ILA2K EtherNet/IP

0198441113670 08/2020

ILA2K EtherNet/IP
Integrated Drive
User Guide
Original instructions

08/2020
0198441113670.00

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.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of this
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agree not to establish any hypertext links to this document or its content. Schneider Electric does not grant
any right or license for the personal and noncommercial use of the document or its content, except for a
non-exclusive license to consult it on an "as is" basis, at your own risk. All other rights are reserved.
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.
© 2020 Schneider Electric. All rights reserved.

2 0198441113670 08/2020
 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Overview of Integrated Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Chapter 2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Shaft-Specific Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Data for Safety-Related Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Conditions for UL 508C and CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 3 Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
External Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Wiring Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3 Functional Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Requirements for Using the Safety-Related Function STO. . . . . . . . . . . . . . . . . . . . . . . . . . 40
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.4 EtherNet/IP Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Messaging and Message Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.5 EtherNet/IP Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Communication via I/O Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Output Assembly, Instance 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Input Assembly, Instance 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Handshake via the Bit "MT" (Mode Toggle). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Chapter 4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.1 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Mounting the Integrated Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Overview of Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Connection Via Cable Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Connection Via Industrial Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Connection of CN1 - Vdc Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Connection of CN2 - Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Connection of CN3 - RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Connection of CN4 - 24 V Signal Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Connection of CN5 - Safety-Related Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Connection of Accessories for 24 V Signals and Safety-Related Function STO. . . . . . . . . . 78
4.3 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

0198441113670 08/2020 3
 Chapter 5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.2 Fieldbus Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Setting the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.3 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Setting Limit Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Digital Inputs and Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Verifying the Signals of the Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Verifying the Safety-Related Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Holding Brake (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Setting Parameters for Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.4 Controller Optimization with Step Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Preparation of Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Optimizing the Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Verifying and Optimizing the P Gain of the Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . 108
Optimizing the Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
5.5 Parameter Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Resetting the User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Restoring Factory Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Chapter 6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Movement Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Parameterization of the Signal Input Functions and the Signal Output Functions . . . . . . . . . 120
Chapter 7 Operating States and Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
State Diagram and State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Indicating the Operating State via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Indication of the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Changing the Operating State via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Changing the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.2 Indicating, Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Indicating the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.3 Operating Mode Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.4 Operating Mode Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
7.5 Operating Mode Profile Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
7.6 Operating Mode Profile Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

4 0198441113670 08/2020
 7.7 Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Reference Movement to a Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Reference Movement to the Reference Switch in Positive Direction . . . . . . . . . . . . . . . . . . 161
Reference Movement to the Reference Switch in Negative Direction . . . . . . . . . . . . . . . . . . 162
Reference Movement to the Index Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Chapter 8 Functions for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
8.1 Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Motion Profile for the Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Stopping a Movement with Halt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Stopping a Movement with Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Setting a Signal Output via Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Position Capture Via Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
8.2 Functions for Monitoring Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Hardware Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Reference Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Software Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Load-Dependent Position Deviation (Following Error) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Standstill Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
8.3 Functions for Monitoring Internal Device Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Temperature Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Load Monitoring (I2t Monitoring) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Chapter 9 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Chapter 10 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
10.1 Diagnostics via LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Operating State LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Fieldbus Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
10.2 Diagnostics via the Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Fieldbus Communication Error Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Most Recent Detected Error - Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Most Recent Detected Error - Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Error Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Error Response to Incorrect Realtime Ethernet Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Synchronous Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
10.3 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Description of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Table of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Chapter 11 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Representation of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Chapter 12 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Chapter 13 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Service Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Replacing the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Glossary ..................................................... 247
Index ..................................................... 251

0198441113670 08/2020 5
6 0198441113670 08/2020
 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.

0198441113670 08/2020 7
INTENDED USE
The products described in or affected by the present document are, along with software, accessories and
options, motors with an integrated drive. 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.

8 0198441113670 08/2020
 About the Book

At a Glance

Document Scope
This manual describes technical characteristics, installation, commissioning, operation, and maintenance
of the integrated drive ILA2K.

Validity Note
This manual is valid for the standard products listed in the type code, see chapter Type Code
(see page 18).
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 the present document also appear online. To
access the information online, go to the Schneider Electric home page
https://www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the same as those character-
istics that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the document and online information, use
the online information as your reference.

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.
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.
 Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
 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.

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.

0198441113670 08/2020 9
 WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that movements without braking effect cannot cause injuries or equipment damage.
 Verify the function of the holding brake at regular intervals.
 Do not use the holding brake as a service brake.
 Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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

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.

10 0198441113670 08/2020
 WARNING
UNAUTHORIZED ACCESS TO THE MACHINE VIA SOFTWARE AND NETWORKS
 In your risk assessment, take into account all hazards that result from access to and operation on the
network/fieldbus and develop an appropriate cyber security conceptual framework.
 Verify that the hardware infrastructure and the software infrastructure into which the machine is
integrated, as well as all organizational measures and rules covering access to this infrastructure, take
into account the results of the hazard and risk analysis.
 Implement your cyber security framework according to the best practices and standards of IT security
and cyber security, such as 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.
 Verify the effectiveness of your IT security and cyber security systems using appropriate, proven
methods.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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

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

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

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

Consult the Schneider Electric Cybersecurity Best Practices for additional information.
Use the latest firmware version. Visit https://www.se.com or contact your Schneider Electric representative
for information on firmware updates that may involve Ethernet connections.

0198441113670 08/2020 11
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
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive

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

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

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

12 0198441113670 08/2020
 ILA2K EtherNet/IP
Introduction
0198441113670 08/2020

Chapter 1
Introduction

Introduction

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Overview of Integrated Drive 14
Components and Interfaces 15
Nameplate 17
Type Code 18

0198441113670 08/2020 13
Introduction

Overview of Integrated Drive

Lexium Integrated Drive

The Lexium integrated drive consists of a servo motor and an integrated drive. The product integrates
interfaces, control electronics, a holding brake (optional) and the power stage.
Minimum wiring as well as a comprehensive portfolio of options and accessories allows you to implement
compact, high-performance drive solutions for a wide range of power requirements.

Features
Overview of some of the features:
 Fieldbus interface for EtherNet/IP.
 The drive is commissioned via a PC with the commissioning software “Lexium CT” or the fieldbus.
 Two Drive Profiles are supported:
 “Generic Profile” (CIP)
 “Drive Profile Lexium” (manufacturer-specific)

 Four digital 24 V signals. Each of these signals can be used as an input or output.
 The integrated safety-related function Safe Torque Off (STO) as per IEC 61800-5-2 allows for a stop
with stop category 0 as per IEC 60204-1 without external power contactors.

14 0198441113670 08/2020
 Introduction

Components and Interfaces

Overview

1 AC synchronous servo motor

2 Holding brake (optional)
3 Encoder
4 Electronics housing
5 Insert for sealing (accessory)
6 Insert with cable entry (accessory)
7 I/O insert with industrial connectors (accessory)
8 Switches for settings
9 Cover with connector for functional ground, to be removed for installation
10 Cover with industrial connector for Vdc supply voltage and IN/OUT fieldbus connection and with
connector for functional ground (optional)
11 Electrical interfaces

Motor
The motor is a brushless AC synchronous servo motor.

Electronics
The electronic system comprises control electronics and power stage.
The drive can be parameterized and controlled via the fieldbus interface.
Four digital 24 V signals are also available. Each of these signals can be used as an input or output.

Encoder
The integrated drive features a singleturn or a multiturn encoder, depending on the drive version.
The singleturn encoder has an internal resolution of 32768 increments per revolution.
The scaling of the integrated drive is set to 16384 user-defined units per revolution.
The multiturn encoder covers a range of 4096 motor revolutions.

Holding Brake
The integrated drive is available with an optional integrated holding brake. The holding brake is controlled
automatically.

0198441113670 08/2020 15
Introduction

Vdc Supply Voltage

The Vdc supply voltage supplies the control electronics and the power stage.

Fieldbus Interface
The integrated drive features an EtherNet/IP fieldbus interface.
The fieldbus interface is used for parameterizing and controlling the drive. The fieldbus interface allows the
integrated drive to be operated on a fieldbus via a master controller, for example, a logic controller.

Communication Interface RS-485

The RS-485 interface is used for commissioning the drive by means of the commissioning software.
The firmware can be updated via the RS-485 interface. Contact your Schneider Electric service represen-
tative for any firmware update.

24 Vdc Signal Interface

Four digital 24 Vdc signals are available. Each of these signals can be used as an input or output.
The 24 Vdc signals are available to the master controller.

16 0198441113670 08/2020
 Introduction

Nameplate

Overview
The nameplate contains the following data:

1 Type code
2 Type code (previous)
3 Nominal voltage
4 Nominal torque
5 Maximum input current
6 Nominal speed of rotation
7 Date of manufacture
8 Thermal class
9 Maximum surrounding air temperature
10 Firmware version
11 Hardware version
12 Firmware number
13 Commercial reference
14 Serial number

0198441113670 08/2020 17
Introduction

Type Code

Overview

Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type code (example) I L A 2 K 5 7 1 P B 1 A 0 • •

Item Meaning
1 ... 3 Product family
ILA = Servo motor
4 Supply voltage
2 = 24 ... 48 Vdc
5 Fieldbus interface
K = EtherNet/IP
6 ... 7 Size
57 = 57 mm
8 Length
1 = 1 stack
2 = 2 stacks
9 Winding
P = Medium speed of rotation/medium torque
T = High speed of rotation/medium torque
10 Connection version
B = Printed circuit board connector
C = Industrial connector
11 Encoder
1 = Servo Singleturn
2 = Servo Multiturn
12 Holding brake
A = Without holding brake
F = With holding brake
13 Gearbox
0 = Without gearbox
14 ... 15 Reserved

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

Designation Customized Version

In the case of a customized version, position 9 of the type code is an "S". The subsequent number defines
the customized version. Example: IL••••••S1234--
Contact your local Schneider Electric service representative if you have questions concerning customized
versions.

18 0198441113670 08/2020
 ILA2K EtherNet/IP
Technical Data
0198441113670 08/2020

Chapter 2
Technical Data

Technical Data

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Environmental Conditions 20
Mechanical Data 22
Electrical Data 23
Electromagnetic Compatibility 26
Shaft-Specific Data 27
Data for Safety-Related Function STO 28
Conditions for UL 508C and CSA 29

0198441113670 08/2020 19
Technical Data

Environmental Conditions

Environmental Conditions for Operation

Characteristic Unit Value

Chemically active substances as per IEC 60721- 3C1
3-3, operation
Ambient temperature (no icing, non- °C 0 ... 40
condensing)(1) (°F) (32 ... 104)

Ambient temperature with current derating of 2 % °C 40 ... 55

per one degree Celsius (per 1.8 degrees (°F) (104 ... 131)
Fahrenheit)(1)
Relative humidity % 15 ... 85

Installation altitude (2) m < 1000

(ft) (< 3281)

Installation altitude(2) if all of the following m 1000 ... 2000

conditions are met: (ft) (3281 ... 6562)
 45 °C (113 °F) maximum ambient
temperature
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)

Installation altitude(2) above mean sea level if all m 2000 ... 3000
of the following conditions are met: (ft) (6562 ... 9843)
 40 °C (104 °F) maximum ambient
temperature
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)
(1) Limit values with flanged motor (for example, steel plate 300 x 300x10 mm).
(2) The installation altitude is defined in terms of altitude above mean sea level.

Environmental Conditions for Transportation and Storage

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

Characteristic Unit Value

Chemically active substances as per IEC 60721- 3C1
3-2, transportation
Chemically active substances as per IEC 60721- 3C1
3-1, storage
Ambient temperature (no icing, non-condensing) °C -25 ... 70
(°F) (-13 ... 158)
Relative humidity (non-condensing) % 5 ... 80

Vibration and Shock

Characteristic Value
Vibration, sinusoidal Type test with 10 runs as per IEC 60068-2-6
0.15 mm (10 Hz ... 60 Hz)
20 m/s2 (60 Hz 500 Hz)
Shock, semi-sinusoidal Type test with 3 shocks in each direction as per IEC 60068-
2-27
150 m/s2 (11 ms)

20 0198441113670 08/2020
 Technical Data

IP Degree of Protection
The integrated drive has the following IP degree of protection as per IEC 60529:

Item Component Degree of protection

1 Shaft bushing IP41(1)
Shaft bushing with GBX gearbox (accessory) IP54
2 Housing, except shaft bushing IP54
(1) In the case of mounting position IM V3 (shaft vertical, shaft end upward), the degree of protection is IP
40. The degree of protection does not relate to mounted components such as, for example, a gearbox.

The total degree of protection is determined by the component with the lowest degree of protection.

Pollution Degree

Characteristic Value
Pollution degree 2

0198441113670 08/2020 21
Technical Data

Mechanical Data

Dimensions

1 Insert with cable entry (accessory)

2 Insert kit (accessory)
3 Industrial connector (option)

Dimension Unit ILA••57...

1••1A0 1••2A0 1••1F0 2••1A0 2••2A0 2••2F0
Total length L mm 145.3 179.3 190.8 163.8 197.8 209.3
(in) (5.72) (7.06) (7.51) (6.45) (7.79) (8.24)

22 0198441113670 08/2020
 Technical Data

Electrical Data

Overview of Connectors

Connection Assignment
CN1 Connectors for Vdc supply voltage
CN2 Fieldbus interface for EtherNet/IP
CN3 Commissioning interface
CN4 24 V signal interface
CN5 Connector for the safety-related function STO
CN6 Jumper for activating and deactivating the safety-related function STO

CN1: Vdc Supply Voltage

Characteristic Unit ILA••571 ILA••572

Nominal voltage Vdc 24 / 48 24 / 48
Minimum voltage 18 18
Maximum voltage 55.2 55.2
Ripple at nominal voltage Vpp ≤3.6 ≤3.6
Maximum input current A
Winding type P 5 7
Winding type T 7.5 7.5
Peak input current A
Winding type P 7 8.5
Winding type T 11 9
Overvoltage category - III at input of power supply unit, II at output of
power supply unit (as per IEC 61800-5-1)
Capacitance at VDC to 0VDC (for inrush current) µF 1500 1500
Fuse rating of fuse to be connected upstream A ≤15 ≤15
Type of fuse or circuit breaker to be connected -  Circuit-breaker (type Multi 9 - C60BP,
upstream M9F42115 by Schneider Electric, 15 A,
tripping characteristic C), or
 Blade fuse (FKS, 15 A maximum), or
 Fuse (5 x 20 mm, 10 A, slow-blow)

PELV - Required
Galvanic isolation - No

CN2: Fieldbus Interface

The EtherNet/IP signals comply with the IEEE 802.3 standard.

Characteristic Unit Value

Transmission rate MBit 10 / 100

0198441113670 08/2020 23
Technical Data

Characteristic Unit Value

Transmission protocol - EtherNet/IP
Galvanic isolation - Yes

CN3: Commissioning Interface

The RS485 signals comply with the RS485 standard.

Characteristic Unit Value

Transmission rate kBaud 9.6 / 19.2 / 38.4
Transmission protocol - Modbus RTU
Galvanic isolation - No

CN4: 24 V Signals
The signal inputs are not protected against reverse polarity.

Characteristic Unit Value

Logic 0 (Ulow) V -3 ... 4.5
Logic 1 (Uhigh) V 15 ... 30
Input current at 24 Vdc mA 2
Debounce time LIO1 ... LIO4 ms 1.25 ... 1.5

Debounce time LIO1 and LIO2(1) ms 0.01

Jitter LIO1 and LIO2 ms <2

Galvanic isolation - No
(1) When the function "Fast Position Capture" is used

The internal 24 V power supply and the signal outputs are short-circuit protected.

Characteristic Unit Value

Nominal voltage V 24
Voltage range V 23 ... 25
Maximum current +24VDC_OUT mA 200
Maximum current per output mA 100
Maximum total current mA 200
Suitable for inductive loads mH 1000
Voltage drop at 50 mA load V ≤1
Galvanic isolation - No

CN5 and CN6: Safety-Related Function STO

Jumper CN6 to deactivate the safety-related function STO.

Characteristic Unit Value

Voltage for logic level 0 V -3 ...4.5
Voltage for logic level 1 V 15 ... 30
Input current STO_A at 24 Vdc mA ≤10
Input current STO_B at 24 Vdc mA ≤3
Debounce time ms 1
Detection of difference between level of STO_A s >1
and level of STO_B
Response time of safety-related function STO ms <50
Permissible duration of test pulses from ms <1
upstream devices
PELV - Required

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 Technical Data

Characteristic Unit Value

Galvanic isolation - No

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Technical Data

Electromagnetic Compatibility

Electromagnetic Compatibility (EMC)

Characteristic Value
Emission Category C2 as per IEC 61800-3
Compliant with IEC 61000-6-4
Immunity Use permissible in second environment as per EN 61800-
3

NOTE: The emission category is independent of immunity. For example, if a power drive system has
emission category 2, this does not imply that it is only suitable for the first environment.
The equipment described in the present document is not intended for use in domestic, residential
environments and may not provide adequate protection to radio reception in such environments.

WARNING
INSUFFICIENT ELECTROMAGNETIC COMPATIBILITY
 Verify compliance with all EMC regulations and requirements applicable in the country in which the
device is to be operated and with all EMC regulations and requirements applicable at the installation
site.
 Do not install and operate the devices described in the present document in residential environments.
 Implement all required radio interference suppression measures and verify their effectiveness.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Compliance of the product described in the present manual with Directive 2014/30/EU of the
European Parliament and the Council (EMC Directive) is declared with reference to the harmonized
standard EN 61800-3 “Adjustable speed power drive systems - Part 3: EMC requirements and specific test
methods”. With regard to equipment of category 2, this harmonized standard and the Directive itself oblige
manufacturers to include the following statement in their product documentation: “In a domestic
environment this product may cause radio interference in which case supplementary mitigation measures
may be required.”

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Shaft-Specific Data

Overview
If the maximum permissible forces at the motor shaft are exceeded, this will result in premature wear of the
bearing or shaft breakage.

WARNING
UNINTENDED EQUIPMENT OPERATION DUE TO MECHANICAL DAMAGE TO THE MOTOR
 Do not exceed the maximum permissible axial and radial forces at the motor shaft.
 Protect the motor shaft from impact.
 Do press output components onto the shaft unless the shaft has a thread that can be used for pressing
on.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Mounting Output Components

If the shaft has a thread, use it to press on the component to be mounted. This way there is no axial force
acting on the rolling bearing.
It is also possible to shrink-fit, clamp, or glue the component to be mounted.

Shaft Load
The following conditions apply:
 The permissible force applied during pressing on must not be exceeded.
 The maximum permissible radial force and the maximum permissible axial force must not be applied
simultaneously.
 Nominal bearing service life in operating hours at a probability of failure of 10% (L10h = 20000 hours)
 Mean speed of rotation n = 4000 RPM
 Ambient temperature = 40 °C (104 °F)
 Nominal torque = Duty type S1, 100% duty cycle

The following figure shows the points of application of forces:

The following table shows the maximum radial and axial forces:

Characteristic Unit Value

ILA2•571 ILA2•572
Maximum radial force FR at 100% duty cycle and N (lbf) 89 (20.01) 107 (24.05)
X = 10 mm (0.39 in)
Maximum axial force FA at 100% duty cycle, N (lbf) 104 (23.38) 104 (23.38)
tension
Maximum axial force FA at 100% duty cycle, N (lbf) 104 (23.38) 104 (23.38)
compression

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Data for Safety-Related Function STO

Data for Safety-Related Calculations and Maintenance Plan

The safety-related function must be triggered at regular intervals. The interval depends on, among other
things, the risk assessment for the overall system. The minimum interval is one year (high demand mode
as per IEC 61508).
Use the following data of the safety-related function STO for the maintenance plan of your machine and
for the calculations for functional safety:

Lifetime of the safety-related function STO Years 20

(IEC 61508)(1)
SFF (IEC 61508) % 47
Safe Failure Fraction
HFT (IEC 61508) - 1
Hardware Fault Tolerance
Type A subsystem
Safety Integrity Level (IEC 61508) - SIL2
Safety Integrity Level Claim Limit (IEC 62061) SILCL2
PFH (IEC 61508) 1/h 5.223*10-9
Probability of Dangerous Hardware Failure per
Hour
PL (ISO 13849-1) - d (category 3)
Performance Level
MTTFd (ISO 13849-1) Years 1995
Mean Time to Dangerous Failure
DC (ISO 13849-1) % 90
Diagnostic Coverage
Demand Mode (IEC 61508) - High Demand Mode (safety-related function
must be triggered at least once per year)
(1) Refer to the chapter Lifetime Safety-Related Function STO (see page 244).

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

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Conditions for UL 508C and CSA

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

PELV Power Supply

Use only power supply units that are approved for overvoltage category III.

Motor Overload Protection

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

Fuses
The product was tested with a UL-listed 15 A circuit breaker. The product must be fused either with a UL-
listed circuit breaker or a fuse for "Branch Circuit Protection" as per UL 248 with a maximum current of 15 A
and DC rating.

Wiring
Use at least 60/75 °C copper conductors.

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Technical Data

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 ILA2K EtherNet/IP
Engineering
0198441113670 08/2020

Chapter 3
Engineering

Engineering

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
3.1 Electromagnetic Compatibility (EMC) 32
3.2 Power Supply 34
3.3 Functional Safety 37
3.4 EtherNet/IP Fieldbus 44
3.5 EtherNet/IP Communication 48

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Engineering

Section 3.1
Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

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

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

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

Refer to the chapter Electromagnetic Compatibility (see page 26) for technical data on EMC.
NOTE: The emission category is independent of immunity. For example, if a power drive system has
emission category 2, this does not imply that it is only suitable for the first environment.
The equipment described in the present document is not intended for use in domestic, residential
environments and may not provide adequate protection to radio reception in such environments.

WARNING
INSUFFICIENT ELECTROMAGNETIC COMPATIBILITY
 Verify compliance with all EMC regulations and requirements applicable in the country in which the
device is to be operated and with all EMC regulations and requirements applicable at the installation
site.
 Do not install and operate the devices described in the present document in residential environments.
 Implement all required radio interference suppression measures and verify their effectiveness.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Shielded Cables

EMC measures Objective

Connect large surface areas of cable shields, use cable clamps and Reduces emissions.
ground straps.
Ground shields of digital signal wires at both ends by connecting them to Reduces interference affecting the
a large surface area or via conductive connector housings. signal wires, reduces emissions

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Cable Installation

EMC measures Objective

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

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Section 3.2
Power Supply

Power Supply

What Is in This Section?

This section contains the following topics:
Topic Page
External Power Supply Units 35
Wiring Information 36

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External Power Supply Units

General Information

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

The motor regenerates energy during deceleration and when external driving forces act on the motor shaft.
This can increase the VDC voltage up to 60 Vdc. The DC bus can absorb a limited amount of energy via
the capacitors. If the capacity of the capacitors is exceeded, this results in 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
LOSS OF CONTROL DUE TO REGENERATION CONDITION
 Verify that the integrated drive can absorb the entire energy generated during deceleration by
performing test runs under maximum load conditions.
 Install an external Braking Resistor Controller (UBC60) if the integrated drive cannot absorb the entire
energy generated under maximum load conditions.
 Verify that all equipment is properly isolated from high Vdc voltage for which it is not rated, or use
properly rated equipment.
 Only use power supply units that can withstand the voltage that may be present during regeneration
conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to the chapter Accessories (see page 239) for a braking resistor controller. Refer to the user guide
of the braking resistor controller for additional details.
Reverse polarity of the Vdc supply voltage leads to a short-circuit.

NOTICE
INCORRECT POLARITY
Verify correct polarity of the Vdc supply voltage before applying power.
Failure to follow these instructions can result in equipment damage.

The external power supply unit must be rated for the power requirements of the drive. Refer to the chapter
Electrical Data (see page 23) for the input current.

Fusing
Install the fusing specified in the chapter Electrical Data (see page 23).

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Wiring Information

Description
The reference potential of interfaces without galvanic isolation is internally connected via 0VDC. If the
negative connection (0VDC) between the power supply and the drive is interrupted, the current of the
power stage flows via the negative connection of the interfaces without galvanic isolation.

WARNING
LOSS OF CONTROL
 Do not interrupt the negative connection between the power supply unit and the drive, for example, by
means of a switch or a fuse.
 Connect the reference potential of interfaces with galvanic isolation to 0VDC.
 Do not connect the reference potential of interfaces without galvanic isolation to 0VDC.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Wiring the product:

 Keep the voltage drop on the supply cables for the Vdc supply voltage to less than 1 V. The reference
potential of some interfaces are connected to 0VDC. At higher potential differences, the communication
and control signals can be disturbed.
Decentralized power supply units for VDC close to the drives are advisable if the drives are installed at
greater distances from each other. Connect 0VDC of the individual power supply units with the largest
possible conductor cross section.
 Do not connect any other power supply in parallel with the internal 24 V power supply (+24VDC_OUT).
This may cause overloads of the internal 24 V power supply.

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.

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Section 3.3
Functional Safety

Functional Safety

What Is in This Section?

This section contains the following topics:
Topic Page
Definitions 38
Function 39
Requirements for Using the Safety-Related Function STO 40
Application Examples STO 42

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Definitions

Integrated Safety-Related Function "Safe Torque Off" STO

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

Category 0 Stop (IEC 60204-1)

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

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

Category 1 Stop (IEC 60204-1)

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

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Function

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

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

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Engineering

Requirements for Using the Safety-Related Function STO

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

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

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

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

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

Holding Brake and Safety-Related Function STO

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

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

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

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

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

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 Engineering

Unintended Restart

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

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

Degree of Protection when the Safety-Related Function STO is Used

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

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

Protected Cable Installation

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

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

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

Refer to the chapter Holding Brake and Safety-Related Function STO (see page 40).

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Example of Category 1 stop

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

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

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

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

Refer to the chapter Holding Brake and Safety-Related Function STO (see page 40).

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Engineering

Section 3.4
EtherNet/IP Fieldbus

EtherNet/IP Fieldbus

What Is in This Section?

This section contains the following topics:
Topic Page
General 45
Messaging and Message Types 47

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General

ODVA
The ODVA is the proprietor of the specifications for the EtherNet/IP network and EtherNet/IP data terminal
equipment. For more information on the ODVA see:
http://www.odva.org

Number of Nodes
The number of nodes in an EtherNet/IP network is theoretically unlimited; it depends on the subnet size
and on whether or not a CIP router is used. For example, 254 nodes are possible in a class C subnet.

Cable Length
The maximum cable length is 100 m (328 ft) between EtherNet/IP terminal points and 90 m (295 ft)
between infrastructure components. However, interference in industrial environments may require you to
use shorter cables.

Drive Profiles
The product supports the following drive profiles:
 "Generic Profile" (CIP)
 “Drive Profile Lexium” (manufacturer-specific)

Communication Means
The product supports the following communication means:
Overview of communication means:

 Group 2 servers
 UCMM-enabled devices
 Class 1 connections via assemblies:
 Master-slave connections:
 “Explicit Message”
 “Polled I/O Connection”
 “Fragmentation Protocol” support
 Dynamic establishment of 2 “Explicit Connections” and one “I/O Connection”

The product identifies itself as CIP “Generic Device” (Device Type = 0 hex).

Data Link Layer

The EtherNet/IP data link layer uses the transmission mechanisms as per IEEE 802.3 Standard Ethernet
specification (edition 2002).

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Engineering

Physical Layer
Industrial EtherNet/IP specifies minimum requirements in terms of ambient conditions, cabling, and
connectors, based on IEC, ANSI, TIA, and EIA standards.
The connectors required for Industrial EtherNet/IP include M12-4 connectors, D-coded. Use CAT5e or
CAT6 cables for Industrial EtherNet/IP.
Copper media may be used only for distances up to 100 m (328 ft).

Object Class, Instance, Attribute, Service

The EtherNet/IP approach is object-oriented. CIP defines object classes; one or more instances (objects)
can be derived from such object classes. The attributes of an object class or the instance derived from it
contain the various parameters. Services are actions that are possible with these attributes.

Example

Class Instance Attribute Attribute value Service

Motor data Motor_1 MaxSpeed 4000 RPM Get
Motor data Motor_2 MaxSpeed 3000 RPM Get

CIP Object Model

The following object classes from the CIP object model are available:

Object class Class ID Instance ID

Identity Object 1 (01 hex) 1
Message Router Object 2 (02 hex) 1
Assembly Object 4 (04 hex) 103 = Output Assembly, consuming
113 = Input Assembly, producing
Connection Manager Object 6 (06 hex) 1= Explicit Message
Vendor-specific objects 101 ... 163 (65 ... A3 hex) 1
Port Object 244 (F4 hex) 1
TCP/IP Object 245 (F5 hex) 1
Ethernet Link Object 246 (F6 hex) 2

The vendor-specific object class IDs 101 to 163 correspond to the object dictionary (class ID = object group
+ 100). The attributes of a class correspond to the subindex entry within the object group.

Communication Model
EtherNet/IP uses the producer-consumer communication model. The nodes monitor the bus as to whether
a data packet with the Identifier they support is available. Data packets that are sent by producers can only
be received by the consumers of these packets.

