Schneider

Lexium 28A and BCH2 Servo Drive System
EIO0000002305 07/2019
Lexium 28A and BCH2 Servo

Drive System
User Guide
Original instructions
07/2019
EIO0000002305.04
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
document on any medium whatsoever without permission of Schneider Electric, given in writing. You also
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.
© 2019 Schneider Electric. All rights reserved.
2 EIO0000002305 07/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Part I Servo Drive System Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Servo Drive Device Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Drive / Motor References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 2 Document Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Document Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Part II Servo Drive System Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . 25
Chapter 3 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Conditions for CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 4 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Servo Drive Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Servo Drive Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Servo Drive Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Drive Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Single-Phase Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Three-Phase Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Inputs / Outputs Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter 5 Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Servo Motor Nameplate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Servo Motor Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.2 Motor Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Tightening Torque and Property Class of Screws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Overload Characteristics Curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Encoder Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.3 BCH2MB Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
BCH2MB Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
BCH2MB Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
BCH2MB Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.4 BCH2LD Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
BCH2LD Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
BCH2LD Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
BCH2LD Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.5 BCH2∙F Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
BCH2∙F Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
BCH2∙F Characteristics Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
BCH2∙F Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.6 BCH2LH Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
BCH2LH Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
BCH2LH Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
BCH2LH Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
EIO0000002305 07/2019 3
5.7 BCH2∙M Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
BCH2∙M Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
BCH2∙M Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
BCH2∙M Curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.8 BCH2∙R Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
BCH2∙R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
BCH2∙R Characteristics Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
BCH2∙R Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Chapter 6 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Commissioning Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Connectors and Adapters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
External Mains Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
DC Bus Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Application Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
CANopen Connectors, Distributors, Terminating Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . 94
CANopen Cables with Open Cable Ends. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Encoder Cables and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Signal Cable for Safety Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
External Braking Resistors and Holding Brake Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Motor Protection Switches and Power Contactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Part III Engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Chapter 7 Engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
External Mains Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
7.2 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.3 Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.4 Common DC Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Common DC Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.5 Safety Function STO (“Safe Torque Off”) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Process Minimizing Risks Associated with the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Functional Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Requirements for Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7.6 Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Internal Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
External Braking Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.7 Monitoring Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Monitoring Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.8 Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.9 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
General Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
I/O Wiring Example With Modicon M221 Logic Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4 EIO0000002305 07/2019
Part IV Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Chapter 8 Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Inspecting the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Scope of Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Chapter 9 Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Mechanical Installation Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Electrical Installation Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Connection Grounding Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Connection I/O Interface (CN1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Connecting the Motor Encoder (CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Connection PC (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Connection CAN (CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Connection Logic Supply and Power Stage Supply (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Connection DC Bus (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Connection Braking Resistor (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Connecting the Motor Phases (CN8). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Holding Brake Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Connection STO (CN9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Chapter 10 Motor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Mechanical Installation Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Connections and Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Connection of Motor and Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Holding Brake Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Chapter 11 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Part V Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Chapter 12 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Commissioning Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Chapter 13 Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Integrated HMI Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
7-Segment Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Status Information Via the HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Chapter 14 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Commissioning Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Setting the Device Address, Baud Rate and Connection Settings . . . . . . . . . . . . . . . . . . . . 207
Verifying the Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Test Operation in Operating Mode Velocity (V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Verifying the Safety Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Chapter 15 Tuning the Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Tuning the Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Easy Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Comfort Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Manual Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Part VI Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Chapter 16 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Representation of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
P0 - Status Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
P1 - Basic Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
P2 - Extended Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
P3 - Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
P4 - Diagnostics Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
P5 - Motion Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
EIO0000002305 07/2019 5
P6 - Position Sequence Data Sets Group 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
P7 - Position Sequence Data Sets Group 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
P8 - Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
P9 - DTM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Part VII Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Chapter 17 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Setting the Digital Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Setting the Digital Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Setting a Signal Output Via Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Forcing the Digital Signal Inputs and Signal Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Position Capture via DS402 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Chapter 18 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
18.1 Setting the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Setting the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Object units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
18.2 Jog Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Jog Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
18.3 Operating Mode Pulse Train (PT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Operating mode Pulse Train (PT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Pulse Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Gear Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Acceleration and Deceleration Limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
18.4 Operating Mode Position Sequence (PS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Operating mode Position Sequence (PS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Structure of a Data Set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Running Data Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Homing Data Set for Absolute Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
18.5 Operating Modes Velocity (V) and Velocity Zero (Vz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Operating Modes Velocity (V) and Velocity Zero (Vz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Acceleration and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
18.6 Operating Modes Torque (T) and Torque Zero (Tz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Operating Modes Torque (T) and Torque Zero (Tz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
18.7 Operating Mode CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Indication of the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
Changing the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Starting and Changing a CANopen Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
CANopen Operating Mode Profile Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
CANopen Operating Mode Profile Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
CANopen Operating Mode Profile Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
CANopen Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
CANopen Operating Mode Interpolated Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
CANopen Operating Mode Cyclic Synchronous Position . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
CANopen Operating Mode Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
CANopen Operating Mode Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
CANopen Operating Mode Analog Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
CANopen Operating Mode Analog Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
Part VIII Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
Chapter 19 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Diagnostics Via the Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Diagnostics Via the Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Diagnostics Via the Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
6 EIO0000002305 07/2019
Diagnostics Via the Commissioning Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Diagnostics Via the Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
Connection for Fieldbus Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
Alert Codes and Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Part IX Service, Maintenance and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . 439
Chapter 20 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Service Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Maintenance of the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Replacement of Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
Maintenance of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Changing the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Part X CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
Chapter 21 CANopen Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Service Data Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Process Data Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Chapter 22 CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
22.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Specifications for the Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Object Dictionary Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
22.2 1000h…1FFFh Standard Communication Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
10xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
12xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
14xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
16xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
18xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
1Axxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
22.3 4000h … 4FFFh Vendor-specific Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
40xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
41xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
42xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
43xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
44xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
45xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
46xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
47xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
48xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
49xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
4Bxxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
4Fxxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
22.4 6000h … 6FFFh Device-Specific Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
60xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
65xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
Glossary ..................................................... 517
Index ..................................................... 527
EIO0000002305 07/2019 7
8 EIO0000002305 07/2019
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.
All persons working on and with the product must be fully familiar with all applicable standards, directives,
and accident prevention regulations when performing such work.
EIO0000002305 07/2019 9
INTENDED USE
The products described or affected by this document are, along with software, accessories and options,
servo drive systems for servo motors and intended for industrial use according to the instructions,
directions, examples and safety information contained in the present document and other supporting
documentation.
The products 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 entire system, you must ensure the safety of persons by
means of the design of this entire system.
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 is prohibited and can result in hazards.
10 EIO0000002305 07/2019
About the Book
At a Glance
Document Scope
This document describes the functions of the Servo Drive LXM28A and the BCH2 motor.
Validity Note
This document has been updated with the firmware release of the Lexium 28A V1.75.
The technical characteristics of the devices described in the present document also appear online. To
access the information online:
Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 In the Search box type the reference of a product or the name of a product range.
 Do not include blank spaces in the reference or product range.
 To get information on grouping similar modules, use asterisks (*).
3 If you entered a reference, go to the Product Datasheets search results and click on the reference
that interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on
the product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that
interests you.
5 Depending on the size of your screen, you may need to scroll down to see the datasheet.
6 To save or print a datasheet as a .pdf file, click Download XXX product datasheet.
The characteristics that are presented 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.
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to
www.schneider-electric.com/green-premium.
Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com.
The internet site provides the information you need for products and solutions:
 The whole catalog for detailed characteristics and selection guides,
 The CAD files to help design your installation,
 All software and firmware to maintain your installation up to date,
 And finally all the User Guides related to your drive, listed below:
Title of documentation Reference number

Lexium 28A and BCH2 Servo Drive System - User Guide (This document) EIO0000002305 (English)
EIO0000002310 (Chinese)
Lexium 28A DTM Commissioning software - User Guide EIO0000002317 (English)
LXM28 - Common DC bus - Application note 0198441114085-EN (English)
0198441114084-DE (German)
0198441114086-FR (French)
0198441114087-IT (Italian)
0198441114088-ES (Spanish)
0198441114089-ZH (Chinese)
HBC Holding Brake Controller -Product Manual 0198441113316 (English)
Multi-loader - User Manual BBV48778 (English)
BBV48777 (French)
You can download these technical publications and other technical information from our website at
www.schneider-electric.com/en/download.
EIO0000002305 07/2019 11
Product Related Information
The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present
during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all
equipment. Verify compliance with any safety information, different electrical requirements, and normative
standards that apply to your machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains voltage, or
present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.
DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
 Disconnect all power from all equipment including connected devices prior to removing any covers or
doors, or installing or removing any accessories, hardware, cables, or wires.
 Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-
energized position.
 Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.
 Measure the voltage on the DC bus with a properly rated voltage sensing device and verify that the
voltage is less than 42.4 Vdc.
 Do not assume that the DC bus is voltage-free when the DC bus LED is off.
 Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
 Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
 Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper
ground connection exists before applying power to the unit.
 Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.
This equipment has been designed to operate outside of any hazardous location. Only install this
equipment in zones known to be free of a hazardous atmosphere.
DANGER
POTENTIAL FOR EXPLOSION
Install and use this equipment in non-hazardous locations only.
If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions,
the motor is no longer decelerated in a controlled way. Overload, errors or incorrect use may cause the
holding brake to no longer operate properly and may result in premature wear.
WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that movements without braking effect cannot cause injuries or equipment damage.
 Verify the function of the holding brake at regular intervals.
 Do not use the holding brake as a service brake.
 Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
12 EIO0000002305 07/2019
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.
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.
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.
DC Bus Voltage Measurement

The DC bus voltage can exceed 400 Vdc. The DC bus LED is not an indicator of the absence of DC bus
voltage.
DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
 Disconnect the voltage supply to all connections.
 Wait 15 minutes to allow the DC bus capacitors to discharge.
 Use a properly rated voltage-sensing device for measuring (greater than 400 Vdc).
 Measure the DC bus voltage between the DC bus terminals (PA/+ and PC/-) to verify that the voltage
is less than 42 Vdc
 Contact your local Schneider Electric representative if the DC bus capacitors do not discharge to less
than 42 Vdc within a period of 15 minutes.
 Do not operate the product if the DC bus capacitors do not discharge properly.
 Do not attempt to repair the product if the DC bus capacitors do not discharge properly.
EIO0000002305 07/2019 13
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.
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
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.
14 EIO0000002305 07/2019
Servo Drive System Planning
EIO0000002305 07/2019
Part I
What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
1 General Overview 17
2 Document Navigator 23
EIO0000002305 07/2019 15
16 EIO0000002305 07/2019
General Overview
EIO0000002305 07/2019
Chapter 1
General Overview
General Overview
What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Servo Drive Device Overview 18
Drive / Motor References 20
EIO0000002305 07/2019 17
General Overview
Servo Drive Device Overview
Presentation
The servo drive system includes:
 the drive (see page 31) and the motor (see page 53):
18 EIO0000002305 07/2019
General Overview
 the accessories and spare parts (see page 91):
Item Description
1 Commissioning tools (see page 92)
2 Connectors and adapters (see page 92)
3 External mains filters (see page 92)
4 DC Bus accessories (see page 93) (1)
5 Application nameplate (see page 93)
6 Fieldbus accessories (see page 94)
7 Motor cables (see page 96)
8 Encoder cables (see page 96)
9 Signal cables (see page 96)
10 Signal cables for safety function STO (see page 97)
11 External braking resistors (see page 97)
12 Circuit breakers (see page 97)
13 Motor protection switches and power contractors (see page 98)
(1) Not available for LXM28A•••M1X drives.
EIO0000002305 07/2019 19
General Overview
Drive / Motor References
Introduction
The present user guide provides information about the following Drives and Motors reference tables.
The Lexium 28A range is defined by AC-servo drives Lexium 28A for combination with AC-servo motors
BCH2.
 The combinations of servo motors with servo drives are based on the power class: both servo motor
and servo drive must have the same power class.
 The bundle of a servo drive with its related servo motor is designed to cover a nominal power from:
 0.05 kW up to 4.5 kW (0.067 up to 6.03 hp) with 200…240 V mains supply voltage.
 0.05 kW up to 0.75 kW (0.067 up to 1.005 hp) with 100…120 V mains supply voltage.
Compatibility between Drive and Motor is defined in the Drive / Motor combinations table (see page 22).
Lexium 28A Drive References List
Drive references Nominal power Supply mains

LXM28AUA5M1X 50 W single phase, 110 Vac
LXM28AU01M1X 100 W single phase, 110 Vac
LXM28AUA5M3X 50 W single phase or 3-phase, 230 Vac
LXM28AU01M3X 100 W single phase or 3-phase, 230 Vac
LXM28AU20M3X 2000 W 3-phase, 230 Vac
For further information, refer to the servo drive general overview (see page 32).
20 EIO0000002305 07/2019
General Overview
BCH2 Motor References List
Motor references Nominal power

BCH2MBA53•••5C 50 W
BCH2MB013•••5C 100 W
BCH2LD023•••5C 200 W
BCH2MM031•••6C 300 W
BCH2LD043•••5C 400 W
BCH2LF043•••5C 400 W
BCH2MM052•••6C 500 W
BCH2MM061•••6C 600 W
BCH2HF073•••5C 750 W
BCH2LF073•••5C 750 W
BCH2MM081•••6C 850 W
BCH2MM091•••6C 900 W
BCH2MM102•••6C 1000 W
BCH2HM102•••6C 1000 W
BCH2LH103•••6C 1000 W
BCH2MM152•••6C 1500 W
BCH2MM202•••6C 2000 W
BCH2MR202•••6C 2000 W
BCH2HR202•••6C 2000 W
BCH2LH203•••6C 2000 W
BCH2MR301•••6C 3000 W
BCH2MR302•••6C 3000 W
BCH2MR352•••6C 3500 W
BCH2MR451•••6C 4500 W
For further information, refer to Servo Motor Type Code (see page 58).
EIO0000002305 07/2019 21
General Overview
Drive / Motor Combinations

The permissible Drive / Motor Combinations are detailed in the following table:
Drive Motor Nominal Nominal Nominal Peak Rotor Moment

power speed of torque torque inertia of inertia
rotation without
holding
brake
W rpm Nm Nm kg.cm2 -
Devices 110 Vac that can be connected via a single phase
LXM28AUA5M1X BCH2MBA53∙∙∙5C 50 3000 0.16 0.48 0.054 Medium
LXM28AU01M1X BCH2MB013∙∙∙5C 100 3000 0.32 0.96 0.075 Medium
LXM28AU02M1X BCH2LD023∙∙∙5C 200 3000 0.64 1.92 0.16 Low
BCH2LD043∙∙∙5C 400 3000 1.27 3.81 0.27 Low
LXM28AU04M1X
BCH2LF043∙∙∙5C 400 3000 1.27 3.81 0.67 Low
BCH2LF073∙∙∙5C 750 3000 2.39 7.16 1.19 Low
LXM28AU07M1X
BCH2HF073∙∙∙5C 750 3000 2.39 7.16 1.54 High
Devices 220 Vac that can be connected via a single phase or three phases
LXM28AUA5M3X BCH2MBA53∙∙∙5C 50 3000 0.16 0.48 0.054 Medium
LXM28AU01M3X BCH2MB013∙∙∙5C 100 3000 0.32 0.96 0.075 Medium
BCH2MM031∙∙∙6C 300 1000 2.86 8.59 6.63 Medium
BCH2LF043∙∙∙5C 400 3000 1.27 3.81 0.67 Low
BCH2MM052∙∙∙6C 500 2000 2.39 7.16 6.63 Medium
BCH2MM061∙∙∙6C 600 1000 5.73 17.19 6.63 Medium
LXM28AU07M3X
BCH2LF073∙∙∙5C 750 3000 2.39 7.16 1.19 Low
BCH2HF073∙∙∙5C 750 3000 2.39 7.16 1.54 High
BCH2MM081∙∙∙6C 850 1500 5.39 13.8 13.5 Medium
BCH2MM091∙∙∙6C 900 1000 8.59 25.77 9.7 Medium
LXM28AU10M3X BCH2LH103∙∙∙6C 1000 3000 3.18 9.54 2.4 Low
BCH2MM102∙∙∙6C 1000 2000 4.77 14.3 6.63 Medium
BCH2HM102∙∙∙6C 1000 2000 4.77 14.3 8.41 High
LXM28AU15M3X BCH2MM152∙∙∙6C 1500 2000 7.16 21.48 9.7 Medium
Devices 220 Vac that can be connected via three phases
BCH2LH203∙∙∙6C 2000 3000 6.37 19.11 4.28 Low
BCH2MM202∙∙∙6C 2000 2000 9.55 28.65 13.5 Medium
LXM28AU20M3X
BCH2MR202∙∙∙6C 2000 2000 9.55 28.65 26.5 Medium
BCH2HR202∙∙∙6C 2000 2000 9.55 28.65 34.68 High
BCH2MR301∙∙∙6C 3000 1500 19.1 57.29 53.56 Medium
LXM28AU30M3X
BCH2MR302∙∙∙6C 3000 2000 14.32 42.97 53.56 Medium
BCH2MR352∙∙∙6C 3500 2000 16.7 50.3 53.56 Medium
LXM28AU45M3X
BCH2MR451∙∙∙6C 4500 1500 28.65 71.62 73.32 Medium
22 EIO0000002305 07/2019
Document Navigator
EIO0000002305 07/2019
Chapter 2
Document Navigator
Document Navigator
Document Navigator
Document Content
This user guide contains following data:
 Technical data (see page 25)
 Conditions for UL 508C and CSA (see page 27)
 Drive (see page 31)
 Motor (see page 53)
 Accessories and spare parts (see page 91)
 Engineering (see page 99)

 Installation (see page 133)
 Before mounting (see page 135)
 Drive installation (see page 139)
 Motor installation (see page 177)
 Verifying installation (see page 189)
 Commissioning (see page 191)

 Overview (see page 193)
 Integrated HMI (see page 197)
 Commissioning procedure (see page 205)
 Tuning the control loop (see page 213)
 Parameters (see page 235)

 Operation (see page 311)
 Operation (see page 313)
 Operating modes (see page 333)
 Diagnostics and troubleshooting (see page 421)

 Service, maintenance and disposal (see page 439)
 CANopen (see page 451)
 CANopen basics (see page 453)
 CANopen object dictionary (see page 459)
EIO0000002305 07/2019 23
Document Navigator
24 EIO0000002305 07/2019
Servo Drive System Technical Data
EIO0000002305 07/2019
Part II

3 Certifications 27
4 Drive 31
5 Motor 53
6 Accessories and Spare Parts 91
EIO0000002305 07/2019 25
26 EIO0000002305 07/2019
Certifications
EIO0000002305 07/2019
Chapter 3
Certifications
Certifications
Download links
Item Link
UL certification status UL_InfoBY01
CSA certificate CSA_70022260
CSA_2869159
EU Declaration of conformity NHA3487100
TÜV certificate TUEV_0120554010014
KC certificate - Reference group 1 KC_1333-B797-B43E-FC6C
KC certificate - Reference group 2 KC_8812-6AC0-ECBC-1757
KC certificate - Reference group 3 KC_AE96-6B40-C214-7A18
KC certificate - Reference group 4 KC_A1BB-480B-E156-0EF1

Topic Page
Conditions for UL 508C 28
Conditions for CSA 29
EIO0000002305 07/2019 27
Certifications
Conditions for UL 508C
Introduction
The UL certification status can be downloaded on the Schneider Electric website.
If the product is used to comply with UL 508C, the following conditions must also be met.
Wiring
Use at least 75 °C (167 °F) copper conductors.
Fuses
Use fuses as per UL 248 or circuit breaker as per UL 489.
LXM28A UA5, U01, U02, U20, U30, U45

U04, U07, U10,
U15
Maximum fuse rating of fuse to be connected upstream 25 A 32 A
Class if fuses are used J J
Class if circuit breakers are used D D
Overvoltage Category
Use only in overvoltage category III or where the maximum available Rated Impulse Withstand Voltage
Peak is equal or less than 4000 Volts, or equivalent as defined in UL 840 and its equivalent defined in
IEC 60664-1.
28 EIO0000002305 07/2019
Certifications
Conditions for CSA
The CSA certificate can be downloaded on the Schneider Electric website.

If the product is used to comply with CSA, the following conditions must also be met.
Integral solid-state short circuit protection in these drives does not provide branch circuit protection.
DANGER
Provide branch circuit protection in accordance with the manual instructions, National Electrical Code and
any additional local codes of the type and size specified in the present document.
For reference groups 1, 2, 3, and 4 (see Fuse Types table), this product is suitable for use on a circuit
capable of delivering not more than 200 kA RMS symmetrical amperes and 230 Vac (LXM28A•••M3X) or
120 Vac (LXM28A•••M1X) maximum, when protected by Listed Class J, CC or RK5 fuses as indicated in
this instruction manual and the Fuse Types table. Instead of fuses, protection may be provided by circuit
breakers of type C60 by Schneider Electric with the maximum current ratings specified in the Fuse Types
table.
For reference group 1 only, this product is suitable for motor group installation on a circuit capable of
delivering not more than 5 kA RMS symmetrical amperes and 230 Vac (LXM28A•••M3X) or 120 Vac
(LXM28A•••M1X) maximum, when protected by Listed Class J or CC fuses as indicated in the instruction
manual and the Fuse Types table. Instead of fuses, protection may be provided by circuit breakers of type
C60 by Schneider Electric with the maximum current ratings specified in the Fuse Types table.
The opening of the branch-circuit protective device may be an indication that an electrical interruption has
been detected.
DANGER
 Examine all current carrying parts and other components of the drive controller for damage and
replace if necessary before replacing fuses or engaging circuit breakers.
 Completely replace overload relays if burnout of the current element occurs.
EIO0000002305 07/2019 29
Certifications
Capacitive voltages above 40 V may remain for up to 15 minutes after power is removed from the drive.
DANGER
energized position.
These drives are provided with load and speed adjustable motor overload and short circuit protection.
Adjust the parameter P1-78 ‘User-Defined maximal current’ in the drive which protects the motor by limiting
the maximum current according to the required degree of protection of the motors as indicated on the name
plate.
Other Characteristics
Maximum surrounding Air Temperature: 40…55 °C (104…131 °F) with current derating of 1% per °C (per
1.8 °F).
Tightening torque for the connectors labelled CN5, CN7 and CN8 for drive reference group:
 3 and 4: 0.7 … 0.8 Nm (6.2 … 7 lb.in)
Fuse Types
Reference Group Reference Class Maximum Current

1 LXM28AUA5M3X
LXM28AU01M3X
LXM28AU02M3X CC or J 25 A
LXM28AU04M3X
LXM28AU07M3X
2 LXM28AUA5M1X
LXM28AU01M1X
LXM28AU02M1X RK5 or CC or J 25 A
LXM28AU04M1X
LXM28AU07M1X
LXM28AU10M3X
RK5 or CC or J 25 A
LXM28AU15M3X
3 LXM28AU20M3X RK5 or J 45 A
4 LXM28AU30M3X
RK5 or J 50 A
LXM28AU45M3X
30 EIO0000002305 07/2019
Drive
EIO0000002305 07/2019
Chapter 4
Drive
Drive

This chapter contains the following sections:
Section Topic Page
4.1 General Overview 32
4.2 Drive Technical Data 36
EIO0000002305 07/2019 31
Drive
Section 4.1
General Overview
General Overview
What Is in This Section?

This section contains the following topics:
Topic Page
Servo Drive Description 33
Servo Drive Nameplate 34
Servo Drive Type Code 35
32 EIO0000002305 07/2019
Drive
Servo Drive Description
Presentation
Item Description Connector

1 Connector for safety function STO CN9 (see page 175)
2 Slot for application name plate (VW3M2501) -
3 HMI: 7-segment display, 5 buttons, and 2 status LED -
4 Terminal for motor connection CN8 (see page 170)
5 Terminal for braking resistor connection CN7 (see page 168)
6 DC-bus connector(1) with status LED CN6 (see page 167)
7 Terminal for connecting the power supply CN5 (see page 164)
8 Screw terminal for protective ground (protective earth) -
9 QR code for access to technical data -
10 RJ45 connector for Modbus serial link (commissioning interface) CN3 (see page 159)
11 Connector for the encoder of the motor CN2 (see page 157)
12 2 x RJ45 connectors for integrated CANopen connection CN4 (see page 161)
13 Device Reference -
14 Input/output connector CN1 (see page 145)
(1) Not available for LXM28A•••M1X drives.
Integrated Fieldbus
The Lexium 28A Servo Drive embeds a dual port CANopen adapter that can be used in a CANopen
industrial fieldbus.
Parameters Access
Servo drive parameters (see page 237) may be accessed using:
 The integrated HMI
 The Device Type Manager (DTM)
 Directly using the fieldbus address of the device to read and write to parameters using the object
dictionary
Object Dictionary
The CANopen objects may be accessed through the fieldbus, using their address.
The objects Drive Parameters are identified by their name in the Parameter column in the object dictionary
table.
Three groups of objects are available in the object dictionary.
 1000h - 1FFFh: Standard communication Object Group (see page 464)
 4000h - 4FFFh: Vendor-specific Object Group (see page 477)
 6000h - 6FFFh: Device profile Object Group (see page 509)
EIO0000002305 07/2019 33
Drive
Servo Drive Nameplate
Presentation
The nameplate contains the following data:
Item Description
1 Drive reference (see page 35)
2 Logic supply
3 Cable specifications
4 Certifications
5 Barcode
6 Serial number
7 Output power
8 Degree of protection
9 Hardware version
10 Date of manufacture
34 EIO0000002305 07/2019
Drive
Servo Drive Type Code
Servo Drive Type Code
Item 1 2 3 4 5
Type code (example) LXM 28 A U07 M3X
Item Meaning
1 Product designation
LXM = Lexium
2 Product type
28 = AC servo drive for one axis
3 Interfaces
A = CAN, PTI, I/O interface, commissioning via Modbus RTU
4 Continuous power
UA5 = 0.05 kW
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1 kW
U15 = 1.5 kW
U20 = 2 kW
U30 = 3 kW
U45 = 4.5 kW
5 Power stage supply [Vac]
M1X = single phase, 100/120 Vac
M3X = single phase or 3-phase, 200/230 Vac
EIO0000002305 07/2019 35
Drive
Section 4.2
Drive Technical Data
Drive Technical Data

Topic Page
Environmental Conditions 37
Dimensions 39
Electrical Data 41
Single-Phase Connection 43
Three-Phase Connection 45
Inputs / Outputs Characteristics 47
36 EIO0000002305 07/2019
Drive
Environmental Conditions
Ambient Conditions During Operation

The maximum permissible ambient temperature during operation depends on the mounting distances
between the devices and on the required power. Observe the instructions in the chapter Installation
(see page 140).
Description Unit Value

Ambient temperature without current derating (no icing, non- °C (°F) 0…40 (32…104)
condensing
Ambient temperature with current derating of 1% per 1 °C (1.8 °F) °C (°F) 40…55 (104…131)
The following relative humidity is permissible during operation:

Relative humidity (non-condensing) % <95

Installation altitude above mean sea level without current derating m (ft) <2000 (<6561)
Ambient Conditions During Transportation and Storage

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

Temperature °C (°F) -25…65 (-4…149)
The following relative humidity is permissible during transportation and storage:

Relative humidity (non-condensing) % <95
Installation Site and Connection

For operation, the device must be mounted in a closed control cabinet with a degree of protection of at
least IP 54. The device may only be operated with a permanently installed connection.
DANGER
Install the drive in a control cabinet or housing with a minimum IP 54 rating.
Pollution Degree and Degree of Protection
Description Value
Pollution degree 2
Degree of protection IP20
EIO0000002305 07/2019 37
Drive
Degree of Protection When the Safety Function Is Used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive
substances may cause the safety function to become inoperative.
WARNING
INOPERABLE SAFETY FUNCTION
Ensure that conductive substances (water, contaminated or impregnated oils, metal shavings, etc.)
cannot get into the drive.
Vibration and Shock During Operation
Description Value
Class as per IEC 60721-3-3 3M4 3 mm from 9…200 Hz
Maximum shock 98.1 m/s2 (10 g) Type I
Vibration and Shock During Transportation and Storage
Description Value
Class as per IEC 60721-3-2 2M2
3.5 mm (2…9 Hz)
9.81 m/s2 (1 g) from 9…200 Hz
14.715 m/s2 (1.5 g) from 200…500 Hz
34.335 m/s2 (3.5 g) from 2…9 Hz
Maximum shock 294.3 m/s2 (30 g) Type II
38 EIO0000002305 07/2019
Drive
Dimensions
Lexium 28A Dimensions

LXM28AUA5, LXM28AU01, LXM28AU02, LXM28AU04, LXM28AU07, LXM28AU10, LXM28AU15,
LXM28AU20
LXM28A UA5M3X, U01M3X, U10M3X, U15M3X U20M3X

U02M3X, U04M3X, UA5M1X, U01M1X,
U07M3X U02M1X, U04M1X,
Unit U07M1X
B mm (in) 55 (2.17) 55 (2.17) 62 (2.44)
H mm (in) 173.2 (6.82) 173.5 (6.83) 194.5 (7.66)
h mm (in) 150 (5.91) 150 (5.91) 170 (6.69)
F mm (in) 164 (6.46) 164 (6.46) 185 (7.28)
T mm (in) 146 (5.75) 170 (6.69) 184 (7.24)
t mm (in) 152.7 (6.01) 176.3 (6.94) 197 (7.76)
EIO0000002305 07/2019 39
Drive
LXM28AU30, LXM28AU45
LXM28A Unit U30M3X, U45M3X

B mm (in) 116 (4.57)
H mm (in) 245 (9.65)
h mm (in) 234 (9.21)
F mm (in) 235 (9.25)
T mm (in) 186 (7.32)
t mm (in) 199 (7.83)
40 EIO0000002305 07/2019
Drive
Electrical Data
Introduction
The products are intended for industrial use and may only be operated with a permanently installed
connection.
110 Vac Mains Voltage: Range and Tolerance

LXM28A•••M1X

110 Vac single-phase (LXM28A•••M1X) Vac 120 -10 % ... 120 +10 %
Frequency Hz 50 -5 % ... 60 +5 %
Transient overvoltages – Overvoltage category III(1)
Rated voltage to ground Vac 120
(1) Depends on installation altitude, see Environmental Conditions (see page 37)
220 Vac Mains Voltage: Range and Tolerance

LXM28A•••M3X

220 Vac single-phase/three-phase (LXM28A•••M3X) Vac 200 -15 % ... 230 +10 %
Frequency Hz 50 -5 % ... 60 +5 %
Transient overvoltages – Overvoltage category III(1)
Rated voltage to ground Vac 230
(1) Depends on installation altitude, see Environmental Conditions (see page 37)
Type of Grounding
Description Value
TT grounding system, TN grounding system Approved
IT mains Not approved
Mains with grounded line conductor Not approved
Leakage Current

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

The continuous output power is monitored by the device. If the continuous output power is exceeded, the
device reduces the output current.
PWM Frequency Power Stage

PWM frequency power stage The PWM frequency of the power stage is set to a fixed value.
LXM28A UA5, U01, U02, U04, U07, U20, U30, U45

U10, U15
PWM frequency power stage 16 kHz 8 kHz
EIO0000002305 07/2019 41
Drive
Type of Cooling
LXM28A UA5, U01, U02 U04, U07, U10, U15, U20,

U30, U45
Type of cooling Convection Fan
Permissible Drive / Motor Combinations

The BCH2 motors can be connected to the Lexium 28A drive range.
42 EIO0000002305 07/2019
Drive
Single-Phase Connection
Electrical Data for LXM28A∙∙∙M1X Drive Connected Via a Single-Phase 110 Vac
LXM28A∙∙∙M1X Unit UA5 U01 U02 U04 U07

Nominal voltage V 120 (single-phase)
Inrush current limitation A 8
Maximum fuse to be connected A 25
upstream(1)
Short-circuit current rating (SCCR) kA 5
Continuous output current Arms 0.64 0.9 1.5 2.6 4.5
Peak output current Arms 2 2.7 4.5 7.8 13.5
Nominal power(2) W 50 100 200 400 750
Input current(2)(3) Arms 1.2 1.8 3.6 5.7 13.5
THD (total harmonic distortion)(2)(4) % 262.8 239.2 226.8 211.6 181.8
Power dissipation(5) W 8 10 14 22 38
Maximum inrush current(6) A 175
Time for maximum inrush current ms 0.5

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C (see page 27) for
UL and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not
trip at the specified input current.
(2) At a mains impedance corresponding to the short-circuit current rating (SCCR)
(3) At nominal power and nominal voltage
(4) With reference to the input current
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal
power; value approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
DC bus data for drives connected via a single-phase 110 Vac
LXM28A∙∙∙M1X Unit UA5 U01 U02 U04 U07

Nominal voltage (single-phase) Vac 120
Nominal voltage DC bus Vdc 322
Undervoltage limit Vdc 100
Overvoltage limit Vdc 420
Maximum continuous power via DC bus W 50 100 200 400 750
Maximum continuous power via DC bus A 0.2 0.3 0.6 1.2 2.3
EIO0000002305 07/2019 43
Drive
Electrical Data for LXM28A∙∙∙M3X Drive Connected Via a Single-Phase 220 Vac
LXM28A∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10 U15

Nominal voltage V 230 (single-phase)
Maximum fuse to be connected A 25
upstream(1)
Continuous output current Arms 0.64 0.9 1.5 2.6 4.5 7 7
Peak output current Arms 2 2.7 4.5 7.8 13.5 21 21
Nominal power(2) W 50 100 200 400 750 1000 1500
Input current(2)(3) Arms 0.8 1.2 2.4 3.8 6 8.5 10
THD (total harmonic distortion)(2)(4) % 262.8 239.2 226.8 211.6 181.8 176.3 166.6
Power dissipation(5) W 8 10 14 22 38 36 41
Maximum inrush current(6) A 175 235

Time for maximum inrush current ms 0.5 0.6
(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C (see page 27) for UL and
CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the
specified input current.
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal power; value
approximately proportional with output current
DC bus data for drives connected via a single-phase 220 Vac
LXM28A∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10 U15

Nominal voltage (single-phase) Vac 230
Maximum continuous power via DC bus W 50 100 200 400 750 1000 1500
Maximum continuous power via DC bus A 0.2 0.3 0.6 1.2 2.3 3.1 4.6
44 EIO0000002305 07/2019
Drive
Three-Phase Connection
Electrical Data for LXM28A∙∙∙M3X Drive Connected Via Three-Phase 220 Vac
LXM28A∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10

Nominal voltage V 230 (3-phase)
Maximum fuse to be connected upstream (1) A 25

Continuous output current Arms 0.64 0.9 1.5 2.6 4.5 7
Peak output current Arms 2 2.7 4.5 7.8 13.5 21
Nominal power (2) W 50 100 200 400 750 1000
Input current (2)(3) Arms 0.42 0.74 1.25 2.2 3.9 5
THD (total harmonic distortion) (2)(4) % 227.8 212.7 200.7 183.7 160.8 155.5
Power dissipation (5) W 8 10 14 22 38 36
Maximum inrush current (6) A 175 235

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C (see page 27) for UL and
CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified
input current.
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal power; value
approximately proportional with output current
LXM28A∙∙∙M3X Unit U15 U20 U30 U45

Nominal voltage V 230 (3-phase)
Inrush current limitation A 8 19.2 17
Maximum fuse to be connected upstream (1) A 25 32
Short-circuit current rating (SCCR) kA 5 22
Continuous output current Arms 7 12 19.8 22.8
Peak output current Arms 21 36 60 61
Nominal power (2) W 1500 2000 3000 4500
Input current (2)(3) Arms 5.9 8.7 12.9 18
THD (total harmonic distortion)(2)(4) % 144.8 137.1 155.8 147.1
Power dissipation(5) W 41 97
Maximum inrush current(6) A 235 295 300

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C
(see page 27) for UL and CSA; Lower ratings are permissible; The fuse must be rated in such
a way that the fuse does not trip at the specified input current.
(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and
nominal power; value approximately proportional with output current
(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for
maximum time
EIO0000002305 07/2019 45
Drive
DC bus data for drives connected via three-phase 220 Vac
LXM28A∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10

Nominal voltage (three phases) Vac 230
Maximum continuous power via DC bus W 50 100 200 400 750 1000
Maximum continuous power via DC bus A 0.2 0.3 0.6 1.2 2.3 3.1
LXM28A∙∙∙M3X Unit U15 U20 U30 U45

Nominal voltage (three phases) Vac 230
Maximum continuous power via DC bus W 1500 2000 3000 4500
Maximum continuous power via DC bus A 4.6 6.2 9.2 13.8
46 EIO0000002305 07/2019
Drive
Inputs / Outputs Characteristics
Logic Type
The outputs are short-circuit protected. The inputs and outputs are galvanically isolated.
The digital inputs and outputs of this product can be wired for positive or negative logic.
Logic type Active state

Positive logic Output supplies current (source output)
Current flows to the input (sink input)
Negative logic Output draws current (sink output)
Current flows from the input (source input)
Digital Input Signals 24 V

When wired as positive logic, the levels of the opto-isolated inputs DI1...DI5 and DI8 comply with
IEC 61131-2, type 1. The electrical characteristics are also valid when wired as negative logic.

“0” signal voltage Vdc ≤5
“1” signal voltage Vdc ≥11
Input current (typical) mA 6
Debounce time (1) mA 0...20

(1) Adjustable via parameter P2-09 in increments of 1 ms.
Digital Output Signals 24 V

The levels of the digital 24 V output signals DO∙ comply with IEC 61131-2.

Switching voltage Vdc 24
Maximum switching current mA 100
Voltage drop at 100 mA load Vdc <3
Analog Input Signals

Voltage range Vdc -10...10
Input resistance, typical kΩ 10
Resolution Bit 12
Sampling period µs 32.25
Analog Output Signals

Voltage range Vdc -8...8
Output current mA 10
Minimum load resistance (voltage source)l kΩ 1
Resolution Bit 12
Sampling period ms 1
Time constant µs 10
EIO0000002305 07/2019 47
Drive
Touch Probe Input Signals 24 V

When wired as positive logic, the levels of the opto-isolated inputs DI6 and DI7 comply with IEC 61131-2,
type 1. The electrical characteristics are also valid when wired as negative logic.

“0” signal voltage Vdc ≤5
“1” signal voltage Vdc ≥11
Input current (typical) mA 7
Debounce time (1) µs 0...100

Jitter Capture µs 1
(1) Adjustable via parameter P2-24 in increments of 1 µs.
Safety Function STO

The signal inputs STO_0V and STO_24V (CN9) are protected against reverse polarity.

Nominal voltage Vdc 24
PELV power supply unit – Required
“0” signal voltage (1) Vdc <5
“1” signal voltage (1) Vdc 15...30

Input current (typical) mA
LXM28AUA5M3X, U01M3X, U02M3X, U04M3X, U07M3X 190
LXM28AUA5M1X, U01M1X, U02M1X, U04M1X, U07M1X 190
LXM28AU10M3X, U15M3X 190
LXM28AU20 190
LXM28AU30, U45 240
Maximum peak current A 18
Maximum frequency for OSSD (Output Signal Switching Device) test Hz 475
pulses
Debounce time ms <1
Response time of safety function STO ms < 40
(1) Voltage level according to IEC 61131-2 type 2 with the exception of the operation with 15 Vdc instead of
11 Vdc. The condition between 5 Vdc and 15 Vdc is undefined and not permissible.
For further information, refer to data for maintenance plan and the calculation for the safety function
(see page 114).
24 Vdc Power Supply (Pin 17):

24 Vdc power supply (pin 17):

Output voltage Vdc 24
Maximum output current mA 200
CAN Bus Signals:

The CAN bus signals comply with the CAN standard and are short-circuit protected.
48 EIO0000002305 07/2019
Drive
ESIM Output Signals

The ESIM output signals comply with the RS422 interface specification.

Logic level – As per RS422(1)
Output frequency per signal kHz 800
Maximum output frequency (quadruple evaluation) kHz 3200
(1) Due to the input current of the optocoupler in the input circuit, a parallel connection of a driver output to
several devices is not permitted.
Function A/B Signals

External A/B signals can be supplied via the PTI input as reference values in operating mode Pulse Train
(Pt).
Signal Function
Signal SIGN before signal PULSE Movement in positive direction
Signal PULSE before signal SIGN Movement in negative direction
Time chart with A/B signal, counting forwards and backwards
The signal shape shown relates to the factory setting (P1-00 C=0). The direction of movement shown
relates to the factory setting (P1-01 C=0).
Intervals (minimum) HPULSE / HSIGN with PULSE / SIGN with PULSE / SIGN with Open
RS422 RS422 Collector
1 4 MHz 500 kHz 200 kHz
2 0.125 μs 0.1 μs 2.5 μs
3 0.0625 μs 0.5 μs 1.25 μs
EIO0000002305 07/2019 49
Drive
Function CW/CCW
External CW/CCW signals can be supplied via the PTI input as reference values.
Signal Function
Signal PULSE (CCW) Movement in positive direction
Signal SIGN (CW) Movement in negative direction
Time chart with "CW/CCW"
1 4 MHz 500 kHz 200 kHz
2 0.125 μs 0.1 μs 2.5 μs
3 0.0625 μs 0.5 μs 1.25 μs
50 EIO0000002305 07/2019
Drive
Function P/D
External P/D signals can be supplied via the PTI input as reference values.
Signal Function
Signal PULSE Motor movement
Signal SIGN Direction of movement
Time chart with pulse/direction signal
1 4 MHz 500 kHz 200 kHz
2 0.125 μs 0.1 μs 2.5 μs
3 0.0625 μs 0.5 μs 1.25 μs
4 0.0625 μs 0.5 μs 1.25 μs
EIO0000002305 07/2019 51
Drive
52 EIO0000002305 07/2019
Motor
EIO0000002305 07/2019
Chapter 5
Motor
Motor

Section Topic Page
5.1 General Overview 54
5.2 Motor Technical Data 59
5.3 BCH2MB Motor 63
5.4 BCH2LD Motor 67
5.5 BCH2∙F Motor 71
5.6 BCH2LH Motor 75
5.7 BCH2∙M Motor 79
5.8 BCH2∙R Motor 85
EIO0000002305 07/2019 53
Motor
Section 5.1
General Overview
General Overview

Topic Page
Components and Interfaces 55
Servo Motor Nameplate 56
Servo Motor Type Code 58
54 EIO0000002305 07/2019
Motor
Components and Interfaces
Presentation
BCH2 servo motors, with a 3-phase stator and rotor with rare earth-based permanent magnets, consist of:
Item Description
1 Connector of the motor cable (see page 96)
2 Connector of the encoder cable (see page 96)
3 Housing
4 Smooth or keyed shaft end, depending on the motor reference
5 4-point axial mounting flange
EIO0000002305 07/2019 55
Motor
Servo Motor Nameplate
BCH2∙B
Item Description Item Description

1 Motor reference (see page 58) 13 Country of manufacture
2 Nominal voltage 14 Nominal voltage of the holding brake
(optional)
3 Continuous stall current 15 Nominal power of the holding brake
(optional)
4 Continuous stall torque 16 Nominal torque of the holding brake
(optional)
5 Maximum current 17 Mass
6 Barcode 18 Date of manufacture DOM
7 Serial number 19 Number of motor phases, temperature
class, degree of protection
8 QR code 20 Certifications
9 Nominal power 21 Applied standard
10 Nominal current 22 Peak torque
11 Nominal torque 23 Maximum permissible speed of rotation
12 Nominal speed of rotation 24 Hardware version
56 EIO0000002305 07/2019
Motor
BCH2∙D, BCH2∙F, BCH2∙H, BCH2∙M, and BCH2∙R

Item Description Item Description

1 Motor reference (see page 58) 13 Nominal speed of rotation
2 Nominal voltage 14 Mass
3 Continuous stall current 15 Nominal voltage of the holding brake
(optional)
4 Continuous stall torque 16 Nominal power of the holding brake
(optional)
5 Maximum current 17 Nominal torque of the holding brake
(optional)
6 Peak torque 18 Certifications
7 Maximum permissible speed of rotation 19 Applied standard
8 Number of motor phases, temperature 20 Country of manufacture
class, degree of protection
9 Hardware version 21 Date of manufacture DOM
10 Nominal current 22 Barcode
11 Nominal power 23 Serial number
12 Nominal torque 24 QR code
EIO0000002305 07/2019 57
Motor
Servo Motor Type Code
Servo Motor Type Code
Item 1 2 3 4 5 6 7 8 9 10
Type code (example) BCH2 M B 01 3 3 C A 5 C
Item Meaning
1 Product family
BCH2 = Brushless servo motors - second generation
2 Moment of inertia
L = Low
M = Medium
H = High
3 Size (housing)
B = 40 mm flange
D = 60 mm flange
F = 80 mm flange
H = 100 mm flange
M = 130 mm flange
R = 180 mm flange
4 Nominal power
A5 = 50 W 10 = 1.0 kW
01 = 100 W 13 = 1.3 kW
02 = 200 W 15 = 1.5 kW
03 = 300 W 20 = 2.0 kW
04 = 400 W 30 = 3.0 kW
05 = 500 W 35 = 3.5 kW
06 = 600 W 45 = 4.5 kW
07 = 750 W
08 = 850 W
09 = 900 W
5 Winding
1 = Optimized in terms of torque (1000 rpm/1500 rpm)
2 = Optimized in terms of torque and speed of rotation (2000 rpm)
3 = Optimized in terms of speed of rotation (3000 rpm)
6 Shaft and degree of protection(1)
0 = Smooth shaft; degree of protection: shaft IP 54, housing IP 65(2)
1 = Parallel key; degree of protection: shaft IP 54, housing IP 65(2)
2 = Smooth shaft; degree of protection: shaft and housing IP 65
3 = Parallel key; degree of protection: shaft and housing IP 65
7 Encoder system
C = High-resolution encoder single turn
M = High-resolution encoder multi turn(3)
8 Holding brake
A = Without holding brake
F = With holding brake
9 Connection version
5 = Flying leads (for BCH2∙B, BCH2∙D, BCH2∙F)
6 = MIL connector (for BCH2∙H, BCH2∙M, BCH2∙R)
10 Mechanical interface - mounting
C = Asian style
(1) In the case of mounting position IM V3 (drive shaft vertical, shaft end up), the motor has degree of
protection IP 50.
(2) Only available with single turn encoder, up to 4.5 kW.
(3) Planned marketing end of November 2018.
58 EIO0000002305 07/2019
Motor
Section 5.2
Motor Technical Data
Motor Technical Data

Topic Page
Environmental Conditions 60
Tightening Torque and Property Class of Screws 61
Overload Characteristics Curves 61
Encoder Technical Data 62
EIO0000002305 07/2019 59
Motor
Environmental Conditions
Ambient Conditions During Operation

The maximum permissible ambient temperature during operation depends on the mounting distances
between the devices and on the required power. Observe the instructions in the chapter Installation
(see page 178).

(1)
Ambient temperature for motors without holding brake °C (°F) -20...40 (-4...104)
(no icing, non-condensing).
Ambient temperature for motors with holding brake (no °C (°F) 0...40 (32...104)
icing, non-condensing).
Ambient temperature with current derating of 1% per °C °C (°F) 40...60 (104...140)
(per 1.8 °F)
Relative humidity (non-condensing) % 5...85
Class as per IEC 60721-3-3 - 3K3, 3Z12, 3Z2, 3B2, 3C1, 3M6(2)
Installation altitude above mean sea level without current m (ft) <1000 (<3281)
derating
Installation altitude above mean sea level with current m (ft) 1000...3000 (3281...9843)
derating of 1% per 100 m at altitudes higher than 1000 m
(1) Limit values with flanged motor, see Flange Sizes for Limit Values (see page 60)
(2) Tested as per IEC 60068-2-6 and IEC 60068-2-27
Ambient Conditions During Transportation and Storage

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

Temperature °C (°F) -40...70 (-40...158)
Relative humidity (non-condensing) % ≤75
Set of class combinations as per IEC 60721-3-2 – IE 21
Flange Sizes for Limit Values

Limit values referring to this table relate to flanged motors with the following flange sizes:
Motor Flange material Flange size in [mm (in)]

BCH2MB Aluminum 185 x 185 x 8 (7.28 x 7.28 x 0.31)
BCH2LD Aluminum 250 x 250 x 12 (9.84 x 9.84 x 0.47)
BCH2∙F Aluminum 250 x 250 x 12 (9.84 x 9.84 x 0.47)
BCH2LH Steel 300 x 300 x 20 (11.8 x 11.8 x 0.79)
BCH2∙M Steel 400 x 400 x 20 (15.7 x 15.7 x 0.79)
BCH2∙R Steel 550 x 550 x 20 (21.7 x 21.7 x 0.79)
Compatibility with Foreign Substances

The motor has been tested for compatibility with many known substances and with the latest available
knowledge at the moment of the design. Nonetheless, you must perform a compatibility test before using
a foreign substance.
60 EIO0000002305 07/2019
Motor
Tightening Torque and Property Class of Screws
Housing screws Unit Tightening torque

M3 x 0.50 Nm (lb.in) 1 (8.85)
M4 x 0.70 Nm (lb.in) 2.9 (25.67)
M5 x 0.80 Nm (lb.in) 5.9 (52.22)
M6 x 1.00 Nm (lb.in) 9.9 (87.62)
M7 x 1.25 Nm (lb.in) 24 (212.40)
M8 x 1.50 Nm (lb.in) 49 (433.65)
Property class of the screws H 8.8
Overload Characteristics Curves
EIO0000002305 07/2019 61
Motor
Encoder Technical Data
Overview
The drive can access the electronic nameplate via the electronic interface of the encoder for easy
commissioning.
The signals meet the PELV requirements.
Depending on the motor reference, the motor are delivered with a single turn encoder or a multi turn
encoder.
Single Turn Encoder

Technical data
Description Value
Measuring range absolute 1 revolution
Resolution in increments Depending on evaluation
Accuracy of position ±0.044°
Supply voltage 4.1...5.25 Vdc
Maximum supply current 100 mA
Maximum permissible speed of rotation 6000 rpm
Maximum angular acceleration 100,000 rad/s2
Multi Turn Encoder

Technical data
Description Value
Measuring range absolute 1 revolution
Resolution in increments Depending on evaluation
Accuracy of position ±0.044°
Supply voltage 4.1...5.25 Vdc
Maximum supply current 40 μA
Maximum permissible speed of rotation 6000 rpm
Maximum angular acceleration 100,000 rad/s2
Battery nominal voltage 3.6 Vdc
Battery nominal current consumption while the encoder is not powered by 20 μA at standstill
the drive 40 μA with rotating shaft
Battery life time (at 25 °C) 7 years
The multi turn counting is preserved through power down by an external battery.
 For further information on the battery compartment connection, refer to the motor encoder connection
(see page 158).
 For further information on the battery replacement, refer to the maintenance of the motor
(see page 447).
62 EIO0000002305 07/2019
Motor
Section 5.3
BCH2MB Motor
BCH2MB Motor

Topic Page
BCH2MB Dimensions 64
BCH2MB Characteristics Table 65
BCH2MB Curves 66
EIO0000002305 07/2019 63
Motor
BCH2MB Dimensions
BCH2MB Unit A5 01
L (without holding brake) mm (in) 82 (3.23) 100 (3.94)
L (with holding brake) mm (in) 112 (4.41) 130 (5.12)
Z mm (in) 43.5 (1.71) 61.5 (2.42)
64 EIO0000002305 07/2019
Motor
BCH2MB Characteristics Table
BCH2MB(1) A53 013

Technical data - general
Continuous stall torque(2) M0 Nm 0.16 0.32
Peak torque Mmax Nm 0.48 0.96

With supply voltage Un = 230 Vac
Nominal speed of rotation nN rpm 3000 3000
Nominal torque MN Nm 0.16 0.32
Nominal Current IN Arms 0.59 0.89
Nominal power PN kW 0.05 0.10
Technical data - electrical
Maximum winding voltage Umax Vac 255 255
Maximum winding voltage Umax Vdc 360 360
Maximum voltage to ground – Vac 255 255
Maximum Current Imax Arms 1.8 2.7
Continuous stall current I0 Arms 0.54 0.81
Voltage constant(3) kEu-v Vrms 18 24
Torque constant (4) kt Nm/A 0.30 0.40

Winding resistance R20u-v Ω 31.0 23.4
Winding inductance Lqu-v mH 26.4 21.5
Winding inductance Ldu-v mH 24.7 20.6
Technical data - mechanical
Maximum permissible speed of rotation nmax rpm 5000 5000
Rotor inertia without brake Hardware version RS 01 or RS 2 JM kgcm 2 0.054 0.075
Hardware version RS 03 0.044 0.065
Rotor inertia with brake Hardware version RS 01 or RS 2 JM kgcm2 0.055 0.076
Hardware version RS 03 0.045 0.066
Mass without brake m kg 0.40 0.56
Mass with brake m kg 0.60 0.77
Degree of protection of the shaft – – IP 65 IP 65
Degree of protection of the housing – – IP 65 IP 65
Technical data - holding brake
Holding torque – Nm 0.32 0.32
Nominal voltage – Vdc 24 +/-10% 24 +/-10%
Nominal power (electrical pull-in power) – W 4.4 4.4
(1) Limit values with flanged motor:
 Flange material: Aluminum
 Flange size in mm (in): 185 x 185 x 8 (7.28 x 7.28 x 0.31)
(2) M0 = Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the continuous stall
torque is reduced to 87 %.
(3) RMS value at 1000 rpm and 20 °C (68 °F).
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 65
Motor
BCH2MB Curves
BCH2MBA53 + LXM28AUA5
Without shaft sealing ring With shaft sealing ring
(1) Peak torque

(2) Continuous torque
BCH2MB013 + LXM28AU01
Without shaft sealing ring With shaft sealing ring
(1) Peak torque

66 EIO0000002305 07/2019
Motor
Section 5.4
BCH2LD Motor
BCH2LD Motor

Topic Page
BCH2LD Dimensions 68
BCH2LD Characteristics Table 69
BCH2LD Curves 70
EIO0000002305 07/2019 67
Motor
BCH2LD Dimensions
BCH2LD Unit 02 04
L (without holding brake) mm (in) 104 (4.09) 129 (5.08)
L (with holding brake) mm (in) 140 (5.51) 165 (6.5)
Z mm (in) 57 (2.24) 82 (3.23)
68 EIO0000002305 07/2019
Motor
BCH2LD Characteristics Table
BCH2LD(1) 023 043



Rotor inertia without brake JM kgcm 2 0.15 0.26
Rotor inertia with brake JM kgcm2 0.16 0.27
(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the continuous stall
torque is reduced to 87 %
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 69
Motor
BCH2LD Curves
BCH2LD023 + LXM28AU02 BCH2LD043 + LXM28AU04
(1) Peak torque

70 EIO0000002305 07/2019
Motor
Section 5.5
BCH2∙F Motor
BCH2∙F Motor

Topic Page
BCH2∙F Dimensions 72
BCH2∙F Characteristics Table 73
BCH2∙F Curves 74
EIO0000002305 07/2019 71
Motor
BCH2∙F Dimensions
BCH2 Unit LF04 HF07 LF07

