

Relative Movement After Capture (RMAC) must be activated before it can be started.
Relative Movement After Capture is activated via the signal input function "Activate RMAC".

0198441113761 09/2017 291

Functions for Operation

Target Values
The target position and the velocity for the relative movement are set via the following parameters.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Position Target position of relative movement after usr_p INT32 Modbus 8986
capture - R/W
Minimum/maximum values depend on: 0 per.
- Scaling factor - -
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.
RMAC_Velocity Velocity of relative movement after capture usr_v UINT32 Modbus 8988
Value 0: Use actual motor velocity 0 R/W
Value >0: Value is the target velocity 0 per.
2147483647 -
The adjustable value is internally limited to
the setting in RAMP_v_max.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.

Edge for the Start Signal

The edge which is to trigger the relative movement is set via the following parameter.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Edge Edge of capture signal for relative - UINT16 Modbus 8992
movement after capture 0 R/W
0 / Falling edge: Falling edge 0 per.
1 / Rising edge: Rising edge 1 -
Available with firmware version ≥V01.10.

Response to Overtravelling of the Target Position

Depending on the set velocity, target position and deceleration ramp, the target position may be
overtravelled.
The response to overtravelling of the target position is set via the following parameter.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Response Response if target postion is overtraveld - UINT16 Modbus 8990
0 / Error Class 1: Error class 1 0 R/W
1 / No Movement To Target Position: No 0 per.
movement to target position 2 -
2 / Movement To Target Position:
Movement to target position
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

292 0198441113761 09/2017

 Functions for Operation

Backlash Compensation

By setting backlash compensation, you can compensate for mechanical backlash.

Example of mechanical backlash

1 Example of low mechanical backlash

2 Example of high mechanical backlash

When backlash compensation is activated, the drive automatically compensates for the mechanical
backlash during each movement.

Availability
Available with firmware version ≥V01.14.
Backlash compensation is possible in the following operating modes:
 Jog
 Electronic Gear (position synchronization)

Parameterization
To use backlash compensation, you must set the amount of backlash.
The parameter BLSH_Position lets you set the amount of backlash in user-defined units.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Position Position value for backlash compensation usr_p INT32 Modbus 1668
Setting can only be changed if power stage 0 R/W
is disabled. 0 per.
Changed settings become active the next 2147483647 -
time the power stage is enabled.
Available with firmware version ≥V01.14.

In addition, you can set a processing time. The processing time specifies the period of time during which
the mechanical backlash is to be compensated for.
The parameter BLSH_Time lets you set the processing time in ms.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Time Processing time for backlash ms UINT16 Modbus 1672
compensation 0 R/W
Value 0: Immediate backlash 0 per.
compensation 16383 -
Value >0: Processing time for backlash
compensation
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.14.

0198441113761 09/2017 293

Functions for Operation

Activating Backlash Compensation

Before you can activate backlash compensation, there must be a movement in positive or negative
direction. Backlash compensation is activated with the parameter BLSH_Mode.
 Start a movement in positive direction or in negative direction. This movement must last as long as it
takes to move the mechanical system connected to the motor.
 If the movement was in positive direction (positive target values), activate backlash compensation with
the value "OnAfterPositiveMovement".
 If the movement was in negative direction (negative target values), activate backlash compensation with
the value "OnAfterNegativeMovement".

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Mode Processing mode of backlash - UINT16 Modbus 1666
compensation 0 R/W
0 / Off: Backlash compensation is off 0 per.
1 / OnAfterPositiveMovement: Backlash 2 -
compensation is on, last movement was in
positive direction
2 / OnAfterNegativeMovement: Backlash
compensation is on, last movement was in
negative direction
Changed settings become active
immediately.
Available with firmware version ≥V01.14.

294 0198441113761 09/2017

 Functions for Operation

Section 8.2
Functions for Monitoring Movements

Functions for Monitoring Movements

What Is in This Section?

This section contains the following topics:
Topic Page
Limit Switches 296
Load-Dependent Position Deviation (Following Error) 297
Load-Dependent Velocity Deviation 300
Motor Standstill and Direction of Movement 302
Position Deviation Window 303
Velocity Deviation Window 305
Velocity Threshold Value 307
Current Threshold Value 308

0198441113761 09/2017 295

Functions for Operation

Limit Switches

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

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

Limit Switches
Movements can be monitored using limit switches. A positive limit switch and a negative limit switch can
be used for monitoring.
If the positive or negative limit switch are tripped, the movement stops. An error message is generated and
the operating state switches to 7 Quick Stop Active.
The error message can be reset by means of a “Fault Reset”. The operating state switches back to
6 Operation Enabled.
The movement can continue, however, only in the opposite direction. For example, if the positive limit
switch was triggered, further movement is only possible in negative direction. In the case of further
movement in positive direction, a new error message is generated and the operating state switches back
to 7 Quick Stop Active.
The parameters IOsigLIMP and IOsigLIMN are used to set the type of limit switch.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigLIMP Signal evaluation for positive limit switch - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
IOsigLIMN Signal evaluation for negative limit switch - UINT16 Modbus 1566
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

The signal input functions “Positive Limit Switch (LIMP)” and “Negative Limit Switch (LIMN)” must have
been parameterized, see chapter Digital Inputs and Outputs (see page 196).

296 0198441113761 09/2017

 Functions for Operation

Load-Dependent Position Deviation (Following Error)

Description
The load-dependent position deviation is the difference between the reference position and the actual
position caused by the load.
Parameters are available to read the load-dependent position deviation during operation and the maximum
position deviation reached so far.
The maximum permissible load-dependent position deviation can be parameterized. In addition, you can
set the error class.

Availability
Monitoring of the load-dependent position deviation is available in the following operating modes:
 Jog
 Electronic Gear (position synchronization)

Reading the Position Deviation

The following parameters let you read the load-dependent position deviation in user-defined units or
revolutions.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_ Load-dependent position deviation usr_p INT32 Modbus 7724
usr between reference and actual positions -2147483648 R/-
The load-dependent position deviation is - -
the difference between the reference 2147483647 -
position and the actual position caused by
the load. This value is used for following
error monitoring.
Available with firmware version ≥V01.05.
_p_dif_load Load-dependent position deviation revolution INT32 Modbus 7736
between reference and actual positions -214748.3648 R/-
The load-dependent position deviation is - -
the difference between the reference 214748.3647 -
position and the actual position caused by
the load. This value is used for following
error monitoring.

The parameter _p_dif_load_usr allows you

to enter the value in user-defined units.
In increments of 0.0001 revolution.

The following parameters let you read the maximum value of the load-dependent position deviation
reached so far in user-defined units or revolutions.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_ Maximum value of the load-dependent usr_p INT32 Modbus 7722
peak_usr position deviation 0 R/W
This parameter contains the maximum - -
load-dependent position deviation reached 2147483647 -
so far. A write access resets this value.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.

0198441113761 09/2017 297

Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_ Maximum value of the load-dependent revolution UINT32 Modbus 7734
peak position deviation 0.0000 R/W
This parameter contains the maximum - -
load-dependent position deviation reached 429496.7295 -
so far. A write access resets this value.

The parameter _p_dif_load_peak_usr

allows you to enter the value in user-
defined units..
In increments of 0.0001 revolution.
Changed settings become active
immediately.

Setting the Position Deviation

The following parameter lets you set the threshold for the maximum load-dependent position deviation that
is to trigger an error of error class 0.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_warn Maximum load-dependent position % UINT16 Modbus 1618
deviation (error class 0) 0 R/W
100.0 % correspond to the maximum 75 per.
position deviation (following error) as 100 -
specified by means of parameter
MON_p_dif_load.
Changed settings become active
immediately.

The following parameters let you set the maximum load-dependent position deviation at which a movement
is canceled with an error of error classes 1, 2, or 3.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_ Maximum load-dependent position usr_p INT32 Modbus 1660
load_usr deviation 1 R/W
The load-dependent position deviation is 16384 per.
the difference between the reference 2147483647 -
position and the actual position caused by
the load.

The minimum value, the factory setting and

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

298 0198441113761 09/2017

 Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_load Maximum load-dependent position revolution UINT32 Modbus 1606
deviation 0.0001 R/W
The load-dependent position deviation is 1.0000 per.
the difference between the reference 200.0000 -
position and the actual position caused by
the load.

The parameter MON_p_dif_load_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.

Setting the Error Class

The following parameter lets you set the error class for an excessively high load-dependent position
deviation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_p_ Error response to excessivly high load- - UINT16 Modbus 1302
dif dependent position deviation 1 R/W
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

0198441113761 09/2017 299

Functions for Operation

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 in user-defined units.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_v_dif_usr Current load-dependent velocity deviation usr_v INT32 Modbus 7768
The load-dependent velocity deviation is -2147483648 R/-
the difference between reference velocity - -
and actual velocity. 2147483647 -
Available with firmware version ≥V01.26.

Setting the Velocity Deviation

The following parameters let you specify the size of the window for the maximum load-dependent velocity
deviation at which a movement is canceled.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_VelDiff Maximum load-dependent velocity usr_v UINT32 Modbus 1686
deviation 0 R/W
Value 0: Monitoring deactivated. 0 per.
Value >0: Maximum value 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥V01.26.
MON_VelDiff_ Time window for maximum load-dependent ms UINT16 Modbus 1688
Time velocity deviation 0 R/W
Value 0: Monitoring deactivated. 10 per.
Value >0: Time window for maximum value - -
Changed settings become active
immediately.
Available with firmware version ≥V01.26.

300 0198441113761 09/2017

 Functions for Operation

Setting the Error Class

The following parameter lets you set the error class for an excessively high load-dependent velocity
deviation.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_v_ Error response to excessivly high load- - UINT16 Modbus 1400
dif dependent velocity deviation 1 R/W
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.26.

0198441113761 09/2017 301

Functions for Operation

Motor Standstill and Direction of Movement

Availability
Monitoring depends on the firmware version
 Motor standstill: Available with firmware version ≥V01.00.
 Direction of movement: Available with firmware version ≥V01.14.

Description
The status of a movement can be monitored. You can read out whether the motor is at a standstill or
whether it moves in a specific direction.
A velocity of <10 rpm is interpreted as standstill.

The status is available via signal outputs. In order to read the status, you must first parameterize the signal
output functions “Motor Standstill”, “Motor Moves Positive” or “Motor Moves Negative”, see chapter Digital
Inputs and Outputs (see page 196).

302 0198441113761 09/2017

 Functions for Operation

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)

Settings

The parameters MON_p_DiffWin_usr (MON_p_DiffWin) and MON_ChkTime specify the size of the
window.

0198441113761 09/2017 303

Functions for Operation

Status Indication
The status is available via a signal output.
In order to read the status via a signal output, you must first parameterize the signal output function “In
Position Deviation Window”, see chapter Digital Inputs and Outputs (see page 196).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_DiffWin_ Monitoring of position deviation usr_p INT32 Modbus 1662
usr The system checks whether the drive is 0 R/W
ConF → within the defined deviation during the 16 per.
ACG- period set with MON_ChkTime. 2147483647 -
in-P The status can be output via a
parameterizable output.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
MON_p_DiffWin Monitoring of position deviation revolution UINT16 Modbus 1586
ConF → The system monitors whether the drive is 0.0000 R/W
ACG- within the defined deviation during the 0.0010 per.
in-P period set with MON_ChkTime. 0.9999 -
The status can be output via a
parameterizable output.

The parameter MON_p_DiffWin_usr allows

you to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 Modbus 1594
ConF → i Adjustment of a time for monitoring of 0 R/W
-o- position deviation, velocity deviation, 0 per.
tthr velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

304 0198441113761 09/2017

 Functions for Operation

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

Settings

The parameters MON_v_DiffWin and MON_ChkTime specify the size of the window.

0198441113761 09/2017 305

Functions for Operation

Status Indication
The status is available via a signal output.
In order to read the status via a signal output, you must first parameterize the signal output function "In
Velocity Deviation Window", see chapter Digital Inputs and Outputs (see page 196).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_DiffWin Monitoring of velocity deviation usr_v UINT32 Modbus 1588
ConF → i The system monitors whether the drive is 1 R/W
-o- within the defined deviation during the 10 per.
in-n period set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 Modbus 1594
ConF → i Adjustment of a time for monitoring of 0 R/W
-o- position deviation, velocity deviation, 0 per.
tthr velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

306 0198441113761 09/2017

 Functions for Operation

Velocity Threshold Value

Description
The velocity threshold value allows you to monitor whether the actual velocity is below a parameterizable
velocity value.
The velocity threshold value comprises the velocity and the monitoring time.

Settings

The parameters MON_v_Threshold and MON_ChkTime specify the size of the window.

Status Indication
The status is available via a signal output.
In order to read the status via a signal output, you must first parameterize the signal output function
"Velocity Below Threshold", see chapter Digital Inputs and Outputs (see page 196).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_Threshold Monitoring of velocity threshold usr_v UINT32 Modbus 1590
ConF → i The system monitors whether the drive is 1 R/W
-o- below the defined value during the period 10 per.
nthr set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_ChkTime Monitoring of time window ms UINT16 Modbus 1594
ConF → i Adjustment of a time for monitoring of 0 R/W
-o- position deviation, velocity deviation, 0 per.
tthr velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

0198441113761 09/2017 307

Functions for Operation

Current Threshold Value

The current threshold value allows you to monitor whether the actual current is below a parameterizable
current value.
The current threshold value comprises the current value and the monitoring time.

Settings

The parameters MON_I_Threshold and MON_ChkTime specify the size of the window.

Status Indication
The status is available via a signal output.
In order to read the status via a signal output, you must first parameterize the signal output function
"Current Below Threshold", see chapter Digital Inputs and Outputs (see page 196).
The parameter MON_ChkTime acts on the parameters MON_p_DiffWin_usr (MON_p_DiffWin),
MON_v_DiffWin, MON_v_Threshold and MON_I_Threshold.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_I_Threshold Monitoring of current threshold Arms UINT16 Modbus 1592
ConF → i-o- The system monitors whether the drive is 0.00 R/W
ithr below the defined value during the period 0.20 per.
set with MON_ChkTime. 300.00 -
The status can be output via a
parameterizable output.
The parameter _Iq_act_rms is used as
comparison value.
In increments of 0.01 Arms.
Changed settings become active
immediately.

308 0198441113761 09/2017

 Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_ChkTime Monitoring of time window ms UINT16 Modbus 1594
ConF → i-o- Adjustment of a time for monitoring of 0 R/W
tthr position deviation, velocity deviation, 0 per.
velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.

0198441113761 09/2017 309

Functions for Operation

Section 8.3
Functions for Monitoring Internal Device Signals

Functions for Monitoring Internal Device Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Temperature Monitoring 311
Monitoring Load and Overload (I2T Monitoring) 312
Commutation Monitoring 314
Monitoring of Mains Phases 315
Ground Fault Monitoring 317

310 0198441113761 09/2017

 Functions for Operation

Temperature Monitoring

The power stage temperature and the motor temperature are monitored.

Temperature of Power Stage

The parameter _PS_T_current indicates the temperature of the power stage.
The parameter _PS_T_warn contains the threshold value for an error of error class 0. The parameter
_PS_T_max indicates the maximum power stage temperature.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_T_current Temperature of power stage °C INT16 Modbus 7200
Mon - R/-
tPS - -
- -
_PS_T_warn Maximum temperature of power stage °C INT16 Modbus 4108
(error class 0) - R/-
- per.
- -
_PS_T_max Maximum temperature of power stage °C INT16 Modbus 4110
- R/-
- per.
- -

Temperature of Motor
The parameter _M_T_current indicates the motor temperature.
The parameter _M_T_max indicates the maximum motor temperature.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_T_current Temperature of motor °C INT16 Modbus 7202
Mon - R/-
tMot - -
- -
_M_T_max Maximum temperature of motor °C INT16 Modbus 3360
- R/-
- -
- -

0198441113761 09/2017 311

Functions for Operation

Monitoring Load and Overload (I2T Monitoring)

Description
The load is the thermal load on the power stage, the motor and the braking resistor.
Load and overload on the individual components are monitored internally; the values can be read by
means of parameters.
Overload starts at a load value of 100 %.

1 Load
2 Overload

Load Monitoring
The load can be read using the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_load Load of power stage % INT16 Modbus 7214
Mon - R/-
LdFP - -
- -
_M_load Load of motor % INT16 Modbus 7220
Mon - R/-
LdFM - -
- -
_RES_load Load of braking resistor % INT16 Modbus 7208
Mon The braking resistor set via parameter - R/-
LdFb RESint_ext is monitored. - -
- -

Overload Monitoring
In the case of 100 % overload of the power stage or the motor), the current is limited internally. In the case
of 100 % overload of the braking resistor, the braking resistor is deactivated.
The overload and the peak value can be read using the following parameters:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_maxoverload Maximum value of overload of power stage % INT16 Modbus 7216
Maximum overload of power stage during - R/-
the last 10 seconds. - -
- -
_M_overload Overload of motor (I2t) % INT16 Modbus 7218
Mon - R/-
Mi2t - -
- -
_M_maxoverload Maximum value of overload of motor % INT16 Modbus 7222
Maximum overload of motor during the last - R/-
10 seconds. - -
- -

312 0198441113761 09/2017

 Functions for Operation

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_RES_overload Overload of braking resistor (I2t) % INT16 Modbus 7206
The braking resistor set via parameter - R/-
RESint_ext is monitored. - -
- -
_RES_maxoverload Maximum value of overload of braking % INT16 Modbus 7210
resistor - R/-
Maximum overload of braking resistor - -
during the last 10 seconds. - -
The braking resistor set via parameter
RESint_ext is monitored.

0198441113761 09/2017 313

Functions for Operation

Commutation Monitoring

Commutation monitoring verifies the plausibility of acceleration and effective motor torque.
If the motor accelerates though the drive control decelerates the motor with the maximum current, an error
is detected.
Deactivating commutation monitoring can cause unintended movements.

WARNING
UNINTENDED MOVEMENT
 Only deactivate commutation monitoring during commissioning and only for test purposes.
 Verify that the commutation monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The parameter MON_commutat lets you deactivate commutation monitoring.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_commutat Commutation monitoring - UINT16 Modbus 1290
0 / Off: Commutation monitoring off 0 R/W
1 / On (OpState6): Commutation 1 per.
monitoring on in operating state 6 2 -
2 / On (OpState6+7): Commutation
monitoring on in operating states 6 and 7
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

314 0198441113761 09/2017

 Functions for Operation

Monitoring of Mains Phases

If a three-phase drive is missing a mains phase and mains phase monitoring is not correctly set, this can
cause overload of the product.

NOTICE
INOPERABLE EQUIPMENT DUE TO MISSING MAINS PHASE
 Verify that mains phase monitoring is set to "Automatic Mains Detection" or to "Mains ..." with the
correct voltage value if the drive is supplied via the mains phases.
 Verify that mains phase monitoring is set to "DC bus only ..." with the correct voltage value if the drive
is supplied via the DC bus.
Failure to follow these instructions can result in equipment damage.

The parameter ErrorResp_Flt_AC lets you set the error response to a missing mains phase for three-
phase devices.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_Flt_AC Error response to missing mains phase - UINT16 Modbus 1300
0 / Error Class 0: Error Class 0 0 R/W
1 / Error Class 1: Error class 1 2 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

If the product is supplied via the DC bus, mains phase monitoring must be set to "DC bus only ..." with the
correct voltage value.

0198441113761 09/2017 315

Functions for Operation

Mains phase monitoring is set by means of the parameter MON_MainsVolt.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_MainsVolt Detection and monitoring of mains phases - UINT16 Modbus 1310
0 / Automatic Mains Detection: Automatic 0 R/W
detection and monitoring of mains voltage 0 per.
1 / DC-Bus Only (Mains 1~230 V / 3~480 5 expert
V): DC bus supply only, corresponding to
mains voltage 230 V (single-phase) or 480
V (three phases)
2 / DC-Bus Only (Mains 1~115 V / 3~208
V): DC bus supply only, corresponding to
mains voltage 115 V (single-phase) or 208
V (three phases)
3 / Mains 1~230 V / 3~480 V: Mains voltage
230 V (single-phase) or 480 V (three
phases)
4 / Mains 1~115 V / 3~208 V: Mains voltage
115 V (single-phase) or 208 V (three
phases)
5 / Reserved: Reserved
Value 0: As soon as mains voltage
detected, the device automatically verifies
whether the mains voltage is 115 V or 230
V in the case of single-phase devices or
208 V or 400/480 V in the case of three-
phase devices.

Values 1 … 2: If the device is supplied only

via the DC bus, the parameter has to be set
to the voltage value corresponding to the
mains voltage of the supplying device.
There is no mains voltage monitoring.

Values 3 … 4: If the mains voltage is not

detected properly during start-up, the
mains voltage to be used can be selected
manually.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

316 0198441113761 09/2017

 Functions for Operation

Ground Fault Monitoring

When the power stage is enabled, the device monitors the motor phases for ground faults. A ground fault
occurs when one or more motor phases are short-circuited to the ground (earth) of the application.
A ground fault of one or more motor phases is detected. A ground fault of the DC bus or the braking resistor
is not detected.
If the ground fault monitoring is deactivated, the drive may be rendered inoperable by a ground fault.

NOTICE
INOPERABLE EQUIPMENT DUE TO GROUND FAULTS
 Only deactivate ground fault monitoring during commissioning and only for test purposes.
 Verify that the ground fault monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in equipment damage.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_GroundFault Ground fault monitoring - UINT16 Modbus 1312
0 / Off: Ground fault monitoring off 0 R/W
1 / On: Ground fault monitoring on 1 per.
Changed settings become active the next 1 expert
time the product is powered on.

0198441113761 09/2017 317

Functions for Operation

318 0198441113761 09/2017

 Lexium 32C
Examples
0198441113761 09/2017

Chapter 9
Examples

Examples

Examples

General Information
The examples show some typical applications of the product. The examples are intended to provide an
overview; they are not exhaustive wiring plans.
The examples described here are intended for learning purposes only. In general, they are intended to help
you understand how to develop, test, commission, and integrate application logic and/or the device wiring
of the equipment associated with your own design in your control systems. The examples are not intended
to be used directly on products that are part of a machine or process.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include any wiring information, programming or configuration logic, or parameterization values
from the Examples in your machine or process without thoroughly testing your entire application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Using the safety function STO integrated in this product requires careful planning. See chapter Safety
function STO ("Safe Torque Off") (see page 81) for additional information.

0198441113761 09/2017 319

Examples

Example of Operating Mode Electronic Gear

Reference values are provided in the form of A/B signals.
Wiring example

1 EMERGENCY STOP
2 PLC
3 PTO - Encoder simulation (ESIM)
4 Commissioning accessories
5 Signal source for A/B signals

320 0198441113761 09/2017

 Examples

Example of Operating Mode Profile Velocity

Reference values are provided via a ±10V analog signal.
Wiring example

1 EMERGENCY STOP
2 PLC
3 PTO - Encoder simulation (ESIM)
4 External braking resistor
5 Commissioning accessories

0198441113761 09/2017 321

Examples

322 0198441113761 09/2017

 Lexium 32C
Diagnostics and Troubleshooting
0198441113761 09/2017

Chapter 10
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
10.1 Diagnostics via HMI 324
10.2 Diagnostics via Signal Outputs 328
10.3 Error Messages 331

0198441113761 09/2017 323

Diagnostics and Troubleshooting

Section 10.1
Diagnostics via HMI

Diagnostics via HMI

What Is in This Section?

This section contains the following topics:
Topic Page
Diagnostics via the Integrated HMI 325
Acknowledging a Motor Change 326
Displaying error messages via the HMI 327

324 0198441113761 09/2017

 Diagnostics and Troubleshooting

Diagnostics via the Integrated HMI

Overview
The 7-segment display provides the user with information.

With the factory setting, the 7-segment display shows the operating states. The operating states are
described in chapter Operating States (see page 234).

Message Description
INIT Operating state 1 Start
nrdy Operating state 2 Not Ready To Switch On
dis Operating state 3 Switch On Disabled
rdy Operating state 4 Ready To Switch On
son Operating state 5 Switched On
run and Operating state 6 Operation Enabled
halt
stop Operating state 7 Quick Stop Active
flt Operating state 8 Fault Reaction Active and 9 Fault

Additional Messages
The table below provides an overview of the messages that can additionally be displayed on the integrated
HMI.

Message Description
Card Data on the memory card differs from data in the product.
See chapter Memory Card (see page 180) for information
on how to proceed.
disp An external HMI is connected. The integrated HMI has no
function.
mot A new motor was detected. See chapter Acknowledging a
Motor Change (see page 326) for replacing a motor.
prot Parts of the integrated HMI were locked with the
parameter HMIlocked.
ulow Controller supply during initialization not high enough.
wdog Unknown system error. Contact technical support.
8888 Undervoltage controller supply.

0198441113761 09/2017 325

Diagnostics and Troubleshooting

Acknowledging a Motor Change

Procedure for confirming a motor change via the integrated HMI.

If the 7-segment display shows mot:
 Press the navigation button.
The 7-segment display shows save.
 Press the navigation button to save the new motor parameters to the EEPROM.
The product switches to operating state 4 Ready To Switch On.
Confirming a motor change via the integrated HMI

1 HMI displays that a replacement of a motor has been detected.

2 Canceling the saving process
3 Saving switching to operating state 4 Ready To Switch On.

326 0198441113761 09/2017

 Diagnostics and Troubleshooting

Displaying error messages via the HMI

Resetting Errors of Error Class 0

If there are errors of error class 0, the two dots to the right of the 7-segment display (2) flash. The error
code is not directly displayed on the 7-segment display, but must be explicitly queried by the user.
Procedure for displaying and resetting:
 Remedy the cause.
 Press the navigation button and hold it down.
The 7-segment display shows the error code.
 Release the navigation button.
The 7-segment display shows fres.
 Press the navigation button to reset the error message.
The 7-segment display returns to the initial state.

1 HMI shows an error of error class 0

2 Indication of error code
3 Resetting an error message
4 Canceling (the error code remains in the memory)

See chapter Error Messages (see page 331) 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 stop are alternately shown on the 7
segment display.
In the case of a detected error of error class 2 ... 4, the error code and flt are alternately shown on the
7 segment display.
Procedure for displaying and resetting:
 Remedy the cause.
 Press the navigation button.
The 7-segment display shows fres.
 Press the navigation button to reset the error message.
The product switches to operating state 4 Ready To Switch On.

1 HMI shows and error message with an error code

See chapter Error Messages (see page 331) for the meaning of the error codes.

0198441113761 09/2017 327

Diagnostics and Troubleshooting

Section 10.2
Diagnostics via Signal Outputs

Diagnostics via Signal Outputs

What Is in This Section?

This section contains the following topics:
Topic Page
Indicating the Operating State 329
Indicating Error Messages 330

328 0198441113761 09/2017

 Diagnostics and Troubleshooting

Indicating the Operating State

Information on the operating state is available via the signal outputs.

The table below provides an overview.

Signal output function

Operating state “No fault”(1) “Active”(2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0
(1) The signal output function is factory setting for signal output DQ0
(2) The signal output function is the factory setting for signal output DQ1

0198441113761 09/2017 329

Diagnostics and Troubleshooting

Indicating Error Messages

Selected error messages can be output via the signal outputs.