Groups of Connections
EtherNet/IP is a connection-oriented network. Connections must be established and managed between
two nodes. There are 4 connection groups with different priorities:

Group 1 Top-priority process data (highest priority)

Group 2 For master-slave connections
Group 3 For Explicit Messages
Group 4 Reserved group (lowest priority)

EDS File (Electronic Data Sheet)

The EDS file contains device-specific and vendor-specific descriptions of the parameters for a drive. The
EDS file also contains the fieldbus-specific communication parameters.

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Messaging and Message Types

General
EtherNet/IP is based on TCP/IP and UDP/IP technologies that are used without modification. TCP/IP is
used for the transmission of Explicit Messages while UDP/IP is used for I/O Messages.

Messaging and Message Types

EtherNet/IP defines several message types for communication. The drive uses the message types “Explicit
Message” and “I/O Message”.

Explicit Messages
Explicit Messaging connections are point-to-point connections between two network nodes that are used
for transactions of the type request - response. The data field of Explicit Messages contains both protocol
data and application-specific commands.
An Explicit Message (EtherNet/IP-specific or vendor-specific) is used to read or write an individual
parameter.
The parameter is accessed by means of Class.Instance.Attribute as per CIP.

I/O Messages
I/O Messages, also referred to as Implicit Messages, are transmitted via UDP/IP. I/O Message connections
are often established as One-to-Many relationships in the producer-consumer multicast model of
EtherNet/IP. The data fields of I/O Messages contain no protocol information, but only time-critical I/O data.
I/O Messages are considerably smaller than Explicit Messages, thus allowing for faster processing. These
messages are used to transport application-specific I/O data over the network at regular intervals. The
meaning of the data is defined at the time the connection is established. I/O Messages can contain so-
called Assemblies of several parameters that can be transmitted with a single message. The parameters
for configuring EtherNet/IP communication are described in chapter Commissioning (see page 81).

Command Processing: Transmit Data and Receive Data

The master sends a command to the drive system (slave) to execute a motion command, activate functions
or request information from the slave. The slave executes the command and acknowledges it with a
response message that may contain an error message if an error has been detected.
The master can send new commands as soon as it has received acknowledgment concerning the current
command. Acknowledgment information and error messages are included in the transmitted data in bit-
coded form. The master must then continuously monitor for completion of the command by evaluating the
acknowledgment from the slave. I/O messages are a special case. I/O messages are not acknowledged
by the slave.

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Section 3.5
EtherNet/IP Communication

EtherNet/IP Communication

What Is in This Section?

This section contains the following topics:
Topic Page
Communication via I/O Messages 49
Output Assembly, Instance 103 50
Input Assembly, Instance 113 51
Handshake via the Bit "MT" (Mode Toggle) 53

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Communication via I/O Messages

Overview
An I/O Message is used for realtime exchange of process data. Transmission is very fast because the data
is sent without administration data and a transmission acknowledgment from the recipient is not required.
The master can control the operating states of the slave by means of I/O Message, for example, enable
and disable the power stage, trigger a Quick Stop, reset detected errors and activate operating modes.
Changing operating states and activating operating modes must be done separately. An operating mode
can only be activated in the operating state “Operation Enabled”.

Output, Input
Output and Input refer to the direction of data transmission from the perspective of the master.
 Output: Commands from the master to the slave
 Input: Status messages from the slave to the master

Assembly
I/O Messages contain a collection (Assembly) of different parameters that are transmitted with a single
message.
The following Assemblies are available:
 Output Assembly, instance 103
 Input Assembly, instance 113

Polled I/O Connection

The Assemblies are used in a Polled I/O Connection. A Polled I/O Connection is initiated by the master
with a Poll Command. The Slave responds with a Poll Response.

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Output Assembly, Instance 103

Overview
Memory map for Output Assembly data.

Byte Name Parameter address CIP

0 Attribute (Subindex) Parameter channel
1 Command (AK)
2 ... 3 Class (Index)
4 ... 7 Data
8 ... 11 Ref_32 -
12 ... 13 Ref_16 -
14 modeControl -
15 driveControl -
16 ... 19 RAMPacc CIP 106.1.10
20 ... 23 RAMPdecel CIP 106.1.11
24 ... 39 Reserved -

Bytes “Attribute” and “Command”, Word “Class” and Double Word “Data”
The bytes “Attribute” and “Command”, the word “Class” and the double word “Data” are used to read and
write parameters (parameter channel).

Double Word “Ref_32” and Word “Ref_16”

The two double words “Ref_32” and the word “Ref_16” are used to set two operating mode-specific values.
The meaning is described in the chapters covering the individual operating modes.

Byte “modeControl”
The word “modeControl” is used to set the operating mode.
Refer to the chapter Starting and Changing an Operating Mode (see page 134) for a detailed description
of the bits.

Byte “driveControl”
The word “driveControl” is used to set the operating state.
Refer to the chapter Changing the Operating State via Fieldbus (see page 131) for a detailed description
of the bits.

Double Words “RAMPacc” and “RAMPdecel”

The two double words “RAMPacc” and “RAMPdecel” are used to set the acceleration and the deceleration.
They correspond to the parameters of the same name.

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Input Assembly, Instance 113

Overview
Memory map for Input Assembly data.

Byte Name Parameter address CIP

0 Attribute (Subindex) Parameter channel
1 Command (AK)
2 ... 3 Class (Index)
4 ... 7 Data
8 ... 9 Special Functions -
10 ... 11 ActionWord -
12 Digital IO -
13 modeStat -
14 ... 15 driveStat -
16 ... 19 _p_actusr CIP 130.1.13
20 ... 23 _n_act CIP 130.1.8
24 ... 39 Reserved -

Bytes “Attribute” and “Command”, Word “Class” and Double Word “Data”
The bytes “Attribute” and “Command”, the word “Class” and the double word “Data” are used to read and
write parameters (parameter channel).

Word “Special Functions”

The word “Special Functions” is used to indicate the state of the counter of the capture inputs.

Bit Meaning
0 Bit 0 of the counter of the capture input 1.
1 Bit 1 of the counter of the capture input 1.
2 Bit 0 of the counter of the capture input 2.
3 Bit 1 of the counter of the capture input 2.
4 ... 15 Reserved

Word “ActionWord”
The word “ActionWord” is used to provide information on the motor and profile generator.

Bit Meaning
0 ... 5 Reserved
6 MOTZ: Motor at a standstill
7 MOTP: Motor movement in positive direction
8 MOTN: Motor movement in negative direction
9 PWIN: Inside position deviation window
10 Reserved
11 TAR0: Profile generator at standstill
12 DEC: Profile generator decelerates
13 ACC: Profile generator accelerates
14 CNST: Profile generator moves at constant velocity
15 Reserved

Byte “Digital IO”

The byte “Digital IO” is used to indicate the state of the digital signal inputs.

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Bit Signal Factory setting

0 LIO1 Signal input function Input Positive Limit Switch (LIMP)
1 LIO2 Signal input function Input Negative Limit Switch (LIMN)
2 LIO3 Signal input function Input Free Available
3 LIO4 Signal input function Input Reference Switch (REF)
4 STO_A Signal STO_A of safety-related function STO
5 STO_B Signal STO_B of safety-related function STO
6 ... 7 - Reserved

Byte “modeStat”
The byte “modeStat” is used to indicate the current operating mode.
Refer to the chapter Indicating the Operating Mode (see page 133) for a detailed description of the bits.

Word “driveStat”
The current operating state is indicated with the “driveStat” word.
Refer to the chapter Indication of the Operating State via Fieldbus (see page 129) for a detailed description
of the bits.

Double Word “_p_actusr”

The double word “_p_actusr” indicates the actual position. The value corresponds to the parameter
_p_actusr.

Double Word “_n_act”

The double word “_n_act” indicates the actual velocity. The value corresponds to the parameter _n_act.

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Handshake via the Bit "MT" (Mode Toggle)

Mode Toggle
Synchronized processing can be carried out with the transmit data in the word "dmControl" bit "MT" (Mode
Toggle) and the receive data in the word "mfStat", bit "ME" (Mode Error) and bit "MT" (Mode Toggle).
Synchronized processing means that the master waits for feedback messages from the slave so it can
respond appropriately.
The bit "MT" (Mode Toggle) is effective with a rising edge and a falling edge.

Example 1: Positioning
The master starts a movement. At points in time t1, t2 ..., the master verifies the responses from the slave.
It waits for the end of the movement. The end is identified by bit "x_end" = 1.
Mode Toggle Handshake:

1 Master starts movement with “Mode Toggle” = 1

2 Slave signals that movement is running with “Mode Toggle” = 1; at the same time “x_end” = 0
3 Slave signals “movement terminated” with “x_end” = 1

Example 2: Short-Distance Movement

The master starts a movement whose duration is shorter than the request cycle of the master. At point in
time t1, the movement is already terminated. Bit “x_end” does not allow the master to detect whether the
movement has already been terminated or has not yet started. However, it can identify this with the bit “MT“
(Mode Toggle).
Mode Toggle Handshake, short-distance movement:

1 Master starts movement with “Mode Toggle” = 1

2 Slave signals that movement is running with “Mode Toggle” = 1; at the same time “x_end” = 0
3 Slave signals “movement terminated” with “x_end” = 1

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Installation
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Chapter 4
Installation

Installation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Mechanical Installation 56
4.2 Electrical Installation 60
4.3 Verifying Installation 80

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Section 4.1
Mechanical Installation

Mechanical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Before Mounting 57
Mounting the Integrated Drive 58

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Before Mounting

General
An engineering phase is mandatory prior to mechanical and electrical installation. See chapter Engineering
(see page 31) for basic information.

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.

Conductive foreign objects, dust or liquids may cause safety-related functions to become inoperative.

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

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

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

Inspecting the Product

 Verify the product version by means of the Type Code (see page 18) on the Nameplate (see page 17).
 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.

Mounting Surface for Flange

The integrated drive features four holes for mounting it to a flange.
The mounting surface must be plane, stable, clean, deburred, low-vibration, and grounded. Functional
grounding must be established either via the mounting flange or via the functional ground connection.
Verify that the mounting surface meets all requirements in terms of dimensions and tolerances. See
chapter Mechanical Data (see page 22).
Painted surfaces have an insulating effect. Verify that the motor flange is mounted in such a way as to allow
for good electrical and thermal conductivity.

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Mounting the Integrated Drive

General
Motors can generate strong local electrical and magnetic fields. This can cause interference in sensitive
devices.

WARNING
ELECTROMAGNETIC FIELDS
 Keep persons with electronic medical implants, such as pacemakers, away from the motor.
 Do not place electromagnetically sensitive devices in the vicinity of the motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Electrostatic discharge to the shaft may cause incorrect operation of the encoder system and result in
unanticipated motor movements and damage to the bearing.

WARNING
UNINTENDED MOVEMENT CAUSED BY ELECTROSTATIC DISCHARGE
Use conductive components such as antistatic belts or other suitable measures to avoid static charge by
motion.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the permissible environmental conditions are not respected, external substances from the environment
may penetrate the product and cause unintended movement or equipment damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the environmental conditions are respected.
 Keep liquids from getting to the shaft bushing.
 Do not clean the product with a pressure washer.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Motors are very heavy relative to their size. The great mass of the motor can cause injuries and damage.

WARNING
HEAVY AND/OR FALLING PARTS
 Use a suitable crane or other suitable lifting gear for mounting the motor if required by the weight of
the motor.
 Use the necessary personal protective equipment (for example, protective shoes, protective glasses
and protective gloves).
 Mount the motor so that it cannot come loose (use of securing screws with appropriate tightening
torque), especially in cases of fast acceleration or continuous vibration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

CAUTION
IMPROPER APPLICATION OF FORCES
 Do not use the motor as a step to climb into or onto the machine.
 Do not use the motor as a load-bearing part.
 Use hazard labels and guards on your machine to help prevent the improper application of forces on
the motor.
Failure to follow these instructions can result in injury or equipment damage.

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Clearances and Ventilation

When selecting the position of the device, take into account the following:
 No minimum clearances are required for installation. However, free convection must be possible.
 Avoid heat accumulations.
 Do not mount the device close to heat sources.
 Do not mount the device on 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).

Mounting Positions
The following mounting positions defined by IEC 60034-7 are permissible:

 IM B5: Motor shaft horizontal

 IM V1: Motor shaft vertical, shaft end to the bottom
 IM V3: Motor shaft vertical, shaft end to the top

Mounting
When the integrated drive is mounted to the mounting surface, it must be accurately aligned axially and
radially and make even contact with the mounting surface. No uneven mechanical forces must be applied
when the mounting screws are tightened.
See chapter Technical Data (see page 19) for data, dimensions and degrees of protection (IP).

Mounting Output Components

If the maximum permissible forces at the motor shaft are exceeded, this will result in premature wear of the
bearing or shaft breakage.

WARNING
UNINTENDED EQUIPMENT OPERATION DUE TO MECHANICAL DAMAGE TO THE MOTOR
 Do not exceed the maximum permissible axial and radial forces at the motor shaft.
 Protect the motor shaft from impact.
 Do not exceed the maximum permissible axial force when pressing components onto the motor shaft.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Output components such as pulleys and couplings must be mounted with suitable equipment and tools.
Motor and output component must be accurately aligned both axially and radially. If the motor and the
output component are not accurately aligned, this causes runout and premature wear.
The maximum axial and radial forces acting on the shaft must not exceed the maximum shaft load values
specified (see page 27).

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Section 4.2
Electrical Installation

Electrical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Procedure 61
Connection Overview 63
Connection Via Cable Entry 64
Connection Via Industrial Connectors 67
Connection of CN1 - Vdc Supply Voltage 68
Connection of CN2 - Fieldbus 70
Connection of CN3 - RS485 72
Connection of CN4 - 24 V Signal Interface 74
Connection of CN5 - Safety-Related Function STO 76
Connection of Accessories for 24 V Signals and Safety-Related Function STO 78

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Overview of Procedure

General Information

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
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.

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 functional ground conductors; use a functional ground conductor inside the
conduit.
 The cross section of the functional ground conductor must comply with the applicable standards.
 Do not consider cable shields to be functional ground conductors.
Failure to follow these instructions will result in death or serious injury.

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
 Use power supply units that meet the PELV (Protective Extra Low Voltage) requirements.
 Connect the negative outputs of all power supply units to PE (protective earth/protective ground), for
example, for the VDC supply voltage and for the 24 Vdc voltage for the safety-related function STO.
 Interconnect all negative outputs (reference potentials) of all power supply units used for the integrated
drive.
Failure to follow these instructions will result in death or serious injury.

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.

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

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

The installation procedure must be performed without voltage present.

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Overview of the Procedure for Electrical Installation

Depending on the space conditions in your machine and other factors, you can first perform the mechanical
installation (see page 56) of the integrated drive and then the electrical installation. However, it is also
possible to first perform the electrical installation, then commission the integrated drive and finally mount
the integrated drive in the machine.

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Connection Overview

Overview of Printed Circuit Board Connectors

Connection Assignment
CN1 Connector for Vdc supply voltage
CN2 Connector for fieldbus Ethernet/IP
CN3 Connector for commissioning interface (RS-485)
CN4 Connector for 24 Vdc signals
CN5 Connector for the safety-related function STO
CN6 Jumper for activating and deactivating the safety-related function STO

The integrated drive can be connected via cable entries or industrial connectors.
Refer to the chapter Connection Via Cable Entry (see page 64) or to the chapter Connection Via Industrial
Connectors (see page 67) for details.

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Connection Via Cable Entry

Mounting Cables to Cable Entries

Mounting cables to the cable entry:

1 Unshielded cables
2 Shielded cables

Step Action
1 Trim the cable bushings so that the diameter of the opening matches the diameter of the cable.
The specified degree of protection IP54 can only be achieved with properly trimmed cable
bushings.
2 (A) Strip the jacket of the cables by a length of 70 mm (2.76 in).
3 (B) Shorten the shield to a length of 10 mm (0.4 in).
4 (C) Slide the shielding braid back over the cable jacket.
5 (D) Loosen the strain relief.
6 Push the cables though the strain relief.
7 Glue EMC shielding film around the shield.
8 Pull the cable back to the strain relief.
9 Fasten the strain relief.

Mounting Connectors
The following table lists the parts and data required for mounting connectors. Connector housings and
crimp contacts are included in the accessories kits. Refer to the chapter Accessories and Spare Parts
(see page 239).

Connection Conductor cross section Stripping Manufacturer's Crimping Connector Connector

[mm²] length [mm] crimp contact tool manufacturer type
no.
CN1 0.75 ... 1.5 (AWG 5 ... 6 160773-6 654174-1 Tyco Positive
18 ... 16) 341001-6 Electronics Lock
2.5 ... 4.0 (AWG 12) 1-926522-1
CN2 0.2 ... 0.6 (AWG 24 ... 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43025-1200
CN3 0.2 ... 1.0 (AWG 24 ... 18) 3.0 ... 3.5 39-00-0060 63819-0901 Molex Mini-Fit Jr.
39-01-2065
CN4 0.2 ... 0.6 (AWG 24 ... 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43025-0600
CN5 0.34 ... 0.6 (AWG 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43645-0200

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Assembling the Cables

Procedure:

Step Action
1 Strip the ends of the wires.
2 Attach cable lugs and crimp contacts. Verify that you use the correct crimp contacts and the
matching crimping tool.
3 Slide the cable lugs and crimp contacts straight into the connector until they snap in place.

1 CN1 Supply voltage Vdc

2 CN2 Fieldbus
3 CN3 Commissioning
4 CN4 24 V signal interface
5 Shield wire with EMC shield film

Mounting the Cable Entry

Step Action
1 Unscrew the cover of the connector housing.
2 Remove the shipping locks made of cardboard.

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Step Action
3 Set the parameter switches as they are difficult to access once the cables have been connected.
For a description of the parameter switches, see chapter Fieldbus Integration (see page 86).
4 Connect the connectors of the assembled cables to the matching sockets. The connectors must
snap in. Only pull the connector housing (not the cable).
5 Plug the cable entry into one of the two cutouts provided. The side to be used for the cable entry
depends on the space available in your system.
The pointed corners of the cable entry must point in the direction of the cover of the connector
housing. Degree of protection IP54 is not reached if the cable entry is mounted the other way
around.

6 Close the cutout that is not used with a sealing insert for cutouts.
7 Finally, screw the cover of connector housing cover back into place with a tightening torque of
1.1 Nm (9.74 lbin).
If screws are lost, use M3 x 12 as a replacement.

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Connection Via Industrial Connectors

Overview

Interface Connector used

Supply voltage VDC Hirschmann STASEI 200
Connector for fieldbus Ethernet/IP Circular connector M12, 4 poles, D-coded
24 V signal inputs and outputs Circular connector M8, 3-pin
Safety-related function STO Circular connector M8, 4-pin

Refer to the chapter Accessories and Spare Parts (see page 239) for information on pre-assembled cables
and connector kits.

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Connection of CN1 - Vdc Supply Voltage

Description
The Vdc supply voltage is connected by means of printed circuit board connectors or industrial connectors.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV circuit requirements.

Cable Specifications CN1 (Vdc Supply Voltage)

Characteristic Unit Value

Shield - Not required
Twisted pair - Not required
PELV - Required
Minimum conductor cross section mm 2 0.75 (18)
(AWG)
Maximum connection cross section mm2 4.0 (12)
(AWG)

Connector Specifications CN1 (Vdc Supply Voltage)

Two different crimp terminals are available for different conductor cross sections. It is possible to connect
two wires via a single crimp terminal to daisy-chain multiple drives.

Characteristic Value/Description
Connector housing Tyco Electronics, Positive Lock 1-926522-1
Crimp terminal for conductor cross section 0.75 ... 1.5 Tyco Electronics, Positive Lock 160773-6
(AWG 18 ... 16)
Crimp terminal for conductor cross section 2.5 ... 4.0 Tyco Electronics, Positive Lock 341001-6
(AWG 12)
Stripping length 5 ... 6 mm (0.20 ... 0.24 in)
Crimping tool Tyco Electronics, 654174-1

Pin Assignments Printed Circuit Board Connector CN1 (Vdc Supply Voltage)

Designation Description Number(1)

VDC Supply Voltage 1
OVDC Reference potential VDC 2
(1) Number relates to pre-assembled cables

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Pin Assignments Industrial Connector CN1 (Vdc Supply Voltage)

Pin Signal Description Number(1)

1 VDC Supply Voltage 1
2 OVDC Reference potential Vdc 2
(1) Number relates to pre-assembled cables

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Connection of CN2 - Fieldbus

Description
The fieldbus interface allows you to network the drive as a slave in an Ethernet/IP network.
The fieldbus is connected by means of printed circuit board connectors or industrial connectors.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Cable Specifications CN2 (Fieldbus)

Characteristic Unit Value

Shield - Required
Shield grounded at both ends - Required
Twisted pair - Required
PELV - Required
Maximum cable length m (ft) 100 (328)
Minimum conductor cross section 2
mm (AWG) 0.25 (22)

Maximum connection cross section mm2 (AWG) 0.6 (20)

Connector Specifications CN2 (Fieldbus)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43025-1200
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

Pin Assignments Printed Circuit Board Connector CN2 (Fieldbus)

Pin assignment port 0:

Pin Signal Description (drive end)

9 Tx+ Fieldbus Tx+
10 Tx- Fieldbus Tx-
11 Rx+ Fieldbus Rx+
12 Rx- Fieldbus Rx-

Pin assignment port 1:

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Pin Signal Description (drive end)

3 Tx+ Fieldbus Tx+
4 Tx- Fieldbus Tx-
5 Rx+ Fieldbus Rx+
6 Rx- Fieldbus Rx-

Pin Assignments Industrial Connector CN2 (Fieldbus)

Pin assignment port 0:

Pin Signal Description (drive end)

1 Tx+ Fieldbus Tx+ (internally connected to pin CN2.9)
2 Tx- Fieldbus Tx- (internally connected to pin CN2.10)
3 Rx+ Fieldbus Rx+ (internally connected to pin CN2.11)
4 Rx- Fieldbus Rx- (internally connected to pin CN2.12)

Pin assignment port 1:

Pin Signal Meaning (from the perspective of the drive)

1 Tx+ Fieldbus Tx+ (internally connected to pin CN2.3)
2 Tx- Fieldbus Tx- (internally connected to pin CN2.4)
3 Rx+ Fieldbus Rx+ (internally connected to pin CN2.5)
4 Rx- Fieldbus Rx- (internally connected to pin CN2.6)

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Connection of CN3 - RS485

Function
An RS485 interface is provided in addition to the fieldbus interface. The RS485 interface is also used to
commission the drive.
You can also use the RS485 interface and the commissioning software to monitor the drive during
operation. It is possible to establish simultaneous connections via the commissioning interface and the
fieldbus.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Cable Specifications CN3 (RS485)

Characteristic Unit Value

Shield - Required
Shield grounded at both ends - Required
Twisted pair - Required
PELV - Required
Maximum cable length m (ft) 400 (1312)
Minimum conductor cross section 2
mm (AWG) 0.25 (22)

Maximum connection cross section mm2 (AWG) 1.0 (18)

Connector Specifications CN3 (RS485)

Characteristic Value/Description
Connector housing Molex, Mini-Fit Jr, 39-01-2065
Crimp terminal Molex, Mini-Fit, 39-00-0060
Stripping length 3.0 ... 3.5 mm (0.12 ... 0.14 in)
Crimping tool Molex, 63819-0901
Extraction tool Molex, 11-03-0044

Address and Baud Rate Setting

Each device on the network is identified by a unique, adjustable node address.
Factory setting:
 Address: 1
 Baud rate: 19200
 Data format: 8 bits
Even Parity
1 stop bit
The address and the baud rate of the RS485 interface can be set via the commissioning software.

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Pin Assignments CN3 (RS485)

Pin Signal Description SUB-D(1)

2 +RS485 RS485 interface 7
5 –RS485 RS485 interface 2
4 RS485_0V Internally connected to CN1.0VDC 3
(1) Information relates to pre-assembled cables

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Connection of CN4 - 24 V Signal Interface

Description
The drive has four configurable inputs and outputs.
An internal 24 V power supply for the sensor system is integrated. Do not connect the internal 24 V power
supply to another power supply.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Factory Settings
Factory settings of the digital inputs and digital outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

The assignments can be parameterized. Refer to the chapter Parameterization of the Signal Input
Functions and the Signal Output Functions (see page 120) for details.

Cable Specifications CN4 (24 V Signal Interface)

Characteristic Unit Value

Shield - Not required
Twisted pair - Not required
PELV - Required
Minimum conductor cross section mm2 (AWG) 0.2 (24)

Maximum connection cross section mm2 (AWG) 0.6 (20)

Connector Specifications CN4 (24 V Signal Interface)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43025-0600
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

Pin Assignments CN4 (24 V Signal Interface)

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Pin Signal Description

1 +24VDC_OUT The 24 V power supply can be used to supply the sensor system (for example
the limit switches)
2 LIO3 Input or output for use as required
3 LIO1 Input or output for use as required
4 0VDC Internally connected to CN1.0VDC
5 LIO4 Input or output for use as required
6 LIO2 Input or output for use as required

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Connection of CN5 - Safety-Related Function STO

Requirements
Incorrect usage may cause a hazard due to the loss of the safety-related function.

WARNING
LOSS OF SAFETY-RELATED FUNCTION
Observe the requirements for using the safety-related function.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to chapter Functional Safety (see page 37) for information and requirements relating to the safety-
related function STO.
The wiring of the safety-related function STO must meet all applicable requirements as per ISO 13849-1
and ISO 13849-2.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.
Use pre-assembled cables to reduce the risk of wiring errors.

Cable Specifications CN5 (STO)

Characteristic Unit Value

Shield - Required
Shield connected at one end - Required
Protected cable installation (see page 41) as - Required
per ISO 13849-2
Minimum conductor cross section mm2 (AWG) 0.34 (20)

Maximum connection cross section 2

mm (AWG) 0.6 (20)

The cable available as an accessory is a special cable that is only available with a connector. The shield
of the cable is connected to the grounded housing of the drive via the metal connector. It is sufficient to
connect one end of the cable to the grounded housing.

Connector Specifications CN5 (STO)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43645-0200
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

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Pin Assignments CN5 (STO)

Pin Signal Description

CN5.1 STO_A Safety-related function STO
CN5.2 STO_B Safety-related function STO
CN6 - Jumper connected: STO disabled (default)
Jumper removed: STO enabled

Remove jumper CN6 before connecting in the connector for CN5 (mechanical lock).

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Connection of Accessories for 24 V Signals and Safety-Related Function STO

Accessory “Insert kit, 3 x I/O”

The accessory makes the signals LIO1, LIO2 and LIO4 available outside of the drive via industrial
connectors.

Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

Accessory “Insert kit, 2 x I/O, 1x STO in”

The accessory makes the signals LIO1, LIO2 and the signals of the safety-related function STO available
outside of the drive via industrial connectors.

Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

Accessory “Insert kit, 1 x STO in, 1 x STO out”

The accessory makes the signals of the safety-related function STO available outside of the drive via
industrial connectors.

Accessory “Insert kit, 4 x I/O, 1x STO in, 1 x STO out”

The accessory makes the signals LIO1, LIO2, LIO3, LIO4 and the signals of the safety-related function
STO available outside of the drive via industrial connectors.

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Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

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Section 4.3
Verifying Installation

Verifying Installation

Verifying Installation

Overview
After you have completed the mechanical and electrical installation, verify correct installation of the overall
drive system. The following table is not exhaustive. The points you need to consider in addition depend on,
among other things, your application, your process definitions, and the standards and regulatory
requirements applicable in the country of manufacture and at the installation site.

Verification of Correct Installation

Mechanical installation:
 Correct tightening torque of screw connections
 Correct mounting of output components
 Correct installation of the covers and seals to achieve the required degree of protection.

Electrical installation:
 Protective ground of power supply unit
 Functional ground of integrated drive
 Correct type and fuse rating of fuses
 Correct assembly of cables and connectors
 Correct routing and fastening of cables
 Correct installation and connection of cables
 Correct insulation of unused wires
 Effectiveness of mechanical locks of connectors
 Compliance of the overall installation with all local, regional, and national electrical safety codes and
requirements at the eventual installation site of the equipment
Electromagnetic compatibility:
 Correct connection of shields
 Correct equipotential bonding
 Compliance of the overall installation with all local, regional, and national regulations and requirements
concerning EMC at the eventual installation site of the equipment
Overall installation:
 Compliance with all specifications in the present document
 All items identified in risk assessment covered

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Commissioning
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Chapter 5
Commissioning

Commissioning

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Overview 82
5.2 Fieldbus Integration 86
5.3 Commissioning Procedure 92
5.4 Controller Optimization with Step Response 102
5.5 Parameter Management 111

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Section 5.1
Overview

Overview

What Is in This Section?