L (without holding brake) mm (in) 112 (4.41) 138 (5.43) 138 (5.43)
L (with holding brake) mm (in) 152 (5.98) 178 (7.01) 178 (7.01)
A mm (in) 30 (1.18) 35 (1.38) 35 (1.38)
C mm (in) 24.5 (0.96) 29.5 (1.16) 29.5 (1.16)
D mm (in) 14 (0.55) 19 (0.75) 19 (0.75)
F mm (in) 20 (0.79) 25 (0.98) 25 (0.98)
M - M5 M6 M6
N mm (in) 12 (0.47) 16 (0.63) 16 (0.63)
R mm (in) 11 (0.43) 15.5 (0.61) 15.5 (0.61)
T mm (in) 5 (0.2) 6 (0.24) 6 (0.24)
V mm (in) 5 (0.2) 6 (0.24) 6 (0.24)
W mm (in) 5 (0.2) 6 (0.24) 6 (0.24)
Z mm (in) 68 (2.68) 93 (3.66) 93 (3.66)
72 EIO0000002305 07/2019
Motor
BCH2∙F Characteristics Table
BCH2(1) LF043 HF073 LF073

Continuous stall torque(2) M0 Nm 1.27 2.39 2.39
Peak torque Mmax Nm 3.81 7.16 7.16

Nominal speed of rotation nN rpm 3000 3000 3000
Nominal torque MN Nm 1.27 2.39 2.39
Nominal Current IN Arms 2.52 4.29 4.29
Nominal power PN kW 0.40 0.75 0.75
Maximum winding voltage Umax Vac 255 255 255
Maximum winding voltage Umax Vdc 360 360 360
Maximum voltage to ground – Vac 255 255 255
Maximum Current Imax Arms 7.8 13.5 13.5
Continuous stall current I0 Arms 2.29 4.01 4.01
Voltage constant(3) kEu-v Vrms 33.5 36 36
Torque constant (4) kt Nm/A 0.55 0.60 0.60

Winding resistance R20u-v Ω 3.20 1.50 1.50
Winding inductance Lqu-v mH 12.0 6.6 6.6
Winding inductance Ldu-v mH 11.3 6.1 6.1
Maximum permissible speed of rotation nmax rpm 5000 5000 5000
Rotor inertia without brake JM kgcm 2 0.66 1.53 1.18
Rotor inertia with brake JM kgcm2 0.71 1.58 1.23
Mass without brake m kg 2.00 2.90 2.80
Mass with brake m kg 2.80 3.70 3.60
Degree of protection of the shaft – – IP 65 IP 65 IP 65
Degree of protection of the housing – – IP 65 IP 65 IP 65
Holding torque – Nm 2.5 2.5 2.5
Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10%
Nominal power (electrical pull-in power) – W 10.2 10.2 10.2
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 73
Motor
BCH2∙F Curves
BCH2LF043 + LXM28AU04
(1) Peak torque

BCH2HF073 + LXM28AU07 BCH2LF073 + LXM28AU07
(1) Peak torque

74 EIO0000002305 07/2019
Motor
Section 5.6
BCH2LH Motor
BCH2LH Motor

Topic Page
BCH2LH Dimensions 76
BCH2LH Characteristics Table 77
BCH2LH Curves 78
EIO0000002305 07/2019 75
Motor
BCH2LH Dimensions
BCH2LH Unit 103 203

L (without holding brake) mm (in) 153.5 (6.04) 198.5 (7.81)
L (with holding brake) mm (in) 180.5 (7.11) 225.5 (8.88)
Z mm (in) 96 (3.78) 141 (5.55)
76 EIO0000002305 07/2019
Motor
BCH2LH Characteristics Table
BCH2LH(1) 103 203



Rotor inertia without brake JM kgcm 2 2.39 4.27
Rotor inertia with brake JM kgcm2 2.44 4.34
 Flange material: Steel
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 77
Motor
BCH2LH Curves
BCH2LH103 + LXM28AU10 BCH2LH203 + LXM28AU20
(1) Peak torque

78 EIO0000002305 07/2019
Motor
Section 5.7
BCH2∙M Motor
BCH2∙M Motor

Topic Page
BCH2∙M Dimensions 80
BCH2∙M Characteristics Table 81
BCH2∙M Curves 83
EIO0000002305 07/2019 79
Motor
BCH2∙M Dimensions
BCH2∙M Unit 08 03, 05, 06, 10 09, 15 20

L (without holding brake) mm (in) 187 (7.36) 147 (5.79) 163 (6.42) 187 (7.36)
L (with holding brake) mm (in) 216 (8.5) 176 (6.93) 192 (7.56) 216 (8.5)
A mm (in) 48 (1.89) 55 (2.17) 55 (2.17) 55 (2.17)
C mm (in) 40 (1.57) 47 (1.85) 47 (1.85) 47 (1.85)
D mm (in) 19 (0.75) 22 (0.87) 22 (0.87) 22 (0.87)
F mm (in) 25 (0.98) 36 (1.42) 36 (1.42) 36 (1.42)
M - M6 M8 M8 M8
N mm (in) 16 (0.63) 19 (0.75) 19 (0.75) 19 (0.75)
R mm (in) 15.5 (0.61) 18 (0.71) 18 (0.71) 18 (0.71)
T mm (in) 6 (0.24) 7 (0.28) 7 (0.28) 7 (0.28)
V mm (in) 6 (0.24) 8 (0.31) 8 (0.31) 8 (0.31)
W mm (in) 6 (0.24) 8 (0.31) 8 (0.31) 8 (0.31)
Z mm (in) 134.5 (5.30) 94.5 (3.72) 110.5 (4.35) 134.5 (5.30)
80 EIO0000002305 07/2019
Motor
BCH2∙M Characteristics Table
BCH2(1) MM052 MM031 MM102 HM102 MM081

Continuous stall torque(2) M0 Nm 2.39 2.86 4.77 4.77 5.39
Peak torque Mmax Nm 7.16 8.59 14.30 14.30 13.80

Nominal speed of rotation nN rpm 2000 1000 2000 2000 1500
Nominal torque MN Nm 2.39 2.86 4.77 4.77 5.39
Nominal Current IN Arms 3.24 2.09 6.29 6.29 6.29
Nominal power PN kW 0.50 0.30 1.00 1.00 0.85
Maximum winding voltage Umax Vac 255 255 255 255 255
Maximum winding voltage Umax Vdc 360 360 360 360 360
Maximum voltage to ground – Vac 255 255 255 255 255
Maximum Current Imax Arms 9.5 6.0 20.0 20.0 15.0
Continuous stall current I0 Arms 2.89 1.88 5.77 5.77 5.62
Voltage constant(3) kEu-v Vrms 50 92 50 50 58
Torque constant (4) kt Nm/A 0.83 1.52 0.83 0.83 0.96

Winding resistance R20u-v Ω 0.74 2.08 0.74 0.74 0.42
Winding inductance Lqu-v mH 7.84 26.25 7.84 7.84 4.70
Winding inductance Ldu-v mH 7.14 23.91 7.14 7.14 4.30
Maximum permissible speed of nmax rpm 3000 2000 3000 3000 3000
rotation
Rotor inertia without brake JM kgcm2 6.62 6.62 6.62 8.40 13.49
Rotor inertia with brake JM kgcm 2 6.90 6.90 6.90 8.79 14.09
Mass without brake m kg 7.00 7.00 7.00 7.10 9.60
Mass with brake m kg 8.20 8.20 8.20 8.30 10.90
Degree of protection of the shaft – – IP 65 IP 54 IP 65 IP 65 IP 54
Degree of protection of the – – IP 65 IP 65 IP 65 IP 65 IP 65
housing
Holding torque – Nm 9.6 9.6 9.6 9.6 9.6
Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%
Nominal power (electrical pull-in – W 19.7 19.7 19.7 19.7 19.7
power)
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 81
Motor
BCH2(1) MM061 MM091 MM152 MM202

Continuous stall torque(2) M0 Nm 5.73 8.59 7.16 9.55
Peak torque Mmax Nm 17.19 25.77 21.48 28.65

Nominal speed of rotation nN rpm 1000 1000 2000 2000
Nominal torque MN Nm 5.73 8.59 7.16 9.55
Nominal Current IN Arms 4.10 6.15 6.74 11.25
Nominal power PN kW 0.60 0.90 1.50 2.00
Maximum winding voltage Umax Vac 255 255 255 255
Maximum winding voltage Umax Vdc 360 360 360 360
Maximum voltage to ground – Vac 255 255 255 255
Maximum Current Imax Arms 13.5 20.0 21.0 33.0
Continuous stall current I0 Arms 3.77 5.64 6.18 9.95
Voltage constant(3) kEu-v Vrms 92 92 70 58
Torque constant(4) kt Nm/A 1.52 1.52 1.16 0.96

Winding resistance R20u- Ω 2.08 1.22 0.64 0.42
v
Winding inductance Lqu-v mH 26.25 16.40 7.20 4.70
Winding inductance Ldu-v mH 23.91 14.90 6.40 4.30
Maximum permissible speed of rotation nmax rpm 2000 2000 3000 3000
Rotor inertia without brake JM kgcm 6.62 9.69 9.69 13.49
2
Rotor inertia with brake JM kgcm 6.90 9.99 9.99 14.09

2
Mass without brake m kg 7.00 7.60 7.60 9.70

Mass with brake m kg 8.20 8.80 8.80 11.00
Holding torque – Nm 9.6 9.6 9.6 9.6
Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%
Nominal power (electrical pull-in power) – W 19.7 19.7 19.7 19.7
(4) At n = 20 rpm and 20 °C (68 °F).
82 EIO0000002305 07/2019
Motor
BCH2∙M Curves
BCH2MM052 + LXM28AU07 BCH2MM031 + LXM28AU04
(1) Peak torque

BCH2MM102 + LXM28AU10 BCH2HM102 + LXM28AU10
(1) Peak torque

(1) Peak torque

EIO0000002305 07/2019 83
Motor
(1) Peak torque

BCH2MM202 + LXM28AU20
(1) Peak torque

84 EIO0000002305 07/2019
Motor
Section 5.8
BCH2∙R Motor
BCH2∙R Motor

Topic Page
BCH2∙R Dimensions 86
BCH2∙R Characteristics Table 87
BCH2∙R Curves 89
EIO0000002305 07/2019 85
Motor
BCH2∙R Dimensions
BCH2∙R Unit 20 30, 35 45

L (without holding brake) mm (in) 168 (6.61) 201 (7.91) 234 (9.21)
L (with holding brake) mm (in) 203 (7.99) 236 (9.29) 269 (10.59)
A mm (in) 79 (3.11)
C mm (in) 73 (2.87)
D mm (in) 35 (1.38)
F mm (in) 63 (2.48)
M - M12
N mm (in) 28 (1.10)
R mm (in) 30 (1.18)
V mm (in) 10 (0.39)
W mm (in) 10 (0.39)
Z mm (in) 103 (4.06) 136 (5.35) 169 (6.65)
86 EIO0000002305 07/2019
Motor
BCH2∙R Characteristics Table
BCH2MR202/301/302, BCH2HR202 technical data
BCH2(1) MR202 HR202 MR302 MR301

Continuous stall torque(2) M0 Nm 9.55 9.55 14.32 19.10
Peak torque Mmax Nm 28.65 28.65 42.97 57.29
Nominal speed of rotation nN rpm 2000 2000 2000 1500
Nominal torque MN Nm 9.55 9.55 14.32 19.10
Nominal Current IN Arms 9.6 9.6 18.8 18.8
Nominal power PN kW 2.00 2.00 3.00 3.00
Maximum winding voltage Umax Vac 255 255 255 255
Maximum winding voltage Umax Vdc 360 360 360 360
Maximum voltage to ground – Vac 255 255 255 255
Maximum Current Imax Arms 35.5 35.5 56.0 61.0
Continuous stall current I0 Arms 8.75 8.75 16.33 16.49
Voltage constant(3) kEu-v Vrms 66 66 53 70
Torque constant(4) kt Nm/A 1.09 1.09 0.88 1.16

Winding resistance R20u-v Ω 0.572 0.572 0.168 0.234
Winding inductance Lqu-v mH 6.70 6.70 2.88 3.78
Winding inductance Ldu-v mH 6.10 6.10 2.71 3.45
Maximum permissible speed of rotation nmax rpm 3000 3000 3000 3000
Rotor inertia without brake JM kgcm2 26.49 34.67 53.55 53.55
Rotor inertia with brake JM kgcm2 26.99 36.17 54.09 54.09
Mass without brake m kg 13.00 14.30 18.50 18.50
Mass with brake m kg 18.00 19.30 23.00 23.00
Degree of protection of the shaft – – IP 65 IP 65 IP 65 IP 54
Degree of protection of the housing – – IP 65 IP 65 IP 65 IP 65
Holding torque – Nm 48 48 48 48
Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%
Nominal power (electrical pull-in power) – W 49.6 49.6 49.6 49.6
(4) At n = 20 rpm and 20 °C (68 °F).
EIO0000002305 07/2019 87
Motor
BCH2MR352/451 technical data
BCH2(1) MR352 MR451

Torque constant(4) kt Nm/A 0.99 1.46

Winding resistance R20u- Ω 0.168 0.199
v
Rotor inertia without brake JM kgcm 53.55 73.31
2
Rotor inertia with brake JM kgcm 54.09 72.99

2

Holding torque – Nm 48 48
(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of
<20 rpm the continuous stall torque is reduced to 87 %
(4) At n = 20 rpm and 20 °C (68 °F).
88 EIO0000002305 07/2019
Motor
BCH2∙R Curves
BCH2MR202 + LXM28AU20 BCH2HR202 + LXM28AU20
(1) Peak torque

BCH2MR302 + LXM28AU30 BCH2MR301 + LXM28AU30
(1) Peak torque

BCH2MR352 + LXM28AU45 BCH2MR451 + LXM28AU45
(1) Peak torque

EIO0000002305 07/2019 89
Motor
90 EIO0000002305 07/2019
Accessories and Spare Parts
EIO0000002305 07/2019
Chapter 6

Topic Page
Commissioning Tools 92
Connectors and Adapters 92
External Mains Filters 92
DC Bus Accessories 93
Application Nameplate 93
CANopen Connectors, Distributors, Terminating Resistors 94
CANopen Cables with Open Cable Ends 95
Motor Cables 96
Encoder Cables and Accessories 96
Signal Cables 96
Signal Cable for Safety Function STO 97
External Braking Resistors and Holding Brake Controller 97
Circuit Breakers 97
Motor Protection Switches and Power Contactors 98
EIO0000002305 07/2019 91
Commissioning Tools
Description Reference
Commissioning software LXM28 DTM Library, can be downloaded at: www.schneider- -
electric.com
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121
Connection cable for Multi-Loader VW3A8126
Modbus cable, 1 m (3.28 ft), 2 x RJ45 VW3A8306R10
Connectors and Adapters
Connector kit for logic supply and power stage supply LXM28AUA5, LXM28AU01, VW3M4C21
(CN5), braking resistor (CN7), and motor (CN8) LXM28AU02, LXM28AU04,
LXM28AU07, LXM28AU10,
LXM28AU15
LXM28AU20 VW3M4C23
LXM28AU30, LXM28AU45 VW3M4C24
Cable shield connection plate, clamps, and screws LXM28AUA5, LXM28AU01, VW3M2C31
LXM28AU15
LXM28AU20 VW3M2C33
LXM28AU30, LXM28AU45 VW3M2C34
Interface connector for CN1, 50-pin, 3 pieces
Interface adapter for CN1, connector with 0.5 m (1.64 ft) cable and connection module with VW3M1C13
screw terminals for DIN rail mounting
Connector kit for motor Motor end plastic connector Without holding brake VW3M5D1A
With holding brake VW3M5D1F
Motor end MIL connector With holding brake, size VW3M5D2A
100 … 130
With holding brake, size 180 VW3M5D2B
For 8 mm2(AWG8) up to 16 mm 2 VW3M5D2C
(AWG16) with holding brake, size
180
Device end IEEE1394 connector VW3M8D2A
Motor end flying leads Device end IEEE1394 connector VW3M8D1A
External Mains Filters
Mains filter single-phase;115/230 Vac 9A VW3A4420
16 A VW3A4421
23 A VW3A4426
Mains filter three-phase; 208/400/480 Vac 15 A VW3A4422
25 A VW3A4423
47 A VW3A4424
92 EIO0000002305 07/2019
DC Bus Accessories
DC bus connection cable, Pre-assembled, 0.1 m (0.33 ft), 5 pieces VW3M7101R01
2 x 6 mm2 (2 x AWG 10) Twisted Pair, shielded, 15 m (49.2 ft) VW3M7102R150
DC bus connector kit, connector housing, and crimp contacts for 3 ... 6 mm (AWG 12 ... 10), VW3M2207
2
10 pieces
A crimping tool is required for the crimp contacts of the connector kit.
Manufacturer: Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250
Application Nameplate
Application nameplate to be clipped onto the top of the drive, size 38.5 mm (1.52 in) x 13 mm VW3M2501
(0.51 in), 50 pieces
EIO0000002305 07/2019 93
CANopen Connectors, Distributors, Terminating Resistors
CANopen terminating resistor, 120 Ohm, integrated in RJ45 connector TCSCAR013M120
CANopen cable 2 x RJ45 0.3 m (0.98 ft) VW3CANCARR03
1 m (3.28 ft) VW3CANCARR1
D9-SUB (female) with integrated terminating 1 m (3.28 ft) VW3M3805R010
resistor to RJ45
3 m (9.84 ft) VW3M3805R030
94 EIO0000002305 07/2019
CANopen Cables with Open Cable Ends
Cables with open cable ends are suitable for connection of D-SUB connectors. Observe the cable cross
section and the connection cross section of the required connector.
CANopen cable, LSZH standard cable (low-smoke, zero 50 m (164 ft) TSXCANCA50
[(2 x AWG 22) + (2 halogen, flame-retardant, tested as per IEC 100 m (328 ft) TSXCANCA100
x AWG 24)], both 60332-1)
cable ends open 300 m (984 ft) TSXCANCA300
flame-retardant, tested as per IEC 60332-2, UL 50 m (164 ft) TSXCANCB50
certification 100 m (328 ft) TSXCANCB100
300 m (984 ft) TSXCANCB300
flexible LSZH HD standard cable (low-smoke, 50 m (164 ft) TSXCANCD50
zero halogen, flame-retardant, tested as per
100 m (328 ft) TSXCANCD100
IEC 60332-1), for heavy-duty or flexible
installation, oil-resistant 300 m (984 ft) TSXCANCD300
EIO0000002305 07/2019 95
Motor Cables
Shielded motor cable Motor end plastic connector, 4 x 0.82 mm 2 1.5 m (4.92 ft) VW3M5D1AR15
without holding brake other cable end flying leads (AWG 18) 3 m (9.84 ft) VW3M5D1AR30
5 m (16.4 ft) VW3M5D1AR50
Motor end MIL connector, 4 x 1.3 mm2 3 m (9.84 ft) VW3M5D2AR30
other cable end flying leads (AWG 16) 5 m (16.4 ft) VW3M5D2AR50
4 x 3.3 mm2 3 m (9.84 ft) VW3M5D4AR30
(AWG 12) 5 m (16.4 ft) VW3M5D4AR50
4 x 6 mm2 3 m (9.84 ft) VW3M5D6AR30
(AWG 10) 5 m (16.4 ft) VW3M5D6AR50
Shielded motor cable with Motor end plastic 6 x 0.82 mm2 3 m (9.84 ft)
holding brake connector, other (AWG 18) 5 m (16.4 ft)
cable end flying
leads
Motor end MIL 6 x 1.3 mm2 3 m (9.84 ft)
connector, other (AWG 16) 5 m (16.4 ft)
cable end flying
6 x 3.3 mm2 leads 3 m (9.84 ft) VW3M5D4FR30
(AWG 12) 5 m (16.4 ft) VW3M5D4FR50
6 x 6 mm2 (AWG 10) 3 m (9.84 ft) VW3M5D6FR30
5 m (16.4 ft) VW3M5D6FR50
Encoder Cables and Accessories
Encoder cable, 10 x 0.13 mm2 Motor end and device end plastic 1.5 m (4.92 ft) VW3M8D1AR15
(AWG 26) shielded connector
3 m (9.84 ft) VW3M8D1AR30
5 m (16.4 ft) VW3M8D1AR50
Motor end MIL connector, other 3 m (9.84 ft) VW3M8D2AR30
cable end plastic connector 5 m (16.4 ft) VW3M8D2AR50
Battery compartment for multi turn encoder, cable 0.45 m (1.47 ft) VW3M8BATC
Battery 3.6 Vdc for multi turn encoder VW3M9BATT
NOTE: The battery compartment and the battery are not provided with motor equipped with a multi turn
encoder and must be ordered separately.
Signal Cables
Signal cable for signal interface CN1, device end 50-pin connector, other 1 m (3.28 ft) VW3M1C10R10
cable end flying leads
2 m (6.56 ft) VW3M1C10R20
3 m (9.84 ft) VW3M1C10R30
96 EIO0000002305 07/2019
Signal Cable for Safety Function STO
Signal cable for safety function STO CN9 1 m (3.28 ft) VW3M1C20R10
2 m (6.56 ft) VW3M1C20R20
3 m (9.84 ft) VW3M1C20R30
External Braking Resistors and Holding Brake Controller
Holding brake controller HBC with automatic voltage reduction; 24 V - 1.6 A VW3M3103
Braking resistor IP 65 10 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7601R07
connection cable 2.1 mm2 (AWG 14) power 400 W
2 m (6.56 ft) VW3A7601R20
3 m (9.84 ft) VW3A7601R30
Braking resistor IP 65, UL 27 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7602R07
connection cable 2.1 mm2 (AWG 14) power 100 W
2 m (6.56 ft) VW3A7602R20
3 m (9.84 ft) VW3A7602R30
Maximum continuous 0.75 m (2.46 ft) VW3A7603R07
power 200 W
2 m (6.56 ft) VW3A7603R20
3 m (9.84 ft) VW3A7603R30
power 400 W
2 m (6.56 ft) VW3A7604R20
3 m (9.84 ft) VW3A7604R30
72 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7606R07
power 200 W 2 m (6.56 ft) VW3A7606R20
3 m (9.84 ft) VW3A7606R30
power 400 W 2 m (6.56 ft) VW3A7607R20
3 m (9.84 ft) VW3A7607R30
Braking resistor IP20, UL 16 Ω Maximum continuous VW3A7733
screw terminals M6 -
10 Ω power 956 W VW3A7734
Circuit Breakers
Circuit breaker - thermal magnetic -screw terminals 4 … 6.3 A GV2P10
6 … 10 A GV2P14
9 … 14 A GV2P16
13 … 18 A GV2P20
17 … 23 A GV2P21
20 … 25 A GV2P22
24 … 32 A GV2P32
EIO0000002305 07/2019 97
Motor Protection Switches and Power Contactors
Drive Nominal power Order no. motor Rated continuous current Order no. power
protection switch motor protection switch contactor
LXM28AUA5 50 W GV2L10 6.3 A LC1K0610••
LXM28AU01 100 W GV2L10 6.3 A LC1K0610••
LXM28AU02 200 W GV2L14 10 A LC1D09••
LXM28AU04 400 W GV2L14 10 A LC1D09••
LXM28AU07 750 W GV2L16 14 A LC1D12••
LXM28AU15 1500 W GV2L22 25 A LC1D18••
LXM28AU20 2000 W GV2L32 30 A LC1D32••
LXM28AU30 3000 W GV2L32 30 A LC1D32••
Control voltage power contactor 24 V 48 V 110 V 220 V 230 V 240 V

LC1K•••• 50/60 Hz B7 E7 F7 M7 P7 U7
Control voltage power contactor 24 V 48 V 110 V 220/230 V 230 230/240 V

LC1D•••• 50 Hz B5 E5 F5 M5 P5 U5
60 Hz B6 E& F6 M6 - U6
50/60 Hz B7 E7 F7 M7 P7 U7
98 EIO0000002305 07/2019
Engineering
EIO0000002305 07/2019
Part III
Engineering
Engineering
EIO0000002305 07/2019 99
Engineering
100 EIO0000002305 07/2019

Engineering
EIO0000002305 07/2019
Chapter 7
Engineering
Engineering
This chapter contains information on the application of the Servo Drive system for the engineering phase.

Section Topic Page
7.1 Electromagnetic Compatibility (EMC) 102
7.2 Cables 106
7.3 Residual Current Device 108
7.4 Common DC Bus 109
7.5 Safety Function STO (“Safe Torque Off”) 110
7.6 Rating the Braking Resistor 122
7.7 Monitoring Functions 126
7.8 Configurable Inputs and Outputs 127
7.9 Wiring 128
EIO0000002305 07/2019 101

Engineering
Section 7.1
Electromagnetic Compatibility (EMC)

Topic Page
Electromagnetic Compatibility (EMC) 103
External Mains Filters 105
102 EIO0000002305 07/2019

Engineering
Signal interference can cause unexpected responses of the drive and of other equipment in the vicinity of
the drive.
WARNING
SIGNAL AND EQUIPMENT INTERFERENCE
 Only operate the drive with the specified external mains filter.
 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.
Limit Values
This product meets the EMC requirements according to the standard IEC 61800-3 if the measures
described in this manual, and in particular the installation of the mains filters, are implemented during
installation.
WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device operation in accordance with
the standard IEC 61800-3.
These types of devices are not intended to be used on a low-voltage public network which supplies
domestic premises. Radio frequency interference is expected if used in such a network.
WARNING
RADIO INTERFERENCE
Do not use these products in domestic electrical networks.
As a system provider, you may have to include this information in the documentation to your customer.
EIO0000002305 07/2019 103

Engineering
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.
WARNING
 Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point. 1)
 Route communications and I/O cables separately from power cables.
1)
Multipoint grounding is permissible if connections are made to an equipotential ground plane
dimensioned to help avoid cable shield damage in the event of power system short-circuit currents.
The equipotential bonding conductors must be rated for the maximum current. The following conductors
cross sections can be used:
2
 16 mm (AWG 4) for equipotential bonding conductors up to a length of 200 m (656 ft)
 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more than 200 m (656 ft)
EMC Requirements for the Control Cabinet
EMC measures Objective

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

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

Use mains reactors. Reduces mains harmonics, prolongs product service
life.
Mount in a closed control cabinet with shielded Improves the EMC limit values.
attenuation of radiated interference
104 EIO0000002305 07/2019

Engineering
External Mains Filters
Filter/Drive Combinations
You can obtain EMC conformance by following the wiring standards and practices in the present document
and installing, for each drive, the following filter/drive combination:
For further information, refer to Electromagnetic compatibility (EMC) (see page 102).
LXM28A Mains filter for single-phase Mains filter for three-phase

connection connection
UA5 = 0.05 kW VW3A4420 VW3A4422
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1 kW
U15 = 1.5 kW VW3A4421 VW3A4422
U20 = 2 kW - VW3A4423
U30 = 3 kW - VW3A4424
U45 = 4.5 kW
If you use mains filters of other manufacturers, these mains filters must have the same technical data as
specified mains filters.
Emission
The specified limit values are complied with if the external mains filters available as accessories are used.
The following limit values for emission are complied with if the installation is EMC-compliant and if the
cables offered as accessories are used.
Lexium 28A Category

Conducted interference C3
Radiated emission C3
EIO0000002305 07/2019 105

Engineering
Section 7.2
Cables
Cables
Cables
Suitability of the Cables

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

conductors to reduce currents on the cable shields
WARNING
1)
The equipotential bonding conductor must be rated for the maximum current. The following conductor
cross sections can be used:
2
 16 mm (AWG 4) for equipotential bonding conductors up to a length of 200 m (656 ft)
 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more than 200 m (656 ft)
106 EIO0000002305 07/2019

Engineering
Conductor Cross Sections According to Method of Installation

The following sections describe the conductor cross sections for two methods of installation:
 Method of installation B2:
Cables in conduits or cable trunking systems
 Method of installation E:
Cables on open cable trays
Cross section in mm2 (AWG)(1) Current-carrying capacity with Current carrying capacity with
method of installation B2 in A(2) method of installation E in A(2)
0.75 (18) 8.5 10.4
1 (16) 10.1 12.4
1.5 (14) 13.1 16.1
2.5 (12) 17.4 22
4 (10) 23 30
6 (8) 30 37
10 (6) 40 52
16 (4) 54 70
25 (2) 70 88
(1) See chapter “Accessories and spare parts” (see page 91) for available cables.
(2) Values as per IEC 60204-1 for continuous operation, copper conductors, and ambient air temperature
40 °C (104 °F); see IEC 60204-1 for additional information.
Note the derating factors for grouping of cables and correction factors for other ambient conditions
(IEC 60204-1).
The conductors must have a sufficiently large cross section so that the upstream fuse can trip.
In the case of longer cables, it may be necessary to use a greater conductor cross section to reduce the
energy losses.
For conformance to UL requirements, use 75 °C (167 °F) copper conductors.
EIO0000002305 07/2019 107

Engineering
Section 7.3
Residual Current Device
Direct current can be introduced in the protective ground conductor of this drive. If a residual current device
(RCD / GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact,
the following specific types must be used:
WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
 Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-
phase drives connected to a phase and to the neutral conductor.
 Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has
approval for use with frequency inverters and is sensitive to all types of current for three-phase drives
and for single-phase drives not connected to a phase and the neutral conductor.
Conditions for Use of Residual Current Device

 The drive has an increased leakage current at the moment power is applied. Use residual current
devices with a response delay.
 High-frequency currents must be filtered.
108 EIO0000002305 07/2019

Engineering
Section 7.4
Common DC Bus
Common DC Bus
Common DC Bus
Function Principle
The DC buses of several devices can be connected so that energy can be used efficiently. If on device
decelerates, a different device connected to the common DC bus can use the generated braking energy.
Without a common DC bus, the braking energy would be converted to heat by the braking resistor while
the other device would have to be supplied with energy from mains.
Another advantage of having a common DC bus is that several devices can share one external braking
resistor. The number of the individual external braking resistors can be reduced to a single braking resistor
if the braking resistor is properly rated.
This and other important information can be found in the Common DC bus Application Note for the drive.
If you wish to take advantage of DC bus sharing, you must first consult the Common DC bus Application
Note for important safety-related information.
Requirements for Use

The requirements and limit values for parallel connection of multiple devices via the DC bus are described
in the Common DC bus Application Note for the drive that can be found on http://www.schneider-
electric.com. If there are any issues or questions related to obtaining the Common DC bus Application
Note, consult your local Schneider-Electric representative.
EIO0000002305 07/2019 109

Engineering
Section 7.5
Safety Function STO (“Safe Torque Off”)
Safety Function STO (“Safe Torque Off”)
For information on using the IEC 61508 standard, refer to Functional Safety (see page 112).

Topic Page
Process Minimizing Risks Associated with the Machine 111
Functional Safety 112
Definitions 115
Function 116
Requirements for Using the Safety Function 117
Application Examples STO 120
110 EIO0000002305 07/2019

Engineering
Process Minimizing Risks Associated with the Machine
General
The goal of designing machines safely is to protect people. The risk associated with machines with
electrically controlled drives comes chiefly from moving machine parts and electricity itself.
Only you, the user, machine builder, or system integrator can be aware of all the conditions and factors
realized in the design of your application for the machine. Therefore, only you can determine the
automation equipment and the related safeties and interlocks which can be properly used, and validate
such usage.
Hazard and Risk Analysis

Based on the system configuration and utilization, a hazard and risk analysis must be carried out for the
system (for example, according to ISO 12100 or ISO 13849-1). The results of this analysis must be
considered when designing the machine, and subsequently applying safety-related equipment and safety-
related functions. The results of your analysis may deviate from any application examples contained in the
present or related documentation. For example, additional safety components may be required. In
principle, the results from the hazard and risk analysis have priority.
WARNING
NON-CONFORMANCE TO SAFETY FUNCTION REQUIREMENTS
 Specify the requirements and/or measures to be implemented in the risk analysis you perform.
 Verify that your safety-related application complies to applicable safety regulations and standards.
 Make certain that appropriate procedures and measures (according to applicable sector standards)
have been established to help avoid hazardous situations when operating the machine.
 Use appropriate safety interlocks where personnel and/or equipment hazards exist.
 Validate the overall safety-related function and thoroughly test the application.
The ISO 13849-1 Safety of machinery - Safety-related parts of control systems - Part 1: General principle
for design describes an iterative process for the selection and design of safety-related parts of controllers
to reduce the risk to the machine to a reasonable degree:
To perform risk assessment and risk minimization according to ISO 12100, proceed as follows:
1. Defining the boundary of the machine.
2. Identifying risks associated with the machine.
3. Assessing risks.
4. Evaluating risks.
5. Minimizing risks by:
 Intrinsically safe design
 Protective devices
 User information (see ISO 12100)
6. Designing safety-related controller parts (SRP/CS, Safety-Related Parts of the Control System) in an
interactive process.
To design the safety-related controller parts in an interactive process, proceed as follows:
Step Action
1 Identify necessary safety functions that are executed via SRP/CS (Safety-Related Parts of the
Control System).
2 Determine required properties for each safety function.
3 Determine the required performance level PLr.
4 Identify safety-related parts executing the safety function.
5 Determine the performance level PL of the afore-mentioned safety-related parts.
6 Verify the performance level PL for the safety function (PL ≥ PLr).
7 Verify if all requirements have been met (validation).
Additional information is available on www.schneider-electric.com.
EIO0000002305 07/2019 111

Engineering
Functional Safety
Overview
Automation and safety engineering are closely related. Engineering, installation, and operation of complex
automation solutions are greatly simplified by integrated safety-related functions and modules.
Usually, the safety-related engineering requirements depend on the application. The level of the
requirements results from, among other things, the risk, and the hazard potential arising from the specific
application and from the applicable standards and regulations.
IEC 61508 and IEC 61800-5-2

The standard IEC 61508 “Functional safety of electrical/electronic/programmable electronic safety-related
systems” defines the safety-related aspects of systems. Instead of a single functional unit of a safety-
related system, the standard treats all elements of a function chain as a unit. These elements must meet
the requirements of the specific safety integrity level as a whole.
The standard IEC 61800-5-2 “Adjustable speed electrical power drive systems – Safety requirements –
Functional” is a product standard that defines the safety-related requirements regarding drives. Among
other things, this standard defines the safety functions for drives.
Safety Integrity Level (SIL)

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

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

4 ≥10-9 … <10-8
3 ≥10-8 … <10-7
2 ≥10-7 … <10-6
1 ≥10-6 … <10-5
112 EIO0000002305 07/2019

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

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

0 1 2 0 1 2
<60 % SIL1 SIL2 SIL3 --- SIL1 SIL2
60 … <90 % SIL2 SIL3 SIL4 SIL1 SIL2 SIL3
90 … <99 % SIL3 SIL4 SIL4 SIL2 SIL3 SIL4
≥99 % SIL3 SIL4 SIL4 SIL3 SIL4 SIL4
Fault Avoidance Measures

Systematic errors in the specifications, in the hardware and the software, incorrect usage and maintenance
of the safety-related system must be avoided to the maximum degree possible. To meet these
requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented
depending on the required safety integrity level (Safety Integrity Level (SIL)). These measures for fault
avoidance must cover the entire life cycle of the safety-related system, i.e. from design to decommissioning
of the system.
EIO0000002305 07/2019 113

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

Lifetime of the safety function STO (IEC 61508) (1) Years 20
SFF (IEC 61508) % 98.9
Safe Failure Fraction
Safety integrity level – SIL CL 2
IEC 61508
IEC 62061
IEC 61800-5-2
PFH (IEC 61508) 1/h STO_A(2): 1.7 x 10-9
Probability of Dangerous Hardware Failure per Hour STO_B(3): 1.5 x 10-9
PFDavg (IEC 61508) – STO_A(2): 1.5 x 10-4
Probability of Failure on Demand, calculated as one demand per year STO_B(3): 1.3 x 10-4
PL (ISO 13849-1) – d (category 3)
Performance Level
MTTFd (ISO 13849-1) Years STO_A(2): 66757
Mean Time to Dangerous Failure STO_B(3): 78457
DCavg (ISO 13849-1) % ≥90
Diagnostic Coverage
(1) See chapter Lifetime Safety Function STO (see page 444)
(2) STO_A: LXM28AUA5,LXM28AU01, LXM28AU02, LXM28AU04, LXM28AU07, LXM28AU10,LXM28AU15,
LXM28AU20
(3) STO_B: LXM28AU30, LXM28AU45
If two non-adjacent IGBTs have a short circuit, a movement of a maximum of 120 degrees (electrical) can
occur even if the safety function STO is active. Include in your risk analysis the probability of IGBT short
circuits, and make a determination whether it is acceptable as it relates to your application.
WARNING
UNINTENTIONAL MOVEMENT DURING STO FUNCTION
Use appropriate safety interlocks (such as a service brake) where personnel and/or equipment hazards
exist.
The probability of such a condition is 1.5 x 10-15 per hour (without common cause error). Include this in
your calculations for the safety function.
Contact your local sales office for additional data, if required.
114 EIO0000002305 07/2019

Engineering
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
 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.
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.
EIO0000002305 07/2019 115

Engineering
Function
The safety function STO integrated into the product can be used to implement an “EMERGENCY STOP”
(IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay
module, it is also possible to implement category 1 stops.
The safety function STO switches the supply voltage of the IGBT drivers so that PWM signals cannot
switch the IGBTs. The following diagram illustrates the concept:
116 EIO0000002305 07/2019

Engineering
Requirements for Using the Safety Function
The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.
DANGER
ELECTRIC SHOCK
 Do not use the safety function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety function STO, to disconnect the
drive from the mains power.
After the safety function STO is triggered, the motor can no longer generate torque and coasts down
without braking in the case of motors without a holding brake. In the case of motors with holding brake, the
holding brake is not a safety-related function, and may not be sufficient to hold the axis at a standstill.
WARNING
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
The safety function STO is factory-deactivated by means of the jumper for CN9. If you want to use the
safety function STO, you must remove the jumper for CN9. You may only use the safety function STO with
an external PELV 24 Vdc power supply unit.
WARNING
 Remove the jumpers connected to the STO power connector (CN9) only if you intend to use the STO
safety-related function for your application.
 Use only an external PELV 24 Vdc power supply unit when applying the safety-related STO function.
For additional information on deactivating the safety function STO, refer to Connection STO (CN9)
(see page 175).
EIO0000002305 07/2019 117

Engineering
Holding Brake and Safety Function STO

When the safety function STO is triggered, the power stage is immediately disabled. In the case of vertical
axes or external forces acting on the load, you may have to take additional measures to bring the load to
a standstill and to keep it at a standstill when the safety function STO is used, for example, by using a
service brake.
WARNING
FALLING LOAD
Ensure that all loads come to a secure standstill when the safety function STO is used.
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.
NOTE: The drive does not provide its own safety-related output to connect an external brake to use as a
safety-related measure.
Unintended Restart
To help avoid unintended restart of the motor after restoration of power (for example, after power outage),
the parameter P2-68 must be set to “X=0”. A controlled restart must be managed externally from the drive,
note that the external management itself must not trigger an unintended restart.
WARNING
Set parameter P2-68 setting X to 0 (zero) if the automatic enabling of the power stage presents hazards
in your application.
Degree of Protection When the Safety Function Is Used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive
substances may cause the safety function to become inoperative.
WARNING
INOPERABLE SAFETY FUNCTION
Ensure that conductive substances (water, contaminated or impregnated oils, metal shavings, etc.)
cannot get into the drive.
118 EIO0000002305 07/2019

Engineering
Protected Cable Installation

If short circuits or other wiring errors such as a cross fault between STO inputs can be expected in
connection with safety-related signals, and if these short circuits or other wiring errors are not detected by
upstream devices, protected cable installation as per ISO 13849-2 is required.
ISO 13849-2 describes protected cable installation for cables for safety-related signals. The cables for the
safety function STO must be protected against external voltage. A shield with ground connection helps to
keep external voltage away from the cables for the signals of the safety function STO.
 Use shielded cables for the signals of the safety function STO.
 Do not use the cable for the signals of the safety function STO for other signals.
 Connect one end of the shield.
 When daisychaining the signals of the safety function STO, connect the shield to the equipotential
grounding plane associated to the drives.
Hazard and Risk Analysis

You must conduct, or ensure that your OEM, system integrator, or anyone responsible for the development
of the application containing the equipment indicated in the present document conducts a hazard and risk
analysis of the entire system. The results of the analysis must be taken into account in the application of
the safety function.
The type of circuit resulting from the analysis may differ from any application examples provided in the
present document or any supplementary documents concerning this equipment. Additional safety
components may be required. The results of the hazard and risk analysis have priority over any other
design considerations. Pay particular attention in conforming to any safety information, different electrical
requirements, and normative standards that would apply to your system.
WARNING
 Perform a hazard and risk analysis to determine the appropriate safety integrity level, and any other
safety requirements, for your specific application based on all the applicable standards.
 Ensure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100
during the design of your machine.
EIO0000002305 07/2019 119

Engineering
Application Examples STO
Example of Category 0 Stop

Use without EMERGENCY STOP safety relay module, category 0 stop.
1 If the maximum output current of the 24 V power supply exceeds 4 A, a 4 A slow-blow fuse is required.
2 Grounded shielded cable for wiring out of the control cabinet.
For further information on STO wiring, refer to Connection of STO (CN9) (see page 175)
NOTE: The internal DC power supply of the drive is only to be used to deactivate the safety function STO
via the jumper supplied with the drive.
WARNING
In this example, when an EMERGENCY STOP is activated, it leads to a category 0 stop:

The power stage is immediately disabled via the inputs STO_24V and STO_0V of the safety function STO.
Power can no longer be supplied to the motor. If the motor is not already at a standstill when the STO is
triggered, it decelerates under the salient physical forces (gravity, friction, etc.) active at the time until
presumably coasting to a standstill.
WARNING
application.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external service brake may also be required. Refer to Holding Brake and Safety Function STO
(see page 118).
120 EIO0000002305 07/2019

Engineering
Example of Category 1 Stop

Use with EMERGENCY STOP safety relay module, category 1 stop. Example of category 1 stop with
external Preventa XPS-AV EMERGENCY STOP safety relay module.
1 If the maximum output current of the 24 V power supply exceeds 4 A, a 4 A slow-blow fuse is required.
For more information on STO wiring, see chapter Connection of STO (CN9) (see page 175)
In this example, when an EMERGENCY STOP is activated, it leads to a category 1 stop:
 The safety relay module requests an immediate stop (undelayed) of the drive via the logic controller
(Halt). The logic controller takes the configured or programmed action to instruct the drive to make a
decelerated stop.
 The power stage is disabled via the inputs STO_24V and STO_0V of the safety function STO after the
delay time set in the EMERGENCY STOP safety relay module has elapsed. Power can no longer be
supplied to the motor. If the motor is not already at a standstill when safety function STO is triggered
when the delay time has elapsed, it decelerates under the salient physical forces (gravity, friction, etc.)
active at the time until presumably coasting to a standstill.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external service brake may also be required. Refer to Holding Brake and Safety Function STO
(see page 118).
WARNING
application.
NOTE: The specified minimum current and the permissible maximum current of the relay outputs of the
EMERGENCY STOP safety relay module must be respected.
EIO0000002305 07/2019 121

Engineering
Section 7.6
Rating the Braking Resistor

Topic Page
Rating the Braking Resistor 123
Internal Braking Resistor 124
External Braking Resistors 125
122 EIO0000002305 07/2019

Engineering
Braking resistors are required for dynamic applications. During deceleration, the kinetic energy is
transformed into electrical energy in the motor. The electrical energy increases the DC bus voltage. The
braking resistor is activated when the defined threshold value is exceeded. The braking resistor transforms
electrical energy into heat. If highly dynamic deceleration is required, the braking resistor must be well
adapted to the system. External driving forces acting on the motor can cause high currents to be
regenerated and supplied back to the drive.
DANGER
FIRE DUE TO EXTERNAL DRIVING FORCES ACTING ON MOTOR
Verify that no external forces can act on the motor that will exceeded the capacity of the braking resistor.
An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus
causes the power stage to be disabled. The motor is no longer actively decelerated.
WARNING
 Verify that the braking resistor has a sufficient rating by performing a test run under maximum load
conditions.
 Verify that the parameter settings for the braking resistor are correct.
If multiple drives are connected via a common DC bus, this affects all motors. For further information, refer
to Common DC bus (see page 109).
An external braking resistor (see page 97) is required for applications in which the motor must be
decelerated quickly and the internal braking resistor cannot absorb the excess braking energy.
EIO0000002305 07/2019 123

Engineering
Internal Braking Resistor
Introduction
The drive has an internal braking resistor. If the internal braking resistor is insufficient for the dynamics of
the application, one or more external braking resistors must be used.
The resistance values for external braking resistors must not be below the specified minimum resistance.
If an external braking resistor is activated by using the appropriate parameter, the internal braking resistor
is deactivated.
LXM28A•••M1X UA5, U01, U07

Unit U02, U04
Resistance value of internal braking resistor Ω 100 40
Continuous power internal braking resistor PPR W 60
Peak energy ECR(1) Ws 152 380
External braking resistor minimum Ω 25

External braking resistor maximum(2) Ω 50
Maximum continuous power external braking resistor W 640
Switch-on voltage braking resistor V 390
Capacitance of the internal capacitors μF 1640
Energy absorption of internal capacitors Evar at nominal voltage 120 V +10% Ws 8.87
(1) Parameter P1-71 is set to 100 ms.
(2) The maximum specified braking resistor can derate the peak power of the device. Depending on the application,
it is possible to use a greater ohm resistor.
LXM28A•••M3X UA5, U01, U07 U10, U15 U20 U30, U45

Unit U02, U04
Resistance value of internal braking resistor Ω 100 40 22
Continuous power internal braking resistor PPR W 60 60 100
Peak energy ECR(1) Ws 152 380 691
External braking resistor minimum Ω 25 15 8

External braking resistor maximum (2) Ω 50 25
Maximum continuous power external braking W 640 1000 1500 2500
resistor
Switch-on voltage braking resistor V 390
Capacitance of the internal capacitors μF 820 1640 2110 3280
Energy absorption of internal capacitors Evar at Ws 8.87 17.76 22.82 35.51
nominal voltage 230 V +10%
(1) Parameter P1-71 is set to 100 ms.
(2) The maximum specified braking resistor can derate the peak power of the device. Depending on the application, it
is possible to use a greater ohm resistor.
124 EIO0000002305 07/2019

Engineering
External Braking Resistors
Introduction
An external braking resistor is required for applications in which the motor must be decelerated quickly and
the internal braking resistor cannot absorb the excess braking energy. The temperature of the braking
resistor may exceed 250 °C (482 °F) during operation.
WARNING
HOT SURFACES
 Ensure that it is not possible to make any contact with a hot braking resistor.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of the braking resistor.
 Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
VW3A760• Unit 1R•• (1) 2R•• 3R•• 4R•• (1) 5R•• 6R•• 7R•• (1)
Resistance Ω 10 27 72
Continuous power W 400 100 200 400 100 200 400
Maximum time in s 0.72 0.552 1.08 2.64 1.44 3.72 9.6
braking at 115 V / 230 V
Peak power at 115 V / kW 18.5 6.8 2.6
230 V
Maximum peak energy Ws 13300 3800 7400 18100 3700 9600 24700
at 115 V / 230 V
Degree of protection - IP 65
(1) Resistors with a continuous power of 400 W are not UL/CSA-approved.
VW3A77• Unit 04 05
Resistance Ω 15 10
Continuous power W 1000
Maximum time in braking at 115 V / 230 V s 3.5 1.98
Peak power at 115 V / 230 V kW 12.3 18.5
Maximum peak energy at 115 V / 230 V Ws 43100 36500
Degree of protection - IP20
EIO0000002305 07/2019 125

Engineering
Section 7.7
Monitoring Functions
Overview
The monitoring functions of the drive can be used to monitor movements and to monitor internal signals.
These monitoring functions are not safety-related functions.
The following monitoring functions are available:
Monitoring function Task

Data connection Monitors data connection for interruption
Limit switch signals Monitors for permissible movement range
Position deviation Monitors for difference between actual position and
reference position
Motor overload Monitors for excessively high current in the motor
phases
Overvoltage and undervoltage Monitors for overvoltage and undervoltage of the
power stage supply and the DC bus
Overtemperature Monitors the drive for overtemperature
Encoder overtemperature Monitors the encoder for overtemperature
Overvoltage and undervoltage Monitors the logic supply and power stage supply for
permissible voltage range
Overvoltage at digital inputs Monitors the digital inputs for overvoltage
Wire break HPULSE inputs Monitors the HPULSE inputs for wire break
Power supply encoder Monitors the encoder supply for short circuit and
permissible voltage range
Current limitation (Foldback) Power limitation in the case of overloads for the
motor, the output current, the output power, and the
braking resistor.
126 EIO0000002305 07/2019

Engineering
Section 7.8
Configurable Inputs and Outputs
Presentation
This drive has digital inputs and outputs that can be configured. The inputs and outputs have a defined
default assignment depending on the operating mode. This assignment can be adapted to the
requirements of the customer's installation.
For further details, refer to chapter Operation (see page 313).
EIO0000002305 07/2019 127

Engineering
Section 7.9
Wiring
Wiring

Topic Page
General Wiring 129
I/O Wiring Example With Modicon M221 Logic Controller 130
128 EIO0000002305 07/2019

Engineering
General Wiring
EIO0000002305 07/2019 129

Engineering
I/O Wiring Example With Modicon M221 Logic Controller
Positive Logic
Wiring example with Modicon M221 Logic Controller (positive logic).
130 EIO0000002305 07/2019

Engineering
Negative Logic
Wiring example with Modicon M221 Logic Controller (negative logic).
EIO0000002305 07/2019 131

Engineering
132 EIO0000002305 07/2019

Installation
EIO0000002305 07/2019
Part IV
Installation
Installation
Introduction
An engineering phase is mandatory prior to mechanical and electrical installation. For basic information,
refer to Engineering (see page 101).
DANGER
INSUFFICIENT GROUNDING
 Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors
with the cross section of the conductors supplying the power terminals.
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of the entire drive system.
 Ground the drive system before applying voltage.
 Do not use conduits as protective ground conductors; use a protective ground conductor inside the
conduit.
 Do not use cable shields as protective ground conductors.
 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.
In the case of a ground error, the maximum permissible current in the motor phases may be exceeded.
DANGER
FIRE CAUSED BY INCORRECT INSTALLATION
Use upstream, external ground error detection equipment (Residual Current Device / Ground Fault
Circuit Interrupter).
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.
1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Conductive foreign objects, dust or liquids may cause safety functions to become inoperative.
EIO0000002305 07/2019 133

Installation
WARNING
LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Protect the system against contamination by conductive substances.
The metal surfaces of the product may exceed 65 °C (149 °F) (for bare metal) during operation.
WARNING
HOT SURFACES
 Avoid unprotected contact with hot surfaces.
 Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces.
CAUTION
INOPERABLE EQUIPMENT DUE TO INCORRECT MAINS VOLTAGE CONNECTION
 Verify that you use the correct mains voltage; install a transformer, if necessary.
 Do not connect mains voltage to the output terminals (U, V, W).
Failure to follow these instructions can result in injury or equipment damage.

8 Before Mounting 135
9 Drive Installation 139
10 Motor Installation 177
11 Verifying Installation 189
134 EIO0000002305 07/2019

Before Mounting
EIO0000002305 07/2019
Chapter 8
Before Mounting
Before Mounting

Topic Page
Inspecting the Product 136
Scope of Supply 137
EIO0000002305 07/2019 135

Before Mounting
Inspecting the Product
Inspecting the Product

 Verify the product version by means of the type code on the nameplate. Refer to chapter Nameplate
(see page 34) and chapter Type Code (see page 35).
 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.
Contact your local Schneider Electric representative if you detect any damage whatsoever to the products.
136 EIO0000002305 07/2019

Before Mounting
Scope of Supply
Drive
 Drive Lexium 28A
 Connector kit with 3 connectors for:
 Power stage supply and logic supply
 Braking resistor
Including jumper between PBi and PBe
 Motor
 Plastic tool for opening the spring terminals (available for devices from 50 W to 1.5 kW)
 4-pin connector for deactivating the safety function STO (CN9)
 Adhesive hazard labels in 5 languages (German, French, Italian, Spanish, Chinese)
 Instruction sheet for the product
Motor
 BCH2 servo motor
 BCH2•R: 2 eyebolts
 Information sheet for the product
EIO0000002305 07/2019 137

Before Mounting
138 EIO0000002305 07/2019

Drive Installation
EIO0000002305 07/2019
Chapter 9
Drive Installation
Drive Installation

Topic Page
Mechanical Installation Drive 140
Electrical Installation Drive 142
Connection Grounding Screw 144
Connection I/O Interface (CN1) 145
Connecting the Motor Encoder (CN2) 157
Connection PC (CN3) 159
Connection CAN (CN4) 161
Connection Logic Supply and Power Stage Supply (CN5) 164
Connection DC Bus (CN6) 167
Connection Braking Resistor (CN7) 168
Connecting the Motor Phases (CN8) 170
Holding Brake Connection 173
Connection STO (CN9) 175
EIO0000002305 07/2019 139

Drive Installation
Mechanical Installation Drive
DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
and humidity.
Conductive foreign objects, dust or liquids may cause safety functions to become inoperative.
WARNING
LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Protect the system against contamination by conductive substances.
The metal surfaces of the product may exceed 70 °C (158 °F) during operation.
WARNING
HOT SURFACES
Attaching a Hazard Label with Safety Instructions

Included in the packaging of the drive are adhesive hazard labels in German, French, Italian, Spanish, and
Chinese languages. The English version is affixed to the drive by the factory. If the country to which your
final machine or process is to be delivered is other than English speaking:
 Select the hazard label suitable for the target country.
Respect the safety regulations in the target country.
 Attach the hazard label to the front of the device so that it is clearly visible.
Control Cabinet
The control cabinet (enclosure) must have a sufficient size so that all devices and components can be
permanently installed and wired in compliance with the EMC requirements.
The ventilation of the control cabinet must be sufficient to comply with the specified ambient conditions for
the devices and components operated in the control cabinet.
Install and operate this equipment in a control cabinet rated for its intended environment and secured by
a keyed or tooled locking mechanism.
Mounting Distances, Ventilation

When selecting the position of the device in the control cabinet, note the following:
 Mount the device in a vertical position (±10°). This is required for cooling the device.
 Adhere to the minimum installation distances for required cooling. Avoid heat accumulations.
 Do not mount the device close to heat sources.
 Do not mount the device on or near flammable materials.
 The heated airflow from other devices and components must not heat up the air used for cooling the
device.
140 EIO0000002305 07/2019

Drive Installation
The connection cables of the devices are routed to the top and to the bottom. The minimum distances must
be adhered to for air circulation and cable installation.
Mounting distances and air circulation
LXM28AUA5, U01, U02, U04, U07, U10, U15, U20, U30, U45
Distance Unit Value

Free space a mm ≥50
above the device (in) (≥1.97)
Free space b mm ≥50
below the device (in) (≥1.97)
Free space c mm ≥60
in front of the device(1) (in) (≥2.36)
Free space d mm ≥15

between devices (in) (≥0.59)
(1) The free space is strictly for observing proper ventilation and may not be sufficient for your wiring
requirements.
Mounting the Drive

For further information on the dimensions of the mounting holes, refer to chapter Dimensions
(see page 39).
Painted surfaces may create electrical resistance or isolation. Before mounting the device to a painted
mounting plate, remove all paint across a large area of the mounting points.
 Respect the ambient conditions in chapter Environmental Conditions (see page 37).
 Mount the device in a vertical position (±10°).
EIO0000002305 07/2019 141

Drive Installation
Electrical Installation Drive
Introduction
DANGER
conduit.
and humidity.
Direct current can be introduced in the protective ground conductor of this drive. If a residual current device
(RCD / GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact,
the following specific types must be used:
WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
 Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-
phase drives connected to a phase and to the neutral conductor.
 Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has
approval for use with frequency inverters and is sensitive to all types of current for three-phase drives
and for single-phase drives not connected to a phase and the neutral conductor.
The entire installation procedure must be performed without voltage present.
142 EIO0000002305 07/2019

Drive Installation
110 Vac
220 Vac
LXM28AUA5 … U15 LXM28AU20 LXM28AU30, U45
Item Description Refer to

CN1 Signal interface Connection I/O Interface (CN1)
For connecting master controller or I/O signals. (see page 145)
CN2 Connection for motor encoder Connecting the Motor Encoder (CN2)
(see page 157)
CN3 Modbus (commissioning interface) Connection PC (CN3) (see page 159)
For connecting PC via converter TCSMCNAM3M002P
CN4 2 connections for fieldbus CANopen Connection CAN (CN4) (see page 161)
For connecting master controller or I/O signals.
CN5 Power stage supply (R,S,T) and logic supply (L1, L2) Connection Logic Supply and Power Stage
Supply (CN5) (see page 164)
CN6 DC bus connection(1) Connection DC bus (CN6) (see page 167)
LED DC bus LED -

The LED is illuminated when mains voltage or internal
charge are present. The DC bus LED is not an indicator of
the absence of DC bus voltage.
CN7 Connection for external braking resistor Connection braking resistor (CN7)
(see page 168)
CN8 Motor phases connection (U, V, W, PE) Connecting the motor phases (CN8)
(see page 170)
CN9 Connection for safety function STO Connection STO (CN9) (see page 175)
(1) Not available for LXM28A••• M1X drives.
EIO0000002305 07/2019 143

Drive Installation
Connection Grounding Screw
This product has a leakage (touch) current greater than 3.5 mA. If the protective ground connection is
interrupted, a hazardous leakage (touch) current may flow if the housing is touched.
DANGER
conduit.
and humidity.
The central grounding screws of the product are located at the front side.
LXM28AUA5…U15 LXM28AU20 LXM28AU30, U45
 Use ring-type cable lugs or fork-type cable lugs.