In order to output an error message via a signal output, you must first parameterizes the signal output
functions “Selected Warning” or “Selected Error”, see chapter Digital Inputs and Outputs (see page 196).
The parameters MON_IO_SelWar1 and MON_IO_SelWar2 are used to specify error codes with the error
class 0.
The parameters MON_IO_SelErr1 and MON_IO_SelErr2 are used to specify error codes with the error
classes 1 ... 4.
If an error specified in one of these parameters is detected, the corresponding signal output is to be set.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 331).

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_IO_SelWar1 First error code for the signal output - UINT16 Modbus 15120
function Selected Warning 0 R/W
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.
MON_IO_SelWar2 Second error code for the signal output - UINT16 Modbus 15122
function Selected Warning 0 R/W
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.
MON_IO_SelErr1 First error code for the signal output - UINT16 Modbus 15116
function Selected Error 0 R/W
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.
MON_IO_SelErr2 Second error code for the signal output - UINT16 Modbus 15118
function Selected Error 0 R/W
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.

330 0198441113761 09/2017

 Diagnostics and Troubleshooting

Section 10.3
Error Messages

Error Messages

What Is in This Section?

This section contains the following topics:
Topic Page
Description of Error Messages 332
Table of Error Messages 333

0198441113761 09/2017 331

Diagnostics and Troubleshooting

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 Axxx Motor movement
E Bxxx Communication

Error Class of Error Messages

The error messages are classified according to the following error classes:

Error class State transition1) Error response Resetting the error message
0 - No interruption of the movement Function “Fault Reset”
1 T11 Stop movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop movement with “Quick Stop” and disable Function “Fault Reset”
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function “Fault Reset”
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first
(1) See chapter Operating State (see page 234)

332 0198441113761 09/2017

 Diagnostics and Troubleshooting

Table of Error Messages

List of the Error Messages Sorted by Error Code

Error Error Description Cause Correctives

code class
E 1100 0 Parameter out of permissible value The value entered was The entered value must
range outside of the permissible be within the permissible
value range for this value range.
parameter.
E 1101 0 Parameter does not exist Error detected by parameter Select a different
management: Parameter parameter (index).
(index) does not exist.
E 1102 0 Parameter does not exist Error detected by parameter Select a different
management: Parameter parameter (subindex).
(subindex) does not exist.
E 1103 0 Parameter write not permissible Write access to read only Write only to parameters
(READ only) parameter. that are not read-only.
E 1104 0 Write access denied (no access Parameter only accessible at The write access level
authorization) expert level. expert is required.
E 1105 0 Block Upload/Download not initialized
E 1106 0 Command not permissible while Command not permissible Disable the power stage
power stage is active while the power stage is and repeat the command.
enabled (operating state
Operation Enabled or Quick
Stop Active).
E 1107 0 Access via other interface blocked Access occupied by another Verify the channel that
channel (for example: blocks access.
Commissioning software is
active and fieldbus access
was tried at the same time).
E 1108 0 File cannot be uploaded: Incorrect file
ID
E 1109 1 Data stored after a power outage is
invalid
E 110A 0 System error detected: No bootloader
available
E 110B 3 Configuration error detected Error detected during Value in additional error
(additional info=Modbus register parameter check (for information shows the
address) example, reference velocity Modbus register address
Parameter _SigLatched Bit 30 value for operating mode of the parameter where
Profile Position is greater the initialization error was
than maximum permissible detected.
velocity of drive).
E 110D 1 Basic configuration of drive required The "First Setup" (FSU) was Perform a First Setup.
after factory setting not run at all or not
completed.
E 110E 0 Parameter changed that requires a Only displayed by the Restart the drive to
restart of the drive commissioning software. activate the parameter
A parameter modification functionality.
requires the drive to be See the chapter
powered off and on. Parameters for the
parameter that requires a
restart of the drive.
E 110F 0 Function not available in this type of The specific type of device Verify that you have the
device does not support this function correct device type, in
or this parameter value. particular type of motor,
type of encoder, holding
brake.
E 1110 0 Incorrect file ID for upload or The specific type of device Verify that you have the
download does not support this kind of correct device type or the
file. correct configuration file.

0198441113761 09/2017 333

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 1111 0 File transfer not correctly initialized A previous file transfer has
been aborted.
E 1112 0 Locking of configuration denied An external tool has tried to
lock the configuration of the
drive for upload or download.
This may not work because
another tool had already
locked the configuration of
the drive or the drive is in an
operating state that does not
allow locking.
E 1113 0 System not locked for configuration An external tool has tried to
transfer transfer the configuration
without locking the drive.
E 1114 4 Configuration download aborted During a configuration Power the drive off/on and
Parameter _SigLatched Bit 5 download, a communication retry to download the
error or an error in the configuration or restore
external tool was detected. the factory settings.
The configuration was only
partially transferred to the
drive and might be
inconsistent now.
E 1115 0 Incorrect configuration file format An external tool has
Parameter _WarnLatched Bit 5 downloaded a configuration
which has an incorrect
format.
E 1116 0 Request is processed asynchronously
E 1117 0 Asynchronous request blocked Request to a module is
blocked because the module
is currently processing
another request.
E 1118 0 Configuration data incompatible with The configuration data Verify device type
device contains data from a different including type of power
device. stage.
E 1119 0 Incorrect data length, too many bytes
E 111A 0 Incorrect data length, insufficient
number of bytes
E 111B 4 Configuration download error During a configuration Verify that the
detected (additional info=Modbus download, one or more configuration file is valid
register address) configuration values were not and matches the type and
accepted by the drive. version of the drive. The
value in the additional
error info shows the
Modbus register address
of the parameter where
the initialization error was
detected.
E 111C 1 Not possible to initialize recalculation A parameter could not be The address of the
for scaling initialized. parameter that caused
the detected error can be
read via the parameter
_PAR_ScalingError.
E 111D 3 Original state of a parameter cannot The drive contained an invalid Power the drive off and on
be restored after an error was configuration before the again. This may help you
detected during recalculation of recalculation was started. An to identify the affected
parameters with user-defined units. error was detected during the parameter(s). Change the
recalculation. parameters as required.
Verify that the parameter
configuration is valid
before starting the
recalculation procedure.

334 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 111F 1 Recalculation not possible. Invalid scaling factor. Verify that you really want
the selected scaling
factor. Try a different
scaling factor. Before
triggering scaling, reset
the parameters with user-
defined units.
E 1120 1 Recalculation for scaling not possible A parameter could not be The address of the
recalculated. parameter that caused
this condition can be read
via the parameter
_PAR_ScalingError.
E 1121 0 Incorrect sequence of steps for The recalculation has been The recalculation must be
scaling (fieldbus) started prior to the started after the
initialization. initialization.
E 1122 0 Recalculation for scaling not possible Recalculation for scaling is Wait for the running
already running. recalculation for scaling to
finish.
E 1123 0 Parameter cannot be changed Recalculation for scaling is Wait for the running
running. recalculation for scaling to
finish.
E 1124 1 Timeout during recalculation for The time between the Recalculation must be
scaling initialization of the started within 30 seconds
recalculation and the start of after initialization.
the recalculation has been
exceeded (30 seconds).
E 1125 1 Scaling not possible The scaling factors for Retry with different
position, velocity or scaling factors.
acceleration/deceleration are
beyond internal calculation
limits.
E 1126 0 Configuration is blocked by another Close other access
access channel channel (for example,
other instance of
commissioning software).
E 1127 0 Invalid key received
E 1128 0 Special login is required for
Manufacturing Test Firmware
E 1129 0 Test step not yet started
E 1300 3 Safety function STO activated The safety function STO was Verify correct wiring of the
(STO_A, STO_B) activated in the operating inputs of the safety
Parameter _SigLatched Bit 10 state Operation Enabled. function STO and perform
a Fault Reset.
E 1301 4 STO_A and STO_B different level The levels of the inputs Verify correct wiring of the
Parameter _SigLatched Bit 11 STO_A and STO_B were inputs of the safety
different for more than 1 function STO.
second.
E 1302 0 Safety function STO activated Safety function STO was Verify correct wiring of the
(STO_A, STO_B) activated while the power inputs of the safety
Parameter _WarnLatched Bit 10 stage was disabled. function STO.
E 1310 2 Frequency of the external reference The frequency of the external Verify the frequency of the
value signal too high reference value signals (A/B external reference values.
Parameter _SigLatched Bit 28 signals, P/D signals or Verify the gear ratio in the
CW/CCW signals) is higher operating mode
than the permissible value. Electronic Gear.
E 1311 0 The selected signal input function or The selected signal input Select another function or
signal output function cannot be function or signal output change the operating
configured function cannot be used in the mode.
selected operating mode.

0198441113761 09/2017 335

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 1312 0 Limit switch or reference switch signal Reference movements Assign the signal input
not defined for signal input function require limit switches. These functions Positive Limit
limit switches are not Switch, Negative Limit
assigned to inputs. Switch and Reference
Switch.
E 1313 0 Configured debounce time not The signal input function does Set the debounce time to
possible for this signal input function not support the selected a valid value.
debounce time.
E 1314 4 At least two inputs have the same The same signal input Reconfigure the inputs.
signal input function. function has been assigned to
at least two inputs.
E 1315 0 Frequency of reference value signal is The frequency of the pulse Adapt the frequency of
too high. signal (A/B, Pulse/Direction, the reference value signal
Parameter _WarnLatched Bit 28 CW/CCW) exceeds the to match the input
specified range. Received specification of the drive.
pulses may be lost. Also adapt the gear ratio
in the operating mode
Electronic Gear to the
application requirements
(position accuracy and
velocity).
E 1316 1 Position capture via signal input Position capture is already
currently not possible being used.
Parameter _SigLatched Bit 28
E 1317 0 Interference at PTI input Interfering pulses or Verify cable
Parameter _WarnLatched Bit 28 impermissible edge specifications, shield
transitions (A and B signal connection and EMC.
simultaneously) have been
detected.
E 1318 0 The selected type of usage of the At least two analog inputs are Reconfigure the analog
analog inputs is not possible. configured with the same type inputs.
of usage.
E 1501 4 System error detected: DriveCom
state machine indeterminable state
E 1502 4 System error detected: HWL low-level
state machine indeterminable state
E 1503 1 Quick Stop triggered via fieldbus A Quick Stop has been
triggered via the fieldbus. The
Quick Stop option code has
been set to -1 or -2 which
causes the drive to transition
to the operating state 9 Fault
instead of the operating state
7 Quick Stop Active.
E 1600 0 Oscilloscope: No additional data
available
E 1601 0 Oscilloscope: Parameterization
incomplete
E 1602 0 Oscilloscope: Trigger variable not
defined
E 1606 0 Logging still active
E 1607 0 Logging: No trigger defined
E 1608 0 Logging: Invalid trigger option
E 1609 0 Logging: No channel selected
E 160A 0 Logging: No data available
E 160B 0 Parameter cannot be logged
E 160C 1 Autotuning: Moment of inertia outside The load inertia is too high. Verify that the system can
permissible range easily be moved.
Verify the load.
Use a differently rated
drive.

336 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 160E 1 Autotuning: Test movement could not
be started
E 160F 1 Autotuning: Power stage cannot be Autotuning was not started in Start Autotuning when the
enabled the operating state Ready To drive is in the operating
Switch On. state Ready To Switch
On.
E 1610 1 Autotuning: Processing stopped Autotuning stopped by user Remove the cause of the
command or by detected stop and restart
error (see additional error Autotuning.
message in error memory, for
example, DC bus
undervoltage, limit switches
triggered)
E 1611 1 System error detected: Parameter
could not be written during Autotuning
(additional info=Modbus register
address)
E 1612 1 System error detected: Parameter
could not be read during Autotuning
E 1613 1 Autotuning: Maximum permissible The movement exceeded the Increase the movement
movement range exceeded adjusted movement range range value or disable
Parameter _SigLatched Bit 2 during Autotuning. movement range
monitoring by setting
AT_DIS = 0.
E 1614 0 Autotuning: Already active Autotuning has been started Wait for Autotuning to
twice simultaneously or an finish before restarting
Autotuning parameter is Autotuning.
modified during Autotuning
(parameter AT_dis and
AT_dir).
E 1615 0 Autotuning: This parameter cannot be Parameter AT_gain or AT_J Wait for Autotuning to
changed while Autotuning is active are written during Autotuning. finish before changing the
parameter.
E 1617 1 Autotuning: Friction torque or load The current limit has been Verify that the system can
torque too great reached (parameter easily be moved.
CTRL_I_max). Verify the load.
Use a differently rated
drive.
E 1618 1 Autotuning: Optimization aborted The internal Autotuning See the additional
sequence has not been information provided in
finished, there may have the error memory.
been a following error.
E 1619 0 Autotuning: Velocity jump in Parameter AT_n_ref < 2 * Modify the parameter
parameter AT_n_ref is not sufficient AT_n_tolerance. AT_n_ref or
The drive only checks this for AT_n_tolerance to meet
the first velocity jump. the required condition.
E 1620 1 Autotuning: Load torque too high Product rating is not suitable Reduce load, verify rating.
for the machine load.
Detected machine inertia is
too high compared to the
inertia of the motor.
E 1621 1 System error detected: Calculation
error
E 1622 0 Autotuning: Not possible to perform Autotuning can only be Terminate the active
Autotuning performed if no operating operating mode or disable
mode is active. the power stage.
E 1623 1 Autotuning: HALT request has Autotuning can only be Terminate the active
stopped the autotuning process performed if no operating operating mode or disable
mode is active. the power stage.
E 1A00 0 System error detected: FIFO memory
overflow

0198441113761 09/2017 337

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 1A01 3 Motor has been changed (different Detected motor type is Confirm the change.
type of motor) different from previously
Parameter _SigLatched Bit 16 detected motor.
E 1A03 4 System error detected: Hardware and
firmware do not match
E 1B00 3 System error detected: Incorrect Incorrect manufacturer Replace device.
parameters for motor and power stage parameter value (data) non-
Parameter _SigLatched Bit 30 volatile memory of device.
E 1B02 3 Target value too high.
Parameter _SigLatched Bit 30
E 1B04 2 Product of encoder simulation Value in parameter Reduce the resolution of
resolution and the maximum velocity CTRL_v_max or resolution or the encoder simulation or
is too high the encoder simulation the maximum velocity in
Parameter _SigLatched Bit 30 ESIM_scale are too high. parameter CTRL_v_max.
E 1B05 2 Error detected during parameter
switching
Parameter _SigLatched Bit 30
E 1B0C 3 Motor velocity too high.
E 1B0D 3 Velocity value determined by velocity Incorrect system inertia for Change the velocity
observer is incorrect velocity observer observer dynamics via the
calculations. parameter
Incorrect velocity observer CTRL_SpdObsDyn.
dynamics. Change the system inertia
System inertia changes used for velocity observer
during operation. In this case, calculations via the
operation with velocity parameter
observer is not possible and CTRL_SpdObsInert.
the velocity observer must be If the detected error
deactivated. persists, deactivate the
velocity observer.
E 1B0F 3 Velocity deviation too high
E 2300 3 Power stage overcurrent Motor short circuit and Verify the motor power
Parameter _SigLatched Bit 27 disabling of the power stage. connection.
Motor phases are inverted.
E 2301 3 Braking resistor overcurrent Braking resistor short circuit. If you use the internal
Parameter _SigLatched Bit 27 braking resistor, contact
Technical Support.
If you use an external
braking resistor, verify
correct wiring and rating
of the braking resistor.
E 3100 par. Missing mains supply, undervoltage Missing phase(s) for more Verify that the values of
mains supply or overvoltage mains than 50 ms. the mains power supply
supply Mains voltage is out of range. network comply with the
Parameter _SigLatched Bit 15 Mains frequency is out of technical data.
range.
E 3200 3 DC bus overvoltage Excessive regeneration Verify correct
Parameter _SigLatched Bit 14 during deceleration. deceleration ramp, rating
of drive and braking
resistor.
E 3201 3 DC bus undervoltage (shutdown Power supply outage, Verify mains supply.
threshold) insufficient power supply.
Parameter _SigLatched Bit 13
E 3202 2 DC bus undervoltage (Quick Stop Power supply outage, Verify mains supply.
threshold) insufficient power supply.
Parameter _SigLatched Bit 13

338 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 3206 0 Undervoltage DC bus, missing mains Missing phase(s) for more Verify that the values of
supply, undervoltage mains supply or than 50 ms. the mains power supply
overvoltage mains supply Mains voltage is out of range. network comply with the
Parameter _WarnLatched Bit 13 Mains frequency is out of technical data.
range. Verify the settings of the
Mains voltage and setting of parameter for reduced
parameter MON_MainsVolt mains voltage.
do not match (for example,
mains voltage is 230 V and
MON_MainsVolt is set to
115 V).
E 3300 0 The winding voltage of the motor is If the winding voltage of the Verify the motor
lower than the nominal supply voltage motor is lower than the temperature. In the case
of the drive nominal supply voltage of the of overtemperature, use a
drive, this may result in motor motor with a higher
overtemperature due to high winding voltage or use a
current ripple. drive with a lower nominal
supply voltage.
E 4100 3 Power stage overtemperature Transistors overtemperature: Verify the fan, improve the
Parameter _SigLatched Bit 18 Ambient temperature is too heat dissipation in the
high, fan is inoperative, dust. cabinet.
E 4101 0 Power stage overtemperature Transistors overtemperature: Verify the fan, improve the
Parameter _WarnLatched Bit 18 Ambient temperature is too heat dissipation in the
high, fan is inoperative, dust. cabinet.
E 4102 0 Power stage overload (I2t) The current has exceeded the Verify rating, reduce cycle
Parameter _WarnLatched Bit 30 nominal value for an time.
extended period of time.
E 4200 3 Device overtemperature Excessively high ambient Improve heat dissipation
Parameter _SigLatched Bit 18 temperature due to, for in the control cabinet.
example, dust. If a fan is installed, verify
correct operation of the
fan.
Install a fan in the control
cabinet.
Improve heat transfer
from the rear wall of the
device to the control
cabinet.
E 4300 2 Motor overtemperature Ambient temperature is too Verify motor installation:
Parameter _SigLatched Bit 17 high. The heat must be
Duty cycle is too high. dissipated via the
Motor not properly mounted mounting surface.
(thermal isolation). Reduce ambient
Motor overload. temperature.
Provide ventilation.
E 4301 0 Motor overtemperature Ambient temperature is too Verify motor installation:
Parameter _WarnLatched Bit 17 high. The heat must be
Duty cycle is too high. dissipated via the
Motor not properly mounted mounting surface.
(thermal isolation). Reduce ambient
Motor overload. temperature.
Provide ventilation.
E 4302 0 Motor overload (I2t) The current has exceeded the Verify that the system can
Parameter _WarnLatched Bit 31 nominal value for an easily be moved.
extended period of time. Verify the load.
Use a differently sized
motor, if necessary.
E 4303 0 No motor temperature monitoring The temperature parameters Contact Technical
(in electronic nameplate of Support.
motor, non-volatile memory of Replace motor.
encoder) are unavailable or
invalid; parameter A12 is
equal to 0.
E 4304 0 The encoder does not support motor
temperature monitoring.

0198441113761 09/2017 339

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 4402 0 Braking resistor overload (I2t > 75%) Regeneration energy too Reduce load, velocity,
Parameter _WarnLatched Bit 29 high. deceleration.
External loads too high. Verify correct braking
Motor velocity too high. resistor rating.
Deceleration too fast.
Insufficient braking resistor.
E 4403 par. Braking resistor overload (I2t > 100%) Regeneration energy too Reduce load, velocity,
high. deceleration.
External loads too high. Verify correct braking
Motor velocity too high. resistor rating.
Deceleration too fast.
Insufficient braking resistor.
E 4404 0 Overload of transistor for braking Regeneration energy too Reduce load and/or
resistor high. deceleration.
Parameter _WarnLatched Bit 28 External loads too high.
Deceleration too fast.
E 5101 0 Modbus power supply missing
E 5102 4 Motor encoder supply voltage Encoder power supply is not Replace the device.
Parameter _SigLatched Bit 16 within permissible range of 8 Contact Technical
V to 12 V. Support.
E 5200 4 Error detected at connection to motor Incorrect encoder cable or Verify the cable
encoder cable not connected, EMC. connection and the cable
Parameter _SigLatched Bit 16 shield.
E 5201 4 Error detected in motor encoder Verify the cable
communication connection and the cable
Parameter _SigLatched Bit 16 shield.
E 5202 4 Motor encoder is not supported Incompatible encoder Verify that a correct
Parameter _SigLatched Bit 16 connected. encoder is used.
E 5203 4 Error detected in connection motor
encoder
Parameter _SigLatched Bit 16
E 5204 3 Connection to motor encoder lost Encoder cable Verify the cable
Parameter _SigLatched Bit 16 (communication has been connection.
interrupted).
E 5206 0 Communication error detected in Communication disturbed, Verify cable
encoder EMC. specifications, cable
Parameter _WarnLatched Bit 16 shield connection and
EMC.
E 5207 1 Function is not supported The hardware revision does
not support the function.
E 5302 4 The motor requires a PWM frequency The connected motor only Use a motor that works
(16kHz) which the power stage does works with a PWM frequency with a PWM frequency of
not support. of 16 kHz (motor nameplate 8 kHz.
entry). However, the power
stage does not support this
PWM frequency.
E 5430 4 System error detected: EEPROM
read error
Parameter _SigLatched Bit 29
E 5431 3 System error: EEPROM write error
Parameter _SigLatched Bit 29
E 5432 3 System error: EEPROM state
machine
Parameter _SigLatched Bit 29
E 5433 3 System error: EEPROM address error
Parameter _SigLatched Bit 29
E 5434 3 System error: EEPROM incorrect data
length
Parameter _SigLatched Bit 29

340 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 5435 4 System error: EEPROM not formatted
Parameter _SigLatched Bit 29
E 5436 4 System error: EEPROM incompatible
structure
Parameter _SigLatched Bit 29
E 5437 4 System error detected: EEPROM
checksum error (manufacturer data)
Parameter _SigLatched Bit 29
E 5438 3 System error detected: EEPROM
checksum error (user parameters)
Parameter _SigLatched Bit 29
E 5439 3 System error detected: EEPROM
checksum error (fieldbus parameters)
Parameter _SigLatched Bit 29
E 543B 4 System error detected: No valid
manufacturer data
Parameter _SigLatched Bit 29
E 543E 3 System error detected: EEPROM
checksum error (NoInit parameter)
Parameter _SigLatched Bit 29
E 543F 3 System error detected: EEPROM
checksum error (motor parameters)
Parameter _SigLatched Bit 29
E 5441 4 System error detected: EEPROM
checksum error (global control loop
parameter set)
Parameter _SigLatched Bit 29
E 5442 4 System error detected: EEPROM
checksum error (control loop
parameter set 1)
Parameter _SigLatched Bit 29
E 5443 4 System error detected: EEPROM
checksum error (control loop
parameter set 2)
Parameter _SigLatched Bit 29
E 5444 4 System error detected: EEPROM
checksum error (NoReset parameter)
Parameter _SigLatched Bit 29
E 5445 4 System error detected: EEPROM
checksum error (hardware
information)
Parameter _SigLatched Bit 29
E 5446 4 System error detected: EEPROM Internal EEPROM not Restart the drive. If the
checksum error (for power outage operative. detected error persists,
data) contact Technical
Parameter _SigLatched Bit 29 Support.
E 5448 2 System error detected:
Communication with memory card
Parameter _SigLatched Bit 20
E 5449 2 System error detected: Memory card
bus is busy
Parameter _SigLatched Bit 20
E 544A 4 System error detected: EEPROM
checksum error (administration data)
Parameter _SigLatched Bit 29
E 544C 4 System error detected: EEPROM is
write-protected
Parameter _SigLatched Bit 29

0198441113761 09/2017 341

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 544D 2 System error detected: Memory card The last saving procedure Retry saving the data.
Parameter _SigLatched Bit 20 may not have been Replace the memory
successful; the memory card card.
may be inoperative.
E 544E 2 System error detected: Memory card The last saving procedure Retry saving the data.
Parameter _SigLatched Bit 20 may not have been Replace the memory
successful; the memory card card.
may be inoperative.
E 544F 2 System error detected: Memory card The last saving procedure Retry saving the data.
Parameter _SigLatched Bit 20 may not have been Replace the memory
successful; the memory card card.
may be inoperative.
E 5451 0 System error detected: No memory
card available
Parameter _WarnLatched Bit 20
E 5452 2 System error detected: Data on Different type of device.
memory card and device do not match Different type of power stage.
Parameter _SigLatched Bit 20 Data on memory card does
not match firmware version of
device.
E 5453 2 System error detected: Incompatible
data on the memory card
Parameter _SigLatched Bit 20
E 5454 2 System error detected: Capacity of
detected memory card insufficient
Parameter _SigLatched Bit 20
E 5455 2 System error detected: Memory card Update memory card via
not formatted HMI command "dtoc"
Parameter _SigLatched Bit 20 (drive-to-card).
E 5456 1 System error detected: Memory card The memory card has been Remove memory card or
is write-protected write-protected. disable write protection
Parameter _SigLatched Bit 20 via HMI.
E 5457 2 System error detected: Incompatible Memory card capacity is Replace memory card
memory card insufficient.
Parameter _SigLatched Bit 20
E 5462 0 Memory card implicitly written by the The content of the memory
device card and the content of the
Parameter _WarnLatched Bit 20 EEPROM are not identical.
E 546C 0 EEPROM file not available
E 5600 3 Motor connection phase error Missing motor phase. Verify connection of motor
detected phases.
Parameter _SigLatched Bit 26
E 5603 3 Commutation error detected Incorrect wiring of motor Verify motor phases,
Parameter _SigLatched Bit 26 cable. verify encoder wiring.
Encoder signals are lost or Improve EMC, verify
subject to interference. grounding and shield
The load torque is greater connection.
than the motor torque. Use a differently sized
The encoder EEPROM motor that can withstand
contains incorrect data the load torque.
(encoder phase offset is Verify the motor data.
incorrect). Contact Technical
Motor is not adjusted. Support.
E 6102 4 System error detected: Internal
software error
Parameter _SigLatched Bit 30
E 6103 4 System error detected: System stack
overflow
Parameter _SigLatched Bit 31
E 6104 0 System error detected: Division by
zero (internal)

342 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 6105 0 System error detected: Overflow
during 32 bit calculation (internal)
E 6106 4 System error detected: Size of data
interface does not match
Parameter _SigLatched Bit 30
E 6107 0 Parameter outside of value range
(calculation error detected)
E 6108 0 Function not available
E 6109 0 System error detected: Internal range
exceeded
E 610A 2 System error detected: Calculated
value cannot be represented as a 32
bit value
E 610D 0 Error detected in selection parameter Incorrect parameter value Verify the value to be
selected. written.
E 610E 4 System error detected: 24 VDC below
undervoltage threshold for shutdown
E 610F 4 System error detected: Internal timer
basis missing (Timer0)
Parameter _SigLatched Bit 30
E 6111 2 System error detected: Memory area
locked
Parameter _SigLatched Bit 30
E 6112 2 System error detected: Out of memory
Parameter _SigLatched Bit 30
E 6113 1 System error detected: Calculated
value cannot be represented as a 16
bit value
E 6114 4 System error detected: Impermissible Incorrect programming
function call from interrupt service
routine
E 6117 0 Holding brake cannot be released The holding brake cannot be First, switch from applying
manually. relased manually because it the holding brake
is still applied manually. manually to Automatic,
then to releasing the
holding brake manually.
E 7100 4 System error detected: Invalid power Error detected in power stage Contact Technical
stage data data stored in device Support or replace the
Parameter _SigLatched Bit 30 (incorrect CRC), error device.
detected in internal memory
data.
E 7110 2 System error detected: Internal Internal braking resistor is Contact Technical
braking resistor inoperative or not connected. Support.
E 7111 0 Parameter cannot be changed An attempt is made to change Verify that the external
because the external braking resistor one of the parameters braking resistor is not
is active. RESext_ton, RESext_P or active if one of the
RESext_R even though the parameters RESext_ton,
external braking resistor is RESext_P or RESext_R
active. has to be changed.
E 7112 2 No external braking resistor External braking resistor Verify wiring of the
connected activated (Parameter external braking resistor.
RESint_ext), but no external Verify correct resistance.
resistor is detected.
E 7120 4 Invalid motor data Motor data is incorrect Contact Technical
Parameter _SigLatched Bit 16 (incorrect CRC). Support or replace the
motor.
E 7121 2 System error detected: Error in motor EMC, detailed information Contact Technical
encoder communication can be found in the error Support.
Parameter _SigLatched Bit 16 memory that contains the
error code of the encoder.