This section contains the following topics:
Topic Page
General 83
Preparation 85

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General

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

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

WARNING
INEFFECTIVE SAFETY-RELATED FUNCTION AND/OR UNINTENDED EQUIPMENT OPERATION
 Commission the integrated drive before it is used for the first time and after each modification to
parameter values, settings, and wiring.
 Commission or recommission the machine/process pursuant to all regulations, standards, and
process definitions applicable to your machine/process.
 Verify that the commissioning procedure covers all items identified in your risk assessment.
 Verify correct operation and effectiveness of all functions by performing comprehensive tests for all
operating states, the defined safe state, and all potential error situations.
 Document all modifications and the results of the commissioning procedure in compliance with all
regulations, standards, and process definitions applicable to your machine/process.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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.

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

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

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

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

Rotating parts may cause injuries and may catch clothing or hair. Loose parts or parts that are out of
balance may be ejected.

WARNING
MOVING, UNGUARDED EQUIPMENT
Verify that rotating parts cannot cause injuries or equipment damage.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
FALLING PARTS
Verify correct mounting of the drive with the specified tightening torque before taking up commissioning.
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.

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Preparation

Required Components
The following is required for commissioning:
 Commissioning software “Lexium CT”
https://www.se.com/ww/en/download/document/LexiumCTInstall/
 Fieldbus converter for the commissioning software for connection via the commissioning interface
 Electronic Data Sheet file EDS
https://www.se.com/ww/en/download/document/Lexium_ILx2K_EthernetIP_EDS/

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

1 PC with commissioning software “Lexium CT”

2 Fieldbus

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

Commissioning Software
The commissioning software “Lexium CT” 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 239).

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Section 5.2
Fieldbus Integration

Fieldbus Integration

What Is in This Section?

This section contains the following topics:
Topic Page
Setting the IP Address 87
Web Server 90

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Setting the IP Address

Overview
Carefully manage the IP addresses because each device on the network requires a unique address.
Having multiple devices with the same IP address can cause unintended operation of your network and
associated equipment. Although some equipment, such as the present device, may detect duplicate IP
addresses, other equipment may not.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that all devices have unique addresses.
 Obtain your IP address from your system administrator.
 Confirm that the IP address of the drive is unique before placing the system into service.
 Do not assign the same IP address to any other equipment on the network.
 Update the IP address after resetting the drive to factory settings.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Verify that your system administrator maintains a record of all assigned IP addresses on the
network and subnetwork, and inform the system administrator of all configuration changes performed.
The IP address of the drive can be set in the following ways:

1 IP address assignment via a DHCP/BOOTP server based on the MAC address with fall-back to the IP address
stored in the nonvolatile memory (factory setting) (see page 87)
2 Using the IP address stored in the nonvolatile memory (see page 87)
3 IP address assignment via a DHCP/BOOTP server based on the MAC address (see page 88)
4 IP address assignment via a DHCP server based on a “DeviceName” (see page 88)
5 Deriving the IP address from the MAC address (see page 89)

IP Address Assignment via a DHCP/BOOTP Server Based on the MAC Address with Fall-Back to the IP Address Stored in the
Nonvolatile Memory (Factory Setting)
The IP address is obtained from a DHCP server or a BOOTP server based on the MAC address of the
drive.
The MAC address is shown in the drive housing next to the connectors.
Procedure:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position C (factory setting).
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.

The DHCP/BOOTP server must manage a list that associates each MAC address with an IP address so
each device has unique IP address.
If an IP address cannot be obtained within a period of 120 seconds, the IP address stored in the nonvolatile
memory (see page 87) is used.
The default IP address of the drive is 192.168.100.10.

Using the IP Address Stored in the Nonvolatile Memory

The IP address stored in the nonvolatile memory is used.
The IP address can be adjusted via the commissioning software or via the web server.

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The default IP address of the drive is 192.168.100.10.

The last byte of the IP address can be adjusted via the rotary switches.
Procedure for adjusting the last byte of the IP address via the rotary switches:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position E (Clear IP).
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.
4 Wait until the status LED indicates “No valid IP parameters after a Clear IP” (two flashes).
5 The IP address is set in the following way xxx.xxx.xxx.yyy.
xxx.xxx.xxx is used from the IP address stored in the nonvolatile memory.
yyy is the result of ten times the value of S2 plus the value of S1 (yyy = 10 * S2 + S1).
Set the rotary switch S2 to a position from 0 to F.
Set the rotary switch S1 to a position from 0 to 9.
Valid values are from 1 to 159.
6 After having set the desired IP address, wait until the status LED indicates “Ready without error”
(Steady ON).
If, after that, you modify the settings of the rotary switches to select a different IP address, the
status LED indicates “No valid IP parameters after a Clear IP” (two flashes) again.
7 Power off the product when the status LED indicates “Ready without error” (Steady ON).
8 Set the rotary switch S1 to the position D (Stored).
The setting of the rotary switch S2 is not relevant in this case.
9 Power on the drive.

IP Address Assignment via a DHCP/BOOTP Server Based on the MAC Address

The IP address is obtained from a DHCP server or a BOOTP server based on the MAC address of the
drive.
The MAC address is shown in the drive housing next to the connectors.
Procedure:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position A or B.
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.

The DHCP/BOOTP server must manage a list that associates each MAC address with an IP address so
each device has unique IP address.

IP Address Assignment via a DHCP Server Based on a “DeviceName”

The IP address is obtained from a DHCP server based on the “DeviceName” of the drive.
The DHCP server must support the “DeviceName” configuration.
The “DeviceName” of the drive can only be adjusted via the rotary switches.
Procedure:

Step Action
1 Power off the drive.
2 The Device Name is the string “Lexium-ILx-” and a three-digit number.
This number results from the setting of the two rotary switches: Ten times the value of S2 plus
the value of S1.
Device Name = “Lexium-ILx-” + (10 * S2 + S1)
Set the rotary switch S2 to a position from 0 to F.
Set the rotary switch S1 to a position from 0 to 9.
Valid values are from 1 to 159.
For values from 1 to 9 two leading zeros “00” will be added.
For values from 10 to 99 one leading zero “0” will be added.
3 Power on the drive.

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Deriving the IP Address from the MAC Address

The IP address is set in the following way xxx.xxx.xxx.yyy.
xxx.xxx.xxx is used from the IP address stored in the nonvolatile memory.
yyy is set depending on the last byte of the MAC address.
The MAC address is shown in the drive housing next to the connectors.
Procedure:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position F.
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.
4 Example 1: MAC address xx:xx:xx:xx:xx:06, the resulting IP address is xxx.xxx.xxx.6.
Example 2: MAC address xx:xx:xx:xx:xx:A7, the resulting IP address is xxx.xxx.xxx.167.
Exception 1: MAC address xx:xx:xx:xx:xx:00, the resulting IP address is xxx.xxx.xxx.1
Exception 2: MAC address xx:xx:xx:xx:xx:FF, the resulting IP address is xxx.xxx.xxx.254
The subnet mask is set to the default value 255.255.255.0.
The gateway is set to the default value 192.168.100.254.

NOTE: With this setting, the same IP address may be assigned to different devices. For important safety
information, see the Overview (see page 87) of this section.

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Web Server

Overview
The drive features an integrated web server. The web server allows for configuration of the drive without
the commissioning software.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Define a secure password for the Web server, and do not allow unauthorized or otherwise unqualified
personnel to use this feature.
 Ensure that there is a local, competent, and qualified observer present when operating on the
controller from a remote location.
 You must have a complete understanding of the application and the machine/process it is controlling
before attempting to adjust data, stopping an application that is operating, or starting the controller
remotely.
 Take the precautions necessary to assure that you are operating on the intended controller by having
clear, identifying documentation within the controller application and its remote connection.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The web server must only be used by authorized and qualified personnel. A qualified person is one
who has the skills and knowledge related to the construction and operation of the machine and the process
controlled by the application and its installation, and has received safety training to recognize and avoid
the hazards involved. No responsibility is assumed by Schneider Electric for any consequences arising out
of the use of this feature.

Connecting
The drive must have a valid IP address.
To connect, enter the IP address of the drive in the address bar of the browser.
When connecting to the web server for the first time, you need to specify a new password for the web
server. To do so, enter the default password and your new password.
 Default password of the web server: USER
After you have set your new password, the web server displays the main page.

WARNING
UNAUTHORIZED DATA ACCESS
 Do not expose the device or device network to public networks and the Internet as much as possible.
 Immediately change the default password to a new secure password.
 Do not distribute passwords to unauthorized or otherwise unqualified personnel.
 Restrict access to unauthorized personnel.
 Use additional security layers like VPN for remote access and install firewall mechanisms.
 Validate the effectiveness of these measurements regularly and frequently.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Choose a password that complies with all password requirements of your company and that follows
best practices with regard to password strength.
This includes, but is not limited to:
 The password does not contain any personal or otherwise obvious information.
 The password consists of a mix of uppercase and lowercase letters, numbers, and special characters.
 The password length is at least ten characters.
 Follow all rules for keeping the password confidential.
 Do not disclose the password to any unauthorized persons.

Parameter Values
Before you can read and write parameters, you have to sign in.

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Use the following user name and your new password:

 User name: USER

Parameter values are entered in a way similar to the commissioning software.

 Click the Write button to send the settings to the drive.
 After that, click the Save button to save the settings to the nonvolatile memory of the drive.

Web Server Functions

Menu Function
Home Start page.
Maintenance Edit motor and communication parameters.
Diagnostics View drive status and communication statistics.
Setup Modify the password of the web server. The password of the web server can only be
reset to the default value via the parameter ResetWebPass.
Documentation Link to the Schneider Electric website.

Resetting the Password Via Parameter

The password of the web server can be reset via the parameter ResetWebPass.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ResetWebPass Reset password of web server. - UINT16 Modbus 6704
Value 1: The password of the web server is reset to 0 R/W CIP 126.1.24
the default value. A new password must be set when - -
a new connection is established. 1 -
The parameter can only be written via Modbus RTU.
Modified settings become active immediately.
Available with firmware version ≥V1.102.

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Section 5.3
Commissioning Procedure

Commissioning Procedure

What Is in This Section?

This section contains the following topics:
Topic Page
Setting Limit Values 93
Digital Inputs and Digital Outputs 94
Verifying the Signals of the Limit Switches 95
Verifying the Safety-Related Function STO 96
Holding Brake (Option) 97
Direction of Movement 99
Setting Parameters for Encoder 100

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Setting Limit Values

Current Limitation
The maximum motor current, the maximum current for Quick Stop, and the maximum current for Halt can
be parameterized.
 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 Quick Stop.
 Use the parameter LIM_I_maxHalt to set the maximum motor current for Halt.
The motor can be decelerated via a deceleration ramp or with the maximum current for Quick Stop and
Halt.
The drive limits the maximum permissible current on the basis of the motor data and the drive data. If the
value entered for the maximum current in the parameter CTRL_I_max is too great, the value is internally
limited by the drive.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRL_I_max Current limitation. Apk UINT16 Modbus 4610
The value must not exceed the maximum 0.00 R/W CIP 118.1.1
permissible current of the motor or the power stage. - per.
299.99 -
Default: M_I_max
In increments of 0.01 Apk.
Modified settings become active immediately.
LIM_I_maxQSTP Current for Quick Stop via torque ramp. Apk UINT16 Modbus 4362
Maximum value and default value depend on the - R/W CIP 117.1.5
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.
LIM_I_maxHalt Current for Halt. Apk UINT16 Modbus 4364
Maximum value and default value depend on the - R/W CIP 117.1.6
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.

Velocity Limitation
The maximum velocity can be parameterized.
 Use the parameter CTRL_n_max to set the maximum velocity of the motor.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRL_n_max Limitation of speed of rotation. RPM UINT16 Modbus 4612
The set value must not exceed the maximum speed 0 R/W CIP 118.1.2
of rotation of the motor. - per.
13200 -
Default: Maximum permissible speed of rotation of
the motor (see M_n_max)
Modified settings become active immediately.

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Digital Inputs and Digital Outputs

Overview
The drive provides configurable digital inputs and digital outputs.
Signal input functions and signal output functions can be assigned to the digital inputs and digital outputs.

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

The signal states of the digital inputs and digital outputs can be indicated via the fieldbus and the
commissioning software.

Factory Settings
Factory settings of the digital signal inputs/outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

Refer to the chapter Parameterization of the Signal Input Functions and the Signal Output Functions
(see page 120) for information on assigning the digital input functions and the digital output functions you
have wired during installation of the drive.

Reading Signal States via the Fieldbus

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

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_IO_LIO_act Status of digital inputs/outputs. - UINT16 Modbus 2090
Coding of the individual signals: - R/- CIP 108.1.21
Bit 0: LIO1 - -
Bit 1: LIO2 - -
...

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Verifying the Signals of the Limit Switches

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

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

 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. Refer to the chapter Limit Switches (see page 178) for details.

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Verifying the Safety-Related Function STO

Operation with Safety-Related Function STO

If you want to use the safety-related function STO, carry out the following steps:

Step Action
1 To help avoid unanticipated restart after restoration of power, the parameter IO_AutoEnable
must be set to “off”. Verify that the parameter IO_AutoEnable is set to “off”.
2 Power off the power supply:
3 Verify that the signal wires connected to the inputs (STO_A) and (STO_B) are electrically isolated
from each other.
4 Apply power to the drive.
5 Enable the power stage without starting a motor movement.
6 Trigger the safety-related function STO.
If the power stage is disabled and the error message 1300 is indicated, the safety-related
function STO was triggered.
If a different error message is indicated, the safety-related function STO was not triggered.
7 Document the tests of and settings for the safety-related function STO in compliance with all
applicable standards, regulations, and process definitions.

Operation with Safety-Related Function STO

Operation without the safety-related function STO:

Step Action
1 Verify that the jumper CN6 is connected.

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Holding Brake (Option)

Holding Brake
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety-related function. The holding brake is 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 value is contained in the electronic
nameplate of the motor. Transition to the operating state 6 Operation Enabled is only possible after this
time has elapsed.

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 value is contained in the
electronic nameplate of the motor. Current remains to be applied to the motor during this time.
Refer to the chapter Functional Safety (see page 37) for additional information on the behavior of the
holding brake when the safety-related function STO is triggered.

Releasing the Holding Brake Manually

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

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

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

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
BRK_release Manual operation of the holding brake. - UINT16 Modbus 2068
0 / Close: Automatic processing 0 R/W CIP 108.1.10
1 / Open: Manual release of holding brake 0 -
The holding brake can only be manually released in 1 -
the operating states Switch On Disabled or Ready
To Switch On.

If the power stage is enabled, the value is

automatically set to 0.
Modified settings become active immediately.

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Direction of Movement

Definition of Direction of Movement

In the case of a rotary motor, direction of movement is defined as follows: Positive direction is when the
motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

Verifying the Direction of Movement Via the Commissioning Software

The direction of movement can be verified by starting a movement in the commissioning software.
Procedure:

Step Action
1 Apply power to the drive.
2 Enable the power stage.
3 Start the operating mode Jog.
4 Use the “>” button to trigger a movement in positive direction.
Observe the movement.
5 Use the “<" button to trigger a movement in negative direction.
Observe the movement.

Inverting the Direction of Movement

If your application requires an inversion of the direction of movement, you can parameterize the direction
of movement.
 If inversion of direction of movement is not activated (parameter value “Clockwise”):
Positive target values result in movements in positive direction.
 If inversion of direction of movement is activated (parameter value “Counter Clockwise”):
Positive target values result in movements in negative direction.
The parameter POSdirOfRotat allows you to invert the direction of movement.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSdirOfRotat Definition of direction of rotation. - UINT16 Modbus 1560
0 / Clockwise: Clockwise 0 R/W CIP 106.1.12
1 / Counter Clockwise: Counter-clockwise 0 per.
With positive reference values, the motor rotates 1 -
clockwise (as you look at the end of the motor shaft
at the flange).

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 modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Setting Parameters for Encoder

Overview
After power-on, the drive reads the position value from the encoder. The value can be read with the
parameter _p_absENCusr.
Depending on your application, you may have to set a new absolute position of the encoder.
Examples:
 Shifting the position of the index pulse (typically for singleturn encoders)
 Adjusting the working range of the encoder to the working range of the application (typically for multiturn
encoders)

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_p_absENCusr Motor position with reference to encoder range. usr UINT32 Modbus 7710
The value range is determined by the encoder type. - R/- CIP 130.1.15
In the case of singleturn encoders, the value refers - -
to one motor revolution, in the case of multiturn - -
encoders to the entire encoder range (for example
4096 revolutions).

The position is not valid until the absolute motor

position has been determined.
In the case of invalid absolute motor position:
_WarnLatched
_WarnActive
Bit 13=1: Absolute motor position not yet captured

Working Range of the Encoder and Index Pulse Position

The working range of the singleturn encoder is 32768 increments per turn.
The working range of the multiturn encoder is 4096 turns with 32768 increments per turn.
The index pulse is at position value 0.

Singleturn Encoder
In the case of a singleturn encoder, you can shift the position of the index pulse of the encoder by setting
a new absolute position.

Multiturn Encoder
In the case of a multiturn encoder, the working range of the application must be within the working range
of the multiturn encoder. This means that the range defined by the position value at the negative
mechanical limit and at the positive mechanical limit must be within the working range of the multiturn
encoder.
In the case of a movement beyond the working range of the encoder, the position continues to be
processed properly. However, a power cycle in such a condition results in an incorrect absolute position.

WARNING
UNINTENDED EQUIPMENT OPERATION
Set the absolute position in such a way that no movement in your application can result in an absolute
position outside of the working range of the encoder.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Perform a movement to the position in the working range between the mechanical limits of the application
where you want to set the absolute position.
If you want to set the absolute position close to the negative mechanical limit, use a value greater than 0,
for example, 10000.

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Setting the Absolute Position

Use the parameter ENC_pabsusr to set the absolute position of the encoder.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ENC_pabsusr Adjustment of absolute position of encoder. usr INT32 Modbus 1324
The value range depends on the encoder type. -2147483648 R/W CIP 105.1.22
- -
Singleturn encoder: 2147483647 -
0 ... x - 1

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

Definition of 'x': Maximum position for one encoder

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

If processing is to be performed with inversion of the

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

Setting the absolute position also shifts the position of the index pulse.

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Section 5.4
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 103
Preparation of Optimization 104
Optimizing the Velocity Controller 105
Verifying and Optimizing the P Gain of the Velocity Controller 108
Optimizing the Position Controller 109

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Controller Structure

Overview
The structure of the internal controller of the drive corresponds to the classical cascaded closed loop with
current controller, velocity controller and position controller. The reference value of the velocity controller
can be smoothed via a filter.
The control loops are tuned one after the other from the “inside” to the “outside” in the following sequence:
current control, velocity control, position control.

Position Controller
The position controller reduces the difference between the reference position and the encoder 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 effective gain 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 tuned on
the basis of the motor data.

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Preparation of Optimization

Overview
Drive optimization matches the device to the application conditions. The following options are available:
 Selecting control loops. Superimposed control loops are automatically deactivated.
 Setting reference value signals: signal type, amplitude, frequency, and starting point
 Verifying control performance with the signal generator.
 Tracing the control performance on screen and evaluating it with the commissioning software.

Setting Reference Value Signals

Start controller optimization with the commissioning software.
Set the following values for the reference value signal:
 Signal type: Step “positive”
 Amplitude: 100 RPM
 Cycle duration: 100 ms
 Number of repetitions: 1
 Start the trace.
Only the signal types “Step” and “Square” allow you to determine the entire dynamic behavior of a control
loop. The present user guide shows signal traces of the signal type “Step”.

Entering Values for Optimization

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

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Optimizing the Velocity Controller

Overview
Optimizing complex mechanical control systems requires 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 address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRL_KPn Velocity controller P gain. A/RPM UINT16 Modbus 4614
The default value is calculated on the basis of the 0.0001 R/W CIP 118.1.3
motor parameters. - per.
In increments of 0.0001 A/RPM. 1.2700 -
Modified settings become active immediately.
CTRL_TNn Velocity controller integral action time. ms UINT16 Modbus 4616
In increments of 0.01 ms. 0.00 R/W CIP 118.1.4
Modified settings become active immediately. - per.
327.67 -

Verify and optimize the calculated values in a second step, see chapter Verifying and Optimizing the P
Gain (see page 108).

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 initial setup of the velocity
controller.
 Deactivate the reference value filter of the velocity controller. Set the parameter CTRL_TAUnref to 0.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRL_TAUnref Filter time constant of reference velocity value filter. ms UINT16 Modbus 4626
In increments of 0.01 ms. 0.00 R/W CIP 118.1.9
Modified settings become active immediately. 0.00 per.
327.67 -

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

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Rigid and less rigid mechanical systems:

Determining Values for Rigid Mechanical Systems

In the case of a rigid mechanical system, you can adjust the control performance on the basis of the
following table subject to the following conditions:
 The moment of inertia of the load and of the motor are known.
 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:

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

JL KPn TNn KPn TNn KPn TNn

1 kgcm2 0.0125 8 0.008 12 0.007 16

2 kgcm 2 0.0250 8 0.015 12 0.014 16

5 kgcm2 0.0625 8 0.038 12 0.034 16

10 kgcm 2 0.125 8 0.075 12 0.069 16

20 kgcm 2 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 reaches
velocity _n_act as quickly as possible without overshooting.
 Set the integral action time CTRL_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.

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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 determine the performance of the control loop.
 Trigger another step function if you had to modify _n_ref and verify the amplitude of _Iq_ref.
 Increase or decrease the P gain in small increments until _n_act is reached 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 CTRL_KPn.
Differences between _n_ref and _n_act result from setting CTRL_TNn to "Infinite".
Determining “TNn” for the aperiodic limit:

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

Graphic Determination of the 63% Value

Graphically determine the point at which the actual velocity _n_act reaches 63% of the final value. The
integral action time CTRL_TNn then results as a value on the time axis. The commissioning software
supports you with the evaluation.

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Verifying and Optimizing the P Gain of the Velocity Controller

Description
Step responses with good control performance:

The velocity controller is properly set if the step response is closely resembles the signal illustrated. Good
control performance is characterized by
 Fast transient response
 Overshooting up to a maximum of 40 %; a value of 20 % is advisable.
If the control performance does not correspond to the curve illustrated, modify CTRL_KPn in increments of
about 10 % and then trigger another step function:
 If the velocity controller is too slow: Use a higher CTRL_KPn value.
 If the velocity controller tends to oscillate: Use a lower CTRL_KPn value.
Oscillation ringing is characterized by continuous acceleration and deceleration of the motor.
Optimizing insufficient velocity controller settings

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Optimizing the Position Controller

Description
An optimized velocity controller is a prerequisite for optimization of the position controller.
When tuning the position controller, you must optimize the P gain CTRL_KPp:
 CTRL_KPp too high: Overshooting, instability
 CTRL_KPp too low: High position deviation

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRL_KPp Position controller P gain. 1/s UINT16 Modbus 4620
The default value is calculated. 2.0 R/W CIP 118.1.6
In increments of 0.1 1/s. - per.
Modified settings become active immediately. 114.3 -

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”
 Set the amplitude to approximately 1/10 motor revolution.
The amplitude is entered in user-defined units. With the default scaling, the resolution is 16384 user-
defined units per motor revolution.

Selecting the Trace Signals

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

Optimizing the Position Controller Value

 Trigger a step function with the default controller values.
 After the first test, verify the values achieved for _n_act and _Iq_ref for current control and velocity
control. The values must not reach the current and velocity limitation range.

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Step responses of a position controller with good control performance:

The p gain setting CTRL_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 illustrated, modify the P gain CTRL_KPp in
increments of approximately 10 % and trigger another step function.
 If the position controller tends to oscillate: Use a lower KPp value.
 If the actual value is too slow reaching the reference value: Use a higher KPp value.
Optimizing inadequate position controller settings:

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Section 5.5
Parameter Management

Parameter Management

What Is in This Section?

This section contains the following topics:
Topic Page
Resetting the User Parameters 112
Restoring Factory Settings 113

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Resetting the User Parameters

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

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PARuserReset Reset user parameters. - UINT16 Modbus 1040
Bit 0: Reset persistent user parameters to default 0 R/W CIP 104.1.8
values. - -
The parameters are reset with the exception of: 7 -
- Communication parameters
- Definition of the direction of rotation
- Signal selection position interface
- I/O functions
Bits 1 and 2: Reserved

The new settings are not saved to the nonvolatile

memory.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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Restoring Factory Settings

Description
The parameter values, both active and those saved in nonvolatile memory, are lost in this process.

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

The commissioning software allows you to save the parameter values set for a drive as a configuration file.
The factory settings can be restored via the commissioning software.
Disconnect the drive from the fieldbus before you restore the factory settings.
Carefully manage the IP addresses because each device on the network requires a unique address.
Having multiple devices with the same IP address can cause unintended operation of your network and
associated equipment. Although some equipment, such as the present device, may detect duplicate IP
addresses, other equipment may not.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that all devices have unique addresses.
 Obtain your IP address from your system administrator.
 Confirm that the IP address of the drive is unique before placing the system into service.
 Do not assign the same IP address to any other equipment on the network.
 Update the IP address after resetting the drive to factory settings.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Verify that your system administrator maintains a record of all assigned IP addresses on the
network and subnetwork, and inform the system administrator of all configuration changes performed.

Factory Settings via Commissioning Software

Use the menu items Configuration → Factory Settings in the commissioning software to restore the factory
settings.
The new settings become active after a power cycle of the drive.

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Operation
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Chapter 6
Operation

Operation

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Access Channels 116
Movement Range 117
Scaling 118
Parameterization of the Signal Input Functions and the Signal Output Functions 120

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Access Channels

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

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

The product can be addressed via different access channels. Access channels are:
 Fieldbus
 Commissioning software
 Digital signal inputs
 Web server
Only one access channel can have exclusive access to the product. An exclusive access can be provided
via different access channels:
 Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access channels with the parameter
AccessLock.
 Via the commissioning software:
The commissioning software receives exclusive access via the switch “Exclusive access” in position
“On”.
When the drive is powered on, there is no exclusive access via an access channel.
The signal input functions “Halt”, “Fault Reset”, “Enable”, “Positive Limit Switch (LIMP)”, “Negative Limit
Switch (LIMN)” and “Reference Switch (REF)” as well as the signals of the safety-related function STO
(STO_A and STO_B) are available during exclusive access.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
AccessLock Locking other access channels. - UINT16 Modbus 316
Value 0: Allow control via other access channels 0 R/W CIP 101.1.30
Value 1: Lock control via other access channels - -
1 -
With this parameter, the fieldbus can lock active
access to the device via the following access
channels:
- Input signals
- Commissioning software

Processing of the input signal HALT cannot be

locked.
Modified settings become active immediately.

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Movement Range

Size of the Movement Range

The movement range is the maximum possible range within which a movement can be made to a position.
Movement range in user-defined units with the factory scaling:

A -1073741824 user-defined units (usr)

B 1073741823 user-defined units (usr)

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

Zero Point of the Movement Range

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

Valid Zero Point

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

Movement Beyond the Movement Range

The response to a movement beyond the movement range depends on the operating mode and the type
of movement.
The following responses are possible:
 In the case of a movement beyond the movement range, the movement range restarts.
 In the case of a movement with a target position outside of the movement range, position setting to 0 is
performed before the movement is started.
Responses in operating mode Jog:
 Continuous movement: The movement range restarts.
 Step movement: Internal position setting to 0.
Responses in operating mode Profile Position:
 Relative movement: Internal position setting to 0.
 Absolute movement: An absolute movement beyond the movement range is not possible.

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Scaling

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

User-Defined Units
Values for positions are specified in user-defined unit usr.
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 number of motor revolutions and the required user-
defined units (usr).
Calculation of the scaling factor:

A new scaling factor is activated when you specify the numerator value.
With a scaling factor of < 1 / 32768, a movement outside of the movement range cannot be performed.
The internal resolution used by the drive is 32768 increments per revolution.
The following parameter values must be adapted in addition to the user-defined values to obtain the same
movement of the motor after modifying the scaling factor: HMoutdisusr, HMdisusr, HMp_homeusr,
HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr.
The following factory settings are used:
 One motor revolution corresponds to 16384 user-defined units

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSscaleNum Position scaling: Numerator. revolution INT32 Modbus 1552
Scaling factor is defined as: 1 R/W CIP 106.1.8
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr]

A new scaling is activated when the numerator value

is set.

User-defined limit values may be reduced due to the

calculation of an internal factor.
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
POSscaleDenom Position scaling: Denominator. usr INT32 Modbus 1550
Refer to numerator (POSscaleNum) for a 1 R/W CIP 106.1.7
description. 16384 per.
2147483647 -
A new scaling is activated when the numerator value
is set.
Setting can only be modified if power stage is
disabled.

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Operation

Parameterization of the Signal Input Functions and the Signal Output Functions

Description
Signal input functions and signal output functions can be assigned to the digital inputs and digital outputs.