 Connect the ground connection of the device to the equipotential ground plane of your system.
LXM28A UA5, U01, U02, U04, U07,

Unit U10, U15, U20, U30, U45
Tightening torque of grounding screw Nm 1.3
(lb.in) (11.5)
Screw type - M4 x 8 socket button head
screw
144 EIO0000002305 07/2019

Drive Installation
Connection I/O Interface (CN1)
The I/O Interface (CN1) is a D-Sub 50-pin female connector. The following table describes the contacts of
the connector:
Pin Signal Meaning Pin Signal Meaning

1 DO4+ Digital output 4 2 DO3- Digital output 3
7 DO1+ Digital output 1 8 DI4- Digital input 4
9 DI1- Digital input 1 10 DI2- Digital input 2
11 COM Reference potential to DI1 ... DI8 12 GND Reference potential analog input
13 GND Reference potential for analog input 14 - Reserved
15 MON2 Analog output 2 16 MON1 Analog output 1
17 VDD 24 Vdc power supply (for external 18 T_REF Analog input for reference torque
I/O)
19 GND Analog input signal ground 20 VCC Output power supply 12 Vdc (for
analog reference values)
21 OA ESIM channel A 22 /OA ESIM channel A, inverted
23 /OB ESIM channel B, inverted 24 /OZ ESIM index pulse, inverted
25 OB ESIM channel B 26 DO4- Digital output 4
27 DO5- Digital output 5 28 DO5+ Digital output 5
29 /HPULSE High-speed pulses, inverted 30 DI8- Digital input 8
35 PULL HI_S Pulse applied Power (SIGN) 36 /SIGN Direction signal, inverted
(SIGN)
37 SIGN Direction signal 38 HPULSE High-speed pulses
39 PULL HI_P Pulse applied Power (PULSE) 40 /HSIGN Direction signal for high-speed
(PULSE) pulses, inverted
41 PULSE Pulse input 42 V_REF Analog input for reference velocity
43 /PULSE Pulse input 44 GND Analog input signal ground
45 COM- Reference potential to VDD and 46 HSIGN Direction signal for high-speed
DO6(OCZ) pulses
47 COM- Reference potential to VDD and 48 DO6(OCZ) ESIM index pulse
DO6(OCZ) Open collector output
49 COM- Reference potential to VDD and 50 OZ ESIM index pulse
DO6(OCZ) Line driver output
WARNING
Do not connect any wiring to reserved, unused connections, or to connections designated as No
Connection (N.C.).
EIO0000002305 07/2019 145

Drive Installation
Prefabricated Cable VW3M1C10R••

Color assignments of the prefabricated cable connected to the I/O interface (CN1):
VW3M1C10R•• Pinout
Group A Group B Group C

Pin Signal Color Pin Signal Color Pin Signal Color
9 DI1- OG 6 DO1- WH 1 DO4+ OG
37 SIGN BN 7 DO1+ GN 2 DO3- BN
11 COM BK 45 COM- BK 3 DO3+ BU
35 PULL HI_S WH 11 COM BK
(SIGN)
39 PULL HI_P GN 26 DO4- YE
(PULSE)
41 PULSE BU 30 DI8- RD
-
31 DI7- PK
32 DI6- GN
-
33 DI5- VT
45 COM- BY
NOTE: For the CN1 mating connector, use a clip-on (latching) type, such as Schneider Electric reference
VW3M1C12 CN1 Connector Kit.
Inputs and Outputs Signals

The following inputs and outputs signals are available:
 Analog inputs and outputs (see page 147)
 Pulse input (open collector, negative logic) (see page 148)
 Pulse input (open collector, positive logic) (see page 149)
 Pulse input (line driver) (see page 150)
 High-speed pulse input (line driver) (see page 150)
 Digital outputs (negative logic) (see page 151)
 Digital outputs (positive logic) (see page 153)
 Digital inputs (negative logic) (see page 154)
 Digital inputs (positive logic) (see page 155)
 Encoder output signal) (see page 156)
146 EIO0000002305 07/2019

Drive Installation
Analog Inputs and Outputs

Example of reference value via analog input:
Example of analog output:
EIO0000002305 07/2019 147

Drive Installation
Pulse Input (Open Collector, Negative Logic)
WARNING
Do not connect an external, 24 Vdc power supply to the VDD connection of the I/O interface (CN1)
connector.
Example of pulse input (open collector) with internal power supply (negative logic).
Example of pulse input (open collector) with external power supply (negative logic).
148 EIO0000002305 07/2019

Drive Installation
Pulse Input (Open Collector, Positive Logic)
WARNING
connector.
Example of pulse input (open collector) with internal power supply (positive logic).
Example of pulse input (open collector) with external power supply (positive logic).
EIO0000002305 07/2019 149

Drive Installation
Pulse Input (Line Driver)

Example of pulse input (line driver).
High-Speed Pulses
Example of high-speed pulse input (line driver).
Connect the cable shield to the equipotential ground of your controller/drive electrical system.
150 EIO0000002305 07/2019

Drive Installation
Wiring of the Digital Outputs (Negative Logic)

Example of digital outputs DO1 ... DO5 with internal power supply (negative logic):
Example of digital outputs DO1 ... DO5 with external power supply (negative logic):
Example of digital output DO6 (OCZ) with internal power supply (negative logic):
EIO0000002305 07/2019 151

Drive Installation
Example of digital output DO6 (OCZ) with external power supply (negative logic):
Inductive loads using DC voltages may damage the signal outputs. A protection circuit is required to protect
the signal outputs against inductive loads.
CAUTION
OUTPUT CIRCUIT DAMAGE DUE TO INDUCTIVE LOADS
Use an appropriate external protective circuit or device to reduce the inductive direct current load
damage.
A diode can be used to protect the signal outputs against inductive loads.
Use a diode with the following ratings:
 Reverse withstand voltage: voltage of signal output times 10
 Forward current: greater than the load current
152 EIO0000002305 07/2019

Drive Installation
Wiring of the Digital Outputs (Positive Logic)

Example of digital outputs DO1 ... DO5 with internal power supply (positive logic):
Example of digital outputs DO1 ... DO5 with external power supply (positive logic):
Inductive loads using DC voltages may damage the signal outputs. A protection circuit is required to protect
the signal outputs against inductive loads.
CAUTION
OUTPUT CIRCUIT DAMAGE DUE TO INDUCTIVE LOADS
Use an appropriate external protective circuit or device to reduce the inductive direct current load
damage.
A diode can be used to protect the signal outputs against inductive loads. Use a diode with the following
ratings:
Reverse withstand voltage: voltage of signal output times 10
Forward current: greater than the load current
EIO0000002305 07/2019 153

Drive Installation
Wiring of the Digital Inputs (Negative Logic)
WARNING
connector.
Use a relay or an open collector output (NPN transistor) for the input signal.
Example of digital input (negative logic) with internal power supply:
Example of digital input (negative logic) with external power supply:
154 EIO0000002305 07/2019

Drive Installation
Wiring of the Digital Inputs (Positive Logic)
WARNING
connector.
Use a relay or an open collector output (PNP transistor) for the input signal.
Example of digital input with internal power supply (positive logic):
Example of digital input with external power supply (positive logic):
EIO0000002305 07/2019 155

Drive Installation
Encoder Output Signal

Example of encoder output signal Line Driver.
Example of encoder output signal, high-speed optocoupler.
156 EIO0000002305 07/2019

Drive Installation
Connecting the Motor Encoder (CN2)
Function and Encoder Type

The motor encoder is an integrated, high-resolution absolute encoder. It provides the device with
information on the motor position (analog and digital).
Cable Specifications
For further information, refer to chapter Cables (see page 106).
Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Cable composition: 10 x 0.13 mm2
(10 x AWG 24)
Maximum cable length: 20 m (65.6 ft)
Special characteristics: Fieldbus cables are not suitable for
connecting encoders.
NOTE: Use pre-assembled cables to reduce the risk of wiring errors.
Wiring Diagram
Connection assignment motor encoder (CN2)
The motor encoder interface (CN2) is a 6-pin connector. The following table describes the contacts of the
connector:
Pin Signal Color(1) Meaning Motor military Motor plastic I/O

connector connector
5 T+ Blue (BU) A 1
Serial communication I/O
6 T- Blue/Black (BU/BK) B 4
1 +5 V Red, red/white (RD, 5 V encoder supply S 7 I
RD/WH)
2 GND Black, black/white Reference potential for R 8 O
(BK, BK/WH) encoder supply
3, 4 N.C. Reserved - - - -
(1) Color information relates to the cables available as accessories.
WARNING
Connection (N.C.).
EIO0000002305 07/2019 157

Drive Installation
Connecting the Motor Encoder

 Verify that wiring, cables, and connected interface meet the PELV requirements.
 Note the information on EMC, see chapter Electromagnetic Compatibility (EMC) (see page 102). Use
equipotential bonding conductors for equipotential bonding.
 Connect the connector to
 CN2 Encoder if using a motor equipped with a single turn encoder.
 the battery compartment if using a motor equipped with a multi turn encoder.
 Verify that the connector locks snap in properly at the housing.

Route the cables from the motor and the encoder to the device (starting from the motor). Due to the pre-
assembled connectors, this direction is often faster and easier.
Connecting the Battery Compartment When Using a Motor Equipped With a Multi Turn Encoder
The battery compartment is connected to CN2 Encoder, between the drive and the motor encoder cable.
NOTE: The multi turn counting is preserved through power down by the external battery located into the
battery compartment.
For further information on the battery replacement, refer to the maintenance of the motor (see page 447).
For LXM28A∙∙∙UA5 …U45, the battery compartment should be installed on a baseplate near the drive
158 EIO0000002305 07/2019

Drive Installation
Connection PC (CN3)
Function
The commissioning interface (CN3) is an RS-485 connection, supported on an RJ45 connector. If the PC
used to connect to the commissioning interface has an RS-485 port, typically supported on a DB9
connector, you can connect it to this connector (RJ45 / DB9 cable). Otherwise, you can use the USB port
of the PC with a USB to RS-485 converter.
The commissioning interface may only be used for a point-to-point connection, but not for a point-to-
multipoint connection (RS-485 network).
If the commissioning interface at the product is directly connected to an Ethernet interface at the PC, the
PC interface may be damaged and rendered inoperable.
NOTICE
INOPERABLE EQUIPMENT
Do not directly connect an Ethernet interface to the commissioning interface of this product.
Failure to follow these instructions can result in equipment damage.
Connecting a PC
A PC with the commissioning software LXM28 DTM Library can be connected for commissioning. The PC
is connected via a bidirectional USB/RS485 converter, refer to Accessories and Spare Parts
(see page 92).

PELV: Required
Cable composition: 8 x 0.25 mm2 (8 x AWG 22)
Maximum cable length: 100 m (328 ft)
Special characteristics: -
EIO0000002305 07/2019 159

Drive Installation
Wiring Diagram
Wiring diagram PC with commissioning software
The commissioning interface (CN3) is an RJ45 connector. The following table describes the contacts of
the connector:
Pin Signal Meaning I/O

1 ... 3 - Reserved -
4 MOD_D1(1) Bidirectional transmit/receive signal RS-485
5 MOD_D0(1) Bidirectional transmit/receive signal, inverted level
6 ... 7 - Reserved -
8 and SHLD Functional ground / shield - internally connected to ground -
connector potential of the drive
housing
(1) No polarization.
WARNING
Connection (N.C.).
NOTE: Verify that the connector locks snap in properly at the housing.
160 EIO0000002305 07/2019

Drive Installation
Connection CAN (CN4)
Function
The device is suitable for connection to CANopen and CANmotion.
A CAN bus connects multiple devices via a bus cable. Each network device can transmit and receive
messages. Data between network devices is transmitted serially.
Each network device must be configured before it can be operated on the network. The device is assigned
a unique 7-bit node address (node ID) between 1 (01h) and 127 (7Fh). The address is set during
commissioning.
The baud rate must be the same for all devices in the fieldbus.

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

 Use pre-assembled cables to reduce the risk of wiring errors.
EIO0000002305 07/2019 161

Drive Installation
Connectors D-SUB and RJ45

Usually, a cable with D-Sub connectors is used for CAN fieldbus connection in the field. Inside control
cabinets, connections with RJ45 cables have the benefit of easier and faster wiring. In the case of CAN
cables with RJ45 connectors, the maximum permissible bus length is reduced by 50%.
Multiple-port taps can be used to connect an RJ45 system inside the control cabinet to a D-Sub system in
the field, see the figure below. The trunk line is connected to the multiple-port tap by means of screw
terminals; the devices are connected by means of pre-assembled cables. See chapter CANopen
Connectors, Distributors, Terminating Resistors (see page 94).
Connection of RJ45 CAN in the control cabinet to the field
Item Description
1 Devices with RJ45 CAN connection in the control cabinet
2 CANopen cables with RJ45 connectors
3 Connection cables between device and tap, for example TCSCCN4F3M3T for tap TSXCANTDM4
4 Tap in the control cabinet, for example TSXCANTDM4 as D-SUB four-port tap or VW3CANTAP2
as RJ45 tap
5 Fieldbus cable (trunk line) to the bus devices outside of the control cabinet, connected to the tap by
means of screw terminals. Cross section 0.20 mm2 (AWG 24) for CAN level, cross section
0.25 mm2 (AWG 22) for reference potential
6 Terminating resistor 120 Ω RJ45 (TCSCAR013M120)
Maximum Bus Length CAN

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

125 kbit/s 500 m (1640 ft)
250 kbit/s 250 m (820 ft)
500 kbit/s 100 m (328 ft)
1000 kbit/s 20 m (65.6 ft)(1)
(1) According to the CANopen specification, the maximum bus length is 40 m. However, in practice, limiting
the length to 20 m reduces communication errors caused by external interference.
At a baud rate of 1 Mbit/s, the drop lines are limited to 0.3 m (0.98 ft).
Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ω terminating resistor between CAN_L and CAN_H
is used for this purpose.
Connectors with integrated terminating resistors are available as accessories, refer to chapter CANopen
Connectors, Distributors, Terminating Resistors (see page 94).
162 EIO0000002305 07/2019

Drive Installation
Wiring Diagram
Wiring diagram CN4 CANopen
The CAN interface (CN4) consists of 2 RJ45 connectors. The following table describes the contacts of the
connectors:
Pin Signal Meaning I/O

1 CAN_H
CAN interface CAN level
2 CAN_L
3 CAN_0V Reference potential CAN -
4…5 - Reserved -
6 and connector SHLD Functional ground / shield - internally connected to ground -
housing potential of the drive
7 CAN_0V Reference potential CAN -
8 - Reserved -
WARNING
Connection (N.C.).
Connecting CANopen
 Connect the CANopen cable to CN4 (pins 1, 2, and 3) with an RJ45 connector. Note the information on
using cables with RJ45 connectors.

conductors to reduce currents on the cable shields.
WARNING
1)
Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ω terminating resistor between CAN_L and CAN_H
is used for this purpose.
EIO0000002305 07/2019 163

Drive Installation
Connection Logic Supply and Power Stage Supply (CN5)
This product has a leakage (touch) current greater than 3.5 mA. If the protective ground connection is
interrupted, a hazardous leakage (touch) current may flow if the housing is touched.
DANGER
conduit.
and humidity.
WARNING
INSUFFICIENT PROTECTION AGAINST OVERCURRENT
 Use the external fuses specified in chapter “Technical Data”.
 Do not connect the product to a supply mains whose short-circuit current rating (SCCR) exceeds the
value specified in the chapter “Technical Data”.
WARNING
INCORRECT MAINS VOLTAGE
Verify that the product is approved for the mains voltage before applying power and configuring the
product.
The equipment, drives and motors, are intended for industrial use and may only be operated with a
permanently installed connection.
Prior to connecting the equipment, verify the approved mains types, see chapter Electrical Data Drive
(see page 41).
Respect the required cable properties in chapter Cables (see page 106) and in chapter Electromagnetic
Compatibility (EMC) (see page 102).
Shield: -
Twisted Pair: -
PELV: -
Cable composition: The conductors must have a sufficiently large cross section so that the
fuse at the mains connection can trip if required.
Special characteristics: -
164 EIO0000002305 07/2019

Drive Installation
Properties of the Terminals

The terminals are approved for stranded conductors and solid conductors. Use cable ends (ferrules), if
possible.
LXM28A UA5, U01, U02, U20, U30, U45

U04, U07, U10,
Unit U15
Connection cross section mm2 0.75 ... 2.5 0.75 ... 6
(AWG) (20 ... 14) (20 ... 10)
Stripping length mm 8 ... 9 15
(in) (0.31 ... 0.35) (0.59)
Prerequisites for Connecting the Logic Supply

Note the following information:
 Use upstream mains fuses. For further information about fuse types and fuse ratings, refer to chapter
Electrical Data Drive (see page 41).
 Note the EMC requirements. Where required, use surge arresters and mains reactors.
 If the length of the mains cable between the external mains filter and the drive exceeds 200 mm
(7.87 in), it must be shielded and grounded at both ends.
 For a UL-compliant design, refer to chapter Conditions for UL 508C (see page 27).
Connection Logic Supply

Wiring diagram logic supply LXM28A•••M1X
UA5, U01, U02, U04, U07, U10, U15
Wiring diagram logic supply LXM28A•••M3X
UA5, U01, U02, U04, U07, U10, U15, U20, U30, U45
Connection Meaning
R, S, (T) Power stage supply
L1, L2 Logic supply
 Verify the type of mains. For the approved types of mains, refer to chapter Electrical Data Drive
(see page 41).
 Connect the mains cable.
EIO0000002305 07/2019 165

Drive Installation
Wiring Diagram for Devices That Can Be Connected Via a Single-Phase or Three Phases
Drives with a continuous power from 50 W to 1500 W can be connected via a single-phase or via three
phases. Drives with a continuous power of more than 1500 W must be connected via three phases.
Wiring diagram for devices that can be connected via a single-phase or three-phases
166 EIO0000002305 07/2019

Drive Installation
Connection DC Bus (CN6)
Incorrect use of the DC bus may permanently damage the drives either immediately or over time.
WARNING
INOPERABLE SYSTEM COMPONENTS AND LOSS OF CONTROL
Verify that all requirements for using the DC bus are met.
This and other important information can be found in the ”LXM28 - Common DC bus - Application note”
(see page 11). If you wish to take advantage of DC bus sharing, you must first consult the LXM28 -
Common DC bus - Application note for important safety-related information.
Requirements for Use

The requirements and limit values for parallel connection of multiple devices via the DC bus can be found
on www.schneider-electric.com in the form of an application note (refer to chapter Related Documents
(see page 11)).
EIO0000002305 07/2019 167

Drive Installation
Connection Braking Resistor (CN7)
An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus
causes the power stage to be disabled. The motor is no longer actively decelerated.
WARNING
 Verify that the braking resistor has a sufficient rating by performing a test run under maximum load
conditions.
 Verify that the parameter settings for the braking resistor are correct.
Internal Braking Resistor

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

An external braking resistor is required for applications in which the motor must be decelerated quickly and
the internal braking resistor cannot absorb the excess braking energy.
Selection and rating of the external braking resistor are described in chapter Rating the Braking Resistor
(see page 122). For suitable braking resistors, refer to chapter Accessories and Spare Parts
(see page 97).

Twisted Pair: -
PELV: -
Cable composition: Minimum conductor cross section: Same cross section as logic
supply.
The conductors must have a sufficiently large cross section so that the
Special characteristics: Temperature resistance
The braking resistors listed in chapter Accessories and Spare Parts (see page 97) have a 3-wire,
temperature-resistant cable with a length of 0.75 m (2.46 ft) to 3 m (9.84 ft).
Properties of the Terminals (CN7) LXM28AUA5, U01, U02, U04, U07, U10, U15, U20, U30, U45
possible.
LXM28A UA5, U01, U02, U04, U20, U30, U45

Unit U07, U10, U15
(AWG) (20 ... 14) (20 ... 10)

(in) (0.31 ... 0.35) (0.59)
The removable terminals are approved for fine-stranded conductors and solid conductors. Respect the
maximum permissible connection cross section. Take into account the fact that cable ends (ferrules)
increase the conductor cross section.
NOTE: If you use cable ends (ferrules), use only cable ends (ferrules) with collars for these terminals.
168 EIO0000002305 07/2019

Drive Installation
Wiring Diagram
Wiring diagram internal braking resistor activated
LXM28AUA5…U45
Wiring diagram external braking resistor
LXM28AUA5…U45
Connecting the External Braking Resistor

 Remove power from all supply voltages. Respect the safety instructions concerning electrical
installation.
 Verify that no voltages are present.
 Ground the ground connection (PE) of the braking resistor.
 Connect the external braking resistor to the device.
 Connect a large surface area of the cable shield to the central grounding point of your system.
DANGER
energized position.
EIO0000002305 07/2019 169

Drive Installation
Connecting the Motor Phases (CN8)
High voltages may be present at the motor connection. The motor itself generates voltage when the motor
shaft is rotated. AC voltage can couple voltage to unused conductors in the motor cable.
DANGER
ELECTRIC SHOCK
 Verify that no voltage is present prior to performing any type of work on the drive system.
 Insulate both ends of unused conductors of the motor cable.
 Supplement the motor cable grounding conductor with an additional protective ground conductor to
the motor housing.
regulations with respect to grounding of all equipment.
Incorrect wiring of the motor connection may cause live wires to be exposed outside of the motor connector
below the HMI.
DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
 Verify that the protective ground connection (PE) of the device is connected to ground.
 Do not remove the cable end (ferrule) from the protective ground terminal (PE) of the motor connector
until you are prepared to wire the protective ground conductor of the motor to the protective ground
terminal (PE) of the motor connector.
 Verify that no bare metal of the wires is exposed outside of the motor connector housing when wiring
the motor connector.
 Regularly, as part of a maintenance plan, assure that the motor wires are secured in the terminals of
the motor connector due to vibration or other influences.
Drive systems may perform unintended movements if unapproved combinations of drive and motor are
used. Even if motors are similar, different adjustment of the encoder system may be a source of hazards.
Even if the connectors for motor connection and encoder connection match mechanically, this does not
imply that the motor is approved for use.
WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Route the cables from the motor and the encoder to the device (starting from the motor). Due to the pre-
assembled connectors, this direction is often faster and easier.
170 EIO0000002305 07/2019

Drive Installation

Twisted Pair: -
PELV: The wires for the holding brake must be PELV-compliant.
Cable composition: 3 wires for motor phases
The conductors must have a sufficiently large cross section so that the
Maximum cable length: Depends on the required limit values for conducted interference.
Category C3: 20 m (65.6 ft)
Special characteristics: Contains wires for the temperature sensor
Note the following information:

 You may only connect the original motor cable.
 If you do not connect the wires at the motor end, you must isolate each wire individually (inductive
voltages).
 Use pre-assembled cables to reduce the risk of wiring errors.
Properties of the Terminals (CN8)

possible.
LXM28A UA5, U01, U02, U20, U30, U45

U04, U07, U10,
Unit U15
(AWG) (20 ... 14) (20 ... 10)
(in) (0.31 ... 0.35) (0.59)
Monitoring
The drive monitors the motor phases for:
 Short circuit between the motor phases
 Short circuit between the motor phases and ground (Not applicable for LXM28AUA5 … U07 M3X.)
Short circuits between the motor phases and the DC bus, the braking resistor, or the holding brake wires
are not detected.
When a short-circuit is detected, power is removed by disabling the power stage. The firmware reports
error AL001. Once you have resolved the issue of the over-current, you can re-enable the power stage of
the drive.
NOTE: After three successive unsuccessful retries of resetting the power stage, the reset will be blocked
for a minimum of one minute.
EIO0000002305 07/2019 171

Drive Installation
Wiring Diagram Motor
LXM28AUA5…U45
Connection Meaning Color(1)

(IEC 757)
U GY
V Motor phase BK
W BN
PE Protective ground conductor GN/YE
Connecting the Motor Cable

 Note the information on EMC, refer to chapter Electromagnetic Compatibility (EMC) (see page 102).
 Connect the motor phases and protective ground conductor to CN8. Verify that the connections U, V,
W, and PE (ground) match at the motor and the device.
 If the product is equipped with removable connectors, Verify that the connector locks snap in properly
at the housing.
172 EIO0000002305 07/2019

Drive Installation
Holding Brake Connection
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety function and not a service brake.
A motor with a holding brake requires a suitable holding brake controller which releases the brake when
the power stage is enabled and locks the motor shaft when the power stage is disabled.
The holding brake is connected to one of the digital outputs DO1…DO5. The signal output function BRKR
must be assigned to the digital output to which the holding brake is connected. The signal output function
BRKR releases the holding brake when the power stage is enabled. When the power stage is disabled, the
holding brake is reapplied.
The factory settings for the signal outputs depend on the operating mode, see chapter Setting the Digital
Signal Outputs (see page 322). Depending on the operating mode, the signal output function is either
assigned to the digital output DO4 or not assigned at all. When you reset the drive to the factory settings
with P2-08 = 10, the assignments of the signal output functions are also reset to the factory settings.
When you switch the operating mode using the parameter P1-01 or the signal input functions V-Px and V-
T, the signal output functions may also be reset to the factory settings for the new operating mode. If you
use the setting D = 0 of parameter P1-01, the assignment of the signal output functions remains the same
in the new operating mode.
Resetting the drive to the factory settings or switching the operating mode can modify the assignment of
the signal output functions in such a way that the holding brake is released unintentionally.
WARNING
 Verify that the digital output to which you have assigned the signal output function BRKR has been
properly wired and configured.
 Before switching to a different operating mode, verify that the signal output function BRKR for the
holding brake will not be assigned to an incorrect digital output in the new operating mode.
 Before resetting the drive to the factory settings, verify that the signal output function BRKR for the
holding brake will be assigned to the correct digital output or reassign the signal output function BRKR
after the factory reset according to the requirements of your application prior to starting the system.
 In all cases, take all necessary measures to prevent unintended movements of the load caused by a
release of the holding brake.
EIO0000002305 07/2019 173

Drive Installation
Example (negative logic) of wiring the holding brake
Item Description
1 Triggering an EMERGENCY STOP should apply the holding brake
2 Flyback diode
174 EIO0000002305 07/2019

Drive Installation
Connection STO (CN9)
For important safety information, refer to the chapter Safety Function STO (Safe Torque Off)
(see page 110) for the requirements for using the safety function STO.
Cable Specifications - Cables Outside of Control Cabinet
Shield: Yes
Twisted Pair: Yes
PELV: Required
Minimum conductor cross section: 2 x 0.34 mm2 (AWG 22)
Fuse: 4A
Cable Specifications - Cables Inside Control Cabinet
Shield: No
Twisted Pair: No
PELV: Required
Minimum conductor cross section: 2 x 0.25 mm2 (AWG 24)
Fuse: 4A
Properties of the Connection
Connectors housing Molex 436450400(1)

Connectors crimp contact Molex 430300001(1)
Connection cross section mm2 0.25 ... 0.34
(AWG) (24 ... 22)
(1) Or corresponding equivalent.
Wiring Diagram
Wiring diagram safety function STO
The STO interface (CN9) is a 4-pin female connector. The following table describes the contacts of the
connector:
Pin Signal Meaning

1 JMPC_1 Jumper connector 1 to be connected to STO_24V if the safety function STO
is not used in your application
2 JMPC_2 Jumper connector 2 to be connected to STO_0V if the safety function STO
is not used in your application
3 STO_0V Safety function STO 0 Vdc input(1)
4 STO_24V Safety function STO 24 Vdc input(1)
(1) PELV power supply is required.
EIO0000002305 07/2019 175

Drive Installation
Connecting the Safety Function STO

 Verify that wiring, cables, and connected interfaces meet the PELV requirements.
 Connect the safety function STO in accordance with the specifications in chapter Safety Function STO
(Safe Torque Off) (see page 110).
Deactivating the Safety Function STO

If the safety function STO is not to be used, it must be deactivated. Plug in the jumper for CN9 to bridge
pin 1 and pin 4 as well as pin 2 and pin 3 to deactivate the safety function STO. The jumper for CN9 is
factory-fitted.
Deactivating the safety function STO
WARNING
176 EIO0000002305 07/2019

Motor Installation
EIO0000002305 07/2019
Chapter 10
Motor Installation
Motor Installation

Topic Page
Mechanical Installation Motor 178
Connections and Pin Assignments 181
Connection of Motor and Encoder 185
Holding Brake Connection 187
EIO0000002305 07/2019 177

Motor Installation
Mechanical Installation Motor
Motors are very heavy relative to their size. The 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 this is 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.
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.
WARNING
HOT SURFACES
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.
178 EIO0000002305 07/2019

Motor Installation
Mounting Position
The following mounting positions are defined and permissible as per IEC 60034-7:
Mounting
When the motor is mounted to the mounting surface, it must be accurately aligned axially and radially and
make even contact with the mounting surface. All mounting screws must be tightened with the specified
tightening torque. No uneven mechanical load may be applied while the mounting screws are tightened.
For data, dimensions, and degrees of protection (IP), refer to chapter Motor (see page 53).
Mounting Situation
NOTICE
FORCES APPLIED TO THE REAR SIDE OF THE MOTOR
 Do not place the motor on the rear side.
 Protect the rear side of the motor from impact.
 Do not lift motors via the rear side.
 Only lift motors equipped with eyebolts via the eyebolts.
Special Characteristics BCH2•H, BCH2•M, BCH2•R

Rear side of motor
Item Description
1 Protect the rear side of the motor from application of forces.
EIO0000002305 07/2019 179

Motor Installation
Eyebolts BCH2•R
Consider the mass of the product when mounting the motor. It may be necessary to use suitable lifting
gear.
180 EIO0000002305 07/2019

Motor Installation
Connections and Pin Assignments
Connection overview
Item Description
1 Encoder connection
2 Motor connection
EIO0000002305 07/2019 181

Motor Installation
Pin Assignment Motor Connection

Pin assignments of motor phases and holding brake
Motor connection plastic connector (type A and type B), drive side:
Motor connection MIL connector (type C and type D), motor side:
Pin Pin Pin Signal Meaning Color(1)

Type A Type B Type C and (IEC 757)
D
1 1 E U Motor phase U RD
2 2 G V Motor phase V WH
3 4 B W Motor phase W BK
4 5 D PE Protective ground (protective earth) GN/YE
– 3 F BRAKE_24V Supply voltage holding brake 24 Vdc BU
– 6 A BRAKE_0V Reference potential holding brake BN
0 Vdc
– – C – Reserved –
WARNING
Connection (N.C.).
182 EIO0000002305 07/2019

Motor Installation
Pin Assignment Encoder Connection

Pin assignment of the encoder.
Encoder connection plastic connector (Type A), drive side:
Encoder connection MIL connector (Type B), motor side:
Pin Pin Signal Meaning Color(1)

Type A Type B (IEC 757)
1 A T+ Data BU
2 C – Reserved –
3 D – Reserved –
4 B T- Data BU/BK
5 F Battery + Battery + (2) RD
6 G Battery - Battery -(2) BK
7 S DC+5 V Supply voltage RD/WH
8 R GND Reference potential BK/WH
9 L Shield Shield BK
– E – Reserved –
– H – Reserved –
– J – Reserved –
– K – Reserved –
– M – Reserved –
– N – Reserved –
– P – Reserved –
– T – Reserved –
(2) Used with multi turn encoders.
WARNING
Connection (N.C.).
EIO0000002305 07/2019 183

Motor Installation
Mating Connector
For suitable mating connectors, refer to chapter Connectors and Adapters (see page 92).
184 EIO0000002305 07/2019

Motor Installation
Connection of Motor and Encoder
The motor is designed for operation via a drive. Connecting the motor directly to line voltage will damage
the motor and can cause fires.
DANGER
FIRE HAZARD DUE TO INCORRECT CONNECTION
Only connect the motor to a matching, approved drive.
High voltages may be present at the motor connection. The motor itself generates voltage when the motor
shaft is rotated. AC voltage can couple voltage to unused conductors in the motor cable.
DANGER
ELECTRIC SHOCK
 Verify that no voltage is present prior to performing any type of work on the drive system.
 Supplement the motor cable grounding conductor with an additional protective ground conductor to
the motor housing.
regulations with respect to grounding of all equipment.
WARNING
UNINTENDED MOVEMENT
Protective Ground Conductor Connection
 Ground the motor via a grounding screw if grounding via the flange and the protective ground conductor
of the motor cable is not sufficient.
 Use parts with suitable corrosion protection.
EIO0000002305 07/2019 185

Motor Installation
Connecting the Cables

Incorrect installation of the cable may destroy the insulation. Broken conductors in the cable or improperly
connected connectors may be melted by arcs.
DANGER
ELECTRIC SHOCK, ARC FLASH AND FIRE CAUSED BY INCORRECT INSTALLATION OF THE
CABLE
 Disconnect all power before plugging in or unplugging the connectors.
 Verify correct pin assignment of the connectors according to the specifications in this chapter before
connecting the cables.
 Verify that the connectors are properly inserted and locked before applying power.
 Avoid forces or movements of the cable at the cable entries.
 Connect the motor cable and the encoder cable to the drive according to the wiring diagram of the drive.
 If your motor is equipped with a holding brake, follow the instructions in chapter Holding Brake
Connection (see page 187).
186 EIO0000002305 07/2019

Motor Installation
Holding Brake Connection
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety function and not a service brake.
A motor with a holding brake requires a suitable holding brake controller which releases the brake when
the power stage is enabled and locks the motor shaft when the power stage is disabled.
See chapter Holding Brake Connection (see page 173) for additional information.
As a result of damage to the insulation of the motor cable, mains voltage may get to the wires for the
holding brake.
DANGER
ELECTRICAL SHOCK CAUSED BY DAMAGE TO THE MOTOR CABLE
 Use a PELV power supply for the holding brake.
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, lowering of the load in the case of vertical axes.
WARNING
UNINTENDED MOVEMENT
 Verify that there are no persons or obstacles in the zone of operation when performing a test of the
holding brake.
 Take appropriate measures to avoid damage 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.
For further information on cable specifications, refer to chapter Cables (see page 106).
EIO0000002305 07/2019 187

Motor Installation
188 EIO0000002305 07/2019

Verifying Installation
EIO0000002305 07/2019
Chapter 11
Verify the mechanical installation of the entire drive system:

 Does the installation meet the specified distance requirements?
 Did you tighten all fastening screws with the specified tightening torque?
Verify the electrical connections and the wiring:

 Did you connect all protective ground conductors?
 Do all fuses have the correct rating; are the fuses of the specified type?
 Did you connect all wires of the cables or insulate them?
 Did you properly connect and install all cables and connectors?
 Are the mechanical locks of the connectors correct and effective?
 Did you properly connect the signal wires?
 Are the required shield connections EMC-compliant?
 Did you take all measures for EMC compliance?
 Does the drive installation conform to all local, regional, and national electrical safety codes for the
eventual placement of the equipment?
Verify that all covers and seals of the control cabinet are properly installed to meet the required degree of
protection.
EIO0000002305 07/2019 189

190 EIO0000002305 07/2019

Commissioning
EIO0000002305 07/2019
Part V
Commissioning
Commissioning

12 Overview 193
13 Integrated HMI 197
14 Commissioning Procedure 205
15 Tuning the Control Loops 213
EIO0000002305 07/2019 191

Commissioning
192 EIO0000002305 07/2019

Overview
EIO0000002305 07/2019
Chapter 12
Overview
Overview

Topic Page
General 194
Commissioning Tools 196
EIO0000002305 07/2019 193

Overview
General
You must recommission an already configured device if you want to use it under different operating
conditions.
The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.
DANGER
ELECTRIC SHOCK
 Do not use the safety function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety function STO, to disconnect the
drive from the mains power.
Unsuitable settings or unsuitable data may trigger unintended movements, trigger signals, damage parts
and disable monitoring functions. Some parameters and other operational data do not become active until
after a restart.
WARNING
 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.
 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 modification.
 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.
If the power stage is disabled unintentionally, for example as a result of a power outage, errors or functions,
the motor is no longer decelerated in a controlled way.
WARNING
Verify that movements without braking effect cannot cause injuries or equipment damage.
Applying the holding brake while the motor is running will cause excessive wear and loss of the braking
force.
WARNING
LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE
 Do not use the holding brake as a service brake.
 Do not exceed the maximum number of brake applications and the kinetic energy during braking of
moving loads.
194 EIO0000002305 07/2019

Overview
WARNING
HOT SURFACES
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.
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, lowering of the load in the case of vertical axes.
WARNING
UNINTENDED MOVEMENT
 Verify that there are no persons or obstacles in the zone of operation when performing a test of the
holding brake.
 Take appropriate measures to avoid damage 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.
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
 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.
EIO0000002305 07/2019 195

Overview
Commissioning Tools
Overview
The following tools (see page 92) can be used for commissioning, parameterization, and diagnostics:
Item Description
1 Integrated HMI
2 PC with commissioning software LXM28 DTM Library
3 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.
196 EIO0000002305 07/2019

Integrated HMI
EIO0000002305 07/2019
Chapter 13
Integrated HMI
Integrated HMI

Topic Page
Overview 198
Integrated HMI Structure 199
7-Segment Display 200
Status Information Via the HMI 203
EIO0000002305 07/2019 197

Integrated HMI
Overview
The integrated HMI allows you to edit parameters, start the operating mode Jog or perform autotuning via
the integrated Human-Machine Interface (HMI). Diagnostics information (such as parameter values or
error codes) can also be displayed. The individual sections on commissioning and operation include
information on whether a function can be carried out via the integrated HMI or whether the commissioning
software must be used.
Item Description
1 5-digit 7-segment display
2 OK key
3 Arrow keys
4 M key
5 S key
Incorrect wiring of the motor connection may cause live wires to be exposed outside of the motor connector
below the HMI.
DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
 Verify that the protective ground connection (PE) of the device is connected to ground.
 Do not remove the cable end (ferrule) from the protective ground terminal (PE) of the motor connector
until you are prepared to wire the protective ground conductor of the motor to the protective ground
terminal (PE) of the motor connector.
 Verify that no bare metal of the wires is exposed outside of the motor connector housing when wiring
the motor connector.
 Regularly, as part of a maintenance plan, assure that the motor wires are secured in the terminals of
the motor connector due to vibration or other influences.
198 EIO0000002305 07/2019

Integrated HMI
Integrated HMI Structure
When the drive is powered on, the display shows the name of the selected status information function for
approximately one second; after that, it displays the corresponding actual value or status value.
Element Function
HMI display The 5-digit 7-segment display shows actual values, parameter settings, status information,
and error codes.
M key The M key lets you switch between the type of information displayed: status
information/actual values, error codes, and parameters.
If an error is detected, the display shows the error code. If you press the M while the error is
active, you can display other information; however, after approximately 20 seconds without
interaction, the error code is displayed again.
S key The S lets you scroll through the parameter groups.
After you have selected a parameter and its value is displayed, you can use the S key to
move the cursor to the left. The digit at the current cursor position flashes. The arrow keys
let you change the value at the current cursor position.
Arrow keys The arrow keys let you scroll through the actual values/status information and the parameters
within a parameter group. Use the arrow keys to increase or decrease values.
OK key After you have selected a parameter, press the OK key to display the current parameter
value. The arrow keys let you change the displayed value. Pressing the OK key again saves
the value.
EIO0000002305 07/2019 199

Integrated HMI
7-Segment Display
Saving Settings
If you set a new parameter value and press the OK key, a message is displayed for approximately one
second to provide feedback.
7-segment display Description

SAuEd The new parameter value was successfully saved.
r-OLY The parameter value is a read-only value and cannot be saved (Read-Only).
Prot Changing a parameter value requires exclusive access. See chapter Access Channels
(see page 314).
Out-r The new parameter value is outside the permissible value range (Out of range).
SruOn The new parameter value can only be saved when the power stage is disabled (Servo
On).
po-0n The new parameter value becomes active the next time the product is powered on
(Power On).
Error Displayed whenever a value you have entered for a parameter is, for various reasons,
rejected by the drive.
200 EIO0000002305 07/2019

Integrated HMI
Representation of Numerical Values on the 7-Segment Display

The illustration below shows the decimal representation of a 16-bit value and a 32-bit value as a positive
value and as a negative value each.
Example of representation of decimal values
Example of representation of hexadecimal values
Changing the Sign Via the 7-Segment Display

24680 You can change the sign of a value by holding down the S key for a period of more than
24.680 2 seconds.
x343E Negative decimal values are represented with a dot between the second and the third
xCbC2 position. Negative hexadecimal values are represented as a two's complement.
EIO0000002305 07/2019 201

Integrated HMI
Alert Messages and Error Messages on the 7-Segment Display

Wnnnn If an alert condition is detected, Wnnnn is displayed. Win identifies the code as an alert.
The subsequent 3 digit nnn represent the number of the alert. For a list of alert codes,
refer to Alert Codes and Error Codes (see page 431).
ALnnn If an error is detected ALnnn is displayed. AL identifies the code as a detected error. The
subsequent 3 digit nnn represent the error number. For a list of error codes, refer to Alert
Codes and Error Codes (see page 431).
STOP The display shows STOP if exclusive access is enableds while the power stage is still
enabled. For further information on access channels, refer to Access Channels
(see page 314).
202 EIO0000002305 07/2019

Integrated HMI
Status Information Via the HMI
After you have powered on the drive, status information is displayed via the HMI. Use the parameter P0-
02 to select the type of status information to be displayed. For example, if you set the parameter P0-02 to
the value 7, the speed of rotation of the motor after is displayed after you have powered on the drive.
Setting P0-02 Description

0 Actual position (with gear ratio applied) in the unit PUU
1 Target position (with gear ratio applied) in the unit PUU
2 Deviation between actual position and target position (with gear ratio applied) in the unit PUU
3 Actual position in motor increments (1280000 pulses/revolution)
4 Target position in motor increments (1280000 pulses/revolution)
5 Deviation between actual position and target position in motor increments (1280000
pulses/revolution)
6 Reference value in kilopulses per second (kpps)
7 Actual velocity in rpm
8 Voltage for target velocity in V
9 Target velocity in rpm
10 Voltage for target torque in V
11 Target torque in percent of continuous motor current
12 Average load of the motor in percent of continuous motor current (The sampling window
duration is specified via parameter P4-29)
13 Peak load of the motor since the last power cycle of the drive in percent of continuous motor
current (maximum value of occurring in setting 12 since last power cycle)
14 Mains voltage in V
15 Ratio of load inertia and motor inertia (divided by 10)
16 Power stage temperature in degrees Celsius (°C)
17 Resonance frequency in Hz
18 Absolute pulse number relative to encoder
19 Mapping parameter 1: Content of parameter P0-25 (mapping target is specified via
parameter P0-35)
parameter P0-36)
parameter P0-37)
parameter P0-38)
23 Status indication 1: Content of parameter P0-09 (the status information to be displayed is
specified by parameter P0-17)
27 Reserved
39 Status of digital inputs (content of P4-07)
40 Status of digital outputs (content of P4-09)
41 Drive status (content of P0-46)
42 Operating mode (content of P1-01)
49 Actual position encoder (content of P5-18)
50 Target velocity in rpm
53 Target torque in 0.1 percent of the nominal torque
54 Actual torque in 0.1 percent of the nominal torque
55 Actual torque in 0.01 A
77 Target velocity in rpm in operating modes PT and PS
96 Firmware version and firmware revision of drive (P0-00 and P5-00)
111 Number of detected errors
EIO0000002305 07/2019 203

Integrated HMI
204 EIO0000002305 07/2019

Commissioning Procedure
EIO0000002305 07/2019
Chapter 14

Topic Page
Commissioning Software 206
Setting the Device Address, Baud Rate and Connection Settings 207
Verifying the Direction of Movement 209
Test Operation in Operating Mode Velocity (V) 211
Verifying the Safety Function STO 212
EIO0000002305 07/2019 205

Commissioning Software
The commissioning software LXM28 DTM Library has a graphic user interface and is used for
commissioning, diagnostics, and testing settings.
Online Help
The commissioning software offers help functions, which can be accessed via help menu or by pressing
the F1 key.
Source of Commissioning Software

The latest version of the commissioning software LXM28 DTM Library is available for download from the
Internet.
https://www.schneider-electric.com
206 EIO0000002305 07/2019

Setting the Device Address, Baud Rate and Connection Settings
Each device is identified by a unique address. Each device must have its own unique node address, which
may only be assigned once in the network. The transmission rate (baud rate) must be the same for all
devices in the network.
Use the parameter P3-00 to set the Modbus device address.
Use the parameter P3-05 to set the CANopen device address.
Use the parameter P3-01 to set the baud rate.
Use the parameter P3-02 to set the connection settings.
Setting the baud rate:
Modbus Connection Settings
EIO0000002305 07/2019 207

WARNING
 Verify that there is only one master controller configured on the network or remote link.
 Verify that all devices have unique addresses.
 Confirm that the device address is unique before placing the system into service.
Parameter name Description Unit Data type Parameter

Minimum value R/W address via
Factory setting Persistent fieldbus
Maximum value
HMI Format
P3-00 Device Address Modbus - u16 Modbus 400h
ADR Applicable operating mode: PT, PS, V, T 1 RW CANopen 4300h
The device address must be unique. 127 per.
Modified settings become active the next 247
time the product is powered on. Decimal
P3-01 Transmission Rate - u16 Modbus 402h
BRT Applicable operating mode: PT, PS, V, T 0h RW CANopen 4301h
This parameter is used to set the data 102h per.
transmission rate. 405h
If this parameter is set via CANopen, only
Hexadecimal
the CANopen transmission rate can be set.
Modified settings become active the next
time the product is powered on.
P3-02 Modbus Connection Settings - u16 Modbus 404h
PTL Applicable operating mode: PT, PS, V, T 6h RW CANopen 4302h
This parameter specifies the Modbus 7h per.
connection settings. 9h
Hexadecimal
P3-03 Detected Modbus Communication Errors - - u16 Modbus 406h
FLT Handling 0h RW CANopen 4303h
Applicable operating mode: PT, PS, V, T 0h per.
This parameter specifies the response of 1h
the drive to a detected communication
Hexadecimal
error.
Value 0: Detected alert
Value 1: Detected error
P3-04 Modbus Connection Monitoring ms u16 Modbus 408h
CWD Applicable operating mode: PT, PS, V, T 0 RW CANopen 4304h
This parameter specifies the maximum 0 per.
permissible duration for communication 20000
timeout. When this time has elapsed, the Decimal
communication timeout is treated as a
detected error.
Setting this parameter to 0 to disables
connection monitoring.
P3-05 Device Address CANopen - u16 Modbus 40Ah
CMM Applicable operating mode: PT, PS, V, T 0 RW CANopen 4305h
This parameter specifies the CANopen 0 per.
address of the drive in decimal format. 127
The device address must be unique. Decimal
Change to this parameter becomes
effective only after a restart of the drive.
P3-07 Modbus Response Delay Time 0.5 ms u16 Modbus 40Eh
CDT Applicable operating mode: PT, PS, V, T 0 RW CANopen 4307h
This parameter specifies the time delay 0 per.
with which the drive responds to the 1000
Modbus master. Decimal
208 EIO0000002305 07/2019

Verifying the Direction of Movement
Direction of Movement
WARNING
UNINTENDED MOVEMENT CAUSED BY INTERCHANGED MOTOR PHASES
Do not interchange the motor phases.
If your application requires an inversion of the direction of movement, you may parameterize the direction
of movement.
Movements are made in positive or in negative directions.
Definition of the direction of movement: Positive direction of movement is when the motor shaft rotates
counterclockwise as you look at the end of the protruding motor shaft.
Direction of movement with factory settings
Verifying the Direction of Movement

 Start the operating mode Jog. (HMI: P4-05)
The HMI displays the velocity in the unit rpm for the operating mode JOG.
 Set a velocity suitable for your application and conform with the OK key.
The HMI displays J0G.
Movement in positive direction:
 Press the Up Arrow key.
A movement is made in positive direction.
Movement in negative direction:
 Press the Down Arrow key.
A movement is made in negative direction.
Press the M key to terminate the operating mode Jog.
EIO0000002305 07/2019 209

Changing the Direction of Movement

If the expected direction of movement and the actual direction of movement are not identical, you can invert
the direction of movement.
 Inversion of direction of movement is not activated:
Movements are made in positive direction with positive target values.
 Inversion of direction of movement is activated:
Movements are made in positive direction with negative target values.
The parameter P1-01 C = 1 allows you to invert the direction of movement.
Changing the direction of movement
210 EIO0000002305 07/2019

Test Operation in Operating Mode Velocity (V)
 Select the operating mode Velocity (V) via the parameter P1-01: = 2. Refer to Setting the Operating
Mode (see page 334).
 Set the parameter P1-01 to D=1. This assigns defaults to the signal input functions for the operating
mode Velocity (V), DI6…DI8 presets must be modified for this test.
New settings for the parameter P1-01 do not become active until the drive is powered on the next time.
 Restart the drive.
 Select the following signal input functions via the parameters P2-10 to P2-17:
Digital input Parameter Setting Signal Function Pin at CN1

DI1 P2-10 0101h SON Enable power stage 9
DI2 P2-11 0109h TRQLM Activate Torque Limitation 10
DI3 P2-12 0114h SPD0 Velocity Reference Value Bit 0 34
DI4 P2-13 0115h SPD1 Velocity Reference Value Bit 1 8
DI5 P2-14 0102h FAULT_RESET Fault Reset 33
DI6 P2-15 0h - - 32
DI7 P2-16 0h - - 31
DI8 P2-17 0h - - 30
For further information on the settings, refer to Setting the Digital Signal Inputs (see page 316).
Error Messages HMI

If the default presets of the signal inputs OPST, CWL(NL), and CCWL(PL/LIMP) are still present, the
following error codes can be displayed:
 AL013: Parameter P2-17 not set to 0 (deactivated).
For further information on error messages, refer to Diagnostics and Troubleshooting (see page 431).
Target Velocity
The target velocity is selected via the signal input functions SPD0 (least significant bit) and SPD (most
significant bit):
- Signal state of the digital Target velocity via: Range

signal inputs
SPD1 SPD0
S1 0 0 External analog Voltage between V_REF -10 ... 10 Vdc
signal (pin 42) and GND (pin 44)
S2 0 1 Internal P1-09 -60000 ... 60000 x 0.1 rpm
parameters
S3 1 0 P1-10
S4 1 1 P1-11
 Enable the power stage via DI1 (SON).

If DI3 (SPD0) and DI4 (SPD1) are deactivated, the target velocity is supplied via the analog input
V_REF.
 Activate DI3 (SPD0).
The target velocity is supplied via the parameter P1-09. The factory setting for the target velocity is
1000 rpm.
EIO0000002305 07/2019 211

Verifying the Safety Function STO
The safety function STO must be tested at least once per year.
Procedure:
 Operate the system with the nominal voltage at the STO inputs as described in the chapter Inputs /
Outputs Characteristics (see page 47).
 Enable the power stage (operating state 6 Operation Enabled).
 Trigger the safety function STO by switching off the voltage (for example, via an emergency stop push-
button).
The power stage is disabled and the error message AL501 is displayed.
 Verify that drive is in the operating state Fault.
 Check whether the drive can be set to the operating state 6 Operation Enabled.
The drive remains in the operating state Fault.
 Restore the STO voltage at the signal inputs of the safety function STO and trigger a Fault Reset.
 Verify that the drive can be set to the operating state 6 Operation Enabled.
The drive is set to the operating state 6 Operation Enabled. Movements are possible again.
212 EIO0000002305 07/2019

Tuning the Control Loops
EIO0000002305 07/2019
Chapter 15

Topic Page
Tuning the Control Loops 214
Easy Tuning 215
Comfort Tuning 216
Manual Tuning 222
EIO0000002305 07/2019 213

Autotuning and manual tuning move the motor in order to tune the control loops. Incorrect parameters may
cause unintended movements or the loss of monitoring functions.
WARNING
UNINTENDED MOVEMENT
 Verify that the values for the parameters P9-26 and P9-27 do not exceed the available movement
range.
 Verify that the parameterized movement ranges are available.
 In determining the available movement range, consider the additional distance for the deceleration
ramp in the case of an EMERGENCY STOP.
 Verify that the parameter settings for a Quick Stop are correct.
 Verify correct operation of the limit switches.
 Verify that a functioning emergency stop push-button is within reach of all persons involved in the
operation.
Autotuning adapts the control performance of the drive to the mechanical system used and optimizes the
control loop settings appropriately. External factors such as a load at the motor are considered. The control
loop settings can also be optimized by using manual tuning.
Two autotuning methods and manual tuning are provided for control loop optimization:
 Easy Tuning: This type of autotuning is performed without user intervention. For most applications, Easy
Tuning yields good, highly dynamic results.
 Comfort Tuning: This type of autotuning is performed with user intervention. You can select optimization
criteria and set parameters for movement, direction, and velocity.
 Manual Tuning: This type of tuning allows you to perform test movements and optimize the control loop
settings using the Scope function.
214 EIO0000002305 07/2019

Easy Tuning
Easy Tuning is started via the HMI or the commissioning software LXM28 DTM Library.
Easy Tuning requires an available movement range of 5 revolutions. During Easy Tuning, movements of
2.5 revolutions are performed in positive direction of movement and 2.5 revolutions in negative direction of
movement. If this movement range is not available, you must use Comfort Tuning.
Easy Tuning can be used for a ratio of motor inertia to load inertia of up to 1:50.
Performing Easy Tuning

Set the parameter P2-32 to 1 to perform Easy Tuning.
After you have started Easy Tuning via P2-32, the display of the HMI shows the progress as a percentage
from tn000 to tn100.
Press the M button of the HMI to cancel autotuning.
If autotuning completes successfully, the display of the HMI shows the message done.
Press the OK key of the HMI to save the control loop parameters. The display of the HMI briefly shows the
message saved.
Press the M key of the HMI to discard the autotuning results.
If autotuning does not complete successfully, the display of the HMI shows the message ERROR. The cause
can be read with the parameter P9-30.
The parameter P9-37 provides additional information on the last event that occurred during autotuning.
EIO0000002305 07/2019 215

Comfort Tuning
Comfort Tuning allows you to select optimization criteria and set values for the movement.
Optimization Criteria for Comfort Tuning

Comfort Tuning allows you to select an optimization criterion for autotuning. The following optimization
criteria are available:
 Optimization of the control loop parameters for minimum settling time with vibration suppression
 Optimization of the control loop parameters for minimum overshoot with vibration suppression
 Optimization of the control loop parameters for minimum settling time without vibration suppression
 Optimization of the control loop parameters for minimum overshoot without vibration suppression
The illustration below shows optimization for minimum overshoot and optimization for minimum settling
time.
Item Description
1 Optimization for minimum overshoot
2 Optimization for minimum settling time
Vibration suppression compensates resonance frequencies of the mechanical system. The option
Vibration Suppression is available for both optimization criteria.
Parameters for the Movement for Comfort Tuning

The following settings must be made for Comfort Tuning:
 Direction of movement
 Velocity
 Acceleration and deceleration
 Movement range
 Smoothing
These values must be as close as possible to the values used in the actual application. If you enter
implausible values, Comfort Tuning is canceled.
216 EIO0000002305 07/2019

Setting the Direction of Movement

Set the direction of movement via the parameter P9-20.