0198441113761 09/2017 343

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 7122 4 Invalid motor data Error detected in motor data Contact Technical
Parameter _SigLatched Bit 30 stored in motor encoder, error Support or replace the
detected in internal memory motor.
data.
E 7124 4 System error detected: Motor encoder Contact Technical
inoperative Support or replace the
Parameter _SigLatched Bit 16 motor.
E 7125 4 System error detected: Length
specification for user data too great
Parameter _SigLatched Bit 16
E 7129 0 System error detected: Motor encoder
Parameter _WarnLatched Bit 16
E 712C 0 System error detected:
Communication with encoder not
possible
Parameter _WarnLatched Bit 16
E 712D 4 Electronic motor nameplate not found Incorrect motor data Contact Technical
Parameter _SigLatched Bit 16 (incorrect CRC). Support or replace the
Motor without electronic motor.
motor nameplate (for
example, SER motor)
E 712F 0 No data segment of the electronic
motor nameplate
E 7132 0 System error detected: Motor
configuration cannot be written
E 7134 4 Incomplete motor configuration
Parameter _SigLatched Bit 16
E 7135 4 Format is not supported
Parameter _SigLatched Bit 16
E 7136 4 Incorrect encoder type selected with
parameter MotEnctype
Parameter _SigLatched Bit 16
E 7137 4 Error detected during the internal
conversion of the motor configuration
Parameter _SigLatched Bit 16
E 7138 4 Parameter of the motor configuration
out of permissible range
Parameter _SigLatched Bit 16
E 7139 0 Encoder offset: Data segment in
encoder is incorrect.
E 713A 3 Adjustment value of the encoder of the
third party motor has not yet been
determined.
Parameter _SigLatched Bit 16
E 7200 4 System error detected: Calibration
analog/digital converter during
manufacturing / incorrect BLE file
Parameter _SigLatched Bit 30
E 7320 4 System error detected: Invalid Communication channel Contact Technical
encoder parameter (Hiperface) to encoder is Support.
Parameter _SigLatched Bit 16 subject to interference, motor
encoder has not been factory-
parameterized.
E 7321 3 Timeout reading the absolute position Communication channel Verify wiring and shield
from the encoder (Hiperface) to encoder is connection of encoder
Parameter _SigLatched Bit 16 subject to interference or cable or replace motor.
motor encoder is inoperative.
E 7327 0 Error bit set in Hiperface answer Insufficient EMC. Verify wiring (shield).
Parameter _WarnLatched Bit 16

344 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 7328 4 Motor encoder: Position evaluation Encoder has detected Contact Technical
error detected incorrect position evaluation. Support or replace the
Parameter _SigLatched Bit 16 motor.
E 7329 0 Motor encoder Warn signal EMC. Contact Technical
Parameter _WarnLatched Bit 16 Support or replace the
motor.
E 7330 4 System error detected: Motor encoder Verify wiring and shield
(Hiperface) connection of encoder
Parameter _SigLatched Bit 16 cable.
Contact Technical
Support.
E 7331 4 System error detected: Motor encoder Verify wiring and shield
initialization connection of encoder
Parameter _SigLatched Bit 30 cable.
Contact Technical
Support.
E 7335 0 Communication with motor encoder Command is being processed Verify wiring and shield
active or communication may be connection of encoder
Parameter _WarnLatched Bit 16 disturbed (EMC). cable.
Contact Technical
Support.
E 733F 4 Amplitude of encoder analog signals Incorrect encoder wiring.
too low Encoder not connected.
Parameter _SigLatched Bit 16 Encoder signals subject to
EMC interference (shield
connection, cabling, etc.).
E 7340 3 Reading of absolute position aborted Communication channel Verify wiring and shield
Parameter _SigLatched Bit 16 (Hiperface) to encoder is connection of encoder
subject to interference. cable, replace motor.
Encoder (in motor) is
inoperative.
E 7341 0 Encoder overtemperature The maximum permissible Reduce the duty cycle, for
Parameter _WarnLatched Bit 16 duty cycle is exceeded. example, reduce
The motor was not mounted acceleration.
properly, for example, it is Supply additional cooling,
thermally isolated. for example, use a fan.
The motor is blocked so that Mount the motor in such a
more current is used than way as to increase
under normal conditions. thermal conductivity.
The ambient temperature is Use a differently rated
too high. drive or motor.
Replace the motor.
E 7342 2 Encoder overtemperature The maximum permissible Reduce the duty cycle, for
Parameter _SigLatched Bit 16 duty cycle is exceeded. example, reduce
The motor was not mounted acceleration.
properly, for example, it is Supply additional cooling,
thermally isolated. for example, use a fan.
The motor is blocked so that Mount the motor in such a
more current is used than way as to increase
under normal conditions. thermal conductivity.
The ambient temperature is Use a differently rated
too high. drive or motor.
Replace the motor.
E 7343 0 Absolute position is different from - Encoder is subject to EMC Verify wiring and shield
incremental position interference. connection of encoder
Parameter _WarnLatched Bit 16 - Motor encoder is cable, replace motor.
inoperative.
E 7344 3 Absolute position is different from - Encoder is subject to EMC Verify wiring and shield
incremental position interference. connection of encoder
Parameter _SigLatched Bit 16 - Motor encoder is cable, replace motor.
inoperative.

0198441113761 09/2017 345

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 7345 0 Amplitude of analog signals too high, Encoder signals subject to Verify wiring and shield
limit of AD conversion exceeded EMC interference (shield connection.
connection, wiring, etc.). Replace encoder.
Encoder inoperative.
E 7346 4 System error detected: Encoder not Verify wiring and shield
ready connection of encoder
Parameter _SigLatched Bit 16 cable.
Contact Technical
Support.
E 7347 0 System error detected: Position Analog and digital encoder Reduce encoder signal
initialization not possible signals subject to massive interference, verify shield
interference. connection.
Contact Technical
Support.
E 7348 3 Timeout reading encoder temperature Encoder without temperature Verify wiring and shield
Parameter _SigLatched Bit 16 sensor, incorrect encoder connection of encoder
connection. cable.
Contact Technical
Support.
E 7349 0 Discrepancy between absolute and Analog encoder signals are Verify wiring and shield
analog encoder phases subject to interference. connection of encoder
Encoder inoperative. cable.
Replace motor.
Contact Technical
Support.
E 734A 3 Amplitude of analog signals from Incorrect encoder wiring.
encoder too high, signals are clipped Encoder hardware interface
Parameter _SigLatched Bit 16 inoperative.
E 734B 0 Signal position evaluation of analog Incorrect encoder wiring.
encoder inoperative Encoder hardware interface
Parameter _WarnLatched Bit 16 inoperative.
E 734C par. Error detected with quasi absolute The motor shaft may have If the quasi absolute
position been moved while the drive function is active, only
Parameter _SigLatched Bit 16 was powered down. A quasi power down the drive if
absolute position has been the motor is at a standstill
detected that is not within the and do not move the
permissible motor shaft motor shaft when the
deviation range. drive is off.
E 734D 0 Index pulse is not available for the
encoder
Parameter _WarnLatched Bit 16
E 734E 4 Error in analog signals from encoder Encoder cable not properly Verify wiring and shield
detected connected. connection of encoder
Parameter _SigLatched Bit 16 Encoder signals subject to cable.
EMC interference (shield Contact Technical
connection, wiring, etc.). Support.
Mechanical issue.
E 7500 0 RS485/Modbus: Overrun error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7501 0 RS485/Modbus: Framing error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7502 0 RS485/Modbus: Parity error detected EMC; incorrect cabling. Verify cables.
Parameter _WarnLatched Bit 5
E 7503 0 RS485/Modbus: Receive error EMC; incorrect cabling. Verify cables.
detected
Parameter _WarnLatched Bit 5
E 7623 0 Absolute encoder signal is not There is no encoder available Verify wiring, verify
available at the input specified via the encoder. Change the
Parameter _WarnLatched Bit 22 parameter ENC_abs_source. value of the parameter
ENC_abs_source.

346 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E 7625 0 Not possible to set the absolute There is no encoder Connect an encoder to
position for encoder 1. connected to the input for the input for encoder 1
Parameter _WarnLatched Bit 22 encoder 1. before trying to set the
absolute position directly
via ENC1_abs_pos.
E 7701 4 System error detected: Timeout Contact Technical
during connection to power stage Support.
Parameter _SigLatched Bit 31
E 7702 4 System error detected: Invalid data Contact Technical
received from power stage Support.
Parameter _SigLatched Bit 31
E 7703 4 System error detected: Data Contact Technical
exchange with power stage lost Support.
Parameter _SigLatched Bit 31
E 7704 4 System error detected: Exchange of Contact Technical
identification data from power stage Support.
not successful
Parameter _SigLatched Bit 31
E 7705 4 System error detected: Checksum Contact Technical
identification data from power stage Support.
incorrect
Parameter _SigLatched Bit 31
E 7706 4 System error detected: No Contact Technical
identification frame received from Support.
power stage
Parameter _SigLatched Bit 31
E 7707 4 System error detected: Type of power Contact Technical
stage and manufacture data do not Support.
match
E 7708 4 PIC voltage supply too low Contact Technical
Parameter _SigLatched Bit 31 Support.
E 7709 4 System error detected: Invalid Contact Technical
numbers of data received Support.
Parameter _SigLatched Bit 31
E 770A 2 PIC received data with incorrect parity Contact Technical
Parameter _SigLatched Bit 31 Support.
E A060 2 Calculated velocity too high for Gear ratio or reference Reduce the gear ratio or
operating mode Electronic Gear velocity value too high reference velocity.
Parameter _SigLatched Bit 4
E A061 2 Position change in reference value for Position reference change is Reduce the resolution of
operating mode Electronic Gear too too high. the master.
high Error detected at signal input Verify signal input for
Parameter _SigLatched Bit 4 for reference value. reference value signal.
E A065 0 Parameters cannot be written A data set is still active. Wait until the currently
Parameter _WarnLatched Bit 4 active data set has been
terminated.
E A068 0 Offset positioning not possible Operating mode Electronic Start operating mode
Parameter _WarnLatched Bit 4 Gear inactive or no gear Electronic Gear and/or
method selected. select a gear method.
E A069 0 Setting the offset position is not If offset positioning is active, it Wait until ongoing offset
possible is not possible to set the positioning has finished.
Parameter _WarnLatched Bit 4 position offset.
E A06B 2 Position deviation in operating mode The position deviation has Verify the velocity of the
Electronic Gear too high become excessively high due external reference values
Parameter _SigLatched Bit 4 to a velocity limitation or the and the velocity limitation.
release of direction. Verify release of direction.
E A300 0 Deceleration after HALT request still HALT was removed too soon. Wait for complete stop
running New command was sent before removing HALT
before motor standstill was signal.
reached after a HALT Wait until motor has come
request. to a complete standstill.

0198441113761 09/2017 347

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A301 0 Drive in operating state Quick Stop Error with error class 1
Active detected.
Drive stopped with Quick
Stop.
E A302 1 Stop by positive limit switch The positive limit switch was Verify application.
Parameter _SigLatched Bit 1 activated because movement Verify limit switch function
range was exceeded, and connection.
incorrect operation of limit
switch or signal disturbance.
E A303 1 Stop by negative limit switch The negative limit switch was Verify application.
Parameter _SigLatched Bit 1 activated because movement Verify limit switch function
range was exceeded, and connection.
incorrect operation of limit
switch or signal disturbance.
E A305 0 Power stage cannot be enabled in the Fieldbus: An attempt was Refer to the state
operating state Not Ready To Switch made to enable the power diagram.
On stage in the operating state
Not Ready To Switch On.
E A306 1 Stop by user-initiated software stop Drive is in operating state Clear break condition with
Parameter _SigLatched Bit 3 Quick Stop Active due to a command Fault Reset.
software stop request. The
activation of a new operating
mode is not possible, the
error code is sent as the
response to the activation
command.
E A307 0 Interruption by internal software stop In the operating modes Perform a Fault Reset.
Homing and Jog, the
movement is internally
interrupted by an internal
software stop. The activation
of a new operating mode is
not possible, the error code is
sent as the response to the
activation command.
E A308 0 Drive is in operating state Fault or Error with error class 2 or Verify the error code (HMI
Fault Reaction Active higher detected. or commissioning
software), remove the
cause and perform a Fault
Reset.
E A309 0 Drive not in operating state Operation A command was sent that Set drive to operating
Enabled requires the drive to be in the state Operation Enabled
operating state Operation and repeat the command.
Enabled (for example, a
command to change the
operating mode).
E A310 0 Power stage not enabled Command cannot be used Set drive to an operating
because the power stage is state in which the power
not enabled (operating state stage is enabled, see
Operation Enabled or Quick state diagram.
Stop Active).
E A311 0 Operating mode change active A start request for an Wait until the operating
operating mode has been mode change has
received while a change of terminated before
the operating mode was triggering a start request
active. for another operating
mode.
E A312 0 Profile generation interrupted
E A313 0 Position overflow, zero point is The movement range limits Define a valid zero point
therefore no longer valid (ref_ok=0) were exceeded and the zero by means of the operating
point is no longer valid. An mode Homing.
absolute movement requires
a valid zero point.

348 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A314 0 No valid zero point Command needs a valid zero Define a valid zero point
point (ref_ok=1). by means of the operating
mode Homing.
E A315 0 Homing active Command cannot be used Wait until reference
while the operating mode movement is finished.
Homing is active.
E A316 0 Overflow during calculation of
acceleration
E A317 0 Motor is not at a standstill Command sent which is not Wait until the motor has
permissible when the motor is come to a standstill
not at a standstill. (x_end = 1).
For example:
- Change of software limit
switches
- Change of handling of
monitoring signals
- Setting of reference point
- Teach in of data set
E A318 0 Operating mode active (x_end=0) Activation of a new operating Wait until the command in
mode is not possible while the operating mode has
another operating mode is finished (x_end=1)
still active. or terminate active
operating mode with
HALT command.
E A319 1 Manual tuning/Autotuning: Movement The movement exceeds the Verify permissible
out of range parameterized maximum movement range value
Parameter _SigLatched Bit 2 movement range. and time interval.
E A31A 0 Manual tuning/Autotuning: Amplitude plus offset for Choose lower amplitude
Amplitude/offset too high tuning exceed internal and offset values.
velocity or current limitation.
E A31B 0 Halt requested Command not permissible Clear Halt request and
while Halt is requested. repeat command.
E A31C 0 Invalid position setting with software Value for negative (positive) Set correct position
limit switch software limit switch is values.
greater (less) than value for
positive (negative) software
limit switch.
E A31D 0 Velocity range exceeded (parameter The velocity was set to a If the value of parameter
CTRL_v_max, M_n_max) value greater than the M_n_max is greater than
maximum permissible the value of parameter
velocity in parameter CTRL_v_max, increase
CTRL_v_max or M_n_max, the value of parameter
whichever is lower. CTRL_v_max or reduce
the velocity value.
E A31E 1 Stop by positive software limit switch Not possible to execute Return to the permissible
Parameter _SigLatched Bit 2 command because positive movement range.
software limit switch was
triggered.
E A31F 1 Stop by negative software limit switch Not possible to execute Return to the permissible
Parameter _SigLatched Bit 2 command because negative movement range.
software limit switch was
triggered.
E A320 par. Permissible position deviation External load or acceleration Reduce external load or
exceeded are too high. acceleration.
Parameter _SigLatched Bit 8 Use a differently rated
drive, if necessary.
Error response can be
adjusted via parameter
ErrorResp_p_dif.
E A321 0 Invalid setting for RS422 position
interface
E A322 0 Error detected in ramp calculation

0198441113761 09/2017 349

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A323 3 System error detected: Processing
error detected during generation of
profile
E A324 1 Error detected during homing Homing movement was Possible sub-error codes:
(additional info = detailed error code) stopped in response to a E A325, E A326, E A327,
Parameter _SigLatched Bit 4 detected error, the detailed E A328 or E A329.
reason is indicated by the
additional info in the error
memory.
E A325 1 Limit switch to be approached not Homing to positive limit Enable limit switch via
enabled switch or negative limit switch 'IOsigLimP' or
Parameter _SigLatched Bit 4 is disabled. 'IOsigLimN'.
E A326 1 Reference switch not found between Reference switch inoperative Verify the function and
positive limit switch and negative limit or not correctly connected. wiring of the reference
switch switch.
Parameter _SigLatched Bit 4
E A329 1 More than one signal positive limit Reference switch or limit Verify the wiring and 24
switch/negative limit switch/reference switch not connected VDC supply voltage.
switch active correctly or supply voltage for
Parameter _SigLatched Bit 4 switches too low.
E A32A 1 Positive limit switch triggered with Start reference movement Verify correct connection
negative direction of movement with negative direction (for and function of limit
Parameter _SigLatched Bit 4 example, reference switch.
movement to negative limit Activate a jog movement
switch) and activate the with negative direction of
positive limit switch (switch in movement (target limit
opposite direction of switch must be connected
movement). to the negative limit
switch).
E A32B 1 Negative limit switch triggered with Start reference movement Verify correct connection
positive direction of movement with positive direction (for and function of limit
Parameter _SigLatched Bit 4 example, reference switch.
movement to positive limit Activate a jog movement
switch) and activate the with positive direction of
negative limit switch (switch movement (target limit
in opposite direction of switch must be connected
movement). to the positive limit
switch).
E A32C 1 Reference switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or switch Motor subjected to vibration cabling and function of
overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response
after stopping and
optimize control loop
settings.
E A32D 1 Positive limit switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or switch Motor subjected to vibration cabling and function of
overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response
after stopping and
optimize control loop
settings.
E A32E 1 Negative limit switch error detected Switch signal disturbance. Verify supply voltage,
(switch signal briefly enabled or switch Motor subjected to vibration cabling and function of
overtraveled) or shock when stopped after switch.
Parameter _SigLatched Bit 4 activation of the switch signal. Verify motor response
after stopping and
optimize control loop
settings.
E A32F 1 Index pulse not found Index pulse signal not Verify index pulse signal
Parameter _SigLatched Bit 4 connected or not working and connection.
properly.

350 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A330 0 Reference movement to index pulse The position difference Increase the distance
cannot be reproduced. Index pulse is between the index pulse and between the index pulse
too close to the switch the switching point is and the switching point. If
Parameter _WarnLatched Bit 4 insufficient. possible, the distance
between the index pulse
and the switching point
should be a half motor
revolution.
E A332 1 Jog error detected (additional info = Jog movement was stopped For additional info, verify
detailed error code) in response to a detected the detailed error code in
Parameter _SigLatched Bit 4 error. the error memory.
E A333 3 System error detected: Invalid internal
selection
E A334 2 Timeout Standstill Window monitoring Position deviation after Verify load.
movement greater than Verify settings for
standstill window. This may standstill window
have been caused by an (parameter MON_p_win,
external load. MON_p_winTime and
MON_p_winTout).
Optimize control loop
settings.
E A336 1 System error detected: Jerk limitation
with position offset after end of
movement (additional info = offset in
Inc.)
E A337 0 Operating mode cannot be continued Continuation of interrupted Restart the operating
Parameter _WarnLatched Bit 4 movement in operating mode mode.
Profile Position is not possible
because another operating
mode had been active in the
meantime.
In the operating mode Motion
Sequence, continuation is not
possible if a motion blend was
interrupted.
E A338 0 Operating mode unavailable The selected operating mode
Parameter _WarnLatched Bit 4 is not available.
E A339 0 No processing of motor encoder
selected or position capture of motor
index pulse active
Parameter _WarnLatched Bit 4
E A33A 0 No valid zero point (ref_ok=0) No zero point defined by Use operating mode
Parameter _WarnLatched Bit 4 means of operating mode Homing to define a valid
Homing. zero point.
Zero point no longer valid due Use a motor with an
to movement beyond absolute encoder.
permissible movement range.
Motor does not have an
absolute encoder.
E A33C 0 Function not available in this operating Activation of a function which
mode is not available in the active
Parameter _WarnLatched Bit 4 operating mode.
Example: Start of backlash
compensation while
autotuning/manual tuning is
active.
E A33D 0 Motion blend is already active Change of motion blend Wait for the motion blend
Parameter _WarnLatched Bit 4 during the ongoing motion to complete before setting
blend (end position of motion the next position.
blend not yet reached)
E A33E 0 No movement activated Activation of a motion blend Start a movement before
Parameter _WarnLatched Bit 4 without movement. the motion blend is
activated.

0198441113761 09/2017 351

Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A33F 0 Position of motion blend movement The position of the motion Verify the position of the
not in the range of the ongoing blend is outside of the motion blend and the
movement movement range. movement range.
Parameter _WarnLatched Bit 4
E A341 0 Position of motion blend has already The movement has passed
been passed beyond the position of the
Parameter _WarnLatched Bit 4 motion blend.
E A342 1 Target velocity was not reached at The position of the motion Reduce the ramp velocity
motion blend position. blend was overtraveled, the so that the target velocity
Parameter _SigLatched Bit 4 target velocity was not is reached at the position
reached. of the motion blend.
E A343 0 Processing only possible with linear Motion blend position was set Set a linear ramp.
ramp with a non-linear ramp.
Parameter _WarnLatched Bit 4
E A347 0 Permissible position deviation External load or acceleration Reduce external load or
exceeded are too high. acceleration.
Parameter _WarnLatched Bit 8 Threshold value can be
adjusted via the
parameter
MON_p_dif_warn.
E A348 1 No analog reference value source No analog reference value Select an analog
selected selected reference value source.
Parameter _SigLatched Bit 4
E A349 0 Position setting exceeds system limits Position scaling of Change POSscaleDenom
POSscaleDenom and and POSscaleNum in
POSscaleNum results in a such a way as to increase
scaling factor that is too the resulting scaling
small. factor.
E A34A 0 Velocity setting exceeds system limits The velocity scaling of Change
'VELscaleDenom' and 'VELscaleDenom' and
'VELscaleNum' results in a 'VELscaleNum' in such a
scaling factor that is too way as to increase the
small. resulting scaling factor.
The velocity has been set to a
value greater than the
maximum possible velocity
(the maximum velocity is
13200 rpm).
E A34B 0 Ramp setting exceeds system limits The ramp scaling of Change of
'RAMPscaleDenom' and 'RAMPscaleDenom' and
'RAMPscaleNum' results in a 'RAMPscaleNum' in such
scaling factor that is too a way as to increase the
small. resulting scaling factor.
E A34C 0 Resolution of scaling too high (range
exceeded)
E A350 1 Change for jerk filter input position too Operating mode Electronic Deactivate jerk filter
great Gear with processing method processing for Electronic
Parameter _SigLatched Bit 4 'Position synchronization with Gear or use processing
compensation movement' method 'Position
has been activated which synchronization without
resulted in a position change compensation
greater than 0.25 revolutions. movement'.
E A351 1 Function cannot be executed with this The positions scaling factor is Use a different position
position scaling factor set to a value less than scaling factor or
Parameter _SigLatched Bit 4 1rev/131072usr_p, which is deactivate the selected
less than the internal function.
resolution.
In the operating mode Cyclic
Synchronous Position, the
resolution is not set to
1rev/131072usr_p.

352 0198441113761 09/2017

 Diagnostics and Troubleshooting

Error Error Description Cause Correctives

code class
E A355 1 Error detected during relative Movement was stopped by Verify the error memory.
movement after capture (additional error.
info = detailed error code)
Parameter _SigLatched Bit 4
E A356 0 Function Relative Movement After Assign the function
Capture not assigned to a digital input Relative Movement After
Capture to a digital input.
E A357 0 Deceleration still running Command is not permissible Wait until motor has come
during deceleration. to a complete standstill.
E A358 1 Target position overtraveled with Stopping distance too small Reduce the velocity.
function Relative Movement After or velocity too high at the
Capture point in time of the capture
Parameter _SigLatched Bit 4 event.
E A359 0 Request cannot be processed since
the relative movement after capture is
still active
E A35D par. Permissible velocity deviation Load or acceleration too high. Reduce load or
exceeded acceleration.
Parameter _SigLatched Bit 8
E B100 0 RS485/Modbus: Indeterminable Unsupported Modbus service Verify application on the
service was received. Modbus master.
Parameter _WarnLatched Bit 5
E B200 0 RS485/Modbus: Protocol error Logical protocol error Verify application on the
detected detected: Incorrect length or Modbus master.
Parameter _WarnLatched Bit 5 unsupported subfunction.
E B201 2 RS485/Modbus: Interruption of the Connection monitoring has Verify all connections and
connection detected an interruption of the cables used for data
Parameter _SigLatched Bit 5 connection. exchange. Verify that the
device is on.
E B202 0 RS485/Modbus: Interruption of the Connection monitoring has Verify all connections and
connection detected an interruption of the cables used for data
Parameter _WarnLatched Bit 5 connection. exchange. Verify that the
device is on.
E B203 0 RS485/Modbus: Incorrect number of
monitor objects
Parameter _WarnLatched Bit 5

0198441113761 09/2017 353

Diagnostics and Troubleshooting

354 0198441113761 09/2017

 Lexium 32C
Parameters
0198441113761 09/2017

Chapter 11
Parameters

Parameters

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Representation of the Parameters 356
List of Parameters 358

0198441113761 09/2017 355

Parameters

Representation of the Parameters

This chapter provides an overview of the parameters which can be used for operating the product.
Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

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

Overview
The way parameters are shown provides information required for unique identification, the default values
and the properties of a parameter.
Structure of the parameter representation:

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ABCDE Short description Apk UINT32 Fieldbus 1234
ConF → Selection values 0.00 R/W
inF- 1 / Abc1 / ABC1: Explanation 1 3.00 per.
Prn 2 / Abc2 / ABC2: Explanation 2 300.00 -
Description and details

Field “Parameter Name”

The parameter name uniquely identifies a parameter.

Field “HMI menu” and “HMI name”

HMI menu shows the sequence of menus and commands to access the parameter via the HMI.

Field “Description”
Short description:
The short description contains information on the parameter and a cross reference to the page that
describes the use of the parameter.
Selection values:
In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus, the
designation of the value for entry via the commissioning software and the designation of the value for entry
via the are specified.
1 = Value for input via fieldbus
Abc1 = Designation for entry via the commissioning software
Abc1 = Designation for entry via the HMI
Description and details:
Provides further information on the parameter.