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

Factory Settings
Factory settings of the digital inputs and digital outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

Parameterization
Available signal input functions:

Signal input function Description in chapter

Input Free Available Available as required. Via parameter _IO_LIO_act, the
signal input can be read.
Input Fault Reset Changing the Operating State via Signal Inputs
(see page 130)
Input Enable Changing the Operating State via Signal Inputs
(see page 130)
Input Halt Stopping Movement with Halt (see page 171)
Input Jog Positive Operating Mode Jog (see page 135)
Input Jog Negative Operating Mode Jog (see page 135)
Input Jog Fast/Slow Operating Mode Jog (see page 135)
Input Reference Switch (REF) Reference Switch (see page 180)

Input Positive Limit Switch (LIMP)(1) Limit Switches (see page 178)

Input Negative Limit Switch (LIMN)(2) Limit Switches (see page 178)

(1) Only available with LIO1

(2) Only available with LIO2

Available signal output functions:

Signal output function Description in chapter

Output Free Available Setting a Signal Output via Parameter (see page 174)
Output No Fault Indicating the Operating State via Signal Inputs
(see page 128)
Output Active Indicating the Operating State via Signal Inputs
(see page 128)

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

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO1 Function Input/Output LIO1. - UINT16 Modbus 1826
1 / Input Free available: Available as required - R/W CIP 107.1.17
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
21 / Input Positive limit switch (LIMP): Positive limit
switch (LIMP)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO2 Function Input/Output LIO2. - UINT16 Modbus 1828
1 / Input Free available: Available as required - R/W CIP 107.1.18
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
22 / Input Negative limit switch (LIMN): Negative
limit switch (LIMN)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO3 Function Input/Output LIO3. - UINT16 Modbus 1830
1 / Input Free available: Available as required - R/W CIP 107.1.19
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO4 Function Input/Output LIO4. - UINT16 Modbus 1832
1 / Input Free available: Available as required - R/W CIP 107.1.20
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Operating States and Operating Modes
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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 124
7.2 Indicating, Starting and Changing an Operating Mode 132
7.3 Operating Mode Jog 135
7.4 Operating Mode Speed Control 141
7.5 Operating Mode Profile Velocity 145
7.6 Operating Mode Profile Position 149
7.7 Operating Mode Homing 154

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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 125
Indicating the Operating State via Signal Outputs 128
Indication of the Operating State via Fieldbus 129
Changing the Operating State via Signal Inputs 130
Changing the Operating State via Fieldbus 131

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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 Not possible to enable the power stage
4 Ready To Switch On The power stage is ready to switch on.
5 Switched On Power stage is switched on
6 Operation Enabled Power stage is enabled
Selected operating mode is active
7 Quick Stop Active “Quick Stop” is being executed
8 Fault Reaction Active Error response is active
9 Fault Error response terminated
Power stage is disabled

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

Error class State transition Error response Resetting the error message
0 - No interruption of the movement Function “Fault Reset”
1 T11 Stop the movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop the movement with “Quick Stop” and Function “Fault Reset”
disable 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 error is detected
to which the device must respond.

Error class Response

2 Movement is stopped with “Quick Stop”. After
standstill the holding brake is applied (if
available). After the holding brake is applied the
power stage is disabled.
3, 4 or safety-related Power stage is immediately disabled
function STO

An error can be detected by a temperature sensor, for example. The drive stops the movement and triggers
an error response. Subsequently, the drive transitions to the operating state 9 Fault.

Resetting an Error
The function “Fault Reset” resets an error.
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
and Encoder successfully tested
and Actual velocity: <1000 RPM
and STO_A and STO_B = +24 V
T3 4 -> 5  Request for enabling the power stage

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

User parameters are verified.
Holding brake is released (if available).
T7 4 -> 3  Undervoltage -
 STO signals = 0 V
 Actual velocity: >1000 RPM (for example by
external driving force)
T9 6 -> 3  Request for disabling the power stage Power stage is immediately disabled.
T10 5 -> 3  Request for disabling the power stage

(1) In order to trigger a state transition it is sufficient if one condition is met

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State Operating Condition / event(1) Response

transition state
T11 6 -> 7  Error of error class 1 Movement is stopped with “Quick Stop”.
T12 7 -> 3  Request for disabling the power stage Power stage is immediately disabled,
even if “Quick Stop” is still active.
T13 x -> 8  Error of error classes 2, 3 or 4 Error response is carried out
(see page 126).
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

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Indicating the Operating State via Signal Outputs

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

Signal output function

Operating state “Output No Fault” “Output Active”
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

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Indication of the Operating State via Fieldbus

Overview
The operating state is indicated with the word “driveStat”.

Bit Name Meaning

0 ... 3 STATE Operating state (binary coded)
1 Start
2 Not Ready To Switch On
3 Switch On Disabled
4 Ready To Switch On
5 Switched On
6 Operation Enabled
7 Quick Stop Active
8 Fault Reaction Active
9 Fault
4 ... 5 - Reserved
6 ERROR Error detected (error classes 1 ... 3)
7 WARN Error detected (error class 0)
8 HALT “Halt” is active
9 ... 12 - Reserved
13 X_INFO Operating mode-specific information
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

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Changing the Operating State via Signal Inputs

Overview
It is possible to switch between operating states via the signal inputs.
 Signal input function “Input Enable”
 Signal input function “Input Fault Reset”

Signal Input Function “Input Enable”

The power stage is enabled by means of the signal input function “Input Enable”.

"Input Enable" State transition

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

If you want to enable the power stage via the signal input, you must first parameterize the signal input
function “Enable”, refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 120).

Signal Input Function “Input Fault Reset”

The signal input function “Input Fault Reset” is used to reset an error.

"Input Fault Reset" State transition

Rising edge Resetting an error (T15 and T16)

If you want to reset an error via the signal input, you must first parameterize the signal input function “Input
Fault Reset”, refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 120).

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Changing the Operating State via Fieldbus

Overview
The operating state can be set with the byte “driveControl”.

Bit Name Meaning Operating state

0 DS Disable the power stage 6 Operation Enabled -> 4 Ready To Switch On
1 EN Enable the power stage 4 Ready To Switch On -> 6 Operation Enabled
2 QS Perform “Quick Stop” 6 Operation Enabled -> 7 Quick Stop Active
3 FR Perform “Fault Reset” 7 Quick Stop Active -> 6 Operation Enabled
9 Fault -> 4 Ready To Switch On
4 - Reserved -
5 SH Perform “Halt” 6 Operation Enabled
6 CH Clear “Halt” 6 Operation Enabled
7 CU Resume operating mode interrupted by 6 Operation Enabled
“Halt”

In the case of a write access, the bits respond to a transition from 0 to 1 to trigger the corresponding
function.
If a request for changing the operating state is not successful, this request is ignored. There is no error
response.
If the bits 0 ... 7 are set to 0, the power stage is disabled.
Ambivalent bit combinations are treated in accordance with the following priority list (highest priority bit 0,
lowest priority bit 6 and bit 7):
 Bit 0 (disable power stage) takes precedence over bit 1 (enable power stage)
 Bit 2 (perform “Quick Stop”) takes precedence over bit 3 (perform “Fault Reset”)
 Bit 5 (perform “Halt”) takes precedence over bit 6 (clear “Halt”) and bit 7 (resume operating mode
interrupted by “Halt”)
If an error of error class 2 or error class 3 is detected, a “Fault Reset” can only be performed if the value of
bit 1 (enable power stage) is 0.

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Section 7.2
Indicating, Starting and Changing an Operating Mode

Indicating, Starting and Changing an Operating Mode

What Is in This Section?

This section contains the following topics:
Topic Page
Indicating the Operating Mode 133
Starting and Changing an Operating Mode 134

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Indicating the Operating Mode

Overview
The byte “modeStat” is used to indicate the set operating mode.

Bit Name Description

0 ... 3 MODE Indicates the set operating mode
Value 1: Jog
Value 2: Homing
Value 3: Profile Position
Value 4: Profile Velocity
Value 7: Speed Control
4 - Reserved
5 ref_ok Zero point is valid.
6 ME The bit “ME” (Mode Error) relates to parameters that depend on the bit “MT” (Mode
Toggle). The bit “ME” (Mode Error) is set to 1 if a request (for example, starting an
operating mode) was rejected.
7 MT Bit “MT” (Mode Toggle)

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Starting and Changing an Operating Mode

Starting and Changing an Operating Mode

The byte “modeControl” is used to set the operating mode.

Bit Name Description

0 ... 3 MODE Operating Mode
Value 1: Jog
Value 2: Homing
Value 3: Profile Position
Value 4: Profile Velocity
Value 7: Speed Control
4 ... 6 ACTION Operating mode-dependent
7 MT Bit “MT” (Mode Toggle)

The operating mode can be activated or target values can be modified by supplying or setting the following
values:
 Target values, depending on required operating mode
 Operating mode in “modeControl”, bits 0 ... 3 (MODE).
 Action for this operating mode, bits 4 ... 6 (ACTION)
 Toggle bit 7 (MT)

The following chapters describe the available operating modes, functions, and the corresponding target
values.

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Section 7.3
Operating Mode Jog

Operating Mode Jog

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 136
Parameterization 139
Additional Settings 140

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Overview

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

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

1 Slow movement in positive direction

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

The illustration below provides an example of continuous movement via the fieldbus:

1 Slow movement in positive direction

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

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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 required direction.
If the signal for the direction is available continuously, a movement with a parameterizable number of user-
defined units is made in the required direction. After this movement, the motor stops for a defined period
of time. Then a continuous movement is made in the required direction.
The illustration below provides an example of step movement via the signal inputs:

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

The illustration below provides an example of step movement via the fieldbus:

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

Starting the Operating Mode

The operating mode can be started via the signal inputs or via the fieldbus.
If you want to start the operating mode via the signal inputs, you must first parameterize the signal input
functions “Input Enable”, “Input Fault Reset”, “Input Jog Negative” and “Input Jog Positive”, refer to chapter
Parameterization of the Signal Input Functions and the Signal Output Functions (see page 120).

Signal input Signal input function

DI0 “Input Enable”
Enable and disable the power stage
DI1 “Input Fault Reset”
Resetting an error message

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Signal input Signal input function

DI2 “Input Jog Negative”
Operating mode Jog: Movement in negative direction
DI3 "Input Jog Positive"
Operating mode Jog: Movement in positive direction

If you want to start the operating mode via the fieldbus, you must first set the operating mode in the byte
“modeControl”. Writing the value in “modeControl” activates the operating mode. Writing the value in
“Ref_16” starts the movement.

modeControl Ref_16 Ref_32

Bits 0 ... 6
MODE+ACTION
Value 01 hex As JOGactivate -

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGactivate Activation of operating mode Jog. - UINT16 -
Bit 0 = 1: Positive direction of rotation 0 R/W
Bit 1 = 1: Negative direction of rotation 0 -
Bit 2 = 0: Slow velocity 7 -
Bit 2 = 1: Fast velocity

If both bits for the direction of rotation are activated

at the same time, no movement is started. If a jog
movement is running, the simultaneous activation of
the bits for the direction of rotation has no effect.
Modified settings become active immediately.

Status Information
The word “driveStat” provides information on the operating mode.

Bit Name Meaning

13 X_INFO Reserved
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Signal inputs “Input Jog Positive” and “Input Jog Negative” are set to 0
 Value 0 in “Ref_16”
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Switching Between Velocities Via a Signal Input

The drive provides the signal input function "Input Jog Fast/Slow". This signal input function allows you to
switch between two velocities via a signal input.
If you want to switch between the two velocities, you must first parameterize the signal input function "Input
Jog Fast/Slow", refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 120).

Setting the Velocities

Two parameterizable velocities are available.
 Set the values with the parameters JOGn_slow and JOGn_fast.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGn_slow Velocity for slow movement. RPM UINT16 Modbus 10504
The adjustable value is internally limited to the 1 R/W CIP 141.1.4
parameter setting in RAMPn_max. 60 per.
Modified settings become active immediately. 13200 -
JOGn_fast Velocity for fast movement. RPM UINT16 Modbus 10506
The adjustable value is internally limited to the 1 R/W CIP 141.1.5
parameter setting in RAMPn_max. 180 per.
Modified settings become active immediately. 13200 -

Setting the Step Movement

The parameters JOGstepusr and JOGtime are used to set the number of user-defined units and the time
for which the motor is stopped.
 Set the values with the parameters JOGstepusr and JOGtime.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGstepusr Distance for step movement. usr INT32 Modbus 10510
Modified settings become active the next time the 0 R/W CIP 141.1.7
motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement. ms UINT16 Modbus 10512
Modified settings become active the next time the 1 R/W CIP 141.1.8
motor moves. 500 per.
32767 -

Changing the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 169).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 171)
 Chapter Stopping Movement with Quick Stop (see page 172)
 Chapter Setting a Signal Output via Parameter (see page 174)
 Chapter Position Capture via Signal Input (see page 175)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 178)
 Chapter Software Limit Switches (see page 181)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 183)
 Chapter Standstill Window (see page 185)
This function is only available for a step movement.

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Section 7.4
Operating Mode Speed Control

Operating Mode Speed Control

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 142
Parameterization 143
Additional Settings 144

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Operating States and Operating Modes

Overview

Description
In the operating mode Speed Control, a movement is made with a specified reference velocity.
The motion profile for velocity is not active in this operating mode.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the byte “modeControl”. Writing the value in “modeControl” activates
the operating mode. Writing the value in “Ref_16” starts the movement.

modeControl Ref_16 Ref_32

Bits 0 ... 6
MODE+ACTION
Value 17 hex As SPEEDn_target -

Status Information
The word “driveStat” provides information on the operating mode.

Bit Name Meaning

13 X_INFO Reserved
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Reference Velocity
The parameter SPEEDn_target allows you to set the reference velocity.
 Set the reference velocity with the parameter SPEEDn_target.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPEEDn_target Reference velocity in operating mode Speed RPM INT16 Modbus 8456
Control. -30000 R/W CIP 133.1.4
The internal maximum speed is limited to the setting 0 -
in CTRL_n_max. 30000 -
Modified settings become active immediately.

Setting the Limit Values

The current and the velocity can be limited via parameters. Refer to the chapter Setting Limit Values
(see page 93) for details.

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 171)
 Chapter Stopping Movement with Quick Stop (see page 172)
 Chapter Setting a Signal Output via Parameter (see page 174)
 Chapter Position Capture via Signal Input (see page 175)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 178)
 Chapter Software Limit Switches (see page 181)

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Section 7.5
Operating Mode Profile Velocity

Operating Mode Profile Velocity

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 146
Parameterization 147
Additional Settings 148

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Operating States and Operating Modes

Overview

Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.
The motion profile for velocity is active in this operating mode.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the byte “modeControl”. Writing the value in “modeControl” activates
the operating mode. Writing the value in “Ref_16” starts the movement.

modeControl Ref_16 Ref_32

Bits 0 ... 6
MODE+ACTION
Value 04 hex As PVn_target -

Status Information
The word “driveStat” provides information on the operating mode.

Bit Name Meaning

13 X_INFO 0: Target velocity not reached
1: Target velocity reached
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Target Velocity
The parameter PVn_target allows you to set the target velocity.
 Set the target velocity with the parameter PVn_target.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PVn_target Target velocity of operating mode Profile Velocity. RPM INT32 -
The maximum value is limited to the setting in -13200 R/W
CTRL_n_max. - -
The adjustable value is internally limited to the 13200 -
setting in RAMPn_max.
Modified settings become active immediately.

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 169).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 171)
 Chapter Stopping Movement with Quick Stop (see page 172)
 Chapter Setting a Signal Output via Parameter (see page 174)
 Chapter Position Capture via Signal Input (see page 175)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 178)
 Chapter Software Limit Switches (see page 181)

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Section 7.6
Operating Mode Profile Position

Operating Mode Profile Position

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 150
Parameterization 152
Additional Settings 153

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Operating States and Operating Modes

Overview

Description
In the operating mode Profile Position, a movement to a target position is performed.
Twp types of movements are available:
 Relative movement
 Absolute movement

Relative Movement
In the case of a relative movement, the movement is relative with reference to the previous target position
or the actual position of the motor.

Absolute Movement
In the case of an absolute movement, the movement is absolute with reference to the zero point.

A zero point must be defined with the operating mode Homing prior to the first absolute movement.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the byte “modeControl”. Writing the value in “modeControl” activates
the operating mode.

Method modeControl Ref_16 Ref_32

Bits 0 ... 6
MODE+ACTION
Absolute 03 hex As PPn_target As PPp_absusr
Relative with reference to the currently 13 hex As PPn_target As PPp_relprefusr
set target position
Relative with reference to the current 23 hex As PPn_target As PPp_relpactusr
motor position

Status Information
The word “driveStat” provides information on the operating mode.

bit Name Meaning

13 X_INFO 0: Target position not reached
1: Target position reached
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:

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 Target position reached

 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Target Velocity
The parameter PPn_target allows you to set the target velocity.
 Set the target velocity with the parameter PPn_target.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PPn_target Target velocity for operating mode Profile Position. RPM UINT16 -
The maximum value is limited to the setting in 1 R/W
CTRL_n_max. 60 -
The adjustable value is internally limited to the 13200 -
setting in RAMPn_max.
Modified settings become active immediately.

Target Position
The parameters PPp_absusr, PPp_relprefusr, and PPp_relpactusr allow you to enter the target
position.
 Set the required target position with the parameters PPp_absusr, PPp_relprefusr, and
PPp_relpactusr.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PPp_absusr Target position absolute for operating mode Profile usr INT32 -
Position. - R/W
Minimum and maximum values depend on: - -
- Scaling factor - -
- Software limit switches (if they are activated)
Modified settings become active immediately.
PPp_relprefusr Target position relative to the currently set target usr INT32 -
position. - R/W
Minimum and maximum values depend on: - -
- Scaling factor - -
- Software limit switches (if they are activated)

In the case of active positioning in operating mode

Profile Position, relative positioning refers to the
target position of the ongoing movement.
The absolute user position limits can only be
overrun if the drive is at standstill when the
movement starts (x_end=1). In this case, implicit
position setting to position 0 is performed.
Modified settings become active immediately.
PPp_relpactusr Target position relative to motor position. usr INT32 -
Minimum and maximum values depend on: - R/W
- Scaling factor - -
- Software limit switches (if they are activated) - -

In the case of active positioning in operating mode

Profile Position, relative positioning refers to the
motor position.
The absolute user position limits can only be
overrun if the drive is at standstill when the
movement starts (x_end=1). In this case, implicit
position setting to position 0 is performed.
Modified settings become active immediately.

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 169).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 171)
 Chapter Stopping Movement with Quick Stop (see page 172)
 Chapter Setting a Signal Output via Parameter (see page 174)
 Chapter Position Capture via Signal Input (see page 175)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 178)
 Chapter Software Limit Switches (see page 181)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 183)
 Chapter Standstill Window (see page 185)

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Section 7.7
Operating Mode Homing

Operating Mode Homing

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 155
Parameterization 157
Reference Movement to a Limit Switch 160
Reference Movement to the Reference Switch in Positive Direction 161
Reference Movement to the Reference Switch in Negative Direction 162
Reference Movement to the Index Pulse 163
Position Setting 164
Additional Settings 165

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Overview

Description
In the operating mode Homing, a reference is generated between a mechanical position and the position
of the motor as determined by the encoder.
A reference between a mechanical position and the encoder position of the motor is generated by means
of a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the zero point becomes valid.
The zero point is the point of reference for absolute movements in the operating mode Profile Position.

Methods
A movement can be made using different methods:
 Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the negative limit switch or the
positive limit switch is performed.
When the limit switch is reached, the motor is stopped and a movement is made back to the switching
point of the limit switch.
From the switching point of the limit switch, a movement is made to the next index pulse of the motor or
to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to the reference switch is
performed.
When the reference switch is reached, the motor is stopped and a movement is made back to the
switching point of the reference switch.
From the switching point of the reference switch, a movement is made to the next index pulse of the
motor or to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made from the actual position
to the next index pulse. The position of the index pulse is the reference point.
 Position setting
In the case of position setting, the actual position of the motor is set to a specific position value.
A reference movement must be terminated without interruption for the new zero point to be valid. If the
reference movement is interrupted, it must be started again.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the byte “modeControl”. Writing the value in “modeControl” activates
the operating mode.

Method modeControl Ref_16 Ref_32

Bits 0 ... 6
MODE+ACTION
Reference movement 12 hex As HMmethod -
Position setting 02 hex - As HMp_setpusr

Status Information
The word “driveStat” provides information on the operating mode.

bit Name Meaning

13 X_INFO Reserved
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

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Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Homing successful
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Setting Limit Switches and Reference Switches

The limit switches and reference switches must be set to meet the application requirements. Refer to the
chapter Limit Switches (see page 178) and to the chapter Reference Switch (see page 180) for details.

Selection of the Method

The operating mode Homing establishes an absolute position reference between the motor position and a
defined axis position. There are various Homing methods which can be selected via the parameter
HMmethod.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMmethod Homing method. - UINT16 -
1: LIMN with index pulse 0 R/W
2: LIMP with index pulse - -
7: REF+ with index pulse, inv., outside 35 -
8: REF+ with index pulse, inv., inside
9: REF+ with index pulse, not inv., inside
10: REF+ with index pulse, not inv., outside
11: REF- with index pulse, inv., outside
12: REF- with index pulse, inv., inside
13: REF- with index pulse, not inv., inside
14: REF- with index pulse, not inv., outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in positive direction
REF-: Search movement in negative direction
inv.: Invert direction in switch
not inv.: Direction not inverted in switch
outside: Index pulse / distance outside switch
inside: Index pulse / distance inside switch
Modified settings become active immediately.

Setting the Distance from the Switching Point

A distance to the switching point of the limit switch or the reference switch must be parameterized for a
reference movement without index pulse. The parameter HMdisusr lets you set the distance to the
switching point of the limit switch or of the reference switch.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMdisusr Distance from switching point. usr INT32 Modbus 10254
The distance from the switching point is defined as 1 R/W CIP 140.1.7
the reference point. 200 per.
2147483647 -
The parameter is only effective during a reference
movement without index pulse.
Modified settings become active the next time the
motor moves.

Defining the Zero Point

The parameter HMp_homeusr is used to specify a position value which is set at the reference point after
a successful reference movement. The position value at the reference point defines the zero point.
If the value 0 is used, the zero point corresponds to the reference point.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMp_homeusr Position at reference point. usr INT32 Modbus 10262
After a successful reference movement, this -2147483648 R/W CIP 140.1.11
position is automatically set at the reference point. 0 per.
Modified settings become active the next time the 2147483647 -
motor moves.

Setting Monitoring
The parameters HMoutdisusr and HMsrchdisusr allow you to activate monitoring of the limit switches
and the reference switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMoutdisusr Maximum distance for search for switching point. usr INT32 Modbus 10252
Value 0: Monitoring of distance inactive 0 R/W CIP 140.1.6
Value >0: Maximum distance 0 per.
2147483647 -
After detection of the switch, the drive starts to
search for the defined switching point. If the defined
switching point is not found within the distance
defined here, the reference movement is canceled
and an error is detected.
Modified settings become active the next time the
motor moves.
HMsrchdisusr Maximum search distance after overtravel of switch. usr INT32 Modbus 10266
Value 0: Search distance monitoring disabled 0 R/W CIP 140.1.13
Value >0: Search distance 0 per.
2147483647 -
The switch must be activated again within this
search distance, otherwise the reference movement
is canceled.
Modified settings become active the next time the
motor moves.

Reading the Position Distance

The position distance between the switching point and index pulse can be read with the parameter
HMdisREFtoIDX.
The distance between the switching point and the index pulse must be greater than 0.05 revolutions for
reproducible reference movements with index pulse.

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If the index pulse is too close to the switching point, the limit switch or reference switch can be moved
mechanically.
The position of the index pulse can also be moved with the parameter ENC_pabsusr, Refer to the chapter
Setting Parameters for Encoder (see page 100) for details.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMdisREFtoIDX Distance from switching point to index pulse. revolution INT32 Modbus 10264
Allows you to verify the distance between the index - R/- CIP 140.1.12
pulse and the switching point and serves as a - -
criterion for determining whether the reference - -
movement with index pulse can be reproduced.
In increments of 0.0001 revolution.

Setting Velocities
The parameters HMn and HMn_out are used to set the velocities for searching the switch and for moving
away from the switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMn Target velocity for searching the switch. RPM UINT16 Modbus 10248
The adjustable value is internally limited to the 1 R/W CIP 140.1.4
setting in RAMPn_max. 60 per.
Modified settings become active the next time the 13200 -
motor moves.
HMn_out Target velocity for moving away from switch. RPM UINT16 Modbus 10250
The adjustable value is internally limited to the 1 R/W CIP 140.1.5
setting in RAMPn_max. 6 per.
Modified settings become active the next time the 3000 -
motor moves.

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 169).

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Reference Movement to a Limit Switch

Overview
The following figure illustrates a reference movement to a limit switch
Reference movement to a limit switch:

1 Movement to limit switch at velocity HMn

2 Movement to the switching point of the limit switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 1: Movement to the index pulse.
Method 17: Movement to distance from switching point.

Type B
Method 2: Movement to the index pulse.
Method 18: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Positive Direction

Overview
The following figure illustrates a reference movement to the reference switch in positive direction
Reference movement to the reference switch in positive direction:

1 Movement to reference switch at velocity HMn

2 Movement to the switching point of the reference switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 7: Movement to the index pulse.
Method 23: Movement to distance from switching point.

Type B
Method 8: Movement to the index pulse.
Method 24: Movement to distance from switching point.

Type C
Method 9: Movement to the index pulse.
Method 25: Movement to distance from switching point.

Type D
Method 10: Movement to the index pulse.
Method 26: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Negative Direction

Overview
The following figure illustrates a reference movement to the reference switch in negative direction
Reference movement to the reference switch in negative direction:

1 Movement to reference switch at velocity HMn

2 Movement to the switching point of the reference switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 11: Movement to the index pulse.
Method 27: Movement to distance from switching point.

Type B
Method 12: Movement to the index pulse.
Method 28: Movement to distance from switching point.

Type C
Method 13: Movement to the index pulse.
Method 29: Movement to distance from switching point.

Type D
Method 14: Movement to the index pulse.
Method 30: Movement to distance from switching point.

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Reference Movement to the Index Pulse

Overview
The following figure illustrates a reference movement to the index pulse
Reference movement to the index pulse:

1 Movement to index pulse at velocity HMn_out

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Position Setting

Description
By means of position setting, the actual position is set to the position value in parameter HMp_setpusr.
This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active position deviation remains
active and can be compensated for by the position controller after position setting.

Setting the Position for Position Setting

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMp_setpusr Position for Position Setting. usr INT32 -
Action object: write access triggers position setting. -2147483648 R/W
Only possible if the motor is at standstill. - -
Position scaling is not considered. 2147483647 -
Modified settings become active immediately.

Example
Movement by 4000 user-defined units with position setting:

1 The motor is positioned by 2000 user-defined units.

2 By means of position setting to 0, the actual position is set to position value 0 which, at the same time, defines a
new zero point.
3 When a new movement by 2000 user-defined units is triggered, the new target position is 2000 user-defined units.

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 171)
 Chapter Stopping Movement with Quick Stop (see page 172)
 Chapter Setting a Signal Output via Parameter (see page 174)
 Chapter Position Capture via Signal Input (see page 175)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 178)
 Chapter Software Limit Switches (see page 181)
 Chapter Load-Dependent Position Deviation (Following Error) (see page 183)
 Chapter Standstill Window (see page 185)

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Functions for Operation
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Chapter 8
Functions for Operation

Functions for Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
8.1 Functions for Target Value Processing 168
8.2 Functions for Monitoring Movements 177
8.3 Functions for Monitoring Internal Device Signals 187

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Section 8.1
Functions for Target Value Processing

Functions for Target Value Processing

What Is in This Section?

This section contains the following topics:
Topic Page
Motion Profile for the Velocity 169
Stopping a Movement with Halt 171
Stopping a Movement with Quick Stop 172
Setting a Signal Output via Parameter 174
Position Capture Via Signal Input 175

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Motion Profile for the Velocity

Description
Target position and target velocity are input values you specify. A motion profile for the velocity is
calculated on the basis of these values.
The motion profile for the velocity consists of an acceleration, a deceleration, and a maximum velocity.
The settings for the motion profile for the velocity are valid for both directions of movement.

Acceleration Ramp and Deceleration Ramp

The integrated drive uses a linear ramp for acceleration and deceleration.

Availability
The availability of the motion profile for the velocity depends on the operating mode.
The motion profile for the velocity is available in the following operating modes:
 Jog
 Profile Position
 Profile Velocity
 Homing

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 address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPn_max Maximum velocity of the motion profile for velocity. RPM UINT16 Modbus 1554
The parameter is active in the following operating 60 R/W CIP 106.1.9
modes: 13200 per.
- Profile Position 13200 -
- Profile Velocity
- Homing
- Jog

If a greater reference velocity is set in one of these

operating modes, it is automatically limited to
RAMPn_max.
This way, commissioning at limited velocity is easier
to perform.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
motor moves.
RAMPacc Acceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1556
Modified settings become active the next time the 1 R/W CIP 106.1.10
motor moves. 600 per.
3000000 -

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPdecel Deceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1558
Modified settings become active the next time the 750 R/W CIP 106.1.11
motor moves. 750 per.
3000000 -

Jerk Limitation
Jerk limitation smoothes sudden acceleration changes to allow for smooth transitions.
The following figure illustrates the profile without jerk limitation (dashed line) and with jerk limitation (solid
line):

Jerk limitation is activated and set via the parameter RAMP_TAUjerk.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMP_TAUjerk Jerk limitation of the motion profile for velocity. ms UINT16 Modbus 1562
0 / Off: Off 0 R/W CIP 106.1.13
1 / 1: 1 ms 0 per.
2 / 2: 2 ms 128 -
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
Adjustments can only be made if the operating
mode is inactive (x_end=1).
Modified settings become active the next time the
motor moves.