Maximum value
HMI Format
P9-20 Autotuning - Direction of Movement - s16 Modbus A28h
LTNCYCLE Applicable operating mode: PT, PS, V 0 RW CANopen 4914h
This parameter sets the direction of 0 -
movement for autotuning. 3
Value 0: Both directions of movement Decimal
Value 2: One direction of movement
Setting the Velocity

Set the velocity via the parameter P9-29.
The velocity must be between 10 ... 100 % of the nominal velocity nN.

Maximum value
HMI Format
P9-29 Autotuning - Velocity 0.1rpm|0.1rpm u32 Modbus A3Ah
LTNVCRUISE Applicable operating mode: PT, PS, V - RW CANopen 491Dh
Bits 0 … 15: Velocity for positive direction - -
of movement -
Bits 16 … 31: Velocity for negative Decimal
direction of movement
Setting Acceleration and Deceleration

Set the acceleration and the deceleration with the P9-31 parameter.
The value for the acceleration and the value for the deceleration must be between tmin and tmax:
JM = Moment of inertia of the motor in kg cm2
Jload = Moment of inertia of the load in kg cm2

Mmax = Peak torque in Nm
MN = Nominal torque in Nm

Maximum value
HMI Format
P9-31 Autotuning - Acceleration and Deceleration ms|ms u32 Modbus A3Eh
PTACCDEC Applicable operating mode: PT, PS, V 6| 6 RW CANopen 491Fh
Bits 0 … 15: Acceleration for Autotuning 6000| 6000 -
Bits 16 … 31: Deceleration for Autotuning 65500| 65500
Decimal
EIO0000002305 07/2019 217

Setting the Movement Range

Set the movement range via parameters P9-26 and P9-27.
The movement range must be sufficiently large to allow for a constant movement at the set speed in
addition to the acceleration phase and the deceleration phase.

Maximum value
HMI Format
P9-26 Autotuning - Movement Range in Direction PUU s32 Modbus A34h
PTPOS 1 -2147483647 RW CANopen 491Ah
Applicable operating mode: PS 0 -
This parameter specifies the movement 2147483647
range for autotuning in direction of Decimal
movement 1.
The sign of the value determines the
direction of movement:
Positive value: Positive direction of
movement as set via parameter P1-01
Negative value: Negative direction of
See parameter P9-20 to select one
direction of movement or both directions of
movement for Comfort Tuning.
PTNEG 2 -2147483647 RW CANopen 491Bh
movement 2.
See parameter P9-20 for Comfort Tuning in
a single or in both directions of movement.
218 EIO0000002305 07/2019

Setting Smoothing
Comfort Tuning uses S-curve smoothing by default. The value for smoothing via the S-curve is optimized
during Comfort Tunings.
The parameter P9-23 allows you to change from automatic smoothing to manual smoothing.
The following options are available for manual smoothing:
 No smoothing
 Smoothing via low-pass filter with a fixed value
 Smoothing via S-curve with a fixed value

Maximum value
HMI Format
P9-23 Defines which values are used for the - u16 Modbus A2Eh
LTNSTIFF position command filters. 0 RW CANopen 4917h
Applicable operating mode: PT, PS, V 0 -
Value 0: Automatic smoothing via S-curve 1
optimization of the value Decimal
Value 1: Manual smoothing
P8-34 Smoothing Filter for Operating modes PT - u16 Modbus 944h
MOVESMOOTHM and PS - Type 0 RW CANopen 4822h
ODE Applicable operating mode: PT, PS 2 per.
Value 0: No smoothing 2
Value 1: LPF smoothing Decimal
Value 2: S-curve smoothing
Setting can only be modified if power stage
is disabled.
The illustration below shows the movement during Comfort Tuning if smoothing via the low-pass filter is
used:
Comfort Tuning with smoothing via low-pass filter

Maximum value
HMI Format
P8-33 Low Pass Filter Setting Hz u32 Modbus 942h
MOVESMOOTHL Applicable operating mode: PT, PS 1 RW CANopen 4821h
PFHZ 5000 per.
500000
Decimal
EIO0000002305 07/2019 219

The illustration below shows the movement during Comfort Tuning if smoothing via an S-curve is used:
Comfort Tuning with smoothing via S-curve

Maximum value
HMI Format
P8-32 S-Curve Setting 0.01 ms u32 Modbus 940h
MOVESMOOTHA Applicable operating mode: PT, PS 25 RW CANopen 4820h
VG Setting can only be modified if power stage 400 per.
is disabled. 25600
The maximum value is reduced to 12800 if Decimal
P8-35 CONTROLMODE (high byte) is set
to 5.
220 EIO0000002305 07/2019

Performing Comfort Tuning

Start Comfort Tuning by selecting the required method via the parameter P2-32.

Maximum value
HMI Format
P2-32 Autotuning - u16 Modbus 340h
ATMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4220h
This parameter is used to start autotuning 0 -
with the selected autotuning method. 56
Value 0: Stop Autotuning Decimal
Value 1: Easy Tuning
Value 2: Comfort Tuning [minimum settling
time, vibration suppression]
Value 3: Comfort Tuning [minimum
overshoot, vibration suppression]
settling time, no vibration suppression]
overshoot, no vibration suppression]
If you want Comfort Tuning in both directions, set parameter P9-20 to 0. Then set the parameters P9-26
and P9-27 to the same values, but with different signs (for example, P9-26 = -20000 and P9-27 = +20000).
The value determines the movement range in both directions.
If you want Comfort Tuning in a single direction, set parameter P9-20 to 2. Then set the parameters P9-26
and P9-27 to the same values. The sign of the value determines the direction for Comfort Tuning. For
example, if you set P9-26 = -20000 and P9-27 = -20000, Comfort Tuning is performed in negative direction
of movement with a movement range of 20000 PUU.
NOTE: If you do not enter consistent values for parameters P9-26 and P9-27, the autotuning is
unsuccessful. Parameter P9-30 contains the information on the unsuccessful autotuning attempt.
After you have started the required Comfort Tuning method via P2-32, the display of the HMI shows the
progress as a percentage from tn000 to tn100.
Press the M button of the HMI to cancel autotuning.
If autotuning completes successfully, the display of the HMI shows the message done.
Press the OK key of the HMI to save the control loop parameters. The display of the HMI briefly shows the
message saved.
Press the M key of the HMI to discard the autotuning results.
If autotuning does not complete successfully, the display of the HMI shows the message ERROR. The
cause can be read with the parameter P9-30.
The parameter P9-37 provides additional information on the last event that occurred during autotuning.
EIO0000002305 07/2019 221

Manual Tuning
Manual tuning is performed in the operating mode Internal Profile. Manual tuning allows you to perform test
movements and optimize the control loop settings using the Scope function.
NOTE: Manual tuning should only be attempted by trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documentation. These persons must have
sufficient technical training, knowledge, and experience and be able to foresee and detect potential
hazards and issues that may be caused by manual tuning, by changing the settings and by the mechanical,
electrical, and electronic equipment of the entire system in which the product is used. No responsibility is
assumed by Schneider Electric for any consequences arising out of the use of manual tuning.
In addition to the low-pass filter, electronic gear filter function can be used in the following cases:
 Pulse and direction command has a low resolution
 Low rigidity of the coupling between motor and load
 Movement is too short
 Motor is noisy after tuning
 Current is unstable during tuning
 Motor temperature is unusually high
Procedure for Manual Tuning

The control loop parameters are tuned in the following sequence:
Step Item Parameters

1 Derivative gain (see page 223) P8-00 (LTND)
2 Low-pass filter (see page 225) P8-14 (NLFILTDAMPING)
P8-15 (NLFILTT1)
3 Retuning of the derivative gain (see page 227) P8-00 (LTND)
4 Proportional gain (see page 227) P8-03 (LTNP)
5 Derivative-integral gain (see page 230) P8-02 (LTNIV)
6 Integral gain (see page 232) P8-01 (LTNI)
7 Compensation of the flexibility of the mechanical P8-05 (NLAFFLPFHZ)
system (see page 233) P8-20 (NLPEAFF)
Depending on the requirements concerning the control performance, steps 2 and 3 can be omitted.
Perform a movement in both directions after each of the steps below to check the recorded parameter
values on the Scope tab of the commissioning software LXM28 DTM Library.
222 EIO0000002305 07/2019

Step 1: Setting the Derivative Gain

The objective of tuning the derivative gain is to achieve a current ripple that is as low as possible. The
optimum value primarily depends on the load.
Criteria for a well-tuned derivative gain include:
 For loads less than twice the rotor inertia: 5 % of the nominal current may be acceptable
 For greater loads: 10 % of the nominal current may be acceptable
The derivative gain is set via parameter P8-00 (LTND).

Procedure:
 Set the value of parameter P8-03 (LTNP) to 150 (corresponds to 15 Hz).
 Set the value of parameter P8-01 (LTNI) to 0.
 Set the value of parameter P8-02 (LTNIV) to 0.
 Progressively increase the value of parameter P8-00 (LTND) until the oscilloscope shows oscillation of
the reference current, P11-11 (TCMD).
Example P8-00 (LTND) set to 1340 (134 Hz)
Example P8-00 (LTND) set too high at 2000 (200 Hz)
EIO0000002305 07/2019 223

Example P8-00 (LTND) OK at 1500 (150 Hz)
Example P8-00 (LTND) set too low at 100 (10 Hz)
NOTE: The process of tuning requires trials of successive approximations. Values that are too high or too
low relative to the other relevant values might cause instability. If it is necessary to have a low or high value
of the parameter in the preceding example, you may need to adjust the values of the other relevant
parameters to compensate and achieve a stable system.
224 EIO0000002305 07/2019

Step 2: Setting the Low-Pass Filter

Setting the low-pass filter is an optional step in manual tuning of the control loop parameters. The low-pass
filter parameters are optimized after you have tuned the derivative gain. The objective of tuning the low-
pass filter parameters is to suppress high-frequency resonance and reduce the response time of the
control loops to a minimum.
The low-pass filter is set via parameters P8-14 (NLFILTDAMPING) and P8-15 (NLFILTT1).
The parameter P8-14 (NLFILTDAMPING) maintains the bandwidth of the low-pass filter up to the cutoff
frequency. The parameter value is expressed as a percentage. The parameter P8-15 (NLFILTT1) sets the
inverse frequency of the cutoff frequency. The parameter P8-14 (NLFILTDAMPING) can also be used
independently to allow for a certain degree of compensation of system-related bandwidth limits.
Criteria for a well-tuned low-pass filter include:
 The value of parameter P8-14 (NLFILTDAMPING) is as high as possible.
 The value of parameter P8-15 (NLFILTT1) is as low as possible.
When P8-35 (CONTROLMODE) (high byte) is set to 5, the following table presents the values for 10 %
overshoot. Set the filter parameter values P8-14 (NLFILTDAMPING) and P8-15 (NLFILTT1) accordingly:
Frequency (Hz) P8-14 (NLFILTDAMPING) (%) P8-15 (NLFILTT1) (ms)

100 98.27 122.86
200 29.3 96.5
300 14.3 95
400 7.9 93.32
500 5.05 91.677
600 3.5 90.03
700 2.566 88.4
800 2 86.934
900 1.6056 85.457
1000 1.31 83.98
1100 1.09 82.45
1200 0.928694 81.1
1300 0.815 79.9
1400 0.7 78.4
1500 0.62 77
1600 0.555 75.97
1700 0.496 74.6
1800 0.439 73
1900 0.406 72.19
2000 0.365 70.5
Electronic gear filter example 1:
Increasing P8-27 (GEARFILTT1) smooths the input command, but adds a delay.
EIO0000002305 07/2019 225

Electronic gear filter example 2:
Increasing P8-28 (GEARFILTT2) and P8-29 (GEARFILTVELFF) compensate the delay, but adds
overshoots.
If P8-29 (GEARFILTVELFF) has the same value as P8-28 (GEARFILTT2), there is no delay.
Usual values:
 P8-27 (GEARFILTT1) is usually around 2 times the input step width
 P8-28 (GEARFILTT2) is usually 2 times P8-27 (GEARFILTT1)
NOTE: When a system has multiple axes, gear filter values must be the same for all axes.
Procedure:
 Progressively increase the value of parameter P8-14 (NLFILTDAMPING) until the oscilloscope shows
noise and/or oscillation of the reference current, P11-11 (TCMD).
 Progressively decrease the value of parameter P8-15 (NLFILTT1) until the oscilloscope shows noise
and/or oscillation of the reference current P11-11 (TCMD).
 Increase the value of parameter P8-15 (NLFILTT1) by 20 %, however, by at least 0.05 ms.
Example P8-14 (NLFILTDAMPING) OK (75 %)
Example P8-15 (NLFILTT1) too low (0.5 ms)
226 EIO0000002305 07/2019

Example P8-15 (NLFILTT1) OK (1.2 ms)
Step 3: Re-Tuning of the Derivative Gain

If you have modified the low-pass filter values in parameters P8-14 (NLFILTDAMPING) and P8-15
(NLFILTT1), the derivative gain can be set to a greater value via parameter P8-00 (LTND). Follow the
procedure described in step 1.
The objective of tuning the proportional gain is to get a constant and low position deviation in the
acceleration phase, the constant velocity phase, and the deceleration phase and to have no oscillations
during the transitions between these phases. In the oscilloscope, this is indicated by a shape that is as
square and as flat as possible.
Criteria for a well-tuned proportional gain include:
 No or minimum overshoot of position deviation
 No or minimum current ripple
 No or minimum oscillations at standstill
Step 4: Setting the Proportional Gain

The proportional gain is set via parameter P8-03 (LTNP).
Procedure:
 Progressively increase the value of parameter P8-03 (LTNP) to find the optimum value. The figures
below show examples of the plot as the value approaches the optimum value.
Example P8-03 (LTNP) starting value (13 Hz)
EIO0000002305 07/2019 227

Example P8-03 (LTNP) position deviation decreased (25 Hz)
Example P8-03 (LTNP) position deviation further decreased (35 Hz)
Example P8-03 (LTNP) position deviation further decreased (45 Hz)
228 EIO0000002305 07/2019

Example P8-03 (LTNP) value too high - oscillation at standstill (65 Hz)
Example P8-03 (LTNP) value too high - oscillation at standstill (75 Hz)
Example P8-03 (LTNP) value too high - oscillation at standstill, overshoot of position deviation (100 Hz)
EIO0000002305 07/2019 229

Example P8-03 (LTNP) OK (65 Hz)
Step 5: Setting the Derivative-Integral Gain

The objective of tuning the derivative-integral gain is to reduce the position deviation. As a general rule,
the value for the derivative-integral gain (P8-02LTNIV) is within the following range:
P8-03 (LTNP) / 2 < P8-02 (LTNIV) < 2 x P8-03 (LTNP)
Progressively increasing the value of the derivative-integral gain progressively decreases the position
deviation during the acceleration phase, the constant velocity phase, and the deceleration phase.
Criteria for a well-tuned derivative-integral gain include:
 Position deviation decreases rapidly after each transition of the movement phases (jerk)
 No or minimum overshoot of position deviation
 No or minimum oscillations during transitions between the movement phases
 Oscillations at standstill as low as possible (+/- 1 encoder increment)
The derivative-integral gain is set via parameter P8-02 (LTNIV).

Procedure:
 Progressively increase the value of parameter P8-02 (LTNIV) to find the optimum value. The figures
below show examples of the plot as the value approaches the optimum value.
Example P8-02 (LTNIV) starting value (30 Hz)
230 EIO0000002305 07/2019

Example P8-02 (LTNIV) position deviation decreased (60 Hz)
Example P8-02 (LTNIV) position deviation decreases rapidly when target velocity is reached (90 Hz)
Example P8-02 (LTNIV) value too high - oscillation at standstill, overshoot of position deviation (120 Hz)
EIO0000002305 07/2019 231

Example P8-02 (LTNIV) OK (90 Hz)
Step 6: Setting the Integral Gain

The objective of tuning the integral gain is to reduce the position deviation during movements and at
standstill.
Criteria for a well-tuned integral gain include:
 Position deviation further reduced
 No or minimum overshoot of position deviation at the end of the deceleration phase
 Oscillations at standstill as low as possible (+/- 1 encoder increment)
The integral gain is set via parameter P8-01 (LTNI).

Procedure:
 Progressively increase the value of parameter P8-01 (LTNI) until the oscilloscope shows overshoot or
oscillations. The figures below show examples of the plot as the value approaches the optimum value.
Example P8-01 (LTNI) value too high - oscillation at standstill, overshoot of position deviation (50 Hz)
Example P8-01 (LTNI) OK (25 Hz)
232 EIO0000002305 07/2019

Step 7: Compensation of the Flexibility of the Mechanical System

The parameters for compensation of the system flexibility reduce the vibrations caused by abrupt changes
in the acceleration (jerk). The parameters can also be used to further minimize overshoot or settling time.
The value of parameter P8-20 (NLPEAFF) reflects the oscillation frequency of the mechanical system, i.e.
the coupling between the motor and the load. The coupling can be very rigid (for example, a direct drive or
a low-backlash coupling) and less rigid (for example, a belt drive or an elastic coupling). Systems with a
high rigidity require a high value. Systems with high load inertia and less rigid couplings require lower
values. The less rigid the coupling, the lower this frequency. Depending on the application, the typical value
range is 400 … 30 Hz.
The parameter P8-05 (NLAFFLPFHZ) sets a low-pass filter for the acceleration profile. If the target value
has a relatively low resolution as, for example, in the case of a pulse train input, the calculated acceleration
may be subject to noise. The low-pass filter set via this parameter can be used to smooth the acceleration
profile. The parameter can be used if the flexibility compensation set via parameter P8-20 (NLPEAFF)
results in noise.
The compensation of the flexibility of the mechanical system is set via parameters P8-05 (NLAFFLPFHZ)
and P8-20 (NLPEAFF).
Procedure:
 Set the value of parameter P8-05 (NLAFFLPFHZ) to a value three times as high as that of parameter
P8-20 (NLPEAFF). With this value, the bandwidth of this low-pass filter is sufficiently higher than the
response time of the system.
 Progressively decrease the value of parameter P8-20 (NLPEAFF) to find the optimum value. The
optimum value depends on your optimization criterion: either short settling time or low position deviation.
Start with a high frequency of 400 Hz. Decrease the value and compare the amplitudes for the position
deviation and the settling time. Select the most suitable value according to your optimization criterion.
The figures below show examples of the plot as the value approaches the optimum value.
Example P8-20 (NLPEAFF) without compensation of the flexibility (5000 Hz)
Example P8-20 (NLPEAFF) maximum position deviation decreased (300 Hz)
EIO0000002305 07/2019 233

Example P8-20 (NLPEAFF) maximum position deviation further decreased (220 Hz)
Example P8-20 (NLPEAFF) minimum position deviation, short settling time, oscillation at standstill
(120 Hz)
Example P8-20 (NLPEAFF) negative position deviation during acceleration phase (100 Hz)
234 EIO0000002305 07/2019

Parameters
EIO0000002305 07/2019
Part VI
Parameters
Parameters
EIO0000002305 07/2019 235

Parameters
236 EIO0000002305 07/2019

Parameters
EIO0000002305 07/2019
Chapter 16
Parameters
Parameters

Topic Page
Representation of the Parameters 238
P0 - Status Parameters 239
P1 - Basic Parameters 244
P2 - Extended Parameters 257
P3 - Communication Parameters 265
P4 - Diagnostics Parameters 269
P5 - Motion Settings 274
P6 - Position Sequence Data Sets Group 1 280
P7 - Position Sequence Data Sets Group 2 287
P8 - Control Loops 293
P9 - DTM Data 304
EIO0000002305 07/2019 237

Parameters
Representation of the Parameters
This chapter provides an overview of the parameters which can be used for operating the product.
after a restart.
WARNING
modification.
NOTE: Possible values of a parameter that are not described are considered as reserved and must not be
used.
Parameter Name
The parameter name uniquely identifies a parameter.
Unit
The unit of the value.
238 EIO0000002305 07/2019

Parameters
P0 - Status Parameters
P0 - Status Parameters

Maximum value
HMI Format
P0-00 Firmware Version - u16 Modbus 100h
VER Applicable operating mode: PT, PS, V, T 0h RO CANopen 4000h
0h -
FFFFh
Hexadecimal
P0-01 Error code of detected error - u16 Modbus 102h
ALE Applicable operating mode: PT, PS, V, T 0h RW CANopen 4001h
This parameter contains the error number 0h -
of the most recently detected error. FFFFh
For a list of the detected error codes, refer
Hexadecimal
to Error Codes (see page 431).
P0-02 Drive Status Displayed by HMI - u16 Modbus 104h
STS Applicable operating mode: PT, PS, V, T 0 RW CANopen 4002h
This parameter selects the type of status 0 per.
information to be displayed on the HMI. 123
Example: If the setting is 7, the HMI Decimal
displays the speed of rotation of the motor.
For further information, refer to chapter
Status Information via the HMI
(see page 203).
P0-03 Function of Analog Outputs - u16 Modbus 106h
MON Applicable operating mode: PT, PS, V, T 0h RW CANopen 4003h
This parameter specifies the functions of 0h per.
the analog outputs. 77h
Hexadecimal
XY: (X: MON1; Y: MON2)

0: Actual velocity (+/-8 V correspond to
maximum velocity)
1: Actual torque (+/-8 V correspond to
maximum torque)
2: Reference value in kilopulses per
second (+8 V correspond to 4.5 Mpps)
3: Target velocity (+/-8 V correspond to
maximum target velocity)
4: Target torque (+/-8 V correspond to
maximum target torque)
5: DC bus voltage (+/-8 V correspond to
450 V)
6: Reserved
7: Reserved
See P1-04 and P1-05 for setting a voltage
percentage (scaling).
Example:
P0-03 = 01: Voltage value at analog output
indicates the actual velocity.
Velocity = (maximum velocity x V1 / 8) x
P1-04 / 100 if the output voltage value of
MON2 is V1.
EIO0000002305 07/2019 239

Parameters

Maximum value
HMI Format
P0-04 FPGA Version - u16 Modbus 108h
FPGAVER Applicable operating mode: PT, PS, V, T 0h RO CANopen 4004h
-h -
0000FFFFh
Hexadecimal
P0-08 Operating Hour Meter in Seconds s u32 Modbus 110h
TSON Applicable operating mode: PT, PS, V, T 0 RO CANopen 4008h
- -
4294967295
Decimal
P0-09 Status Value 1 - s32 Modbus 112h
CM1 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 4009h
This parameter is used to provide the value - -
of one of the status indications in P0-02. 2147483647
The value of this parameter is determined Decimal
via P0-17.
Examples:
If the status of the drive is read via the HMI
and if P0-02 is set to 23, VAR-1 is
displayed for approximately two seconds
by the HMI, followed by the value of this
parameter.
If the setting of P0-17 is 3, reading this
parameter displays the actual position in
pulses.
For reading the status via Modbus, read
two 16-bit data stored in the addresses of
0012H and 0013H to generate 32-bit data.
(0013H : 0012H) = (high byte : low byte)
CM2 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 400Ah
via P0-18.
See P0-09 for details.
CM3 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 400Bh
via P0-19.
CM4 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 400Ch
via P0-20.
P0-13 Status Value 5 - s32 Modbus 11Ah
CM5 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 400Dh
via P0-21.
240 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P0-17 Indicate status value 1 - u16 Modbus 122h
CMA1 Applicable operating mode: PT, PS, V, T 0 RW CANopen 4011h
This parameter is used to select a drive 0 per.
status provided in P0-02. The selected 123
status is indicated via P0-09. Decimal
Example:
If the setting of P0-17 is 7, reading P0-09
returns the speed of rotation of the motor in
rpm.
status is indicated via P0-10. See P0-17 for Decimal
details.
details.
details.
P0-21 Indicate status value 5 - u16 Modbus 12Ah
details.
P0-25 Parameter Mapping 1 - u32 Modbus 132h
MAP1 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4019h
The parameters from P0-25 ... P0-32 are 0h -
used to read and write the values of FFFFFFFFh
parameters with non-consecutive
Hexadecimal
communication addresses. You can set
P0-35 ... P0-42 as the required read and
write mapping parameter numbers. When
P0-25 ... P0-32 are read, the read or write
values are equivalent to the values of the
parameters specified via P0-35 ... P0-42,
and vice versa. See P0-35 for details.
MAP2 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Ah
See P0-25 and P0-36 for details. 0h -
FFFFFFFFh
Hexadecimal
MAP3 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Bh
FFFFFFFFh
Hexadecimal
MAP4 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Ch
FFFFFFFFh
Hexadecimal
EIO0000002305 07/2019 241

Parameters

Maximum value
HMI Format
P0-29 Parameter Mapping 5 - u32 Modbus 13Ah
MAP5 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Dh
FFFFFFFFh
Hexadecimal
P0-30 Parameter Mapping 6 - u32 Modbus 13Ch
MAP6 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Eh
FFFFFFFFh
Hexadecimal
P0-31 Parameter Mapping 7 - u32 Modbus 13Eh
MAP7 Applicable operating mode: PT, PS, V, T 0h RW CANopen 401Fh
FFFFFFFFh
Hexadecimal
MAP8 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4020h
FFFFFFFFh
Hexadecimal
P0-35 Block Data Read/Write P0-35…P0-42 1 - u32 Modbus 146h
MAPA1 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4023h
The parameters P0-35 ... P0-42 specify the 0h per.
required read and write parameter FFFFFFFFh
numbers for P0-25 ... P0-32. They read
Hexadecimal
and write the values of the parameters
whose communication addresses are not
consecutive.
The read/write parameter can be a single
32-bit parameter or two 16-bit parameters.
A: Parameter group code in hexadecimal

format
B: Parameter number in hexadecimal
format
Example:
If you want to read and write the value of
P1-44 (32-bit parameter) via P0-25, set P0-
35 to 012C012Ch.
If you want to read and write the values of
P2-02 (16-bit parameter) and P2-04 (16-bit
parameter) via P0-25, set P0-35 to
02040202h.
See P0-35 for details. 0h per.
FFFFFFFFh
Hexadecimal
P0-37 Block Data Read/Write P0-35…P0-42 3 - u32 Modbus 14Ah
FFFFFFFFh
Hexadecimal
242 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P0-38 Block Data Read/Write P0-35…P0-42 4 - u32 Modbus 14Ch
FFFFFFFFh
Hexadecimal
P0-39 Block Data Read/Write P0-35…P0-42 5 - u32 Modbus 14Eh
FFFFFFFFh
Hexadecimal
FFFFFFFFh
Hexadecimal
FFFFFFFFh
Hexadecimal
MAPA8 Applicable operating mode: PT, PS, V, T 0h RW CANopen 402Ah
FFFFFFFFh
Hexadecimal
P0-46 State of Signal Output Functions - u16 Modbus 15Ch
SVSTS Applicable operating mode: PT, PS, V, T 0h RO CANopen 402Eh
This parameter is used to indicate the state 0h -
of the signal output function of the drive in FFFFh
hexadecimal format. If the function is
Hexadecimal
assigned to a digital output, it would
represent the state of the output given no
forcing on the output.
Bit 0: SRDY (Servo ready)
Bit 1: SON (Servo On)
Bit 2: ZSPD (Zero speed)
Bit 3: TSPD (Speed reached)
Bit 4: TPOS (Movement completed)
Bit 5: TQL (Torque Limit Reached)
Bit 6: ERR (Error Detected)
Bit 7: BRKR (Holding brake control)
Bit 8: HOMED_OK (Homing completed)
Bit 9: OLW (Motor Overload Alert)
Bit 10: WARN (indicates that one of the
following conditions has been detected:
Hardware limit switch triggered,
undervoltage, Nodeguard alert,
Operational Stop (OPST))
Bits 11 ... 15: Reserved
The parameter can also be read via the
fieldbus.
P0-47 Number of Last Alert - u16 Modbus 15Eh
LAST_WRN Applicable operating mode: PT, PS, V, T 0h RO CANopen 402Fh
This parameter contains the number of the 0h -
last detected alert. After a Fault Reset, the FFFFh
number is cleared.
Hexadecimal
EIO0000002305 07/2019 243

Parameters
P1 - Basic Parameters
P1 - Basic Parameters

Maximum value
HMI Format
P1-00 Reference Value Signal - Pulse Settings - u16 Modbus 200h
PTT Applicable operating mode: PT 0h RW CANopen 4100h
2h per.
1132h
Hexadecimal
This parameter is used to configure the

reference value signals for the operating
mode PT.
A: Type of reference value signals
B: Signal frequency
C: Input polarity
D: Source of reference value signals
is disabled.
P1-01 Operating Mode and Direction of Rotation - u16 Modbus 202h
CTL Applicable operating mode: PT, PS, V, T 0h RW CANopen 4101h
Bh per.
110Bh
Hexadecimal
A: Operating mode
Refer to chapter Setting the Operating
C: Direction of movement
Refer to chapter Verifying the Direction of
Movement (see page 209).
D: Signal input functions and signal output
functions after operating mode switching
Value 0: The assignments of the signal
input functions and the signal output
functions (P2-10 ... P2-22) remain identical
for the new operating mode.
Value 1: The assignments of the signal
input functions and the signal output
functions (P2-10 ... P2-22)) are set to the
default presets of the new operating mode.
Refer to chapters Default Presets of the
Signal Inputs (see page 316) and Default
Presets of the Signal Outputs
(see page 322).
244 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P1-02 Velocity and Torque Limitations - u16 Modbus 204h
PSTL Activation/Deactivation 0h RW CANopen 4102h
This parameter activates/deactivates 11h
velocity limitation and torque limitation.
Hexadecimal
It can also be activated via the signal input
functions SPDLM and TRQLM.
The signal input functions SPD0 and SPD1
are used to select velocity values set via
P1-09 to P1-11.
The signal input functions TCM0 and TCM1
are used to select torque values set via P1-
12 to P1-14.
A: Velocity limitation
0: Deactivate
1: Activate (in operating mode T, and
CANopen T (refer to P1-82))
B: Torque limitation
0: Deactivate
1: Activate (operating modes PT, PS,
CANopen V (refer to P1-85) and V)
EIO0000002305 07/2019 245

Parameters

Maximum value
HMI Format
P1-03 Polarity of Analog Outputs / - u16 Modbus 206h
AOUT Polarity of Pulse Outputs 0h RW CANopen 4103h
13h
Hexadecimal
This parameter is used to specify the

polarity of analog outputs MON1 and
MON2 and the polarity of pulse outputs.
A: Polarity of analog outputs MON1 and
MON2
0: MON1(+), MON2(+)
1: MON1(+), MON2(-)
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)
B: Polarity of pulse outputs
0: Not inverted
1: Inverted
P1-04 Scaling Factor Analog Output 1 % u16 Modbus 208h
MON1 Applicable operating mode: PT, PS, V, T 1 RW CANopen 4104h
100 per.
100
Decimal
P1-05 Scaling Factor Analog Output 2 % u16 Modbus 20Ah
MON2 Applicable operating mode: PT, PS, V, T 1 RW CANopen 4105h
100 per.
100
Decimal
P1-06 CAN Opmode % s16 Modbus 20Ch
DCOMopmod -32768 RO CANopen 4106h
0 -
32767
Decimal
P1-07 Limit Switch Fault Reaction - u16 Modbus 20Eh
ReactLimSw Applicable operating mode: PT, PS, V, T 0 RW CANopen 4107h
Fault Reaction selection after a limit switch 0 per.
is at active state while the power stage is 1
disabled (Servo On) Decimal
1: The drive does not trigger an error
0: The drive triggers an error
P1-09 Target Velocity/Velocity Limitation 1 0.1rpm s32 Modbus 212h
SP1 Applicable operating mode: V, T -60000 RW CANopen 4109h
Target velocity 1 10000 per.
In the operating mode V, this parameter 60000
specifies the first target velocity. Decimal
Velocity limitation 1
In the operating mode T, this parameter
specifies the first velocity limitation.
SP2 Applicable operating mode: V, T -60000 RW CANopen 410Ah
specifies the second target velocity. Decimal
specifies the second velocity limitation.
246 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
SP3 Applicable operating mode: V, T -60000 RW CANopen 410Bh
specifies the third target velocity. Decimal
specifies the third velocity limitation.
P1-12 Target Torque/Torque Limitation 1 % s16 Modbus 218h
TQ1 Applicable operating mode: PT, PS, V, T -300 RW CANopen 410Ch
Target torque 1 in percent of nominal 100 per.
current 300
In the operating mode T, this parameter Decimal
specifies the first target torque.
Torque limitation 1 in percent of nominal
current
In the operating modes PT, PS and V, this
parameter specifies the first torque
limitation.
The signal output function TQL is activated
if the torque reaches the torque limitations
set via the parameters P1-12 ... P1-14 or
via an analog input.
P1-13 Target Torque/Torque Limitation 2 % s16 Modbus 21Ah
TQ2 Applicable operating mode: PT, PS, V, T -300 RW CANopen 410Dh
current 300
specifies the second target torque.
current
parameter specifies the second torque
limitation.
P1-14 Target Torque/Torque Limitation 3 % s16 Modbus 21Ch
TQ3 Applicable operating mode: PT, PS, V, T -300 RW CANopen 410Eh
current 300
specifies the third target torque.
current
parameter specifies the third torque
limitation.
EIO0000002305 07/2019 247

Parameters

Maximum value
HMI Format
P1-15 Mains Phase Monitoring - Response to - u16 Modbus 21Eh
LINELOSSMODE Missing Mains Phase 0 RW CANopen 410Fh
Applicable operating mode: PT, PS, V, T 0 per.
This parameter specifies the response of 2
the drive if the mains phase monitoring Decimal
function detects an error.
Value 0: Detected error if power stage is
enabled or disabled
Value 1: Detected error if power stage is
enabled, alert if power stage is disabled
Value 2: Alert if power stage is enabled or
disabled
P1-16 Mains Phase Monitoring - Fault Reset - u16 Modbus 220h
LINELOSSRECO Applicable operating mode: PT, PS, V, T 0 RW CANopen 4110h
VER This parameter specifies the type of Fault 0 per.
Reset after a detected mains phase error 1
has been removed. Decimal
Value 0: No automatic Fault Reset
Value 1: Automatic Fault Reset
P1-17 Mains Phase Monitoring - Type - u16 Modbus 222h
LINELOSSTYPE Applicable operating mode: PT, PS, V, T 0 RW CANopen 4111h
This parameter specifies the type of mains 0 per.
phase monitoring 2
Value 0: No mains phase monitoring Decimal
Value 1: Mains phase monitoring single-
phase connection
Value 2: Mains phase monitoring three-
phase connection
P1-18 Reserved – – –
P1-19 Active Disable - Delay Time Power Stage ms u16 Modbus 226h
DISTIME Applicable operating mode: PT, PS, V, T 0 RW CANopen 4113h
This parameter specifies the delay time 0 per.
between standstill of the motor and 6500
disabling the power stage. Decimal
P1-20 Current Limit During Quick Stop 0.001 s16 Modbus 228h
ESTOPILIM Applicable operating mode: PT, PS, V 1 RW CANopen 4114h
current during a Quick Stop (expressed as 1000
factor of P1-78). Decimal
P1-21 Status of Foldback Current Drive - u16 Modbus 22Ah
FOLD Applicable operating mode: PT, PS, V, T 0 RO CANopen 4115h
This parameter indicates whether the - -
foldback current limit is greater than or less 1
than the maximum current of the drive (see Decimal
P1-78).
Value 0: Foldback current limit greater than
P1-78
Value 1: Foldback current limit is less than
P1-78
P1-22 Foldback Current Limit - Drive 0.01A u32 Modbus 22Ch
IFOLD Applicable operating mode: PT, PS, V, T 0 RO CANopen 4116h
Drive foldback current limit - -
30000
Decimal
P1-23 Current Monitoring Drive - Detected Error 0.01A u32 Modbus 22Eh
IFOLDFTHRESH Threshold Foldback Current 0 RW CANopen 4117h
Applicable operating mode: PT, PS, V, T - per.
This parameter specifies the threshold 30000
value used by the drive current monitoring Decimal
function to detect a drive foldback current
error.
248 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P1-24 Current Monitoring Drive - Alert Threshold 0.01A u32 Modbus 230h
IFOLDWTHRESH Foldback Current 0 RW CANopen 4118h
value used by the drive current monitoring Decimal
function to trigger a drive foldback current
alert.
P1-26 Foldback Current Limit - Motor 0.01A u32 Modbus 234h
MIFOLD Applicable operating mode: PT, PS, V, T 0 RO CANopen 411Ah
Motor foldback current limit - -
30000
Decimal
P1-27 Motor Current Monitoring - Detected Error 0.01A u32 Modbus 236h
MIFOLDFTHRES Threshold Foldback Current 0 RW CANopen 411Bh
H Applicable operating mode: PT, PS, V, T - per.
value used by the motor current monitoring Decimal
function to detect a motor foldback current
error.
P1-28 Motor Current Monitoring - Alert Threshold 0.01A u32 Modbus 238h
MIFOLDWTHRES Foldback Current 0 RW CANopen 411Ch
H Applicable operating mode: PT, PS, V, T - per.
value used by the motor current monitoring Decimal
function to trigger a motor foldback current
alert.
P1-29 DC Bus Overvoltage Monitoring - V u16 Modbus 23Ah
OVTHRESH Threshold - RO CANopen 411Dh
Applicable operating mode: PT, PS, V, T - -
This parameter specifies the threshold -
value used by the DC bus overvoltage Decimal
monitoring function.
P1-30 Commutation Monitoring - Maximum ms u16 Modbus 23Ch
COMMERRMAXC Counter Value 0 RW CANopen 411Eh
NT Applicable operating mode: PT, PS, V, T 0 -
0
Decimal
EIO0000002305 07/2019 249

Parameters

Maximum value
HMI Format
P1-32 Stop Method - u16 Modbus 240h
LSTP Applicable operating mode: PT, PS, V 0h RW CANopen 4120h
This parameter specifies how the motor is 0h per.
stopped if the power stage is to be disabled 20h
(includes signal input function OPST) or if
Hexadecimal
an error is detected.
Value 0h: Deceleration ramp
Value 10h: Coast to stop
Value 20h: Deceleration ramp to velocity
P1-38, then coast to stop (actual velocity
must be less than the value of P1-38 for 50
ms before coasting to stop starts)
In the operating mode Torque (T), the
deceleration ramp is not used. Instead, the
current is set to zero.
Depending on the event that triggered the
stop, the following deceleration ramps are
used:
- Signal input function STOP: P5-20
- Transmission error detected: P5-21
- Position overflow: P5-22
- Triggering of negative software limit
switch: P5-23
- Triggering of positive software limit
switch: P5-24
- Triggering of negative hardware limit
switch: P5-25
- Triggering of positive hardware limit
switch: P5-26
- Any other event: P1-68
The delay time between standstill of the
motor and disabling the power stage is set
via P1-19.
P1-34 Acceleration Period ms u16 Modbus 244h
TACC Applicable operating mode: PT, V 6 RW CANopen 4122h
The acceleration period is the time in 30 per.
milliseconds required to accelerate from 65500
motor standstill to 6000 rpm. Decimal
For operating mode V, this parameter
specifies the acceleration.
For operating mode PT, this parameter
specifies an acceleration limitation for the
pulses at the PTI interface.
P1-35 Deceleration Period ms u16 Modbus 246h
TDEC Applicable operating mode: PT, V 6 RW CANopen 4123h
The deceleration period is the time in 30 per.
milliseconds required to decelerate from 65500
6000 rpm to motor standstill. Decimal
specifies the deceleration.
specifies a deceleration limitation for the
P1-37 Ratio of Load Inertia to Motor Inertia 0.1 u32 Modbus 24Ah
LMJR Applicable operating mode: PT, PS, V, T 0 RW CANopen 4125h
This parameter specifies the ratio of load 10 per.
inertia to motor inertia (J_load / J_motor). 20000
J_load: Total moment of inertia of external Decimal
mechanical load
J_motor: Moment of inertia of motor
250 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P1-38 Signal Output Function ZSPD / Signal Input 0.1rpm s32 Modbus 24Ch
ZSPD Function ZCLAMP - Velocity 0 RW CANopen 4126h
This parameter specifies the velocity for the 2000
signal output function ZSPD. The signal Decimal
output function ZSPD indicates that the
velocity of the motor is less than the
velocity value set via this parameter.
This parameter specifies the velocity for the
signal input function ZCLAMP. The signal
input function ZCLAMP stops the motor.
The velocity of the motor must be below the
P1-39 Signal Output Function TSPD - Velocity rpm u32 Modbus 24Eh
SSPD Applicable operating mode: PT, PS, V, T 0 RW CANopen 4127h
This parameter specifies the velocity for the 3000 per.
signal output function TSPD. The signal 5000
output function TSPD indicates that the Decimal
velocity of the motor is greater than the
P1-40 Velocity Target Value and Velocity rpm s32 Modbus 250h
VCM Limitation 10 V 0 RW CANopen 4128h
specifies the target velocity that Decimal
corresponds to the maximum input voltage
of 10 V.
specifies the velocity limitation that
of 10 V.
Example: If the value of this parameter is
3000 in the operating mode V and if the
input voltage is 10 V, the target velocity is
3000 rpm.
P1-41 Torque Target Value and Torque Limitation % u16 Modbus 252h
TCM 10 V 0 RW CANopen 4129h
In the operating mode T, this parameter 1000
specifies the target torque that Decimal
of 10 V.
parameter specifies the torque limitation
that corresponds to the maximum input
voltage of 10 V.
100 in the operating mode T and if the input
voltage is 10 V, the target torque is 100 %
of the nominal torque.
is disabled.
P1-42 ON Delay Time of Holding Brake ms u16 Modbus 254h
MBT1 Applicable operating mode: PT, PS, V, T 0 RW CANopen 412Ah
This parameter specifies the time between 0 per.
enabling the power stage and starting a 1000
movement (opening time for the holding Decimal
brake).
EIO0000002305 07/2019 251

Parameters

Maximum value
HMI Format
P1-44 Electronic Gear Ratio - Numerator 1 - u32 Modbus 258h
GR1 Applicable operating mode: PT, PS 1 RW CANopen 412Ch
This parameter is used to set the 128 per.
numerator of the gear ratio. The 536870911
denominator of the gear ratio is set via P1- Decimal
45.
In the operating mode PS, the value of this
parameter can only be modified when the
power stage is disabled.
P1-45 Electronic Gear Ratio - Denominator - u32 Modbus 25Ah
GR2 Applicable operating mode: PT, PS 1 RW CANopen 412Dh
This parameter is used to set the 10 per.
denominator of the gear ratio. The 2147483647
numerator of the gear ratio is set via P1-44. Decimal
is disabled.
P1-46 Number of encoder simulation increments LPR s32 Modbus 25Ch
ENCOUTRES (AB signal) per revolution - RW CANopen 412Eh
The calculation of the range of this -
parameter depends on the value of P1-55. Decimal
is disabled.
P1-47 Signal Output Function SP_OK - Velocity rpm u32 Modbus 25Eh
SPOK Applicable operating mode: V 0 RW CANopen 412Fh
This parameter specifies the velocity 10 per.
deviation window for the signal output 300
function SP_OK. The signal output function Decimal
SP_OK indicates that actual velocity is
within the velocity deviation window.
P1-48 Signal Output Function MC_OK - Settings - u16 Modbus 260h
MCOK Applicable operating mode: PS 0h RW CANopen 4130h
This parameter specifies the behavior of 0h per.
the signal output function MC_OK after it 21h
has been activated. The signal output
Hexadecimal
function MC_OK indicates that both the
signal output functions CMD_OK and
TPOS have been activated. In addition,
you can specify whether a detected
position deviation is to trigger a detected
error.
A: Behavior of MC_OK after deactivation of

TPOS
Value 0: When TPOS is deactivated,
MC_OK is deactivated.
Value 1: When TPOS is deactivated,
MC_OK remains activated.
B: Response to detected position deviation
via TPOS if A is set to 0
Value 0: No response
252 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P1-52 Braking Resistor - Resistance Ohm s16 Modbus 268h
REGENRES Applicable operating mode: PT, PS, V, T -1 RW CANopen 4134h
This parameter is used to set the - per.
resistance of the braking resistor. 32767
Value -1: No braking resistor Decimal
P1-53 Braking Resistor - Power W s16 Modbus 26Ah
REGENPOW Applicable operating mode: PT, PS, V, T -1 RW CANopen 4135h
This parameter is used to set the power of - per.
the braking resistor. 32767
Value -1: No braking resistor Decimal
P1-54 Signal Output Function TPOS - Trigger PUU u32 Modbus 26Ch
PER Value 0 RW CANopen 4136h
Applicable operating mode: PT, PS 1311 per.
This parameter specifies the position 1280000
deviation value used to activate the signal Decimal
output function TPOS.
Operating mode PT: The signal output
function TPOS indicates that the position
deviation is within the tolerance set via this
parameter.
Operating mode PS: The signal output
function TPOS indicates that the position
deviation at the target position is within the
tolerance set via this parameter.
P1-55 Maximum Velocity - User-Defined rpm u32 Modbus 26Eh
VLIM Applicable operating mode: PT, PS, V, T 10 RW CANopen 4137h
This parameter specifies the maximum - per.
velocity. Factory setting: maximum motor 6000
speed. Decimal
is disabled.
P1-57 Torque Monitoring - Torque Value % u16 Modbus 272h
CRSHA Applicable operating mode: PT, PS, V, T 0 RW CANopen 4139h
This parameter is used to configure the 0 per.
torque monitoring function. The torque 300
monitoring function detects an error Decimal
(AL030) if the torque value set via this
parameter is exceeded for a period of time
set via P1-58.
P1-58 Torque Monitoring - Time Value ms u16 Modbus 274h
CRSHT Applicable operating mode: PT, PS, V, T 1 RW CANopen 413Ah
This parameter is used to configure the 1 per.
torque monitoring function. The torque 1000
monitoring function detects an error Decimal
(AL030) if the torque value set via P1-57 is
exceeded for a period of time set via this
parameter.
P1-59 S Curve Filter for Operating Mode Velocity us u32 Modbus 276h
VELCMDMOVEA Applicable operating mode: V 0 RW CANopen 413Bh
VG This parameter specifies the moving 0 per.
average time in [us] for the S curve filter in 255875
the operating mode Velocity. The value of Decimal
this parameter must be a multiple of 125.
This filter changes a linear acceleration into
an S curve.
is disabled.
P1-60 Commutation Monitoring - Time Threshold ms u16 Modbus 278h
COMMERRTTHR Applicable operating mode: PT, PS, V, T 0 RW CANopen 413Ch
ESH 0 per.
3000
Decimal
EIO0000002305 07/2019 253

Parameters

Maximum value
HMI Format
P1-61 Commutation Monitoring - Velocity 0.1rpm u32 Modbus 27Ah
COMMERRVTHR Threshold 0 RW CANopen 413Dh
ESH Applicable operating mode: PT, PS, V, T 600 per.
60000
Decimal
P1-62 Motor Overtemperature Monitoring - - u16 Modbus 27Ch
THERMODE Response 0 RW CANopen 413Eh
the drive if the temperature monitoring Decimal
function detects motor overtemperature.
Value 0: Disable power stage immediately
Value 3: Ignore overtemperature
Value 4: Alert
Value 5: Alert first, then detected error if
condition persists after P1-63
P1-63 Motor Overtemperature Monitoring - Delay s u16 Modbus 27Eh
THERMTIME Time 0 RW CANopen 413Fh
This parameter specifies the delay time 300
between the detection of motor Decimal
overtemperature and the transition to the
operating state Fault (see P1-62).
P1-64 Undervoltage Monitoring - Response - u16 Modbus 280h
UVMODE Applicable operating mode: PT, PS, V, T 0 RW CANopen 4140h
This parameter specifies the response of 0 per.
the drive if the undervoltage monitoring 3
function detects undervoltage. Decimal
Value 1: Alert (if power stage is enabled)
Value 2: Alert first, then detected error if
condition persists after P1-67 (if power
stage is enabled)
Value 3: Detected error (if power stage is
enabled)
P1-66 Status of Foldback Current Motor - u16 Modbus 284h
MFOLD Applicable operating mode: PT, PS, V, T 0 RO CANopen 4142h
This parameter indicates whether the - -
foldback current limit is greater than or less 1
than the maximum current of the motor Decimal
(see P1-78).
Value 0: Foldback current limit greater than
P1-78
Value 1: Foldback current limit is less than
P1-78
P1-67 Undervoltage Monitoring - Delay Time s u16 Modbus 286h
UVTIME Applicable operating mode: PT, PS, V, T 0 RW CANopen 4143h
This parameter specifies the delay time 30 per.
between the detection of an undervoltage 300
condition (displayed as "u")and the Decimal
response of the drive to this condition as
specified in P1-64.
P1-68 Active Disable - Deceleration Ramp ms u16 Modbus 288h
DECSTOP Applicable operating mode: PT, PS, V 6 RW CANopen 4144h
This parameter specifies the deceleration 30 per.
ramp for a power stage Disable request, 65500
see P1-32. Decimal
254 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P1-69 Disable - Deceleration Time ms u16 Modbus 28Ah
DECSTOPTIME Applicable operating mode: PT, PS, V 0 RW CANopen 4145h
ramp for a power stage Disable request, 6500
see P1-32. If the value of this parameter is Decimal
not 0, this parameter overrides P1-68.
is disabled.
P1-70 Signal Input Function HALT - Maximum 0.01A u32 Modbus 28Ch
IMAXHALT Current - RW CANopen 4146h
Applicable operating mode: T 0 per.
This parameter specifies the maximum -
current for the signal input function Halt. Decimal
The maximum value for this parameter is
the value of P1-79.
P1-71 Braking Resistor - Maximum Time in ms u16 Modbus 28Eh
REGENMAXONTI Braking 10 RW CANopen 4147h
ME Applicable operating mode: PT, PS, V, T 40 per.
This parameter specifies the maximum 100
time in braking for the braking resistor. The Decimal
maximum time in braking is the maximum
period of time during which the braking
resistor may be activated.
P1-72 Braking Resistor Overload Monitoring - - u16 Modbus 290h
REGENFLTMODE Response 0 RW CANopen 4148h
the drive if the braking resistor overload Decimal
monitoring function detects braking resistor
overload.
Value 0: Alert
P1-78 User-Defined Maximum Current 0.01A u32 Modbus 29Ch
ILIM Applicable operating mode: PT, PS, V, T - RW CANopen 414Eh
This parameter is specifies a user-defined - per.
maximum current for the drive. The -
maximum value of this parameter is the Decimal
value of P1-79.
P1-79 Maximum Current 0.01A u32 Modbus 29Eh
IMAX Applicable operating mode: PT, PS, V, T - RO CANopen 414Fh
This parameter indicates the maximum - -
current for a drive / motor combination. -
Decimal
P1-80 Maximum Peak Current 0.01A u32 Modbus 2A0h
DIPEAK Applicable operating mode: PT, PS, V, T - RO CANopen 4150h
This parameter indicates the maximum - -
peak current of the drive. -
Decimal
P1-81 Nominal Current 0.01A u32 Modbus 2A2h
DICONT Applicable operating mode: PT, PS, V, T - RO CANopen 4151h
This parameter indicates the nominal - -
current of the drive. -
Decimal
P1-82 Velocity limitation for CANopen operating - u16 Modbus 2A4h
CANOPEN_VEL_L mode Profile Torque 0 RW CANopen 4152h
IMIT Applicable operating mode: Fieldbus mode 0 per.
The limitation is effective only if P1-02 is set 3
to 0x0001. Decimal
Value 0: Limitation via analog input
Value 1: Limitation via P1-09
EIO0000002305 07/2019 255

Parameters

Maximum value
HMI Format
P1-84 Configured motor type - u32 Modbus 2A8h
CFG_MOTOR Applicable operating mode: PT, PS, V, T 0 RW CANopen 4154h
- per.
2147483647
Decimal
P1-85 Torque Limit For CANopen Modes - u16 Modbus 2AAh
CANOPEN_TRQ_ Applicable operating mode: Fieldbus mode 0 RW CANopen 4155h
LIMIT The limitation is effective only if P1-02 is set 0 per.
to 0x0010. 3
Value 0: Limitation via analog input Decimal
P1-87 Quick Stop - Maximum Current 0.01A u32 Modbus 2AEh
I_MAX_QUICK_ST Applicable operating mode: Fieldbus mode - RW CANopen 4157h
OP This parameter is specifies the maximum P1-79 per.
current at Quick Stop for CANopen modes. 0
The limitation is effective only if P3-31 is set Decimal
to -2 or 7.
256 EIO0000002305 07/2019

Parameters
P2 - Extended Parameters
P2 - Extended Parameters

Maximum value
HMI Format
P2-01 Gain Switching - Rate for Position Loop % u16 Modbus 302h
PPR Applicable operating mode: PT, PS 10 RW CANopen 4201h
This parameter specifies the gain switching 100 per.
rate for the position loop. The gain 500
switching function is configured via this Decimal
parameter and parameters P2-05, P2-27
and P2-29.
P2-05 Gain Switching - Rate for Velocity Loop % u16 Modbus 30Ah
SPR Applicable operating mode: PT, PS, V, T 10 RW CANopen 4205h
This parameter specifies the gain switching 100 per.
rate for the velocity loop. The gain 500
switching function is configured via this Decimal
and P2-29.
P2-08 Factory Reset / Save Parameters - u16 Modbus 310h
PCTL Applicable operating mode: PT, PS, V, T 0 RW CANopen 4208h
This parameter provides the following 0 -
functions: 406
- Reset the parameters to the factory Decimal
settings
- Save the current parameter values
The factory settings do not become

effective until after you have powered the
drive off and on again.
Value 10: Reset the parameter values to
the factory settings
Value 11: Save the parameter values
Value 400: Normal digital output control
operation mode
Value 406: Force output control operation
mode
NOTE: Value 999 is displayed when the
parameter values are successfully saved.
is disabled.
P2-09 Debounce Time - Inputs ms u16 Modbus 312h
DRT Applicable operating mode: PT, PS, V, T 0 RW CANopen 4209h
This parameter specifies the debounce 2 per.
time for the digital inputs DI1 ... DI5 and 20
DI8. See P2-24 for the debounce time for Decimal
the fast digital inputs DI6 and DI7.
EIO0000002305 07/2019 257