356 0198441113761 09/2017

 Parameters

Field “Unit”
The unit of the value.

Field “Minimum Value”

The minimum value which can be entered.

Field “Factory Settings”

Settings when the product is shipped.

Field “Maximum Value”

The maximum value which can be entered.

Field “Data Type”

If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined
by the data type.

Data type Minumum value Maximum value

INT8 -128 127
UINT8 0 255
INT16 -32768 32767
UINT16 0 65535
INT32 -2147483648 2147483647
UINT32 0 4294967295

Field “R/W”
Indicates read and/or write values
"R/" values can only be read
"R/W" values can be read and written.

Field “Persistent”
“per.” indicates whether the value of the parameter is persistent, i.e. whether it remains in the memory after
the device is powered off.
When a value of a persistent parameter is modified via the HMI, the drive stores the value automatically in
the persistent memory.
When a value of a persistent parameter is modified via the commissioning software or the fieldbus, the user
must explicitly store the modified value in the persistent memory.

Field “Parameter Address”

Each parameter has a unique parameter address. The parameter address is used to access the parameter
via the fieldbus.

Decimal Numbers Entered via the Fieldbus

Please note that parameter values are entered via the fieldbus without a decimal point. All decimal places
must be entered.
Input examples:

Value Commissioning software Fieldbus

20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000

0198441113761 09/2017 357

Parameters

List of Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_AccessInfo Access channel information - UINT16 Modbus 280
Low byte: Exclusive access - R/-
Value 0: No - -
Value 1: Yes - -

High byte: Access channel

Value 0: Reserved
Value 1: I/O
Value 2: HMI
Value 3: Modbus RS485
Value 4: Fieldbus main channel
Values 5 … 12: Modbus TCP, CANopen
second SDO or Profibus master class 2
Values 13 … 28: Ethenet/IP explicit
channels
_AI1_act Analog 1: Value of input voltage mV INT16 Modbus 2306
Mon -10000 R/-
AnA1 - -
10000 -
_AI2_act Analog 2: Value of input voltage mV INT16 Modbus 2314
Mon -10000 R/-
AnA2 - -
10000 -
_AT_J Moment of inertia of the entire system kg cm2 UINT16 Modbus 12056
Is automatically calculated during 0.1 R/-
Autotuning. 0.1 per.
In increments of 0.1 kg cm2. 6553.5 -
_AT_M_friction Friction torque of the system Arms UINT16 Modbus 12046
Is determined during Autotuning. - R/-
In increments of 0.01 Arms. - -
- -
_AT_M_load Constant load torque Arms INT16 Modbus 12048
Is determined during Autotuning. - R/-
In increments of 0.01 Arms. - -
- -
_AT_progress Progress of Autotuning % UINT16 Modbus 12054
0 R/-
0 -
100 -
_AT_state Autotuning status - UINT16 Modbus 12036
Bit assignments: - R/-
Bits 0 ... 10: Last processing step - -
Bit 13: auto_tune_process - -
Bit 14: auto_tune_end
Bit 15: auto_tune_err
_Cond_State4 Conditions for transition to operating state - UINT16 Modbus 7244
Ready To Switch On - R/-
Signal state: - -
0: Condition not met - -
1: Condition met

Bit 0: DC bus or mains voltage

Bit 1: Inputs for safety function
Bit 2: No configuration download ongoing
Bit 3: Velocity greater than limit value
Bit 4: Absolute position has been set
Bit 5: Holding brake not manually released

358 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

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

A control loop parameter set is active after

the time for the parameter switching
(CTRL_ParChgTime) has elapsed.
_CTRL_KPid Current controller d component P gain V/A UINT16 Modbus 4354
This value is calculated on the basis of the 0.5 R/-
motor parameters. - per.
In increments of 0.1 V/A. 1270.0 -
Changed settings become active
immediately.
_CTRL_KPiq Current controller q component P gain V/A UINT16 Modbus 4358
This value is calculated on the basis of the 0.5 R/-
motor parameters. - per.
In increments of 0.1 V/A. 1270.0 -
Changed settings become active
immediately.
_CTRL_TNid Current controller d component integral ms UINT16 Modbus 4356
action time 0.13 R/-
This value is calculated on the basis of the - per.
motor parameters. 327.67 -
In increments of 0.01 ms.
Changed settings become active
immediately.
_CTRL_TNiq Current controller q component integral ms UINT16 Modbus 4360
action time 0.13 R/-
This value is calculated on the basis of the - per.
motor parameters. 327.67 -
In increments of 0.01 ms.
Changed settings become active
immediately.
_DCOMstatus DriveCom status word - UINT16 Modbus 6916
Bit assignments: - R/-
Bit 0: Operating state Ready To Switch On - -
Bit 1: Operating state Switched On - -
Bit 2: Operating state Operation Enabled
Bit 3: Operating state Fault
Bit 4: Voltage Enabled
Bit 5: Operating state Quick Stop
Bit 6: Operating state Switch On Disabled
Bit 7: Error of error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Target Reached
Bit 11: Internal Limit Active
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok
_DEV_T_current Temperature of device °C INT16 Modbus 7204
Mon - R/-
tdEV - -
- -

0198441113761 09/2017 359

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_DPL_BitShiftRe- Bit shift for RefA16 for Drive Profile Lexium - UINT16 Modbus 6922
fA16 Velocity scaling may lead to values that 0 R/-
cannot be represented as 16 bit values. If 0 -
RefA16 is used, this parameter indicates 12 -
the number of bits by which the value is
shifted so that transmission is possible.
The master must take into account this
value prior to transmission and shift the bits
to the right accordingly. The number of bits
is recalculated each time the power stage
is enabled.
Changed settings become active
immediately.
_DPL_driveInput Drive Profile Lexium driveInput - UINT16 Modbus 6992
- R/-
- -
- -
_DPL_driveStat Drive Profile Lexium driveStat - UINT16 Modbus 6986
- R/-
- -
- -
_DPL_mfStat Drive Profile Lexium mfStat - UINT16 Modbus 6988
- R/-
- -
- -
_DPL_motionStat Drive Profile Lexium motionStat - UINT16 Modbus 6990
- R/-
- -
- -
_ENC_AmplMax Maximum value of the SinCos amplitude mV UINT16 Modbus 16320
This value is only available if monitoring of - R/-
the SinCos amplitude has been activated. - -
Available with firmware version ≥V01.26. - -
_ENC_AmplMean Mean value of the SinCos amplitude mV UINT16 Modbus 16316
This value is only available if monitoring of - R/-
the SinCos amplitude has been activated. - -
Available with firmware version ≥V01.26. - -
_ENC_AmplMin Minimum value of the SinCos amplitude mV UINT16 Modbus 16318
This value is only available if monitoring of - R/-
the SinCos amplitude has been activated. - -
Available with firmware version ≥V01.26. - -
_ENC_AmplVal Value of the SinCos amplitude mV UINT16 Modbus 16314
This value is only available if monitoring of - R/-
the SinCos amplitude has been activated. - -
Available with firmware version ≥V01.26. - -
_GEAR_p_diff Position deviation in operating mode Inc INT32 Modbus 7962
Electronic Gear - R/-
Position deviation between reference - -
position and actual position with the - -
methods "Position Synchronization
Without Compensation Movement" and
"Position Synchronization With
Compensation Movement".
A position deviation can be caused by a
movement in a blocked direction
(parameter GEARdir_enabl) or by a
velocity limitation (parameter
GEARpos_v_max).
Available with firmware version ≥V01.10.

360 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_hwVersCPU Hardware version of control board - UINT16 Modbus 548
- R/-
- -
- -
_hwVersPS Hardware version of power stage - UINT16 Modbus 552
- R/-
- -
- -
_I_act Total motor current Arms INT16 Modbus 7686
Mon In increments of 0.01 Arms. - R/-
iAct - -
- -
_Id_act_rms Actual motor current (d component, field Arms INT16 Modbus 7684
weakening) - R/-
In increments of 0.01 Arms. - -
- -
_Id_ref_rms Reference motor current (d component, Arms INT16 Modbus 7714
field weakening) - R/-
In increments of 0.01 Arms. - -
- -
_Imax_act Currently effective current limitation Arms UINT16 Modbus 7248
Value of the currently effective current - R/-
limitation. This is one of the following - -
values (whichever is lowest): - -
- CTRL_I_max (only during normal
operation)
- LIM_I_maxQSTP (only during Quick Stop)
- LIM_I_maxHalt (only during Halt)
- Current limitation via analog input
- Current limitation via digital input
- _M_I_max (only if motor is connected)
- _PS_I_max
Limitations caused by I2t monitoring are
also taken into account.
In increments of 0.01 Arms.
_Imax_system Current limitation of the system Arms UINT16 Modbus 7246
This parameter specifies the maximum - R/-
system current. This is the lower value of - -
the maximum motor current and the - -
maximum power stage current. If no motor
is connected, only the maximum power
stage current is taken into account in this
parameter.
In increments of 0.01 Arms.
_InvalidParam Modbus address of parameter with invalid - UINT16 Modbus 7180
ConF → FLt- value - R/-
inPA If a configuration error is detected, the 0 -
Modbus address of the parameter with an - -
invalid value is indicated here.

0198441113761 09/2017 361

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_IO_act Physical status of the digital inputs and - UINT16 Modbus 2050
Mon outputs - R/-
ioAC Low byte: - -
Bit 0: DI0 - -
Bit 1: DI1
Bit 2: DI2
Bit 3: DI3
Bit 4: DI4
Bit 5: DI5

High byte:
Bit 8: DQ0
Bit 9: DQ1
Bit 10: DQ2
Bit 11: DQ3
Bit 12: DQ4
_IO_DI_act Status of digital inputs - UINT16 Modbus 2078
Mon Bit assignments: - R/-
diMo Bit 0: DI0 - -
Bit 1: DI1 - -
Bit 2: DI2
Bit 3: DI3
Bit 4: DI4
Bit 5: DI5
_IO_DQ_act Status of digital outputs - UINT16 Modbus 2080
Mon Bit assignments: - R/-
doMo Bit 0: DQ0 - -
Bit 1: DQ1 - -
Bit 2: DQ2
Bit 3: DQ3
Bit 4: DQ4
_IO_STO_act Status of the inputs for the safety function - UINT16 Modbus 2124
Mon STO - R/-
Sto Coding of the individual signals: - -
Bit 0: STO_A - -
Bit 1: STO_B
_Iq_act_rms Actual motor current (q component, Arms INT16 Modbus 7682
Mon generating torque) - R/-
qAct In increments of 0.01 Arms. - -
- -
_Iq_ref_rms Reference motor current (q component, Arms INT16 Modbus 7712
Mon generating torque) - R/-
qrEF In increments of 0.01 Arms. - -
- -
_LastError Detected error causing a stop (error - UINT16 Modbus 7178
Mon classes 1 to 4) - R/-
LFLt Error code of the most recent detected - -
error. Consecutive detected errors do not - -
overwrite this error code.

Example: If an error response to a detected

limit switch error causes overvoltage, this
parameter contains the code of the
detected limit switch error.

Exception: Detected errors of error class 4

overwrite existing entries.
_LastWarning Code of most recent error of error class 0 - UINT16 Modbus 7186
Mon If the error is no longer active, the code is - R/-
LWrn stored until the next Fault Reset. - -
Value 0: No error of error class 0 - -

362 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_BRK_T_apply Holding brake application time ms UINT16 Modbus 3394
- R/-
- -
- -
_M_BRK_T_release Holding brake release time ms UINT16 Modbus 3396
- R/-
- -
- -
_M_Enc_Cosine Voltage of cosine signal of encoder V INT16 Modbus 7254
In increments of 0.001 V. - R/-
Available with firmware version ≥V01.26. - -
- -
_M_Enc_Sine Voltage of sine signal of encoder V INT16 Modbus 7256
In increments of 0.001 V. - R/-
Available with firmware version ≥V01.26. - -
- -
_M_Encoder Type of motor encoder - UINT16 Modbus 3334
ConF → inF- 1 / SinCos With HiFa / SWhi: SinCos - R/-
SEnS with Hiperface - -
2 / SinCos Without HiFa / SWoh: SinCos - -
without Hiperface
3 / SinCos With Hall / SWhA: SinCos with
Hall
4 / SinCos With EnDat / SWEn: SinCos
with EnDat
5 / EnDat Without SinCos / EndA: EnDat
without SinCos
6 / Resolver / rESo: Resolver
7 / Hall / hALL: Hall (not supported yet)
8 / BISS / biSS: BISS
High byte:
Value 0: Rotary encoder
Value 1: Linear encoder
_M_HoldingBrake Holding brake identification - UINT16 Modbus 3392
Value 0: Motor without holding brake - R/-
Value 1: Motor with holding brake - -
- -
_M_I_0 Continuous stall current of motor Arms UINT16 Modbus 3366
In increments of 0.01 Arms. - R/-
- -
- -
_M_I_max Maximum current of motor Arms UINT16 Modbus 3340
ConF → inF- In increments of 0.01 Arms. - R/-
MiMA - -
- -
_M_I_nom Nominal current of motor Arms UINT16 Modbus 3342
ConF → inF- In increments of 0.01 Arms. - R/-
Mino - -
- -
_M_I2t Maximum permissible time for maximum ms UINT16 Modbus 3362
current of motor - R/-
- -
- -
_M_Jrot Moment of inertia of motor motor_f UINT32 Modbus 3352
Units: - R/-
Rotary motors: kgcm2 - -
Linear motors: kg - -
In increments of 0.001 motor_f.

0198441113761 09/2017 363

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_kE Voltage constant kE of motor motor_u UINT32 Modbus 3350
Voltage constant in Vrms at 1000 min-1. - R/-
- -
Units: - -
Rotary motors: Vrms/min-1
Linear motors: Vrms/(m/s)
In increments of 0.1 motor_u.
_M_L_d Inductance d component of motor mH UINT16 Modbus 3358
In increments of 0.01 mH. - R/-
- -
- -
_M_L_q Inductance q component of motor mH UINT16 Modbus 3356
In increments of 0.01 mH. - R/-
- -
- -
_M_load Load of motor % INT16 Modbus 7220
Mon - R/-
LdFM - -
- -
_M_M_0 Continuous stall torque of motor motor_m UINT16 Modbus 3372
A value of 100 % in operating mode Profile - R/-
Torque corresponds to this parameter. - -
- -
Units:
Rotary motors: Ncm
Linear motors: N
_M_M_max Maximum torque of motor Nm UINT16 Modbus 3346
In increments of 0.1 Nm. - R/-
- -
- -
_M_M_nom Nominal torque/force of motor motor_m UINT16 Modbus 3344
Units: - R/-
Rotary motors: Ncm - -
Linear motors: N - -
_M_maxoverload Maximum value of overload of motor % INT16 Modbus 7222
Maximum overload of motor during the last - R/-
10 seconds. - -
- -
_M_n_max Maximum permissible speed of motor_v UINT16 Modbus 3336
ConF → inF- rotation/velocity of motor - R/-
MnMA Units: - -
Rotary motors: min-1 - -
Linear motors: mm/s
_M_n_nom Nominal speed of rotation/velocity of motor motor_v UINT16 Modbus 3338
Units: - R/-
Rotary motors: min-1 - -
Linear motors: mm/s - -
_M_overload Overload of motor (I2t) % INT16 Modbus 7218
Mon - R/-
Mi2t - -
- -
_M_Polepair Number of pole pairs of motor - UINT16 Modbus 3368
- R/-
- -
- -
_M_PolePairPitch Pole pair pitch of motor mm UINT16 Modbus 3398
In increments of 0.01 mm. - R/-
Available with firmware version ≥V01.03. - -
- -

364 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_M_R_UV Winding resistance of motor Ω UINT16 Modbus 3354
In increments of 0.01 Ω. - R/-
- -
- -
_M_T_current Temperature of motor °C INT16 Modbus 7202
Mon - R/-
tMot - -
- -
_M_T_max Maximum temperature of motor °C INT16 Modbus 3360
- R/-
- -
- -
_M_Type Motor type - UINT32 Modbus 3332
ConF → inF- Value 0: No motor selected - R/-
MtyP Value >0: Connected motor type - -
- -
_M_U_max Maximum voltage of motor V UINT16 Modbus 3378
In increments of 0.1 V. - R/-
- -
- -
_M_U_nom Nominal voltage of motor V UINT16 Modbus 3348
In increments of 0.1 V. - R/-
- -
- -
_n_act Actual speed of rotation rpm INT16 Modbus 7696
Mon - R/-
nAct - -
- -
_n_act_ENC1 Actual speed of rotation of encoder 1 rpm INT16 Modbus 7760
Available with firmware version ≥V01.03. - R/-
- -
- -
_n_ref Reference speed of rotation rpm INT16 Modbus 7694
Mon - R/-
nrEF - -
- -
_OpHours Operating hours counter s UINT32 Modbus 7188
Mon - R/-
oPh - -
- -
_p_absENC Absolute position with reference to the usr_p UINT32 Modbus 7710
Mon encoder range - R/-
PAMu This value corresponds to the modulo - -
position of the absolute encoder range. - -
The value is no longer valid if the gear ratio
of machine encoder and motor encoder is
changed. A restart is required in such a
case.
_p_absmodulo Absolute position with reference to internal Inc UINT32 Modbus 7708
resolution in internal units - R/-
This value is based on encoder raw - -
position with reference to internal - -
resolution (131072 Inc).
_p_act Actual position usr_p INT32 Modbus 7706
Mon - R/-
PACu - -
- -
_p_act_ENC1 Actual position of encoder 1 usr_p INT32 Modbus 7758
Available with firmware version ≥V01.03. - R/-
- -
- -

0198441113761 09/2017 365

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_act_ENC1_int Actual position of encoder 1 in internal units Inc INT32 Modbus 7756
Available with firmware version ≥V01.03. - R/-
- -
- -
_p_act_int Actual position in internal units Inc INT32 Modbus 7700
- R/-
- -
- -
_p_addGEAR Initial position electronic gear Inc INT32 Modbus 7942
When Electronic Gear is inactive, the - R/-
reference position for the position controller - -
can be determined here. This position is set - -
when Electronic Gear is activated with the
selection of 'Synchronization with
compensation movement'.
_p_dif Position deviation including dynamic revolution INT32 Modbus 7716
Mon position deviation -214748.3648 R/-
PdiF Position deviation is the difference - -
between reference position and actual 214748.3647 -
position. The position deviation consists of
the load-dependent position deviation and
the dynamic position deviation.

The parameter _p_dif_usr allows you to

enter the value in user-defined units.
In increments of 0.0001 revolution.
_p_dif_load Load-dependent position deviation revolution INT32 Modbus 7736
between reference and actual positions -214748.3648 R/-
The load-dependent position deviation is - -
the difference between the reference 214748.3647 -
position and the actual position caused by
the load. This value is used for following
error monitoring.

The parameter _p_dif_load_usr allows you

to enter the value in user-defined units.
In increments of 0.0001 revolution.
_p_dif_load_ Maximum value of the load-dependent revolution UINT32 Modbus 7734
peak position deviation 0.0000 R/W
This parameter contains the maximum - -
load-dependent position deviation reached 429496.7295 -
so far. A write access resets this value.

The parameter _p_dif_load_peak_usr

allows you to enter the value in user-
defined units..
In increments of 0.0001 revolution.
Changed settings become active
immediately.
_p_dif_load_ Maximum value of the load-dependent usr_p INT32 Modbus 7722
peak_usr position deviation 0 R/W
This parameter contains the maximum - -
load-dependent position deviation reached 2147483647 -
so far. A write access resets this value.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.

366 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_p_dif_load_usr Load-dependent position deviation usr_p INT32 Modbus 7724
between reference and actual positions -2147483648 R/-
The load-dependent position deviation is - -
the difference between the reference 2147483647 -
position and the actual position caused by
the load. This value is used for following
error monitoring.
Available with firmware version ≥V01.05.
_p_dif_usr Position deviation including dynamic usr_p INT32 Modbus 7720
Mon position deviation -2147483648 R/-
PdiF Position deviation is the difference - -
between reference position and actual 2147483647 -
position. The position deviation consists of
the load-dependent position deviation and
the dynamic position deviation.
Available with firmware version ≥V01.05.
_p_PTI_act Actual position at PTI interface Inc INT32 Modbus 2058
Counted position increments at PTI -2147483648 R/-
interface. - -
2147483647 -
_p_ref Reference position usr_p INT32 Modbus 7704
Value corresponds to the reference - R/-
position of the position controller. - -
- -
_p_ref_int Reference position in internal units Inc INT32 Modbus 7698
Value corresponds to the reference - R/-
position of the position controller. - -
- -
_PAR_ScalingEr- Additional information on error detected - UINT32 Modbus 1068
ror during recalculation - R/-
Coding: - -
Bits 0 ... 15: Address of the parameter that - -
caused the error
Bits 16 ... 31: Reserved
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
_PAR_Scaling- Status of recalculation of the parameters - UINT16 Modbus 1066
State with user-defined units 0 R/-
0 / Recalculation Active: Recalculation 2 -
active 7 -
1 / Reserved (1): Reserved
2 / Recalculation Finished - No Error:
Recalculation finished, no error
3 / Error During Recalculation: Error during
recalculation
4 / Initialization Successful: Initialization
successful
5 / Reserved (5): Reserved
6 / Reserved (6): Reserved
7 / Reserved (7): Reserved
Status of recalculation of the parameters
with user-defined units which are
recalculated with a changed scaling factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
_Power_mean Mean output power W UINT16 Modbus 7196
Mon - R/-
PoWM - -
- -

0198441113761 09/2017 367

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_pref_acc Acceleration of reference value for usr_a INT32 Modbus 7954
acceleration feed-forward control - R/-
Sign according to the changed velocity - -
value: - -

Increased velocity: Positive sign

Reduced velocity: Negative sign
_pref_v Velocity of reference value for velocity usr_v INT32 Modbus 7950
feed-forward control - R/-
- -
- -
_prgNoDEV Firmware number of device - UINT32 Modbus 258
ConF → inF- Example: PR0912.00 - R/-
Prn The value is provided as a decimal value: - -
91200 - -
_prgRevDEV Firmware revision of device - UINT16 Modbus 264
ConF → inF- The version format is XX.YY.ZZ. - R/-
Prr Part XX.YY is contained in parameter - -
_prgVerDEV. - -
Part ZZ is used for quality evolution and
contained in this parameter.

Example: V01.23.45
The value is provided as a decimal value:
45
_prgVerDEV Firmware version of device - UINT16 Modbus 260
ConF → inF- The version format is XX.YY.ZZ. - R/-
PrV Part XX.YY is contained in this parameter. - -
Part ZZ is contained in parameter - -
_prgRevDEV.

Example: V01.23.45
The value is provided as a decimal value:
123
_PS_I_max Maximum current of power stage Arms UINT16 Modbus 4100
ConF → inF- In increments of 0.01 Arms. - R/-
PiMA - per.
- -
_PS_I_nom Nominal current of power stage Arms UINT16 Modbus 4098
ConF → inF- In increments of 0.01 Arms. - R/-
Pino - per.
- -
_PS_load Load of power stage % INT16 Modbus 7214
Mon - R/-
LdFP - -
- -
_PS_maxoverload Maximum value of overload of power stage % INT16 Modbus 7216
Maximum overload of power stage during - R/-
the last 10 seconds. - -
- -
_PS_overload_ Overload of power stage (I2t) % INT16 Modbus 7212
I2t - R/-
- -
- -
_PS_T_current Temperature of power stage °C INT16 Modbus 7200
Mon - R/-
tPS - -
- -
_PS_T_max Maximum temperature of power stage °C INT16 Modbus 4110
- R/-
- per.
- -

368 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_PS_T_warn Maximum temperature of power stage °C INT16 Modbus 4108
(error class 0) - R/-
- per.
- -
_PS_U_maxDC Maximum permissible DC bus voltage V UINT16 Modbus 4102
In increments of 0.1 V. - R/-
- per.
- -
_PS_U_minDC Minimum permissible DC bus voltage V UINT16 Modbus 4104
In increments of 0.1 V. - R/-
- per.
- -
_PS_U_minStopDC DC bus voltage low threshold for Quick V UINT16 Modbus 4116
Stop - R/-
If the threshold is reached, the drive - per.
performs a Quick Stop. - -
In increments of 0.1 V.
_RAMP_p_act Actual position of profile generator usr_p INT32 Modbus 7940
- R/-
- -
- -
_RAMP_p_target Target position of profile generator usr_p INT32 Modbus 7938
Absolute position value of the profile - R/-
generator, calculated on the basis of the - -
relative and absolute position values - -
received.
_RAMP_v_act Actual velocity of profile generator usr_v INT32 Modbus 7948
- R/-
- -
- -
_RAMP_v_target Target velocity of profile generator usr_v INT32 Modbus 7946
- R/-
- -
- -
_RES_load Load of braking resistor % INT16 Modbus 7208
Mon The braking resistor set via parameter - R/-
LdFb RESint_ext is monitored. - -
- -
_RES_maxoverload Maximum value of overload of braking % INT16 Modbus 7210
resistor - R/-
Maximum overload of braking resistor - -
during the last 10 seconds. - -
The braking resistor set via parameter
RESint_ext is monitored.
_RES_overload Overload of braking resistor (I2t) % INT16 Modbus 7206
The braking resistor set via parameter - R/-
RESint_ext is monitored. - -
- -
_RESint_P Nominal power of internal braking resistor W UINT16 Modbus 4114
- R/-
- per.
- -
_RESint_R Resistance value of internal braking Ω UINT16 Modbus 4112
resistor - R/-
In increments of 0.01 Ω. - per.
- -

0198441113761 09/2017 369

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_RMAC_DetailSta- Detailed status of relative movement after - UINT16 Modbus 8996
tus capture (RMAC) - R/-
0 / Not Activated: Not activated - -
1 / Waiting: Waiting for capture signal - -
2 / Moving: Relative movement after
capture running
3 / Interrupted: Relative movement after
capture interrupted
4 / Finished: Relative movement after
capture terminated
Available with firmware version ≥V01.16.
_RMAC_Status Status of relative movement after capture - UINT16 Modbus 8994
0 / Not Active: Not active 0 R/-
1 / Active Or Finished: Relative movement - -
after capture is active or finished 1 -
Available with firmware version ≥V01.10.
_ScalePOSmax Maximum user-defined value for positions usr_p INT32 Modbus 7956
This value depends on ScalePOSdenom - R/-
and ScalePOSnum. - -
- -
_ScaleRAMPmax Maximum user-defined value for usr_a INT32 Modbus 7960
acceleration and deceleration - R/-
This value depends on ScaleRAMPdenom - -
and ScaleRAMPnum. - -
_ScaleVELmax Maximum user-defined value for velocity usr_v INT32 Modbus 7958
This value depends on ScaleVELdenom - R/-
and ScaleVELnum. - -
- -
_tq_act Actual torque % INT16 Modbus 7752
Positive value: Actual torque in positive - R/-
direction of movement - -
Negative value: Actual torque in negative - -
direction of movement
100.0 % correspond to the continuous stall
torque _M_M_0.
In increments of 0.1 %.
_Ud_ref Reference motor voltage d component V INT16 Modbus 7690
In increments of 0.1 V. - R/-
- -
- -
_UDC_act Voltage at DC bus V UINT16 Modbus 7198
Mon In increments of 0.1 V. - R/-
udcA - -
- -
_Udq_ref Total motor voltage (vector sum d V INT16 Modbus 7692
components and q components) - R/-
Square root of ( _Uq_ref2 + _Ud_ref2) - -
In increments of 0.1 V. - -
_Uq_ref Reference motor voltage q component V INT16 Modbus 7688
In increments of 0.1 V. - R/-
- -
- -
_v_act Actual velocity usr_v INT32 Modbus 7744
Mon - R/-
VAct - -
- -
_v_act_ENC1 Actual velocity of encoder 1 usr_v INT32 Modbus 7762
Available with firmware version ≥V01.03. - R/-
- -
- -

370 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
_v_dif_usr Current load-dependent velocity deviation usr_v INT32 Modbus 7768
The load-dependent velocity deviation is -2147483648 R/-
the difference between reference velocity - -
and actual velocity. 2147483647 -
Available with firmware version ≥V01.26.
_v_PTI_act Actual velocity at PTI interface Inc/s INT32 Modbus 2060
Determined pulse frequency at position -2147483648 R/-
interface PTI. - -
2147483647 -
_v_ref Reference velocity usr_v INT32 Modbus 7742
Mon - R/-
VrEF - -
- -
_Vmax_act Currently effective velocity limitation usr_v UINT32 Modbus 7250
Value of the currently effective velocity - R/-
limitation. This is one of the following - -
values (whichever is lowest): - -
- CTRL_v_max
- M_n_max (only if motor is connected)
- Velocity limitation via analog input
- Velocity limitation via digital input
_VoltUtil Degree of utilization of DC bus voltage % INT16 Modbus 7718
Mon With a value of 100%, the drive operates at - R/-
udcr the voltage limit. - -
- -
AbsHomeRequest Absolute positioning only after homing - UINT16 Modbus 1580
0: No 0 R/W
1: Yes 0 per.
This parameter has no function if the 1 -
parameter 'PP_ModeRangeLim' is set to '1'
which allows overtraveling of the
movement range (ref_ok is set to 0 when
the range is overtraveled).
Changed settings become active
immediately.
AccessLock Locking other access channels - UINT16 Modbus 284
Value 0: Allow control via other access 0 R/W
channels 0 -
Value 1: Lock control via other access 1 -
channels

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

The access channel can only be locked

after the currently active operating mode
has terminated.
Changed settings become active
immediately.
AI1_I_max Analog 1: Limitation of current at 10 V Arms UINT16 Modbus 2334
ConF → i-o- In increments of 0.01 Arms. 0.00 R/W
A1iL Setting can only be changed if power stage 3.00 per.
is disabled. 463.00 -
Changed settings become active the next
time the power stage is enabled.