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Stopping a Movement with Halt

Description
You can stop a movement with a Halt. The movement is resumed when the Halt is cleared.
A Halt can be triggered via a digital signal input or a fieldbus command.
In order to interrupt a movement with a Halt via a signal input, you must first parameterize the signal input
function “Input Halt”, see chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 120).
The following deceleration types are available:
 Deceleration via deceleration ramp
 Deceleration via torque ramp

If the Halt request is cleared while the deceleration is still being performed, the deceleration is continued
until the motor has reached a standstill. After that, the motor accelerates to the original velocity.

Setting the Type of Deceleration

The parameter LIM_HaltReaction lets you set the type of deceleration.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_HaltReaction Halt option code. - INT16 Modbus 1582
1 / Deceleration ramp: Deceleration ramp 1 R/W CIP 106.1.23
3 / Torque ramp: Torque ramp 3 per.
Setting of deceleration ramp with parameter 3 -
RAMPdecel.
Setting of torque ramp with parameter
LIM_I_maxHalt.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.

Setting the Deceleration Ramp

The deceleration ramp set with the parameter RAMPdecel for the Motion Profile for the Velocity
(see page 169) is used for a Halt.

Setting the Torque Ramp

The parameter LIM_I_maxHalt lets you set the torque ramp.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_I_maxHalt Current for Halt. Apk UINT16 Modbus 4364
Maximum value and default value depend on the - R/W CIP 117.1.6
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.

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Stopping a Movement with Quick Stop

Description
You can stop a movement with a Quick Stop.
A Quick Stop can be triggered via a fieldbus command or in response to a detected error of error classes
1 or 2.
The following deceleration types are available:
 Deceleration via deceleration ramp
 Deceleration via torque ramp

You can set the operating state to transition to after standstill has been reached:
 Remain in operating state 7 Quick Stop Active
 Transition to operating state 9 Fault

Setting the Type of Deceleration And the Type of Operating State Transition
The parameter LIM_QStopReact lets you set the type of deceleration ant the type of operating state
transition.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_QStopReact Quick Stop option code. - INT16 Modbus 1584
-2 / Torque ramp (Fault): Use torque ramp and -2 R/W CIP 106.1.24
transition to operating state 9 Fault 7 per.
-1 / Deceleration ramp (Fault): Use deceleration 7 -
ramp and transition to operating state 9 Fault
6 / Deceleration ramp (Quick Stop): Use
deceleration ramp and remain in operating state 7
Quick Stop Active
7 / Torque ramp (Quick Stop): Use torque ramp and
remain in operating state 7 Quick Stop Active
Setting of deceleration ramp with parameter
RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.

Setting the Deceleration Ramp

The parameter RAMPquickstop lets you set the deceleration ramp.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPquickstop Deceleration ramp for Quick Stop. RPM/s UINT32 Modbus 1572
Deceleration ramp for a software stop or an error 200 R/W CIP 106.1.18
with error class 1 or 2. 6000 per.
Modified settings become active the next time the 3000000 -
motor moves.

Setting the Torque Ramp

The parameter LIM_I_maxQSTP lets you set the torque ramp.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_I_maxQSTP Current for Quick Stop via torque ramp. Apk UINT16 Modbus 4362
Maximum value and default value depend on the - R/W CIP 117.1.5
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.

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Setting a Signal Output via Parameter

Description
The digital signal outputs can be set via the fieldbus.
In order to set the digital signal outputs via the parameter, you must first parameterize the signal output
function “Output Free Available”, see chapter Parameterization of the Signal Input Functions and the
Signal Output Functions (see page 120).
If one or more of the outputs are not set to “Output Free Available”, write access to that or those outputs is
ignored.
The parameter IO_LO_set lets you set the digital signal outputs.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IO_LO_set Setting the digital outputs directly. - UINT16 Modbus 2082
Bit 0 corresponds to the first output, bit 1 - R/W CIP 108.1.17
corresponds to the second output, and so on. - -
- -

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Position Capture Via Signal Input

Description
The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

Two Capture inputs are available.
 LIO1 (CAP1)
 LIO2 (CAP2)

Method
The motor position can be captured in two ways:
 One-time position capture
One-time capture means that the position is captured at the first edge.
 Continuous motor position capture
Continuous capture means that the motor position is captured anew at every edge.
The motor position can be captured when the edge at the Capture input rises or falls.

Setting the Edge

The following parameters let you set the edge for position capture.
 Set the required edge with the parameters Cap1Config and Cap2Config.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Config Capture input 1 configuration. - UINT16 Modbus 2564
0 / 1->0: Position capture at falling edge 0 R/W CIP 110.1.2
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -
Cap2Config Capture input 2 configuration. - UINT16 Modbus 2566
0 / 1->0: Position capture at falling edge 0 R/W CIP 110.1.3
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -

Starting Position Capture

The following parameters let you start position capture.
 Set the method with the parameters Cap1Activate and Cap2Activate.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Activate Capture input 1 start/stop. - UINT16 Modbus 2568
0 / Capture stop: Cancel capture function 0 R/W CIP 110.1.4
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap2Activate Capture input 2 start/stop. - UINT16 Modbus 2570
0 / Capture stop: Cancel capture function 0 R/W CIP 110.1.5
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.

Status Messages
The parameter CapStatus indicates the capture status.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CapStatus Status of the capture inputs. - UINT16 Modbus 2562
Read access: - R/- CIP 110.1.1
Bit 0: Position captured via input CAP1 - -
Bit 1: Position captured via input CAP2 - -

Captured Position
The captured position can be read via the following parameters:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Pos Capture input 1 captured position. usr INT32 Modbus 2572
Captured position at the time of the "capture signal". - R/- CIP 110.1.6
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap2Pos Capture input 2 captured position. usr INT32 Modbus 2574
Captured position at the time of the "capture signal". - R/- CIP 110.1.7
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap1Count Capture input 1 event counter. - UINT16 Modbus 2576
Counts the capture events. - R/- CIP 110.1.8
The event counter is reset when capture input 1 is - -
activated. - -
Cap2Count Capture input 2 event counter. - UINT16 Modbus 2578
Counts the capture events. - R/- CIP 110.1.9
The event counter is reset when capture unit 2 is - -
activated. - -

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Section 8.2
Functions for Monitoring Movements

Functions for Monitoring Movements

What Is in This Section?

This section contains the following topics:
Topic Page
Hardware Limit Switches 178
Reference Switch 180
Software Limit Switches 181
Load-Dependent Position Deviation (Following Error) 183
Standstill Window 185

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Hardware Limit Switches

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

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

Movements can be monitored with hardware limit switches. A positive hardware limit switch and a negative
hardware limit switch can be used for monitoring.
If the positive or negative hardware limit switch is triggered, the movement is stopped with a Quick Stop.
The drive responds with a detected error of error class 1. The error message can be reset by means of a
“Fault Reset”.
The response of the drive to a Quick Stop can be adjusted via the parameter LIM_QStopReact. Refer to
the chapter Stopping a Movement with Quick Stop (see page 172) for additional information.
The movement can continue, however, only in the opposite direction. For example, if the positive hardware
limit switch was triggered, further movement is only possible in negative direction. In the case of further
movement in positive direction, the drive responds with a new detected error of error class 1.
The parameters IOsigLimP and IOsigLimN are used to set the type of hardware limit switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOsigLimP Signal evaluation for positive limit switch. - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W CIP 106.1.16
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified 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 CIP 106.1.15
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

If you want to use hardware limit switches, you must first parameterize the signal input functions “Input
Positive Limit Switch (LIMP)” and/or “Input Negative Limit Switch (LIMN)”. Refer to chapter Parameter-
ization of the Signal Input Functions and the Signal Output Functions (see page 120) for details.

Temporary Deactivation of Hardware Limit Switches

The parameter SPV_HW_Deactiv can be used to temporarily deactivate the hardware limit switches, for
example, for commissioning, or machine setup.

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WARNING
UNINTENDED EQUIPMENT OPERATION
Implement all measures identified in your risk assessment to avoid hazardous conditions that could result
from temporary deactivation of limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_HW_Deactiv Temporary deactivation of hardware limit switches. - UINT16 Modbus 1610
0 / None: No limit switch deactivated 0 R/W CIP 106.1.37
1 / Deactivate LIMP: Deactivate positive limit switch 0 -
2 / Deactivate LIMN: Deactivate negative limit 3 -
switch
3 / Deact. LIMP+LIMN: Deactivate both limit
switches
With this parameter, a PLC can temporarily
deactivate hardware limit switches. This is useful if
a homing procedure controlled by a PLC is to use a
limit switch as a reference switch without any error
response of the drive.
Modified settings become active immediately.
Available with firmware version ≥V1.010.

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Reference Switch

Description
The reference switch is only active in the operating mode Homing.
The parameter IOsigRef lets you set the type of reference switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOsigRef Signal evaluation for reference switch. - UINT16 Modbus 1564
1 / Normally Closed: Normally closed NC 1 R/W CIP 106.1.14
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a reference 2 -
movement to the reference switch is processed.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

If you want to use the reference switch, you must first parameterize the signal input function “Input
Reference Switch (REF)”. Refer to chapter Parameterization of the Signal Input Functions and the Signal
Output Functions (see page 120) for details.

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Software Limit Switches

Description
Movements can be monitored with software limit switches. A positive position limit and a negative position
limit can be set for monitoring.
If the positive or negative software limit switch is triggered, the movement is stopped with a Quick Stop.
The integrated drive responds with a detected error of error class 1. The error message can be reset by
means of a “Fault Reset”.
The response of the drive to a Quick Stop can be adjusted via the parameter LIM_QStopReact. Refer to
the chapter Stopping a Movement with Quick Stop (see page 172) for additional information.
The movement can continue, however, only in the opposite direction. For example, if the positive position
limit was reached, further movement is only possible in negative direction. In the case of further movement
in positive direction, the drive responds with a new detected error of error class 1.
Position monitoring with software limit switches uses the reference position. Therefore, depending on the
control loop settings, the motor may stop before the limit switch position is reached.

Prerequisite
Software limit switch monitoring only works with a valid zero point, refer to chapter Size of the Movement
Range (see page 117).

Behavior in Operating Modes with Target Positions

In operating modes with target positions, the movement is started even if the target position is beyond the
positive position limit or the negative position limit. A Quick Stop is triggered so that the motor comes to a
standstill at the position limit.
In the following operating modes, the target position is verified prior to the start of a movement so that the
position limit is not exceeded regardless of the target position.
 Jog (step movement)
 Profile Position

Behavior in Operating Modes Without Target Positions

In operating modes without target positions, a Quick Stop is triggered at the position limit.
 Jog (continuous movement)
 Speed Control
 Profile Velocity

Activation
The software limit switches are activated via the parameter SPV_SW_Limits.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_SW_Limits Activation of software limit switches. - UINT16 Modbus 1542
0 / None: Deactivated 0 R/W CIP 106.1.3
1 / SWLIMP: Activation of software limit switch 0 per.
positive direction 3 -
2 / SWLIMN: Activation of software limit switch
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.
Modified settings become active immediately.

Setting Position Limits

The position limits of the software limit switches are set via the parameters SPV_swLimP and
SPV_swLimN.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPVswLimPusr Positive position limit for software limit switch. usr INT32 Modbus 1544
If a user-defined value entered is outside of the - R/W CIP 106.1.4
permissible range, the limit switch limits are 2147483647 per.
automatically set to the maximum user-defined - -
value.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SPVswLimNusr Negative position limit for software limit switch. usr INT32 Modbus 1546
Refer to description of parameter SPVswLimPusr. - R/W CIP 106.1.5
Setting can only be modified if power stage is -2147483648 per.
disabled. - -
Modified settings become active the next time the
power stage is enabled.

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Load-Dependent Position Deviation (Following Error)

Description
The load-dependent position deviation is the difference between the reference position and the actual
position caused by the load inertia.
Parameters are available to read the load-dependent position deviation during operation and the maximum
position deviation reached so far.
The maximum permissible load-dependent position deviation can be parameterized. In addition, you can
set the error class.

Availability
Monitoring of the load-dependent position deviation is available in the following operating modes:
 Jog
 Profile Position
 Homing

Reading the Position Deviation

The following parameter lets you read the load-dependent position deviation in revolutions.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_p_dif Deviation between reference position and actual revolution INT32 Modbus 7716
position. -214748.3648 R/- CIP 130.1.18
Corresponds to the position deviation of the position - -
controller. 214748.3647 -
In increments of 0.0001 revolution.

The following parameter lets you read the maximum value of the load-dependent position deviation
reached so far in revolutions.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_p_DifPeak Maximum value of the position deviation. revolution UINT32 Modbus 4382
See SPV_p_maxDiff for more information. 0.0000 R/W CIP 117.1.15
A write access resets this value. - -
In increments of 0.0001 revolution. 429496.7295 -
Modified settings become active immediately.

Setting the Maximum Position Deviation

The following parameter lets you set the maximum load-dependent position deviation at which a movement
is stopped with an error of error classes 1, 2, or 3.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_p_maxDiff Maximum position deviation. revolution UINT32 Modbus 4636
The position deviation is the difference between the 0.0001 R/W CIP 118.1.14
reference position and the actual position caused by 1.0000 per.
the load. 200.0000 -
In increments of 0.0001 revolution.
Modified 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.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_Flt_pDiff Error response to excessively high position - UINT16 Modbus 1302
deviation. 1 R/W CIP 105.1.11
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 modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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Standstill Window

Description
The standstill window allows you to monitor whether the motor has reached the target position.
If the difference between the target position and the actual position remains in the standstill window for the
time STANDpwinTime, the target position is considered to have been reached.

Availability
The standstill window is available in the following operating modes.
 Jog (step movement)
 Profile Position
 Homing

Settings

1 Target position reached (the actual position did not exceed the permissible deviation STANDp_win during time
STANDpwinTime).

The parameters STANDp_win and STANDpwinTime specify the size of the window.
The parameter STANDpwinTout can be used to set the period of time after which the drive responds with
a detected error if the standstill window was not reached.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
STANDp_win Standstill window, permissible control deviation. revolution UINT16 Modbus 4370
The control deviation for the standstill window time 0.0000 R/W CIP 117.1.9
must be within this range for a standstill of the drive 0.0010 per.
to be detected. 3.2767 -

Processing of the standstill window must be

activated via the parameter 'STANDpwinTime.
In increments of 0.0001 revolution.
Modified settings become active immediately.
STANDpwinTime Standstill window, time. ms UINT16 Modbus 4372
Value 0: Monitoring of standstill window deactivated 0 R/W CIP 117.1.10
Value >0: Time in ms during which the control 0 per.
deviation must be in the standstill window 32767 -
Modified settings become active immediately.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
STANDpwinTout Timeout time for standstill window monitoring. ms UINT16 Modbus 4374
Value 0 : Timeout monitoring deactivated 0 R/W CIP 117.1.11
Value >0 : Timeout time in ms 0 per.
16000 -
Standstill window processing values are set via
STANDp_win and STANDpwinTime.

Time monitoring starts when the target position

(reference position of position controller) is reached
or when the profile generator has finished
processing.
Modified settings become active immediately.

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Section 8.3
Functions for Monitoring Internal Device Signals

Functions for Monitoring Internal Device Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Temperature Monitoring 188
Load Monitoring (I2t Monitoring) 189

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Temperature Monitoring

Temperature of Power Stage

The parameter _Temp_act_PA contains the temperature value of the power stage.
The parameter PA_T_warn contains the threshold value for an error of error class 0.
The parameter PA_T_max contains the maximum temperature value of the power stage . If the
temperature exceeds the limit value for more than five seconds, an error of error class 3 is detected.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_Temp_act_PA Temperature of power stage. °C INT16 Modbus 7200
- R/- CIP 128.1.16
- -
- -
PA_T_warn Temperature limit of power stage for error class 0. °C INT16 Modbus 4108
- R/- CIP 116.1.6
- per.
- -
PA_T_max Maximum permissible temperature of power stage. °C INT16 Modbus 4110
- R/- CIP 116.1.7
- per.
- -

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Load Monitoring (I2t Monitoring)

Description
I2t monitoring monitors the load. It allows the integrated drive to anticipate a rise in temperature and to
reduce the current to the nominal value when the I2t limit value is exceeded.
When the value falls below the limit value, the device can be operated with maximum performance again.

Load Monitoring
The load can be read using the following parameters:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_I2t_act_M Overload of motor. % INT16 Modbus 7218
- R/- CIP 128.1.25
- -
- -
_I2t_mean_M Load of motor. % INT16 Modbus 7220
- R/- CIP 128.1.26
- -
- -

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Examples
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Chapter 9
Examples

Examples

Wiring Example

Overview
In the following wiring example, the limit switches and the reference switch are supplied via the internal
24 V power supply.

The UBC60 braking resistor controller is available as an accessory, refer to the chapter Accessories and
Spare Parts (see page 239).

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Diagnostics and Troubleshooting
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Chapter 10
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
10.1 Diagnostics via LEDs 194
10.2 Diagnostics via the Fieldbus 197
10.3 Error Messages 206

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Section 10.1
Diagnostics via LEDs

Diagnostics via LEDs

What Is in This Section?

This section contains the following topics:
Topic Page
Operating State LEDs 195
Fieldbus Status LEDs 196

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Operating State LEDs

Overview
The integrated drive has a green and a red LED on the printed circuit board. The two LEDs indicate the
operating states and detected errors.

A Operating states 1 Start and 2 Not Ready To Switch On

B Operating state 3 Switch On Disabled
C Operating states 4 Ready To Switch On and 5 Switched On
D Operating state 6 Operation Enabled
E Operating states 7 Quick Stop Active and 8 Fault Reaction Active
F Operating state 9 Fault
G Firmware not available
H Internal error

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Fieldbus Status LEDs

Overview
The LEDs indicate the EtherNet/IP communication status of the drive and the EtherNet/IP communication
status of the network.

LED Description
1 Communication status of the drive
2 Communication status of the network

LED communication status of the drive:

LED code Description

Steady off No power is supplied.
Steady green The drive is operational.
Flashing green The drive has not been configured.
Flashing red The drive has detected a recoverable error, for example, an incorrect
configuration.
Steady red The drive has detected a non-recoverable error.
Flashing green / red The drive is performing a self-test.

LED communication status of the network:

LED code Description

Steady off The drive does not have an IP address (or is powered off).
Steady green The drive has no established connections, but has obtained an IP address.
Flashing green The drive has at least one connection (this includes the Message Router).
Flashing red One or more of the connections in which this drive is the target has timed
out.
This status is left only if the timed out connections are reestablished or if the
drive is reset.
Steady red The drive has detected that its IP address is already in use.
Flashing green / red The drive is performing a self-test.

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Section 10.2
Diagnostics via the Fieldbus

Diagnostics via the Fieldbus

What Is in This Section?

This section contains the following topics:
Topic Page
Fieldbus Communication Error Diagnostics 198
Most Recent Detected Error - Status Bits 199
Most Recent Detected Error - Error Code 201
Error Memory 202
Error Response to Incorrect Realtime Ethernet Data 204
Synchronous Errors 205

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Fieldbus Communication Error Diagnostics

Verifying Connections
A properly operating fieldbus is essential for evaluating status and error messages.
If the product cannot be addressed via the fieldbus, first verify the connections.
Verify the following connections:
 System power supply
 Supply connections
 Fieldbus cables and wiring
 Fieldbus connection

Fieldbus Function Test

If the connections are correct, verify that you can address the product on the fieldbus.

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Most Recent Detected Error - Status Bits

Error Bits
The parameters _WarnLatched and _SigLatched contain information on errors of error class 0 and
errors of error classes 1 ... 4.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_WarnLatched Saved errors of error class 0, bit-coded. - UINT16 Modbus 7192
The bits are set to 0 in the case of a Fault Reset. - R/- CIP 128.1.12
Bits 10, 11, and 13 are set to 0 automatically. - -
- -
Signal state:
0: Not activated
1: Activated

Bit assignments:
Bit 0: General (see _LastWarning)
Bit 1: Temperature of power stage high
Bit 2: Temperature of motor high
Bit 3: Reserved
Bit 4: Power stage overload (I2t)
Bit 5: Motor overload (I2t)
Bit 6: Braking resistor overload (I2t)
Bit 7: CAN
Bit 8: Motor encoder
Bit 9: RS485 protocol
Bit 10: Inputs STO
Bit 11: DC bus undervoltage/mains phase not
present
Bit 12: Profibus
Bit 13: Position not yet valid (position capture still
running)
Bit 14: Ethernet
Bit 15: Reserved

Monitoring functions are product-dependent.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_SigLatched Saved status of monitoring signals. - UINT32 Modbus 7184
Signal state: - R/- CIP 128.1.8
0: Not activated - -
1: Activated - -

Bit assignments:
Bit 0: General error detected
Bit 1: Hardware limit switches (LIMP/LIMN/REF)
Bit 2: Out of range (software limit switches, tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Inputs STO are 0
Bit 5: Reserved
Bit 6: RS485
Bit 7: CAN
Bit 8: Ethernet
Bit 9: Frequency of reference signal too high
Bit 10: Operating mode
Bit 11: Reserved
Bit 12: Profibus
Bit 13: Reserved
Bit 14: Undervoltage DC bus
Bit 15: Overvoltage DC bus
Bit 16: Mains phase
Bit 17: Motor connection
Bit 18: Motor overcurrent/short circuit
Bit 19: Motor encoder
Bit 20: Undervoltage 24VDC
Bit 21: Overtemperature (power stage, motor)
Bit 22: Position deviation exceeded
Bit 23: Maximum velocity exceeded
Bit 24: Inputs STO different
Bit 25: Reserved
Bit 26: Reserved
Bit 27: Reserved
Bit 28: Reserved
Bit 29: Nonvolatile memory error
Bit 30: System booting (hardware or parameter)
Bit 31: System (for example, Watchdog)

Monitoring functions are product-dependent.

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Most Recent Detected Error - Error Code

Description
If the master controller receives information concerning a detected error via the process data
communication, the following parameters can be used to read the error code.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 206).

Most Recent Detected Error with Error Class 0

The parameter _LastWarning allows you to read the error number of the last detected error with error
class 0.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_LastWarning Code of most recent error of error class 0. - UINT16 Modbus 7186
If the error is no longer active, the code is stored - R/- CIP 128.1.9
until the next Fault Reset. - -
Value 0: No error of error class 0 - -

Most Recent Detected Error with Error Class 1 ... 4

The parameter _StopFault allows you to read the error number of the last detected error with error class
1 ... 4.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_StopFault Detected error causing a stop (error classes 1 to 4). - UINT16 Modbus 7178
Error code of the most recent detected error. - R/- CIP 128.1.5
0 -
- -

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Error Memory

General
The error memory is an error history of the last 10 error messages. It is not cleared even if the product is
powered off. The error memory allows you to read and evaluate past events.
The following information on the events is stored:
 Error class
 Error code
 Motor current
 Number of power on cycles
 Additional error information (for example, parameter numbers)
 Product temperature
 Power stage temperature
 Time the error was detected (with reference to operating hours counter)
 DC Bus Voltage
 Velocity
 Number of Enable cycles after powering on
 Time from Enable until detection of the error
The stored information relates to the situation at the point in time the error was detected.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 206).

Reading the Error Memory

The error memory can only be read sequentially. The parameter FLT_MemReset must be used to reset
the read pointer. Then the first error entry can be read. The read pointer is automatically set to the next
entry. A new read access delivers the next error entry. If the error code 0 is returned, there is no additional
error entry.

Position of the entry Meaning

1 First error message (oldest message).
2 Second error message (later message).
... ...
10 Tenth error message. In the case of ten error
messages, the most recent error message is
contained here.

An error entry consists of several pieces of information which can be read using different parameters.
When you read an error entry, the error code must be read first with the parameter _FLT_err_num.
The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_class Error class. - UINT16 Modbus 15364
Value 0: Error class 0 0 R/- CIP 160.1.2
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
FLT_err_num Error code. - UINT16 Modbus 15362
Reading this parameter copies the entire entry for 0 R/- CIP 160.1.1
the detected error (error class, time of detection of - -
error, …) to an intermediate memory from which the 65535 -
elements of the detected error can then be read.

In addition, the read pointer of the error memory is

automatically set to the next error entry.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_Idq Motor current at the time the error was detected. A UINT16 Modbus 15378
In increments of 0.01 A. - R/- CIP 160.1.9
- -
- -
FLT_powerOn Number of power on cycles. - UINT32 Modbus 15108
0 R/- CIP 159.1.2
- -
4294967295 -
FLT_Qual Additional information on detected error. - UINT16 Modbus 15368
This entry contains additional information on the 0 R/- CIP 160.1.4
detected error, depending on the error number. - -
Example: a parameter address 65535 -
FLT_Temp_DEV Temperature of device at the time the error was °C INT16 Modbus 15382
detected. - R/- CIP 160.1.11
- -
- -
FLT_Temp_PA Temperature of power stage at the time the error °C INT16 Modbus 15380
was detected. - R/- CIP 160.1.10
- -
- -
FLT_Time Error time. s UINT32 Modbus 15366
With reference to operating hours counter 0 R/- CIP 160.1.3
- -
536870911 -
FLT_UDC DC bus voltage at the time the error was detected. V UINT16 Modbus 15374
In increments of 0.1 V. - R/- CIP 160.1.7
- -
- -
FLT_n Motor velocity at the time the error was detected. RPM INT16 Modbus 15376
- R/- CIP 160.1.8
- -
- -
FLTAmpOnCyc Number of cycles of enabling the power stage at - UINT16 Modbus 15370
error time. - R/- CIP 160.1.5
Number of cycles of enabling the power stage from - -
the time the power supply (control voltage) was - -
switched on to the time the error occurred.
FLTAmpOnTime Time between enabling of power stage and s UINT16 Modbus 15372
detection of the error. - R/- CIP 160.1.6
- -
- -
FLT_MemReset Reset error memory read pointer. - UINT16 Modbus 15114
Value 1: Set error memory read pointer to oldest 0 R/W CIP 159.1.5
error entry. - -
Modified settings become active immediately. 1 -
FLT_del_err Clear error memory. - UINT16 Modbus 15112
Value 1: Delete entries in the error memory 0 R/W CIP 159.1.4
- -
The clearing process is completed if a 0 is returned 1 -
after a read access.
Modified settings become active immediately.

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Error Response to Incorrect Realtime Ethernet Data

Description
The parameter EthErrBehv allows you to set the error class for an attempt to write incorrect realtime
Ethernet data.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
EthErrBehv Error class for incorrect realtime Ethernet data. - UINT16 Modbus 6412
0 / Warning: Error class 0 0 R/W CIP 125.1.6
1 / ErrorClass1: Error class 1 (Quick Stop) 0 per.
Modified settings become active immediately. 1 -

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Synchronous Errors

Error Response to Explicit Messages

If a request transmitted via an Explicit Message cannot be processed by the slave, the master receives an
error message in the associated response to the Explicit Message.
This response contains two bytes:
 General error code
 Additional error code

Detected errors can be read with object 100.1.1. If the general error code has the value 1F hex, the byte
“additional error code” contains vendor-specific error numbers in coded form.

Response During I/O Connection

The slave responds to an incorrect I/O command in the next I/O response by setting bit 6 (ME, ModeError)
in the byte modeStat to 1. This does not interrupt the current process. To determine the cause of the
detected error, the master can read the error number with the object 100.1.1 by means of an explicit
access.
The error indication is reset during the next valid data transmission.

General Status Codes as per CIP

Refer to the “General Status Code” as defined by the ODVA in the CIP (Common Industrial Protocol), The
CIP Networks Library, Volume 1, Appendix B-1.1 for information on status and error codes.

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Section 10.3
Error Messages

Error Messages

What Is in This Section?

This section contains the following topics:
Topic Page
Description of Error Messages 207
Table of Error Messages 208

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Description of Error Messages

Description
If monitoring functions of the drive detect an error, the drive generates an error message. Each error
message is identified by an error code.
The following information is available for each error message:
 Error code
 Error class
 Description of error
 Possible causes
 Possible remedies

Range of Error Messages

The table below summarizes the error codes classified by range.