Parameters

Maximum value
HMI Format
P2-10 Signal Input Function for DI1 - u16 Modbus 314h
DITF1 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Ah
The parameters P2-10 ... P2-17 are used per.
to assign signal input functions to the digital 146h
inputs DI1 ... DI8 and to configure the type Hexadecimal
of digital input (normally closed, normally
open).
A: Signal input functions:
For the values, refer to chapter Setting the
Digital Signal Inputs (see page 316).
B: Type:
0: Normally closed (contact b)
1: Normally open (contact a)
Example: If the setting of P2-10 is 101, the
signal input function assigned to digital
input 1 is SON (0x01) and the type of
contact is a normally open contact.
The drive must be restarted after the
parameters have been modified.
Forcing of digital inputs is configured via
P3-06 and activated via P4-07.
is disabled.
DITF2 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Bh
Setting can only be modified if power stage 146h
is disabled.
Hexadecimal
DITF3 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Ch
is disabled.
Hexadecimal
P2-13 Signal Input Function for DI4 - u16 Modbus 31Ah
DITF4 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Dh
is disabled.
Hexadecimal
P2-14 Signal Input Function for DI5 - u16 Modbus 31Ch
DITF5 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Eh
is disabled.
Hexadecimal
P2-15 Signal Input Function for DI6 - u16 Modbus 31Eh
DITF6 Applicable operating mode: PT, PS, V, T 0h RW CANopen 420Fh
is disabled.
Hexadecimal
DITF7 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4210h
is disabled.
Hexadecimal
DITF8 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4211h
is disabled.
Hexadecimal
258 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P2-18 Signal Output Function for DO1 - u16 Modbus 324h
DOTF1 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4212h
The parameters P2-18 ... P2-22 are used 101h per.
to assign signal output functions to the 137h
digital outputs DO1 ... DO5 and to
Hexadecimal
configure the type of digital output
(normally closed, normally open).
A: Signal output functions:

For the values, refer to chapter Setting the
Digital Signal Outputs (see page 322).
B: Type:
0: Normally closed (contact b)
1: Normally open (contact a)
Example: If the setting of P2-18 is 101, the
signal output function assigned to digital
output 1 is SRDY (0x01) and the type of
contact is a normally open contact.
137h
Hexadecimal
137h
Hexadecimal
P2-21 Signal Output Function for DO4 - u16 Modbus 32Ah
137h
Hexadecimal
P2-22 Signal Output Function for DO5 - u16 Modbus 32Ch
137h
Hexadecimal
P2-23 Signal Output Function for DO6(OCZ) - u16 Modbus 32Eh
Only the signal output function ESIM can 40h per.
be assigned to the digital output 137h
DO6(OCZ).
Hexadecimal
Value 0: Encoder simulation function
disabled
Value 40(h): Encoder simulation function
enabled
Use P2-18 … P2-22 for assigning other
signal output functions to the other digital
outputs DO1 … DO5.
EIO0000002305 07/2019 259

Parameters

Maximum value
HMI Format
P2-24 Debounce Time - Fast Inputs us u16 Modbus 330h
FDRT Applicable operating mode: PT, PS, V, T 0 RW CANopen 4218h
This parameter specifies the debounce 50 per.
time for the digital inputs DI6 and DI7. See 100
P2-09 for the debounce time for the digital Decimal
inputs DI1 … DI5 and DI8.
P2-27 Gain Switching - Conditions and Type - u16 Modbus 336h
GCC Applicable operating mode: PT, PS, V, T 0h RW CANopen 421Bh
This parameter specifies the conditions for 0h per.
and the type of gain switching. The gain 18h
switching function is configured via this
Hexadecimal
and P2-29.
A: Conditions for gain switching:

0: Disabled
1: Signal input function GAINUP is active
2: In operating modes PT and PS, the
position deviation is greater than the value
of P2-29
3: Pulse frequency is greater than the value
of P2-29
4: Velocity is greater than the value of P2-
29
5: Signal input function GAINUP is not
active
6: In operating modes PT and PS, the
position deviation is less than the value of
P2-29
7: Pulse frequency is less than the value of
P2-29
8: Velocity is less than the value of P2-29
P2-29 Gain Switching - Comparison Value - u32 Modbus 33Ah
GPE Applicable operating mode: PT, PS, V, T 0h RW CANopen 421Dh
This parameter specifies the comparison 138800h per.
value used for the conditions for gain 3A9800h
switching. Depending on the selected
Hexadecimal
condition, the value entered represents the
number of pulses (position deviation), the
pulse frequency or the velocity. The gain
switching function is configured via this
and P2-27.
P2-30 Auxiliary Functions - s16 Modbus 33Ch
INH Applicable operating mode: PT, PS, V, T -8 RW CANopen 421Eh
Value 0: Disabled 0 -
Value 1: Enable the power stage 8
Decimal
P2-31 Autotuning Optimization Value Threshold 0.001 u32 Modbus 33Eh
LTNEFFORT Applicable operating mode: PT, PS, V 100 RW CANopen 421Fh
This parameter is used to modify the gain. 1000 -
10000
Decimal
260 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P2-32 Autotuning - u16 Modbus 340h
ATMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4220h
This parameter is used to start autotuning 0 -
with the selected autotuning method. 56
Value 0: Stop Autotuning Decimal
Value 1: Easy Tuning
Value 2: Comfort Tuning [minimum settling
time, vibration suppression]
overshoot, vibration suppression]
settling time, no vibration suppression]
overshoot, no vibration suppression]
P2-34 Velocity Monitoring - Threshold Value 0.1rpm u32 Modbus 344h
VEMAX Applicable operating mode: V 0 RW CANopen 4222h
This parameter specifies the velocity 50000 per.
threshold for the velocity monitoring 60000
function. If this value is exceeded, error Decimal
AL555 is detected.
P2-35 Position Deviation Monitoring - Threshold 10*pulse u32 Modbus 346h
PDEV Value 1 RW CANopen 4223h
This parameter specifies the position 12800000
deviation threshold for the position Decimal
deviation monitoring function. If this value
is exceeded, error AL009 is detected.
P2-36 PTI Interface Debounce Time - Pulse 16.6666*ns u16 Modbus 348h
PT_PULSE_FLTR Applicable operating mode: PT, PS, V, T 0 RO CANopen 4224h
This parameter specifies the debounce 30 -
time of the pulse input of the PTI interface. 511
Decimal
P2-37 PTI Interface Debounce Time - Direction 16.6666*ns u16 Modbus 34Ah
PT_DIRECT_FLT Applicable operating mode: PT, PS, V, T 0 RO CANopen 4225h
R This parameter specifies the debounce 30 -
time of the direction input of the PTI 511
interface. Decimal
P2-44 Set the AUTOR feature digital out mode - u16 Modbus 358h
AUTOR_DOMS Applicable operating mode: PS 0h RW CANopen 422Ch
This parameter provides information on the 0h per.
status of the sequence of data sets 1h
processed with the signal input functions.
Hexadecimal
Value 0: General output mode. The
functions assigned to the digital outputs
DO1 … DO6 via the parameters P2-18 …
P2-23 are active.
Value 1: Combination output mode. The
digital outputs provide information on the
status of the sequence of data sets.
When this parameter is reset to 0, the
previous assignments and configurations
of the digital outputs as set via the
parameters P2-18 … P2-23 are restored.
See Status of Data Set Sequences
(see page 353) for details.
EIO0000002305 07/2019 261

Parameters

Maximum value
HMI Format
P2-50 Signal Input Function CLRPOS - Trigger - u16 Modbus 364h
DCLR Applicable operating mode: PT 0h RW CANopen 4232h
This function is only supported in linear 0h per.
control mode (P8-35=0x4001) 1h
This parameter specifies how the signal
Hexadecimal
input function CLRPOSDEV is triggered.
The signal input function CLRPOSDEV
resets the position deviation to zero.
Value 0: Rising edge
Value 1: Level
P2-60 Electronic Gear Ratio - Numerator 2 - u32 Modbus 378h
GR2 Applicable operating mode: PT, PS 1 RW CANopen 423Ch
This parameter can be used to set an 128 per.
additional gear ratio. The additional gear 536870911
ratio can be selected via the signal input Decimal
functions GNUM0 and GNUM1.
P2-61 Electronic Gear Ratio - Numerator 3 - u32 Modbus 37Ah
GR3 Applicable operating mode: PT, PS 1 RW CANopen 423Dh
See P2-60 for details. 128 per.
536870911
Decimal
P2-62 Electronic Gear Ratio - Numerator 4 - u32 Modbus 37Ch
GR4 Applicable operating mode: PT, PS 1 RW CANopen 423Eh
536870911
Decimal
P2-65 Special Function 1 - u16 Modbus 382h
GBIT Applicable operating mode: PT, PS, V 0h RW CANopen 4241h
Bits 0 … 5: Reserved (must be set to 0). 200h per.
Bit 6: Reference pulse monitoring FFC0h
 0: Function activated
Hexadecimal
 1: Function deactivated
Bit 7: Pulse signal monitoring

 0: Function activated (AL534)
Bit 8: Motor overload monitoring

Bit 9: Motor phase monitoring

Bit 10: Acceleration and deceleration for

ZCLAMP:
 0: Immediate stop. Motor is locked at
the position where it was when
ZCLAMP became active.
 1: Motor is decelerated with
deceleration ramp setting. Motor is
locked at the position where standstill is
reached.
262 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P2-65(continued) Bit 11: NL(CWL)/PL(CCWL) pulse input
inhibit function
If P8-31 is set to 1 or 3 and if a hardware

limit switch is triggered, a Fault Reset
clears the missing master pulses. Only use
the pulse inhibit function with settings 1 or
3 of P8-31 if you do not need a Fault Reset
after a detected hardware limit switch error.
To achieve this, set the Automatic Fault
Reset function of P2-68 to 1.
Bit 12: Mains phase monitoring
Bit 13: Encoder simulation output

monitoring
Bit 14: Unit of P8-33

 0: P8-33 is in Hz
 1: P8-33 is in 0.01Hz
Bit 15: Reserved (must be set to 0).

P2-66 Special Function 2 - u16 Modbus 384h
GBIT2 Applicable operating mode: PT, PS, V, T 0 RW CANopen 4242h
Bits 0 … 1: Reserved (must be set to 0). 0 per.
Bit 2: This bit specifies the type of Fault 4
Reset after a detected undervoltage error Decimal
has been removed.
0: No automatic Fault Reset
1: Automatic Fault Reset
Bits 3 … 7: Reserved (must be set to 0).
EIO0000002305 07/2019 263

Parameters

Maximum value
HMI Format
P2-68 Auto-Enable and Automatic Hardware - u16 Modbus 388h
AEAL Limit Switch Fault Reset 0h RW CANopen 4244h
111h
Hexadecimal
X: Automatic power stage enabling

0: Trigger SON to enable power stage
1: Enable power stage automatically if SON
is active after drive has been powered on
Y: Automatic Fault Reset for limit switches

0: Detected hardware limit switch error
(AL014 and AL015) requires Fault Reset
1: Detected hardware limit switch error
(AL014 and AL015) can be reset without
Fault Reset
Z: Repeated attempt to overtravel limit
switch (CANopen only)
0: No detected error
1: Detected error, Fault Reset required
P2-69 Analog Input 1 Value mV s16 Modbus 38Ah
ANIN1 Applicable operating mode: PT, PS, V, T -12500 RO CANopen 4245h
This parameter Indicates the value of - per.
analog input 1. 12500
Decimal
P2-70 Analog Input 2 Value mV s16 Modbus 38Ch
ANIN2 Applicable operating mode: PT, PS, V, T -12500 RO CANopen 4246h
This parameter Indicates the value of - per.
Decimal
264 EIO0000002305 07/2019

Parameters
P3 - Communication Parameters
P3 - Communication Parameters

Maximum value
HMI Format
P3-00 Device Address Modbus - u16 Modbus 400h
ADR Applicable operating mode: PT, PS, V, T 1 RW CANopen 4300h
The device address must be unique. 127 per.
Modified settings become active the next 247
time the product is powered on. Decimal
P3-01 Transmission Rate - u16 Modbus 402h
BRT Applicable operating mode: PT, PS, V, T 0h RW CANopen 4301h
This parameter is used to set the data 102h per.
transmission rate. 405h
Hexadecimal
Setting the Device Address, Baud Rate and
Connection Settings (see page 207).
If this parameter is set via CANopen, only
the CANopen transmission rate can be set.
P3-02 Modbus Connection Settings - u16 Modbus 404h
PTL Applicable operating mode: PT, PS, V, T 6h RW CANopen 4302h
This parameter specifies the Modbus 7h per.
connection settings. 9h
Hexadecimal
Setting the Device Address, Baud Rate and
Connection Settings (see page 207).
P3-03 Detected Modbus Communication Errors - - u16 Modbus 406h
FLT Handling 0h RW CANopen 4303h
This parameter specifies the response of 1h
the drive to a detected communication
Hexadecimal
error.
P3-04 Modbus Connection Monitoring ms u16 Modbus 408h
CWD Applicable operating mode: PT, PS, V, T 0 RW CANopen 4304h
permissible duration for communication 20000
timeout. When this time has elapsed, the Decimal
communication timeout is treated as a
detected error.
Setting this parameter to 0 to disables
connection monitoring.
P3-05 Device Address CANopen - u16 Modbus 40Ah
CMM Applicable operating mode: PT, PS, V, T 0 RW CANopen 4305h
This parameter specifies the CANopen 0 per.
address of the drive in decimal format. 127
The device address must be unique. Decimal
EIO0000002305 07/2019 265

Parameters

Maximum value
HMI Format
P3-06 Digital Inputs - Forcing Settings - u16 Modbus 40Ch
SDI Applicable operating mode: PT, PS, V, T 0h RW CANopen 4306h
This parameter determines whether or not 0h -
a digital input can be forced. 7FFh
Bits 0 ... 7: Digital input DI1 ... digital input
Hexadecimal
DI8
Bit settings:
Value 0: Digital input cannot be forced
Value 1: Digital input can be forced
To actually start forcing, you must write P4-
07.
See P2-10 ... P2-17 for the assignment of
signal input functions to the digital inputs.
P3-07 Modbus Response Delay Time 0.5ms u16 Modbus 40Eh
CDT Applicable operating mode: PT, PS, V, T 0 RW CANopen 4307h
This parameter specifies the time delay 0 per.
with which the drive responds to the 1000
Modbus master. Decimal
P3-09 CANopen Master/Slave Synchronization - u16 Modbus 412h
SYC Applicable operating mode: Fieldbus mode 1001h RW CANopen 4309h
This parameter specifies synchronization 5055h per.
settings of the CANopen slave and the 9FFFh
CANopen master via the synchronization
Hexadecimal
signal.
is disabled.
P3-10 Drive Profile Lexium - Activation - u16 Modbus 414h
LXM_PLC_EN Applicable operating mode: Fieldbus mode 0h RW CANopen 430Ah
0: Deactivate Drive Profile Lexium 0h per.
1: Activate Drive Profile Lexium 1h
Hexadecimal
P3-11 Drive Profile Lexium - State of Digital Inputs - u16 Modbus 416h
DRIVE_INPUT Applicable operating mode: Fieldbus mode 0h RO CANopen 430Bh
0h -
FFFFh
Hexadecimal
P3-12 Drive Profile Lexium - Control Word - u16 Modbus 418h
DRIVE_MODE_CT Applicable operating mode: Fieldbus mode 0h RW CANopen 430Ch
RL 0h -
FFFFh
Hexadecimal
P3-13 Drive Profile Lexium - RefA 16 Bit - s16 Modbus 41Ah
REFA16 Parameter 8000h RW CANopen 430Dh
Applicable operating mode: Fieldbus mode 0h -
7FFFh
Hexadecimal
P3-14 Drive Profile Lexium - RefB 32 Bit - s32 Modbus 41Ch
REFB32 Parameter 80000000h RW CANopen 430Eh
7FFFFFFFh
Hexadecimal
P3-15 Drive Profile Lexium - Drive Status - u16 Modbus 41Eh
DRIVE_STAT Applicable operating mode: Fieldbus mode 0h RO CANopen 430Fh
0h -
FFFFh
Hexadecimal
266 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P3-16 Drive Profile Lexium - Operating Mode - u16 Modbus 420h
MF_STAT Status 0h RO CANopen 4310h
FFFFh
Hexadecimal
P3-17 Drive Profile Lexium - Motion Status - u16 Modbus 422h
MOTION_STAT Applicable operating mode: Fieldbus mode 0h RO CANopen 4311h
0h -
FFFFh
Hexadecimal
P3-18 PDO Event Mask 1 - u16 Modbus 424h
PEVM1 Applicable operating mode: Fieldbus mode 0h RW CANopen 4312h
Changes of values in the object trigger an 1h per.
event: Fh
Bit 0: First PDO object
Hexadecimal
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object
Fh
Hexadecimal
Fh
Hexadecimal
P3-21 PDO Event Mask 4 - u16 Modbus 42Ah
See P3-18 for details. Fh per.
Fh
Hexadecimal
P3-30 Internal Limit for Bit 11 DriveCom Status - u16 Modbus 43Ch
INTRN_LIM_SRC Word 6041h 0 RW CANopen 431Eh
This parameter assigns a status 11
information to bit 11 (internal limit active) of Decimal
the parameter Statusword 6041h.
Value 0: None: Not used (reserved)
Value 1: Current Below Threshold: Current
threshold value
Value 2: Velocity Below Threshold:
Velocity threshold value
Value 3: In Position Deviation Window:
Position deviation window
Value 4: In Velocity Deviation Window:
Velocity deviation window
Value 9: Hardware Limit Switch: Hardware
limit switch
Value 11: Position Window: Position
window
EIO0000002305 07/2019 267

Parameters

Maximum value
HMI Format
P3-31 Settings for NMT operating state Quick - s16 Modbus 43Eh
QSOC Stop -2 RW CANopen 431Fh
Applicable operating mode: Fieldbus mode 6 per.
Value -2: Slow down on torque ramp and 7
switch to Operating State Fault Decimal
Value -1: Slow down on Quick Stop ramp
and switch to Operating State Fault
Value 6: Slow down on Quick Stop ramp
and stay in Quick stop Active
Value 7: Slow down on current limit and
stay in Quick stop Active
P3-32 Automatic operating state transition from - u16 Modbus 440h
SOD2RTSO Switch On Disabled to Ready To Switch On 0h RW CANopen 4320h
Value 0: Automatic transition 1h
Value 1: Transition according to value of
Hexadecimal
CANopen control word
268 EIO0000002305 07/2019

Parameters
P4 - Diagnostics Parameters
P4 - Diagnostics Parameters

Maximum value
HMI Format
P4-00 Error History - Error Code of Most Recent - u16 Modbus 500h
ASH1 Detected Error n 0h RW CANopen 4400h
Applicable operating mode: PT, PS, V, T 0h -
This parameter indicates the error code of FFFFh
the most recent detected error.
Hexadecimal
Writing 0 to this parameter clears the error
history.
ASH2 Detected Error n - 1 0h RO CANopen 4401h
the detected error n-1, n being the most
Hexadecimal
recent detected error.
Hexadecimal
Hexadecimal
Hexadecimal
P4-05 Jog Velocity rpm u32 Modbus 50Ah
JOG Applicable operating mode: PT, PS, V, T 0 RW CANopen 4405h
For further information, refer to chapter Jog 20 per.
Operation (see page 339). 5000
Decimal
EIO0000002305 07/2019 269

Parameters

Maximum value
HMI Format
P4-06 Forcing Matrix of Digital Outputs - u16 Modbus 50Ch
FOT Applicable operating mode: PT, PS, V, T 0h RW CANopen 4406h
This parameter lets you set those signal 0h -
outputs whose signal output functions have FFh
been set to SDO_0 … SDO_5.
Hexadecimal
Bit 0 = 1 sets those signal outputs whose
signal output function has been set to
SDO_0.
SDO_1.
SDO_2.
SDO_3.
SDO_4.
SDO_5.
SDO_6.
SDO_7.
See P2-18 ... P2-22 for assigning the
functions to the digital outputs.
P4-07 State of Digital Inputs / Activate Forcing - u16 Modbus 50Eh
ITST Applicable operating mode: PT, PS, V, T 0h RW CANopen 4407h
A read access to this parameter indicates 0h -
the state of the digital inputs in the form of FFh
a bit pattern.
Hexadecimal
Example:
Read value 0x0011: Digital inputs 1 and 5
are logical 1
By writing this parameter, you can modify
the state of the inputs provided that the
setting for the corresponding input in P3-06
allows for forcing (value 1 for the bit
corresponding to the input).
Example:
Write value 0x0011: Digital inputs 1 and 5
are set to logical 1, regardless of the
previous state
See P3-06 for permitting forcing of
individual digital inputs.
See P2-10 ... P2-17 for the assignment of
270 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P4-08 Status of HMI Keypad - u16 Modbus 510h
PKEY Applicable operating mode: PT, PS, V, T 0h RO CANopen 4408h
This parameter is used to verify proper 0h -
operation of the keys on the HMI keypad of FFh
the drive
Hexadecimal
As a bitwise:
 "1" - key is pressed,
 "0" - key is released.
When:
 S key is indicated by bit0
 M key is indicated by bit1
 UP key is indicated by bit2
 DOWN key is indicated by bit3
 ENT key is indicated by bit4
P4-09 State of Digital Outputs - u16 Modbus 512h

MOT Applicable operating mode: PT, PS, V, T 0h RO CANopen 4409h
This parameter indicates the state of the 0h -
digital outputs DO1…DO6. 3Fh
Bit 0 = 1: DO1 is activated
Hexadecimal
P4-10 Clear Error History - u16 Modbus 514h
FLTHISTCLR Applicable operating mode: PT, PS, V, T 0 RW CANopen 440Ah
Writing 0 to this parameter clears the error 0 -
history. 0
Decimal
P4-20 Analog Input 1 Dead Band mV s16 Modbus 528h
ANIN1DB Applicable operating mode: PT, PS, V, T 0 RW CANopen 4414h
This parameter gets/sets the dead band of 0 per.
If the absolute value of the analog input Decimal
signal is less than this value, no analog
command signal is generated.
This function helps to prevent the drive
from responding to voltage noise near the
zero point of the analog input.
P4-21 Analog Input 2 Dead Band mV s16 Modbus 52Ah
ANIN2DB Applicable operating mode: PT, PS, V, T 0 RW CANopen 4415h
This parameter gets/sets the dead band of 0 per.
If the absolute value of the analog input Decimal
signal is less than this value, no analog
command signal is generated.
This function helps to prevent the drive
from responding to voltage noise near the
zero point of the analog input.
P4-22 Analog Input 1 Offset mV s16 Modbus 52Ch
ANIN1OFFSET Applicable operating mode: V -10000 RW CANopen 4416h
This parameter specifies an offset for the 0 per.
analog input used in operating mode V. 10000
Decimal
P4-23 Analog Input 2 Offset mV s16 Modbus 52Eh
ANIN2OFFSET Applicable operating mode: T -10000 RW CANopen 4417h
This parameter specifies an offset for the 0 per.
analog input used in operating mode T. 10000
Decimal
EIO0000002305 07/2019 271

Parameters

Maximum value
HMI Format
P4-24 Undervoltage Monitoring - Threshold Value V u16 Modbus 530h
LVL Applicable operating mode: PT, PS, V, T 140 RW CANopen 4418h
This parameter specifies the threshold 160 per.
value for DC bus undervoltage monitoring. 190
If the DC Bus voltage is less than the value Decimal
of P4-24 x √2, the error AL003 is
detected.
P4-25 Safety Function STO - Status - u16 Modbus 532h
STO Applicable operating mode: PT, PS, V, T 0 RO CANopen 4419h
This parameter indicates the status of the - -
safety function STO. 1
Bit 0 = 0: Safety function STO triggered Decimal
Bit 0 = 1: Safety function STO not triggered
or deactivated via jumper at CN9
P4-26 Forceable digital outputs - u16 Modbus 534h
DO_FORCEABLE Applicable operating mode: PT, PS, V, T 1Fh RO CANopen 441Ah
This parameter shows whether or not a 1Fh -
digital output can be forced. 1Fh
Bits 0 … 4: Digital output DO1 … digital
Hexadecimal
output DO5
Bit settings:
Value 0: Digital output cannot be forced
Value 1: Digital output can be forced
P4-27 Digital output force mask - u16 Modbus 536h
DO_FORCE_MAS Applicable operating mode: PT, PS, V, T 0h RW CANopen 441Bh
K This parameter contains a mask that 0h -
determines whether or not a digital output 1Fh
can be forced.
Hexadecimal
Bits 0 … 4: Digital output DO1 … digital
output DO5
Bit settings:
To actually start forcing, you must write P4-
28.
See P2-18 … P2-22 for the assignment of
signal output functions to the digital
outputs.
P4-28 Digital output force value - u16 Modbus 538h
DO_FORCE_VAL Applicable operating mode: PT, PS, V, T 0h RW CANopen 441Ch
UE A read access to this parameter indicates 0h -
the state of the digital outputs in the form of 1Fh
a bit pattern.
Hexadecimal
Example:
Read value 0x0011: Digital outputs 1 and 5
are logical 1
By writing this parameter, you can modify
the state of the outputs provided that the
setting for the corresponding output in P4-
27 allows for forcing (value 1 for the bit
corresponding to the output).
Example:
Write value 0x0011: Digital outputs 1 and 5
are set to logical 1, regardless of the
previous state
individual digital outputs.
outputs.
272 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P4-29 Motor Load Period Time ms u32 Modbus 53Ah
LOAD_PERIOD_T Applicable operating mode: PT, PS, V, T 1 RW CANopen 441Dh
IME This parameter specifies the time period in 5000 per.
which the average load will be calculated. 100000
Modified settings become active the next Decimal
EIO0000002305 07/2019 273

Parameters
P5 - Motion Settings
P5- Motion Settings

Maximum value
HMI Format
P5-00 Firmware Revision - u16 Modbus 600h
REV Applicable operating mode: PT, PS, V, T 0h RO CANopen 4500h
This parameter contains the revision 0h -
number of the firmware. FFFFh
Hexadecimal
P5-04 Homing - Homing Method Selection - u16 Modbus 608h
HMOV Applicable operating mode: PS 0h RW CANopen 4504h
This parameter is used to select the 0h per.
homing method and configure the behavior 128h
of the index pulse and the limit switches.
Hexadecimal
Operating Mode Position Sequence (PS)
(see page 347).
is disabled.
P5-05 Homing - Fast Velocity for Reference 0.1rpm u32 Modbus 60Ah
HOMESPEED1 Movement 10 RW CANopen 4505h
Applicable operating mode: PS 1000 per.
60000
Decimal
P5-06 Homing - Slow Velocity for Reference 0.1rpm u32 Modbus 60Ch
60000
Decimal
274 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P5-07 Operating Mode PS via Parameter - u16 Modbus 60Eh
PRCM Applicable operating mode: PS 0 RW CANopen 4507h
The power stage must be enabled by using 0 -
the parameter P2-30 prior to use this 20032
function. Decimal
The power stage must be disabled by using
the parameter P2-30 after using this
function.
The operating mode Position Sequence
(PS) provides 32 data sets that can be
executed via the signal input functions
POS0 ... POS4 and CTRG or via of this
parameter.
0: Start operating mode Homing (Homing
data set)
1 ... 32: Trigger data set (equivalent to the
signal input functions CTRG and POSn).
33 ... 9999: Not permitted
10000: Stop movement (equivalent to the
signal input function STOP)
Values displayed via this parameter:
If a data set is active, but not yet
completed, the value displayed is the value
of this parameter plus 10000.
If a data set has been completed, the value
displayed is the value of this parameter
plus 20000.
Example:
Displayed value 10003: Data set 3 has
been started, but is not yet completed.
Displayed value 20003: Data set 3 has
been completed.
Refer to chapter Operating Mode Position
Sequence (PS) (see page 347).
P5-08 Positive Software Limit Switch - Position PUU s32 Modbus 610h
POSLIMPOS Applicable operating mode: PS -2147483647 RW CANopen 4508h
Prerequisite: Software limit switches only 134217727 per.
work with a valid zero point. 2147483647
Setting can only be modified if power stage Decimal
is disabled.
P5-09 Negative Software Limit Switch - Position PUU s32 Modbus 612h
POSLIMNEG Applicable operating mode: PS -2147483647 RW CANopen 4509h
Prerequisite: Software limit switches only -134217727 per.
work with a valid zero point. 2147483647
is disabled.
P5-10 Operating mode Pulse Train - Maximum ms u16 Modbus 614h
GEARACCTHRES Acceleration 6 RW CANopen 450Ah
H Applicable operating mode: PT 6 per.
This parameter is used to reduce the 65500
acceleration noise. Decimal
P5-11 Software Limit Switches - Hysteresis Value PULSE u16 Modbus 616h
POSLIMHYST Applicable operating mode: PS 0 RW CANopen 450Bh
This parameter specifies a hysteresis value 3556 per.
for the software limit switches. 35555
is disabled.
P5-12 Touch Probe Input 1 - Stable Level 31.25 μs u16 Modbus 618h
PROBE_1_LVL_P Duration 2 RW CANopen 450Ch
RD Applicable operating mode: PT, PS 5 per.
This parameter specifies the period of time 32
for which the level at Touch Probe input 1 Decimal
must be stable.
EIO0000002305 07/2019 275

Parameters

Maximum value
HMI Format
P5-13 Position Limiting Mode - u16 Modbus 61Ah
POSLIMMODE Applicable operating mode: PS 0 RW CANopen 450Dh
This parameter activates/deactivates the 0 per.
software limit switches and the homing 3
transient limits. Decimal
Value 0:
 Deactivate software limit switches.
 Activate homing transient limits.
Value 1:
 Activate software limit switches.
 Activate homing transient limits.
Value 2:
 Deactivate software limit switches.
 Deactivate homing transient limits.
Value 3:
 Activate software limit switches.
 Deactivate homing transient limits.
NOTE: Software limit switches only work

with a valid zero point.
P5-14 Motion Profile for Torque - Slope mA/s u32 Modbus 61Ch
ICMDSLOPE Applicable operating mode: T 1 RW CANopen 450Eh
This parameter specifies the slope of the 100000 per.
motion profile for torque. 30000000
Decimal
P5-15 Motion Profile for Torque - Activation - u16 Modbus 61Eh
ICMDSLOPEEN Applicable operating mode: T 0 RW CANopen 450Fh
This parameter activates the motion profile 0 per.
for torque. 1
Value 0: Deactivate Decimal
Value 1: Activate
is disabled.
P5-16 Encoder Increments in PUU PUU s32 Modbus 620h
AXEN Applicable operating mode: PT, PS, V, T -2147483647 RW CANopen 4510h
Setting can only be modified if power stage 0 -
is disabled. 2147483647
This parameter specifies an offset to the Decimal
encoder position.
P5-18 External Encoder (Pulses) - s32 Modbus 624h
AXPC Applicable operating mode: PT, PS, V, T -2147483648 RO CANopen 4512h
This parameter contains the cumulated - -
pluses counted at the PTI input multiplied 2147483647
by 16 since the drive has been switched on. Decimal
P5-20 Deceleration Ramp - Signal Input Function ms u16 Modbus 628h
STP STOP 6 RW CANopen 4514h
Applicable operating mode: PT, PS, V 50 per.
This parameter specifies the deceleration 65500
ramp for a stop triggered via the signal Decimal
input function STOP.
The deceleration period is the time in
milliseconds required to decelerate from
6000 rpm to motor standstill. It is used to
set the deceleration ramp.
276 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P5-21 Deceleration Ramp - Detected ms u16 Modbus 62Ah
CTO Transmission Error 6 RW CANopen 4515h
ramp for a stop triggered if a transmission Decimal
error is detected.
P5-22 Deceleration Ramp - Position Overflow ms u16 Modbus 62Ch
OVF Applicable operating mode: PT, PS, V 6 RW CANopen 4516h
ramp for a stop triggered if a position 65500
overflow is detected. Decimal
P5-23 Deceleration Ramp - Triggering of ms u16 Modbus 62Eh
SNL Negative Software Limit Switch 6 RW CANopen 4517h
ramp for a stop triggered if the negative Decimal
software limit switch is activated.
P5-24 Deceleration Ramp - Triggering of Positive ms u16 Modbus 630h
SPL Software Limit Switch 6 RW CANopen 4518h
ramp for a stop triggered if the positive Decimal
software limit switch is activated.
P5-25 Deceleration Ramp - Triggering of ms u16 Modbus 632h
NL Negative Hardware Limit Switch 6 RW CANopen 4519h
ramp for a stop triggered if the negative Decimal
hardware limit switch is activated.
P5-26 Deceleration Ramp - Triggering of Positive ms u16 Modbus 634h
PL Hardware Limit Switch 6 RW CANopen 451Ah
ramp for a stop triggered if the positive Decimal
hardware limit switch is activated.
EIO0000002305 07/2019 277

Parameters

Maximum value
HMI Format
P5-35 Touch Probes Polarity - u16 Modbus 646h
PROBES_POLARI Applicable operating mode: PT, PS, V, T 0 RO CANopen 4523h
TY This parameter specifies the touch probes - per.
polarity. 3
Decimal
P5-36 Touch Probe Input 1 - Captured Position CANopen PU s32 Modbus 648h
CAAX_CANOPEN CANopen Units -2147483647 RO CANopen 4524h
This parameter contains the position 2147483647
captured at Touch Probe input 1. Decimal
P5-37 Touch Probe Input 1 - Captured Position PUU s32 Modbus 64Ah
CAAX Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 4525h
This parameter contains the position 0 -
captured at Touch Probe input 1. 2147483647
Decimal
P5-38 Touch Probe Input 1 - Event Counter - u16 Modbus 64Ch
PROBE1_CNTR Applicable operating mode: PT, PS, V, T 0 RO CANopen 4526h
The value is increased by 1 each time a 0 -
position has been captured at Touch Probe 65535
input 1. Decimal
P5-39 Touch Probe Input 1 - Configuration - u16 Modbus 64Eh
CACT Applicable operating mode: PT, PS, V, T 0h RW CANopen 4527h
X: Activate/deactivate position capture 0h -
0: Deactivate 101h
1: Activate (is reset to 0 when the counter
Hexadecimal
in P5-38 is incremented)
Y: Reserved
U: Reserved
Z: Polarity of Touch Probe input
0: Normally open
1: Normally closed
Where X is the least significant half-byte
and U is the most significant half-byte of the
X/Y/U/Z Integer.
P5-56 Touch Probe Input 2 - Captured Position CANopen PU s32 Modbus 670h
CAAX2_CANOPE CANopen Units -2147483647 RO CANopen 4538h
N Applicable operating mode: PT, PS, V, T - per.
This parameter contains the position 2147483647
captured at Touch Probe input 2. Decimal
P5-57 Touch Probe Input 2 - Captured Position PUU s32 Modbus 672h
CAAX2 Applicable operating mode: PT, PS, V, T -2147483647 RO CANopen 4539h
This parameter contains the position 0 -
captured at Touch Probe input 2. 2147483647
Decimal
P5-58 Touch Probe Input 2 - Event Counter - u16 Modbus 674h
PROBE2_CNTR Applicable operating mode: PT, PS, V, T 0 RO CANopen 453Ah
The value is increased by 1 each time a 0 -
position has been captured at Touch Probe 65535
input 2. Decimal
P5-59 Touch Probe Input 2 - Configuration - u16 Modbus 676h
CACT2 Applicable operating mode: PT, PS, V, T 0h RW CANopen 453Bh
X: Activate/deactivate position capture 0h -
0: Deactivate 101h
1: Activate (is reset to 0 when the counter
Hexadecimal
in P5-58 is incremented)
Y: Reserved
Z: Polarity of Touch Probe input
0: Normally open
1: Normally closed
U: Reserved
278 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P5-76 Move Home Offset When Homing - u16 Modbus 698h
HOME_OFFSET_ Applicable operating mode: Fieldbus mode 0 RW CANopen 454Ch
MOVE This parameter activate/deactivate a 0 per.
movement to a configured home offset 1
position when the homing position is Decimal
reached.
P5-77 Touch Probe Input 2 - Stable Level 31.25 μs u16 Modbus 69Ah
PROBE_2_LVL_P Duration 2 RW CANopen 454Dh
RD Applicable operating mode: PT, PS 5 per.
This parameter specifies the period of time 32
for which the level at Touch Probe input 2 Decimal
must be stable.
EIO0000002305 07/2019 279

Parameters
P6 - Position Sequence Data Sets Group 1
P6 - PS Data Sets Group 1

Maximum value
HMI Format
P6-00 Position of Homing Data Set PUU s32 Modbus 700h
ODAT Applicable operating mode: PS -2147483647 RW CANopen 4600h
After a successful reference movement, 0 per.
this position is automatically set at the 2147483647
reference point. Decimal
Bits 0…31: Position
P6-01 Subsequent Data Set and Auto-start of - u32 Modbus 702h
ODEF Homing Data Set 0h RW CANopen 4601h
Applicable operating mode: PS 0h per.
Bit 0: 2001h
0 = Do not start Homing after first power
Hexadecimal
stage enable
1 = Start Homing after first power stage
enable
Bits 1…7: Reserved
Bits 8…15: Number of the subsequent data
set
P6-02 Target Position of Data Set 1 PUU s32 Modbus 704h
PATHPOS1 Applicable operating mode: PS -2147483647 RW CANopen 4602h
Bits 0…31: Target position 0 per.
2147483647
Decimal
P6-03 Configuration of Data Set 1 - u16 Modbus 706h
PATHCTRL1 Applicable operating mode: PS 0h RW CANopen 4603h
Bits 0…3: Reserved 0h per.
Bit 4: D0h
0 = Wait for preceding data set to complete,
Hexadecimal
then start this data set
1 = Start this data set immediately
Bit 7:
0 = Absolute position
1 = Relative (incremental) position
2147483647
Decimal
P6-05 Configuration of Data Set 2 - u16 Modbus 70Ah
D0h
Hexadecimal
P6-06 Target Position of Data Set 3 PUU s32 Modbus 70Ch
2147483647
Decimal
P6-07 Configuration of Data Set 3 - u16 Modbus 70Eh
D0h
Hexadecimal
280 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
2147483647
Decimal
D0h
Hexadecimal
PATHPOS5 Applicable operating mode: PS -2147483647 RW CANopen 460Ah
2147483647
Decimal
PATHCTRL5 Applicable operating mode: PS 0h RW CANopen 460Bh
D0h
Hexadecimal
PATHPOS6 Applicable operating mode: PS -2147483647 RW CANopen 460Ch
2147483647
Decimal
PATHCTRL6 Applicable operating mode: PS 0h RW CANopen 460Dh
D0h
Hexadecimal
PATHPOS7 Applicable operating mode: PS -2147483647 RW CANopen 460Eh
2147483647
Decimal
PATHCTRL7 Applicable operating mode: PS 0h RW CANopen 460Fh
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
EIO0000002305 07/2019 281

Parameters

Maximum value
HMI Format
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
282 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
EIO0000002305 07/2019 283

Parameters

Maximum value
HMI Format
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
284 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
2147483647
Decimal
EIO0000002305 07/2019 285

Parameters

Maximum value
HMI Format
D0h
Hexadecimal
2147483647
Decimal
D0h
Hexadecimal
286 EIO0000002305 07/2019

Parameters
P7 - Position Sequence Data Sets Group 2
P7 - PS Data Sets Group 2

Maximum value
HMI Format
P7-00 Deceleration and Acceleration of Homing ms|ms u32 Modbus 800h
HOME_ACC_DEC Data Set 6| 6 RW CANopen 4700h
Applicable operating mode: PS 200| 200 per.
Bits 0 ... 15: Deceleration 65500| 65500
Bits 16 ... 31: Acceleration Decimal
P7-01 Waiting Time of Homing Data Set ms u32 Modbus 802h
HOME_DLY Applicable operating mode: PS 0 RW CANopen 4701h
Bits 0 ... 15: Waiting time until next dataset 0 per.
is started 32767
Bits 16 ... 31: Reserved Decimal
P7-02 Deceleration and Acceleration of Data Set ms|ms u32 Modbus 804h
ACC_DEC1 1 6| 6 RW CANopen 4702h
Bits 0 ... 15: Deceleration 65500| 65500
Bits 16 ... 31: Acceleration Decimal
P7-03 Waiting Time and Target Velocity of Data 0.1rpm|ms u32 Modbus 806h
SPD_DLY1 Set 1 0| 0 RW CANopen 4703h
Bits 0 ... 15: Waiting time until next dataset 60000| 32767
is started (in ms) Decimal
Bits 16 ... 31: Target velocity (in rpm)
See P7-02 for details. 65500| 65500
Decimal
P7-05 Waiting Time and Target Velocity of Data 0.1rpm|ms u32 Modbus 80Ah
Decimal
P7-06 Deceleration and Acceleration of Data Set ms|ms u32 Modbus 80Ch
Decimal
P7-07 Waiting Time and Target Velocity of Data 0.1rpm|ms u32 Modbus 80Eh
Decimal
Decimal
Decimal
ACC_DEC5 5 6| 6 RW CANopen 470Ah
Decimal
EIO0000002305 07/2019 287

Parameters

Maximum value
HMI Format
SPD_DLY5 Set 5 0| 0 RW CANopen 470Bh
Decimal
ACC_DEC6 6 6| 6 RW CANopen 470Ch
Decimal
SPD_DLY6 Set 6 0| 0 RW CANopen 470Dh
Decimal
ACC_DEC7 7 6| 6 RW CANopen 470Eh
Decimal
SPD_DLY7 Set 7 0| 0 RW CANopen 470Fh
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
288 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
EIO0000002305 07/2019 289

Parameters

Maximum value
HMI Format
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
290 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
EIO0000002305 07/2019 291

Parameters

Maximum value
HMI Format
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
292 EIO0000002305 07/2019

Parameters
P8 - Control Loops
P8 - Control Loops

Maximum value
HMI Format
P8-00 Derivative Gain 0.1Hz u32 Modbus 900h
LTND Applicable operating mode: PT, PS, V 0 RW CANopen 4800h
This parameter is used to adjust the 800 per.
derivative gain. Refer to chapter Manual 20000
Tuning (see page 222). Decimal
P8-01 Integral Gain 0.1Hz u32 Modbus 902h
LTNI Applicable operating mode: PT, PS, V 0 RW CANopen 4801h
integral gain. Refer to chapter Manual 2000
P8-02 Derivative-Integral Gain 0.1Hz u32 Modbus 904h
LTNIV Applicable operating mode: PT, PS, V 0 RW CANopen 4802h
derivative-integral gain. Refer to chapter 4000
Manual Tuning (see page 222). Decimal
P8-03 Proportional Gain 0.1Hz u32 Modbus 906h
LTNP Applicable operating mode: PT, PS, V 0 RW CANopen 4803h
proportional gain. Refer to chapter Manual 4000
P8-04 Global Gain 0.001 u32 Modbus 908h
LTNUSERGAIN Applicable operating mode: PT, PS, V 100 RW CANopen 4804h
500 per.
3000
Decimal
P8-05 LTN Spring Filter Hz u16 Modbus 90Ah
NLAFFLPFHZ Applicable operating mode: PT, PS, V 10 RW CANopen 4805h
This parameter is used to set a low-pass 7000 per.
filter for the acceleration profile during 7000
tuning. Refer to chapter Manual Tuning Decimal
(see page 222).
P8-06 Anti-Vibration Gain Rad*10-3/N u32 Modbus 90Ch
NLANTIVIBGAIN Applicable operating mode: PT, PS, V 0 RW CANopen 4806h
0 per.
10000
Decimal
P8-07 Pe filter 0.001 u32 Modbus 90Eh
NLANTIVIBGAIN2 Applicable operating mode: PT, PS, V 0 RW CANopen 4807h
This parameter is used to set the gain of 0 per.
the Pe filter. 99000
Decimal
P8-08 Anti-Vibration Filter 0.1Hz u32 Modbus 910h
NLANTIVIBHZ Applicable operating mode: PT, PS, V 50 RW CANopen 4808h
This parameter is used to set the frequency 4000 per.
to remove while using the anti-vibration 4000
filter. Decimal
P8-09 Pe filter 0.1Hz u32 Modbus 912h
NLANTIVIBHZ2 Applicable operating mode: PT, PS, V 50 RW CANopen 4809h
to remove with the Pe filter. 8000
Decimal
P8-10 Ratio of Load Inertia to Motor Inertia for 0.1 u32 Modbus 914h
NLANTIVIBLMJR Anti-Vibration 0 RW CANopen 480Ah
Expert parameter for the internal control 6000
loop. Decimal
EIO0000002305 07/2019 293

Parameters

Maximum value
HMI Format
P8-11 NL Anti-Resonance Filter Divider 0.01 u32 Modbus 916h
NLANTIVIBN Applicable operating mode: PT, PS, V 1 RW CANopen 480Bh
Expert parameter for the internal control 200 per.
loop. 10000
Decimal
P8-12 Anti-Resonance Sharpness 0.001 u16 Modbus 918h
NLANTIVIBSHAR Applicable operating mode: PT, PS, V 10 RW CANopen 480Ch
P Expert parameter for the internal control 500 per.
loop. 10000
Decimal
P8-13 Pe Sharpness 0.001 u16 Modbus 91Ah
NLANTIVIBSHAR Applicable operating mode: PT, PS, V 10 RW CANopen 480Dh
P2 This parameter is used to optimize the Pe 500 per.
filter action. 10000
Decimal
P8-14 Current Filter Damping % u16 Modbus 91Ch
NLFILTDAMPING Applicable operating mode: PT, PS, V 0 RW CANopen 480Eh
For further details, refer to Manual Tuning 0 per.
(see page 222). 100
Decimal
P8-15 Current Filter Low Pass Filter Rise Time 0.01ms u16 Modbus 91Eh
NLFILTT1 Applicable operating mode: PT, PS, V 0 RW CANopen 480Fh
For further details, refer to Manual Tuning 300 per.
(see page 222). 3000
Decimal
P8-16 Current Filter - Second Notch Filter Hz u16 Modbus 920h
NLNOTCH2BW Bandwidth 0 RW CANopen 4810h
500
Decimal
P8-17 Current Filter - Second Notch Filter Center Hz u16 Modbus 922h
NLNOTCH2CENT Applicable operating mode: PT, PS, V 5 RW CANopen 4811h
ER 100 per.
1800
Decimal
P8-18 Current Filter - Notch Filter Bandwidth Hz u16 Modbus 924h
NLNOTCHBW Applicable operating mode: PT, PS, V 0 RW CANopen 4812h
0 per.
500
Decimal
P8-19 Current Filter - Notch Filter Center Hz u16 Modbus 926h
NLNOTCHCENTE Applicable operating mode: PT, PS, V 5 RW CANopen 4813h
R For further details, refer to Manual Tuning 100 per.
(see page 222). 1800
Decimal
P8-20 Elasticity Compensation 0.1Hz u32 Modbus 928h
NLPEAFF Applicable operating mode: PT, PS, V 0 RW CANopen 4814h
This parameter is used in the 50000 per.
compensation of the elasticity of the 50000
mechanical system. Decimal
For further details, refer to Manual Tuning
(see page 222).
P8-21 Spring Deceleration Ratio 0.001 u16 Modbus 92Ah
NLPEDFFRATIO Applicable operating mode: PT, PS, V 0 RW CANopen 4815h
This parameter is used in the 1000 per.
compensation of the elasticity of the 2000
mechanical system. Decimal
For further details, refer to Manual Tuning
(see page 222).
294 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P8-22 Analog NCT standstill mV s16 Modbus 92Ch
NLVELLIM Applicable operating mode: PT, PS, V -3815 RW CANopen 4816h
If the target value is supplied as an analog 0 per.
voltage signal, this parameter can be used 3815
to improve the standstill stability. If the Decimal
voltage drops below the value specified via
this parameter, the integral gain set via
parameter P8-01 and the derivative-
integral gain set via parameter P8-02 are
reduced by one half.
P8-23 Analog Input 1 - Filter Hz u16 Modbus 92Eh
ANIN1LPFHZ Applicable operating mode: PT, PS, V, T 10 RW CANopen 4817h
This parameter specifies the cut-off 1000 per.
frequency for the first order low-pass filter 10000
of analog input 1. Decimal
P8-24 Analog Input 2 - Filter Hz u16 Modbus 930h
ANIN2LPFHZ Applicable operating mode: PT, PS, V, T 10 RW CANopen 4818h
This parameter specifies the cut-off 1000 per.
frequency for the first order low-pass filter 10000
of analog input 2. Decimal
P8-25 Electronic Gear Filter - Acceleration 0.001 s16 Modbus 932h
GEARFILTAFF Feedforward -2000 RW CANopen 4819h
Applicable operating mode: PT 0 per.
This parameter specifies the acceleration 2000
feed-forward for the electronic gear filter. Decimal
is disabled.
P8-26 Electronic Gear Filter - Activation - u16 Modbus 934h
GEARFILTMODE Applicable operating mode: PT 0 RW CANopen 481Ah
electronic gear filter. 2
Value 0: Deactivate electronic gear filter Decimal
Value 1: Activate electronic gear filter
Value 2: Activate enhanced electronic gear
filter
is disabled.
P8-27 Electronic Gear Filter - Depth 0.01ms u32 Modbus 936h
GEARFILTT1 Applicable operating mode: PT 75 RW CANopen 481Bh
200 per.
3200
Decimal
P8-28 Electronic Gear Filter - Velocity and 0.01ms u16 Modbus 938h
GEARFILTT2 Acceleration Depth 0 RW CANopen 481Ch
6000
Decimal
P8-29 Electronic Gear Filter - Velocity 0.01ms s32 Modbus 93Ah
GEARFILTVELFF Feedforward -20000 RW CANopen 481Dh
This parameter specifies the velocity feed- 20000
forward for the electronic gear filter. Decimal
is disabled.
EIO0000002305 07/2019 295

Parameters

Maximum value
HMI Format
P8-30 Interpolation of Input Signal for Electronic - u16 Modbus 93Ch
GEARINMODE Gear - Activation 0 RW CANopen 481Eh
This parameter allows for interpolation of 1
the input signal for electronic gear and Decimal
increases the resolution by a factor of 16.
Value 0: Deactivate interpolation of input
signal for electronic gear
Value 1: Activate interpolation of input
signal for electronic gear
is disabled.
P8-31 Method for Operating Mode Pulse Train - u16 Modbus 93Eh
GEARING_MODE (PT) 0 RW CANopen 481Fh
Value 0: Synchronization deactivated 3
Value 1: Position synchronization without Decimal
compensation movement
Value 2: Position synchronization with
Value 3: Velocity synchronization
The parameters for acceleration (P1-34),
deceleration (P1-35) and velocity (P1-55)
act as limitations for the synchronization.
P8-32 S-Curve Setting 0.01ms u32 Modbus 940h
MOVESMOOTHA Applicable operating mode: PT, PS 25 RW CANopen 4820h
VG Setting can only be modified if power stage 400 per.
is disabled. 25600
The maximum value is reduced to 12800 if Decimal
P8-35 CONTROLMODE (high byte) is set
to 5.
P8-33 Low Pass Filter Setting Hz u32 Modbus 942h
MOVESMOOTHL Applicable operating mode: PT, PS 1 RW CANopen 4821h
PFHZ The unit is modified to 0.01Hz if P2-65 5000 per.
GBIT Bit 14 is set to 1. 500000
Decimal
P8-34 Smoothing Filter for Operating modes PT - u16 Modbus 944h
MOVESMOOTHM and PS - Type 0 RW CANopen 4822h
ODE Applicable operating mode: PT, PS 2 per.
Value 0: No smoothing 2
Value 1: LPF smoothing Decimal
Value 2: S-curve smoothing
is disabled.
296 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P8-35 Type of Velocity Control Type of Position - u16 Modbus 946h
CONTROLMODE Control 5h RW CANopen 4823h
Applicable operating mode: PT, PS, V 207h per.
This parameter specifies: 4001h
 the position control mode (high byte)
Hexadecimal
 value 2: Position control mode 2
(Sample rate 4 kHz)
 value 5: Position control mode 5
(Sample rate 8 kHz)
 value 40: Linear position control
 the type of velocity (low byte)

 value 1: Linear velocity control
 value 5: Velocity control with integral
gain (P8-01, P8-02)
 value 6: Velocity control without
integral gain
 value 7: Velocity control with P8-00 =
P8-01, P8-02 = 0, P8-03 = 0
is disabled.
P8-36 Pe filter 3 0.001 u32 Modbus 948h
NLANTIVIBGAIN3 Applicable operating mode: PT, PS, V 0 RW CANopen 4824h
This parameter is used to set the gain of 0 per.
the Pe filter 3 6000
Decimal
P8-37 Pe filter 3 0.1Hz u32 Modbus 94Ah
NLANTIVIBHZ3 Applicable operating mode: PT, PS, V 50 RW CANopen 4825h
to remove with the Pe filter 3. 8000
Decimal
P8-38 Pe filter 3 0.001 u32 Modbus 94Ch
NLANTIVIBQ3 Applicable operating mode: PT, PS, V 200 RW CANopen 4826h
This parameter is used to set the zero-pole 1000 per.
alignment with the Pe filter 3. 10000
Decimal
P8-39 Gravity Compensation 0.01A s16 Modbus 94Eh
IGRAV Applicable operating mode: PT, PS, V, T - RW CANopen 4827h
This parameter is used to set the gravity 0 per.
compensation current for unbalanced -
systems. Decimal
P8-40 LTN AFF - u16 Modbus 950h
LTNAFRC Applicable operating mode: PT, PS, V 0 RW CANopen 4828h
This parameter is used to set the feed- 0 per.
forward term for the current command. 200
Decimal
P8-41 Pe Sharpness - u16 Modbus 952h
NLANTIVIBSHAR Applicable operating mode: PT, PS, V 10 RW CANopen 4829h
P3 This parameter is used to optimize the Pe 200 per.
filter 3 action. 10000
Decimal
P8-42 Homing Error Information - u32 Modbus 954h
HOME_FAILURE_ Applicable operating mode: PT, PS, V, T 0 RO CANopen 482Ah
IND This parameter provides information in - -
case of the homing is not successful. FFFFFFFFh
Hexadecimal
P8-43 ZSPD Low Pass Filter Value Hz u16 Modbus 956h
ZSPDLPFHZ Applicable operating mode: PT, PS, V, T 10 RW CANopen 482Bh
This parameter sets the low pass filter 1000 per.
value for ZSPD output in order to reduce 1000
jitters when the motor speed is around the Decimal
Zero speed Threshold (P1-38) value.
EIO0000002305 07/2019 297