0198441113761 09/2017 371

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_M_scale Analog 1: Target torque at 10 V in % INT16 Modbus 2340
ConF → i-o- operating mode Profile Torque -3000.0 R/W
A1iS 100.0 % correspond to the continuous stall 100.0 per.
torque _M_M_0. 3000.0 -

By using a negative sign, you can invert the

evaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active
immediately.
AI1_mode Analog 1: Type of usage - UINT16 Modbus 2332
ConF → i-o- 0 / None / nonE: No function 0 R/W
A1Mo 1 / Target Velocity / SPdS: Target 1 per.
velocity for the velocity controller 4 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI1_offset Analog 1: Offset voltage mV INT16 Modbus 2326
ConF → i-o- The analog input AI1 is corrected/offset by -5000 R/W
A1oF the offset value. If you have defined a zero 0 per.
voltage window, this window is effective in 5000 -
the zero pass range of the corrected analog
input AI1.
Changed settings become active
immediately.
AI1_Tau Analog 1: Filter time constant ms UINT16 Modbus 2308
ConF → i-o- First-order low pass (PT1) filter time 0.00 R/W
A1Ft constant for analog input AI1. 0.00 per.
In increments of 0.01 ms. 327.67 -
Changed settings become active
immediately.
AI1_v_max Analog 1: Limitation of velocity at 10 V usr_v UINT32 Modbus 2336
ConF → i-o- The maximum velocity is limited to the 1 R/W
A1nL setting in CTRL_v_max. 3000 per.
The minimum velocity is internally limited to 2147483647 -
100 min-1.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI1_v_scale Analog 1: Target velocity at 10 V in usr_v INT32 Modbus 2338
ConF → i-o- operating mode Profile Velocity -2147483648 R/W
A1nS The maximum velocity is limited to the 6000 per.
setting in CTRL_v_max. 2147483647 -

By using a negative sign, you can invert the

evaluation of the analog signal.
Changed settings become active
immediately.

372 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI1_win Analog 1: Zero voltage window mV UINT16 Modbus 2322
ConF → i-o- Threshold value up to which an input 0 R/W
A1Wn voltage value is treated as 0 V. 0 per.
Example: Value 20, this means a range 1000 -
from -20 ... +20 mV is treated as 0 mV.
Changed settings become active
immediately.
AI2_I_max Analog 2: Limitation of current at 10 V Arms UINT16 Modbus 2344
ConF → i-o- In increments of 0.01 Arms. 0.00 R/W
A2iL Setting can only be changed if power stage 3.00 per.
is disabled. 463.00 -
Changed settings become active the next
time the power stage is enabled.
AI2_M_scale Analog 2: Target torque at 10 V in % INT16 Modbus 2350
ConF → i-o- operating mode Profile Torque -3000.0 R/W
A2iS 100.0 % correspond to the continuous stall 100.0 per.
torque _M_M_0. 3000.0 -

By using a negative sign, you can invert the

evaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active
immediately.
AI2_mode Analog 2: Type of usage - UINT16 Modbus 2342
ConF → i-o- 0 / None / nonE: No function 0 R/W
A2Mo 1 / Target Velocity / SPdS: Target 0 per.
velocity for the velocity controller 5 -
2 / Target Torque / trqS: Target torque
for the current controller
3 / Velocity Limitation / LSPd: Limitation
of the reference velocity for the velocity
controller
4 / Current Limitation / Lcur: Limitation
of the reference current for the current
controller
5 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
AI2_offset Analog 2: Offset voltage mV INT16 Modbus 2328
ConF → i-o- The analog input AI2 is corrected/offset by -5000 R/W
A2oF the offset value. If you have defined a zero 0 per.
voltage window, this window is effective in 5000 -
the zero pass range of the corrected analog
input AI2.
Changed settings become active
immediately.
AI2_Tau Analog 2: Filter time constant ms UINT16 Modbus 2352
ConF → i-o- First-order low pass (PT1) filter time 0.00 R/W
A2Ft constant for analog input AI2. 0.00 per.
In increments of 0.01 ms. 327.67 -
Changed settings become active
immediately.
AI2_v_max Analog 2: Limitation of velocity at 10 V usr_v UINT32 Modbus 2346
ConF → i-o- The maximum velocity is limited to the 1 R/W
A2nL setting in CTRL_v_max. 3000 per.
The minimum velocity is internally limited to 2147483647 -
100 min-1.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

0198441113761 09/2017 373

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AI2_v_scale Analog 2: Target velocity at 10 V in usr_v INT32 Modbus 2348
ConF → i-o- operating mode Profile Velocity -2147483648 R/W
A2nS The maximum velocity is limited to the 6000 per.
setting in CTRL_v_max. 2147483647 -

By using a negative sign, you can invert the

evaluation of the analog signal.
Changed settings become active
immediately.
AI2_win Analog 2: Zero voltage window mV UINT16 Modbus 2324
ConF → i-o- Threshold value up to which an input 0 R/W
A2Wn voltage value is treated as 0 V. 0 per.
Example: Value 20, this means a range 1000 -
from -20 ... +20 mV is treated as 0 mV.
Changed settings become active
immediately.
AT_dir Direction of movement for Autotuning - UINT16 Modbus 12040
oP → tun- 1 / Positive Negative Home / Pnh: 1 R/W
StiM Positive direction first, then negative 1 -
direction with return to initial position 6 -
2 / Negative Positive Home / nPh:
Negative direction first, then positive
direction with return to initial position
3 / Positive Home / P-h: Positive
direction only with return to initial position
4 / Positive / P--: Positive direction only
without return to initial position
5 / Negative Home / n-h: Negative
direction only with return to initial position
6 / Negative / n--: Negative direction
only without return to initial position
Changed settings become active the next
time the motor moves.
AT_dis Movement range for Autotuning revolution UINT32 Modbus 12038
oP → tun- Movement range within which the control 1.0 R/W
diSt parameters are automatically optimized. 2.0 -
The movement range is entered with 999.9 -
reference to the actual position.
In the case of "Movement in one direction
only" (Parameter AT_dir), the specified
movement range is used for each
optimization step. The movement typically
corresponds to 20 times the value, but it is
not limited.

The parameter AT_dis_usr allows you to

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

374 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
AT_dis_usr Movement range for Autotuning usr_p INT32 Modbus 12068
oP → tun- Movement range within which the control 1 R/W
diSu parameters are automatically optimized. 32768 -
The movement range is entered with 2147483647 -
reference to the actual position.
In the case of "Movement in one direction
only" (Parameter AT_dir), the specified
range is used for each optimization step.
The movement typically corresponds to 20
times the value, but it is not limited.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.05.
AT_mechanical Type of coupling of the system - UINT16 Modbus 12060
oP → tun- 1 / Direct Coupling: Direct coupling 1 R/W
MECh 2 / Belt Axis: Belt axis 2 -
3 / Spindle Axis: Spindle axis 3 -
Changed settings become active the next
time the motor moves.
AT_n_ref Velocity jump for Autotuning rpm UINT32 Modbus 12044
oP → tun- The parameter AT_v_ref allows you to 10 R/W
nJMP enter the value in user-defined units. 100 -
Changed settings become active the next 1000 -
time the motor moves.
AT_start Autotuning start - UINT16 Modbus 12034
Value 0: Terminate 0 R/W
Value 1: Activate EasyTuning - -
Value 2: Activate ComfortTuning 2 -
Changed settings become active
immediately.
AT_v_ref Velocity jump for Autotuning usr_v INT32 Modbus 12070
oP → tun- The minimum value, the factory setting and 1 R/W
nJMu the maximum value depend on the scaling 100 -
factor. 2147483647 -
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.05.
AT_wait Waiting time between Autotuning steps ms UINT16 Modbus 12050
oP → tun- Changed settings become active the next 300 R/W
WAit time the motor moves. 500 -
10000 -
BLSH_Mode Processing mode of backlash - UINT16 Modbus 1666
compensation 0 R/W
0 / Off: Backlash compensation is off 0 per.
1 / OnAfterPositiveMovement: Backlash 2 -
compensation is on, last movement was in
positive direction
2 / OnAfterNegativeMovement: Backlash
compensation is on, last movement was in
negative direction
Changed settings become active
immediately.
Available with firmware version ≥V01.14.
BLSH_Position Position value for backlash compensation usr_p INT32 Modbus 1668
Setting can only be changed if power stage 0 R/W
is disabled. 0 per.
Changed settings become active the next 2147483647 -
time the power stage is enabled.
Available with firmware version ≥V01.14.

0198441113761 09/2017 375

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
BLSH_Time Processing time for backlash ms UINT16 Modbus 1672
compensation 0 R/W
Value 0: Immediate backlash 0 per.
compensation 16383 -
Value >0: Processing time for backlash
compensation
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.14.
BRK_AddT_apply Additional time delay for applying the ms INT16 Modbus 1296
ConF → ACG- holding brake 0 R/W
btCL The overall time delay for applying the 0 per.
holding brake is the time delay from the 1000 -
electronic nameplate of the motor and the
additional time delay in this parameter.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
BRK_AddT_release Additional time delay for releasing the ms INT16 Modbus 1294
ConF → ACG- holding brake 0 R/W
btrE The overall time delay for releasing the 0 per.
holding brake is the time delay from the 400 -
electronic nameplate of the motor and the
additional time delay in this parameter.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
CLSET_p_DiffWin Position deviation for control loop revolution UINT16 Modbus 4408
parameter set switching 0.0000 R/W
If the position deviation of the position 0.0100 per.
controller is less than the value of this 2.0000 -
parameter, control loop parameter set 2 is
used. Otherwise, control loop parameter
set 1 is used.

The parameter CLSET_p_DiffWin_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
CLSET_p_ Position deviation for control loop usr_p INT32 Modbus 4426
DiffWin_usr parameter set switching 0 R/W
If the position deviation of the position 164 per.
controller is less than the value of this 2147483647 -
parameter, control loop parameter set 2 is
used. Otherwise, control loop parameter
set 1 is used.

The minimum value, the factory setting and

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

376 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

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

The following parameters are changed

immediately after the time for parameter
set switching (CTRL_ParChgTime):
- CTRL_Nf1damp
- CTRL_Nf1freq
- CTRL_Nf1bandw
- CTRL_Nf2damp
- CTRL_Nf2freq
- CTRL_Nf2bandw
- CTRL_Osupdamp
- CTRL_Osupdelay
- CTRL_Kfric
Changed settings become active
immediately.
CLSET_v_ Velocity threshold for control loop usr_v UINT32 Modbus 4410
Threshol parameter set switching 0 R/W
If the reference velocity or the actual 50 per.
velocity are less than the value of this 2147483647 -
parameter, control loop parameter set 2 is
used. Otherwise, control loop parameter
set 1 is used.
Changed settings become active
immediately.
CLSET_winTime Time window for parameter set switching ms UINT16 Modbus 4406
Value 0: Window monitoring deactivated. 0 R/W
Value >0: Window time for the parameters 0 per.
CLSET_v_Threshol and 1000 -
CLSET_p_DiffWin.
Changed settings become active
immediately.

0198441113761 09/2017 377

Parameters

Parameter name Description Unit Data type Parameter

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

The global gain factor is set to 100%

- if the control loop parameters are set to
default
- at the end of the Autotuning process
- if control loop parameter set 2 is copied to
set 1 via the parameter CTRL_ParSetCopy
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL_I_max Current limitation Arms UINT16 Modbus 4376
ConF → drC- During operation, the current limit is one of 0.00 R/W
iMAX the following values (whichever is lowest): - per.
- CTRL_I_max 463.00 -
- _M_I_max
- _PS_I_max
- Current limitation via analog input
- Current limitation via digital input
Limitations caused by I2t monitoring are
also taken into account.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.
CTRL_I_max_fw Maximum current for field weakening (d Arms UINT16 Modbus 4382
component) 0.00 R/W
This value is only limited by the 0.00 per.
minimum/maximum parameter range (no 300.00 expert
limitation of this value by motor/power
stage).

The actually effective field weakening

current is the minimum of CTRL_I_max_fw
and one half of the lower value of the
nominal current of the power stage and the
motor.
In increments of 0.01 Arms.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
CTRL_KFAcc Acceleration feed-forward control % UINT16 Modbus 4372
In increments of 0.1 %. 0.0 R/W
Changed settings become active 0.0 per.
immediately. 3000.0 expert

378 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_ParChgTime Period of time for control loop parameter ms UINT16 Modbus 4392
set switching 0 R/W
In the case of control loop parameter set 0 per.
switching, the values of the following 2000 -
parameters are changed gradually:
- CTRL_KPn
- CTRL_TNn
- CTRL_KPp
- CTRL_TAUnref
- CTRL_TAUiref
- CTRL_KFPp

Such a switching can be caused by

- change of the active control loop
parameter set
- change of the global gain
- change of any of the parameters listed
above
- deactivating the integral term of the
velocity controller
Changed settings become active
immediately.
CTRL_ParSetCopy Control loop parameter set copying - UINT16 Modbus 4396
Value 1: Copy control loop parameter set 1 0.0 R/W
to set 2 - -
Value 2: Copy control loop parameter set 2 0.2 -
to set 1

If control loop parameter set 2 is copied to

control loop parameter set 1, the parameter
CTRL_GlobGain is set to 100%.
Changed settings become active
immediately.
CTRL_PwrUpParSet Selection of control loop parameter set at - UINT16 Modbus 4400
power up 0 R/W
0 / Switching Condition: The switching 1 per.
condition is used for control loop parameter 2 -
set switching
1 / Parameter Set 1: Control loop
parameter set 1 is used
2 / Parameter Set 2: Control loop
parameter set 2 is used
The selected value is also written to
CTRL_SelParSet (non-persistent).
Changed settings become active
immediately.
CTRL_SelParSet Selection of control loop parameter set - UINT16 Modbus 4402
(non-persistent) 0 R/W
Coding see parameter: 1 -
CTRL_PwrUpParSet 2 -
Changed settings become active
immediately.
CTRL_SmoothCurr Smoothing factor for current controller % UINT16 Modbus 4428
This parameter decreases the dynamics of 50 R/W
the current control loop. 100 per.
Changed settings become active 100 -
immediately.
Available with firmware version ≥V01.26.
CTRL_SpdFric Speed of rotation up to which the friction rpm UINT32 Modbus 4370
compensation is linear 0 R/W
Changed settings become active 5 per.
immediately. 20 expert

0198441113761 09/2017 379

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_TAUnact Filter time constant to smooth velocity of ms UINT16 Modbus 4368
motor 0.00 R/W
The default value is calculated on the basis - per.
of the motor data. 30.00 expert
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL_v_max Velocity limitation usr_v UINT32 Modbus 4384
ConF → drC- During operation, the velocity limit is one of 1 R/W
nMAX the following values (whichever is lowest): 13200 per.
- CTRL_v_max 2147483647 -
- M_n_max
- Velocity limitation via analog input
- Velocity limitation via digital input
Changed settings become active
immediately.
CTRL_VelObsActiv Activation of velocity observer - UINT16 Modbus 4420
0 / Velocity Observer Off: Velocity observer 0 R/W
is off 0 per.
1 / Velocity Observer Passive: Velocity 2 expert
observer is on, but not used for motor
control
2 / Velocity Observer Active: Velocity
observer is on and used for motor control
Velocity observer control reduces velocity
ripple and enhances controller bandwidth.
Set the correct dynamics and inertia values
before activation.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.
CTRL_VelObsDyn Dynamics of velocity observer ms UINT16 Modbus 4422
The value of this parameter must be less 0.03 R/W
than (for example, between 5 % and 20 %) 0.25 per.
the integral action time of the velocity 200.00 expert
controller (parameter CTRL1_TNn und
CTRL2_TNn).
In increments of 0.01 ms.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.
CTRL_VelObsInert Inertia value for velocity observer g cm2 UINT32 Modbus 4424
System inertia that is used for velocity 1 R/W
observer calculations. - per.
The default value is the inertia of the 2147483648 expert
mounted motor.
In the case of autotuning, the value of this
parameter can be set equal to that of
_AT_J.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.03.
CTRL_vPIDDPart PID velocity controller: D gain % UINT16 Modbus 4364
ConF → drC- In increments of 0.1 %. 0.0 R/W
Pdn Changed settings become active 0.0 per.
immediately. 400.0 expert

380 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL_vPIDDTime PID velocity controller: Time constant of D ms UINT16 Modbus 4362
ConF → drC- term smoothing filter 0.01 R/W
tdn In increments of 0.01 ms. 0.25 per.
Changed settings become active 10.00 expert
immediately.
CTRL1_KFPp Velocity feed-forward control % UINT16 Modbus 4620
ConF → drC- In the case of switching between the two 0.0 R/W
FPP1 control loop parameter sets, the values are 0.0 per.
changed linearly over the time defined in 200.0 -
the parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL1_Kfric Friction compensation: Gain Arms UINT16 Modbus 4640
In increments of 0.01 Arms. 0.00 R/W
Changed settings become active 0.00 per.
immediately. 10.00 expert
CTRL1_KPn Velocity controller P gain A/rpm UINT16 Modbus 4610
ConF → drC- The default value is calculated on the basis 0.0001 R/W
Pn1 of the motor parameters. - per.
2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL1_KPp Position controller P gain 1/s UINT16 Modbus 4614
ConF → drC- The default value is calculated. 2.0 R/W
PP1 - per.
In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL1_Nf1bandw Notch filter 1: Bandwidth % UINT16 Modbus 4628
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf1damp Notch filter 1: Damping % UINT16 Modbus 4624
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL1_Nf1freq Notch filter 1: Frequency Hz UINT16 Modbus 4626
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL1_Nf2bandw Notch filter 2: Bandwidth % UINT16 Modbus 4634
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL1_Nf2damp Notch filter 2: Damping % UINT16 Modbus 4630
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert

0198441113761 09/2017 381

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL1_Nf2freq Notch filter 2: Frequency Hz UINT16 Modbus 4632
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL1_Osupdamp Overshoot suppression filter: Damping % UINT16 Modbus 4636
The filter is deactivated at a value of 0. 0.0 R/W
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL1_Osupdelay Overshoot suppression filter: Time delay ms UINT16 Modbus 4638
The filter is deactivated at a value of 0. 0.00 R/W
In increments of 0.01 ms. 0.00 per.
Changed settings become active 75.00 expert
immediately.
CTRL1_TAUiref Filter time constant of the reference current ms UINT16 Modbus 4618
value filter 0.00 R/W
In the case of switching between the two 0.50 per.
control loop parameter sets, the values are 4.00 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TAUnref Filter time constant of the reference ms UINT16 Modbus 4616
ConF → drC- velocity value filter 0.00 R/W
tAu1 In the case of switching between the two 9.00 per.
control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL1_TNn Velocity controller integral action time ms UINT16 Modbus 4612
ConF → drC- The default value is calculated. 0.00 R/W
tin1 - per.
In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_KFPp Velocity feed-forward control % UINT16 Modbus 4876
ConF → drC- In the case of switching between the two 0.0 R/W
FPP2 control loop parameter sets, the values are 0.0 per.
changed linearly over the time defined in 200.0 -
the parameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active
immediately.
CTRL2_Kfric Friction compensation: Gain Arms UINT16 Modbus 4896
In increments of 0.01 Arms. 0.00 R/W
Changed settings become active 0.00 per.
immediately. 10.00 expert

382 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_KPn Velocity controller P gain A/rpm UINT16 Modbus 4866
ConF → drC- The default value is calculated on the basis 0.0001 R/W
Pn2 of the motor parameters. - per.
2.5400 -
In the case of switching between the two
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.0001 A/rpm.
Changed settings become active
immediately.
CTRL2_KPp Position controller P gain 1/s UINT16 Modbus 4870
ConF → drC- The default value is calculated. 2.0 R/W
PP2 - per.
In the case of switching between the two 900.0 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active
immediately.
CTRL2_Nf1bandw Notch filter 1: Bandwidth % UINT16 Modbus 4884
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf1damp Notch filter 1: Damping % UINT16 Modbus 4880
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf1freq Notch filter 1: Frequency Hz UINT16 Modbus 4882
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL2_Nf2bandw Notch filter 2: Bandwidth % UINT16 Modbus 4890
Definition of bandwidth: 1 - Fb/F0 1.0 R/W
In increments of 0.1 %. 70.0 per.
Changed settings become active 90.0 expert
immediately.
CTRL2_Nf2damp Notch filter 2: Damping % UINT16 Modbus 4886
In increments of 0.1 %. 55.0 R/W
Changed settings become active 90.0 per.
immediately. 99.0 expert
CTRL2_Nf2freq Notch filter 2: Frequency Hz UINT16 Modbus 4888
The filter is deactivated at a value of 15000. 50.0 R/W
In increments of 0.1 Hz. 1500.0 per.
Changed settings become active 1500.0 expert
immediately.
CTRL2_Osupdamp Overshoot suppression filter: Damping % UINT16 Modbus 4892
The filter is deactivated at a value of 0. 0.0 R/W
In increments of 0.1 %. 0.0 per.
Changed settings become active 50.0 expert
immediately.
CTRL2_Osupdelay Overshoot suppression filter: Time delay ms UINT16 Modbus 4894
The filter is deactivated at a value of 0. 0.00 R/W
In increments of 0.01 ms. 0.00 per.
Changed settings become active 75.00 expert
immediately.

0198441113761 09/2017 383

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
CTRL2_TAUiref Filter time constant of the reference current ms UINT16 Modbus 4874
value filter 0.00 R/W
In the case of switching between the two 0.50 per.
control loop parameter sets, the values are 4.00 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TAUnref Filter time constant of the reference ms UINT16 Modbus 4872
ConF → drC- velocity value filter 0.00 R/W
tAu2 In the case of switching between the two 9.00 per.
control loop parameter sets, the values are 327.67 -
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
CTRL2_TNn Velocity controller integral action time ms UINT16 Modbus 4868
ConF → drC- The default value is calculated. 0.00 R/W
tin2 - per.
In the case of switching between the two 327.67 -
control loop parameter sets, the values are
changed linearly over the time defined in
the parameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active
immediately.
DCbus_compat DC bus compatibility LXM32 and ATV32 - UINT16 Modbus 1356
0 / No DC bus or LXM32 only: DC bus not 0 R/W
used or only LXM32 connected via the DC 0 per.
bus 1 -
1 / DC bus with LXM32 and ATV32: LXM32
and ATV32 connected via the DC bus
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
Available with firmware version ≥V01.05.
DCOMcontrol DriveCom control word - UINT16 Modbus 6914
See chapter Operation, Operating States, - R/W
for bit assignment information. - -
Bit 0: Operating state Switch On - -
Bit 1: Enable Voltage
Bit 2: Operating state Quick Stop
Bit 3: Enable Operation
Bits 4 … 6: Operating mode-specific
Bit 7: Fault Reset
Bit 8: Halt
Bit 9: Operating mode-specific
Bits 10 … 15: Reserved (must be 0)
Changed settings become active
immediately.

384 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DI_0_Debounce Debounce time of DI0 - UINT16 Modbus 2112
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi0 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_1_Debounce Debounce time of DI1 - UINT16 Modbus 2114
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi1 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_2_Debounce Debounce time of DI2 - UINT16 Modbus 2116
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi2 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_3_Debounce Debounce time of DI3 - UINT16 Modbus 2118
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi3 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DI_4_Debounce Debounce time of DI4 - UINT16 Modbus 2120
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi4 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.

0198441113761 09/2017 385

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DI_5_Debounce Debounce time of DI5 - UINT16 Modbus 2122
ConF → i-o- 0 / No: No software debouncing 0 R/W
tdi5 1 / 0.25 ms: 0.25 ms 6 per.
2 / 0.50 ms: 0.50 ms 6 -
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
DPL_dmControl Drive Profile Lexium dmControl - UINT16 Modbus 6974
- R/W
- -
- -
DPL_intLim Setting for bit 9 of _DPL_motionStat and - UINT16 Modbus 7018
_actionStatus 0 R/W
0 / None: Not used (reserved) 11 per.
1 / Current Below Threshold: Current 11 -
threshold value
2 / Velocity Below Threshold: Velocity
threshold value
3 / In Position Deviation Window: Position
deviation window
4 / In Velocity Deviation Window: Velocity
deviation window
9 / Hardware Limit Switch: Hardware limit
switch
10 / RMAC active or finished: Relative
movement after capture is active or
finished
11 / Position Window: Position window
Setting for:
Bit 9 of the parameter _actionStatus
Bit 9 of the parameter _DPL_motionStat
Changed settings become active
immediately.
Available with firmware version ≥V01.08.
DPL_RefA16 Drive Profile Lexium RefA16 - INT16 Modbus 6980
- R/W
- -
- -
DPL_RefB32 Drive Profile Lexium RefB32 - INT32 Modbus 6978
- R/W
- -
- -

386 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
DS402intLim DS402 status word: Setting for bit 11 - UINT16 Modbus 6972
(internal limit) 0 R/W
0 / None: Not used (reserved) 0 per.
1 / Current Below Threshold: Current 11 -
threshold value
2 / Velocity Below Threshold: Velocity
threshold value
3 / In Position Deviation Window: Position
deviation window
4 / In Velocity Deviation Window: Velocity
deviation window
9 / Hardware Limit Switch: Hardware limit
switch
10 / RMAC active or finished: Relative
movement after capture is active or
finished
11 / Position Window: Position window
Setting for:
Bit 11 of the parameter _DCOMstatus
Bit 10 of the parameter _actionStatus
Bit 10 of the parameter _DPL_motionStat
Changed settings become active
immediately.
DSM_ShutDownOp- Behavior for disabling the power stage - INT16 Modbus 1684
tion during movement 0 R/W
ConF → ACG- 0 / Disable Immediately / diSi: Disable 0 per.
Sdty power stage immediately 1 -
1 / Disable After Halt / diSh: Disable
power stage after deceleration to standstill
This parameter specifies the response to a
power stage disable request.
Halt is used for deceleration to standstill.
Changed settings become active
immediately.
Available with firmware version ≥V01.26.