Error code Range

E 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage
E 4xxx Temperature
E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring
E 8xxx Fieldbus
E Axxx Motor movement
E Bxxx Communication

Error Class of Error Messages

The error messages are classified according to the following error classes:

Error class State transition1) Error response Resetting the error message

0 - No interruption of the movement Function “Fault Reset”

1 T11 Stop movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop movement with “Quick Stop” and disable Function “Fault Reset”
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function “Fault Reset”
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first
(1) See chapter Operating State (see page 124)

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Table of Error Messages

List of the Error Messages Sorted by Error Code

Error Error Description Cause Correctives

code class
(hex)
E 1100 0 Parameter out of permissible range The value entered was outside of the The entered value must be within the
permissible value range for this permissible value range.
parameter.
E 1101 0 Parameter does not exist Error detected by parameter Select a different parameter (index).
management: Parameter (index) does
not exist.
E 1102 0 Parameter does not exist Error detected by parameter Select a different parameter
management: Parameter (subindex) (subindex).
does not exist.
E 1103 0 Parameter write not permissible (read- Write access to read only parameter. Write only to parameters that are not
only) read-only.
E 1104 0 Write access denied (no access Parameter only accessible at expert Write access level expert is required.
authorization) level.
E 1106 0 Command not permissible while power Command not permissible while the Disable the power stage and repeat the
stage is active power stage is enabled (operating command.
state Operation Enabled or Quick Stop
Active).
E 1107 0 Access via other interface blocked Access occupied by another channel Verify the channel that blocks the
(for example: Commissioning software access.
is active and fieldbus access was tried
at the same time).
E 110B 3 Configuration error detected Error detected during parameter check Value in additional error information
(additional info=Modbus register (for example, reference velocity value shows the Modbus register address of
address) for operating mode Profile Position is the parameter where the initialization
Parameter _SigLatched Bit 30 greater than maximum permissible error was detected.
velocity of drive).
E 110E 0 Parameter value modified that requires Only displayed by the commissioning Restart the drive to activate the
a restart of the drive software. parameter functionality.
A parameter modification requires the See the chapter Parameters for the
drive to be powered off and on. parameter that requires a restart of the
drive.
E 110F 0 Function not available for this type of The function or parameter value is not Verify whether you have the correct
device supported. device (type of motor, type of encoder,
holding brake).
E 1110 0 Function not available - -
E 1300 3 Safety-related function STO activated The safety function STO was activated Verify correct wiring of the inputs of the
(STO_A, STO_B) in the operating state Operation safety-related function STO and reset
Parameter _SigLatched Bit 4 Enabled. the error.

E 1301 4 STO_A and STO_B different level The levels of the inputs STO_A and Verify correct wiring of the inputs of the
Parameter _SigLatched Bit 24 STO_B were different for more than 1 safety-related function STO.
second.
E 1312 0 Limit switch or reference switch signal Reference movements require limit Assign the signal input functions
not defined for signal input function switches. These limit switches are not Positive Limit Switch, Negative Limit
assigned to inputs. Switch and Reference Switch.
E 2300 3 Power stage overcurrent Motor short circuit and disabling of the Verify correct motor power connection.
Parameter _SigLatched Bit 18 power stage.
Motor phases are inverted.
E 3200 3 DC bus overvoltage Excessive regeneration during Verify correct deceleration ramp, rating
Parameter _SigLatched Bit 15 braking. of drive and braking resistor.
E 3201 3 DC bus undervoltage (shutdown Power outage, insufficient power Verify mains supply.
threshold) supply.
Parameter _SigLatched Bit 14
E 3202 2 DC bus undervoltage (Quick Stop Power outage, insufficient power Verify mains supply.
threshold) supply.
Parameter _SigLatched Bit 14

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Error Error Description Cause Correctives

code class
(hex)
E 4100 3 Power stage overtemperature Transistors overtemperature: Ambient Verify the fan, improve the heat
Parameter _SigLatched Bit 21 temperature is too high, fan is dissipation in the cabinet.
inoperative, dust.
E 4101 0 Power stage overtemperature (error Transistors overtemperature: Ambient Verify the fan, improve the heat
class 0) temperature is too high, fan is dissipation in the cabinet.
Parameter _WarnLatched Bit 1 inoperative, dust.
E 4302 0 Motor overload (I2t) (error class 0) The current has exceeded the nominal -
Parameter _WarnLatched Bit 5 value for an extended period of time.
E 610D 0 Error detected in selection parameter Incorrect parameter value selected. Verify the value to be written.
E 7328 4 Motor encoder: Position evaluation - Contact your Schneider Electric
error detected representative or replace the motor.
Parameter _SigLatched Bit 19
E 7329 0 Motor encoder error detected (error EMI, encoder signals internal error Contact your Schneider Electric
class 0) detected. representative or replace the motor.
Parameter _WarnLatched Bit 8
E 7338 0 No valid motor absolute position Absolute position has not yet been Depending on application, verify
Parameter _WarnLatched Bit 13 determined. correct absolute position.
E 7500 0 RS485/Modbus: Overflow error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E 7501 0 RS485/Modbus: Framing error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E 7502 0 RS485/Modbus: Parity error detected EMI; incorrect wiring. Verify cables.
Parameter _WarnLatched Bit 9
E 7503 0 RS485/Modbus: Receive error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E A300 0 Deceleration after HALT request still HALT was removed too soon. Wait for complete stop before
active New command was sent before motor removing HALT signal.
standstill was reached after a HALT Wait until motor has come to a
request. complete standstill.
E A301 0 Drive in operating state Quick Stop Error with error class 1 was detected. -
Active Drive stopped with Quick Stop
command.
E A302 1 Stop by positive limit switch The positive limit switch was activated Verify application.
Parameter _SigLatched Bit 1 because movement range was Verify correct limit switch function and
exceeded, incorrect of limit switch or connection.
signal disturbance.
E A303 1 Stop by negative limit switch The negative limit switch was activated Verify application.
Parameter _SigLatched Bit 1 because movement range was Verify correct limit switch function and
exceeded, incorrect operation of limit connection.
switch or signal disturbance.
E A305 0 Power stage cannot be enabled in the Fieldbus: An attempt was made to Refer to the state diagram.
operating state Not Ready To Switch enable the power stage in the
On operating state Not Ready To Switch
On.
E A306 1 Stop by user-initiated software stop Drive is in operating state Quick Stop Perform a Fault Reset.
Parameter _SigLatched Bit 3 Active due to a 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 Stop by internal software stop In the operating modes Homing and Perform a Fault Reset.
Jog, the movement is internally
interrupted by an internal software
stop. The activation of a new operating
mode is not possible, the error code is
sent as the response to the activation
command.

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Error Error Description Cause Correctives

code class
(hex)
E A308 0 Drive is in operating state Fault or Fault Error with error class 2 or higher Read the error code (HMI or
Reaction Active detected. commissioning software), remove
error condition and perform a Fault
Reset.
E A309 0 Drive not in operating state Operation A command was sent that requires the Set drive to operating state Operation
Enabled drive to be in the operating state Enabled and repeat the command.
Operation Enabled (for example, a
command to activate a different
operating mode).
E A310 0 Power stage not enabled Command cannot be used because Set drive to an operating state in which
the power stage is not enabled the power stage is enabled, refer to the
(operating state Operation Enabled or state diagram.
Quick Stop Active).
E A313 0 Movement range limits were The movement range limits were Define a new zero point by means of
exceeded, zero point is no longer valid exceeded and the zero the operating mode Homing.
(ref_ok=0) point is no longer valid. An absolute
movement requires a valid zero point.
E A314 0 No valid zero point Command needs a defined zero point Define a new zero point by means of
(ref_ok=1). the operating mode Homing.
E A315 0 Homing active Command cannot be used while the Wait until reference movement is
operating mode Homing is active. finished.
E A317 0 Motor is not at a standstill Command sent which is not Wait until the motor has come to a
permissible when the motor is not at a standstill (x_end = 1).
standstill. For example:
- Modification to software limit switches
- Modification to handling of monitoring
signals
- Setting of zero point
- Teach in of data set
E A318 0 Operating mode active (x_end=0) Activation of a new operating mode is Wait until the command in the
not possible while the current operating operating mode has finished (x_end=1)
mode is still active. or terminate active operating mode
with HALT command.
E A319 1 Manual tuning/Autotuning: Movement The movement exceeds the Verify permissible movement range
out of permissible range parameterized maximum movement value and time interval.
Parameter _SigLatched Bit 2 range.
E A31A 0 Manual tuning/Autotuning: Amplitude plus offset for tuning exceed Choose lower amplitude and offset
Amplitude/offset too high internal velocity or current limitation. values.
E A31B 0 HALT requested Command not permissible while a Clear HALT request and repeat
HALT is requested. command.
E A31C 0 Invalid position setting with software Value for negative (positive) software Set correct position values.
limit switch limit switch is greater (less) than value
for positive (negative) software limit
switch.
E A31D 0 Velocity range exceeded The velocity was set to a value greater Increase the value of parameter
(CTRL_n_max) than the maximum permissible velocity CTRL_n_max or reduce the velocity
in parameter CTRL_n_max. value.
E A31E 1 Stop by positive software limit switch Not possible to execute command Return to the permissible movement
Parameter _SigLatched Bit 2 because positive software limit switch range.
was triggered.
E A31F 1 Stop by negative software limit switch Not possible to execute command Return to the permissible movement
Parameter _SigLatched Bit 2 because negative software limit switch range.
was triggered.
E A320 par. Permissible position deviation External load or acceleration are too Reduce external load or acceleration.
exceeded high. Use a differently rated drive.
Parameter _SigLatched Bit 22 Error response can be adjusted via
parameter Flt_pDiff.
E A324 1 Error detected during homing Homing movement was stopped in Possible sub-error codes: E A325, E
(additional info = detailed error response to a detected error, the A326, E A327, E A328 or E A329.
number) detailed reason is indicated by the
Parameter _SigLatched Bit 10 additional info in the error memory.

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Error Error Description Cause Correctives

code class
(hex)
E A325 1 Limit switch to be approached not Homing to positive limit switch or Enable limit switch via 'IOsigLimP' or
enabled negative limit switch is disabled. 'IOsigLimN'.
Parameter _SigLatched Bit 10
E A326 1 Reference switch not found between Reference switch inoperative or not Verify correct operation and wiring of
positive limit switch and negative limit correctly connected. the reference switch.
switch
Parameter _SigLatched Bit 10
E A327 1 Reference movement to reference Search for reference switch without Verify correct operation and wiring of
switch without reversal of direction reversal of direction in positive the positive limit switch (negative limit
results in triggering of limit switch (negative) direction with positive limit switch).
Parameter _SigLatched Bit 10 switch (negative limit switch) triggered.
E A328 1 Reference movement to reference Search of reference switch without Reduce velocity for reference
switch without reversal of direction reversal of direction with limit switch or movement (parameter HMn) or
results in triggering of limit switch reference switch triggered. increase deceleration (parameter
Parameter _SigLatched Bit 10 RAMPdecel).
Verify correction operation and wiring
of positive limit switch, negative limit
switch and reference switch.
E A329 1 More than one signal positive limit Reference switch or limit switch not Verify correct wiring and 24 VDC
switch/negative limit switch/reference connected correctly or supply voltage supply voltage.
switch signal active for switches too low.
Parameter _SigLatched Bit 10
E A32A 1 Positive limit switch triggered with Start reference movement with Verify correct connection and
negative direction of movement negative direction (for example, operation of limit switch.
Parameter _SigLatched Bit 10 reference movement to negative limit Activate a jog movement with negative
switch) and activate the positive limit movement (target limit switch must be
switch (switch in opposite direction of connected to the negative limit switch).
movement).
E A32B 1 Negative limit switch triggered with Start reference movement with positive Verify correct connection and
positive direction of movement direction (for example, reference operation of limit switch.
Parameter _SigLatched Bit 10 movement to positive limit switch) and Activate a jog movement with positive
activate the negative limit switch movement (target limit switch must be
(switch in opposite direction of connected to the positive limit switch).
movement).
E A32C 1 Reference switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A32D 1 Positive limit switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A32E 1 Negative limit switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A330 0 Reference movement to index pulse The position difference between the Increase the distance between the
cannot be reproduced. Index pulse is index pulse and the switching point is index pulse and the switching point. If
too close to the switch insufficient. possible, the distance between the
index pulse and the switching point
should be a half motor revolution.
E A332 1 Error detected in operating mode Jog Jog movement was stopped in For additional info, see the detailed
(additional info = detailed error response to a detected error. error number in the error memory.
number)
Parameter _SigLatched Bit 10
E A334 2 Timeout Standstill Window monitoring Position deviation after movement Verify load.
greater than standstill window. This Verify settings for standstill window
may have been caused by an external (parameters STANDp_win,
load. STANDpwinTime and
STANDpwinTout).
Optimize control loop settings.

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Error Error Description Cause Correctives

code class
(hex)
E A337 0 Operating mode cannot be continued Continuation of interrupted movement Restart the operating mode.
Parameter _WarnLatched Bit 10 in operating 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 A33A 0 No valid zero point (ref_ok=0) No zero point defined by means of Use operating mode Homing to define
operating mode Homing. a valid
Zero point no longer valid due to zero point.
movement beyond permissible Use motor with multiturn encoder
movement range. (does not require homing).
E B100 0 RS485/Modbus: Indeterminable Unsupported Modbus service was Verify application on the Modbus
service received. master.
Parameter _WarnLatched Bit 9
E B200 0 RS485/Modbus: Protocol error Logical protocol error detected: Verify application on the Modbus
detected Incorrect length or unsupported master.
Parameter _WarnLatched Bit 9 subfunction.
E B201 2 RS485/Modbus: Nodeguard error Connection monitoring (parameter Verify application on the Modbus
detected MBnode_guard) is <> 0 ms and a master or modify value (set to 0 ms or
Parameter _SigLatched Bit 6 nodeguard event was detected. increase the value of the parameter
MBnode_guard monitoring time).
E B202 0 RS485/Modbus: Nodeguard alert Connection monitoring (parameter Verify application on the Modbus
Parameter _WarnLatched Bit 9 MBnode_guard) is <> 0 ms and a master or modify value (set to 0 ms or
nodeguard event was detected. increase the value of the parameter
MBnode_guard monitoring time).
E B600 4 Ethernet: Initialization error detected - -
Parameter _SigLatched Bit 8
E B601 1 Ethernet: Realtime data error detected - -
Parameter _SigLatched Bit 8
E B602 0 Ethernet: Realtime data alert - -
Parameter _WarnLatched Bit 14
E B603 2 Ethernet: Protocol error detected Can be caused by a connection Verify wiring, network devices and
Parameter _SigLatched Bit 8 timeout or an interruption of the master controller connection.
Ethernet link.
E B604 0 Ethernet: Protocol-related alert - -
Parameter _WarnLatched Bit 14
E B605 2 Indeterminable Ethernet error detected - -
Parameter _SigLatched Bit 8
E B607 0 Ethernet: Another request is currently - -
being processed
Parameter _WarnLatched Bit 14
E B608 2 Ethernet: Realtime Hot-Reset An NMT Reset was sent while the -
Parameter _SigLatched Bit 8 power stage was enabled.
A Modbus TCP channel was reset
while the power stage was enabled.
E B609 2 Ethernet: Realtime Hot-Stop - -
Parameter _SigLatched Bit 8
E B60A 0 Ethernet: Timeout in internal - -
communication
Parameter _WarnLatched Bit 14
E B60B 0 Ethernet: Error detected in internal - -
communication
Parameter _WarnLatched Bit 14
E B60C 4 Ethernet Module Incompatible The firmware of the drive is not -
Parameter _SigLatched Bit 8 compatible with the communication
firmware of the Ethernet module.

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Parameters
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Chapter 11
Parameters

Parameters

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Representation of the Parameters 214
List of Parameters 216

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Parameters

Representation of the Parameters

Description
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 address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ABCDE Short description A UINT32 Fieldbus 1234
Selection values 0.00 R/W
1 / Abc1: Explanation 1 3.00 per.
2 / Abc2: Explanation 2 300.00 -
Description and details

Field “Parameter Name”

The parameter name uniquely identifies a parameter.

Field “Description”
Short description:
Provides a short description of the parameter.
Selection values:
In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and
the designation of the value for entry via the commissioning software are specified.
1 = Value for input via fieldbus
Abc1 = Entry in the drop-down menu of the commissioning software
Description and details:
Provides further information on the parameter.

Field “Unit”
The unit of the value.

Field “Minimum Value”

The minimum value which can be entered.

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 Parameters

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 Minimum 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 remains in the nonvolatile memory after the drive is
powered off.
When a value of a persistent parameter is modified via the commissioning software or the fieldbus, you
must explicitly store the modified value in the nonvolatile memory.

Field “Expert”
The value of parameters with "expert" can only be modified in Expert mode of the commissioning software.
Expert mode requires access to the commissioning software via a password.

Field “Parameter Address”

Each parameter has a unique parameter address. The parameter address is used to access the parameter
via the fieldbus.

Decimal Numbers Entered via the Fieldbus

Please note that parameter values are entered via the fieldbus without a decimal point. All decimal places
must be entered.
Input examples:

Value Commissioning software Fieldbus

20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000

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Parameters

List of Parameters

List of the Parameters Sorted by Parameter Name

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_acc_pref Acceleration of reference value for profile generator. RPM/s INT32 Modbus 7954
Sign according to the changed velocity value: - R/- CIP 131.1.9
- -
Increased velocity: Positive sign - -
Reduced velocity: Negative sign
_AccessInfo Access channel information. - UINT16 Modbus 280
Low byte: Exclusive access - R/- CIP 101.1.12
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: CANopen
Value 5: CANopen via second SDO channel
Value 6: Profibus
Value 7: DeviceNet
Value 8: Reserved
Value 9: Ethernet
Values 10 ... 15: Modbus TCP
_actionStatus Action word. - UINT16 Modbus 7176
Signal state: - R/- CIP 128.1.4
0: Not activated - -
1: Activated - -

Bit 0: Error class 0

Bit 1: Error class 1
Bit 2: Error class 2
Bit 3: Error class 3
Bit 4: Error class 4
Bit 5: Reserved
Bit 6: Motor is at standstill (_n_act < 9 RPM)
Bit 7: Motor movement in positive direction
Bit 8: Motor movement in negative direction
Bit 9: Reserved
Bit 10: Reserved
Bit 11: Profile generator idle (reference velocity is 0)
Bit 12: Profile generator decelerates
Bit 13: Profile generator accelerates
Bit 14: Profile generator moves at constant speed
Bit 15: Reserved
_ethMacAdr1 Ethernet MAC address part 1. - UINT32 Modbus 6672
Bytes 1 ... 2 of the MAC address ( XX-XX-__-__-__- - R/- CIP 126.1.8
__) 0 -
XX are the bytes used. - -
Example:
MAC address: 11-22-33-44-55-66
The value stored in this case is 00001122h.
_ethMacAdr2 Ethernet MAC address part 2. - UINT32 Modbus 6674
Bytes 3 ... 6 of the MAC address ( __-__-XX-XX-XX- - R/- CIP 126.1.9
XX) - -
XX are the bytes used. - -
Example:
MAC address: 11-22-33-44-55-66
The value stored in this case is 33445566h.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_I2t_act_M Overload of motor. % INT16 Modbus 7218
- R/- CIP 128.1.25
- -
- -
_I2t_mean_M Load of motor. % INT16 Modbus 7220
- R/- CIP 128.1.26
- -
- -
_Id_act Actual motor current d-component. Apk INT16 Modbus 7684
In increments of 0.01 Apk. - R/- CIP 130.1.2
- -
- -
_Id_ref Reference motor current (d component, field Apk INT16 Modbus 7714
weakening). - R/- CIP 130.1.17
In increments of 0.01 Apk. - -
- -
_Idq_act Total motor current (vector sum d-components and Apk INT16 Modbus 7686
q-components). - R/- CIP 130.1.3
In increments of 0.01 Apk. - -
- -
_IO_LIO_act Status of digital inputs/outputs. - UINT16 Modbus 2090
Coding of the individual signals: - R/- CIP 108.1.21
Bit 0: LIO1 - -
Bit 1: LIO2 - -
...
_IO_STO_con Status of the inputs for the safety-related function - UINT16 Modbus 2088
STO. 0 R/- CIP 108.1.20
0 / Not Available: Inputs not available - -
1 / Not Connected: Inputs available, but not 3 -
connected (jumpered)
3 / Connected: Inputs available and connected
(safety-related function STO active)
_Iq_act Actual motor current q-component. Apk INT16 Modbus 7682
In increments of 0.01 Apk. - R/- CIP 130.1.1
- -
- -
_Iq_ref Reference motor current (q component, generating Apk INT16 Modbus 7712
torque). - R/- CIP 130.1.16
In increments of 0.01 Apk. - -
- -
_LastWarning Code of most recent error of error class 0. - UINT16 Modbus 7186
If the error is no longer active, the code is stored - R/- CIP 128.1.9
until the next Fault Reset. - -
Value 0: No error of error class 0 - -
_n_act Actual velocity of motor. RPM INT16 Modbus 7696
- R/- CIP 130.1.8
- -
- -
_n_actRAMP Actual velocity of profile generator. RPM INT32 Modbus 7948
- R/- CIP 131.1.6
- -
- -
_n_pref Velocity of reference value for profile generator. RPM INT32 Modbus 7950
- R/- CIP 131.1.7
- -
- -
_n_ref Reference speed of rotation. RPM INT16 Modbus 7694
- R/- CIP 130.1.7
- -
- -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_n_targetRAMP Target velocity of profile generator. RPM INT32 Modbus 7946
- R/- CIP 131.1.5
- -
- -
_OpHours Operating hours counter. s UINT32 Modbus 7188
- R/- CIP 128.1.10
- -
- -
_p_absENCusr Motor position with reference to encoder range. usr UINT32 Modbus 7710
The value range is determined by the encoder type. - R/- CIP 130.1.15
In the case of singleturn encoders, the value refers - -
to one motor revolution, in the case of multiturn - -
encoders to the entire encoder range (for example
4096 revolutions).

The position is not valid until the absolute motor

position has been determined.
In the case of invalid absolute motor position:
_WarnLatched
_WarnActive
Bit 13=1: Absolute motor position not yet captured
_p_absmodulo Absolute position with reference to 1 motor Inc UINT32 Modbus 7708
revolution. - R/- CIP 130.1.14
The position is not valid until the absolute motor - -
position has been determined. - -
In the case of invalid absolute motor position:
_WarnLatched
_WarnActive
Bit 13=1: Absolute motor position not yet captured
_p_act Actual position in internal units. Inc INT32 Modbus 7700
- R/- CIP 130.1.10
- -
- -
_p_actRAMPusr Actual position of profile generator. usr INT32 Modbus 7940
- R/- CIP 131.1.2
- -
- -
_p_actusr Actual position in user-defined units. usr INT32 Modbus 7706
- R/- CIP 130.1.13
- -
- -
_p_dif Deviation between reference position and actual revolution INT32 Modbus 7716
position. -214748.3648 R/- CIP 130.1.18
Corresponds to the position deviation of the position - -
controller. 214748.3647 -
In increments of 0.0001 revolution.
_p_DifPeak Maximum value of the position deviation. revolution UINT32 Modbus 4382
See SPV_p_maxDiff for more information. 0.0000 R/W CIP 117.1.15
A write access resets this value. - -
In increments of 0.0001 revolution. 429496.7295 -
Modified settings become active immediately.
_p_ref Reference position in internal units. Inc INT32 Modbus 7698
Value corresponds to the reference position of the - R/- CIP 130.1.9
position controller. - -
- -
_p_refusr Reference position in user-defined units. usr INT32 Modbus 7704
Value corresponds to the reference position of the - R/- CIP 130.1.12
position controller. - -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_p_tarRAMPusr Target position of profile generator. usr INT32 Modbus 7938
Absolute position value of the profile generator, - R/- CIP 131.1.1
calculated on the basis of the relative and absolute - -
position values received. - -
_prgNoCOM Program number of communication module. - UINT16 Modbus 6676
Example: PR840.1 - R/- CIP 126.1.10
The value is provided as a decimal value: 8401 - -
- -
_prgNoDEV Firmware number of device. - UINT16 Modbus 258
Example: PR840.1 - R/- CIP 101.1.1
The value is provided as a decimal value: 8401 - -
- -
_prgVerCOM Firmware version of communication module. - UINT16 Modbus 6678
Example: V4.201 - R/- CIP 126.1.11
The value is provided as a decimal value: 4201 - -
- -
_prgVerDEV Firmware version of device. - UINT16 Modbus 260
Example: V4.201 - R/- CIP 101.1.2
The value is provided as a decimal value: 4201 - -
- -
_serialNoDEV Device serial number. - UINT32 Modbus 302
Unique number for identification of the product 0 R/- CIP 101.1.23
Setting can only be modified if power stage is - per.
disabled. 4294967295 -
_SigActive Status of monitoring signals. - UINT32 Modbus 7182
See parameter _SigLatched for more details on the - R/- CIP 128.1.7
bit codes. - -
- -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_SigLatched Saved status of monitoring signals. - UINT32 Modbus 7184
Signal state: - R/- CIP 128.1.8
0: Not activated - -
1: Activated - -

Bit assignments:
Bit 0: General error detected
Bit 1: Hardware limit switches (LIMP/LIMN/REF)
Bit 2: Out of range (software limit switches, tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Inputs STO are 0
Bit 5: Reserved
Bit 6: RS485
Bit 7: CAN
Bit 8: Ethernet
Bit 9: Frequency of reference signal too high
Bit 10: Operating mode
Bit 11: Reserved
Bit 12: Profibus
Bit 13: Reserved
Bit 14: Undervoltage DC bus
Bit 15: Overvoltage DC bus
Bit 16: Mains phase
Bit 17: Motor connection
Bit 18: Motor overcurrent/short circuit
Bit 19: Motor encoder
Bit 20: Undervoltage 24VDC
Bit 21: Overtemperature (power stage, motor)
Bit 22: Position deviation exceeded
Bit 23: Maximum velocity exceeded
Bit 24: Inputs STO different
Bit 25: Reserved
Bit 26: Reserved
Bit 27: Reserved
Bit 28: Reserved
Bit 29: Nonvolatile memory error
Bit 30: System booting (hardware or parameter)
Bit 31: System (for example, Watchdog)

Monitoring functions are product-dependent.

_StopFault Detected error causing a stop (error classes 1 to 4). - UINT16 Modbus 7178
Error code of the most recent detected error. - R/- CIP 128.1.5
0 -
- -
_Temp_act_PA Temperature of power stage. °C INT16 Modbus 7200
- R/- CIP 128.1.16
- -
- -
_Ud_ref Reference motor voltage d-component. V INT16 Modbus 7690
In increments of 0.1 V. - R/- CIP 130.1.5
- -
- -
_UDC_act Voltage at DC bus. V UINT16 Modbus 7198
Supply voltage VDC. - R/- CIP 128.1.15
In increments of 0.1 V. - -
- -
_Udq_ref Total motor voltage (vector sum d-components and V INT16 Modbus 7692
q-components). - R/- CIP 130.1.6
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/- CIP 130.1.4
- -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_UserAppMem1 User-specific data 1. - UINT32 Modbus 318
This parameter can be used to store user-specific - R/W CIP 101.1.31
data. 0 per.
- -
_UserAppMem2 User-specific data 2. - UINT32 Modbus 320
This parameter can be used to store user-specific - R/W CIP 101.1.32
data. 0 per.
- -
_UserAppMem3 User-specific data 3. - UINT32 Modbus 322
This parameter can be used to store user-specific - R/W CIP 101.1.33
data. 0 per.
- -
_UserAppMem4 User-specific data 4. - UINT32 Modbus 324
This parameter can be used to store user-specific - R/W CIP 101.1.34
data. 0 per.
- -
_VoltUtil Degree of utilization of DC bus voltage. % INT16 Modbus 7718
With a value of 100 %, the drive operates at the - R/- CIP 130.1.19
voltage limit. - -
- -
_WarnActive Active errors of error class 0, bit-coded. - UINT16 Modbus 7190
See parameter _WarnLatched for more details on - R/- CIP 128.1.11
the bits. - -
- -
_WarnLatched Saved errors of error class 0, bit-coded. - UINT16 Modbus 7192
The bits are set to 0 in the case of a Fault Reset. - R/- CIP 128.1.12
Bits 10, 11, and 13 are set to 0 automatically. - -
- -
Signal state:
0: Not activated
1: Activated

Bit assignments:
Bit 0: General (see _LastWarning)
Bit 1: Temperature of power stage high
Bit 2: Temperature of motor high
Bit 3: Reserved
Bit 4: Power stage overload (I2t)
Bit 5: Motor overload (I2t)
Bit 6: Braking resistor overload (I2t)
Bit 7: CAN
Bit 8: Motor encoder
Bit 9: RS485 protocol
Bit 10: Inputs STO
Bit 11: DC bus undervoltage/mains phase not
present
Bit 12: Profibus
Bit 13: Position not yet valid (position capture still
running)
Bit 14: Ethernet
Bit 15: Reserved

Monitoring functions are product-dependent.