Parameters

Maximum value
HMI Format
P8-44 Send commands to multi turn encoder - u16 Modbus 958h
MT_COMMANDS Applicable operating mode: PT, PS, V, T 0 RW CANopen 482Ch
Value 0: No command to send. - -
Value 1:Clear the battery detected error on 2
the encoder. Decimal
Value 2: Reset the number of accumulated
revolutions of the encoder to zero.
P8-45 Feedback type - u16 Modbus 95Ah
FEEDBACKTYPE Applicable operating mode: PT, PS, V, T 0 RO CANopen 482Dh
Value 0: No feedback connected or - -
undetermined feedback connected. 2
Value 1: Single turn encoder. Decimal
Value 2: Multi turn encoder.
P8-46 Encoder temperature Deg. s16 Modbus 95Ch
SRVSNS_TEMPE Applicable operating mode: PT, PS, V, T - RO CANopen 482Eh
RATURE - -
-
Decimal
P8-47 Encoder firmware and hardware versions - u32 Modbus 95Eh
SRVSNS_VER Applicable operating mode: PT, PS, V, T - RO CANopen 482Fh
The format is: ZZaabbcc - -
 aa.bb.cc: firmware version. 4294967295
 ZZ: hardware version. Decimal
P8-48 Encoder errors - u32 Modbus 960h
SRVSNS_FLTS Applicable operating mode: PT, PS, V, T - RO CANopen 4830h
 Bit 0: The returned position values are - -
no longer considered as reliable. 4294967295
 Bit 1: The device temperature is too Hexadecimal
high.
 Bit 2: The device temperature is too low.
 Bit 3: The device is not calibrated or the
calibration data is corrupted. The device
is not able to decode the position.
 Bit 4: The device supply voltage has
dropped under operational value.
 Bit 5: The multi turn encoder battery
voltage has dropped under 3 Vdc.
 Bit 6: The multi turn encoder requires an
explicit configuration command.
 Bit 7: Internal position synchronization
error detected between the multi turn
and the single turn modules.
 Bit 8:Generic error code of the multi turn
module is detected.
 Bit 16…23: Internal Error detected.
 Bit 24: The encoder firmware cannot
operate on the provided hardware.
 Bit 25…31: Reserved.
298 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P8-49 Encoder alerts - u32 Modbus 962h
SRVSNS_WRNS Applicable operating mode: PT, PS, V, T - RO CANopen 4831h
 Bit 0: The device temperature is too - -
high. 4294967295
 Bit 1: The device temperature is too low. Hexadecimal
 Bit 2: Over speed.
 Bit 3: Over acceleration.
 Bit 4: Invalid checksum value detected
on non-volatile memory initialization.
 Bit 5: non-volatile memory is empty.
 Bit 6: Internal Parameters area detected
as invalid, default values are used.
 Bit 7: Invalid decoding sequence
detected.
 Bit 8: Encoder internal flash error
detected.
 Bit 9: The device has detected unusual
high shaft displacement. Position error
might be greater than usual.
 Bit 10: The multi turn encoder battery
voltage is in the range
3000 … 3150 mVdc.
 Bit 11: Reserved.
 Bit 12: The multi turn encoder counter
exceeded the range of signed 16 bit
value (-32767 … 32768). The warning
remains active until MT_COMMANDS
(P8-44) is set to 2. The multi turn
encoder counter continues to count in
the range 0 … 65535.
 Bit 13…31: Reserved.
P8-51 Speed Observer Mode - u16 Modbus 966h

SPDOBSRVRMO Applicable operating mode: PT, PS, V, T 0 RW CANopen 4833h
DE Value 0: Speed feedback value is 0 per.
computed by the drive. 3
Value 3:Speed feedback value is Decimal
measured by the encoder.
P8-52 Electronic Gear Filter - Depth 0.01 ms u32 Modbus 968h
GEARFILTDEPTH Applicable operating mode: PT 75 RW CANopen 4834h
This parameter sets the value of the depth 200 per.
for the enhanced electronic gear filter (P8- 3200
26 set to the value 2). Decimal
P8-53 Position Linear Controller Proportional 0.1 rps/rev u16 Modbus 96Ah
KPP Gain 0 RW CANopen 4835h
This parameter sets the value of the 12000
proportional gain for the linear position Decimal
controller.
NOTE: After motor connection, the drive
automatically sets the optimized value
(see page 303).
P8-54 Position Velocity Feedforward 0.001 s32 Modbus 96Ch
KPVFR This parameter sets the value of the -2000 RW CANopen 4836h
position velocity feedforward to velocity 500 per.
command gain for the linear position 2000
controller. This is used to reduce the Decimal
position following error at constant speed.
NOTE: Value of 1000 is the nominal
design for zero position following error.
EIO0000002305 07/2019 299

Parameters

Maximum value
HMI Format
P8-55 Position Acceleration Feedforward 0.001 s32 Modbus 96Eh
KPAFVRV This parameter sets the value of the -20000 RW CANopen 4837h
position acceleration feedforward to 0 per.
velocity command gain for the linear 20000
position controller. This is used to reduce Decimal
the position following error at constant
acceleration.
NOTE: Value of 1000 is the nominal
design for zero position following error.
P8-56 Position Acceleration Feedforward to 0.001 s32 Modbus 970h
KPAFRC Current Loop -20000 RW CANopen 4838h
This parameter sets the value of the 0 per.
position acceleration feedforward to 20000
current command gain for the linear Decimal
position controller. This is used to reduce
the position following error at constant
acceleration.
NOTE: Value of 100 is the nominal design
for zero position following error. P1-37
value must be correctly set.
P8-57 Velocity Proportional Gain 0.001 u32 Modbus 972h
KVP This parameter sets the value of the 0 RW CANopen 4839h
proportional gain for the linear velocity 100 per.
controller. 1000000000
Decimal
(see page 303).
P8-58 Velocity Integral Gain 0.001 u32 Modbus 974h
KVI This parameter sets the value of the 0 RW CANopen 483Ah
integral gain for the linear velocity 30000 per.
controller. 200000000
Decimal
(see page 303).
P8-59 Velocity Feedforward Ratio 0.001 u16 Modbus 976h
KVFR This parameter sets the value of the 0 RW CANopen 483Bh
feedforward ratio for the linear velocity 900 per.
controller. 1000
Decimal
NOTE: Value of 1000 makes the control
close to a PI control. Higher values reduces
the following error but introduces an
overshoot.
P8-60 Velocity Loop Output Filter Mode - u16 Modbus 978h
FILTMODE This parameter sets the value of the 0 RW CANopen 483Ch
velocity loop output filter for the linear 2 per.
velocity controller. 3
Value 0: No filtering. Decimal
Value 1: First order low pass filter; sets P8-
61 as corner frequency.
Value 2: Double first order low pass filter
(sets P8-61 and P8-62 as corner
frequencies).
Value 3: Notch filter (sets P8-62 as notch
center frequency and P8-61 as notch
frequency width).
(see page 303).
300 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P8-61 Velocity Loop Output Filter Parameter 1 - u16 Modbus 97Ah
FILTHZ1 The function of this parameter depends on 1 RW CANopen 483Dh
the velocity loop output filter mode (see P8- 500 per.
60). 10000
Decimal
(see page 303).
P8-62 Velocity Loop Output Filter Parameter 2 - u16 Modbus 97Ch
FILTHZ2 The function of this parameter depends on 1 RW CANopen 483Eh
the velocity loop output filter mode (see P8- 500 per.
60). 10000
Decimal
(see page 303).
P8-63 Velocity Filter Mode - u32 Modbus 97Eh
VELFILTMODE This parameter sets the value of the type of 0 RW CANopen 483Fh
filter that is used for extraction of a velocity 1 per.
signal from the position feedback. 2
Value 0: No filtering. Use derivative of Decimal
feedback position.
Value 1: First order low pass filter; sets P8-
64 as corner frequency.
Value 2: Use of the velocity feedback
provided by the encoder.
is disabled.
P8-64 Velocity Filter Pole Frequency - u16 Modbus 980h
VELFILTFRQ This parameter sets the value of the first 20 RW CANopen 4840h
order filter, which is applied to the velocity 440 per.
feedback signal before applying the 2000
velocity controller. Decimal
NOTE: This parameter value is used only
if P8-63 is set to 1.
is disabled.
P8-65 Current Feedforward Low Pass Filter - u16 Modbus 982h
IFFLPFHZ Applicable operating mode: PT, PS 10 RW CANopen 4841h
This parameter sets the value of the first 1000 per.
order filter of the linear controller which is 1000
applied to the current feedforward before it Decimal
is added to current command.
P8-66 LTN Torque Filter Mode - u16 Modbus 984h
NLTFDESIGNMO Applicable operating mode: PT, PS, V 0 RW CANopen 4842h
DE This parameter sets the value of the torque 0 per.
filter mode used in the LTN control loop. 1
Value 0: Manual set of P8-15 and P8-14 Decimal
values.
Value 1: P8-15 and P8-14 values are
computed based on P8-67 value.
P8-67 LTN Torque Filter Bandwidth Hz u16 Modbus 986h
NLTFBW Applicable operating mode: PT, PS, V 50 RW CANopen 4843h
This parameter sets the value of the filter 1000 per.
bandwidth used in LTN control loop to 2000
define P8-15 and P8-14 values with 10% Decimal
overshoot.
P8-68 Current Filter - Notch Filter Mode - u16 Modbus 988h
NLNOTCHMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4844h
This parameter sets the value of the notch 0 per.
filter mode used in the LTN control loop. 1
Value 0: Original notch filter. Decimal
Value 1: Advanced notch filter.
EIO0000002305 07/2019 301

Parameters

Maximum value
HMI Format
P8-69 Standstill Mode - u16 Modbus 98Ah
STANDSTILLMOD Applicable operating mode: PT, PS, V 0 RW CANopen 4845h
E This parameter sets the value of the 0 per.
standstill mode used for variable gain. 1
The drive latches the variable gain when Decimal
the motor is at standstill.
Value 0: The drive revert to the original gain
when the motor is not at standstill.
Value 1: The drive revert to the original gain
when a new motion command is applied.
NOTE:
The motor is at standstill when:
 the velocity command is less than the
velocity value set via the parameter P1-
38
 and the position deviation is within the
tolerance sets via the parameter P1-54.
P8-70 Standstill Gain - u16 Modbus 98Ch
STANDSTILLGAI Applicable operating mode: PT, PS, V 128 RW CANopen 4846h
N This parameter sets the value of the 1024 per.
variable gain used for the linear position 1024
controller. Decimal
When the motor is at standstill, the velocity
proportional gain (P8-57 KVP) and the
position proportional gain (P8-53 KPP) are
multiplied by (P8-70/1024).When the motor
is not at standstill, the velocity proportional
gain and the position proportional gain
revert to their original values.
P8-71 Encoder Filter Mode - s16 Modbus 98Eh
SFILTMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4847h
encoder filter. 1
Value 0: Deactivate the encoder filter. Decimal
Value 1: Activate the encoder filter.
The encoder filter helps to reduce the
feedback jitter.
P8-99 Adaptive Velocity Reference Value Gain 0.001 u32 Modbus 9C6h
LTNUSERVCMDG Applicable operating mode: PT, PS 0 RW CANopen 4863h
AIN 1000 per.
3000
Decimal
302 EIO0000002305 07/2019

Parameters
Linear Default Gains Values

The following table displays the optimized values set according to the connected motor:
Motor references P8-53 P8-57 P8-58 P8-60 P8-61 P8-62

KPP KVP KVI FILTMODE FILTHZ1 FILTHZ2
BCH2MBA53•••5C 55 0.4 50 0 0 0
BCH2MB013•••5C 25 0.25 50 1 500 0
BCH2LD023•••5C 35 0.5 30 1 800 0
BCH2MM031•••6C 19 4.5 20 2 400 500
BCH2LD043•••5C 30 1.1 25 1 1000 0
BCH2LF043•••5C 35 2 50 1 700 0
BCH2MM052•••6C 18 8 30 2 500 500
BCH2MM061•••6C 20 5 30 1 400 0
BCH2HF073•••5C 25 4 30 1 400 0
BCH2LF073•••5C 30 3 50 1 500 0
BCH2MM081•••6C 23 12 35 2 400 400
BCH2MM091•••6C 25 7 35 1 300 0
BCH2MM102•••6C 16 8.5 50 1 200 0
BCH2HM102•••6C 16 8.5 50 1 200 0
BCH2LH103•••6C 23 7 40 1 700 0
BCH2MM152•••6C 25 8 50 2 500 500
BCH2MM202•••6C 17 11 15 2 400 400
BCH2MR202•••6C 13 21 25 1 200 0
BCH2HR202•••6C 13 21 25 1 200 0
BCH2LH203•••6C 21 9 40 1 700 0
BCH2MR301•••6C 20 30 25 2 400 400
BCH2MR302•••6C 15 33 30 2 300 300
BCH2MR352•••6C 22 50 30 1 300 0
BCH2MR451•••6C 22 35 30 2 300 400
EIO0000002305 07/2019 303

Parameters
P9 - DTM Data
P9 - DTM Data

Maximum value
HMI Format
P9-00 Lexium program number - u32 Modbus A00h
PRGNR Applicable operating mode: PT, PS, V, T 0h RO CANopen 4900h
Reads the program number 0h -
FFFFFFFFh
Hexadecimal
P9-01 Firmware Version Date - u32 Modbus A02h
DATE Applicable operating mode: PT, PS, V, T 0h RO CANopen 4901h
This parameter contains the date of the 0h -
firmware version. FFFFFFFFh
Hexadecimal
P9-02 MTP Identification Code - u16 Modbus A04h
MTP_ID Applicable operating mode: PT, PS, V, T 0h RO CANopen 4902h
- -
FFFFFFFFh
Hexadecimal
P9-06 User-Defined Application Name 1 - u32 Modbus A0Ch
UNAME1 Applicable operating mode: PT, PS, V, T 0h RW CANopen 4906h
This parameter is provided for a user- 0h per.
defined application name. FFFFFFFFh
Hexadecimal
P9-07 User-Defined Application Name 2 - u32 Modbus A0Eh
Hexadecimal
P9-08 User-Defined Application Name 3 - u32 Modbus A10h
Hexadecimal
P9-09 User-Defined Application Name 4 - u32 Modbus A12h
Hexadecimal
P9-10 Modbus Word Order - u16 Modbus A14h
MBWORD Applicable operating mode: PT, PS, V, T 0 RW CANopen 490Ah
This parameter sets the word order for 0 per.
Modbus. 1
Value 0: Order of the bytes: 0 1 2 3 Decimal
Value 1: Order of the bytes: 2 3 0 1
P9-11 Serial Number Part 1 - u32 Modbus A16h
SERNUM1 Applicable operating mode: PT, PS, V, T 0h RO CANopen 490Bh
0h -
FFFFFFFFh
Hexadecimal
P9-12 Serial Number Part 2 - u32 Modbus A18h
SERNUM2 Applicable operating mode: PT, PS, V, T 0h RO CANopen 490Ch
0h -
FFFFFFFFh
Hexadecimal
304 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P9-13 Serial Number Part 3 - u32 Modbus A1Ah
SERNUM3 Applicable operating mode: PT, PS, V, T 0h RO CANopen 490Dh
0h -
FFFFFFFFh
Hexadecimal
P9-14 Serial Number Part 4 - u32 Modbus A1Ch
SERNUM4 Applicable operating mode: PT, PS, V, T 0h RO CANopen 490Eh
0h -
FFFFFFFFh
Hexadecimal
P9-15 Autotuning Method - u16 Modbus A1Eh
LTN Applicable operating mode: PT, PS, V, T 0 RW CANopen 490Fh
0 -
6
Decimal
P9-16 Autotuning Motion Profile - Type - u16 Modbus A20h
LTNREFERENCE Applicable operating mode: PT, PS, V 0 RW CANopen 4910h
0 -
2
Decimal
P9-17 Anti-vibration tuning mode. - u16 Modbus A22h
LTNAVMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4911h
0 -
6
Decimal
P9-18 Autotuning Results - Save/Discard - u16 Modbus A24h
LTNSAVEMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4912h
0 -
3
Decimal
P9-19 Autotuning - Elasticity Compensation - s16 Modbus A26h
LTNNLPEAFF Filters 0 RW CANopen 4913h
1
Decimal
P9-20 Autotuning - Direction of Movement - s16 Modbus A28h
LTNCYCLE Applicable operating mode: PT, PS, V 0 RW CANopen 4914h
This parameter sets the direction of 0 -
movement for autotuning. 3
Value 0: Both directions of movement Decimal
Value 2: One direction of movement
P9-21 Minimum Dwell Time for Detection of - u16 Modbus A2Ah
LTNDWELLTIME Movement Cycle 100 RW CANopen 4915h
1000
Decimal
P9-22 Autotuning - Automatic Estimation of Ratio - u16 Modbus A2Ch
LTNLMJR of Load Inertia and Motor Inertia 0 RW CANopen 4916h
1
Decimal
P9-23 Defines which values will be used for the - u16 Modbus A2Eh
LTNSTIFF position command filters. 0 RW CANopen 4917h
Value 0: Automatic smoothing via S-curve 1
optimization of the value Decimal
Value 1: Manual smoothing
EIO0000002305 07/2019 305

Parameters

Maximum value
HMI Format
P9-25 Autotuning Motion Profile - Activation - u16 Modbus A32h
LTNREFEN Applicable operating mode: PT, PS, V 0 RW CANopen 4919h
0 -
1
Decimal
PTPOS 1 -2147483647 RW CANopen 491Ah
movement 1.
PTNEG 2 -2147483647 RW CANopen 491Bh
movement 2.
P9-28 Autotuning Active - s16 Modbus A38h
LTNACTIVE Applicable operating mode: PT, PS, V 0 RO CANopen 491Ch
This parameter indicates whether - -
autotuning is active. 1
Value 0: Autotuning inactive Decimal
Value 1: Autotuning active
P9-29 Autotuning - Velocity 0.1rpm|0.1rpm u32 Modbus A3Ah
LTNVCRUISE Applicable operating mode: PT, PS, V - RW CANopen 491Dh
Bits 0 ... 15: Velocity for positive direction of - -
movement -
Bits 16 ... 31: Velocity for negative direction Decimal
of movement
306 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P9-30 Autotuning - Status - u32 Modbus A3Ch
LTNST Applicable operating mode: PT, PS, V 0 RO CANopen 491Eh
Value 0: Inactive - -
Value 1: Active 65535
Value 2: Successfully completed Decimal
Values 3 … 9: Reserved
Value 10: Impossible to set P9-15
Value 21: Impossible to enable the power
stage
Value 22: Hold is active
Value 23: Undetermined motor
Value 27: Impossible to activate autotuning
Value 28: Autotuning did not run
successfully
Value 29: Reserved
Value 30: Low Effort
Value 31: AVG Zero Init Value
Value 32: Cost factor error detected
Value 33: Pos tune user gain modified
Value 34: Motor Was Not Recognized
Value 35: LTNP Step Updated
Value 36: Movement too small
Value 37: ICMD Sat.
Value 38: Insufficient load estimation time.
Value 39: Insufficient
acceleration/deceleration (less than 33 %
of nominal acc/dec)
Value 40: Excessive
acceleration/deceleration (more than 90 %
of nominal acc/dec)
EIO0000002305 07/2019 307

Parameters

Maximum value
HMI Format
P9-30 Value 41: Need for gravity compensation
Continued (see P9-35)
Value 42: Insufficient velocity (less than
10 % of nominal velocity)
Value 43: Insufficient deceleration (less
than deceleration ramp DECSTOP)
Value 44: Autotuning timeout
Value 45: Invalid default values
Value 46: Ratio of load inertia to motor
inertia is too high (>30)
Value 50: P9-15 set to 0
Value 51: Power stage disabled during
autotuning
Value 52: Current saturation
Value 53: Reserved
Value 54: Insufficient excitation for
autotuning (poor motion profile: short
distance, low acceleration/deceleration,
etc.)
Value 55: Insufficient tuning effort
Value 56: Halt during autotuning
Value 57: Undetermined motor
Value 58: Motion profile exceeds limits
Value 59: Invalid gains during autotuning
Value 60: Insufficient movement
Value 61: Current limitation during
autotuning
Value 62: Detected alert during autotuning
Value 70: Positive distance and negative
distance are not equal
Value 71: Velocity is too low
Value 72: Motion profile is not trapezoidal
Value 73: Same sign used for positive and
negative movement in bidirectional mode
Value 74: Different signs used for positive
and negative movement in unidirectional
mode
P9-31 Autotuning - Acceleration and Deceleration ms|ms u32 Modbus A3Eh
PTACCDEC Applicable operating mode: PT, PS, V 6| 6 RW CANopen 491Fh
Bits 0 ... 15: Acceleration for Autotuning 6000| 6000 -
Bits 16 ... 31: Deceleration for Autotuning 65500| 65500
Decimal
P9-32 Autotune advance mode. - u16 Modbus A40h
LTNADVMODE Applicable operating mode: PT, PS, V 0 RW CANopen 4920h
1 -
2
Decimal
P9-33 Maximum Autotuning Optimization Value 0.001 u32 Modbus A42h
LTNEFFORTMAX Applicable operating mode: PT, PS, V 0 RO CANopen 4921h
Setting can only be modified if power stage - -
is disabled. 1000
Decimal
P9-34 Autotuning Progress Bar - u16 Modbus A44h
LTNBAR Applicable operating mode: PT, PS, V 0 RO CANopen 4922h
0 -
100
Decimal
308 EIO0000002305 07/2019

Parameters

Maximum value
HMI Format
P9-35 Autotuning - Gravity Estimation - u16 Modbus A46h
LTNIGRAV Applicable operating mode: PT, PS, V 0 RW CANopen 4923h
0 -
1
Decimal
P9-36 Set LTNAFRC in Autotune - s16 Modbus A48h
LTNLAFRC Applicable operating mode: PT, PS, V 0 RW CANopen 4924h
0 -
2
Decimal
P9-37 Autotuning - Last Stored Event - u32 Modbus A4Ah
LTNWARNING Applicable operating mode: PT, PS, V 0 RO CANopen 4925h
0 -
65535
Decimal
P9-38 Mode 2 AT improvement - u16 Modbus A4Ch
LTNIMPROVEME Applicable operating mode: PT, PS, V, T 0 RO CANopen 4926h
NT 0 -
100
Decimal
P9-39 Cycle Identification status - u16 Modbus A4Eh
LTNCYCLEIDENT Applicable operating mode: PT, PS, V, T 0 RO CANopen 4927h
0 -
9
Decimal
P9-40 LTN Autotuning Using Defaults - u16 Modbus A50h
LTNDEFAULTS Applicable operating mode: PT, PS, V 0 RW CANopen 4928h
0 -
1
Decimal
EIO0000002305 07/2019 309

Parameters
310 EIO0000002305 07/2019

Operation
EIO0000002305 07/2019
Part VII
Operation
Operation

17 Operation 313
18 Operating Modes 333
EIO0000002305 07/2019 311

Operation
312 EIO0000002305 07/2019

Operation
EIO0000002305 07/2019
Chapter 17
Operation
Operation

Topic Page
Access Channels 314
Operating States 315
Setting the Digital Signal Inputs 316
Setting the Digital Signal Outputs 322
Functions for Target Value Processing 326
Setting a Signal Output Via Parameter 327
Forcing the Digital Signal Inputs and Signal Outputs 328
Position Capture via DS402 Profile 331
EIO0000002305 07/2019 313

Operation
Access Channels
The product can be accessed via different types of access channels. Simultaneous access via multiple
access channels or the use of exclusive access may cause unintended equipment operation.
WARNING
 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.
The product can be addressed via different access channels.

Access channels are:
 Integrated HMI
 Digital and analog input signals
 Fieldbus
 Commissioning software LXM28 DTM Library
The product allows you to work with exclusive access which limits access to the product via a single access
channel.
Only one access channel can have exclusive access to the product.
Exclusive access can be provided via different access channels:
 Via the integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI.
 Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access channels with the parameter
AccessLock.
 Via the commissioning software LXM28 DTM Library:
The commissioning software receives exclusive access via the switch Exclusive access in position On.
When the product is powered on, there is no exclusive access via an access channel.
The reference values are effective at the analog inputs and at the pulse inputs when the product is powered
on. If exclusive access has been assigned to an access channel, signal at the pulse inputs are ignored.
The signal inputs of the safety function STO and the signal input functions HALT, FAULT_RESET, SON
(falling edge), CWL(NL) and CCWL(PL) are always effective during exclusive access.
314 EIO0000002305 07/2019

Operation
Operating States
State Diagram
When the product is powered on and when an operating mode is started (see page 333), the product goes
through a number of operating states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions.
The operating states are internally monitored and influenced by monitoring functions.
Operating States
Operating state Description

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

After you have removed the cause of the error, you can reset the error message in one of the following
ways:
 With a rising edge of the signal input function FAULT_RESET
 With a rising edge of the signal input function SON
 By using the Fault Reset button in the SoMove commissioning software.
EIO0000002305 07/2019 315

Operation
Setting the Digital Signal Inputs
Various signal functions can be assigned to the digital signal inputs.

The functions of the inputs and outputs depend on the selected operating mode and the settings of the
corresponding parameters.
WARNING
 Verify that the wiring is appropriate for the settings.
Default Presets of the Signal Inputs

The following table shows the default presets of the digital signal inputs depending on the selected
operating mode:
Setting A for Short Name PT PS V T Vz Tz PT PT PS PS V
CANopen
P2- name V T V T T
10 ... P2-
17
01h SON Servo ON DI1 -
02h FAULT_ Fault Reset DI5 -
RESET
03h GAINUP Increase Gain -
04h CLRPO Clear Position DI2 - DI2 -
SDEV Deviation
05h ZCLAM Zero Clamp -
P
06h INVDIR Inverse Direction Of -
ROT Rotation
07h HALT Halt -
08h CTRG Start Data Set - DI2 - DI2 -
09h TRQLM Activate Torque Limit - DI2 - DI2 -
10h SPDLM Activate Speed Limit - DI2 - DI2 -
11h POS0 Data Set Bit 0 - DI3 - DI3 -
12h POS1 Data Set Bit 1 - DI4 - DI4 -
13h POS2 Data Set Bit 2 -
14h SPD0 Speed Reference - DI3 - DI3 - DI3 - DI5 - DI3 -
Value Bit 0
15h SPD1 Speed Reference - DI4 - DI4 - DI4 - DI6 - DI4 -
Value Bit 1
16h TCM0 Torque Reference DI3 - DI3 - DI3 - DI3 - DI5 -
Value Bit 0
17h TCM1 Torque Reference DI4 - DI4 - DI4 - DI4 - DI6 -
Value Bit 1
18h V-Px Velocity - Position - DI7 - DI7 -
19h V-T Velocity - Torque - DI7 -
1Ah POS3 Data Set Bit 3 -
1Bh POS4 Data Set Bit 4 -
1Ch TPROB Touch Probe 1 -
1
316 EIO0000002305 07/2019

Operation
CANopen
P2- name V T V T T
10 ... P2-
17
1Dh TPROB Touch Probe 2 -
2
20h T-Px Torque - Position - DI7 - DI7 - -
21h OPST Stop and Disable DI8
Power Stage
22h CWL(NL Negative Limit Switch DI6 - DI6
) (NL/LIMN)
23h CCWL( Positive Limit Switch DI7 - DI7
PL) (PL/LIMP)
24h ORGP Reference Switch - DI5
27h GOTOH Move To Home -
OME Position
2Ch PTCMS Type of pulses for -
operating mode Pulse
Train (PT) (OFF: Low-
speed pulses, ON:
High-Speed pulses)
37h JOGP Jog Positive -
38h JOGN Jog Negative -
39h STEPU Next Data Set -
40h STEPD Previous Data Set -
41h STEPB First Data Set -
42h AUTOR Automatic Position -
Sequence: Start with
first data set, repeat
sequence
43h GNUM0 Numerator Bit 0 -
Electronic Gear Ratio
44h GNUM1 Numerator Bit 1 -
Electronic Gear Ratio
45h INHP Pulse Inhibit -
46h STOP Stop Motor (operating -
mode PS only)
EIO0000002305 07/2019 317

Operation
Parameterization of the Signal Input Functions

The signal input functions for the inputs DI1 ... DI8 are configured via the parameters P2-10 ... P2-17.
A signal input function can only be assigned to one of the signal inputs.
The operating modes Torque (T) and Torque (Tz) and the dual operating modes with Torque (T) and
Torque (Tz) do not provide deceleration functionality in response to a power stage disable request. In these
operating modes, the motor coasts down to a standstill in response to a power stage disable request. You
must install additional equipment such as a dedicated service brake if your application requires faster
deceleration of the load.
WARNING
 During commissioning, trigger all signals and simulate all conditions that cause a power stage disable
request in order to verify that all loads come to a secure standstill when the power stage is disabled
under maximum load conditions.
 Install a dedicated service brake if removal of power to the motor does not meet the requirements of
your application.
The following table provides an overview of the possible signal input functions:
Setting A Short name Name Description Signal

for P2- inputs
10 ... P2-
17
01h SON Servo ON The signal input function SON enables the power stage DI1 … DI
(operating state Operation Enabled). The signal input function 8
SON is only available if no detected errors are present.
02h FAULT_RE Fault Reset The signal input function FAULT_RESET performs a Fault DI1 … DI
SET Reset. The cause of the error must have been removed 8
before a Fault Reset is performed.
03h GAINUP Increase Gain The signal input function GAINUP increases the control gain DI1 … DI
according to the values and conditions set via parameter P2- 8
27.
04h CLRPOSD Clear Position The signal input function CLRPOSDEV resets the position DI1 … DI
EV Deviation deviation to zero as set via parameter P2-50. 8
This function is only supported in linear control mode (P8-
35=4001h)
05h ZCLAMP Zero Clamp In the operating mode V, the signal input function ZCLAMP DI1 … DI
can be used to stop the motor if the velocity of the motor is 8
below the velocity value set via the parameter P1-38. The
behavior of the signal input function ZCLAMP is set via the
parameter P2-65, bit 10.
318 EIO0000002305 07/2019

Operation

for P2- inputs
10 ... P2-
17
06h INVDIRRO Inverse The signal input function INVDIRROT inverts the direction of DI1 … DI
T Direction Of rotation of the motor. The signal input function INVDIRROT is 8
Rotation available in the operating modes Velocity (V) and Torque (T).
07h HALT Halt The signal input function HALT interrupts the movement with DI1 … DI
the deceleration ramp set via the parameter P1-68. The 8
movement is resumed when the signal input function is no
longer active.
08h CTRG Start Data Set The signal input function CTRG starts the selected data set in DI1 … DI
the operating mode Position Sequence (PS). For further 8
information, refer to Operating Mode Position Sequence (PS)
(see page 347).
09h TRQLM Activate The signal input function TRQLM activates the torque DI1 … DI
Torque Limit limitations set via parameters P1-12 … P1-14. You can also 8
use the parameter P1-02 to activate the torque limitations set
via parameters P1-12 … P1-14.
10h SPDLM Activate Speed The signal input function SPDLM activates the velocity DI1 … DI
Limit limitations set via parameters P1-09 … P1-11. You can also 8
use the parameter P1-02 to activate the velocity limitations set
via parameters P1-09 … P1-11.
11h POS0 Data Set Bit 0 The signal input functions POS0 ... POS4 represent bits DI1 … DI
0 … 4 required to select one of the 32 data sets available in 8
the operating mode Position Sequence (PS). For further
(see page 347).
(see page 347).
(see page 347).
14h SPD0 Speed The signal input functions SPD0 and SPD1 represent bits 0 DI1 … DI
Reference and 1 to select one of the three velocity reference values 8
Value Bit 0 available in the operating mode Velocity (V). For further
information, refer to Operating Modes Velocity (V) and
Velocity Zero (Vz) (see page 388).
15h SPD1 Speed The signal input functions SPD0 and SPD1 represent bits 0 DI1 … DI
Reference and 1 to select one of the three velocity reference values 8
Value Bit 1 available in the operating mode Velocity (V). For further
information, refer to Operating Modes Velocity (V) and
Velocity Zero (Vz) (see page 388).
16h TCM0 Torque The signal input functions TCM0 and TCM1 represent bits 0 DI1 … DI
Reference and 1 to select one of the three torque reference values 8
Value Bit 0 available in the operating mode Torque (T). For further
information, refer to Operating Modes Torque (T) and Torque
Zero (Tz) (see page 393).
17h TCM1 Torque The signal input functions TCM0 and TCM1 represent bits 0 DI1 … DI
Reference and 1 to select one of the three torque reference values 8
Value Bit 1 available in the operating mode Torque (T). For further
information, refer to Operating Modes Torque (T) and Torque
Zero (Tz) (see page 393).
18h V-Px Velocity - Operating mode switching between Velocity (V) and Pulse DI1 … DI
Position Train (PT) or between Velocity (V) and Position Sequence 8
(PS) . For further information, refer to Setting the Operating
(OFF: Velocity (V), ON: Pulse Train (PT) or Position
Sequence (PS), depending on P1-01)
EIO0000002305 07/2019 319

Operation

for P2- inputs
10 ... P2-
17
19h V-T Velocity - Operating mode switching between Velocity (V) and Torque DI1 … DI
Torque (T). For further information, refer to Setting the Operating 8
(OFF: Velocity (V), ON: Pulse Torque (T))
1Ah POS3 Data Set Bit 3 The signal input functions POS0 ... POS4 represent bits 0 … DI1 … DI
4 required to select one of the 32 data sets available in the 8
operating mode Position Sequence (PS). For further
(see page 347).
1Bh POS4 Data Set Bit 4 The signal input functions POS0 ... POS4 represent bits DI1 … DI
(see page 347).
1Ch TPROB1 Touch Probe 1 The signal input function TPROB1 is used to trigger the DI7
Position Capture function. See the sections on the
parameters P5-37 … P5-39 for additional information.
1Dh TPROB2 Touch Probe 2 The signal input function TPROB2 is used to trigger the DI6
Position Capture function. See the sections on the
parameters P5-57 … P5-59 for additional information.
20h T-Px Torque - Operating mode switching between Torque (T) and Pulse DI1 … DI
Position Train (PT) or between Torque (T) and Position Sequence 8
(PS) . For further information, refer to Setting the Operating
(OFF: Torque (T), ON: Pulse Train (PT) or Position Sequence
(PS), depending on P1-01)
21h OPST Stop and The signal input function OPST stops the motor with the DI1 … DI
Disable Power deceleration ramp set via the parameter P1-68 and then 8
Stage disables the power stage.
22h CWL(NL) Negative Limit Negative limit switch (NL/LIMN). When the signal input is DI1 … DI
Switch activated, an alert is triggered. The deceleration ramp is 8
(NL/LIMN) specified via parameter P5-25.
23h CCWL(PL) Positive Limit Positive limit switch (PL/LIMP). When the signal input is DI1 … DI
Switch activated, an alert is triggered. The deceleration ramp is 8
(PL/LIMP) specified via parameter P5-26.
24h ORGP Reference The signal input function ORGP is used for the reference DI1 … DI
Switch switch. For further information, refer to Operating Mode 8
Position Sequence (PS) (see page 347).
27h GOTOHOM Move To Home The signal input function GOTOHOME triggers a movement DI1 … DI
E Position to the Home position set via the parameter P5-04. 8
2Ch PTCMS Type of pulses The signal input function PTCMS selects the type of pulses for DI1 … DI
for operating the operating mode Pulse Train PT (OFF: Low-speed pulses, 8
mode Pulse ON: High-speed pulses). You can also use the parameter P1-
Train (PT) 00 to select the type of pulses.
(OFF: Low-
speed pulses,
ON: High-
Speed pulses)
37h JOGP Jog Positive The signal input function JOGP triggers a Jog movement in DI1 … DI
positive direction if the value determining the direction of 8
movement in the parameter P1-01 is set to the default value.
38h JOGN Jog Negative The signal input function JOGN triggers a Jog movement in DI1 … DI
negative direction if the value determining the direction of 8
movement in the parameter P1-01 is set to the default value.
39h STEPU Next Data Set The signal input function STEPU starts the next data set in the DI1 … DI
operating mode Position Sequence (PS). 8
40h STEPD Previous Data The signal input function STEPD starts the previous data set DI1 … DI
Set in the operating mode Position Sequence (PS). 8
320 EIO0000002305 07/2019

Operation

for P2- inputs
10 ... P2-
17
41h STEPB First Data Set The signal input function STEPB starts the first data set in the DI1 … DI
operating mode Position Sequence (PS). 8
42h AUTOR Automatic The signal input function AUTOR starts a sequence of data DI1 … DI
Position sets from the first data set in the operating mode Position 8
Sequence: Sequence (PS). The sequence is repeated as long as the
Start with first signal input function AUTOR is active.
data set, repeat
sequence
43h GNUM0 Numerator Bit 0 The signal input functions GNUM0 and GNUM1 represent bits DI1 … DI
Electronic Gear 0 and 1 to select one of the four numerators set via the 8
Ratio parameters P1-44, P2-60 … P2-62. The denominator is set
via the parameter P1-45 . The ratios are used as gear factors
in the operating mode Pulse Train (PT) and as scaling factors.
For further information, refer to Gear Ratio (see page 344)
and Scaling (see page 355).
44h GNUM1 Numerator Bit 1 The signal input functions GNUM0 and GNUM1 represent bits DI1 … DI
Electronic Gear 0 and 1 to select one of the four numerators set via the 8
Ratio parameters P1-44, P2-60 … P2-62. The denominator is
set via the parameter P1-45. The ratios are used as gear
factors in the operating mode Pulse Train (PT) and as scaling
factors. For further information, refer to Gear Ratio
(see page 344) and Scaling (see page 355).
45h INHP Pulse Inhibit The signal input function INHP is used in the operating mode DI1 … DI
Pulse Train (PT) to block pulses received as reference 8
signals. If the signal input function is active, the pulses are no
longer evaluated and the motor coasts down.
46h STOP Stop Motor The signal input function STOP stops the motor with the DI1 … DI
(operating deceleration ramp set via the parameter P5-20. The power 8
mode PS only) stage remains enabled. The signal input function STOP is
available in the operating mode Position Sequence (PS).
EIO0000002305 07/2019 321

Operation
Setting the Digital Signal Outputs
Various signal functions can be assigned to the digital signal outputs.

The functions of the inputs and outputs depend on the selected operating mode and the settings of the
corresponding parameters.
WARNING
 Verify that the wiring is appropriate for the settings.
Default Presets of the Signal Outputs

The following table shows the default presets of the digital signal outputs depending on the selected
operating mode:
CANopen
P2- name V T V T T
18 ... P2-
22
01h SRDY Servo Ready DO1
02h SON Servo On -
03h ZSPD Zero Speed DO2 -
04h TSPD Speed - DO3 -
Reached
05h TPOS Movement DO4 - DO4 -
Completed
06h TQL Torque Limit -
Reached
07h ERROR Error DO5
Detected
08h BRKR Holding - DO4 -
Brake Control
09h HOMED Homing DO3 -
_OK Completed
10h OLW Motor -
Overload
Alert
11h WARN Alert Signal -
activated
12h OVF Position -
command
overflow
13h SCWL( Negative -
SNL) Software
Limit Switch
Reached
14h SCCWL Positive -
(SPL) Software
Limit Switch
Reached
15h CMD_O Data set -
K completed
16h CAP1_ Capture 1 -
OK completed
322 EIO0000002305 07/2019

Operation
CANopen
P2- name V T V T T
18 ... P2-
22
17h MC_OK Motion -
control
completed
output
18h - - -
19h SP_OK Speed -
reached
output
1Ah…2Fh - - -
30h SDO_0 Output the -
status of bit 0
of P4-06.
status of bit 1
of P4-06.
status of bit 2
of P4-06.
status of bit 3
of P4-06.
status of bit 4
of P4-06.
status of bit 5
of P4-06.
status of bit 6
of P4-06.
status of bit 7
of P4-06.
38h…3Fh - - -
EIO0000002305 07/2019 323

Operation
Parameterization of the Signal Output Functions

The signal output functions for the outputs DO1 ... DO5 are configured via the parameters P2-18 ... P2-
22.
The following table provides an overview of the possible signal output functions:
Setting A for Short name Name Description

P2-18 ... P2-
22
01h SRDY Servo Ready The signal output function SRDY indicates that no errors are
detected, i.e., the drive is not in the operating state Fault.
02h SON Servo On The signal output function SON indicates that the drive is in the
operating state Operation Enabled .
03h ZSPD Zero Speed The signal output function ZSPD indicates that the velocity of the
motor is less than the velocity value set via parameter P1-38 .
04h TSPD Speed The signal output function TSPD indicates that the velocity of the
Reached motor is greater than the velocity value set via parameter P1-39 .
05h TPOS Movement Operating mode Pulse Train (PT): The signal output function TPOS
Completed indicates that the position deviation is within the tolerance set via the
parameter P1-54 and the motor has come to a standstill.
Operating mode Position Sequence (PS): The signal output function
TPOS indicates that the position deviation at the target position is
within the tolerance set via the parameter P1-54 and the reference
velocity is below the value set via the parameter P1-38.
06h TQL Torque Limit The signal output function TQL indicates that the torque of the motor
Reached has reached the value set via parameters P1-12 ... P1-14 or an
analog input.
07h ERROR Error Detected The signal output function ERROR indicates that an error has been
detected and that the drive has switched to the operating state Fault.
For further information, refer to Diagnostics and Troubleshooting
(see page 423).
08h BRKR Holding Brake The signal output function BRKR is used to control the holding brake
Control with the settings made via parameters P1-42 and P1-19. The holding
brake must be connected to the output to which the signal output
function BRKR is assigned. For further information, refer to Holding
Brake Connection (see page 173).
09h HOMED_O Homing The signal output function HOMED_OK indicates that the homing
K Completed procedure has been successfully completed. The settings for
Homing are specified via parameters P5-04 … P5-06. For further
(see page 347).
10h OLW Motor Overload The signal output function OLW indicates a motor overload
Alert condition. A threshold for the signal output function OLW can be set
via parameter P1-28.
324 EIO0000002305 07/2019

Operation
Setting A for Short name Name Description

P2-18 ... P2-
22
11h WARN Alert Signal The signal output function indicates that one of the following
activated conditions has been detected: Hardware limit switch triggered,
undervoltage, Nodeguard alert, Operational Stop (OPST). For
further information, refer to Diagnostics and Troubleshooting
(see page 423).
12h - - Reserved
13h SCWL(SNL Negative The signal output function SCWL(SNL) indicates that the negative
) Software Limit software limit switch set via parameter P5-09 has been reached.
Switch When the software limit switch is reached, an alert is triggered. The
Reached deceleration ramp is specified via parameter P5-23.
14h SCCWL(SP Positive The signal output function SCCWL(SPL) indicates that the positive
L) Software Limit software limit switch set via parameter P5-08 has been reached.
Switch When the software limit switch is reached, an alert is triggered. The
Reached deceleration ramp is specified via parameter P5-24.
15h CMD_OK Data set The signal output function CMD_OK indicates that the data set
completed including the waiting time has been successfully completed.
16h CAP1_OK Capture 1 The signal output function CAP1_OK indicates that a position
completed capture (Touch Probe) has been successfully completed. The
settings for position capture (Touch Probe) are specified via
parameters P5-37 … P5-39.
17h MC_OK Motion control The signal output function MC_OK indicates that both the signal
completed output functions CMD_OK and TPOS have been activated.
output
18h - - Reserved
19h SP_OK Speed reached The signal output function SP_OK indicates that the target velocity
output has been reached. The velocity range for activating this signal output
function is set via parameter P1-47.
1Ah…2Fh - - Reserved
30h SDO_0 Output the The signal output functions SDO_0 ... SDO_7 provide the bit pattern
status of bit 0 of (bits 0 ... 7) required to determine the setting of the parameter P4-06.
P4-06.
P4-06.
P4-06.
P4-06.
P4-06.
P4-06.
P4-06.
P4-06.
38h…3Fh - - Reserved
EIO0000002305 07/2019 325

Operation
Functions for Target Value Processing
Interrupting a Movement with HALT

The HALT signal input function is available in the operating mode PT only.
With the signal input function HALT, the ongoing movement is interrupted. When the signal input function
HALT is no longer active, the movement is resumed from the point where it was interrupted.
The movement is interrupted via a deceleration ramp. The deceleration ramp is specified via parameter
P1-68.
In order to interrupt a movement via a signal input, you must first parameterize the signal input function
HALT, refer to Setting the Digital Signal Inputs (see page 316).
NOTE: The pulses received while the HALT function is active are ignored. When the HALT is no longer
active, the drive accepts any on-going pulse stream and start movement according to that stream.
WARNING
 Do not deactivate the HALT function prior to the deceleration of the motor.
 If the deactivation of the HALT function prior to the deceleration of the motor is unavoidable, be sure
to include these circumstances in your hazard and risk analysis of your application.
If there is uncertainty of the effect of the movement generated by an ongoing pulse stream at the time of
HALT deactivation, you must rehome the application.
Stopping a Movement with OPST

With the signal input function OPST (Operational Stop), the ongoing movement is stopped.
In order to stop a movement via a signal input, you must first parameterize the signal input function OPST,
refer to Setting the Digital Signal Inputs (see page 316).
The movement is interrupted via a deceleration ramp to the point of the defined standstill. After that, the
power stage is disabled once the drive has determined that the motor is at standstill, and if so configured,
the holding brake is applied.
WARNING
your application.
An error, AL013, is detected and presented.

The deceleration ramp is specified via parameter P1-68.
After the OPST function is enabled, you must disable it and re-enable the power stage for continued
operation.
326 EIO0000002305 07/2019

Operation
Setting a Signal Output Via Parameter
The digital signal outputs can be set via a parameter.

In order to set a digital signal output via the parameter, you must first parameterize the signal output
functions SDO_0 … SDO_7, refer to Setting the Digital Signal Outputs (see page 322).
The parameter P4-06 lets you set the digital signal outputs.

Maximum value
HMI Format
P4-06 Setting a signal output via parameter - u16 Modbus 50Ch
FOT Applicable operating mode: PT, PS, V, T 0h RW CANopen 4406h
This parameter lets you set those signal 0h -
outputs whose signal output functions have FFh
been defined by SDO_0 … SDO_7.
Hexadecimal
SDO_0.
SDO_1.
SDO_2.
SDO_3.
SDO_4.
SDO_5.
SDO_6.
SDO_7.
See P2-18 ... P2-22 for assigning the
functions to the digital outputs.
EIO0000002305 07/2019 327

Operation
Forcing the Digital Signal Inputs and Signal Outputs
Forcing of signals means that the digital inputs and outputs are set manually. Forcing input and output
values can have serious consequences on the operation of a machine or process.
WARNING
UNINTENDED EQUIPMENT OPERATION CAUSED BY FORCING
 Only force I/O if there are no persons or obstructions in the zone of operation.
 Only force I/O if you are fully familiar with the effects of the signals.
 Only force I/O for test purposes, maintenance or other short-term tasks.
 Do not use forcing for regular, long-term or in-service operation.
 Always remove forcing when the task (testing, maintenance or other short-term operation) is
completed.
328 EIO0000002305 07/2019

Operation
Forcing the Digital Inputs

Forcing of the digital inputs is set via the parameters P3-06 and P4-07.
The parameter P3-06 lets you specify which digital signal inputs are allowed to be forced.

Maximum value
HMI Format
P3-06 Digital Inputs - Forcing Settings - u16 Modbus 40Ch
SDI Applicable operating mode: PT, PS, V, T 0h RW CANopen 4306h
This parameter determines whether a 0h -
digital input can be forced. 7FFh
Bits 0 … 7: Digital input DI1 … Digital input
Hexadecimal
DI8
Bit settings:
Value 0: Digital input cannot be forced
Value 1: Digital input can be forced
To start forcing, you must write P4-07.
Use parameter P4-07 to activate forcing of the digital signal inputs.

Maximum value
HMI Format
P4-07 State of Digital Inputs / Activate Forcing - u16 Modbus 50Eh
ITST Applicable operating mode: PT, PS, V, T 0h RW CANopen 4407h
A read access to this parameter indicates 0h -
the state of the digital inputs in the form of FFh
a bit pattern.
Hexadecimal
Example:
are activated
By writing this parameter, you can change
the state of the inputs provided that the
setting for the corresponding input in P3-06
allows for forcing (value 1 for the bit
corresponding to the input).
Example:
Write value 0x0011: Digital inputs 1 and 5
are activated
are activated
individual digital inputs.
EIO0000002305 07/2019 329

Operation
Forcing the Digital Outputs

Forcing of the digital outputs is set via the parameters P4-27 and P4-28.
The parameter P4-27 lets you specify which digital signal outputs are allowed to be forced.

Maximum value
HMI Format
P4-27 Digital Outputs - Forcing Settings - u16 Modbus 536h
DO_FORCE_MAS Applicable operating mode: PT, PS, V, T 0h RW CANopen 441Bh
K This parameter determines whether a 0h -
digital output can be forced. 1Fh
Bits 0 … 4: Digital output DO1 … Digital
Hexadecimal
output DO5
Bit settings:
To start forcing, you must write P4-28.
outputs.
Use parameter P4-28 to activate forcing of the digital signal outputs.

Maximum value
HMI Format
P4-28 State of Digital Outputs / Activate Forcing - u16 Modbus 538h
DO_FORCE_VAL Applicable operating mode: PT, PS, V, T 0h RW CANopen 441Ch
UE A read access to this parameter indicates 0h -
the state of the digital outputs in the form of 1Fh
a bit pattern.
Hexadecimal
Example:
are activated
By writing this parameter, you can change
the state of the outputs provided that the
setting for the corresponding output in P4-
27 allows for forcing (value 1 for the bit
corresponding to the output).
Example:
Write value 0x0011: Digital outputs 1 and 5
are activated
are activated
individual digital outputs.
outputs.
330 EIO0000002305 07/2019

Operation
Position Capture via DS402 Profile
Description
The motor position can be captured when a signal is detected at a Touch Probe Input.
Adjusting and Starting Position Capture

Touch Probe Function 60B8h object is used to adjust and start position capture.
Index Name Object type PDO mapping Minimum value

Data type object Factory settings
Access Maximum value
60B8h Touch Probe Function VAR Yes 0
UINT16 -
rww 65535
Bit Meaning
Bit 0 0: Deactivate Touch Probe Input 1
1: Activate Touch Probe Input 1
Bit 1 0: One time capture
1: Continuous capture
Bit 2 0: Trigger Touch Probe Input 1
1: Trigger with zero pulse signal or position encoder
Bit 3 Reserved
Bit 4 0: Disabling capture with rising edge
1: Enabling capture with rising edge
Bit 5 0: Disabling capture with falling edge
1: Enabling capture with falling edge
Bit 6 … 7 Reserved
Bit 8 0: Deactivate Touch Probe Input 2
1: Activate Touch Probe Input 2
Bit 9 0: One time capture
1: Continuous capture
Bit 10 0: Trigger Touch Probe Input 2
1: Trigger with zero pulse signal or position encoder
Bit 11 Reserved
Bit 12 0: Disabling capture with rising edge
1: Enabling capture with rising edge
Bit 13 0: Disabling capture with falling edge
1: Enabling capture with falling edge
EIO0000002305 07/2019 331

Operation
Indicating the Position Capture Status

Touch Probe Status 60B9h object is used to indicate the position capture status.

60B9h Touch Probe Status VAR Yes 0
UINT16 0
ro 65535
Bit Meaning
Bit 0 0: Touch Probe Input 1 deactivated
1: Touch Probe Input 1 activated
Bit 1 0: Touch Probe Input 1: no value captured for rising edge
1: Touch Probe Input 1: value captured for rising edge
Bit 2 0: Touch Probe Input 1: no value captured for falling edge
1: Touch Probe Input 1: value captured for falling edge
Bit 8 0: Touch Probe Input 2 deactivated
1: Touch Probe Input 2 activated
Bit 9 0: Touch Probe Input 2: no value captured for rising edge
1: Touch Probe Input 2: value captured for rising edge
Bit 10 0: Touch Probe Input 2: no value captured for falling edge
1: Touch Probe Input 2: value captured for falling edge
332 EIO0000002305 07/2019

Operating Modes
EIO0000002305 07/2019
Chapter 18
Operating Modes
Operating Modes

Section Topic Page
18.1 Setting the Operating Mode 334
18.2 Jog Operation 339
18.3 Operating Mode Pulse Train (PT) 340
18.4 Operating Mode Position Sequence (PS) 347
18.5 Operating Modes Velocity (V) and Velocity Zero (Vz) 388
18.6 Operating Modes Torque (T) and Torque Zero (Tz) 393
18.7 Operating Mode CANopen 396
EIO0000002305 07/2019 333

Operating Modes
Section 18.1
Setting the Operating Mode

Topic Page
Setting the Operating Mode 335
Object units 337
334 EIO0000002305 07/2019

Operating Modes
after a restart.
WARNING
modification.
The drive has the following types of operating modes:

 Single Mode operating modes
 The drive operates in a single operating mode.
 Dual Mode operating modes

 The drive operates using 2 operating modes alternately. The signal input functions are used to switch
between the operating modes.
 CANopen Mode operating mode
 The drive operates in the operating mode CANopen.
EIO0000002305 07/2019 335

Operating Modes
WARNING
your application.
336 EIO0000002305 07/2019

Operating Modes
Object units
Overview
Two objects are used to set the gear ratio and the feed constant conversion factors, each of which has two
subindex.
These objects have four equivalent variables:
Item Object Description

Feed 6092:1h Feed Conversion factors of the user-defined position unit.
constant Unit conversion numerator Used to multiply the motor revolution (rotary motors) or
6092:2h Shaft revolutions the motor pitch (linear motors), according to the
configured motor type.
Unit conversion denominator
Gear ratio 6091:1h Motor revolutions Conversion factor of the motor shaft revolution.
Motor shaft scaling for the
fieldbus gear ratio
6091:2h Shaft revolutions Conversion factor of the drive shaft revolution.
Drive shaft scaling for the
fieldbus gear ratio
It is possible to modify the subindex of both objects, but it is usually sufficient to modify only the feed
constant value, as shown in the following example:
Resolution = (6092:1h / 6092:2h) x (6091:1h / 6091:2h)
Example by unit dimensions:
Unit dimension Examples

Position units Assuming:
 6092:1h = 360000
 6092:2h = 1
 6091:1h = 1
 6091:2h = 1
 The actual position reading = 720000
Then:
720000 / [(360000 / 1) x (1 / 1)] = 2 revolutions
Velocity units Assuming:
 6092:1h = 360000
 6092:2h = 1
 6091:1h = 1
 6091:2h = 1
 The actual velocity reading = 720000
Then:
720000 / [(360000 / 1) x (1 / 1)] = 2 revolutions per second
Acceleration units Assuming:
 6092:1h = 360000
 6092:2h = 1
 6091:1h = 1
 6091:2h = 1
 The actual acceleration reading = 720000
Then:
720000 / [(360000 / 1) x (1 / 1)] = 2 revolutions per second2
Current units The units are derived from object 6075h (Motor Rated Current)
The value of this object is user-defined, in mA.
After setting a value for 6075h, all other current objects must receive values defined
in 1/1000 (one-thousandth) of 6075h.
For example:
Assuming 6075h has a value of 20000 mA, then to set a value of 15000 mA for 6073h
(Maximum Current), write 750 for 6073h.
The calculation is:
(750 / 1000) × 20000 = 15000 mA
EIO0000002305 07/2019 337

Operating Modes
Examples of Rotary Motor with Gear or Rotary to Linear Motion Translation Device
When using a gear or rotary-to-linear motion translation device, set values for the translation ratio of the
gear in order to define the unit variables.
Using a ball screw that converts Object values to set

1 motor revolution to 155 mm 6092:1h = 1550
6092:2h = 1
6091:1h = 1
6091:2h = 1
This units will be as follows:

 Position in 0.1 mm
 Velocity in 0.1 mm/sec
 Acceleration in 0.1 mm.sec2
338 EIO0000002305 07/2019

Operating Modes
Section 18.2
Jog Operation
Jog Operation
Jog Operation
Description
In the Jog operation, a movement is made from the actual motor position in the specified direction.
The parameter P4-05 is used to set the velocity for the movement in the unit rpm.
The movement can be performed via the arrow keys at the HMI or via the signal input functions JOGP and
JOGN.
For further information on the parameterizable signal input functions, refer to Setting the Digital Signal
Inputs (see page 316).
Jog Via HMI

If the HMI is used, the movements are performed via the arrow keys. The operating mode is terminated via
the M key.
If the HMI is used, the movements are performed via the arrow keys. The operating mode is terminated via
the M key.
EIO0000002305 07/2019 339

Operating Modes
Section 18.3
Operating Mode Pulse Train (PT)
Operating Mode Pulse Train (PT)

Topic Page
Operating mode Pulse Train (PT) 341
Pulse Settings 342
Gear Ratio 344
Acceleration and Deceleration Limitation 346
340 EIO0000002305 07/2019

Operating Modes
Operating mode Pulse Train (PT)
Description
In the operating mode Pulse Train (PT), movements are carried out according to externally supplied
reference value signals. A position reference value is calculated on the basis of these external reference
values plus an adjustable gear ratio. The reference value signals can be A/B signals, P/D signals or
CW/CCW signals.
Method
A movement can be made using one of 3 methods:
 Position synchronization without compensation movement
In the case of position synchronization without compensation movement, the movement is made
synchronously (position synchronicity) with the supplied reference value signals. Reference value
signals supplied during an interruption are not taken into account.
 Position synchronization with compensation movement
In the case of position synchronization with compensation movement, the movement is made
signals supplied during an interruption are taken into account and compensated for.
 Velocity synchronization
In the case of velocity synchronization, the movement is made synchronously (velocity synchronicity)
with the supplied reference value signals.