0198441113761 09/2017 387

Parameters

Parameter name Description Unit Data type Parameter

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

Singleturn encoder:
0 ... x-1

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

Singleturn encoder (shifted with parameter

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

Multiturn encoder (shifted with parameter

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

Definition of 'x': Maximum position for one

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

If processing is to be performed with

inversion of the direction of movement, this
must be set before the encoder position is
adjusted.
After the write access, a wait time of at
least 1 second is required before the drive
can be powered off.
Changed settings become active the next
time the product is powered on.
ErrorResp_Flt_ Error response to missing mains phase - UINT16 Modbus 1300
AC 0 / Error Class 0: Error Class 0 0 R/W
1 / Error Class 1: Error class 1 2 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
ErrorResp_ Error response to 100% I2t braking resistor - UINT16 Modbus 1348
I2tRES 0 / Error Class 0: Error class 0 0 R/W
1 / Error Class 1: Error class 1 0 per.
2 / Error Class 2: Error class 2 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
ErrorResp_p_dif Error response to excessivly high load- - UINT16 Modbus 1302
dependent position deviation 1 R/W
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

388 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ErrorResp_ Error response to detected error with quasi - UINT16 Modbus 1396
QuasiAbs absolute position 3 R/W
3 / Error Class 3: Error class 3 3 per.
4 / Error Class 4: Error class 4 4 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.26.
ErrorResp_v_dif Error response to excessivly high load- - UINT16 Modbus 1400
dependent velocity deviation 1 R/W
1 / Error Class 1: Error class 1 3 per.
2 / Error Class 2: Error class 2 3 -
3 / Error Class 3: Error class 3
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.26.
ESIM_HighResolu- Encoder simulation: High resolution EncInc UINT32 Modbus 1380
tion Specifies the number of increments per 0 R/W
revolution with 12 bit decimal places. If the 0 per.
parameter is set to a multiple of 4096, the 268431360 expert
index pulse will be generated exactly at the
same position within one revolution.

The setting of parameter ESIM_scale is

only used if parameter
ESIM_HighResolution is set to 0.
Otherwise, the setting of
ESIM_HighResolution is used.

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 changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
ESIM_PhaseShift Encoder simulation: Phase shift for pulse - INT16 Modbus 1382
output -32768 R/W
The generated encoder simulation pulses 0 -
can be shifted in units of 1/4096 encoder 32767 expert
pulses. The shift results in a position offset
at PTO. The index pulse is shifted as well.
Changed settings become active
immediately.
Available with firmware version ≥V01.10.
ESIM_scale Resolution of encoder simulation EncInc UINT16 Modbus 1322
ConF → i-o- Resolution defines the number of 8 R/W
ESSC increments per revolution (AB signal with 4096 per.
quadruple evaluation). 65535 -

The index pulse is created once per

revolution at an interval where signal A and
signal B are high.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 389

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARdenom Denominator of gear ratio - INT32 Modbus 9734
See description GEARnum 1 R/W
1 per.
2147483647 -
GEARdenom2 Denominator of gear ratio number 2 - INT32 Modbus 9752
See description GEARnum 1 R/W
1 per.
2147483647 -
GEARdir_enabl Enabled direction of movement for - UINT16 Modbus 9738
operating mode Electronic Gear 1 R/W
1 / Positive: Positive direction 3 per.
2 / Negative: Negative direction 3 -
3 / Both: Both directions
This allows you to activate a return
movement lock function.
Changed settings become active
immediately.
GEARjerklim Activation of jerk limitation - UINT16 Modbus 9742
ConF → i-o- 0 / Off / oFF: Jerk limitation deactivated. 0 R/W
GFiL 1 / PosSyncOn / P_on: Jerk limitation 0 per.
active (only with position synchronization). 1 -
The time for jerk limitation must be set via
parameter RAMP_v_jerk.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.02.
GEARnum Numerator of gear ratio - INT32 Modbus 9736
GEARnum -2147483648 R/W
---------------------- = Gear ratio 1 per.
GEARdenom 2147483647 -

The new gear ratio is applied when the

numerator value is supplied.
Changed settings become active
immediately.
GEARnum2 Numerator of gear ratio number 2 - INT32 Modbus 9754
GEARnum2 -2147483648 R/W
---------------------- = Gear ratio 1 per.
GEARdenom2 2147483647 -

The new gear ratio is applied when the

numerator value is supplied.
Changed settings become active
immediately.
GEARpos_v_max Velocity limitation for the method Position usr_v UINT32 Modbus 9746
Synchronization 0 R/W
Value 0: No velocity limitation 0 per.
Value >0: Velocity limitation in usr_v 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥V01.10.

390 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
GEARposChgMode Treatment of position changes with inactive - UINT16 Modbus 9750
power stage 0 R/W
0 / Off: Position changes in states with 0 per.
disabled power stage are ignored. 1 -
1 / On: Position changes in states with
disabled power stage are taken into
account.
This setting has an effect only if gear
processing is started in the mode
'Synchronization with compensation
movement'.
Changed settings become active the next
time the power stage is enabled.
GEARratio Selection of gear ratio - UINT16 Modbus 9740
ConF → i-o- 0 / Gear Factor / FAct: Usage of gear 0 R/W
GFAC ratio adjusted with 0 per.
GEARnum/GEARdenom 11 -
1 / 200 / 200: 200
2 / 400 / 400: 400
3 / 500 / 500: 500
4 / 1000 / 1000: 1000
5 / 2000 / 2000: 2000
6 / 4000 / 4000: 4000
7 / 5000 / 5000: 5000
8 / 10000 / 10.00: 10000
9 / 4096 / 4096: 4096
10 / 8192 / 8192: 8192
11 / 16384 / 16.38: 16384
A change of the reference value by the
specified value causes one motor
revolution.
Changed settings become active
immediately.
HMIDispPara HMI display when motor moves - UINT16 Modbus 14852
Mon 0 / OperatingState / StAt: Operating 0 R/W
SuPV state 0 per.
1 / v_act / VAct: Actual motor velocity 2 -
2 / I_act / iAct: Actual motor current
Changed settings become active
immediately.
HMIlocked Lock HMI - UINT16 Modbus 14850
0 / Not Locked / nLoc: HMI not locked 0 R/W
1 / Locked / Loc: HMI locked 0 per.
The following functions can no longer be 1 -
started when the HMI is locked:
- Parameter change
- Jog
- Autotuning
- Fault Reset
Changed settings become active
immediately.
InvertDirOfCount Inversion of direction of counting at PTI - UINT16 Modbus 2062
ConF → ACG- interface 0 R/W
inCo 0 / Inversion Off: Inversion of direction of 0 per.
counting is off 1 -
1 / Inversion On: Inversion of direction of
counting is on
Changed settings become active
immediately.

0198441113761 09/2017 391

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
InvertDirOfMove Inversion of direction of movement - UINT16 Modbus 1560
ConF → ACG- 0 / Inversion Off / oFF: Inversion of 0 R/W
inMo direction of movement is off 0 per.
1 / Inversion On / on: Inversion of 1 -
direction of movement is on
The limit switch which is reached with a
movement in positive direction must be
connected to the positive limit switch input
and vice versa.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
IO_AutoEnable Enabling the power stage at PowerOn - UINT16 Modbus 1292
ConF → ACG- 0 / RisingEdge / riSE: A rising edge with 0 R/W
ioAE the signal input function "Enable" enables 0 per.
the power stage 2 -
1 / HighLevel / LEVL: An active signal
input with signal input function "Enable"
enables the power stage
2 / AutoOn / Auto: The power stage is
automatically enabled
Changed settings become active the next
time the power stage is enabled.
IO_AutoEnaConfig Enabling the power stage as set via - UINT16 Modbus 1288
ConF → ACG- IO_AutoEnable even after error 0 R/W
ioEM 0 / Off / _oFF: Setting in parameter 0 per.
IO_AutoEnable is only used after start-up 1 -
1 / On / on: Setting in parameter
IO_AutoEnable is used after start-up and
after detected error
Changed settings become active the next
time the power stage is enabled.
IO_FaultResOnEna Additional 'Fault Reset' for the signal input - UINT16 Modbus 1384
Inp function 'Enable' 0 R/W
ConF → ACG- 0 / Off / oFF: No additional 'Fault Reset' 0 per.
iEFr 1 / OnFallingEdge / FALL: Additional 2 -
'Fault Reset' with falling edge
2 / OnRisingEdge / riSE: Additional
'Fault Reset' with rising edge
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.12.
IO_GEARmethod Processing mode for operating mode - UINT16 Modbus 1326
ConF → ACG- Electronic Gear 1 R/W
ioGM 1 / Position Synchronization Immediate / 1 per.
PoiM: Position synchronization without 3 -
compensation movement
2 / Position Synchronization Compensated
/ Poco: Position synchronization with
compensation movement
3 / Velocity Synchronization / VELo:
Velocity synchronization
Changed settings become active the next
time the motor moves.
IO_I_limit Current limitation via input Arms UINT16 Modbus 1614
ConF → i-o- A current limit can be activated via a digital 0.00 R/W
iLiM input. 0.20 per.
In increments of 0.01 Arms. 300.00 -
Changed settings become active
immediately.

392 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IO_JOGmethod Selection of jog method - UINT16 Modbus 1328
ConF → ACG- 0 / Continuous Movement / coMo: Jog 0 R/W
ioJG with continuous movement 0 per.
1 / Step Movement / StMo: Jog with step 1 -
movement
Changed settings become active the next
time the motor moves.
IO_ModeSwitch Operating mode for signal input function - UINT16 Modbus 1630
ConF → ACG- Operating Mode Switch 0 R/W
ioMS 0 / None / nonE: None 0 per.
1 / Profile Torque / torq: Profile Torque 3 -
2 / Profile Velocity / VELP: Profile
Velocity
3 / Electronic Gear / GEAr: Electronic
Gear
Changed settings become active
immediately.
IO_PTtq_ Reference value source for operating - UINT16 Modbus 1392
reference mode Profile Torque 0 R/W
ConF → ACG- 0 / Analog Input / iAnA: Reference value 0 per.
iotq via analog input 1 -
1 / PTI Interface / iPti: Reference value
via PTI interface
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.20.
IO_v_limit Velocity limitation via input usr_v UINT32 Modbus 1596
ConF → i-o- A velocity limitation can be activated via a 0 R/W
nLiM digital input. 10 per.
In operating mode Profile Torque, the 2147483647 -
minimum velocity is internally limited to 100
min-1.
Changed settings become active
immediately.
IOdefaultMode Operating mode - UINT16 Modbus 1286
ConF → ACG- 0 / None / nonE: None 0 R/W
io-M 1 / Profile Torque / torq: Profile Torque 5 per.
2 / Profile Velocity / VELP: Profile 5 -
Velocity
3 / Electronic Gear / GEAr: Electronic
Gear
5 / Jog / JoG: Jog
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 393

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI0 Function Input DI0 - UINT16 Modbus 1794
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di0 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

394 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI1 Function Input DI1 - UINT16 Modbus 1796
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di1 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 395

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI2 Function Input DI2 - UINT16 Modbus 1798
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di2 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

396 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI3 Function Input DI3 - UINT16 Modbus 1800
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di3 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 397

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI4 Function Input DI4 - UINT16 Modbus 1802
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di4 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

398 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DI5 Function Input DI5 - UINT16 Modbus 1804
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
di5 required - per.
2 / Fault Reset / FrES: Reset after error - -
3 / Enable / EnAb: Enables the power
stage
4 / Halt / hALt: Halt
6 / Current Limitation / iLiM: Limits the
current to parameter value
7 / Zero Clamp / CLMP: Zero clamping
8 / Velocity Limitation / VLiM: Limits the
velocity to parameter value
9 / Jog Positive / JoGP: Jog: Moves in
positive direction
10 / Jog Negative / JoGn: Jog: Moves in
negative direction
11 / Jog Fast/Slow / JoGF: Jog: Switches
between slow and fast movement
12 / Gear Ratio Switch / GrAt: Electronic
Gear: Switches between two gear ratios
19 / Gear Offset 1 / GoF1: Electronic
Gear: Adds first gear offset
20 / Gear Offset 2 / GoF2: Electronic
Gear: Adds second gear offset
21 / Reference Switch (REF) / rEF:
Reference switch
22 / Positive Limit Switch (LIMP) / LiMP:
Positive limit switch
23 / Negative Limit Switch (LIMN) /
LiMn: Negative limit switch
24 / Switch Controller Parameter Set /
CPAr: Switches control loop parameter
set
25 / Inversion AI1 / A1iV: Inverts analog
input AI1
26 / Inversion AI2 / A2iV: Inverts analog
input AI2
27 / Operating Mode Switch / MSWt:
Switches operating mode
28 / Velocity Controller Integral Off /
tnoF: Switches off velocity controller
integral term
30 / Start Signal Of RMAC / SrMc: Start
signal of relative movement after capture
(RMAC)
31 / Activate RMAC / ArMc: Activates
the relative movement after capture
(RMAC)
32 / Activate Operating Mode / AcoP:
Activates operating mode
40 / Release Holding Brake / rEhb:
Releases the holding brake
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 399

Parameters

Parameter name Description Unit Data type Parameter

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

400 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

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

0198441113761 09/2017 401

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ2 Function Output DQ2 - UINT16 Modbus 1814
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
do2 required - per.
2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

402 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ3 Function Output DQ3 - UINT16 Modbus 1816
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
do3 required - per.
2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.

0198441113761 09/2017 403

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOfunct_DQ4 Function Output DQ4 - UINT16 Modbus 1818
ConF → i-o- 1 / Freely Available / nonE: Available as - R/W
do4 required - per.
2 / No Fault / nFLt: Signals operating - -
states Ready To Switch On, Switched On
and Operation Enabled
3 / Active / Acti: Signals operating state
Operation Enabled
4 / RMAC Active Or Finished / rMcA:
Relative movement after capture active or
finished (RMAC)
5 / In Position Deviation Window / in-P:
Position deviation is within window
6 / In Velocity Deviation Window / in-V:
Velocity deviation is within window
7 / Velocity Below Threshold / Vthr:
Motor velocity below threshold
8 / Current Below Threshold / ithr:
Motor current below threshold
9 / Halt Acknowledge / hALt: Halt
acknowledgement
13 / Motor Standstill / MStd: Motor at a
standstill
14 / Selected Error / SErr: One of the
specified errors of error classes 1 … 4 is
active
16 / Selected Warning / SWrn: One of
the specified errors of error class 0 is active
22 / Motor Moves Positive / MPoS: Motor
moves in positive direction
23 / Motor Moves Negative / MnEG:
Motor moves in negative direction
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
IOsigCurrLim Signal evaluation for signal input function - UINT16 Modbus 2128
Current Limitation 1 R/W
1 / Normally Closed: Normally closed NC 2 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
IOsigLIMN Signal evaluation for negative limit switch - UINT16 Modbus 1566
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
IOsigLIMP Signal evaluation for positive limit switch - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

404 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
IOsigREF Signal evaluation for reference switch - UINT16 Modbus 1564
1 / Normally Closed: Normally closed NC 1 R/W
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a 2 -
reference movement to the reference
switch is processed.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
IOsigVelLim Signal evaluation for signal input function - UINT16 Modbus 2126
Velocity Limitation 1 R/W
1 / Normally Closed: Normally closed NC 2 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Iref_PTIFreqMax Reference current for operating mode Arms UINT16 Modbus 8200
Profile Torque via PTI interface 0.00 R/W
Reference current corresponding to 1.6 - per.
million increments per second at the PTI 463.00 -
interface for operating mode Profile
Torque.
In increments of 0.01 Arms.
Changed settings become active
immediately.
Available with firmware version ≥V01.20.
JOGstep Distance for step movement usr_p INT32 Modbus 10510
Changed settings become active the next 1 R/W
time the motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement ms UINT16 Modbus 10512
Changed settings become active the next 1 R/W
time the motor moves. 500 per.
32767 -
JOGv_fast Velocity for fast movement usr_v UINT32 Modbus 10506
oP → JoG- The adjustable value is internally limited to 1 R/W
JGhi the parameter setting in RAMP_v_max. 180 per.
Changed settings become active 2147483647 -
immediately.
JOGv_slow Velocity for slow movement usr_v UINT32 Modbus 10504
oP → JoG- The adjustable value is internally limited to 1 R/W
JGLo the parameter setting in RAMP_v_max. 60 per.
Changed settings become active 2147483647 -
immediately.
LIM_HaltReaction Halt option code - INT16 Modbus 1582
ConF → ACG- 1 / Deceleration Ramp / dEcE: 1 R/W
htyP Deceleration ramp 1 per.
3 / Torque Ramp / torq: Torque ramp 3 -
Type of deceleration for Halt.

Setting of deceleration ramp with

parameter RAMP_v_dec.
Setting of torque ramp with parameter
LIM_I_maxHalt.

If a deceleration ramp is already active, the

parameter cannot be written.
Changed settings become active
immediately.

0198441113761 09/2017 405

Parameters

Parameter name Description Unit Data type Parameter

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

In the case of a Halt, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Halt.

Default: _PS_I_max at 8 kHz PWM

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

In the case of a Quick Stop, the current limit

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

Further current limitations caused by I2t

monitoring are also taken into account
during a Quick Stop.

Default: _PS_I_max at 8 kHz PWM

frequency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active
immediately.
LIM_QStopReact Quick Stop option code - INT16 Modbus 1584
ConF → FLt- 6 / Deceleration ramp (Quick Stop) / dEc: 6 R/W
qtyP Use deceleration ramp and remain in 6 per.
operating state 7 Quick Stop 7 -
7 / Torque ramp (Quick Stop) / tor: Use
torque ramp and remain in operating state
7 Quick Stop
Type of deceleration for Quick Stop.

Setting of deceleration ramp with

parameter RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

If a deceleration ramp is already active, the

parameter cannot be written.
Changed settings become active
immediately.

406 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
Mains_reactor Mains reactor - UINT16 Modbus 1344
0 / No: No 0 R/W
1 / Yes: Yes 0 per.
Value 0: No mains reactor connected. The 1 -
nominal power of the power stage is
reduced.
Value 1: A mains reactor is connected.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
MBaddress Modbus address - UINT16 Modbus 5640
ConF → CoM- Valid addresses: 1 to 247 1 R/W
MbAd Changed settings become active the next 1 per.
time the product is powered on. 247 -
MBbaud Modbus baud rate - UINT32 Modbus 5638
ConF → CoM- 9600 / 9600 Baud / 9.6: 9600 Baud 9600 R/W
Mbbd 19200 / 19200 Baud / 19.2: 19200 Baud 19200 per.
38400 / 38400 Baud / 38.4: 38400 Baud 38400 -
Changed settings become active the next
time the product is powered on.
Mfb_ResRatio Transformation ratio - UINT16 Modbus 23598
Setting can only be changed if power stage 0.3 R/W
is disabled. - -
Changed settings become active the next 1.0 -
time the product is powered on.
MON_ChkTime Monitoring of time window ms UINT16 Modbus 1594
ConF → i-o- Adjustment of a time for monitoring of 0 R/W
tthr position deviation, velocity deviation, 0 per.
velocity value and current value. If the 9999 -
monitored value is in the permissible range
during the adjusted time, the monitoring
function delivers a positive result.
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_commutat Commutation monitoring - UINT16 Modbus 1290
0 / Off: Commutation monitoring off 0 R/W
1 / On (OpState6): Commutation 1 per.
monitoring on in operating state 6 2 -
2 / On (OpState6+7): Commutation
monitoring on in operating states 6 and 7
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
MON_ConfModifi- Configuration modification monitoring - UINT16 Modbus 1082
cation Value 0: Modification detected for each 0 R/W
write access. 2 per.
Value 1: Modification detected for each 2 -
write access which modifies a value.
Value 2: Identical to value 0 if
commissioning software is not connected.
Identical to value 1 if commissioning
software is connected.

Changed settings become active

immediately.
Available with firmware version ≥V01.26.

0198441113761 09/2017 407

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_DCbusVdc- DC bus overvoltage monitoring threshold - UINT16 Modbus 1402
Thresh This parameter is used to reduce the 0 R/W
threshold for DC bus overvoltage 0 per.
monitoring. The parameter only affects 1 -
single-phase devices supplied with 115 V
and three-phase devices supplied with 208
V.

Value 0:
Single-phase: 450 Vdc
Three-phase: 820 Vdc

Value 1:
Single-phase: 260 Vdc
Three-phase: 450 Vdc
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.26.
MON_ENC_Ampl Activation of monitoring of SinCos - UINT16 Modbus 16322
amplitude 0 R/W
Value 0: Deactivate monitoring 0 -
Value 1: Activate monitoring 1 -
Changed settings become active
immediately.
Available with firmware version ≥V01.26.
MON_GroundFault Ground fault monitoring - UINT16 Modbus 1312
0 / Off: Ground fault monitoring off 0 R/W
1 / On: Ground fault monitoring on 1 per.
Changed settings become active the next 1 expert
time the product is powered on.
MON_I_Threshold Monitoring of current threshold Arms UINT16 Modbus 1592
ConF → i-o- The system monitors whether the drive is 0.00 R/W
ithr below the defined value during the period 0.20 per.
set with MON_ChkTime. 300.00 -
The status can be output via a
parameterizable output.
The parameter _Iq_act_rms is used as
comparison value.
In increments of 0.01 Arms.
Changed settings become active
immediately.
MON_IO_SelErr1 First error code for the signal output - UINT16 Modbus 15116
function Selected Error 0 R/W
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.
MON_IO_SelErr2 Second error code for the signal output - UINT16 Modbus 15118
function Selected Error 0 R/W
This parameter specifies the error code of 0 per.
an error of error classes 1 ... 4 which is to 65535 -
activate the signal output function.
Changed settings become active
immediately.
MON_IO_SelWar1 First error code for the signal output - UINT16 Modbus 15120
function Selected Warning 0 R/W
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.

408 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_IO_SelWar2 Second error code for the signal output - UINT16 Modbus 15122
function Selected Warning 0 R/W
This parameter specifies the error code of 0 per.
an error of error class 0 which is to activate 65535 -
the signal output function.
Changed settings become active
immediately.
MON_MainsVolt Detection and monitoring of mains phases - UINT16 Modbus 1310
0 / Automatic Mains Detection: Automatic 0 R/W
detection and monitoring of mains voltage 0 per.
1 / DC-Bus Only (Mains 1~230 V / 3~480 5 expert
V): DC bus supply only, corresponding to
mains voltage 230 V (single-phase) or 480
V (three phases)
2 / DC-Bus Only (Mains 1~115 V / 3~208
V): DC bus supply only, corresponding to
mains voltage 115 V (single-phase) or 208
V (three phases)
3 / Mains 1~230 V / 3~480 V: Mains voltage
230 V (single-phase) or 480 V (three
phases)
4 / Mains 1~115 V / 3~208 V: Mains voltage
115 V (single-phase) or 208 V (three
phases)
5 / Reserved: Reserved
Value 0: As soon as mains voltage
detected, the device automatically verifies
whether the mains voltage is 115 V or 230
V in the case of single-phase devices or
208 V or 400/480 V in the case of three-
phase devices.

Values 1 … 2: If the device is supplied only

via the DC bus, the parameter has to be set
to the voltage value corresponding to the
mains voltage of the supplying device.
There is no mains voltage monitoring.

Values 3 … 4: If the mains voltage is not

detected properly during start-up, the
mains voltage to be used can be selected
manually.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
MON_p_dif_load Maximum load-dependent position revolution UINT32 Modbus 1606
deviation 0.0001 R/W
The load-dependent position deviation is 1.0000 per.
the difference between the reference 200.0000 -
position and the actual position caused by
the load.

The parameter MON_p_dif_load_usr

allows you to enter the value in user-
defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.

0198441113761 09/2017 409

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_dif_load_ Maximum load-dependent position usr_p INT32 Modbus 1660
usr deviation 1 R/W
The load-dependent position deviation is 16384 per.
the difference between the reference 2147483647 -
position and the actual position caused by
the load.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
MON_p_dif_warn Maximum load-dependent position % UINT16 Modbus 1618
deviation (error class 0) 0 R/W
100.0 % correspond to the maximum 75 per.
position deviation (following error) as 100 -
specified by means of parameter
MON_p_dif_load.
Changed settings become active
immediately.
MON_p_DiffWin Monitoring of position deviation revolution UINT16 Modbus 1586
ConF → ACG- The system monitors whether the drive is 0.0000 R/W
in-P within the defined deviation during the 0.0010 per.
period set with MON_ChkTime. 0.9999 -
The status can be output via a
parameterizable output.

The parameter MON_p_DiffWin_usr allows

you to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.
MON_p_DiffWin_ Monitoring of position deviation usr_p INT32 Modbus 1662
usr The system checks whether the drive is 0 R/W
ConF → ACG- within the defined deviation during the 16 per.
in-P period set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
MON_p_win Standstill window, permissible control revolution UINT16 Modbus 1608
deviation 0.0000 R/W
The control deviation for the standstill 0.0010 per.
window time must be within this range for a 3.2767 -
standstill of the drive to be detected.

Processing of the standstill window must

be activated via the parameter
MON_p_winTime.

The parameter MON_p_win_usr allows you

to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active
immediately.

410 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_p_win_usr Standstill window, permissible control usr_p INT32 Modbus 1664
deviation 0 R/W
The control deviation for the standstill 16 per.
window time must be within this range for a 2147483647 -
standstill of the drive to be detected.

Processing of the standstill window must

be activated via the parameter
MON_p_winTime.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
MON_p_winTime Standstill window, time ms UINT16 Modbus 1610
Value 0: Monitoring of standstill window 0 R/W
deactivated 0 per.
Value >0: Time in ms during which the 32767 -
control deviation must be in the standstill
window
Changed settings become active
immediately.
MON_p_winTout Timeout time for standstill window ms UINT16 Modbus 1612
monitoring 0 R/W
Value 0: Timeout monitoring deactivated 0 per.
Value >0: Timeout time in ms 16000 -

Standstill window processing values are

set via MON_p_win and MON_p_winTime.