AbsHomeRequest Absolute positioning only after homing. - UINT16 Modbus 1580
0 / No: No 0 R/W CIP 106.1.22
1 / Yes: Yes 0 per.
Modified settings become active immediately. 1 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
AccessLock Locking other access channels. - UINT16 Modbus 316
Value 0: Allow control via other access channels 0 R/W CIP 101.1.30
Value 1: Lock control via other access channels - -
1 -
With this parameter, the fieldbus can lock active
access to the device via the following access
channels:
- Input signals
- Commissioning software

Processing of the input signal HALT cannot be

locked.
Modified settings become active immediately.
BRK_release Manual operation of the holding brake. - UINT16 Modbus 2068
0 / Close: Automatic processing 0 R/W CIP 108.1.10
1 / Open: Manual release of holding brake 0 -
The holding brake can only be manually released in 1 -
the operating states Switch On Disabled or Ready
To Switch On.

If the power stage is enabled, the value is

automatically set to 0.
Modified settings become active immediately.
BRK_status Status of holding brake. - UINT16 Modbus 2070
Value 0: Applied 0 R/- CIP 108.1.11
Value 1: Released 0 -
Value 2: Not available 2 -
Modified settings become active immediately.
Cap1Activate Capture input 1 start/stop. - UINT16 Modbus 2568
0 / Capture stop: Cancel capture function 0 R/W CIP 110.1.4
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.
Cap1Config Capture input 1 configuration. - UINT16 Modbus 2564
0 / 1->0: Position capture at falling edge 0 R/W CIP 110.1.2
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -
Cap1Count Capture input 1 event counter. - UINT16 Modbus 2576
Counts the capture events. - R/- CIP 110.1.8
The event counter is reset when capture input 1 is - -
activated. - -
Cap1Pos Capture input 1 captured position. usr INT32 Modbus 2572
Captured position at the time of the "capture signal". - R/- CIP 110.1.6
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap2Activate Capture input 2 start/stop. - UINT16 Modbus 2570
0 / Capture stop: Cancel capture function 0 R/W CIP 110.1.5
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.
Cap2Config Capture input 2 configuration. - UINT16 Modbus 2566
0 / 1->0: Position capture at falling edge 0 R/W CIP 110.1.3
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap2Count Capture input 2 event counter. - UINT16 Modbus 2578
Counts the capture events. - R/- CIP 110.1.9
The event counter is reset when capture unit 2 is - -
activated. - -
Cap2Pos Capture input 2 captured position. usr INT32 Modbus 2574
Captured position at the time of the "capture signal". - R/- CIP 110.1.7
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
CapStatus Status of the capture inputs. - UINT16 Modbus 2562
Read access: - R/- CIP 110.1.1
Bit 0: Position captured via input CAP1 - -
Bit 1: Position captured via input CAP2 - -
CTRL_I_max Current limitation. Apk UINT16 Modbus 4610
The value must not exceed the maximum 0.00 R/W CIP 118.1.1
permissible current of the motor or the power stage. - per.
299.99 -
Default: M_I_max
In increments of 0.01 Apk.
Modified settings become active immediately.
CTRL_KFPp Velocity feed-forward control. % UINT16 Modbus 4624
Overshoot of up to 110 % is possible. 0.0 R/W CIP 118.1.8
In increments of 0.1 %. 100.0 per.
Modified settings become active immediately. 110.0 -
CTRL_KPn Velocity controller P gain. A/RPM UINT16 Modbus 4614
The default value is calculated on the basis of the 0.0001 R/W CIP 118.1.3
motor parameters. - per.
In increments of 0.0001 A/RPM. 1.2700 -
Modified settings become active immediately.
CTRL_KPp Position controller P gain. 1/s UINT16 Modbus 4620
The default value is calculated. 2.0 R/W CIP 118.1.6
In increments of 0.1 1/s. - per.
Modified settings become active immediately. 114.3 -
CTRL_n_max Limitation of speed of rotation. RPM UINT16 Modbus 4612
The set value must not exceed the maximum speed 0 R/W CIP 118.1.2
of rotation of the motor. - per.
13200 -
Default: Maximum permissible speed of rotation of
the motor (see M_n_max)
Modified settings become active immediately.
CTRL_Pcdamp Posicast filter: Damping. % UINT16 Modbus 4648
The filter is deactivated at a value of 1000. 50.0 R/W CIP 118.1.20
In increments of 0.1 %. 100.0 per.
Modified settings become active immediately. 100.0 expert
CTRL_Pcdelay Posicast filter: Time delay. ms UINT16 Modbus 4650
The filter is deactivated at a value of 0. 0.00 R/W CIP 118.1.21
In increments of 0.01 ms. 0.00 per.
Modified settings become active immediately. 25.00 expert
CTRL_TAUnref Filter time constant of reference velocity value filter. ms UINT16 Modbus 4626
In increments of 0.01 ms. 0.00 R/W CIP 118.1.9
Modified settings become active immediately. 0.00 per.
327.67 -
CTRL_TNn Velocity controller integral action time. ms UINT16 Modbus 4616
In increments of 0.01 ms. 0.00 R/W CIP 118.1.4
Modified settings become active immediately. - per.
327.67 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ENC_pabsusr Adjustment of absolute position of encoder. usr INT32 Modbus 1324
The value range depends on the encoder type. -2147483648 R/W CIP 105.1.22
- -
Singleturn encoder: 2147483647 -
0 ... x - 1

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

Definition of 'x': Maximum position for one encoder

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

If processing is to be performed with inversion of the

direction of movement, this must be set before the
encoder position is adjusted.
After the write access, a wait time of at least 1
second is required before the drive can be powered
off.
Modified settings become active the next time the
product is powered on.
EthErrBehv Error class for incorrect realtime Ethernet data. - UINT16 Modbus 6412
0 / Warning: Error class 0 0 R/W CIP 125.1.6
1 / ErrorClass1: Error class 1 (Quick Stop) 0 per.
Modified settings become active immediately. 1 -
EthGateway Stored Ethernet network gateway. - UINT32 Modbus 6662
Default is 192.168.100.254 - R/W CIP 126.1.3
Modified settings become active the next time the - per.
product is powered on. - -
EthGatewayAct Ethernet network gateway used. - UINT32 Modbus 6668
Default is 192.168.100.254 - R/- CIP 126.1.6
- -
- -
EthIpAddr Stored IP address. - UINT32 Modbus 6658
Default is 192.168.100.10 - R/W CIP 126.1.1
Modified settings become active the next time the - per.
product is powered on. - -
EthIpAddrAct IP address used. - UINT32 Modbus 6664
- R/- CIP 126.1.4
- -
- -
EthIPConfInfo IP configuration information. - UINT16 Modbus 6694
2000 / Device Name: Device Name 0 R/- CIP 126.1.19
2001 / Bootp: Bootp - -
2002 / Stored: Stored in nonvolatile memory 65535 -
2003 / Build from MAC: Build from MAC
2004 / EtherNet/IP default: EtherNet/IP default
2005 / Powerlink: Powerlink
2006 / EtherCAT: EtherCAT
The IP configuration can be set with the switches in
the connector housing.
EthSubMask Stored subnet mask. - UINT32 Modbus 6660
Default is 255.255.255.0 - R/W CIP 126.1.2
Modified settings become active the next time the - per.
product is powered on. - -
EthSubMaskAct Subnet mask used. - UINT32 Modbus 6666
Default is 255.255.255.0 - R/- CIP 126.1.5
- -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_class Error class. - UINT16 Modbus 15364
Value 0: Error class 0 0 R/- CIP 160.1.2
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
FLT_del_err Clear error memory. - UINT16 Modbus 15112
Value 1: Delete entries in the error memory 0 R/W CIP 159.1.4
- -
The clearing process is completed if a 0 is returned 1 -
after a read access.
Modified settings become active immediately.
FLT_err_num Error code. - UINT16 Modbus 15362
Reading this parameter copies the entire entry for 0 R/- CIP 160.1.1
the detected error (error class, time of detection of - -
error, …) to an intermediate memory from which the 65535 -
elements of the detected error can then be read.

In addition, the read pointer of the error memory is

automatically set to the next error entry.
FLT_Idq Motor current at the time the error was detected. A UINT16 Modbus 15378
In increments of 0.01 A. - R/- CIP 160.1.9
- -
- -
FLT_MemReset Reset error memory read pointer. - UINT16 Modbus 15114
Value 1: Set error memory read pointer to oldest 0 R/W CIP 159.1.5
error entry. - -
Modified settings become active immediately. 1 -
FLT_n Motor velocity at the time the error was detected. RPM INT16 Modbus 15376
- R/- CIP 160.1.8
- -
- -
FLT_powerOn Number of power on cycles. - UINT32 Modbus 15108
0 R/- CIP 159.1.2
- -
4294967295 -
FLT_Qual Additional information on detected error. - UINT16 Modbus 15368
This entry contains additional information on the 0 R/- CIP 160.1.4
detected error, depending on the error number. - -
Example: a parameter address 65535 -
FLT_Temp_DEV Temperature of device at the time the error was °C INT16 Modbus 15382
detected. - R/- CIP 160.1.11
- -
- -
FLT_Temp_PA Temperature of power stage at the time the error °C INT16 Modbus 15380
was detected. - R/- CIP 160.1.10
- -
- -
FLT_Time Error time. s UINT32 Modbus 15366
With reference to operating hours counter 0 R/- CIP 160.1.3
- -
536870911 -
FLT_UDC DC bus voltage at the time the error was detected. V UINT16 Modbus 15374
In increments of 0.1 V. - R/- CIP 160.1.7
- -
- -
FLTAmpOnCyc Number of cycles of enabling the power stage at - UINT16 Modbus 15370
error time. - R/- CIP 160.1.5
Number of cycles of enabling the power stage from - -
the time the power supply (control voltage) was - -
switched on to the time the error occurred.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLTAmpOnTime Time between enabling of power stage and s UINT16 Modbus 15372
detection of the error. - R/- CIP 160.1.6
- -
- -
HMdisREFtoIDX Distance from switching point to index pulse. revolution INT32 Modbus 10264
Allows you to verify the distance between the index - R/- CIP 140.1.12
pulse and the switching point and serves as a - -
criterion for determining whether the reference - -
movement with index pulse can be reproduced.
In increments of 0.0001 revolution.
HMdisusr Distance from switching point. usr INT32 Modbus 10254
The distance from the switching point is defined as 1 R/W CIP 140.1.7
the reference point. 200 per.
2147483647 -
The parameter is only effective during a reference
movement without index pulse.
Modified settings become active the next time the
motor moves.
HMmethod Homing method. - UINT16 -
1: LIMN with index pulse 0 R/W
2: LIMP with index pulse - -
7: REF+ with index pulse, inv., outside 35 -
8: REF+ with index pulse, inv., inside
9: REF+ with index pulse, not inv., inside
10: REF+ with index pulse, not inv., outside
11: REF- with index pulse, inv., outside
12: REF- with index pulse, inv., inside
13: REF- with index pulse, not inv., inside
14: REF- with index pulse, not inv., outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in positive direction
REF-: Search movement in negative direction
inv.: Invert direction in switch
not inv.: Direction not inverted in switch
outside: Index pulse / distance outside switch
inside: Index pulse / distance inside switch
Modified settings become active immediately.
HMn Target velocity for searching the switch. RPM UINT16 Modbus 10248
The adjustable value is internally limited to the 1 R/W CIP 140.1.4
setting in RAMPn_max. 60 per.
Modified settings become active the next time the 13200 -
motor moves.
HMn_out Target velocity for moving away from switch. RPM UINT16 Modbus 10250
The adjustable value is internally limited to the 1 R/W CIP 140.1.5
setting in RAMPn_max. 6 per.
Modified settings become active the next time the 3000 -
motor moves.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMoutdisusr Maximum distance for search for switching point. usr INT32 Modbus 10252
Value 0: Monitoring of distance inactive 0 R/W CIP 140.1.6
Value >0: Maximum distance 0 per.
2147483647 -
After detection of the switch, the drive starts to
search for the defined switching point. If the defined
switching point is not found within the distance
defined here, the reference movement is canceled
and an error is detected.
Modified settings become active the next time the
motor moves.
HMp_homeusr Position at reference point. usr INT32 Modbus 10262
After a successful reference movement, this -2147483648 R/W CIP 140.1.11
position is automatically set at the reference point. 0 per.
Modified settings become active the next time the 2147483647 -
motor moves.
HMp_setpusr Position for Position Setting. usr INT32 -
Action object: write access triggers position setting. -2147483648 R/W
Only possible if the motor is at standstill. - -
Position scaling is not considered. 2147483647 -
Modified settings become active immediately.
HMsrchdisusr Maximum search distance after overtravel of switch. usr INT32 Modbus 10266
Value 0: Search distance monitoring disabled 0 R/W CIP 140.1.13
Value >0: Search distance 0 per.
2147483647 -
The switch must be activated again within this
search distance, otherwise the reference movement
is canceled.
Modified settings become active the next time the
motor moves.
IO_AutoEnable Enabling the power stage at PowerOn. - UINT16 Modbus 1292
0 / Off: A rising edge with the signal input function 0 R/W CIP 105.1.6
"Enable" enables the power stage 0 per.
1 / On: An active signal input with the signal input 2 -
function "Enable" enables the power stage
2 / AutoOn: The power stage is automatically
enabled
Modified settings become active the next time the
power stage is enabled.
IO_LO_set Setting the digital outputs directly. - UINT16 Modbus 2082
Bit 0 corresponds to the first output, bit 1 - R/W CIP 108.1.17
corresponds to the second output, and so on. - -
- -
IOfunct_LIO1 Function Input/Output LIO1. - UINT16 Modbus 1826
1 / Input Free available: Available as required - R/W CIP 107.1.17
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
21 / Input Positive limit switch (LIMP): Positive limit
switch (LIMP)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO2 Function Input/Output LIO2. - UINT16 Modbus 1828
1 / Input Free available: Available as required - R/W CIP 107.1.18
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
22 / Input Negative limit switch (LIMN): Negative
limit switch (LIMN)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO3 Function Input/Output LIO3. - UINT16 Modbus 1830
1 / Input Free available: Available as required - R/W CIP 107.1.19
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO4 Function Input/Output LIO4. - UINT16 Modbus 1832
1 / Input Free available: Available as required - R/W CIP 107.1.20
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOsigLimN Signal evaluation for negative limit switch. - UINT16 Modbus 1566
0 / Inactive: Inactive 0 R/W CIP 106.1.15
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOsigLimP Signal evaluation for positive limit switch. - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W CIP 106.1.16
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
IOsigRef Signal evaluation for reference switch. - UINT16 Modbus 1564
1 / Normally Closed: Normally closed NC 1 R/W CIP 106.1.14
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a reference 2 -
movement to the reference switch is processed.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
JOGactivate Activation of operating mode Jog. - UINT16 -
Bit 0 = 1: Positive direction of rotation 0 R/W
Bit 1 = 1: Negative direction of rotation 0 -
Bit 2 = 0: Slow velocity 7 -
Bit 2 = 1: Fast velocity

If both bits for the direction of rotation are activated

at the same time, no movement is started. If a jog
movement is running, the simultaneous activation of
the bits for the direction of rotation has no effect.
Modified settings become active immediately.
JOGn_fast Velocity for fast movement. RPM UINT16 Modbus 10506
The adjustable value is internally limited to the 1 R/W CIP 141.1.5
parameter setting in RAMPn_max. 180 per.
Modified settings become active immediately. 13200 -
JOGn_slow Velocity for slow movement. RPM UINT16 Modbus 10504
The adjustable value is internally limited to the 1 R/W CIP 141.1.4
parameter setting in RAMPn_max. 60 per.
Modified settings become active immediately. 13200 -
JOGstepusr Distance for step movement. usr INT32 Modbus 10510
Modified settings become active the next time the 0 R/W CIP 141.1.7
motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement. ms UINT16 Modbus 10512
Modified settings become active the next time the 1 R/W CIP 141.1.8
motor moves. 500 per.
32767 -
LIM_HaltReaction Halt option code. - INT16 Modbus 1582
1 / Deceleration ramp: Deceleration ramp 1 R/W CIP 106.1.23
3 / Torque ramp: Torque ramp 3 per.
Setting of deceleration ramp with parameter 3 -
RAMPdecel.
Setting of torque ramp with parameter
LIM_I_maxHalt.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.
LIM_I_maxHalt Current for Halt. Apk UINT16 Modbus 4364
Maximum value and default value depend on the - R/W CIP 117.1.6
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_I_maxQSTP Current for Quick Stop via torque ramp. Apk UINT16 Modbus 4362
Maximum value and default value depend on the - R/W CIP 117.1.5
motor and the power stage (settings M_I_max and - per.
PA_I_max). - -
In increments of 0.01 Apk.
Modified settings become active immediately.
LIM_QStopReact Quick Stop option code. - INT16 Modbus 1584
-2 / Torque ramp (Fault): Use torque ramp and -2 R/W CIP 106.1.24
transition to operating state 9 Fault 7 per.
-1 / Deceleration ramp (Fault): Use deceleration 7 -
ramp and transition to operating state 9 Fault
6 / Deceleration ramp (Quick Stop): Use
deceleration ramp and remain in operating state 7
Quick Stop Active
7 / Torque ramp (Quick Stop): Use torque ramp and
remain in operating state 7 Quick Stop Active
Setting of deceleration ramp with parameter
RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.
M_I_0 Continuous stall current of motor. Apk UINT16 Modbus 3366
In increments of 0.01 Apk. - R/- CIP 113.1.19
- -
- -
M_I_max Maximum current of motor. Apk UINT16 Modbus 3340
In increments of 0.01 Apk. - R/- CIP 113.1.6
- -
- -
M_I_nom Nominal current of motor. Apk UINT16 Modbus 3342
In increments of 0.01 Apk. - R/- CIP 113.1.7
- -
- -
M_I2t Maximum permissible time for maximum current of ms UINT16 Modbus 3362
motor. - R/- CIP 113.1.17
- -
- -
M_Jrot Moment of inertia of motor. kg cm2 UINT16 Modbus 3352
In increments of 0.1 kg cm2. - R/- CIP 113.1.12
- -
- -

M_kE Voltage constant kE of motor. - UINT16 Modbus 3350

Voltage constant in Vpk at 1000 RPM - R/- CIP 113.1.11
- -
- -
M_L_d Inductance d component of motor. mH UINT16 Modbus 3358
In increments of 0.01 mH. - R/- CIP 113.1.15
- -
- -
M_L_q Inductance q component of motor. mH UINT16 Modbus 3356
In increments of 0.01 mH. - R/- CIP 113.1.14
- -
- -
M_M_max Maximum torque of motor. N cm UINT16 Modbus 3346
- R/- CIP 113.1.9
- -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
M_M_nom Nominal torque of motor. N cm UINT16 Modbus 3344
- R/- CIP 113.1.8
- -
- -
M_n_max Maximum permissible speed of rotation of motor. RPM UINT16 Modbus 3336
- R/- CIP 113.1.4
- -
- -
M_n_nom Nominal speed of rotation of motor. RPM UINT16 Modbus 3338
- R/- CIP 113.1.5
- -
- -
M_Polepair Number of pole pairs of motor. - UINT16 Modbus 3368
- R/- CIP 113.1.20
- -
- -
M_R_UV Winding resistance of motor. Ω UINT16 Modbus 3354
In increments of 0.01 Ω. - R/- CIP 113.1.13
- -
- -
M_U_nom Nominal voltage of motor. V UINT16 Modbus 3348
In increments of 0.1 V. - R/- CIP 113.1.10
- -
- -
MBadr Modbus address. - UINT16 Modbus 5640
Valid addresses: 1 to 247 1 R/W CIP 122.1.4
Modified settings become active immediately. 1 per.
247 -
MBbaud Modbus Baud rate. - UINT16 Modbus 5638
9600 / 9600: 9600 Baud 9600 R/W CIP 122.1.3
19200 / 19200: 19200 Baud 19200 per.
38400 / 38400: 38400 Baud 38400 -
Modified settings become active the next time the
product is powered on.
MBdword_order Modbus word order for double words (32 bit values). - UINT16 Modbus 5646
0 / HighLow: HighWord-LowWord 0 R/W CIP 122.1.7
1 / LowHigh: LowWord-HighWord 0 per.
High word first or low word first 1 -

High word first -> Modicon Quantum

Low word first -> Premium, HMI (Schneider Electric)
Modified settings become active immediately.
MBformat Modbus data format. - UINT16 Modbus 5642
1 / 8Bit NoParity 1Stop: 8 bits, no parity bit, 1 stop bit 1 R/W CIP 122.1.5
2 / 8Bit EvenParity 1Stop: 8 bits, even parity bit, 1 2 per.
stop bit 4 -
3 / 8Bit OddParity 1Stop: 8 bits, odd parity bit, 1 stop
bit
4 / 8Bit NoParity 2Stop: 8 bits, no parity bit, 2 stop
bits
Modified settings become active the next time the
product is powered on.
MBnode_guard Modbus Node Guarding. ms UINT16 Modbus 5644
Value 0: Node Guarding inactive 0 R/W CIP 122.1.6
Value >0: Monitoring time 0 -
Modified settings become active immediately. 10000 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
MBTCP_FWupdate Firmware update via Modbus TCP. - UINT16 Modbus 5656
0 / Off: Disable firmware update via Modbus TCP 0 R/W CIP 122.1.12
1 / On: Enable firmware update via Modbus TCP 0 per.
The parameter can only be set via Modbus RTU. 1 expert
After a firmware update the parameter has to be set
to 0.
Modified settings become active immediately.
Available with firmware version ≥V1.102.
MBTCPdword_order ModbusTCP word order for double words (32 bit - UINT16 Modbus 6410
values). 0 R/W CIP 125.1.5
0 / HighLow: HighWord-LowWord 0 per.
1 / LowHigh: LowWord-HighWord 1 -
High word first or low word first

High word first -> Modicon Quantum

Low word first -> Premium, HMI (Schneider Electric)
Modified settings become active the next time the
product is powered on.
MinTimeAckBitLow Minimum time for acknowledgement bit movement - UINT16 Modbus 1608
active. 0 R/W CIP 106.1.36
Value 0: Disabled. Acknowledgement is generated 0 per.
by movement time itself. 16383 -
Value >0: Minimum time for acknowledgement bit
movement active.

If the movement time is less than the set time value,

the time for the acknowledgement of active
movement is increased.
If the movement time is greater than the set time
value, the acknowledgment bit for active movement
is processed based on the movement time only.

Example:
Movement time = 5 ms
Value for minimum time = 20 ms
Acknowledgement bit for active movement is set to
LOW for 20 ms.

This setting is also used for reference movements

and position setting (bits 'ref_ok' and
'homing_attained').
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
Available with firmware version ≥V1.010.
ModeError Error code for synchronous errors (ME flag). - UINT16 Modbus 6962
Manufacturer-specific error code that caused the - R/- CIP 127.1.25
ModeError flag to be set. - -
Usually, this is an error that was caused by the - -
activation of an operating mode.
MT_dismax Maximum permissible distance. revolution UINT16 Modbus 11782
If the reference value is active and the maximum 0.0 R/W CIP 146.1.3
permissible distance is exceeded, an error of class 1.0 -
1 is detected. 999.9 -

The value 0 switches off monitoring.

In increments of 0.1 revolution.
Modified settings become active the next time the
motor moves.
PA_T_max Maximum permissible temperature of power stage. °C INT16 Modbus 4110
- R/- CIP 116.1.7
- per.
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PA_T_warn Temperature limit of power stage for error class 0. °C INT16 Modbus 4108
- R/- CIP 116.1.6
- per.
- -
PA_U_maxDC Maximum permissible DC bus voltage. V UINT16 Modbus 4102
In increments of 0.1 V. - R/- CIP 116.1.3
- per.
- -
PA_U_minDC Minimum permissible DC bus voltage. V UINT16 Modbus 4104
In increments of 0.1 V. - R/- CIP 116.1.4
- per.
- -
PA_U_minStopDC DC bus voltage low threshold for Quick Stop. V UINT16 Modbus 4116
If the threshold is reached, the drive performs a - R/- CIP 116.1.10
Quick Stop. - per.
In increments of 0.1 V. - -
PAR_CTRLreset Reset control loop parameters. - UINT16 Modbus 1038
0 / No: No 0 R/W CIP 104.1.7
1 / Yes: Yes - -
The control loop parameters of the velocity 1 -
controller and the position controller are reset.
The current controller is automatically adjusted for
the connected motor.
Modified settings become active immediately.
PAReeprSave Save parameter values to the nonvolatile memory. - UINT16 Modbus 1026
Value 1: Save persistent parameters - R/W CIP 104.1.1
- -
The currently set parameters are saved to the - -
nonvolatile memory.
The saving process is complete when the parameter
is read and 0 is returned.
Modified settings become active immediately.
PARfactorySet Restore factory settings (default values). - UINT16 -
No: No 0 R/W
Yes: Yes - -
The parameters are reset to the factory settings and 3 -
subsequently saved to the nonvolatile memory.
A reset to the factory settings is only possible via the
commissioning software.
The saving process is complete when the parameter
is read and 0 is returned.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
PARuserReset Reset user parameters. - UINT16 Modbus 1040
Bit 0: Reset persistent user parameters to default 0 R/W CIP 104.1.8
values. - -
The parameters are reset with the exception of: 7 -
- Communication parameters
- Definition of the direction of rotation
- Signal selection position interface
- I/O functions
Bits 1 and 2: Reserved

The new settings are not saved to the nonvolatile

memory.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSdirOfRotat Definition of direction of rotation. - UINT16 Modbus 1560
0 / Clockwise: Clockwise 0 R/W CIP 106.1.12
1 / Counter Clockwise: Counter-clockwise 0 per.
With positive reference values, the motor rotates 1 -
clockwise (as you look at the end of the motor shaft
at the flange).

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 modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
POSscaleDenom Position scaling: Denominator. usr INT32 Modbus 1550
Refer to numerator (POSscaleNum) for a 1 R/W CIP 106.1.7
description. 16384 per.
2147483647 -
A new scaling is activated when the numerator value
is set.
Setting can only be modified if power stage is
disabled.
POSscaleNum Position scaling: Numerator. revolution INT32 Modbus 1552
Scaling factor is defined as: 1 R/W CIP 106.1.8
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr]

A new scaling is activated when the numerator value

is set.

User-defined limit values may be reduced due to the

calculation of an internal factor.
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
PPn_target Target velocity for operating mode Profile Position. RPM UINT16 -
The maximum value is limited to the setting in 1 R/W
CTRL_n_max. 60 -
The adjustable value is internally limited to the 13200 -
setting in RAMPn_max.
Modified settings become active immediately.
PPp_absusr Target position absolute for operating mode Profile usr INT32 -
Position. - R/W
Minimum and maximum values depend on: - -
- Scaling factor - -
- Software limit switches (if they are activated)
Modified settings become active immediately.
PPp_relpactusr Target position relative to motor position. usr INT32 -
Minimum and maximum values depend on: - R/W
- Scaling factor - -
- Software limit switches (if they are activated) - -

In the case of active positioning in operating mode

Profile Position, relative positioning refers to the
motor position.
The absolute user position limits can only be
overrun if the drive is at standstill when the
movement starts (x_end=1). In this case, implicit
position setting to position 0 is performed.
Modified settings become active immediately.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PPp_relprefusr Target position relative to the currently set target usr INT32 -
position. - R/W
Minimum and maximum values depend on: - -
- Scaling factor - -
- Software limit switches (if they are activated)

In the case of active positioning in operating mode

Profile Position, relative positioning refers to the
target position of the ongoing movement.
The absolute user position limits can only be
overrun if the drive is at standstill when the
movement starts (x_end=1). In this case, implicit
position setting to position 0 is performed.
Modified settings become active immediately.
PVn_target Target velocity of operating mode Profile Velocity. RPM INT32 -
The maximum value is limited to the setting in -13200 R/W
CTRL_n_max. - -
The adjustable value is internally limited to the 13200 -
setting in RAMPn_max.
Modified settings become active immediately.
RAMP_TAUjerk Jerk limitation of the motion profile for velocity. ms UINT16 Modbus 1562
0 / Off: Off 0 R/W CIP 106.1.13
1 / 1: 1 ms 0 per.
2 / 2: 2 ms 128 -
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
Adjustments can only be made if the operating
mode is inactive (x_end=1).
Modified settings become active the next time the
motor moves.
RAMPacc Acceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1556
Modified settings become active the next time the 1 R/W CIP 106.1.10
motor moves. 600 per.
3000000 -
RAMPaccdec Acceleration and deceleration for the Drive Profile usr UINT32 -
Lexium. - R/W
High word: Acceleration - -
Low word: Deceleration - -

The values are internally multiplied by 10 (example:

1 = 10 RPM/s).