Maximum value
HMI Format
EIO0000002305 07/2019 341

Operating Modes
Pulse Settings
The parameter P1-00 lets you specify the type of reference value signals, the input polarity, the maximum
signal frequency and the source of the pulses.

Maximum value
HMI Format
P1-00 Reference Value Signal - Pulse Settings - u16 Modbus 200h
PTT Applicable operating mode: PT 0h RW CANopen 4100h
2h per.
1132h
Hexadecimal
This parameter is used to configure the

reference value signals for the operating
mode PT.
A: Type of reference value signals
B: Signal frequency
C: Input polarity
D: Source of reference value signals
is disabled.
Settings A and C
Type of reference value signals and input polarity
– C=0 C=1
Positive input polarity Negative input polarity
Positive direction of Negative direction of Positive direction of Negative direction of
movement movement movement movement
A=0
A/B signals
A=1
CW/CCW signals
A=2
P/D signals
342 EIO0000002305 07/2019

Operating Modes
Setting B
Maximum signal frequency:
– Low-speed pulses High-speed pulses

PULSE, SIGN HPULSE, HSIGN
B=0 500 Kpps(1) 4 Mpps
B=1 200 Kpps 2 Mpps
B=2 100 Kpps 1 Mpps
B=3 50 Kpps 500 Kpps
(1) Only possible with RS422.
Parameter P2-65 bit 6 allows you to set an error response for frequencies exceeding the maximum signal
frequency by more than 10 %.
Setting D
Source of the pulses:
D=0 Low-speed pulses CN1 Terminal: PULSE, SIGN

D=1 High-speed pulses CN1 Terminal: HPULSE, HSIGN
The source of the pulses can also be set via the signal input function PTCMS. The settings of the signal
input function take priority over the settings of the parameter P1-00.
EIO0000002305 07/2019 343

Operating Modes
Gear Ratio
The gear ratio is the ratio of the number of motor increments and the number of reference increments.
The reference increments are supplied as reference value signals via the signal inputs.
With the factory setting for the gear ratio, 100000 reference increments correspond to one revolution.
There are 1280000 motor increments per revolution.
Parameterization
You can set up 4 gear ratios. It is possible to switch between these gear ratios via the signal inputs.
The gear ratios are set via parameters P1-44, P1-45, P2-60, P2-61, and P2-62.
You can switch between the gear ratios with the signal input functions GNUM0 and GNUM1.
In order to switch between the gear ratios via the signal inputs, you must first parameterize the signal input
functions GNUM0 and GNUM1, refer to Setting the Digital Signal Inputs (see page 316).
Example 1
Calculation of number of motor revolutions corresponding to 30000 PUU:
Example 2
Calculation of gear ratio if 10000 PUU are to effect 500 revolutions of the motor shaft:
344 EIO0000002305 07/2019

Operating Modes
Example 3
A machine encoder with 1024 lines per revolution is to effect one revolution of the motor shaft with one
revolution.
EIO0000002305 07/2019 345

Operating Modes
Acceleration and Deceleration Limitation
The parameters P1-34 and P1-35 allow you to set a limitation for the acceleration and deceleration.

Maximum value
HMI Format
346 EIO0000002305 07/2019

Operating Modes
Section 18.4

Topic Page
Operating mode Position Sequence (PS) 348
Structure of a Data Set 349
Running Data Sets 351
Scaling 355
Homing Data Set for Absolute Movements 356
EIO0000002305 07/2019 347

Operating Modes
Operating mode Position Sequence (PS)
Description
The operating mode Position Sequence (PS) allows you to set and execute 32 motion profiles in any
sequence. The motion profiles are defined via 32 data sets.
The following values can be set for each data set:
 Target position
 Type of movement: Absolute or relative
 Type of transition between data sets
 Acceleration
 Target velocity
 Deceleration
 Waiting time after completion of the data set
In addition, a Homing data set is provided. This Homing data set is used to set a reference point for
absolute movements.
Configuration
The data sets are configured by means of the commissioning software LXM28 DTM Library.
348 EIO0000002305 07/2019

Operating Modes
Structure of a Data Set
Target Position
The target position is set in the user-defined unit. With the factory scaling, the resolution is 100000 user-
defined units per revolution.
For further information on scaling, refer to chapter Scaling (see page 355).
Type of Movement
In the case of a relative movement, the movement is relative with reference to the previous target position
or the current motor position.
In the case of an absolute movement, the movement is absolute with reference to the zero point.
Homing or position setting is required before the first absolute movement can be performed.
Transition Between Data Sets

There are two types of transitions:
 The subsequent data set is only started after the preceding data set has been completed.
 The subsequent data set is started as soon as it is triggered via the signal input function CTRG or the
parameter P5-07.
Acceleration Period
The acceleration period is the time in milliseconds required to accelerate from motor standstill to 6000 rpm.
It is used to set the acceleration ramp.
Target Velocity
The target velocity is reached after the time required for acceleration has passed.
Deceleration Period
The deceleration period is the time in milliseconds required to decelerate from 6000 rpm to motor standstill.
It is used to set the deceleration ramp.
Waiting Time
The waiting time is the period of time that must pass after the target position has been reached for the data
set to be considered completed.
EIO0000002305 07/2019 349

Operating Modes
Parameters for the Data Sets

The data set are configured via parameters P6-02 ... P6-65 and P7-02 ... P7-65. The following table
provides an overview:
Data set Target position Type / transition Acceleration / Waiting time / target
deceleration velocity
1 P6-02 P6-03 P7-02 P7-03
2 P6-04 P6-05 P7-04 P7-05
3 P6-06 P6-07 P7-06 P7-07
4 P6-08 P6-09 P7-08 P7-09
5 P6-10 P6-11 P7-10 P7-11
6 P6-12 P6-13 P7-12 P7-13
7 P6-14 P6-15 P7-14 P7-15
8 P6-16 P6-17 P7-16 P7-17
9 P6-18 P6-19 P7-18 P7-19
10 P6-20 P6-21 P7-20 P7-21
11 P6-22 P6-23 P7-22 P7-23
12 P6-24 P6-25 P7-24 P7-25
13 P6-26 P6-27 P7-26 P7-27
14 P6-28 P6-29 P7-28 P7-29
15 P6-30 P6-31 P7-30 P7-31
16 P6-32 P6-33 P7-32 P7-33
17 P6-34 P6-35 P7-34 P7-35
18 P6-36 P6-37 P7-36 P7-37
19 P6-38 P6-39 P7-38 P7-39
20 P6-40 P6-41 P7-40 P7-41
21 P6-42 P6-43 P7-42 P7-43
22 P6-44 P6-45 P7-44 P7-45
23 P6-46 P6-47 P7-46 P7-47
24 P6-48 P6-49 P7-48 P7-49
25 P6-50 P6-51 P7-50 P7-51
26 P6-52 P6-53 P7-52 P7-53
27 P6-54 P6-55 P7-54 P7-55
28 P6-56 P6-57 P7-56 P7-57
29 P6-58 P6-59 P7-58 P7-59
30 P6-60 P6-61 P7-60 P7-61
31 P6-62 P6-63 P7-62 P7-63
32 P6-64 P6-65 P7-64 P7-65
350 EIO0000002305 07/2019

Operating Modes
Running Data Sets
Running Individual Data Sets

Individual data sets are selected via the signal input functions POS0 … POS4.
The following table shows the bit pattern used to select the data sets.
Data set POS4 POS3 POS2 POS1 POS0

1 0 0 0 0 0
2 0 0 0 0 1
3 0 0 0 1 0
4 0 0 0 1 1
5 0 0 1 0 0
… … … … … …
31 1 1 1 1 0
32 1 1 1 1 1
The selected data set is executed and the movement started via the signal input function CTRG, rising
edge, or via the parameter P5-07.
For further information on parameterizing the signal input functions, refer to Setting the Digital Signal Inputs
(see page 316).
Example of Running Individual Data Sets

The illustration below shows how the data sets are started and terminated via the signal input functions
and the signal output functions CMD_OK, TPOS and MC_OK:
Operating mode Position Sequence (PS)
For further information, refer to Setting the Digital Signal Inputs (see page 316).
EIO0000002305 07/2019 351

Operating Modes
Running Sequences of Data Sets via the Signal Input Functions AUTOR and STEPB
The signal input function AUTOR allows you to automatically execute a sequence of the 32 available data
sets. When this signal input function is activated, data sets 1 to 32 are executed one after the other with
the values set via the appropriate parameters for each data set (P6-02 … P6-65 and P7-02 … P7-65).
After the last data is completed, the sequence restarts with the first data set. This loop continues as long
as the signal input function AUTOR is active.
If any of the 32 data sets contains an absolute movement, successful homing is required before the signal
input function AUTOR can be used.
The signal input function AUTOR is level-triggered.
If the execution of a data set is interrupted and AUTOR is active again, the data set is resumed where it
was interrupted.
If the signal input function AUTOR is deactivated, the currently active data set is completed. You can use
the signal input function STEPB to return to the first of the 32 data sets.
The parameter P2-44 can be used to provide information on the running sequence of data sets via the
digital outputs. For further information, refer to Status of Data Set Sequences - Parameter P2-44
(see page 353).
For further information on assigning signal input functions to the digital inputs, refer to Setting the Digital
Signal Inputs (see page 316).
Running Sequences of Data Sets via the Signal Input Functions STEPU, STEPD, and STEPB
The signal input functions STEPU and STEPD allow you to run data sets in ascending or descending order.
Successful homing is required before the signal input function STEPU and STEPD can be used.
When the signal input function STEPU is activated via a rising edge at the digital input to which the signal
input function STEPU is assigned, the first of the 32 data sets is executed with the values set via the
parameters (P6-02 … P6-03 and P7-02 … P7-03).
Each subsequent rising edge at the digital input to which the signal input function STEPU is assigned starts
the next data set in the sequence. A falling edge at the digital input has no effect. If a rising edge is detected
at the digital input, the next data set is started immediately if the target position has been reached, even if
the waiting time set for the data set currently being executed has not yet elapsed.
When the last data set (data set 32) is reached with the signal input function STEPU, a further rising edge
at the corresponding input has no effect. Use the signal input functions STEPB to return to the first data
set (data set 1).
The signal input function STEPD works like the signal input function STEPU, but instead of the next data
set, it starts the preceding data set.
You can use the signal input function STEPB to return to the first of the 32 data sets.
The parameter P2-44 can be used to provide information on the running sequence of data sets via the
digital outputs. For further information, refer to Status of Data Set Sequences - Parameter P2-44
(see page 353).
For further information on assigning signal input functions to the digital inputs, refer to Setting the Digital
Signal Inputs (see page 316).
352 EIO0000002305 07/2019

Operating Modes
Status of Data Set Sequences

Parameter P2-44 allows you to output information on the status of the sequence of data sets processed
with the signal input functions AUTOR, STEPB, STEPU, and STEPD.

Maximum value
HMI Format
P2-44 Status of Data Set Sequences in Operating - u16 Modbus 358h
AUTOR_DOMS Mode PS 0h RW CANopen 422Ch
This parameter provides information on the 1h
status of the sequence of data sets.
Hexadecimal
Value 0: The functions assigned to the
digital outputs DO1 … DO6 via the
parameters P2-18 … P2-23 are active.
Value 1: The digital outputs provide
information on the status of the sequence
of data sets.
When this parameter is reset to 0, the
previous assignments and configurations
of the digital outputs as set via the
parameters P2-18 … P2-23 are restored.
EIO0000002305 07/2019 353

Operating Modes
The following table shows the meanings of the bit patterns available via the digital outputs when the
parameter P2-44 is set to 1:
Item DO6 DO5 DO4 DO3 DO2 DO1 Meaning

1 0 0 0 0 0 0 Error detected
2 0 0 0 0 0 1 Operating state Operation Enabled
3 0 0 0 0 1 0 Homing in progress
4 0 0 0 0 1 1 Homing completed
5 0 0 0 1 0 0 Data set transition in progress
6 0 0 0 1 0 1 Data set 1 target position reached
354 EIO0000002305 07/2019

Operating Modes
Scaling
Scaling is the ratio of the number of user-defined units and the number of internal units.
The user-defined units are supplied as parameter values in the unit PUU.
With the factory setting for the scaling factor, 100000 user-defined units correspond to one revolution.
The internal units are 1280000 increments per revolution.
Parameterization
The scaling factor is set using the parameters P1-44 and P1-45.
Example 1
Calculation of number of motor revolutions corresponding to 30000 PUU:
Example 2
Calculation of the scaling factor if 10000 PUU are to effect 500 revolutions of the motor shaft:
EIO0000002305 07/2019 355

Operating Modes
Homing Data Set for Absolute Movements
The Homing data set is used to establish a reference between a mechanical position and the actual
position of the motor.
A reference between a mechanical position and the actual position of the motor is generated by means of
a reference movement or by means of position setting.
A successful reference movement, or position setting, homes the motor.
Homing establishes the zero point for absolute movements.
Methods
The following methods are available:
 Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the negative limit switch or the
positive limit switch is performed.
When the limit switch is reached, the 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, an additional movement can be made to the next index pulse
of the motor.
The switching point of the limit switch or the position of the index pulse 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, an additional movement can be made to the next index
pulse of the motor.
The switching point of the reference switch or the position of the index pulse 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 current motor position is set to a desired position value.
A reference movement must be terminated without interruption for the new zero point to be valid. If the
reference movement is interrupted, it must be started again.
Starting the Homing Data Set

The Homing data set can be started in the following ways:
 Automatic start when the power stage is enabled for the first time
The automatic start can be set with the parameter P6-01.
 Start via the signal input function GOTOHOME
The signal input function must have been parameterized, refer to Setting the Digital Signal Inputs
(see page 316).
356 EIO0000002305 07/2019

Operating Modes
Setting Automatic Start and the Subsequent Data Set

The parameter P6-01 is used to set the automatic start and select a data set to be executed after
completion of the Homing data set.
The parameter P7-01 is used to set a waiting time for the subsequent data set. The subsequent data set
is started after the waiting time has elapsed.

Maximum value
HMI Format
P6-01 Subsequent Data Set and Auto-start of - u32 Modbus 702h
ODEF Homing Data Set 0h RW CANopen 4601h
Bit 0: 2001h
0 = Do not start Homing after first power
Hexadecimal
stage enable
1 = Start Homing after first power stage
enable
Bits 1 … 7: Reserved
Bits 8 … 15: Subsequent data set
P7-01 Waiting Time of Homing Data Set ms u32 Modbus 802h
HOME_DLY Applicable operating mode: PS 0 RW CANopen 4701h
Bits 0 … 15: Waiting time until next dataset 0 per.
is started 32767
Bits 16 … 31: Reserved Decimal
Setting Acceleration and Deceleration

The acceleration and deceleration for the Homing data set are set via the parameter P7-00.

Maximum value
HMI Format
P7-00 Deceleration and Acceleration of Homing ms|ms u32 Modbus 800h
HOME_ACC_DEC Data Set 6| 6 RW CANopen 4700h
Bits 0 … 15: Deceleration 65500| 65500
Bits 16 … 31: Acceleration Decimal
Setting Velocities
The parameters P5-05 and P5-06 are used to set the velocities for searching the switch and for moving
away from the switch.

Maximum value
HMI Format
P5-05 Homing - Fast Velocity for Reference 0.1rpm u32 Modbus 60Ah
60000
Decimal
P5-06 Homing - Slow Velocity for Reference 0.1rpm u32 Modbus 60Ch
60000
Decimal
EIO0000002305 07/2019 357

Operating Modes
Defining the Zero Point

The parameter P6-00 is used to specify a position value, which is set at the reference point after a
successful reference movement or after position setting. This position value defines the zero point.

Maximum value
HMI Format
Bits 0 … 31: Position
Selecting the Homing Method

The parameter P5-04 is used to set the Homing method.
Setting Z - limit switch Setting Y - index pulse Settings X - Homing method

- Y=0: Movement back to the last 0 Movement in positive direction to the
index pulse positive limit switch
- Y=2: No movement to the index 1 Movement in negative direction to the
pulse
negative limit switch
Z=0: Stop after limit switch is Y=0: Movement back to the last 2 Movement in positive direction to the
reached and trigger alert AL014 index pulse rising edge of the reference switch
or AL015 Y=1: Movement to the next index
3 Movement in negative direction to the
Z=1: Move in opposite direction pulse
rising edge of the reference switch
after having reached the limit Y=2: No movement to the index
switch, no alert pulse
- 4 Movement in positive direction to the
next index pulse
- 5 Movement in negative direction to the
next index pulse
Y=0: Movement back to the last 6 Movement in positive direction to the
index pulse falling edge of the reference switch
Y=1: Movement to the next index
7 Movement in negative direction to the
pulse
falling edge of the reference switch
Y=2: No movement to the index
pulse
- - 8 Position setting
The illustrations below show the Homing methods.
358 EIO0000002305 07/2019

Operating Modes
Reference Movement to the Positive Limit Switch

The following illustrations show reference movements to the positive limit switch from different starting
positions.
Reference movement (ZYX = -00)
Item Description
1 Movement to rising edge at velocity P5-05
2 Movement to falling edge at velocity P5-05
3 Movement to the index pulse at velocity P5-06
EIO0000002305 07/2019 359

Operating Modes
Item Description
Reference Movement to the Negative Limit Switch

The following illustrations show reference movements to the negative limit switch from different starting
positions.
Item Description
360 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 361

Operating Modes
Reference Movement in Positive Direction to the Rising Edge of the Reference Switch
The following illustrations show reference movements to the rising edge of the reference switch in positive
direction from different starting positions.
Reference movement (ZYX = 002)
Item Description
4 Movement to the limit switch at velocity P5-05
362 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 363

Operating Modes
Item Description
364 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 365

Operating Modes
Item Description
366 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 367

Operating Modes
Reference Movement in Negative Direction to the Rising Edge of the Reference Switch
The following illustrations show reference movements to the rising edge of the reference switch in negative
Item Description
368 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 369

Operating Modes
Item Description
370 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 371

Operating Modes
Item Description
372 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 373

Operating Modes
Reference Movement to the Index Pulse in Positive Direction

The following illustrations show reference movements to the index pulse in positive direction from different
starting positions.
Reference movement (ZYX = 0-4)
Item Description
1 Movement to the next index pulse at velocity P5-06
Item Description
374 EIO0000002305 07/2019

Operating Modes
Reference Movement to the Index Pulse in Negative Direction

The following illustrations show reference movements to the index pulse in negative direction from different
starting positions.
Item Description
Item Description
EIO0000002305 07/2019 375

Operating Modes
Reference Movement in Positive Direction to the Falling Edge of the Reference Switch
The following illustrations show reference movements to the falling edge of the reference switch in positive
Item Description
376 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 377

Operating Modes
Item Description
378 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 379

Operating Modes
Item Description
380 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 381

Operating Modes
Reference Movement in Negative Direction to the Falling Edge of the Reference Switch
The following illustrations show reference movements to the falling edge of the reference switch in negative
Item Description
382 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 383

Operating Modes
Item Description
384 EIO0000002305 07/2019

Operating Modes
Item Description
EIO0000002305 07/2019 385

Operating Modes
Item Description
386 EIO0000002305 07/2019

Operating Modes
Item Description
Position Setting
By means of position setting, the current motor position is set to the position value in parameter P6-00.
This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active position deviation remains
active and can still be compensated for by the position controller after position setting.

Maximum value
HMI Format
Bits 0 … 31: Position
EIO0000002305 07/2019 387

Operating Modes
Section 18.5
Operating Modes Velocity (V) and Velocity Zero (Vz)

Topic Page
Operating Modes Velocity (V) and Velocity Zero (Vz) 389
Acceleration and Deceleration 392
388 EIO0000002305 07/2019

Operating Modes
Description
In the operating mode Velocity (V), a movement is made with a specified target velocity.
Source of Reference Value Signals

In the operating mode Velocity (V), the source of the reference value signals is one of the three values set
via the parameters P1-09 to P1-11.
In the operating mode Velocity Zero (Vz), the source of the reference value signals is either one of the three
values set via the parameters P1-09 to P1-11 or the fixed target velocity 0.
The values of the parameters P1-09 to P1-11 can be selected via the signal input functions SPD0 and
SPD1.
The signal input functions SPD0 and SPD1 take priority over the reference value signal at the analog input
V_REF.
The target velocity is selected via the signal input functions SPD0 (LSB) and SPD1 (MSB) (bit-coded):
For additional information on the parameterizable signal input functions, refer to Setting the Digital Signal
- Signal state of the digital Target velocity via: Range

signal inputs
SPD1 SPD0
S1 Operating mode Voltage between V_REF -10V ... 10V
Velocity (Vz) (Pin42) and GND (pin 44)
0 0
Operating mode 0 rpm
Velocity Zero (Vz)
S2 0 1 P1-09 -
Internal
S3 1 0 P1-10
parameters
S4 1 1 P1-11
EIO0000002305 07/2019 389

Operating Modes
Scaling of the Analog Input V_REF

The parameter P1-40 lets you set the velocity corresponding to 10 V. This results in a linear scaling for the
analog input V_REF.

Maximum value
HMI Format
of 10 V.
of 10 V.
3000 rpm.
Example
The illustration below shows how the target velocities are switched by means of the signal input functions
SPD0,SPD1 and SON.
390 EIO0000002305 07/2019

Operating Modes
Operating modes Velocity (V) and Velocity Zero (Vz)
Stopping the Movement via Signal Input Function ZCLAMP

The movement can be stopped via the digital signal input function ZCLAMP.
Conditions for stopping the movement:
 The reference velocity must be below the velocity value defined in parameter P1-38.
 The signal input function ZCLAMP must be assigned and the signal input must be triggered.
For assigning the signal input function, refer to Setting the Digital Signal Inputs (see page 316).

Maximum value
HMI Format
P1-38 Signal Output Function ZSPD / Signal Input 0.1rpm s32 Modbus 24Ch
ZSPD Function ZCLAMP - Velocity 0 RW CANopen 4126h
This parameter specifies the velocity for the 2000
signal output function ZSPD. The signal Decimal
output function ZSPD indicates that the
velocity of the motor is less than the
This parameter specifies the velocity for the
signal input function ZCLAMP. The signal
input function ZCLAMP stops the motor.
The velocity of the motor must be below the
Additionally the behavior for ZCLAMP can be set via parameter P2-65 bit 10.
Setting of parameter P2-65 bit 10:
 Bit 10 = 0: Immediate stop. Motor is locked at the position where it was when ZCLAMP became active.
 Bit 10 = 1: Motor is decelerated with deceleration ramp setting. Motor is locked at the position where
standstill is reached.
EIO0000002305 07/2019 391

Operating Modes
Acceleration and Deceleration
The parameters P1-34 and P1-35 allow you to set the acceleration and deceleration.

Maximum value
HMI Format
392 EIO0000002305 07/2019

Operating Modes
Section 18.6
Operating Modes Torque (T) and Torque Zero (Tz)
Description
In the operating mode Torque (T), a movement is made with a specified target torque. The target torque is
specified in percent of the nominal torque of the motor.
WARNING
your application.

In the operating mode Torque (T), the source of the reference value signals is either the analog input
T_REF or one of the three values set via the parameters P1-12 to P1-14.
In the operating mode Torque Zero (Tz), the source of the reference value signals is either one of the three
values set via the parameters P1-12 to P1-14 or the fixed target torque 0 %.
The values of the parameters P1-12 to P1-14 can be selected via the signal input functions TCM0 and
TCM1.
The signal input functions TCM0 and TCM1 take priority over the reference value signal of the analog input
T_REF.
The target torque is selected via the signal input functions TCM0 (LSB) and TCM1 (MSB) (bit-coded):
For further information on the parameterizable signal input functions, refer to Setting the Digital Signal
- Signal state of the digital Target torque is provided via: Range

signal inputs
TCM1 TCM0
T1 Operating mode Voltage between T_REF -10V ... 10V
Torque (T) (pin 18) and GND (pin 19)
0 0
Operating mode 0% -
Torque Zero (Tz)
T2 0 1 P1-12
Internal
T3 1 0 P1-13 -300 ... 300%
parameters
T4 1 1 P1-14
EIO0000002305 07/2019 393

Operating Modes
Scaling of the Analog Input T_REF

The parameter P1-41 lets you set the torque corresponding to 10 V. This results in a linear scaling for the
analog input T_REF.

Maximum value
HMI Format
of 10 V.
voltage of 10 V.
is disabled.
394 EIO0000002305 07/2019

Operating Modes
Example
The illustration below shows how the target torque is switched by means of the signal input functions
TCM0,TCM1 and SON.
Operating modes Torque (T) and Torque Zero (Tz)
EIO0000002305 07/2019 395

Operating Modes
Section 18.7
Operating Mode CANopen
Operating Mode CANopen

Topic Page
Indication of the Operating State 397
Changing the Operating State 399
Starting and Changing a CANopen Operating Mode 400
CANopen Operating Mode Profile Position 401
CANopen Operating Mode Profile Velocity 404
CANopen Operating Mode Profile Torque 406
CANopen Operating Mode Homing 408
CANopen Operating Mode Interpolated Position 410
CANopen Operating Mode Cyclic Synchronous Position 412
CANopen Operating Mode Jog 413
CANopen Operating Mode Electronic Gear 414
CANopen Operating Mode Analog Velocity 416
CANopen Operating Mode Analog Torque 418
396 EIO0000002305 07/2019

Operating Modes
Indication of the Operating State
The parameter Statusword 6041h provides information on the operating state of the device and the
processing status of the operating mode.

6041h Statusword VAR Yes 0
Bit assignments: UINT16 -
 Bits 0 … 3: Status bits ro 65535
 Bit 4: Voltage Enabled
 Bits 5 … 6: Status bits
 Bit 7: Error detected
 Bit 8: Halt request active
 Bit 9: Remote
 Bit 10: Target Reached
 Bit 11: Internal Limit Active
 Bit 12: Operating mode-specific
 Bit 13: x_err
 Bit 14: x_end
 Bit 15: ref_ok
Bits 0, 1, 2, 3, 5 and 6
Bits 0, 1, 2, 3, 5 and 6 of the parameter Statusword 6041h provide information on the operating state.
Operating state Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0

Switch On Quick Stop Fault Operation Switch On Ready To
Disabled Enabled Switch On
2 Not Ready To Switch On 0 X 0 0 0 0
3 Switch On Disabled 1 X 0 0 0 0
4 Ready To Switch On 0 1 0 0 0 1
5 Switched On 0 1 0 0 1 1
6 Operation Enabled 0 1 0 1 1 1
7 Quick Stop Active 0 0 0 1 1 1
8 Fault Reaction Active 0 X 1 1 1 1
9 Fault 0 X 1 0 0 0
Bit 4
Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or is too low, the device
does not transition from operating state 3 to operating state 4.
Bit 7
Bit 7=1 indicates that an error has been detected.
Bit 8
Bit 8=1 indicates that a "Halt" is active.
Bit 9
If bit 9 is set, the device carries out commands via the fieldbus. If Bit 9 is reset, the device is controlled via
a different interface. In such a case, it is still possible to read or write parameters via the fieldbus.
Bit 10
Bit 10 is used for monitoring the current operating mode. Details can be found in the chapters on the
individual operating modes.
EIO0000002305 07/2019 397

Operating Modes
Bit 11
The assignment of bit 11 can be set via the parameter P3-30.
Bit 12
Bit 12 is used for monitoring the current operating mode. Details can be found in the chapters on the
individual operating modes.
Bit 13
Bit 13 only becomes "1" in the case of an error which needs to be remedied prior to further processing.
Bit 14
Bit 14 changes to "0" if an operating mode is started. When processing is terminated or interrupted, for
example by a "Halt", bit 14 toggles back to "1" once the motor has come to a standstill. The signal change
of bit 14 to "1" is suppressed if one process is followed immediately by a new process in a different
operating mode.
Bit 15
Bit 15 is "1" if the motor has a valid zero point, for example as a result of a reference movement. A valid
zero point remains valid even if the power stage is disabled.
398 EIO0000002305 07/2019

Operating Modes
Changing the Operating State
The parameter Controlword 6040h can be used to switch between the operating states.

6040h Controlword VAR Yes 0
Bit assignments: UINT16 -
 Bit 0: Switch On rww 65535
 Bit 1: Enable Voltage
 Bit 2: Quick Stop
 Bit 3: Enable Operation
 Bits 4 … 6: Operating mode-specific
 Bit 7: Fault Reset
 Bit 8: Halt
 Bit 9: Operating mode-specific
 Bits 10 … 15: Reserved
Bits 0 … 3 and 7
Bits 0 … 3 and bit 7 of the parameter Controlword 6040h allow you to switch between the operating states.
Fieldbus State State transition to Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

command transitions Fault Enable Quick Enable Switch On
Reset Operation Stop Voltage
Shutdown T2, T6, T8 4 Ready To Switch On 0 X 1 1 0
Switch On T3 5 Switched On 0 0 1 1 1
Disable T7, T9, 3 Switch On Disabled 0 X X 0 X
Voltage T10, T12
Quick Stop T7, T10 3 Switch On Disabled 0 X 0 1 X
T11 7 Quick Stop Active
Disable T5 5 Switched On 0 0 1 1 1
Operation
Enable T4, T16 6 Operation Enabled 0 1 1 1 1
Operation
Fault Reset T5 3 Switch On Disabled 0->1 X X X X
Bits 4 … 6 and 9
Bits 4 to 6 and bit 9 are used for the operating mode-specific settings. Details can be found in the
descriptions of the individual operating modes in this chapter.
Bit 8
A "Halt" can be triggered with bit 8=1.
Bits 10 … 15
Reserved.
EIO0000002305 07/2019 399

Operating Modes
Starting and Changing a CANopen Operating Mode
Overview of the CANopen Operating Modes

The following CANopen operating modes are available:
 CANopen operating modes as per CiA 402
 Profile Position
 Profile Velocity
 Profile Torque
 Homing
 Interpolated Position
 Cyclic Synchronous Position
 CANopen vendor-specific operating modes

 Jog
 Electronic Gear
 Analog Velocity
 Analog Torque
Starting and Changing an Operating Mode

The parameter Modes of Operation 6060h is used to set the operating mode.
The parameter Modes of Operation Display 6061h can be used to read the current operating mode.

6060h Modes of Operation VAR Yes -128
INT8 0
rww 8
6061h Modes of Operation Display VAR Yes -128
INT8 -
ro 8
Values for the parameters Modes of Operation 6060h and Modes of Operation Display (6061h):
 Value 1: Profile Position
 Value 3: Profile Velocity
 Value 4: Profile Torque
 Value 6: Homing
 Value 7: Interpolated Position
 Value 8: Cyclic Synchronous Position
 Value -1: Jog
 Value -2: Electronic Gear
 Value -3: Analog Velocity
 Value -4: Analog Torque
400 EIO0000002305 07/2019

Operating Modes
CANopen Operating Mode Profile Position
Description
In the operating mode Profile Position, a movement to a specified target position is performed.
 Relative movement
 Absolute movement
In the case of a relative movement, the movement is relative with reference to the previous target position
or the current motor position.
In the case of an absolute movement, the movement is absolute with reference to the zero point.
Starting the Operating Mode

The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
The target position is set via the parameter Controlword 607Ah and the target position is set via the
parameter Controlword 6081h.

607Ah Target Position VAR Yes -2147483648
Unit: User-defined position unit INT32 0
rww 2147483647
6081h Profile Velocity in profile position mode VAR Yes 0
Unit: User-defined position unit/s UINT32 0
rww 4294967295
The acceleration is set via the parameter Profile Acceleration 6083h and the deceleration is set via
the parameter Profile Deceleration 6084h.

6083h Profile Acceleration VAR Yes 1
Unit: User-defined position unit/s2 UINT32 4266666667
rww 4294967295
6084h Profile Deceleration VAR Yes 1
rww 4294967295
The movement is started via the parameter Controlword 6040h.
EIO0000002305 07/2019 401

Operating Modes
Controlword
Bit 9 Bit 5 Bit 4 Meaning

Change on Change setpoint New setpoint
setpoint immediately
0 0 0->1 Starts a movement to a target position.
Target values transmitted during a movement
become immediately effective and are executed
at the target. The movement is stopped at the
current target position.(1)
1 0 0->1 Starts a movement to a target position.
become immediately effective and are executed
at the target. The movement is not stopped at
the current target position.(1)
X 1 0->1 Starts a movement to a target position.
become immediately effective and are
immediately executed.(1)
(1) Target values include target position, target velocity, acceleration and deceleration.
Controlword Meaning
Bit 2: Quick Stop Triggers a Quick Stop
Bit 6: Absolute / relative 0: Absolute movement
1: Relative movement
Bit 7: Fault Reset Triggers a Fault Reset
Bit 8: Halt Triggers a Halt
Statusword
Statusword Meaning
Bit 8: Halt request active 0: No Halt request
1: A Halt request is active
Bit 10: Target Reached 0: Target position not reached
1: Target position reached
Bit 12: Target value acknowledge 0: New position possible
1: New target position accepted
Bit 13: x_err 0: No error detected
1: An error has been detected
Bit 14: x_end 0: Operating mode started
1: Operating mode terminated
Bit 15: ref_ok 0: Zero point is not valid
1: Zero point is valid
Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Target position reached
 Stop caused by "Halt" or "Quick Stop"
 Stop caused by a detected error
402 EIO0000002305 07/2019

Operating Modes
Parameterization
The maximum velocity can be adjusted via the parameter Max profile velocity 607Fh.

607Fh Max Profile Velocity VAR No 1
Unit: User-defined position unit/s UINT32 -
rw 4294967295
The reference for a relative movement can be set via the parameter Position option code 60F2h.

60F2h Position option code VAR No 0
Value 0: Relative with reference to the UINT16 0
previous target position rw 65535
Value 2: Relative with reference to the
actual position of the motor
EIO0000002305 07/2019 403

Operating Modes
CANopen Operating Mode Profile Velocity
Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.

The parameter Target velocity 60FFh starts the movement.

60FFh Target Velocity VAR Yes -2147483648
Unit: User-defined position unit/s INT32 0
rww 2147483647
The acceleration is set via the parameter Profile Acceleration 6083h and the deceleration is set via
the parameter Profile Deceleration 6084h.

rww 4294967295
rww 4294967295
Controlword
Controlword Meaning
Bits 4 … 6: Operating mode-specific Not relevant for this operating mode
Bit 9: Operating mode-specific Not relevant for this operating mode
Statusword
Statusword Meaning
Bit 10: Target Reached 0: Target velocity not reached
1: Target velocity reached
Bit 12: Operating mode-specific 0: Velocity = >0
1: Velocity = 0
404 EIO0000002305 07/2019

Operating Modes

met:
Parameterization
The maximum velocity can be adjusted via the parameter Max profile velocity 607Fh.

607Fh Max Profile Velocity VAR No 1
rw 4294967295
EIO0000002305 07/2019 405

Operating Modes
CANopen Operating Mode Profile Torque
Description
In the operating mode Profile Torque, a movement is made with a specified target torque.

The parameter Target torque 6071h starts the movement.

6071h Target Torque VAR Yes -32768
Unit: 1/1000 of nominal torque INT16 0
rww 32767
Controlword
Controlword Meaning
Statusword
Statusword Meaning
Bit 10: Target Reached 0: Target torque not reached
1: Target torque reached

met:
406 EIO0000002305 07/2019

Operating Modes
Parameterization
In the operating mode Profile Torque, the motion profile for torque can be adjusted via the parameter
Torque slope 6087h.

6087h Torque Slope VAR Yes 1
100% of the torque setting correspond to UINT32 -
the nominal torque. rww 30000000
Unit: 1/1000 of nominal torque/s
Example:
A ramp setting of 10000%/s results in a
torque change of 100% of the nominal
torque in 0.01s.
EIO0000002305 07/2019 407

Operating Modes
CANopen Operating Mode Homing
Description
In the operating mode Homing, a reference is generated between a mechanical position and the actual
position of the motor.
A reference between a mechanical position and the actual position of the motor is generated by means of
a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the zero point becomes valid.
The zero point is the point of reference for absolute movements in the CANopen operating mode Profile
Position.
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 specified 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.
Procedure
 Set Mode of operation 6060h to operating mode Homing (6).
 Set Home offset 607Ch.
 Set Home method 6098h, the value range is 1 to 35 and specifies the different homing methods.
 Set Home speeds 6099:1h to the value for velocity to search for the limit switches (unit = rpm).
 Set Home speeds 6099:2h to the value for velocity to search for the index pulse (unit = rpm).
 Set Home acceleration 609Ah to the value for the acceleration ramp (unit = ms from 0 to 3000 rpm).

The movement is started via the Controlword 6040h.
Controlword
Bit 4 in the parameter Controlword 6040h starts a movement, bit 8 terminates the movement.
Controlword Meaning
Bit 4: Homing operation start Start homing
408 EIO0000002305 07/2019

Operating Modes
Statusword
Statusword Meaning
Bit 10: Target Reached 0: Homing not completed
1: Homing completed
Bit 12: Homing attained Homing successfully completed

met:
 Homing successful
EIO0000002305 07/2019 409

Operating Modes
CANopen Operating Mode Interpolated Position
Description
In the operating mode Interpolated Position, the drive follows the position values transmitted on a cyclic
basis. The transmitted values are linearly interpolated within the drive.
This mode uses a buffer of position commands. The buffer size is always 1, thus it is not possible to give
a list of target position commands in advance
The monitoring functions Heartbeat and Node Guarding cannot be used in this operating mode.
Check cyclical reception of PDOs at the PLC in order to detect an interruption of the connection.
The reference positions are transmitted synchronously with each cycle. The cycle time of a cycle can be
set from 1 … 20 ms.
The movement to the reference positions starts with the SYNC signal.
The drive performs an internal fine interpolation with a raster of 250 μs.
The operating mode is selected by writing 7 in the object Mode of operation 6060h.
Starting and Terminating the Operating Mode

The operating mode is terminated when the motor is at standstill and if one of the following conditions is
met:
 Target position reached
 Stop caused by Halt or Quick Stop
 Switch to another operating mode

The object Target position 60C1h provides the target position value.
The target position minimum and maximum values depends on
 Scaling factor
 Software limit switches if they are activated
The object Target velocity 6081h provides the target velocity value.
The object Profile acceleration 6083h provides the acceleration value.
The object Profile deceleration 6084h provides the deceleration value.
The target velocity is limited to the setting in Max Profile Velocity 607Fh.
The object Interpolation time period 60C2h consist of:
 Interpolation time units 60C2:01h which specifies the interpolation time.
 Interpolation time index 60C2:02h which specifies the time basis. The value of -3 corresponds
to a time basis in milliseconds.
The object Interpolation sub mode select 60C0h allows to select the interpolation mode:
 0: Linear interpolation.
 1: Cubic interpolation with position only. This forces the interpolated path to pass via the original position
commands sent by the controller.
NOTE: This may cause an abrupt velocity profile when velocity changes.
The value of this object cannot be modified when NMT operating state is Operationnal.
Modified settings become active immediately.
Control Word
In the operating mode, the bit 4 and the bit 8 in the Controlword 6040h start a movement.
Bit Name Meaning

Bit 4 Enable IP mode 0: Interpolated position mode not active
1: Interpolated position mode active
Bit 8 Halt 0: No Halt command
1: Stop movement with Halt
410 EIO0000002305 07/2019

Operating Modes
Status Word
Information on the current movement is available via bits 10 and 12 … 15 in the Statusword 6041h.
Bit Name Meaning

Bit 10 Target reached 0: Target position not reached
1: Target position reached
Bit 12 - 0: New position possible
1: New target position accepted
Bit 13 x_err 0: No error detected
1: A following error has been detected
Bit 14 x_end 0: Operating mode started
Bit 15 ref_ok 1: Drive has valid reference point
EIO0000002305 07/2019 411

Operating Modes
CANopen Operating Mode Cyclic Synchronous Position
Description
In the operating mode Cyclic Synchronous Position (CSP), the drive synchronously follows the position
values transmitted on a cyclic basis. The transmitted values are linearly interpolated within the drive.
The motion profile is generated by the master controller.
The possible applications for this operating mode are described in the manual of the master controller.
The operating mode is selected by writing 8 in the object Mode of operation 6060h.

A transition to the operating state 6 Operation Enabled starts the set operating mode.
The operating mode is terminated when a different operating mode is selected or when the operating state
6 Operation Enabled is exited.

The object Target Position 607Ah provides the target value.
Target values are in pulses.
The object Interpolation time period 60C2h consist of:
 Interpolation time units 60C2:01h which specifies the interpolation time.
 Interpolation time index 60C2:02h which specifies the time basis. The value of -3 corresponds
to a time basis in milliseconds.
Control Word
In the operating mode, the operating mode-specific bits in the Controlword 6040h have no significance.
Status Word
Bit Name Meaning

Bit 10 Reserved Not relevant for this operating mode
Bit 12 - 0: Target position ignored
1: Target position used as input to position control loop
412 EIO0000002305 07/2019

Operating Modes
CANopen Operating Mode Jog
Description
In the operating mode Jog, the drive performs a movement with the transmitted jog target value.
The motion profile is generated by the drive, taking into account the target values received from the master
controller.
The operating mode is selected by writing -1 in the object Mode of operation 6060h.

The operating mode is terminated when the motor is at standstill and if one of the following conditions is
met:
 Stop caused by Halt or Quick Stop
 Switch to another operating mode

The jog method is set with the object Jog Method 4453h.
 0: jog operation at constant speed
 1: Move a distance during a time, and start a jog operation at constant speed
The fast speed is set with the object Jog Speed Fast 4450h.
The slow speed is set with the object Jog Speed Slow 4454h.
The distance is set with the object Jog Step 4452h.
The time is set with the object Jog Time 4451h.
The target velocity is limited to the setting in Max Profile Velocity 607Fh.
The object Profile acceleration 6083h provides the acceleration value.
The object Profile deceleration 6084h provides the deceleration value.
Control Word
In the operating mode, the bits 4 … 6 in the Controlword 6040h start a movement
Bit Name Meaning

Bit 4 Forward Movement in positive direction
Bit 5 Reverse Movement in negative direction
Bit 6 Speed 0: Slow speed
1: Fast speed
NOTE: If bit 4 and bit 5 are both at active state, it stops the movement.
Status Word
Bit Name Meaning

Bit 12 - Not relevant for this operating mode
Bit 13 x_err 0: No error detected
EIO0000002305 07/2019 413

Operating Modes
CANopen Operating Mode Electronic Gear
Description
In the operating mode Electronic Gear, movements are carried out according to externally supplied
reference value signals. A position reference value is calculated on the basis of these external reference
values plus an adjustable gear ratio. The reference value signals can be A/B signals, P/D signals or
CW/CCW signals.
Method
 Position synchronization without compensation movement
In the case of position synchronization without compensation movement, the movement is made
signals supplied during an interruption caused by Halt or by a detected error which cancelled the
movement with a Quick Stop are not taken into account.
 Position synchronization with compensation movement
In the case of position synchronization with compensation movement, the movement is made
signals supplied during an interruption caused by Halt or by a detected error which cancelled the
movement with a Quick Stop are taken into account and compensated for.
 Velocity synchronization
In the case of velocity synchronization, the movement is made synchronously (velocity synchronicity)
with the supplied reference value signals.

Maximum value
HMI Format

Controlword
Controlword Meaning
Statusword
Statusword Meaning
414 EIO0000002305 07/2019

Operating Modes
Statusword Meaning

met:
Pulse Settings
The parameter P1-00 lets you specify the type of reference value signals, the input polarity, the maximum
signal frequency and the source of the pulses.
For further information on the settings of the reference value signal, refer to chapter Pulse Setting
(see page 342).
Gear Ratio
The gear ratio is the ratio of the number of motor increments and the number of reference increments.
The reference increments are supplied as reference value signals via the signal inputs.
With the factory setting for the gear ratio, 100000 reference increments correspond to one revolution.
There are 1280000 motor increments per revolution.
The gear ratio can be adjusted via the objects 4FA5:1h and 4FA5:2h.

4FA5:1h Electronic Gear Ratio (Numerator) VAR Yes 1
INT32 128
rww 536870911
4FA5:2h Electronic Gear Ratio (Denominator) VAR Yes 1
INT32 10
rww 2147483647
The velocity window in gearing mode can be adjusted via the objects 4328h and 606Eh.

4328h Velocity Gearing Window VAR No 0
UINT32 2100000
rw 4294967295
606Eh Velocity Window Time VAR No 0
Unit: ms UINT16 0
rw 65535
EIO0000002305 07/2019 415

Operating Modes
CANopen Operating Mode Analog Velocity
Description
In the operating mode Analog Velocity, a movement is made with a specified target velocity. The source
of the reference value signals is the analog input V_REF.

Controlword
Controlword Meaning
Statusword
Statusword Meaning
Bit 10: Target Reached 0: Target velocity not reached
1: Target velocity reached

met:
416 EIO0000002305 07/2019

Operating Modes
Scaling of the Analog Input V_REF

The parameter P1-40 lets you set the velocity corresponding to 10 V. This results in a linear scaling for the
analog input V_REF.

Maximum value
HMI Format
of 10 V.
of 10 V.
3000 rpm.
EIO0000002305 07/2019 417

Operating Modes
CANopen Operating Mode Analog Torque
Description
In the operating mode Analog Torque, a movement is made with a specified target torque. The target
torque is specified in percent of the nominal torque of the motor. The source of the reference value signals
is the analog input T_REF.

Controlword
Controlword Meaning
Statusword
Statusword Meaning
Bit 10: Target Reached 0: Target torque not reached
1: Target torque reached

met:
418 EIO0000002305 07/2019

Operating Modes
Scaling of the Analog Input T_REF

The parameter P1-41 lets you set the torque corresponding to 10 V. This results in a linear scaling for the
analog input T_REF.

Maximum value
HMI Format
of 10 V.
voltage of 10 V.
is disabled.
EIO0000002305 07/2019 419

Operating Modes
420 EIO0000002305 07/2019

Diagnostics and Troubleshooting
EIO0000002305 07/2019
Part VIII
EIO0000002305 07/2019 421

422 EIO0000002305 07/2019

EIO0000002305 07/2019
Chapter 19

Topic Page
Diagnostics Via the Fieldbus Status LEDs 424
Diagnostics Via the Integrated HMI 425
Diagnostics Via the Signal Outputs 426
Diagnostics Via the Commissioning Software 426
Diagnostics Via the Fieldbus 427
Connection for Fieldbus Mode 430
Alert Codes and Error Codes 431
EIO0000002305 07/2019 423

Diagnostics Via the Fieldbus Status LEDs
The fieldbus status LEDs visualize the status of the fieldbus.
The illustration below shows the signals of the CAN bus status LEDs (Run=GN; Err=RD).
Item Description
1 NMT state PRE-OPERATIONAL
2 NMT state STOPPED
3 NMT state OPERATIONAL
4 Incorrect settings, for example, invalid node address
5 Alert limit reached, for example after 16 incorrect transmission attempts
6 Node Guarding
7 CAN is BUS-OFF, for example after 32 incorrect transmission attempts.
8 Fieldbus communication without error message
424 EIO0000002305 07/2019

Diagnostics Via the Integrated HMI
Modbus Activity
The left most decimal point in the integrated HMI indicates Modbus activity by flashing.
Error Memory
Parameters P4-00 to P4-04 allow you to read the error memory.
The error memory also contains a history of the last 5 detected errors.
Parameter Description
P4-00 Error number of the most recently detected error
… …
P4-04 Error number of the oldest detected error
The parameter P0-47 allows you to read the last detected alert.
EIO0000002305 07/2019 425

Diagnostics Via the Signal Outputs
The signal outputs allow you to indicate, among other things, operating states and detected errors. The
following list is an excerpt of the parameterizable signal output functions. For additional signal output
functions, refer to Setting the Digital Signal Outputs (see page 322).
Setting A for Short name Name of the Description

P2-18 ... P2- output function
22
1 SRDY Servo Ready The signal output function SRDY indicates that no errors are
presently detected, i.e. the drive is not in the operating state Fault.
2 SON Servo On The signal output function SON indicates that the drive is in the
operating state Operation Enabled.
7 ERROR Error Detected The signal output function ERROR indicates that an error has been
detected and that the drive has switched to the operating state Fault.
For further information, refer to Diagnostics and Troubleshooting
(see page 423).
11 WARN Advisory or The signal output function indicates that one of the following
Alert Signal conditions has been detected: Hardware limit switch triggered,
activated undervoltage, Nodeguard alert, Operational Stop (OPST).
Diagnostics Via the Commissioning Software
See the information provided with the commissioning software for details on how to display the device state
via the commissioning software LXM28 DTM Library.
426 EIO0000002305 07/2019

Diagnostics Via the Fieldbus
Reading Error Numbers

The object 603Fh contains the most recently detected error.