Time monitoring starts when the target

position (reference position of position
controller) is reached or when the profile
generator has finished processing.
Changed settings become active
immediately.
MON_SW_Limits Activation of software limit switches - UINT16 Modbus 1542
0 / None: Deactivated 0 R/W
1 / SWLIMP: Activation of software limit 0 per.
switches positive direction 3 -
2 / SWLIMN: Activation of software limit
switches negative direction
3 / SWLIMP+SWLIMN: Activation of
software limit switches both directions
Software limit switches can only be
activated if the zero point is valid.
Changed settings become active
immediately.
MON_SWLimMode Behavior when position limit is reached - UINT16 Modbus 1678
0 / Standstill Behind Position Limit: Quick 0 R/W
Stop is triggered at position limit and 0 per.
standstill is reached behind position limit 1 -
1 / Standstill At Position Limit: Quick Stop is
triggered in front of position limit and
standstill is reached at position limit
Changed settings become active
immediately.
Available with firmware version ≥V01.16.

0198441113761 09/2017 411

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_swLimN Negative position limit for software limit usr_p INT32 Modbus 1546
switch - R/W
See description 'MON_swLimP'. -2147483648 per.
Setting can only be changed if power stage - -
is disabled.
Changed settings become active the next
time the power stage is enabled.
MON_swLimP Positive position limit for software limit usr_p INT32 Modbus 1544
switch - R/W
If a user-defined value entered is outside of 2147483647 per.
the permissible range, the limit switch limits - -
are automatically set to the maximum user-
defined value.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
MON_tq_win Torque window, permissible deviation % UINT16 Modbus 1626
The torque window can only be activated in 0.0 R/W
operating mode Profile Torque. 3.0 per.
In increments of 0.1 %. 3000.0 -
Changed settings become active
immediately.
MON_tq_winTime Torque window, time ms UINT16 Modbus 1628
Value 0: Torque window monitoring 0 R/W
deactivated 0 per.
16383 -
Changing the value causes a restart of
torque monitoring.

Torque window is only used in operating

mode Profile Torque.
Changed settings become active
immediately.
MON_v_DiffWin Monitoring of velocity deviation usr_v UINT32 Modbus 1588
ConF → i-o- The system monitors whether the drive is 1 R/W
in-n within the defined deviation during the 10 per.
period set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_v_Threshold Monitoring of velocity threshold usr_v UINT32 Modbus 1590
ConF → i-o- The system monitors whether the drive is 1 R/W
nthr below the defined value during the period 10 per.
set with MON_ChkTime. 2147483647 -
The status can be output via a
parameterizable output.
Changed settings become active
immediately.
MON_v_win Velocity window, permissible deviation usr_v UINT32 Modbus 1576
Changed settings become active 1 R/W
immediately. 10 per.
2147483647 -
MON_v_winTime Velocity window, time ms UINT16 Modbus 1578
Value 0: Velocity window monitoring 0 R/W
deactivated 0 per.
16383 -
Changing the value causes a restart of
velocity monitoring.
Changed settings become active
immediately.

412 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
MON_v_zeroclamp Velocity limit for Zero Clamp usr_v UINT32 Modbus 1616
ConF → i-o- A Zero Clamp operation is only possible if 0 R/W
ScLP the reference velocity is below the Zero 10 per.
Clamp velocity limit. 2147483647 -
Changed settings become active
immediately.
MON_VelDiff Maximum load-dependent velocity usr_v UINT32 Modbus 1686
deviation 0 R/W
Value 0: Monitoring deactivated. 0 per.
Value >0: Maximum value 2147483647 -
Changed settings become active
immediately.
Available with firmware version ≥V01.26.
MON_VelDiff_ Time window for maximum load-dependent ms UINT16 Modbus 1688
Time velocity deviation 0 R/W
Value 0: Monitoring deactivated. 10 per.
Value >0: Time window for maximum value - -
Changed settings become active
immediately.
Available with firmware version ≥V01.26.
MT_dismax Maximum permissible distance revolution UINT16 Modbus 11782
If the reference value is active and the 0.0 R/W
maximum permissible distance is 1.0 -
exceeded, an error of error class 1 is 999.9 -
detected.

The value 0 switches off monitoring.

The parameter MT_dismax_usr allows you

to enter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the next
time the motor moves.
MT_dismax_usr Maximum permissible distance usr_p INT32 Modbus 11796
If the reference value is active and the 0 R/W
maximum permissible distance is 16384 -
exceeded, an error of error class 1 is 2147483647 -
detected.

The value 0 switches off monitoring.

The minimum value, the factory setting and

the maximum value depend on the scaling
factor.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.05.
OFS_Ramp Acceleration and deceleration for offset usr_a UINT32 Modbus 9996
movement 1 R/W
Setting can only be changed if power stage 600 per.
is disabled. 2147483647 -
Changed settings become active the next
time the power stage is enabled.
OFSp_RelPos1 Relative offset position 1 for offset Inc INT32 Modbus 10000
movement -2147483648 R/W
Changed settings become active 0 per.
immediately. 2147483647 -
OFSp_RelPos2 Relative offset position 2 for offset Inc INT32 Modbus 10004
movement -2147483648 R/W
Changed settings become active 0 per.
immediately. 2147483647 -

0198441113761 09/2017 413

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
OFSv_target Target velocity for offset movement usr_v UINT32 Modbus 9992
The maximum value is 5000 if the user- 1 R/W
defined scaling factor of the velocity scaling 60 per.
is 1. 2147483647 -

This applies to the user-defined scaling

factors. Example: If the user-defined
scaling factor of the velocity scaling is 2
(ScaleVELnum = 2, ScaleVELdenom = 1),
the maximum value is 2500.
Changed settings become active
immediately.
p_PTI_act_set Position value at PTI interface Inc INT32 Modbus 2130
Available with firmware version ≥V01.26. -2147483648 R/W
- -
2147483647 -
PAR_CTRLreset Reset control loop parameters - UINT16 Modbus 1038
ConF → FCS- 0 / No / no: No 0 R/W
rESC 1 / Yes / yES: Yes 0 -
Reset of the control loop parameters. The 1 -
control loop parameters are recalculated
on the basis of the motor data of the
connected motor.

Current and velocity limitations are not

reset. Therefore, a user parameter reset is
required.

The new settings are not saved to the

EEPROM.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
PAR_ScalingStart Recalculation of parameters with user- - UINT16 Modbus 1064
defined units 0 R/W
The parameters with user-defined units 0 -
can be recalculated with a changed scaling 2 -
factor.

Value 0: Inactive
Value 1: Initialize recalculation
Value 2: Start recalculation
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
Available with firmware version ≥V01.05.
PAReeprSave Save parameter values to EEPROM - UINT16 Modbus 1026
Value 1: Save persistent parameters - R/W
- -
The currently set parameters are saved to - -
the non-volatile memory (EEPROM).
The saving process is complete when the
parameter is read and 0 is returned.
Changed settings become active
immediately.

414 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PARfactorySet Restore factory settings (default values) - UINT16 Modbus 1028
ConF → FCS- No / no: No 0 R/W
rStF Yes / yES: Yes - -
The parameters are reset to the factory 1 -
settings and subsequently saved to the
EEPROM.
The factory settings can be restored via the
HMI or the commissioning software.
The saving process is complete when the
parameter is read and 0 is returned.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
PARuserReset Reset user parameters - UINT16 Modbus 1040
ConF → FCS- 0 / No / no: No 0 R/W
rESu 65535 / Yes / yES: Yes - -
Bit 0: Reset persistent user parameters and 65535 -
control loop parameters to default values
Bits 1 … 15: Reserved

The parameters are reset with the

exception of:
- Communication parameters
- Inversion of direction of movement
- Type of reference value signal for PTI
interface
- Operating mode
- Settings of encoder simulation
- Functions of digital inputs and outputs

The new settings are not saved to the

EEPROM.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
PP_ModeRangeLim Absolute movement beyond movement - UINT16 Modbus 8974
range 0 R/W
0 / NoAbsMoveAllowed: Absolute 0 per.
movement beyond movement range is not 1 -
possible
1 / AbsMoveAllowed: Absolute movement
beyond movement range is possible
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.06.
PP_OpmChgType Change to operating mode Profile Position - UINT16 Modbus 8978
during movements 0 R/W
0 / WithStandStill: Change with standstill 0 per.
1 / OnTheFly: Change without standstill 1 -
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
Available with firmware version ≥V01.06.

0198441113761 09/2017 415

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
PTI_pulse_ Filter time for input signals at the PTI µs UINT16 Modbus 1374
filter interface 0.00 R/W
ConF → i-o- A signal at the PTI interface is only 0.25 per.
ioPi evaluated if it is available for a time that is 13.00 expert
longer than the set filter time.
For example, if an interference pulse is
available for a period shorter than the set
filter time, the interference pulse is not
evaluated.

The interval between 2 signals must also

be greater than the set filter time.

Available with hardware version ≥RS03.

In increments of 0.01 µs.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
PTI_signal_type Type of reference value signal for PTI - UINT16 Modbus 1284
ConF → i-o- interface 0 R/W
ioPi 0 / A/B Signals / Ab: Signals ENC_A and 0 per.
ENC_B (quadruple evaluation) 2 -
1 / P/D Signals / Pd: Signals PULSE and
DIR
2 / CW/CCW Signals / cWcc: Signals
CW and CCW
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is powered on.
PTO_mode Type of usage of PTO interface - UINT16 Modbus 1342
ConF → ACG- 0 / Off: PTO interface disabled 0 R/W
PtoM 1 / Esim pAct Enc 1: Encoder simulation 1 per.
based on actual position of encoder 1 5 -
2 / Esim pRef: Encoder simulation based
on reference position (_p_ref)
3 / PTI Signal: Directly the signal from PTI
interface
5 / Esim iqRef: Encoder simulation based
on reference current
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
RAMP_tq_enable Activation of the motion profile for torque - UINT16 Modbus 1624
0 / Profile Off: Profile off 0 R/W
1 / Profile On: Profile on 0 per.
In the operating mode Profile Torque, the 1 -
motion profile for torque can be activated or
deactivated.
In the other operating modes, the motion
profile for torque is inactive.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.

416 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_tq_slope Slope setting of the motion profile for %/s UINT32 Modbus 1620
torque 0.1 R/W
100.00 % of the torque setting correspond 10000.0 per.
to the continuous stall torque _M_M_0. 3000000.0 -

Example:
A ramp setting of 10000.00 %/s results in a
torque change of 100.0% of _M_M_0 in
0.01s.
In increments of 0.1 %/s.
Changed settings become active
immediately.
RAMP_v_acc Acceleration of the motion profile for usr_a UINT32 Modbus 1556
velocity 1 R/W
Writing the value 0 has no effect on the 600 per.
parameter. 2147483647 -
Changed settings become active the next
time the motor moves.
RAMP_v_dec Deceleration of the motion profile for usr_a UINT32 Modbus 1558
velocity 1 R/W
The minimum value depends on the 600 per.
operating mode: 2147483647 -

Operating modes with minimum value 1:

Electronic Gear (velocity synchronization)
Profile Velocity

Operating modes with minimum value 120:

Jog

Writing the value 0 has no effect on the

parameter.
Changed settings become active the next
time the motor moves.
RAMP_v_enable Activation of the motion profile for velocity - UINT16 Modbus 1622
0 / Profile Off: Profile off 0 R/W
1 / Profile On: Profile on 0 per.
Setting can only be changed if power stage 1 -
is disabled.
Changed settings become active
immediately.
RAMP_v_jerk Jerk limitation of the motion profile for ms UINT16 Modbus 1562
ConF → drC- velocity 0 R/W
JEr 0 / Off / oFF: Off 0 per.
1 / 1 / 1: 1 ms 128 -
2 / 2 / 2: 2 ms
4 / 4 / 4: 4 ms
8 / 8 / 8: 8 ms
16 / 16 / 16: 16 ms
32 / 32 / 32: 32 ms
64 / 64 / 64: 64 ms
128 / 128 / 128: 128 ms
Adjustments can only be made if the
operating mode is inactive (x_end=1).
Changed settings become active the next
time the motor moves.

0198441113761 09/2017 417

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RAMP_v_max Maximum velocity of the motion profile for usr_v UINT32 Modbus 1554
ConF → ACG- velocity 1 R/W
nrMP If a greater reference velocity is set in one 13200 per.
of these operating modes, it is 2147483647 -
automatically limited to RAMP_v_max.
This way, commissioning at limited velocity
is easier to perform.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the motor moves.
RAMPaccdec Acceleration and deceleration for the Drive - UINT32 Modbus 1540
Profile Lexium - R/W
High word: Acceleration - -
Low word: Deceleration - -

The values are internally multiplied by 10

(example: 1 = 10 min-1/s).

Write access changes the values of

RAMP_v_acc and RAMP_v_dec. The limit
values are verified on the basis of the
values indicated for these parameters.
If the value cannot be represented as a 16
bit value, the value is set to 65535
(maximum UINT16 value).
Changed settings become active the next
time the motor moves.
RAMPquickstop Deceleration ramp for Quick Stop usr_a UINT32 Modbus 1572
Deceleration ramp for a software stop or an 1 R/W
error with error class 1 or 2. 6000 per.
Changed settings become active the next 2147483647 -
time the motor moves.
RESext_P Nominal power of external braking resistor W UINT16 Modbus 1316
ConF → ACG- Setting can only be changed if power stage 1 R/W
Pobr is disabled. 10 per.
Changed settings become active the next 32767 -
time the power stage is enabled.
RESext_R Resistance value of external braking Ω UINT16 Modbus 1318
ConF → ACG- resistor 0.00 R/W
rbr The minimum value depends on the power 100.00 per.
stage. 327.67 -
In increments of 0.01 Ω.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.
RESext_ton Maximum permissible switch-on time of ms UINT16 Modbus 1314
ConF → ACG- external braking resistor 1 R/W
tbr Setting can only be changed if power stage 1 per.
is disabled. 30000 -
Changed settings become active the next
time the power stage is enabled.
RESint_ext Selection of type of braking resistor - UINT16 Modbus 1298
ConF → ACG- 0 / Internal Braking Resistor / int: 0 R/W
Eibr Internal braking resistor 0 per.
1 / External Braking Resistor / Eht: 2 -
External braking resistor
2 / Reserved / rSVd: Reserved
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the power stage is enabled.

418 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
RMAC_Edge Edge of capture signal for relative - UINT16 Modbus 8992
movement after capture 0 R/W
0 / Falling edge: Falling edge 0 per.
1 / Rising edge: Rising edge 1 -
Available with firmware version ≥V01.10.
RMAC_Position Target position of relative movement after usr_p INT32 Modbus 8986
capture - R/W
Minimum/maximum values depend on: 0 per.
- Scaling factor - -
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.
RMAC_Response Response if target postion is overtraveld - UINT16 Modbus 8990
0 / Error Class 1: Error class 1 0 R/W
1 / No Movement To Target Position: No 0 per.
movement to target position 2 -
2 / Movement To Target Position:
Movement to target position
Changed settings become active
immediately.
Available with firmware version ≥V01.10.
RMAC_Velocity Velocity of relative movement after capture usr_v UINT32 Modbus 8988
Value 0: Use actual motor velocity 0 R/W
Value >0: Value is the target velocity 0 per.
2147483647 -
The adjustable value is internally limited to
the setting in RAMP_v_max.
Changed settings become active the next
time the motor moves.
Available with firmware version ≥V01.10.
ScalePOSdenom Position scaling: Denominator usr_p INT32 Modbus 1550
Refer to numerator (ScalePOSnum) for a 1 R/W
description. 16384 per.
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.
ScalePOSnum Position scaling: Numerator revolution INT32 Modbus 1552
Specification of the scaling factor: 1 R/W
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr_p]

A new scaling is activated when the

numerator value is supplied.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
ScaleRAMPdenom Ramp scaling: Denominator usr_a INT32 Modbus 1632
See numerator (ScaleRAMPnum) for a 1 R/W
description. 1 per.
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.
ScaleRAMPnum Ramp scaling: Numerator rpm/s INT32 Modbus 1634
Setting can only be changed if power stage 1 R/W
is disabled. 1 per.
Changed settings become active 2147483647 -
immediately.

0198441113761 09/2017 419

Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ScaleVELdenom Velocity scaling: Denominator usr_v INT32 Modbus 1602
See numerator (ScaleVELnum) for a 1 R/W
description. 1 per.
2147483647 -
A new scaling is activated when the
numerator value is supplied.
Setting can only be changed if power stage
is disabled.
ScaleVELnum Velocity scaling: Numerator rpm INT32 Modbus 1604
Specification of the scaling factor: 1 R/W
1 per.
Speed of rotation of motor [min-1] 2147483647 -
--------------------------------------------------
User-defined units [usr_v]

A new scaling is activated when the

numerator value is supplied.
Setting can only be changed if power stage
is disabled.
Changed settings become active
immediately.
ShiftEncWorkRang Shifting of the encoder working range - UINT16 Modbus 1346
0 / Off: Shifting off 0 R/W
1 / On: Shifting on 0 per.
After activating the shifting function, the 1 -
position range of a multiturn encoder is
shifted by one half of the range.
Example for the position range of a
multiturn encoder with 4096 revolutions:
Value 0:
Position values are between 0 ... 4096
revolutions.
Value 1:
Position values are between -2048 ... 2048
revolutions.
Changed settings become active the next
time the product is powered on.

420 0198441113761 09/2017

 Parameters

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
SimAbsolutePos Simulation of absolute position at power - UINT16 Modbus 1350
ConF → ACG- cycling 0 R/W
qAbS 0 / Simulation Off / oFF: Do not use the 0 per.
last mechanical position after power 1 -
cycling
1 / Simulation On / on: Use last
mechanical position after power cycling
This parameter specifies the way position
values are handled over a power cycle and
allows for the simulation of an absolute
position encoder using singleturn
encoders.

If this function is activated, the drive saves

the pertinent position data prior to a power
removal so that the drive can restore the
mechanical position the next time it is
powered on.

In the case of singleturn encoders, the

position can be restored if the motor shaft
has not been moved by more than 0.25
revolutions while the drive was powered
off.

In the case of multiturn encoders, the

permissible shaft movement while the drive
is off can be much greater, depending on
the type of multiturn encoder.

For this function to work, the drive may only

be powered off while the motor is at a
standstill and the motor shaft must not be
moved outside of the permissible range (for
example, use a holding brake).
Changed settings become active
immediately.
Available with firmware version ≥V01.03.
UsrAppDataMem1 User-specific data 1 - UINT32 Modbus 390
This parameter can be used to store user- - R/W
specific data. - per.
Changed settings become active - -
immediately.
Available with firmware version ≥V01.20.
UsrAppDataMem2 User-specific data 2 - UINT32 Modbus 392
This parameter can be used to store user- - R/W
specific data. 0 per.
Changed settings become active - -
immediately.
Available with firmware version ≥V01.20.

0198441113761 09/2017 421

Parameters

422 0198441113761 09/2017

 Lexium 32C
Accessories and Spare Parts
0198441113761 09/2017

Chapter 12
Accessories and Spare Parts

Accessories and Spare Parts

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Commissioning Tools 424
Memory Cards 425
Application Nameplate 426
Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32 427
Cables for PTO and PTI 428
Motor Cables 429
Encoder Cables 432
Connectors 433
External Braking Resistors 434
DC Bus Accessories 435
Mains Reactors 436
External Mains Filters 437
Spare Parts Connectors, Fans, Cover Plates 438

0198441113761 09/2017 423

Accessories and Spare Parts

Commissioning Tools

Description Reference
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121
Modbus cable, 1 m (3.28 ft), 2 x RJ45 VW3A8306R10
Modbus-Bluetooth adapter VW3A8114
External graphic display terminal VW3A1101

424 0198441113761 09/2017

 Accessories and Spare Parts

Memory Cards

Description Reference
Memory card for copying parameter settings VW3M8705
25 memory cards for copying parameter settings VW3M8704

0198441113761 09/2017 425

Accessories and Spare Parts

Application Nameplate

Description Reference
Application nameplate to be clipped onto the top of the drive, size 38.5 x 13 mm (1.51 x VW3M2501
0.51 in), 50 pieces

426 0198441113761 09/2017

 Accessories and Spare Parts

Adapter Cable for Encoder Signals LXM05/LXM15 to LXM32

Description Reference
Encoder adapter cable Molex 12-pin (LXM05) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8111R10
Encoder adapter cable D15-SUB (LXM15) to RJ45 10-pin (LXM32), 1 m (3.28 ft) VW3M8112R10

0198441113761 09/2017 427

Accessories and Spare Parts

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 VW3M8223R30
(9.84 ft)

428 0198441113761 09/2017

 Accessories and Spare Parts

Motor Cables

Motor cables 1.0 mm2

Description Reference
2
Motor cable 3 m (9.84 ft), (4 x 1.0 mm + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R30
circular connector Y-TEC, other cable end open
Motor cable 5 m (16.4 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R50
circular connector Y-TEC, other cable end open
Motor cable 10 m (32.8 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R100
circular connector Y-TEC, other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin VW3M5100R150
circular connector Y-TEC, other cable end open

Motor cable 25 m (82 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; motor end 8-pin circular VW3M5100R250
connector Y-TEC, other cable end open
Motor cable 100 m (328 ft), (4 x 1.0 mm2 + 2 x (2 x 0.75 mm2)) shielded; both cable ends VW3M5300R1000
open

Motor cables 1.5 mm2

Description Reference
2
Motor cable 1.5 m (4.92 ft), (4 x 1.5 mm + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R15
connector M23, other cable end open
Motor cable 3 m (9.84 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R30
connector M23, other cable end open
Motor cable 5 m (16.4 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R50
connector M23, other cable end open
Motor cable 10 m (32.8 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R100
connector M23, other cable end open

Motor cable 15 m (49.2 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R150
connector M23, other cable end open

Motor cable 20 m (65.6 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R200
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R250
connector M23, other cable end open
Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R500
connector M23, other cable end open
Motor cable 75 m (246 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5101R750
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R250

Motor cable 50 m (164 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R500

Motor cable 100 m (328 ft), (4 x 1.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5301R1000

Motor cables 2.5 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 2.5 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5102R30
connector M23, other cable end open
Motor cable 5 m (16.4 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R50
connector M23, other cable end open
Motor cable 10 m (32.8 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R100
connector M23, other cable end open
Motor cable 15 m (49.2 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R150
connector M23, other cable end open

0198441113761 09/2017 429

Accessories and Spare Parts

Description Reference
mm2
Motor cable 20 m (65.6 ft), (4 x 2.5 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R200
connector M23, other cable end open
Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R250
connector M23, other cable end open
Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R500
connector M23, other cable end open
Motor cable 75 m (246 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5102R750
connector M23, other cable end open

Motor cable 25 m (82 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R250

Motor cable 50 m (164 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R500

Motor cable 100 m (328 ft), (4 x 2.5 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5302R1000

Motor cables 4 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 4 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5103R30
connector M40, other cable end open
Motor cable 5 m (16.4 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R50
connector M40, other cable end open
Motor cable 10 m (32.8 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R150
connector M40, other cable end open
Motor cable 20 m (65.6 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R200
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R250
connector M40, other cable end open

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R500
connector M40, other cable end open

Motor cable 75 m (246 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5103R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R250

Motor cable 50 m (164 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R500

Motor cable 100 m (328 ft), (4 x 4 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5303R1000

Motor cables 6 mm2

Description Reference
2
Motor cable 3 m (9.84 ft), (4 x 6 mm + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R30
connector M40, other cable end open
Motor cable 5 m (16.4 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R50
connector M40, other cable end open
Motor cable 10 m (32.8 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R150
connector M40, other cable end open

Motor cable 20 m (65.6 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R200
connector M40, other cable end open

Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R250
connector M40, other cable end open
Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R500
connector M40, other cable end open

430 0198441113761 09/2017

 Accessories and Spare Parts

Description Reference
Motor cable 75 m (246 ft), (4 x 6mm2+ (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5105R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R250

Motor cable 50 m (164 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R500

Motor cable 100 m (328 ft), (4 x 6 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5305R1000

Motor cables 10 mm2

Description Reference
2 2
Motor cable 3 m (9.84 ft), (4 x 10 mm + (2 x 1 mm )) shielded; motor end 8-pin circular VW3M5104R30
connector M40, other cable end open

Motor cable 5 m (16.4 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R50
connector M40, other cable end open

Motor cable 10 m (32.8 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R100
connector M40, other cable end open
Motor cable 15 m (49.2 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R150
connector M40, other cable end open
Motor cable 20 m (65.6 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R200
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R250
connector M40, other cable end open
Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R500
connector M40, other cable end open
Motor cable 75 m (246 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; motor end 8-pin circular VW3M5104R750
connector M40, other cable end open
Motor cable 25 m (82 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R250

Motor cable 50 m (164 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R500

Motor cable 100 m (328 ft), (4 x 10 mm2 + (2 x 1 mm2)) shielded; both cable ends open VW3M5304R1000

0198441113761 09/2017 431

Accessories and Spare Parts

Encoder Cables

Description Reference
2
Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm + 2 x 0.34mm2) shielded; motor end 12-pin VW3M8100R30
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R50
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R100
circular connector Y-TEC, device end 10-pin connector RJ45

Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R150
circular connector Y-TEC, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8100R250
circular connector Y-TEC, device end 10-pin connector RJ45
Encoder cable 1.5 m (4.92 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R15
circular connector M23, device end 10-pin connector RJ45
Encoder cable 3 m (9.84 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R30
circular connector M23, device end 10-pin connector RJ45
Encoder cable 5 m (16.4 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R50
circular connector M23, device end 10-pin connector RJ45
Encoder cable 10 m (32.8 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R100
circular connector M23, device end 10-pin connector RJ45
Encoder cable 15 m (49.2 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R150
circular connector M23, device end 10-pin connector RJ45
Encoder cable 20 m (65.6 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R200
circular connector M23, device end 10-pin connector RJ45

Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R250
circular connector M23, device end 10-pin connector RJ45

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R500
circular connector M23, device end 10-pin connector RJ45
Encoder cable 75 m (246 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; motor end 12-pin VW3M8102R750
circular connector M23, device end 10-pin connector RJ45
Encoder cable 25 m (82 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends open VW3M8222R250

Encoder cable 50 m (164 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends VW3M8222R500
open

Encoder cable 100 m (328 ft), (3 x 2 x 0.14 mm2 + 2 x 0.34 mm2) shielded; both cable ends VW3M8222R1000
open
D9-SUB (male) connector, for encoder module resolver AEOCON011
2 2
Encoder cable 100 m (328 ft), (5 x 2 x 0.25 mm + 2 x 0.5 mm ) shielded; both cable ends VW3M8221R1000
open
Encoder cable 1 m (3.28 ft), shielded; HD15 D-SUB (male); other cable end open VW3M4701

432 0198441113761 09/2017

 Accessories and Spare Parts

Connectors

Description Reference
2,
Connector for motor cable, motor end Y-TEC, 1 mm 5 pieces VW3M8219

Connector for motor cable, motor end M23, 1.5 ... 2.5 mm2, 5 pieces VW3M8215

Connector for motor cable, motor end M40, 4 mm2, 5 pieces VW3M8217

Connector for motor cable, motor end M40, 6...10 mm2, 5 pieces VW3M8218
Connector for encoder cable, motor end Y-TEC, 5 pieces VW3M8220
Connector for encoder cable, motor end M23, 5 pieces VW3M8214
Connector for encoder cable, drive end RJ45 (10 pins), 5 pieces VW3M2208