Write access modifies the values of RAMPacc and

RAMPdecel. 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).
Modified settings become active the next time the
motor moves.
RAMPdecel Deceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1558
Modified settings become active the next time the 750 R/W CIP 106.1.11
motor moves. 750 per.
3000000 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPn_max Maximum velocity of the motion profile for velocity. RPM UINT16 Modbus 1554
The parameter is active in the following operating 60 R/W CIP 106.1.9
modes: 13200 per.
- Profile Position 13200 -
- Profile Velocity
- Homing
- Jog

If a greater reference velocity is set in one of these

operating modes, it is automatically limited to
RAMPn_max.
This way, commissioning at limited velocity is easier
to perform.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
motor moves.
RAMPquickstop Deceleration ramp for Quick Stop. RPM/s UINT32 Modbus 1572
Deceleration ramp for a software stop or an error 200 R/W CIP 106.1.18
with error class 1 or 2. 6000 per.
Modified settings become active the next time the 3000000 -
motor moves.
RAMPsym Acceleration/deceleration of the motion profile for usr UINT16 Modbus 1538
velocity. - R/W CIP 106.1.1
The values are internally multiplied by 10 (example: - -
1 = 10 RPM/s). - -

Write access modifies the values of RAMPacc and

RAMPdecel. The limit values are verified on the
basis of the values indicated for these parameters.
Read access returns the value of RAMPacc or
RAMPdecel, whichever is greater.
If the value cannot be represented as a 16 bit value,
the value is set to 65535 (maximum UINT16 value).
Modified settings become active the next time the
motor moves.
ResetWebPass Reset password of web server. - UINT16 Modbus 6704
Value 1: The password of the web server is reset to 0 R/W CIP 126.1.24
the default value. A new password must be set when - -
a new connection is established. 1 -
The parameter can only be written via Modbus RTU.
Modified settings become active immediately.
Available with firmware version ≥V1.102.
SPEEDn_target Reference velocity in operating mode Speed RPM INT16 Modbus 8456
Control. -30000 R/W CIP 133.1.4
The internal maximum speed is limited to the setting 0 -
in CTRL_n_max. 30000 -
Modified settings become active immediately.
SPEEDreference Reference value source for operating mode Speed - UINT16 Modbus 8450
Control. 0 R/W CIP 133.1.1
0 / None: None 0 -
2 / Parameter 'SPEEDn_target': Reference value via 2 -
parameter SPEEDn_target
Modified settings become active immediately.
SPV_Flt_pDiff Error response to excessively high position - UINT16 Modbus 1302
deviation. 1 R/W CIP 105.1.11
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 modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_HW_Deactiv Temporary deactivation of hardware limit switches. - UINT16 Modbus 1610
0 / None: No limit switch deactivated 0 R/W CIP 106.1.37
1 / Deactivate LIMP: Deactivate positive limit switch 0 -
2 / Deactivate LIMN: Deactivate negative limit 3 -
switch
3 / Deact. LIMP+LIMN: Deactivate both limit
switches
With this parameter, a PLC can temporarily
deactivate hardware limit switches. This is useful if
a homing procedure controlled by a PLC is to use a
limit switch as a reference switch without any error
response of the drive.
Modified settings become active immediately.
Available with firmware version ≥V1.010.
SPV_p_maxDiff Maximum position deviation. revolution UINT32 Modbus 4636
The position deviation is the difference between the 0.0001 R/W CIP 118.1.14
reference position and the actual position caused by 1.0000 per.
the load. 200.0000 -
In increments of 0.0001 revolution.
Modified settings become active immediately.
SPV_SW_Limits Activation of software limit switches. - UINT16 Modbus 1542
0 / None: Deactivated 0 R/W CIP 106.1.3
1 / SWLIMP: Activation of software limit switch 0 per.
positive direction 3 -
2 / SWLIMN: Activation of software limit switch
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.
Modified settings become active immediately.
SPVswLimNusr Negative position limit for software limit switch. usr INT32 Modbus 1546
Refer to description of parameter SPVswLimPusr. - R/W CIP 106.1.5
Setting can only be modified if power stage is -2147483648 per.
disabled. - -
Modified settings become active the next time the
power stage is enabled.
SPVswLimPusr Positive position limit for software limit switch. usr INT32 Modbus 1544
If a user-defined value entered is outside of the - R/W CIP 106.1.4
permissible range, the limit switch limits are 2147483647 per.
automatically set to the maximum user-defined - -
value.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
STANDp_win Standstill window, permissible control deviation. revolution UINT16 Modbus 4370
The control deviation for the standstill window time 0.0000 R/W CIP 117.1.9
must be within this range for a standstill of the drive 0.0010 per.
to be detected. 3.2767 -

Processing of the standstill window must be

activated via the parameter 'STANDpwinTime.
In increments of 0.0001 revolution.
Modified settings become active immediately.
STANDpwinTime Standstill window, time. ms UINT16 Modbus 4372
Value 0: Monitoring of standstill window deactivated 0 R/W CIP 117.1.10
Value >0: Time in ms during which the control 0 per.
deviation must be in the standstill window 32767 -
Modified settings become active immediately.

0198441113670 08/2020 237

Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
STANDpwinTout Timeout time for standstill window monitoring. ms UINT16 Modbus 4374
Value 0 : Timeout monitoring deactivated 0 R/W CIP 117.1.11
Value >0 : Timeout time in ms 0 per.
16000 -
Standstill window processing values are set via
STANDp_win and STANDpwinTime.

Time monitoring starts when the target position

(reference position of position controller) is reached
or when the profile generator has finished
processing.
Modified settings become active immediately.

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 ILA2K EtherNet/IP
Accessories and Spare Parts
0198441113670 08/2020

Chapter 12
Accessories and Spare Parts

Accessories and Spare Parts

Accessories and Spare Parts

Accessories

Description Reference
Braking Resistor Controller UBC60 ACC3EA001
Installation kit VW3L10111
Insert with cable entry (2 pieces) VW3L10100N2
Insert with cable entry (10 pieces) VW3L10100N10
Cable entry for commissioning VW3L10222
Insert for sealing (10 pieces) VW3L10000N10
Insert for sealing (20 pieces) VW3L10000N20
Insert for sealing (50 pieces) VW3L10000N50
Cable for commissioning interface, other cable end open 3 m VW3L1R000R30
Cable for commissioning interface, other cable end RJ45 3 m VW3L1T000R30
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Insert kit for commissioning VW3L1R000
Cable kit, power supply, EtherNet/IP, 3m VW3L2K001R30
Cable kit, STO, 3 m VW3L20010R30
Cable kit, STO, 5 m VW3L20010R50
Cable kit, STO, 10 m VW3L20010R100
Cable kit, STO, 15 m VW3L20010R150
Cable kit, STO, 20 m VW3L20010R200
Cable, power supply, 3 m VW3L30001R30
Cable, power supply, 5 m VW3L30001R50
Cable, power supply, 10 m VW3L30001R100
Cable, power supply, 15 m VW3L30001R150
Cable, power supply, 20 m VW3L30001R200
Cable, STO, 3 m VW3L30010R30
Cable, STO, 5 m VW3L30010R50
Cable, STO, 10 m VW3L30010R100
Cable, STO, 15 m VW3L30010R150
Cable, STO, 20 m VW3L30010R200
Connector kit for EtherNet/IP, 2 x male industrial connector M12, 1 x sealing cap M12 VW3L5K000
Connector kit for I/O, 2 x industrial connector M8 VW3L50200
Connector kit for I/O, 3 x industrial connector M8 VW3L50300
Connector for STO output, 1 x industrial connector M8 VW3L50010
Insert kit, 3 x I/O VW3L40300
Insert kit, 2 x I/O, 1 x STO input VW3L40210
Insert kit, 1 x STO input, 1 x STO output VW3L40020
Insert kit, 4 x I/O, 1 x STO input, 1 x STO output VW3L40420

Gearbox

Description Reference
Planetary gear for Lexium Integrated Drive ILAxx571, ratio 3:1 GBX060003A571L

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Accessories and Spare Parts

Description Reference
Planetary gear for Lexium Integrated Drive ILAxx571, ratio 5:1 GBX060005A571L
Planetary gear for Lexium Integrated Drive ILAxx571, ratio 8:1 GBX060008A571L
Planetary gear for Lexium Integrated Drive ILAxx571, ratio 16:1 GBX060016A571L
Planetary gear for Lexium Integrated Drive ILAxx571, ratio 40:1 GBX060040A571L
Planetary gear for Lexium Integrated Drive ILAxx572, ratio 3:1 GBX060003A572L
Planetary gear for Lexium Integrated Drive ILAxx572, ratio 5:1 GBX060005A572L
Planetary gear for Lexium Integrated Drive ILAxx572, ratio 8:1 GBX060008A572L
Planetary gear for Lexium Integrated Drive ILAxx572, ratio 16:1 GBX060016A572L
Planetary gear for Lexium Integrated Drive ILAxx572, ratio 40:1 GBX060040A572L

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 ILA2K EtherNet/IP
Service, Maintenance, and Disposal
0198441113670 08/2020

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 242
Maintenance 243
Replacing the Product 245
Shipping, Storage, Disposal 246

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Service, Maintenance, and Disposal

Service Addresses

Schneider Electric Automation GmbH

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 0
Fax: +49 (0) 9391 / 606 - 4000
Email: [email protected]

Additional Contact Addresses

See the homepage for additional contact addresses:
https://www.se.com

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Maintenance

Overview
There are no user-serviceable parts within the product.
Either replace the product, or contact your Schneider Electric service representative.
The product may only be repaired by a Schneider Electric service center.
For all service matters, contact your Schneider Electric service representative.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software and hardware components approved by Schneider Electric for use with this
equipment.
 Do not attempt to service this equipment outside of authorized Schneider Electric service centers.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Use only the accessories and mounting parts specified in the present document and no third-party devices
or components that have not been expressly approved by Schneider Electric. Do not modify the
equipment.
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 regularly that all output elements are firmly seated.
 Verify regularly that all mechanical and electrical threaded connections are tightened to the specified
torque.

Cleaning
If the permissible environmental conditions are not respected, external substances from the environment
may penetrate the product and cause unintended movement or equipment damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the environmental conditions are respected.
 Keep liquids from getting to the shaft bushing.
 Do not clean the product with a pressure washer.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Clean dust and dirt off the product at regular intervals. Insufficient heat dissipation to the ambient air may
excessively increase the temperature.
Motors are not suitable for cleaning with a pressure washer. The high pressure may force water into the
motor.
Care must be taken with cleaning products as some active agents may have deleterious effects on plastics
and welds. When using solvents or cleaning agents, verify that the cables, cable entry seals, O-rings and
motor paint are not damaged.

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NOTICE
CORROSION CAUSED BY CLEANING AGENTS
 Before using a cleaning agent, carry out a compatibility test in relation to the cleaning agent and the
component affected.
 Do not use alkaline cleaning agents.
 Do not use cleaning agents containing chloride.
 Do not use cleaning agents containing sulfuric acid.
Failure to follow these instructions can result in equipment damage.

Lifetime Safety-Related Function STO

The safety-related function STO is designed for a lifetime of 20 years. The expiration date is determined
by adding 20 years to the DOM (date of manufacture) shown on the nameplate of the product.
 This date must be included in the maintenance plan of your application.
Do not use the safety-related function STO after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.19. (31
December 2019). This means: Do not use the safety-related function STO after December 31, 2039.

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Replacing the Product

Overview
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, save the data to a PC using the commissioning software.
 Power off all supply voltages. Verify that no voltages are present.
 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 55).
 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 81).

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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 https://www.se.com/green-premium for information and documents on environmental protection as
per ISO 14025 such as:
 EoLi (Product End-of-Life Instructions)
 PEP (Product Environmental Profile)

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 ILA2K EtherNet/IP
Glossary
0198441113670 08/2020

Glossary

A
Actual value
In control engineering, the actual value is the value of the controlled variable at a given instant (for
example, actual velocity, actual torque, actual position, actual current, and so on). An actual value can be
a measured value (for example, the actual position can be a value measured by an encoder) or a derived
value (for example, the actual torque can be a value derived from the actual current). The actual value is
an input value used by the control loops of the drive to reach the reference value. Definition as per
IEC 61800-7 series and IEC 60050.
Attribute
A single value of an object (in a network device) that can be read or written over the network (also see the
glossary entries for Class, Instance, Object).

C
CIP
Common Industrial Protocol
Class
DeviceNet and EtherNet/IP describe the behavior of a network node in so-called object classes. A class
defines the behavior of (related) objects and consists of attributes and so-called services to work with these
attributes (read/write). For example: class vehicles, object car, attribute fuel level, service fill (also see the
glossary entries for Instance, Object, Attribute).

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 motor, direction of movement is defined as follows: Positive direction is when the
motor shaft rotates clockwise as you look at the end of the protruding motor shaft.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example:
31.12.19 corresponds to December 31, 2019
31.12.2019 corresponds to December 31, 2019

E
EDS
Electronic Data Sheet
EMC
Electromagnetic compatibility
EMI
Electromagnetic interference
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 and to derive other actual values
such as actual velocity.

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Glossary

Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition. Detected by the drive.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.

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
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 identifying the rotor position. The encoder returns one index pulse per revolution.
Instance
An actual object that is derived from a specific class ((also see the glossary entries for Class, Object,
Attribute).
Internal units
Resolution at which the motor can be positioned. Internal units are specified in increments.

M
MAC ID
Node address (Media Access Control); an address that is unique in the network.

O
Object
An object is a member of a specific class. The object 'bicycle' is a member of the class 'vehicles'. The object
'car' is a member of the class 'vehicles' (also see the glossary entries for Class, Instance, Attribute).

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, refer to IEC 60364-4-41
Persistent
Indicates whether the value of the parameter remains in the memory after a power cycle.

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 Glossary

Power stage
The power stage generates current for controlling the motor on the basis of the motion signals from the
controller.

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
RS-485
Fieldbus interface as per EIA-485 which enables serial data transmission with multiple devices.

S
Safety-related function
Safety-related functions are defined in the standard IEC 61800-5-2 (for example, Safe Torque Off (STO),
Safe Operating Stop (SOS) or Safe Stop 1 (SS1)).
Scaling factor
This factor is the ratio between an internal unit and a user-defined unit.

U
User-defined unit
Unit whose relationship to movements can be determined by the user via parameters.

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Glossary

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 ILA2K EtherNet/IP
Index
0198441113670 08/2020

Index

A CN4, 24 V signal interface

cable specifications, 74
acceleration ramp
connection, 74
motion profile for the velocity, 169
connector specifications, 74
access channels, 116
pin assignments printed board connectors, 74
ambient conditions
CN5, STO
operation, 20
cable specifications, 76
transportation and storage, 20
connection, 76
connector specifications, 76
pin assignments printed board connectors, 77
B commissioning
before you begin controller optimization, position controller, 109
safety information, 7 controller optimization, preparation, 104
controller optimization, velocity controller, 105
controller optimization, velocity controller P gain,
C 108
cable entries controller structure overview, 103
mounting cables, 64 current limitation, 93
mounting to drive, 65 digital inputs, digital outputs, 94
cable specifications direction of movement, 99
CN1, Vdc supply, 68 encoder, 100
CN2, fieldbus, 70 holding brake, 97
CN3, RS485, 72 limit switches, 95
CN4, 24 V signal interface, 74 safety-related function STO, 96
CN5, STO, 76 velocity limitation, 93
capture components and interfaces, 15
captured position, 176 connection CN1, 68
continuous, 175 connection CN2, 70
one-time, 175 connection CN3, 72
overview, 175 connection CN4, 74
rising edge, falling edge, 175 connection CN5, 76
start, stop, 175 connection, accessories, 78
status, 176 connector specifications
category 0 stop, 38 CN1, Vdc supply, 68
category 1 stop, 38 CN2, fieldbus, 70
clearances, 59 CN3, RS485, 72
CN1, fieldbus CN4, 24 V signal interface, 74
connection, 70 CN5, STO, 76
CN1, RS485 current limitation, 93
connection, 72
CN1, Vdc supply
cable specifications, 68 D
connection, 68 deceleration
connector specifications, 68 Quick Stop, 172
pin assignments industrial connectors, 69 deceleration ramp
pin assignments printed board connectors, 68 Halt, 171
CN2, fieldbus motion profile for the velocity, 169
cable specifications, 70 Quick Stop, 172
connector specifications, 70 deceleration, type of
pin assignments industrial connectors, 71 Halt, 171
pin assignments printed board connectors, 70 degree of protection, 21
CN3, RS485 dimensions
address and baud rate, 72 integrated drive, 22
cable specifications, 72 direction of movement, 99
connector specifications, 72 disposal, 246, 246
pin assignments printed board connectors, 73

E
electrical data, 23
electromagnetic compatibility, 26, 26

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Index

EMC, 26 installation, mechanical

encoder parameters, 100 clearances, 59
environmental conditions general information, 58
operation, 20 mounting positions, 59
transportation and storage, 20 output components, 59
equipotential bonding conductors, 36 ventilation, 59
error class, 126 intended use, 8
error class of error messages, 207 IP address
error memory, 202 derived from MAC address, 89
error messages, 206 DHCP based on DeviceName, 88
error response, 126 DHCP/BOOTP based on MAC address, 88
explicit messages, 47 stored in the nonvolatile memory, 87
external power supply unit, 35 IP degree of protection, 21

F J
factory settings, restoring, 113 jerk limitation, 170
forces Jog, operating mode
forces for mouing components to shaft, 27 continuous movement, 136
radial and axial forces on shaft, 27 functions, 140
fuses, 23 parameterization, 139
starting, 137
status information, 138
H step movement, 137
Halt terminating, 138
deceleration ramp, 171
overview, 171
torque ramp, 171 L
type of deceleration, 171 limit switches, hardware, 178
handshake via bit mode toggle, 53 limit switches, software
hardware limit switches, 178 activation, 181
holding brake, 97 overview, 181
Homing, operating mode position limits, 181
methods, 155 with target positions, 181
parameterization, 157 without target positions, 181
position setting, 164 load
reference movement to index pulse, 163 shaft load, 27
reference movement to limit switch, 160 load monitoring (I2t monitoring), 189
reference movement to reference switch, negative load-dependent position deviation, 183
direction, 162
reference movement to reference switch, positive
direction, 161 M
starting, 155 maintenance, 243
status information, 155 mechanical data, 22
terminating, 156 mode toggle, 53
monitoring
hardware limit switches, 178
I load monitoring (I2t monitoring, 189
I/O messages, 47, 49 load-dependent position deviation, 183
industrial connectors, 67 reference switch, 180
input assembly, instance 113, 51 software limit switches, 181
inspection before mounting, 57 standstill window, 185
installation, electrical temperature power stage, 188
accessories, 78 motion profile for the velocity
assembling cables, 65 acceleration ramp and deceleration ramp, 169
CN1, Vdc supply, 68 availability, 169
CN2, 24 V signal interface, 74 jerk limitation, 170
CN2, fieldbus, 70 overview, 169
CN3, RS485, 72 ramp slope, 169
CN5, STO, 76 mounting
mounting cable entries to drive, 65 clearances, 59
mounting cables to cable entries, 64 output components, 59
mounting connectors, 64 mounting positions, 59
via cable entries, 64 mounting surface for flange, 57
via industrial connectors, 67 movement range, 117

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 Index

N parameter _prgVerDEV, 219

parameter _serialNoDEV, 219
nameplate, 17
parameter _SigActive, 219
parameter _SigLatched, 200, 220
parameter _StopFault, 201, 220
O parameter _Temp_act_PA, 188, 220
operating mode parameter _Ud_ref, 220
change, 134 parameter _UDC_act, 220
Homing, 155 parameter _Udq_ref, 220
indication, 133 parameter _Uq_ref, 220
Jog, 136 parameter _UserAppMem1, 221
Profile Position, 150 parameter _UserAppMem2, 221
Profile Velocity, 146 parameter _UserAppMem3, 221
Speed Control, 142 parameter _UserAppMem4, 221
start, 134 parameter _VoltUtil, 221
operating state parameter _WarnActive, 221
change via fieldbus, 131 parameter _WarnLatched, 199, 221
change via signal inputs, 130 parameter AbsHomeRequest, 221
indication via fieldbus, 129 parameter AccessLock, 116, 222
indication via signal inputs, 128 parameter BRK_release, 98, 222
state description, 125 parameter BRK_status, 222
state diagram, 125 parameter Cap1Activate, 175, 222
operating state transition parameter Cap1Config, 175, 222
Quick Stop, 172 parameter Cap1Count, 176, 222
operating states, 124 parameter Cap1Pos, 176, 222
output assembly, instance 103, 50 parameter Cap2Activate, 176, 222
output components, 59 parameter Cap2Config, 175, 222
overview of integrated drive, 14 parameter Cap2Count, 176, 223
parameter Cap2Pos, 176, 223
parameter CapStatus, 176, 223
P parameter CTRL_I_max, 93, 223
parameter _acc_pref, 216 parameter CTRL_KFPp, 223
parameter _AccessInfo, 216 parameter CTRL_KPn, 105, 223
parameter _actionStatus, 216 parameter CTRL_KPp, 109, 223
parameter _ethMacAdr1, 216 parameter CTRL_n_max, 93, 223
parameter _ethMacAdr2, 216 parameter CTRL_Pcdamp, 223
parameter _I2t_act_M, 189, 217 parameter CTRL_Pcdelay, 223
parameter _I2t_mean_M, 189, 217 parameter CTRL_TAUnref, 105, 223
parameter _Id_act, 217 parameter CTRL_TNn, 105, 223
parameter _Id_ref, 217 parameter ENC_pabsusr, 101, 224
parameter _Idq_act, 217 parameter EthErrBehv, 204, 224
parameter _IO_LIO_act, 94, 217 parameter EthGateway, 224
parameter _IO_STO_con, 217 parameter EthGatewayAct, 224
parameter _Iq_act, 217 parameter EthIpAddr, 224
parameter _Iq_ref, 217 parameter EthIpAddrAct, 224
parameter _LastWarning, 201, 217 parameter EthIPConfInfo, 224
parameter _n_act, 217 parameter EthSubMask, 224
parameter _n_actRAMP, 217 parameter EthSubMaskAct, 224
parameter _n_pref, 217 parameter FLT_class, 202, 225
parameter _n_ref, 217 parameter FLT_del_err, 203, 225
parameter _n_targetRAMP, 218 parameter FLT_err_num, 202, 225
parameter _OpHours, 218 parameter FLT_Idq, 203, 225
parameter _p_absENCusr, 100, 218 parameter FLT_MemReset, 203, 225
parameter _p_absmodulo, 218 parameter FLT_n, 203, 225
parameter _p_act, 218 parameter FLT_powerOn, 203, 225
parameter _p_actRAMPusr, 218 parameter FLT_Qual, 203, 225
parameter _p_actusr, 218 parameter FLT_Temp_DEV, 203, 225
parameter _p_dif, 183, 218 parameter FLT_Temp_PA, 203, 225
parameter _p_DifPeak, 183, 218 parameter FLT_Time, 203, 225
parameter _p_ref, 218 parameter FLT_UDC, 203, 225
parameter _p_refusr, 218 parameter FLTAmpOnCyc, 203, 225
parameter _p_tarRAMPusr, 219 parameter FLTAmpOnTime, 203, 226
parameter _prgNoCOM, 219 parameter HMdisREFtoIDX, 159, 226
parameter _prgNoDEV, 219 parameter HMdisusr, 158, 226
parameter _prgVerCOM, 219 parameter HMmethod, 157, 226

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Index

parameter HMn, 159, 226 parameter PVn_target, 147, 235

parameter HMn_out, 159, 226 parameter RAMP_TAUjerk, 170, 235
parameter HMoutdisusr, 158, 227 parameter RAMPacc, 169, 235
parameter HMp_homeusr, 158, 227 parameter RAMPaccdec, 235
parameter HMp_setpusr, 164, 227 parameter RAMPdecel, 170, 235
parameter HMsrchdisusr, 158, 227 parameter RAMPn_max, 169, 236
parameter IO_AutoEnable, 227 parameter RAMPquickstop, 172, 236
parameter IO_LO_set, 174, 227 parameter RAMPsym, 236
parameter IOfunct_LIO1, 121, 227 parameter ResetWebPass, 91, 236
parameter IOfunct_LIO2, 121, 228 parameter SPEEDn_target, 143, 236
parameter IOfunct_LIO3, 121, 228 parameter SPEEDreference, 236
parameter IOfunct_LIO4, 122, 228 parameter SPV_Flt_pDiff, 184, 236
parameter IOsigLimN, 178, 228 parameter SPV_HW_Deactiv, 179, 237
parameter IOsigLimP, 178, 229 parameter SPV_p_maxDiff, 183, 237
parameter IOsigRef, 180, 229 parameter SPV_SW_Limits, 181, 237
parameter JOGactivate, 138, 229 parameter SPVswLimNusr, 182, 237
parameter JOGn_fast, 139, 229 parameter SPVswLimPusr, 182, 237
parameter JOGn_slow, 139, 229 parameter STANDp_win, 185, 237
parameter JOGstepusr, 139, 229 parameter STANDpwinTime, 185, 237
parameter JOGtime, 139, 229 parameter STANDpwinTout, 186, 238
parameter LIM_HaltReaction, 171, 229 pin assignments industrial connectors
parameter LIM_I_maxHalt, 93, 171, 229 CN1, Vdc supply, 69
parameter LIM_I_maxQSTP, 93, 173, 230 CN2, fieldbus, 71
parameter LIM_QStopReact, 172, 230 pin assignments printed board connectors
parameter M_I_0, 230 CN1, Vdc supply, 68
parameter M_I_max, 230 CN2, fieldbus, 70
parameter M_I_nom, 230 CN3, RS485, 73
parameter M_I2t, 230 CN4, 24 V signal interface, 74
parameter M_Jrot, 230 CN5, STO, 77
parameter M_kE, 230 pollution degree, 21
parameter M_L_d, 230 position capture
parameter M_L_q, 230 captured position, 176
parameter M_M_max, 230 continuous, 175
parameter M_M_nom, 231 one-time, 175
parameter M_n_max, 231 overview, 175
parameter M_n_nom, 231 rising edge, falling edge, 175
parameter M_Polepair, 231 start, stop, 175
parameter M_R_UV, 231 status, 176
parameter M_U_nom, 231 position controller
parameter MBadr, 231 optimization, 109
parameter MBbaud, 231 P gain, 109
parameter MBdword_order, 231 position deviation, load-dependent, 183
parameter MBformat, 231 Profile Position, operating mode
parameter MBnode_guard, 231 absolute movement, 150
parameter MBTCP_FWupdate, 232 functions, 153
parameter MBTCPdword_order, 232 parameterization, 152
parameter MinTimeAckBitLow, 232 relative movement, 150
parameter ModeError, 232 starting, 150
parameter MT_dismax, 232 status information, 150
parameter PA_T_max, 188, 232 terminating, 150
parameter PA_T_warn, 188, 233 Profile Velocity, operating mode
parameter PA_U_maxDC, 233 functions, 148
parameter PA_U_minDC, 233 parameterization, 147
parameter PA_U_minStopDC, 233 starting, 146
parameter PAR_CTRLreset, 233 status information, 146
parameter PAReeprSave, 233 terminating, 146
parameter PARfactorySet, 233
parameter PARuserReset, 112, 233
parameter POSdirOfRotat, 99, 234 Q
parameter POSscaleDenom, 119, 234 qualification of personnel, 7
parameter POSscaleNum, 119, 234
parameter PPn_target, 152, 234
parameter PPp_absusr, 152, 234
parameter PPp_relpactusr, 152, 234
parameter PPp_relprefusr, 152, 235

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 Index

Quick Stop
deceleration, 172
T
technical data
deceleration ramp, 172
24 V signals CN4, 24
operating state transition, 172
commissioning interface CN3, 24
overview, 172
electrical data, 23
torque ramp, 172
EMC, 26
environmental conditions operation, 20
R environmental conditions storage, 20
environmental conditions transportation, 20
ramp slope, motion profile for the velocity, 169
fieldbus interface CN2, 23
receive data, 47
fuses, 23
reference switch, 180
power supply, 23
replacing the integrated drive, 245
shaft-specific data, 27
representation of the parameters, 214
STO CN5, CN6, 24
resetting the user parameters, 112
supply voltage, 23
restoring factory settings, 113
vibration and shock, 20
temperature monitoring, 188
S torque ramp
Halt, 171
safety-related data Quick Stop, 172
safety-related function STO, 28 touch probe, 175
scaling, 118 transmit data, 47
scaling factor, 118 type code, 18
service addresses, 242
shaft
forces for mounting, 27 U
shaft load, 27
user-defined units, 118
shaft-specific data, 27
usr, 118
shipping, 246
signal input functions
factory assignments, 74, 120
overview, 120
V
velocity controller
parameterization, 120
optimization, 105
signal output functions
P gain, 108
factory assignments, 74, 120
velocity limitation, 93
overview, 120
ventilation, 59
parameterization, 120
verifying installation, 80
software limit switches
vibration and shock, 20
activation, 181
overview, 181
position limits, 181
with target positions, 181
W
without target positions, 181 web server, 90
Speed Control, operating mode wiring example, 191
functions, 144
parameterization, 143
starting, 142
status information, 142
terminating, 142
standstill window, 185
state diagram, 125
state machine, 125
state transitions, 126
STO
safety-related data, 28
technical data, 24
storage, 246

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