The tools required for cable assembly can be ordered directly from the manufacturer.
 Crimping tool for power connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
 Crimping tool for power connector M23/M40:
Coninvers SF-Z0025, SF-Z0026
www.coninvers.com
 Crimping tool for encoder connector Y-TEC:
Intercontec C0.201.00 or C0.235.00
www.intercontec.com
 Crimping tool for encoder connector M23:
Coninvers RC-Z2514
www.coninvers.com
 Crimping tools for encoder connector RJ45 10 pins:
Yamaichi Y-ConTool-11, Y-ConTool-20, Y-ConTool-30
www.yamaichi.com

0198441113761 09/2017 433

Accessories and Spare Parts

External Braking Resistors

Description Reference
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7601R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7601R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7601R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7602R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7602R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7602R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7603R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection VW3A7603R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection VW3A7603R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7604R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7604R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7604R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7605R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7605R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7605R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7606R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection VW3A7606R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection VW3A7606R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7607R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection VW3A7607R20
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection VW3A7607R30
cable, 2.1 mm2 (AWG 14)
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7608R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection VW3A7608R20
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection VW3A7608R30
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP20; 15 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7704
Braking resistor IP20; 10 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7705

434 0198441113761 09/2017

 Accessories and Spare Parts

DC Bus Accessories

Description Reference
DC bus connection cable, 0.1 m (0.33 ft), 2 * 6 mm (2 * AWG 10), pre-assembled, 5 pieces VW3M7101R01
2

DC bus connection cable, 15 m (49.2 ft), 2 * 6 mm2 (2 * AWG 10), Twisted Pair, shielded VW3M7102R150

DC bus connector kit, connector housing and crimp contacts for 3 ... 6 mm2 (AWG 12 ... 10), VW3M2207
10 pieces

A crimping tool is required for the crimp contacts of the connector kit. Manufacturer:
Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250

0198441113761 09/2017 435

Accessories and Spare Parts

Mains Reactors

Description Reference
Mains reactor single-phase; 50-60 Hz; 7 A; 5 mH; IP00 VZ1L007UM50
Mains reactor single-phase; 50-60 Hz; 18 A; 2 mH; IP00 VZ1L018UM20
Mains reactor three-phase; 50-60 Hz; 16 A; 2 mH; IP00 VW3A4553
Mains reactor three-phase; 50-60 Hz; 30 A; 1 mH; IP00 VW3A4554

436 0198441113761 09/2017

 Accessories and Spare Parts

External Mains Filters

Description Reference
Mains filter single-phase; 9 A; 115/230 Vac VW3A4420
Mains filter single-phase; 16 A; 115/230 Vac VW3A4421
Mains filter three-phase; 15 A; 208/400/480 Vac VW3A4422
Mains filter three-phase; 25 A; 208/400/480 Vac VW3A4423

0198441113761 09/2017 437

Accessories and Spare Parts

Spare Parts Connectors, Fans, Cover Plates

Description Reference
Connector kit LXM32C: 3 x AC power stage supply (230/400 Vac), 1 x control supply, 3 x VW3M2201
digital inputs/outputs (6-pin), 2 x motor (10 A / 24 A), 1 x holding brake
Cooling fan kit 40 x 40 mm (1.57 x 1.57 in), plastic housing, with connection cable VW3M2401
Cooling fan kit 60 x 60 mm (2.36 x 2.36 in), plastic housing, with connection cable VW3M2402
Cooling fan kit 80 x 80 mm (3.15 x 3.15 in), plastic housing, with connection cable VW3M2403

438 0198441113761 09/2017

 Lexium 32C
Service, Maintenance, and Disposal
0198441113761 09/2017

Chapter 13
Service, Maintenance, and Disposal

Service, Maintenance, and Disposal

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Service Addresses 440
Maintenance 441
Replacing the Product 442
Replacement of the Motor 443
Shipping, Storage, Disposal 444

0198441113761 09/2017 439

Service, Maintenance, and Disposal

Service Addresses

Schneider Electric Automation GmbH

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 0
Fax: +49 (0) 9391 / 606 - 4000
Email: [email protected]
Internet: http://www.schneider-electric.com

Machine Solutions Service

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 3265
Fax: +49 (0) 9391 / 606 - 3340
Email: [email protected]
Internet: http://www.schneider-electric.com

Additional Contact Addresses

See the homepage for additional contact addresses:
http://www.schneider-electric.com

440 0198441113761 09/2017

 Service, Maintenance, and Disposal

Maintenance

Maintenance Plan
Inspect the product for pollution or damage at regular intervals.
Repairs may only be made by the manufacturer. No warranty or liability is accepted for repairs made by
unauthorized persons.
Prior to any type of work on the drive system, consult the chapters on Installation and Commissioning for
information on the precautions and processes to be observed.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

 Inspect all connection cables and connectors regularly for damage. Replace damaged cables
immediately.
 Verify that all output elements are firmly seated.
 Tighten all mechanical and electrical threaded connections to the specified torque.

Lifetime Safety Function STO

The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety
function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the
nameplate of the product.
 This date must be included in the maintenance plan of the system.
Do not use the safety function after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.16. (31
December 2016). This means: Do not use the safety function after December 31, 2036.

0198441113761 09/2017 441

Service, Maintenance, and Disposal

Replacing the Product

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

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

Follow the procedure below for replacing devices.

 Save all parameter settings. To do so, use a memory card or save the data to a PC using the
commissioning software, see chapter Parameter Management (see page 179).
 Power off all supply voltages. Verify that no voltages are present (safety instructions).
 Label all connections and remove all connection cables (unlock connector locks).
 Uninstall the product.
 Note the identification number and the serial number shown on the product nameplate for later
identification.
 Install the new product as per chapter Installation (see page 91).
 If the product to be installed has previously been used in a different system or application, you must
restore the factory settings before commissioning the product.
 Commission the product as per chapter Commissioning (see page 125).

442 0198441113761 09/2017

 Service, Maintenance, and Disposal

Replacement of the Motor

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

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

 Power off all supply voltages. Verify that no voltages are present (safety instructions).
 Label all connections and uninstall the product.
 Note the identification number and the serial number shown on the product nameplate for later
identification.
 Install the new product as per chapter Installation (see page 91).
If the connected motor is replaced by another motor, the motor data set is read again. If the device detects
a different motor type, the control loop parameters are recalculated and the HMI displays MOT. See
chapter Acknowledging a Motor Change (see page 326) for additional information.
If the motor is replaced, the encoder parameters must also be re-adjusted, see chapter Setting Parameters
for Encoder (see page 158).

Changing the Motor Type Temporarily

If you want to operate the new motor type only temporarily via the device, press ESC at the HMI.
The newly calculated control loop parameters are not saved to the EEPROM. This way, you can resume
operation with the original motor using the saved control loop parameters.

Changing the Motor Type Permanently

If you want to operate the new motor type permanently via this device, press the navigation button at the
HMI.
The newly calculated control loop parameters are saved to the EEPROM.
See also chapter Acknowledging a Motor Change (see page 326).

0198441113761 09/2017 443

Service, Maintenance, and Disposal

Shipping, Storage, Disposal

Shipping
The product must be protected against shocks during transportation. If possible, use the original packaging
for shipping.

Storage
The product may only be stored in spaces where the specified permissible ambient conditions are met.
Protect the product from dust and dirt.

Disposal
The product consists of various materials that can be recycled. Dispose of the product in accordance with
local regulations.
Visit http://www.schneider-electric.com/green-premium for information and documents on environmental
protection as per ISO 14025 such as:
 EoLi (Product End-of-Life Instructions)
 PEP (Product Environmental Profile)

444 0198441113761 09/2017

 Lexium 32C
Glossary
0198441113761 09/2017

Glossary

A
Actual value
In control engineering, the actual value is the value of the controlled variable at a given instant (for
example, actual velocity, actual torque, actual position). The actual value is an input value (measured
value) used by the control loops to reach the reference value.

C
CCW
Counter Clockwise.
CW
Clockwise.

D
DC bus
Circuit that supplies the power stage with energy (direct voltage).
Degree of protection
The degree of protection is a standardized specification for electrical equipment that describes the
protection against the ingress of foreign objects and water (for example: IP 20).
Direction of movement
In the case of a rotary motors, direction of movement is defined in accordance with IEC 61800-7-204:
Positive direction is when the motor shaft rotates clockwise as you look at the end of the protruding motor
shaft.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example:
31.12.11 corresponds to December 31, 2011
31.12.2011 corresponds to December 31, 2011
Drive system
System consisting of controller, drive and motor.

E
EMC
Electromagnetic compatibility
Encoder
Sensor that converts a measured distance or angle into an electrical signal. This signal is evaluated by the
drive to determine the actual position of a shaft (rotor) or a driving unit.
Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.

0198441113761 09/2017 445

Glossary

F
Factory settings
Settings when the product is shipped.
Fault
Fault is an operating state. If the monitoring functions detect an error, a transition to this operating state is
triggered, depending on the error class. A "Fault Reset" or a power cycle are required to exit this operating
state. Prior to this, the cause of the detected error must be removed. Further information can be found in
the pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault Reset
Function used to exit the operating state Fault. Before the function is used, the cause of the detected error
must be removed.

I
I/O
Inputs/outputs
I2t monitoring
Anticipatory temperature monitoring. The expected temperature rise of components is calculated in
advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current.
Inc
Increments
Index pulse
Signal of an encoder to reference the rotor position in the motor. The encoder returns one index pulse per
revolution.
Internal units
Resolution of the power stage at which the motor can be positioned. Internal units are specified in
increments.

L
Limit switch
Switches that signal overtravel of the permissible range of travel.

M
Monitoring function
Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to
check whether it is within permissible limits. Monitoring functions are used for error detection. Monitoring
functions are not safety functions.

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.

446 0198441113761 09/2017

 Glossary

Q
Quick Stop
The function can be used for fast deceleration of a movement as a response to a detected error or via a
command.

R
RCD
RCD residual current device.
rms
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)

RS485
Fieldbus interface as per EIA-485 which enables serial data transmission with multiple devices.

S
Safety function
Safety functions are defined in the standard IEC 61800-5-2 (for example, Safe Torque Off (STO), Safe
Operating Stop (SOS) or Safe Stop 1 (SS1)). If the safety functions are wired properly, they meet the
requirements specified in IEC 61800-5-2.
Scaling factor
This factor is the ratio between an internal unit and a user-defined unit.

U
User-defined unit
Unit whose reference to motor movement can be determined by the user via parameters.

0198441113761 09/2017 447

Glossary

448 0198441113761 09/2017

 Lexium 32C
Index
0198441113761 09/2017

Index

A P
access channels, 188 parameter _AccessInfo, 358
approved motors, 28 parameter _AI1_act, 149, 358
automatic reading of the motor data record, 146 parameter _AI2_act, 149, 358
parameter _AT_J, 166, 358
parameter _AT_M_friction, 166, 358
B parameter _AT_M_load, 166, 358
before you begin parameter _AT_progress, 166, 358
safety information, 9 parameter _AT_state, 166, 358
braking resistor, 46 parameter _Cond_State4, 358
Braking resistor:Selection, 77 parameter _CTRL_ActParSet, 170, 223, 359
parameter _CTRL_KPid, 359
parameter _CTRL_KPiq, 359
C parameter _CTRL_TNid, 359
cable specifications, 66 parameter _CTRL_TNiq, 359
certifications, 53 parameter _DCOMstatus, 359
components and interfaces, 19 parameter _DEV_T_current, 359
controller supply voltage 24V, 37 parameter _DPL_BitShiftRefA16, 360
parameter _DPL_driveInput, 360
parameter _DPL_driveStat, 360
D parameter _DPL_mfStat, 360
device overview, 18 parameter _DPL_motionStat, 360
disposal, 444, 444 parameter _ENC_AmplMax, 360
parameter _ENC_AmplMean, 360
parameter _ENC_AmplMin, 360
E parameter _ENC_AmplVal, 360
emission, 49 parameter _GEAR_p_diff, 360
equipotential bonding conductors, 63 parameter _hwVersCPU, 361
error class, 236 parameter _hwVersPS, 361
error class of error messages, 332 parameter _I_act, 361
error messages, 331 parameter _Id_act_rms, 361
error response, 236 parameter _Id_ref_rms, 361
external braking resistors (accessories), 47 parameter _Imax_act, 361
parameter _Imax_system, 361
parameter _InvalidParam, 361
F parameter _IO_act, 362
parameter _IO_DI_act, 362
function A/B signals, 43
parameter _IO_DQ_act, 362
function CW/CCW signals, 45
parameter _IO_STO_act, 362
function P/D signals, 44
parameter _Iq_act_rms, 362
parameter _Iq_ref_rms, 362
I parameter _LastError, 362
parameter _LastWarning, 362
input circuit, 41
parameter _M_BRK_T_apply, 363
installation site and connection, 24
parameter _M_BRK_T_release, 363
intended use, 10
parameter _M_Enc_Cosine, 363
internal braking resistor, 46
parameter _M_Enc_Sine, 363
parameter _M_Encoder, 363
parameter _M_HoldingBrake, 363
M parameter _M_I_0, 363
Monitoring:Braking resistor, 77 parameter _M_I_max, 363
parameter _M_I_nom, 363
parameter _M_I2t, 363
N parameter _M_Jrot, 363
nameplate, 20 parameter _M_kE, 364
parameter _M_L_d, 364
parameter _M_L_q, 364
O parameter _M_load, 312, 364
operating states, 234 parameter _M_M_0, 364
parameter _M_M_max, 364

0198441113761 09/2017 449

Index

parameter _M_M_nom, 364 parameter _ScaleVELmax, 370

parameter _M_maxoverload, 312, 364 parameter _tq_act, 370
parameter _M_n_max, 364 parameter _Ud_ref, 370
parameter _M_n_nom, 364 parameter _UDC_act, 370
parameter _M_overload, 312, 364 parameter _Udq_ref, 370
parameter _M_Polepair, 364 parameter _Uq_ref, 370
parameter _M_PolePairPitch, 364 parameter _v_act, 370
parameter _M_R_UV, 365 parameter _v_act_ENC1, 370
parameter _M_T_current, 311, 365 parameter _v_dif_usr, 300, 371
parameter _M_T_max, 311, 365 parameter _v_PTI_act, 371
parameter _M_Type, 365 parameter _v_ref, 371
parameter _M_U_max, 365 parameter _Vmax_act, 371
parameter _M_U_nom, 365 parameter _VoltUtil, 371
parameter _n_act, 365 parameter AbsHomeRequest, 371
parameter _n_act_ENC1, 365 parameter AccessLock, 189, 371
parameter _n_ref, 365 parameter AI1_I_max, 289, 371
parameter _OpHours, 365 parameter AI1_M_scale, 265, 372
parameter _p_absENC, 158, 365 parameter AI1_mode, 264, 271, 286, 288, 372
parameter _p_absmodulo, 365 parameter AI1_offset, 149, 372
parameter _p_act, 365 parameter AI1_Tau, 372
parameter _p_act_ENC1, 365 parameter AI1_v_max, 287, 372
parameter _p_act_ENC1_int, 366 parameter AI1_v_scale, 272, 372
parameter _p_act_int, 366 parameter AI1_win, 149, 373
parameter _p_addGEAR, 366 parameter AI2_I_max, 289, 373
parameter _p_dif, 366 parameter AI2_M_scale, 265, 373
parameter _p_dif_load, 297, 366 parameter AI2_mode, 264, 271, 286, 288, 373
parameter _p_dif_load_peak, 298, 366 parameter AI2_offset, 149, 373
parameter _p_dif_load_peak_usr, 297, 366 parameter AI2_Tau, 373
parameter _p_dif_load_usr, 297, 367 parameter AI2_v_max, 287, 373
parameter _p_dif_usr, 367 parameter AI2_v_scale, 272, 374
parameter _p_PTI_act, 367 parameter AI2_win, 150, 374
parameter _p_ref, 367 parameter AT_dir, 164, 374
parameter _p_ref_int, 367 parameter AT_dis, 164, 374
parameter _PAR_ScalingError, 367 parameter AT_dis_usr, 164, 375
parameter _PAR_ScalingState, 367 parameter AT_mechanical, 164, 375
parameter _Power_mean, 367 parameter AT_n_ref, 375
parameter _pref_acc, 368 parameter AT_start, 165, 375
parameter _pref_v, 368 parameter AT_v_ref, 375
parameter _prgNoDEV, 368 parameter AT_wait, 167, 375
parameter _prgRevDEV, 368 parameter BLSH_Mode, 294, 375
parameter _prgVerDEV, 368 parameter BLSH_Position, 293, 375
parameter _PS_I_max, 368 parameter BLSH_Time, 293, 376
parameter _PS_I_nom, 368 parameter BRK_AddT_apply, 155, 376
parameter _PS_load, 312, 368 parameter BRK_AddT_release, 155, 376
parameter _PS_maxoverload, 312, 368 parameter CLSET_p_DiffWin, 226, 376
parameter _PS_overload_I2t, 368 parameter CLSET_p_DiffWin_usr, 226, 376
parameter _PS_T_current, 311, 368 parameter CLSET_ParSwiCond, 225, 377
parameter _PS_T_max, 311, 368 parameter CLSET_v_Threshol, 226, 377
parameter _PS_T_warn, 311, 369 parameter CLSET_winTime, 226, 377
parameter _PS_U_maxDC, 369 parameter CTRL_GlobGain, 166, 378
parameter _PS_U_minDC, 369 parameter CTRL_I_max, 147, 378
parameter _PS_U_minStopDC, 369 parameter CTRL_I_max_fw, 378
parameter _RAMP_p_act, 369 parameter CTRL_KFAcc, 378
parameter _RAMP_p_target, 369 parameter CTRL_ParChgTime, 170, 226, 379
parameter _RAMP_v_act, 369 parameter CTRL_ParSetCopy, 227, 379
parameter _RAMP_v_target, 369 parameter CTRL_PwrUpParSet, 223, 379
parameter _RES_load, 312, 369 parameter CTRL_SelParSet, 170, 223, 379
parameter _RES_maxoverload, 313, 369 parameter CTRL_SmoothCurr, 379
parameter _RES_overload, 313, 369 parameter CTRL_SpdFric, 379
parameter _RESint_P, 369 parameter CTRL_TAUnact, 380
parameter _RESint_R, 369 parameter CTRL_v_max, 148, 380
parameter _RMAC_DetailStatus, 370 parameter CTRL_VelObsActiv, 380
parameter _RMAC_Status, 370 parameter CTRL_VelObsDyn, 380
parameter _ScalePOSmax, 370 parameter CTRL_VelObsInert, 380
parameter _ScaleRAMPmax, 370 parameter CTRL_vPIDDPart, 380

450 0198441113761 09/2017

 Index

parameter CTRL_vPIDDTime, 381 parameter InvertDirOfCount, 214, 391

parameter CTRL1_KFPp, 229, 381 parameter InvertDirOfMove, 157, 392
parameter CTRL1_Kfric, 230, 381 parameter IO_AutoEnable, 392
parameter CTRL1_KPn, 172, 229, 381 parameter IO_AutoEnaConfig, 392
parameter CTRL1_KPp, 177, 229, 381 parameter IO_FaultResOnEnaInp, 241, 392
parameter CTRL1_Nf1bandw, 230, 381 parameter IO_GEARmethod, 256, 392
parameter CTRL1_Nf1damp, 230, 381 parameter IO_I_limit, 289, 392
parameter CTRL1_Nf1freq, 230, 381 parameter IO_JOGmethod, 249, 393
parameter CTRL1_Nf2bandw, 230, 381 parameter IO_ModeSwitch, 243, 393
parameter CTRL1_Nf2damp, 230, 381 parameter IO_PTtq_reference, 263, 393
parameter CTRL1_Nf2freq, 230, 382 parameter IO_v_limit, 287, 393
parameter CTRL1_Osupdamp, 230, 382 parameter IOdefaultMode, 242, 393
parameter CTRL1_Osupdelay, 230, 382 parameter IOfunct_DI0, 199, 394
parameter CTRL1_TAUiref, 229, 382 parameter IOfunct_DI1, 200, 395
parameter CTRL1_TAUnref, 173, 229, 382 parameter IOfunct_DI2, 201, 396
parameter CTRL1_TNn, 172, 175, 229, 382 parameter IOfunct_DI3, 202, 397
parameter CTRL2_KFPp, 231, 382 parameter IOfunct_DI4, 203, 398
parameter CTRL2_Kfric, 232, 382 parameter IOfunct_DI5, 204, 399
parameter CTRL2_KPn, 172, 231, 383 parameter IOfunct_DQ0, 206, 400
parameter CTRL2_KPp, 177, 231, 383 parameter IOfunct_DQ1, 207, 401
parameter CTRL2_Nf1bandw, 232, 383 parameter IOfunct_DQ2, 208, 402
parameter CTRL2_Nf1damp, 232, 383 parameter IOfunct_DQ3, 209, 403
parameter CTRL2_Nf1freq, 232, 383 parameter IOfunct_DQ4, 210, 404
parameter CTRL2_Nf2bandw, 232, 383 parameter IOsigCurrLim, 404
parameter CTRL2_Nf2damp, 232, 383 parameter IOsigLIMN, 296, 404
parameter CTRL2_Nf2freq, 232, 383 parameter IOsigLIMP, 296, 404
parameter CTRL2_Osupdamp, 232, 383 parameter IOsigREF, 405
parameter CTRL2_Osupdelay, 232, 383 parameter IOsigVelLim, 405
parameter CTRL2_TAUiref, 231, 384 parameter Iref_PTIFreqMax, 266, 405
parameter CTRL2_TAUnref, 173, 231, 384 parameter JOGstep, 249, 405
parameter CTRL2_TNn, 172, 175, 231, 384 parameter JOGtime, 249, 405
parameter DCbus_compat, 384 parameter JOGv_fast, 248, 405
parameter DCOMcontrol, 384 parameter JOGv_slow, 248, 405
parameter DI_0_Debounce, 211, 385 parameter LIM_HaltReaction, 281, 405
parameter DI_1_Debounce, 211, 385 parameter LIM_I_maxHalt, 148, 282, 406
parameter DI_2_Debounce, 211, 385 parameter LIM_I_maxQSTP, 147, 284, 406
parameter DI_3_Debounce, 211, 385 parameter LIM_QStopReact, 283, 406
parameter DI_4_Debounce, 212, 385 parameter Mains_reactor, 407
parameter DI_5_Debounce, 212, 386 parameter MBaddress, 407
parameter DPL_dmControl, 386 parameter MBbaud, 407
parameter DPL_intLim, 386 parameter Mfb_ResRatio, 407
parameter DPL_RefA16, 386 parameter MON_ChkTime, 304, 306, 307, 309, 407
parameter DPL_RefB32, 386 parameter MON_commutat, 314, 407
parameter DS402intLim, 387 parameter MON_ConfModification, 407
parameter DSM_ShutDownOption, 237, 387 parameter MON_DCbusVdcThresh, 408
parameter ENC1_adjustment, 159, 388 parameter MON_ENC_Ampl, 408
parameter ErrorResp_Flt_AC, 315, 388 parameter MON_GroundFault, 317, 408
parameter ErrorResp_I2tRES, 388 parameter MON_I_Threshold, 308, 408
parameter ErrorResp_p_dif, 299, 388 parameter MON_IO_SelErr1, 330, 408
parameter ErrorResp_QuasiAbs, 389 parameter MON_IO_SelErr2, 330, 408
parameter ErrorResp_v_dif, 301, 389 parameter MON_IO_SelWar1, 330, 408
parameter ESIM_HighResolution, 216, 389 parameter MON_IO_SelWar2, 330, 409
parameter ESIM_PhaseShift, 216, 389 parameter MON_MainsVolt, 316, 409
parameter ESIM_scale, 215, 389 parameter MON_p_dif_load, 299, 409
parameter GEARdenom, 255, 390 parameter MON_p_dif_load_usr, 298, 410
parameter GEARdenom2, 256, 390 parameter MON_p_dif_warn, 298, 410
parameter GEARdir_enabl, 258, 390 parameter MON_p_DiffWin, 304, 410
parameter GEARjerklim, 280, 390 parameter MON_p_DiffWin_usr, 304, 410
parameter GEARnum, 255, 390 parameter MON_p_win, 410
parameter GEARnum2, 255, 390 parameter MON_p_win_usr, 411
parameter GEARpos_v_max, 258, 390 parameter MON_p_winTime, 411
parameter GEARposChgMode, 256, 391 parameter MON_p_winTout, 411
parameter GEARratio, 255, 391 parameter MON_SW_Limits, 411
parameter HMIDispPara, 391 parameter MON_SWLimMode, 411
parameter HMIlocked, 189, 391 parameter MON_swLimN, 412

0198441113761 09/2017 451

Index

parameter MON_swLimP, 412 representation of the parameters, 356

parameter MON_tq_win, 412 restoring factory settings, 185
parameter MON_tq_winTime, 412
parameter MON_v_DiffWin, 306, 412
parameter MON_v_Threshold, 307, 412 S
parameter MON_v_win, 412 sampling period, 219, 220, 221
parameter MON_v_winTime, 412 scaling factor, 192
parameter MON_v_zeroclamp, 290, 413 service addresses, 440
parameter MON_VelDiff, 300, 413 setting limit values, 147
parameter MON_VelDiff_Time, 300, 413 shipping, 444
parameter MT_dismax, 413 state transitions, 236
parameter MT_dismax_usr, 413 storage, 444
parameter OFS_Ramp, 257, 413
parameter OFSp_RelPos1, 257, 413
parameter OFSp_RelPos2, 257, 413 T
parameter OFSv_target, 257, 414 type code, 21
parameter p_PTI_act_set, 214, 414
parameter PAR_CTRLreset, 414
parameter PAR_ScalingStart, 414 U
parameter PAReeprSave, 414 user-defined units, 192
parameter PARfactorySet, 185, 415 usr_a, 192
parameter PARuserReset, 184, 415 usr_p, 192
parameter PP_ModeRangeLim, 415 usr_v, 192
parameter PP_OpmChgType, 415
parameter PTI_pulse_filter, 416
parameter PTI_signal_type, 214, 416
parameter PTO_mode, 215, 416
parameter RAMP_tq_enable, 265, 416
parameter RAMP_tq_slope, 265, 417
parameter RAMP_v_acc, 278, 417
parameter RAMP_v_dec, 278, 417
parameter RAMP_v_enable, 277, 417
parameter RAMP_v_jerk, 279, 417
parameter RAMP_v_max, 277, 418
parameter RAMPaccdec, 418
parameter RAMPquickstop, 283, 418
parameter RESext_P, 161, 418
parameter RESext_R, 161, 418
parameter RESext_ton, 162, 418
parameter RESint_ext, 161, 418
parameter RMAC_Edge, 292, 419
parameter RMAC_Position, 292, 419
parameter RMAC_Response, 292, 419
parameter RMAC_Velocity, 292, 419
parameter ScalePOSdenom, 193, 419
parameter ScalePOSnum, 193, 419
parameter ScaleRAMPdenom, 195, 419
parameter ScaleRAMPnum, 195, 419
parameter ScaleVELdenom, 194, 420
parameter ScaleVELnum, 194, 420
parameter ShiftEncWorkRang, 160, 420
parameter SimAbsolutePos, 421
parameter UsrAppDataMem1, 421
parameter UsrAppDataMem2, 421
pollution degree and degree of protection, 25
powering on the device, 146
PWM frequency power stage, 28

Q
qualification of personnel, 9

R
replacing the product, 442

452 0198441113761 09/2017