603Fh Error Code VAR Yes 0
UINT16 -
ro 65535
The following table is sorted by CANopen error numbers and shows the corresponding Error Code
(see page 433) (ALnnn).
Value (hex) Value (dec) Error Code

2214h 8724 AL001
2310h 8976 AL006
2311h 8977 AL508
2380h 9088 AL532
2381h 9089 AL539
2382h 9090 AL570
3110h 12560 AL002
3120h 12576 AL003
3180h 12672 AL005
3181h 12673 AL501
3182h 12674 AL505
3183h 12675 AL022
3184h 12676 AL575
3185h 12677 AL576
3186h 12678 AL578
3187h 12679 AL579
3199h 12697 AL568
4080h 16512 AL528
4081h 16513 AL529
4096h 16534 AL561
4310h 17168 AL016
4380h 17280 AL574
4410h 17424 AL514
5111h 20753 AL525
AL526
5530h 21808 AL504
5581h 21889 AL503
5582h 21890 AL522
5583h 21891 AL523
5585h 21893 AL017
5586h 21894 AL507
6380h 25472 AL520
6581h 25985 AL502
7081h 28801 AL533
EIO0000002305 07/2019 427

Value (hex) Value (dec) Error Code

7090h 28816 AL535
7091h 28817 AL013
7095h 28821 AL595
7121h 28961 AL547
7182h 29058 AL534
7198h 29080 AL563
7380h 29568 AL026
7386h 29574 AL3E1
7387h 29575 AL018
738Dh 29581 AL567
7393h 29587 AL517
7398h 29592 AL573
7399h 29593 AL577
7580h 30080 AL553
7581h 30081 AL554
7582h 30082 AL557
7583h 30083 AL020
7584h 30084 AL569
8130h 33072 AL180
8210h 33296 AL597
8311h 33553 AL030
8380h 33664 AL596
8481h 33921 AL007
8482h 33922 AL555
8611h 34321 AL009
8680h 34432 AL564
8689h 34441 AL572
F080h 61568 AL401
FF01h 65281 AL558
FF02h 65282 AL025
FF04h 65284 AL588
FF10h 65296 AL015
FF11h 65297 AL014
FF12h 65298 AL283
FF13h 65299 AL285
FF15h 65301 AL580
FF97h 65431 AL008
428 EIO0000002305 07/2019

SDO Abort Codes
SDO Abort Code Meaning

05040001h Client/server command specifier not valid or undetermined
06010002h Attempt to write a read-only object
06020000h Object does not exist in the object dictionary
06040041h Object cannot be mapped to the PDO
06040042h The number and length of the objects to be mapped would exceed PDO length
06060000h Access impossible due to a hardware error (store or restore error)
06070010h Data type does not match, length of service parameter does not match
06090011h Subindex does not exist
06090030h Value range of parameter exceeded (only for write access)
08000000h General error
080000a1h Object error reading from non-volatile memory
080000a2h Object error writing to non-volatile memory
080000a3h Invalid Range accessing non-volatile memory
080000a4h Checksum error accessing non-volatile memory
080000a5h Password error writing encryption zone
08000020h Data cannot be transferred to or stored in the application (store or restore signature
error)
08000021h Data cannot be transferred to or stored in the application because of the local control
(incorrect state)
EIO0000002305 07/2019 429

Connection for Fieldbus Mode
Description
If the product cannot be addressed via the fieldbus, check the following connections:
 Power connections to the device.
 Network cable and network wiring.
 Network connection to the device.
430 EIO0000002305 07/2019

Alert Codes and Error Codes
Meaning of an Alert
An alert indicates a potential issue that was detected by a monitoring function. An alert does not trigger a
transition of the operating state.
Number Description Cause Remedy

AL014 Negative hardware limit - -
switch triggered
AL015 Positive hardware limit switch - -
triggered
AL283 Positive software limit switch - -
triggered
AL285 Negative software limit switch - -
triggered
Wn023 Alert threshold reached: The foldback current of the motor Verify correct settings of the
Motor overload (foldback) has dropped below the alert parameter P1-28 for the foldback
threshold specified via the current of the motor.
parameter P1-28.
Wn124 Data in PDO out of range - Verify that the minimum and
maximum limit values are not
exceeded.
Wn127 R_PDO data cannot be - -
written while the power stage
is enabled
Wn185 CANopen: A communication - -
error was detected.
Wn380 Position deviation via signal After a movement has been If you want this condition to cause a
output function MC_OK successfully completed, MC_OK detected error instead of an alert, set
was active. Then TPOS became the parameter P1-48 accordingly.
inactive which caused MC_OK to
become inactive as well.
Wn700 Safety function Safe Torque The safety function STO has been Check whether the safety function
Off (STO) triggered while the triggered or the signal for the safety STO was triggered intentionally. If
power stage was disabled function STO is not properly not, verify correct connection of the
connected. If this condition is signal of the safety function STO.
detected while the power stage is
enabled, the drive detects an error. If
this condition is detected while the
power stage is disabled, the drive
detects an alert.
Wn701 Alert threshold reached: Drive The foldback current of the drive has Verify correct settings of the
overload (foldback) dropped below the alert threshold parameter P1-24 for the foldback
specified via the parameter P1-24. current of the drive.
Wn702 The DC bus voltage has Power supply loss, poor power Verify correct mains supply. Verify
dropped below the alert supply. that the undervoltage limit is set
threshold. correctly via the parameter P4-24.
Wn703 Alert threshold reached: Ambient temperature is too high, fan Verify correct operation of the fan.
Power stage overtemperature is inoperative, dust. Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.
Wn704 Alert threshold reached: The motor temperature is Verify correct settings of the
Motor overtemperature excessively high. parameters for temperature
monitoring. Verify proper ventilation
and heat dissipation of the motor.
Clean off pollutants such as dust.
Verify that the motor is evenly
mounted to the flange plate.
Increase the size of the flange plate
to which the motor is mounted to
improve heat dissipation. Verify that
the motor is properly sized for the
application.
EIO0000002305 07/2019 431

Number Description Cause Remedy

Wn707 Alert threshold reached: Drive Ambient temperature is too high, fan Verify correct operation of the fan.
overtemperature (controller) is inoperative, dust. Improve the heat dissipation in the
Wn709 PLL not synchronized - -
Wn713 Positive hardware limit switch - -
and negative hardware limit
triggered
Wn716 Positive software limit switch - -
and negative software limit
triggered
Wn728 Alert: Missing mains supply, At least one mains phase is missing. Verify correct connection of mains
undervoltage mains supply Mains voltage is out of range. Mains supply. Verify that the values of the
frequency is out of range. mains power supply network comply
with the technical data.
Wn729 Modbus: Node Guarding Incorrect Modbus connection, Verify correct Modbus connection.
error detected incorrect data from Modbus master. Verify correct operation of Modbus
master.
Wn730 Alert threshold reached: The permissible braking resistor Verify correct rating of the braking
Braking resistor overload power has been exceeded. resistor used. Verify your
application.
Wn731 Encoder error detected Refer to parameter P8-49 for details. -
Wn732 Alert threshold reached: - -
Processing time too long
Wn734 Alert threshold reached: Drive Ambient temperature is too high, fan Verify correct operation of the fan.
overtemperature (IPM) is inoperative, dust. Improve the heat dissipation in the
Wn736 PDO packet too long - Verify correct PDO mapping.
Wn737 Parameters have been reset - Use parameter P2-08 = 11 to save
to the factory settings, but are parameters reset to the factory
not yet saved to the non- settings to the non-volatile memory
volatile memory. and restart the drive.
Wn738 No target values received via No target values have been received Verify that target values are
the fieldbus via the fieldbus three times in transmitted via the fieldbus. Verify
succession. that the fieldbus has exclusive
access.
Wn739 Temperature value for - -
monitoring function not
available
Wn740 Target value will cause - Verify correct target positions.
movement to positive
software limit switch
Wn741 Target value will cause - Verify correct target positions.
movement to negative
software limit switch
Wn742 Motor type has changed The type of motor connected is Reset the drive to the factory
different from the previously settings.
connected type of motor.
Wn743 Fan circuit warning The fan circuit is either overloaded or Check for fan short circuit or
disconnected. disconnection.
Wn744 Excessive electronic noise - Check proper grounding and
shielding. Use line filter.
Wn745 Configured feedbacktype and The connected encoder does not Check that configured feedback type
actual connected encoder correspond to configured feedback and connected encoder match.
mismatch type.
Wn746 Encoder overtemperature - -
Wn747 Encoder internal flash - -
memory error detected
Wn748 Encoderfeedback error The device has detected unusually -
detected high shaft displacement. The device
can still operate correctly; but
position error might be higher than
usual.
432 EIO0000002305 07/2019

Meaning of an Error
An error is a discrepancy between a computed, measured, or signaled value or condition and the specified
or theoretically correct value or condition detected by a monitoring function. An error triggers a transition
of the operating state.
Number Short description Cause Remedy

AL001 Power stage overcurrent An overcurrent has been detected at Verify correct connection of the
the power stage which may be motor. Verify correct settings of the
caused by a short circuit or by parameters for the current loop.
incorrect settings of the current loop
parameters. This condition may
occur up to three times in
succession. After the third time, a
time delay of one minute must pass
before the power stage can be
enabled again.
AL002 DC bus overvoltage The DC bus voltage exceeded the Verify your application. Reduce the
maximum value. external load, the motor velocity, or
the deceleration. Use an
appropriately rated braking resistor,
if necessary.
AL003 DC bus undervoltage Power supply loss, poor power Verify correct mains supply. Verify
supply. that the undervoltage limitation is set
correctly via the parameter P4-24.
AL005 Braking resistor overload The braking resistor has been on for Verify your application. Reduce the
such a long period of time that its external load, the motor velocity, or
overload capability has been the deceleration. Use a braking
exceeded. resistor with a greater rating, if
necessary.
AL006 Motor overload (foldback) The foldback current of the motor Verify correct settings for the
has dropped below the value parameter P1-27.
specified via the parameter P1-27.
AL007 Actual motor velocity too The actual motor velocity exceeded Verify that the velocity limitation set
high. the velocity limitation by more than via the parameter P1-55 matches the
20% (P1-55). The analog input requirements of the application.
signal is not stable. Verify that the values for the tuning
parameters are suitable. Verify that
the frequency of the analog input
signal is stable using a signal
detector. Use a filter function.
AL008 Frequency of reference value The frequency of the pulse signal Adapt the output pulse frequency of
signal is too high (A/B, Pulse/Direction, CW/CCW) the external source to fit the input
exceeds the specified range. specification of the drive. Adapt the
Received pulses may be lost. gear ratios to the application
requirements (parameters P1-44,
P1-45, P2-60, P2-61 and P2-62).
AL009 Position deviation too high The position deviation has exceeded Verify your application. Reduce the
(following error) the maximum permissible position external load. Increase the
deviation specified via the parameter permissible position deviation via the
P2-35 and the drive has detected a parameter P2-35. Reduce the motor
following error. velocity via the parameters P1-
09 … P1-11 or the analog input
V_REF. Increase the torque
limitation via the parameters P1-
T_REF.
AL013 The input to which the signal - Identify the cause which has
input function OPST is triggered the signal input function
assigned has been activated. OPST. Remove the cause. If your
application does not require the
signal input function OPST, disable
this signal input function.
EIO0000002305 07/2019 433


AL016 Power stage overtemperature Ambient temperature is too high, fan Verify correct operation of the fan.
is inoperative, dust. Improve the heat dissipation in the
AL017 Error detected in non-volatile The drive was reset to the factory Use parameter P2-08 = 11 to save
memory settings via parameter P2-08. parameters reset to the factory
settings to the non-volatile memory
and restart the drive.
Contact technical support.
AL018 Encoder simulation frequency The computed equivalent encoder Reduce the resolution of the encoder
exceeded 4 MHz output frequency exceeds the simulation via the parameter P1-46
maximum limit of 4 MHz for this or reduce the maximum velocity.
signal.
AL020 Modbus: Node Guarding Incorrect Modbus connection, Verify correct Modbus connection.
error detected incorrect data from Modbus master. Verify correct operation of Modbus
master.
AL022 Missing mains supply, At least one mains phase is missing. Verify correct connection of mains
undervoltage mains supply Mains voltage is out of range. Mains supply. Verify that the values of the
frequency is out of range. mains power supply network comply
with the technical data.
AL025 Not possible to read data of Incorrect or missing motor data. Verify that the drive and the
electronic motor nameplate Motor without electronic motor connected motor are a permissible
nameplate has been connected. product combination. Verify correct
connection of the encoder. Contact
Technical Support or replace the
motor.
AL026 Error detected in Communication with the encoder Verify correct connection of the
communication with motor was not initialized correctly. encoder. Contact Technical Support
encoder or replace the motor.
AL030 Motor torque too high for an The motor torque has exceeded the Verify your application. Verify that no
excessive period of time value specified via the parameter movements are made up to a
P1-57 for a period of time exceeding mechanical stop (for example, use
the value specified via the parameter limit switches). Verify that the values
P1-58. for the parameters P1-57 and P1-58
are suitable.
AL180 CANopen: Heartbeat error The bus cycle time of the CANopen Verify correct CANopen connection.
detected master is greater than the Check the CANopen master. Verify
programmed heartbeat or node correct CANopen configuration,
guard time. The connection between increase the Heartbeat or Node
the CANopen master and the drive is Guarding time.
lost.
AL3E1 Drive is not synchronous with Operating mode has been activated Verify correct CANopen connection.
master cycle but drive is not synchronized to After having started the
external synchronization signal. synchronization mechanism, wait for
120 cycles before activating the
operating mode.
AL401 Fieldbus: Communication While the power stage was enabled, Verify that the master does not try to
error detected a command was received requesting change the communication state
a different communication state. while the power stage of the drive is
enabled.
AL501 Safety function Safe Torque The safety function STO has been Check whether the safety function
Off (STO) triggered triggered or the signal for the safety STO was triggered intentionally. If
function STO is not properly not, verify correct connection of the
connected. If this condition is signal of the safety function STO.
detected while the power stage is
enabled, the drive detects an error. If
this condition is detected while the
power stage is disabled, the drive
detects an alert.
AL502 System error detected - Contact technical support.
(FPGA)
AL503 System error detected (non- - Contact technical support.
volatile memory)
434 EIO0000002305 07/2019


AL504 System error detected (non- - Contact technical support.
volatile memory)
AL505 DC bus voltage measurement An error was detected in the circuit Perform a Fault Reset. Restart the
that measures the DC bus voltage. drive. If the error persists, contact
Technical Support.
AL507 System error detected (NV - Contact technical support.
access)
AL508 Drive overload (foldback) The foldback current of the drive has Verify correct settings for the
dropped below the value specified parameter P1-23.
via the parameter P1-23.
AL514 Motor overtemperature The motor temperature is Verify correct settings of the
excessively high. parameters P1-62 and P1-63 for
temperature monitoring. Verify
proper ventilation and heat
dissipation of the motor. Clean off
pollutants such as dust. Verify that
the motor is evenly mounted to the
flange plate. Increase the size of the
flange plate to which the motor is
mounted to improve heat dissipation.
Verify that the motor is properly sized
for the application.
AL517 Encoder overvoltage or The current supplied by the drive for Verify correct connection of the
overcurrent the 5 V encoder supply has encoder (short circuits). Verify the
exceeded the limit. This condition current consumption of the encoder.
may occur up to three times in
succession. After the third time, a
time delay of one second must pass
before the power stage can be
enabled again.
AL520 Target position rejected A target position was rejected Verify that target positions do not
because it would have caused the lead to excessive motor velocities.
motor to exceed the maximum
velocity.
AL522 System error detected (CAN The internal supply voltage for the Contact technical support.
power supply) CAN bus is not correct.
AL523 System error detected (self- The self-test has detected an error. Contact technical support.
test)
AL525 Reserved – –
AL527 System error detected The Watchdog function has detected Restart the drive. If the error persists,
(Watchdog) a system error. contact Technical Support.
AL528 Drive overtemperature (IPM) Ambient temperature is too high, fan Verify correct operation of the fan.
is inoperative, dust. Improve the heat dissipation in the
AL529 Drive overtemperature Ambient temperature is too high, fan Verify correct operation of the fan.
(controller) is inoperative, dust. Improve the heat dissipation in the
AL532 Calculated offsets for current The calculated offsets for the current Perform a Fault Reset. Restart the
sensors out of range sensors are out of range. drive. If the error persists, contact
Technical Support.
AL534 Pulse signal missing One of the pulse signals is not Verify correct connection of the pulse
connected. inputs.
AL535 System error detected (FPGA The firmware version is not suitable Update the firmware of the drive.
does not match firmware) for the drive. Contact technical support.
AL539 Motor phase missing One of the motor phases is not Verify correct connection of the
connected. motor phases. Contact technical
support.
EIO0000002305 07/2019 435


AL547 Motor blocked The motor was blocked Remove condition causing the
mechanically, for example, by a mechanical blocking. Verify your
mechanical stop or by the load. application.
AL553 No connection between - Connect master and drive.
master and drive
AL554 Target position rejected A target position was rejected Verify that target positions do not
because it would have caused the lead to excessive
motor to exceed the maximum acceleration/deceleration.
acceleration/deceleration.
AL555 Velocity deviation too high The deviation between actual Verify your application. Verify that
velocity and reference velocity has the values for the tuning parameters
exceeded the maximum velocity are suitable. Increase the value for
deviation specified via the parameter the maximum velocity deviation in
P2-34. the parameter P2-34.
AL557 No target values received via No target values have been received Perform a Fault Reset. Verify that
the fieldbus via the fieldbus three times in target values are transmitted via the
succession. fieldbus.
AL558 System error detected - Contact technical support.
AL560 Power stage supply off - Power on the power stage supply.
AL561 Temperature sensor - Restart the drive. If the error persists,
inoperative contact Technical Support.
AL563 Commutation error detected Motor phases have been Verify correct connection of the
interchanged. motor phases.
AL564 Position deviation via signal After a movement has been Use the signal input function
output function MC_OK successfully completed, MC_OK FAULT_RESET to perform a Fault
was active. Then TPOS became Reset and set the parameter P0-01
inactive which caused MC_OK to to 0. If you want this condition to
become inactive as well. cause an alert instead of a detected
error, set the parameter P1-48
accordingly.
AL567 System error detected Refer to parameter P8-48 for details. Contact technical support.
(encoder)
AL568 Braking resistor overload The permissible braking resistor Verify correct rating of the braking
power has been exceeded. resistor used. Verify your
application.
AL569 Configuration not correctly - Verify correct connection. Verify that
transferred via Modbus configuration file and drive are
compatible.
AL570 Overcurrent detected at one - Verify correct wiring of the digital
of the digital outputs outputs. Verify that there are no short
circuits.
AL572 Position deviation too high The position deviation has exceeded Verify your application. Reduce the
(following error) the maximum permissible position external load. Increase the
deviation specified via the parameter permissible position deviation via the
P2-35 and the drive has detected a parameter P2-35. Reduce the motor
following error. velocity via the parameters P1-
V_REF. Increase the torque
limitation via the parameters P1-
T_REF.
AL573 The returned position values – –
are no longer considered
valid
AL574 The encoder temperature is – –
too high
AL575 The encoder supply voltage – –
has dropped under
operational value
AL576 The multi turn encoder – –
battery voltage has dropped
under 3 Vdc
436 EIO0000002305 07/2019


AL577 The multi turn encoder – –
requires an explicit
configuration command
AL578 Internal position – –
synchronization error
detected between the multi
turn and the single turn
modules
AL579 Generic error code of the – –
multi turn module is detected
AL580 The encoder firmware cannot – –
operate on the provided
hardware
AL581 The drive firmware cannot – –
operate with the provided
encoder version
AL582 The drive firmware cannot – –
operate on the provided
hardware
AL585 CANopen device in state bus- Too many error frames have been Verify correct baud rates. Verify
off detected. CANopen devices have CANopen bus installation.
different baud rates.
AL595 Impermissible combination of - Use an approved drive/motor
drive and motor combination.
AL596 Unstable current loop Excessive overshoot in current loop. Verify correct settings of the
parameters for the current loop.
AL597 R_PDO is too short - Verify correct PDO settings for drive
and master.
AL598 Invalid Quick Stop active A Quick Stop has been triggered via Verify correct setting of the
state the fieldbus or by releasing access parameter P3-31.
right. The Quick Stop option code
(P3-31) has been set to -1 or -2
which causes the drive to transition
to the operating state 9 Fault instead
of the operating state 7 Quick Stop
Active.
EIO0000002305 07/2019 437

438 EIO0000002305 07/2019

Service, Maintenance and Disposal
EIO0000002305 07/2019
Part IX
EIO0000002305 07/2019 439

440 EIO0000002305 07/2019

Service, Maintenance, and Disposal
EIO0000002305 07/2019
Chapter 20

Topic Page
General 442
Service Address 443
Maintenance of the Drive 444
Replacement of Drive 445
Maintenance of the Motor 446
Changing the Motor 448
Shipping, Storage, Disposal 449
EIO0000002305 07/2019 441

General
The product may only be repaired by a Schneider Electric customer service center.
The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present
during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all
equipment. Verify compliance with any safety information, different electrical requirements, and normative
standards that apply to your machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains voltage, or
present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.
DANGER
energized position.
442 EIO0000002305 07/2019

Service Address
If you cannot resolve an error yourself, contact your sales office.

Have the following data available:
 Nameplate (type, identification number, serial number, DOM, ...)
 Type of error (with LED flash code or error code)
 Previous and concomitant circumstances
 Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or repair.
If you have any questions, contact your sales office. Your sales office staff will provide you the name of a
customer service office in your area.
http://www.schneider-electric.com
EIO0000002305 07/2019 443

Maintenance of the Drive
Prior to any type of work on the drive system, consult the chapters on Installation and Commissioning for
information to be observed.
Repairs cannot be made with the device installed.
Include the following points in the maintenance plan of your machine.
Connections and Fastening

 Check all connection cables and connectors regularly for damage. Replace damaged cables
immediately.
 Tighten all mechanical and electrical threaded connections to the specified torque.
Cleaning
Clean dust and dirt off the product at regular intervals. Insufficient heat dissipation to the ambient air may
excessively increase the temperature.
Lifetime of the Safety Function STO

The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety
function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the
nameplate of the product.
 This date must be included in the maintenance plan of the system.
 Do not use the safety function after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.08. (31
December 2008). This means: Do not use the safety function after December 31, 2028.
444 EIO0000002305 07/2019

Replacement of Drive
after a restart.
WARNING
modification.
Prepare a list with the parameters required for the functions used.
Observe the following procedure when replacing devices:
Step Action
1 Save all parameter settings. Save the data to your PC using the commissioning software, refer
to chapter Commissioning Software (see page 206).
2 Power off all supply voltages. Verify that no voltages are present.
3 Label all connections and remove all connection cables (unlock connector locks).
4 Uninstall the product.
5 Note the identification number and the serial number shown on the product nameplate for later
identification.
6 Install the new product as per chapter Installation (see page 139).
7 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.
8 Commission the product as per chapter Commissioning (see page 191).
EIO0000002305 07/2019 445

Maintenance of the Motor
Prior to any type of work on the drive system, consult the chapters on Installation and Commissioning for
information to be observed.
Repairs cannot be made with the device installed.
Include the following points in the maintenance plan of your machine.
Connections and Fastening

 Inspect all connection cables and connectors regularly for damage. Replace damaged cables
immediately.
 Verify that all output elements are firmly seated.
 Tighten all mechanical and electrical threaded connections to the specified torque.
Lubricating the Shaft Sealing Ring

In the case of motors with shaft sealing ring, lubricant must be applied to the space between the sealing
lip of the shaft sealing ring and the shaft with a suitable non-metallic tool. If the shaft sealing rings are
allowed to run dry, the service life of the shaft sealing rings will be significantly reduced.
Cleaning
If the permissible ambient conditions are not respected, external substances from the environment may
penetrate the product and cause unintended movement or equipment damage.
WARNING
UNINTENDED MOVEMENT
 Verify that the ambient conditions are respected.
 Do not allow seals to run dry.
 Keep liquids from getting to the shaft bushing (for example, in mounting position IM V3).
 Do not expose the shaft sealing rings and cable entries of the motor to the direct spray of a pressure
washer.
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.
When using solvents or cleaning agents, verify that the cables, cable entry seals, O-rings, and motor paint
are not damaged.
Replacing the Rolling Bearing

When the rolling bearing is replaced, the motor is partially demagnetized and loses power.
NOTICE
INOPERABLE EQUIPMENT
Do not replace the rolling bearing.
446 EIO0000002305 07/2019

Replacing the Battery for the Multi Turn Encoder

The multi turn counting is preserved through power down by the external battery located into the battery
compartment.
 Do not disconnect the encoder cable from the battery compartment or the multi turn information is lost.
 Replace the battery while the encoder is powered by the drive or the multi turn information is lost.
The battery has its manufacturing date printing on it in MMYY format. The expiration date for the battery is
3 years after the manufacturing date.
On the following example, the manufacturing date of the battery is June 2016 (0616). The expiration date
is June 2019.
The battery voltage is monitored by the encoder at each power on of the drive.
 An alert Wn731 related to P8-49 Bit 10 is triggered when the measured voltage is in the range
3 … 3.15 Vdc.
 An error AL567 related to P8-48 Bit 5 is triggered when the measured voltage is under 3 Vdc.
NOTE: After replacing the battery, the detected error is cleared the next time the drive is powered on
(next battery voltage measurement), or when an explicit command is sent to the encoder by setting P8-
44 to the value 1.
EIO0000002305 07/2019 447

Changing the Motor
WARNING
UNINTENDED MOVEMENT
Observe the following procedure when changing motors:
Step Action
1 Switch off all supply voltages. Verify that no voltages are present.
2 Label all connections and uninstall the product.
3 Note the identification number and the serial number shown on the product nameplate for later
identification.
4 Install the new product as per chapter Installation (see page 177).
5 Commission the product as per chapter Commissioning (see page 191).
If the connected motor is replaced by another approved motor, the new motor is automatically recognized
by the drive.
448 EIO0000002305 07/2019

Shipping, Storage, Disposal
Shipping
The product must be protected against shocks during transportation. If possible, use the original packaging
for shipping.
Storage
The product may only be stored in spaces where the specified permissible ambient conditions are met.
Protect the product from dust and dirt.
Disposal
The product consists of various materials that can be recycled. Dispose of the product in accordance with
local regulations.
Visit http://www.schneider-electric.com/green-premium for information and documents on environmental
protection as per ISO 14025 such as:
 EoLi (Product End-of-Life Instructions)
 PEP (Product Environmental Profile)
EIO0000002305 07/2019 449

450 EIO0000002305 07/2019

CANopen
EIO0000002305 07/2019
Part X
CANopen
CANopen

21 CANopen Basics 453
22 CANopen Object Dictionary 459
EIO0000002305 07/2019 451

CANopen
452 EIO0000002305 07/2019

CANopen Basics
EIO0000002305 07/2019
Chapter 21
CANopen Basics
CANopen Basics

Topic Page
Communication Objects 454
Service Data Communication 455
Process Data Communication 456
EIO0000002305 07/2019 453

CANopen Basics
Communication Objects
Overview
CANopen manages communication between the network devices with object dictionaries and objects. A
network device can use process data objects (PDO) and service data objects (SDO) to request the object
data from the object dictionary of another device and, if permissible, write back modified values.
 PDOs (process data objects) for real-time transmission of process data.
 SDOs (service data object) for read and write access to the object dictionary.
 Objects for controlling CAN messages:
 SYNC object (synchronization object) for synchronization of network devices.
 EMCY object (emergency object), for signaling detected errors of a device or its peripherals.
 Network management services:

 NMT services for initialization and network control (NMT: network management).
 NMT node guarding for monitoring the network devices.
 NMT heartbeat for monitoring the network devices.
454 EIO0000002305 07/2019

CANopen Basics
Service Data Communication
SDO Description
Service Data Objects (SDO) can be used to access the entries of an object dictionary using index and
subindex. The values of the objects can be read and, if permissible, also written.
Every network device has at least one SDO server to be able to respond to read and write requests from
a different device.
The TxSDO of a SDO client is used to send the request for data exchange; the RxSDO is used to receive.
EIO0000002305 07/2019 455

CANopen Basics
Process Data Communication
PDO Mapping
Up to 8 bytes of data from different areas of the object dictionary can be transmitted with a PDO message.
Mapping of data to a PDO message is referred to as PDO mapping.
Objects that can be used in PDO mapping are identified in the PDO mapping object column in the object
dictionary table.
The groups of objects that are involved in PDO mapping are:
 Vendor-specific Object Group 4000h (see page 477)
 Device Profile Object Group 6000h (see page 509)
The picture below shows the data exchange between PDOs and object dictionary based on two examples
of objects in TxPDO4 and RxPDO4 of the PDOs.
Dynamic PDO Mapping

The device uses dynamic PDO mapping. Dynamic PDO mapping means that objects can be mapped to
the corresponding PDO using adjustable settings.
The settings for PDO mapping are defined in an assigned communication object for each PDO.
Object PDO mapping for Type

1st receive PDO mapping (1600h) RxPDO1 Dynamic
2nd receive PDO mapping (1601h) RxPDO2 Dynamic
3rd receive PDO mapping (1602h) RxPDO3 Dynamic
4th receive PDO mapping (1603h) RxPDO4 Dynamic
1st transmit PDO mapping (1A00h) TxPDO1 Dynamic
2nd transmit PDO mapping (1A01h) TxPDO2 Dynamic
3rd transmit PDO mapping (1A02h) TxPDO3 Dynamic
4th transmit PDO mapping (1A03h) TxPDO4 Dynamic
456 EIO0000002305 07/2019

CANopen Basics
Structure of the Entries

Up to 8 bytes of 8 different objects can be mapped in a PDO. Each communication object for setting the
PDO mapping provides four subindex entries. A subindex entry contains three pieces of information on the
object: the index, the subindex, and the number of bits that the object uses in the PDO.
Subindex 00h of the communication object contains the number of valid subindex entries.
Object length Bit value

08h 8 bits
10h 16 bits
20h 32 bits
EIO0000002305 07/2019 457

CANopen Basics
458 EIO0000002305 07/2019

CANopen Object Dictionary
EIO0000002305 07/2019
Chapter 22

Section Topic Page
22.1 Overview 460
22.2 1000h…1FFFh Standard Communication Object Group 464
22.3 4000h … 4FFFh Vendor-specific Object Group 477
22.4 6000h … 6FFFh Device-Specific Object Group 509
EIO0000002305 07/2019 459

Section 22.1
Overview
Overview

Topic Page
Specifications for the Objects 461
Object Dictionary Overview 463
460 EIO0000002305 07/2019

Specifications for the Objects
Overview
The object dictionary table contains the following information:

Data type object Factory setting
The symbol (-) means that the value is not significant.
Index
The index specifies the position of the object in the object dictionary. The index value is specified as a
hexadecimal value. The subindex is also available in this cell if it is relevant
Name
Name of the object.
Object Type
The object type specifies the data structure of the object:
Object type Description DS306

Coding
VAR A simple value, for example of the type Integer8, Unsigned32 or Visible 7h
String8.
ARRAY A data field in which the entries have the same data type. 8h
RECORD A data field that contains entries that are a combination of simple data 9h
types.
Data Type
The data type specifies the type of the object:
Data type Description Value range Data length DS301 coding

BOOL Boolean 0 = false, 1 = true 1 byte 0001h
INT8 Integer 8 bits -128 ... +127 1 byte 0002h
INT16 Integer 16 bits -32768 ... +32767 2 bytes 0003h
INT32 Integer 32 bits -2147483648 ... 2147483647 4 bytes 0004h
UINT8 Unsigned Integer 0 ... 255 1 byte 0005h
8 bits
UINT16 Unsigned Integer 0 ... 65535 2 bytes 0006h
16 bits
UINT32 Unsigned Integer 0 ... 4294967295 4 bytes 0007h
32 bits
VISIBLE_STRING Visible String ASCII characters 8 bytes 0009h
8 bytes
Access
Indicates the access type for the object:
Access type Description

ro Read only
rw Read and write
rww Read and write on process output
const Constant value
EIO0000002305 07/2019 461

PDO Mapping Object

Indicates if the object can be mapped in a PDO:
PDO mapping object Description

No The object cannot be mapped in a PDO
Yes The object can be mapped in a PDO
Minimum Value
The minimum value which can be set.
Factory Setting
The value of the object when the product is shipped from the factory.
Maximum Value
The maximum value which can be set.
462 EIO0000002305 07/2019

Object Dictionary Overview
Description
Each CANopen device manages an object dictionary which contains the objects for communication.
Index and Subindex

The objects are addressed in the object dictionary via a 16 bits index.
One or more 8 bits subindex entries for each object specify individual data fields in the object. Index and
subindex are shown in hexadecimal notation.
Description Object Dictionary

The description object dictionary is made of several object groups:
Index (hex) Object

0000 Unused
0001…001F Static data types
0020…003F Complex data types
0040…005F Unused (Manufacturer-specific complex data types)
0060…007F Device profile-specific static data types
0080…009F Device profile-specific complex data types
00A0…0FFF Reserved
1000…1FFF Communication profile area
2000…5FFF Vendor-specific profile area
6000…9FFF Standardized device profile area
A000…FFFF Reserved
Object Groups Implemented

Three groups of objects are available in the object dictionary.
 1000h - 1FFFh: Standard communication Object Group (see page 464)
 4000h - 4FFFh: Vendor-specific Object Group (see page 477)
 6000h - 6FFFh: Device profile Object Group (see page 509)
EIO0000002305 07/2019 463

Section 22.2
1000h…1FFFh Standard Communication Object Group
1000h…1FFFh Standard Communication Object Group

Topic Page
10xxh Object Group 465
1Axxh Object Group 475
464 EIO0000002305 07/2019

10xxh Object Group
10xxh Standard Communication Object Group

1000h Device Type VAR No -
UINT32 4325778
ro -
1001h Error Register VAR No -
UINT8 -
ro -
1002h Manufacturer Status Register VAR No -
UINT32 -
ro -
1003h Pre-defined Error Field ARRAY No -
History of the errors detected by the drive - -
and notified via the Emergency Object. - -
1003:0h Number of Errors VAR No -
The history of error codes can be cleared by UINT8 0
writing value 0 to this sub index. rw -
1003:1h Standard Error Field VAR No -
Error code of most recent detected error n UINT32 -
ro -
Error code of most recent detected error n-1 UINT32 -
ro -
ro -
ro -
ro -
ro -
ro -
ro -
ro -
1003:Ah Standard Error Field VAR No -
ro -
1005h COB-ID SYNC VAR No -
UINT32 128
rw -
1006h Communication Cycle Period VAR No -
UINT32 0
rw -
1007h Synchronous Window Length VAR No -
UINT32 0
rw -
EIO0000002305 07/2019 465


1008h Manufacturer Device Name VAR No -
VISIBLE_STRING -
const -
1009h Manufacturer Hardware Version VAR No -
VISIBLE_STRING -
const -
100Ah Manufacturer Software Version VAR No -
VISIBLE_STRING -
const -
100Ch Guard Time VAR No -
UINT16 0
rw -
100Dh Life Time Factor VAR No -
UINT8 0
rw -
1014h COB-ID EMCY VAR No -
UINT32 $NODEID+0x80
rw -
1015h Inhibit Time Emergency VAR No -
UINT16 0
rw -
1016h Heartbeat Consumer Entries ARRAY No -
- -
- -
1016:0h Number of Entries VAR No -
UINT8 3
ro -
1016:1h Consumer Heartbeat Time 1 VAR No 0
UINT32 0
rw 8388607
UINT32 0
rw 8388607
UINT32 0
rw 8388607
1017h Producer Heartbeat Time VAR No -
UINT16 0
rw -
1018h Identity Object RECORD No -
- -
- -
1018:0h number of entries VAR No 1
UINT8 4
ro 4
1018:1h Vendor ID VAR No -
UINT32 134217818
ro -
1018:2h Product Code VAR No -
UINT32 614416
ro -
1018:3h Revision number VAR No -
UINT32 -
ro -
1018:4h Serial number VAR No -
UINT32 -
ro -
1019h Synchronous counter overflow value VAR No -
UINT8 0
rw -
466 EIO0000002305 07/2019


1029h Error Behavior ARRAY No -
- -
- -
1029:0h Number of Entries VAR No 1
UINT8 1
ro 254
1029:1h Communication Error VAR No 0
UINT8 0
rw -
EIO0000002305 07/2019 467

12xxh Object Group

1200h Server SDO Parameter 1 RECORD No -
- -
- -
UINT8 2
ro 2
1200:1h COB-ID Client -> Server VAR No $NODEID+0x600
UINT32 $NODEID+0x600
ro $NODEID+0xBFF
FFFFF
1200:2h COB-ID Server -> Client VAR No $NODEID+0x580
ro $NODEID+0xBFF
FFFFF
1201h Server SDO Parameter 2 RECORD No -
- -
- -
UINT8 3
ro 3
1201:1h COB-ID Client -> Server VAR No -
UINT32 -
rw 4294967295
1201:2h COB-ID Server -> Client VAR No -
UINT32 -
rw 4294967295
1201:3h Node ID of the SDO Client VAR No -
UINT8 -
rw 127
468 EIO0000002305 07/2019

14xxh Object Group
Objects 14xxh Standard Communication Object Group

1400h Receive PDO Communication Parameter 1 RECORD No -
- -
- -
UINT8 3
ro 5
1400:1h COB-ID VAR No -
rw $NODEID+0xFFF
FFFFF
1400:2h Transmission Type VAR No 0
UINT8 255
rw 255
1400:3h Inhibit Time VAR No 0
UINT16 0
rw 65535
- -
- -
UINT8 3
ro 5
rw 0300
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
- -
- -
UINT8 3
ro 5
rw 0400
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
- -
- -
UINT8 3
ro 5
EIO0000002305 07/2019 469


rw 0500
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
470 EIO0000002305 07/2019

16xxh Object Group

1600h Receive PDO Mapping Parameter 1 RECORD No -
- -
- -
UINT8 1
rw 64
1600:1h Mapping Entry 1 VAR No 0
UINT32 1614807056
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
- -
- -
UINT8 2
rw 64
UINT32 1614807056
rw 4294967295
UINT32 1618608160
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
- -
- -
UINT8 2
rw 64
UINT32 1614807056
rw 4294967295
UINT32 1627324448
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
EIO0000002305 07/2019 471


- -
- -
UINT8 0
rw 64
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
472 EIO0000002305 07/2019

18xxh Object Group

1800h Transmit PDO Communication Parameter 1 RECORD No -
- -
- -
UINT8 5
ro 6
rw 0180
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
1800:4h Compatibility Entry VAR No 0
UINT8 0
rw 255
1800:5h Event Timer VAR No 0
UINT16 0
rw 65535
- -
- -
UINT8 5
ro 6
UINT32 $NODEID+0xC00
rw 00280
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
UINT8 0
rw 255
UINT16 100
rw 65535
- -
- -
UINT8 5
ro 6
EIO0000002305 07/2019 473


rw 00380
$NODEID+0xFFF
FFFFF
UINT8 255
rw 255
UINT16 0
rw 65535
UINT8 0
rw 255
UINT16 100
rw 65535
- -
- -
UINT8 5
ro 6
rw 00480
$NODEID+0xFFF
FFFFF
UINT8 254
rw 255
UINT16 0
rw 65535
1803:4h Reserved VAR No 0
UINT8 0
- 255
UINT16 0
rw 65535
474 EIO0000002305 07/2019

1Axxh Object Group
1Axxh Standard Communication Object Group

1A00h Transmit PDO Mapping Parameter 1 RECORD No -
- -
- -
1A00:0h Number of Entries VAR No 0
UINT8 1
rw 255
1A00:1h Mapping Entry 1 VAR No 0
UINT32 1614872592
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
- -
- -
UINT8 2
rw 255
UINT32 1614872592
rw 4294967295
UINT32 1617166368
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
- -
- -
UINT8 2
rw 255
UINT32 1614872592
rw 4294967295
UINT32 1617690656
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
EIO0000002305 07/2019 475


- -
- -
UINT8 0
rw 255
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
UINT32 0
rw 4294967295
476 EIO0000002305 07/2019

Section 22.3
4000h … 4FFFh Vendor-specific Object Group
4000h … 4FFFh Vendor-specific Object Group

Topic Page
4Bxxh Object Group 506
4Fxxh Object Group 508
EIO0000002305 07/2019 477

40xxh Object Group
40xxh Vendor-specific Object Group

This objects list is also available in P0 - Status parameters (see page 239)
Index Name Parameter Object type PDO mapping Minimum value

4000h Firmware Version P0-00 VAR No 0
UINT16 -
ro 65535
4001h Error code of detected error P0-01 VAR No 0
UINT16 -
rw 65535
4002h Drive Status Displayed by P0-02 VAR No 0
HMI UINT16 0
rw 123
4003h Function of Analog Outputs P0-03 VAR No 0
UINT16 0
rw 119
4004h FPGA Version P0-04 VAR No 0
UINT16 -
ro 65535
4008h Operating Hour Meter in P0-08 VAR No 0
Seconds UINT32 -
ro 4294967295
4009h Status Value 1 P0-09 VAR No -2147483647
INT32 -
ro 2147483647
400Ah Status Value 2 P0-10 VAR No -2147483647
INT32 -
ro 2147483647
400Bh Status Value 3 P0-11 VAR No -2147483647
INT32 -
ro 2147483647
400Ch Status Value 4 P0-12 VAR No -2147483647
INT32 -
ro 2147483647
400Dh Status Value 5 P0-13 VAR No -2147483647
INT32 -
ro 2147483647
4011h Indicate status value 1 P0-17 VAR No 0
UINT16 0
rw 123
UINT16 0
rw 123
UINT16 0
rw 123
UINT16 0
rw 123
UINT16 0
rw 123
4019h Parameter Mapping 1 P0-25 VAR No 0
UINT32 -
rw 4294967295
401Ah Parameter Mapping 2 P0-26 VAR No 0
UINT32 -
rw 4294967295
478 EIO0000002305 07/2019


401Bh Parameter Mapping 3 P0-27 VAR No 0
UINT32 -
rw 4294967295
401Ch Parameter Mapping 4 P0-28 VAR No 0
UINT32 -
rw 4294967295
401Dh Parameter Mapping 5 P0-29 VAR No 0
UINT32 -
rw 4294967295
401Eh Parameter Mapping 6 P0-30 VAR No 0
UINT32 -
rw 4294967295
401Fh Parameter Mapping 7 P0-31 VAR No 0
UINT32 -
rw 4294967295
4020h Parameter Mapping 8 P0-32 VAR No 0
UINT32 -
rw 4294967295
4023h Block Data Read/Write P0- P0-35 VAR No 0
35…P0-42 1 UINT32 0
rw 4294967295
35…P0-42 2 UINT32 0
rw 4294967295
35…P0-42 3 UINT32 0
rw 4294967295
35…P0-42 4 UINT32 0
rw 4294967295
35…P0-42 5 UINT32 0
rw 4294967295
35…P0-42 6 UINT32 0
rw 4294967295
35…P0-42 7 UINT32 0
rw 4294967295
402Ah Block Data Read/Write P0- P0-42 VAR No 0
35…P0-42 8 UINT32 0
rw 4294967295
402Eh State of Signal Output P0-46 VAR No 0
Functions UINT16 -
ro 65535
402Fh Number of Last Alert P0-47 VAR No 0
UINT16 -
ro 65535
EIO0000002305 07/2019 479

41xxh Object Group

This objects list is also available in P1 - Basic parameters (see page 244)

4100h Reference Value Signal - P1-00 VAR No 0
Pulse Settings UINT16 2
rw 4402
4101h Operating Mode and P1-01 VAR No 0
Direction of Rotation UINT16 11
rw 4363
4102h Velocity and Torque P1-02 VAR No 0
Limitations UINT16 0
Activation/Deactivation rw 17
4103h Polarity of Analog Outputs / P1-03 VAR No 0
Polarity of Pulse Outputs UINT16 0
rw 19
4104h Scaling Factor Analog Output P1-04 VAR No 1
1 UINT16 100
rw 100
4105h Scaling Factor Analog Output P1-05 VAR No 1
2 UINT16 100
rw 100
4106h CAN Opmode P1-06 VAR No -32768
INT16 0
ro 32767
4107h Limit Switch Fault Reaction P1-07 VAR No 0
UINT16 0
rw 1
4109h Target Velocity/Velocity P1-09 VAR No -60000
Limitation 1 INT32 10000
rw 60000
410Ah Target Velocity/Velocity P1-10 VAR No -60000
rw 60000
410Bh Target Velocity/Velocity P1-11 VAR No -60000
rw 60000
410Ch Target Torque/Torque P1-12 VAR No -300
rw 300
410Dh Target Torque/Torque P1-13 VAR No -300
rw 300
410Eh Target Torque/Torque P1-14 VAR No -300
rw 300
410Fh Mains Phase Monitoring - P1-15 VAR No 0
Response to Missing Mains UINT16 0
Phase rw 2
4110h Mains Phase Monitoring - P1-16 VAR No 0
Fault Reset UINT16 0
rw 1
4111h Mains Phase Monitoring - P1-17 VAR No 0
Type UINT16 0
rw 2
4112h Reserved P1-18 VAR No 0
UINT16 3
rw 5
480 EIO0000002305 07/2019


4113h Active Disable - Delay Time P1-19 VAR No 0
Power Stage UINT16 0
rw 6500
4114h Current Limit During Quick P1-20 VAR No 1
Stop INT16 1000
rw 1000
4115h Status of Foldback Current P1-21 VAR No 0
Drive UINT16 -
ro 1
4116h Foldback Current Limit - Drive P1-22 VAR No 0
UINT32 -
ro 30000
4117h Current Monitoring Drive - P1-23 VAR No 0
Detected Error Threshold UINT32 -
Foldback Current rw 30000
4118h Current Monitoring Drive - P1-24 VAR No 0
Alert Threshold Foldback UINT32 -
Current rw 30000
4119h Reserved P1-25 VAR No -
UINT32 -
rw -
411Ah Foldback Current Limit - P1-26 VAR No 0
Motor UINT32 -
ro 30000
411Bh Motor Current Monitoring - P1-27 VAR No 0
Detected Error Threshold UINT32 -
Foldback Current rw 30000
411Ch Motor Current Monitoring - P1-28 VAR No 0
Alert Threshold Foldback UINT32 -
Current rw 30000
411Dh DC Bus Overvoltage P1-29 VAR No -
Monitoring - Threshold UINT16 -
ro -
411Eh Commutation Monitoring - P1-30 VAR No 0
Maximum Counter Value UINT16 0
rw 0
4120h Stop Method P1-32 VAR No 0
UINT16 0
rw 32
4122h Acceleration Period P1-34 VAR No 6
UINT16 30
rw 65500
4123h Deceleration Period P1-35 VAR No 6
UINT16 30
rw 65500
4125h Ratio of Load Inertia to Motor P1-37 VAR No 0
Inertia UINT32 10
rw 20000
4126h Signal Output Function ZSPD P1-38 VAR No 0
/ Signal Input Function INT32 100
ZCLAMP - Velocity rw 2000
4127h Signal Output Function TSPD P1-39 VAR No 0
- Velocity UINT32 3000
rw 5000
4128h Velocity Target Value and P1-40 VAR No 0
Velocity Limitation 10 V INT32 -
rw 10001
4129h Torque Target Value and P1-41 VAR No 0
Torque Limitation 10 V UINT16 100
rw 1000
EIO0000002305 07/2019 481


412Ah ON Delay Time of Holding P1-42 VAR No 0
Brake UINT16 0
rw 1000
412Ch Electronic Gear Ratio - P1-44 VAR No 1
Numerator 1 UINT32 128
rw 536870911
412Dh Electronic Gear Ratio - P1-45 VAR No 1
Denominator UINT32 10
rw 2147483647
412Eh Encoder Simulation P1-46 VAR No -
Resolution INT32 2048
rw -
412Fh Signal Output Function P1-47 VAR No 0
SP_OK - Velocity UINT32 10
rw 300
4130h Signal Output Function P1-48 VAR No 0
MC_OK - Settings UINT16 0
rw 33
4134h Braking Resistor - Resistance P1-52 VAR No -1
INT16 -
rw 32767
4135h Braking Resistor - Power P1-53 VAR No -1
INT16 -
rw 32767
4136h Signal Output Function TPOS P1-54 VAR No 0
- Trigger Value UINT32 1311
rw 1280000
4137h Maximum Velocity - User- P1-55 VAR No 10
Defined UINT32 -
rw 6000
4139h Torque Monitoring - Torque P1-57 VAR No 0
Value UINT16 0
rw 300
413Ah Torque Monitoring - Time P1-58 VAR No 1
Value UINT16 1
rw 1000
413Bh S Curve Filter for Operating P1-59 VAR No 0
Mode Velocity UINT32 0
rw 255875
413Ch Commutation Monitoring - P1-60 VAR No 0
Time Threshold UINT16 0
rw 3000
413Dh Commutation Monitoring - P1-61 VAR No 0
Velocity Threshold UINT32 600
rw 60000
413Eh Motor Overtemperature P1-62 VAR No 0
Monitoring - Response UINT16 0
rw 5
413Fh Motor Overtemperature P1-63 VAR No 0
Monitoring - Delay Time UINT16 30
rw 300
4140h Undervoltage Monitoring - P1-64 VAR No 0
Response UINT16 0
rw 3
4141h Reserved P1-65 VAR No 0
UINT16 0
rw 1
4142h Status of Foldback Current P1-66 VAR No 0
Motor UINT16 -
ro 1
482 EIO0000002305 07/2019


Delay Time UINT16 30
rw 300
4144h Active Disable - Deceleration P1-68 VAR No 6
Ramp UINT16 30
rw 65500
4145h Disable - Deceleration Time P1-69 VAR No 0
UINT16 0
rw 6500
4146h Signal Input Function HALT - P1-70 VAR No -
Maximum Current UINT32 0
rw -
4147h Braking Resistor - Maximum P1-71 VAR No 10
Time in Braking UINT16 40
rw 100
4148h Braking Resistor Overload P1-72 VAR No 0
Monitoring - Response UINT16 0
rw 1
414Eh User-Defined Maximum P1-78 VAR No -
Current UINT32 -
rw -
414Fh Maximum Current P1-79 VAR No -
UINT32 -
ro -
4150h Maximum Peak Current P1-80 VAR No -
UINT32 -
ro -
4151h Nominal Current P1-81 VAR No -
UINT32 -
ro -
4152h Velocity limitation for P1-82 VAR No 0
CANopen operating mode UINT16 0
Profile Torque rw 3
4154h Configured motor type P1-84 VAR No 0
UINT32 -
rw 2147483647
4155h Torque Limit For CANopen P1-85 VAR No 0
Modes UINT16 0
rw 3
4157h Quick Stop - Maximum P1-87 VAR No -
Current UINT32 0
rw P1-79
EIO0000002305 07/2019 483

42xxh Object Group

This objects list is also available in P2 - Extended parameters (see page 257)

4201h Gain Switching - Rate for P2-01 VAR No 10
Position Loop UINT16 100
rw 500
4205h Gain Switching - Rate for P2-05 VAR No 10
Velocity Loop UINT16 100
rw 500
4208h Factory Reset / Save P2-08 VAR No 0
Parameters / Activation of UINT16 0
Forcing of Outputs rw 406
4209h Debounce Time - Inputs P2-09 VAR No 0
UINT16 2
rw 20
420Ah Signal Input Function for DI1 P2-10 VAR No 0
UINT16 256
rw 326
420Bh Signal Input Function for DI2 P2-11 VAR No 0
UINT16 256
rw 326
420Ch Signal Input Function for DI3 P2-12 VAR No 0
UINT16 256
rw 326
420Dh Signal Input Function for DI4 P2-13 VAR No 0
UINT16 256
rw 326
420Eh Signal Input Function for DI5 P2-14 VAR No 0
UINT16 36
rw 326
420Fh Signal Input Function for DI6 P2-15 VAR No 0
UINT16 34
rw 326
4210h Signal Input Function for DI7 P2-16 VAR No 0
UINT16 35
rw 326
4211h Signal Input Function for DI8 P2-17 VAR No 0
UINT16 33
rw 326
4212h Signal Output Function for P2-18 VAR No 0
DO1 UINT16 257
rw 311
DO2 UINT16 256
rw 311
DO3 UINT16 256
rw 311
DO4 UINT16 256
rw 311
DO5 UINT16 7
rw 311
DO6(OCZ) UINT16 64
rw 319
484 EIO0000002305 07/2019


4218h Debounce Time - Fast Inputs P2-24 VAR No 0
UINT16 50
rw 100
421Bh Gain Switching - Conditions P2-27 VAR No 0
and Type UINT16 0
rw 24
421Dh Gain Switching - Comparison P2-29 VAR No 0
Value UINT32 1280000
rw 3840000
421Eh Auxiliary Functions P2-30 VAR No -8
INT16 0
rw 8
421Fh Autotuning Optimization P2-31 VAR No 100
Value Threshold UINT32 1000
rw 10000
4220h Autotuning P2-32 VAR No 0
UINT16 0
rw 56
4222h Velocity Monitoring - P2-34 VAR No 0
Threshold Value UINT32 50000
rw 60000
4223h Position Deviation Monitoring P2-35 VAR No 1
- Threshold Value UINT32 384000
rw 12800000
4224h PTI Interface Debounce Time P2-36 VAR No 0
- Pulse UINT16 30
ro 511
4225h PTI Interface Debounce Time P2-37 VAR No 0
- Direction UINT16 30
ro 511
422Ch Set the AUTOR feature digital P2-44 VAR No 0
out mode UINT16 0
rw 1
4232h Signal Input Function P2-50 VAR No 0
CLRPOS - Trigger UINT16 0
rw 1
423Ch Electronic Gear Ratio - P2-60 VAR No 1
rw 536870911
423Dh Electronic Gear Ratio - P2-61 VAR No 1
rw 536870911
423Eh Electronic Gear Ratio - P2-62 VAR No 1
rw 536870911
4241h Special Function 1 P2-65 VAR No 0
UINT16 512
rw 65472
4242h Special Function 2 P2-66 VAR No 0
UINT16 0
rw 4
4244h Auto-Enable and Automatic P2-68 VAR No 0
Hardware Limit Switch Fault UINT16 0
Reset rw 273
4245h Analog Input 1 Value P2-69 VAR No -12500
INT16 -
ro 12500
4246h Analog Input 2 Value P2-70 VAR No -12500
INT16 -
ro 12500
EIO0000002305 07/2019 485

43xxh Object Group

Part of this objects list is also available in P3 - Communication parameters (see page 265)

4300h Device Address Modbus P3-00 VAR No 1
UINT16 127
rw 247
4301h Transmission Rate for P3-01 VAR No 0
Integrated Fieldbus and UINT16 258
Modbus rw 1029
4302h Modbus Connection Settings P3-02 VAR No 6
UINT16 7
rw 9
4303h Detected Modbus P3-03 VAR No 0
Communication Errors - UINT16 0
Handling rw 1
4304h Modbus Connection P3-04 VAR No 0
Monitoring UINT16 0
rw 20000
4305h Device Address Integrated P3-05 VAR No 0
Fieldbus UINT16 0
rw 127
4306h Digital Inputs - Forcing P3-06 VAR No 0
Settings UINT16 0
rw 2047
4307h Modbus Response Delay P3-07 VAR No 0
Time UINT16 0
rw 1000
4309h CANopen Master/Slave P3-09 VAR No 4097
Synchronization UINT16 20565
rw 40959
430Ah Drive Profile Lexium - P3-10 VAR No 0
Activation UINT16 0
rw 1
430Bh Drive Profile Lexium - State of P3-11 VAR Yes 0
Digital Inputs UINT16 -
ro 65535
430Ch Drive Profile Lexium - Control P3-12 VAR Yes 0
Word UINT16 0
rww 65535
430Dh Drive Profile Lexium - RefA P3-13 VAR Yes -32768
16 Bit Parameter INT16 0
rww 32767
430Eh Drive Profile Lexium - RefB P3-14 VAR Yes -2147483648
32 Bit Parameter INT32 0
rww 2147483647
430Fh Drive Profile Lexium - Drive P3-15 VAR Yes 0
Status UINT16 -
ro 65535
4310h Drive Profile Lexium - P3-16 VAR Yes 0
Operating Mode Status UINT16 -
ro 65535
4311h Drive Profile Lexium - Motion P3-17 VAR Yes 0
Status UINT16 -
ro 65535
4312h PDO Event Mask 1 P3-18 VAR No 0
UINT16 1
rw 15
486 EIO0000002305 07/2019


UINT16 1
rw 15
UINT16 1
rw 15
UINT16 15
rw 15
431Eh Internal Limit for Bit 11 P3-30 VAR No 0
DriveCom Status Word UINT16 0
6041h rw 11
431Fh Settings for NMT operating P3-31 VAR No -2

state Quick Stop INT16 6
rw 7
4320h Automatic operating state P3-32 VAR No 0
transition from Switch On UINT16 0
Disabled to Ready To Switch rw 1
On
4328h Velocity Gearing Window - VAR No 0
UINT32 2100000
rw 4294967295
EIO0000002305 07/2019 487

44xxh Object Group

Part of this objects list is also available in P4 - Diagnostics parameters (see page 269)

4400h Error History - Error Number P4-00 VAR No 0
of the Most Recently UINT16 -
Detected Error n rw 65535
Detected Error n - 1 ro 65535
4402h Error History -Error Number P4-02 VAR No 0
4405h Jog Velocity P4-05 VAR No 0
UINT32 20
rw 5000
4406h Forcing Matrix of Digital P4-06 VAR No 0
Outputs UINT16 0
rw 255
4407h State of Digital Inputs / P4-07 VAR No 0
Activate Forcing UINT16 -
rw 255
4408h Status of HMI Keypad P4-08 VAR No 0
UINT16 0
ro 255
4409h State of Digital Outputs P4-09 VAR No 0
UINT16 -
ro 63
440Ah Clear Error History P4-10 VAR No 0
UINT16 0
rw 0
4414h Analog Input 1 Dead Band P4-20 VAR No 0
UINT16 0
rw 10000
4415h Analog Input 2 Dead Band P4-21 VAR No 0
UINT16 0
rw 10000
4416h Analog Input 1 Offset P4-22 VAR No -10000
INT16 0
rw 10000
4417h Analog Input 2 Offset P4-23 VAR No -10000
INT16 0
rw 10000
Threshold Value UINT16 160
rw 190
4419h Safety Function STO - Status P4-25 VAR Yes 0
UINT16 -
ro 1
441Ah Forceable digital outputs P4-26 VAR No 31
UINT16 31
ro 31
488 EIO0000002305 07/2019


441Bh Digital output force mask P4-27 VAR No 0
UINT16 0
rw 31
441Ch Digital output force value P4-28 VAR No 0
UINT16 0
rw 31
441Dh Motor Load Period Time P4-29 VAR No 1
UINT32 5000
rw 100000
4450h Jog Speed Fast - VAR No 0
UINT32 426674
rw 4294967295
4451h Jog Time - VAR No 0
UINT32 0
rw 4294967295
4452h Jog Step - VAR No 0
UINT32 0
rw 2147483647
4453h Jog Method - VAR No 0
UINT16 0
rw 1
4454h Jog Speed Slow - VAR No 0
UINT32 426674
rw 4294967295
EIO0000002305 07/2019 489

45xxh Object Group

This objects list is also available in P5 - Motion settings parameters (see page 274)

4500h Firmware Revision P5-00 VAR No 0
UINT16 -
ro 65535
4504h Homing - Homing Method P5-04 VAR No 0
Selection UINT16 0
rw 296
4505h Homing - Fast Velocity for P5-05 VAR No 10
Reference Movement UINT32 1000
rw 60000
4506h Homing - Slow Velocity for P5-06 VAR No 10
Reference Movement UINT32 200
rw 60000
4507h Operating Mode PS via P5-07 VAR No 0
Parameter UINT16 0
rw 20032
4508h Positive Software Limit P5-08 VAR No -2147483647
Switch - Position INT32 134217727
rw 2147483647
4509h Negative Software Limit P5-09 VAR No -2147483647
Switch - Position INT32 -134217727
rw 2147483647
450Ah Operating mode Pulse Train - P5-10 VAR No 6
Maximum Acceleration UINT16 6
rw 65500
450Bh Software Limit Switches - P5-11 VAR No 0
Hysteresis Value UINT16 3556
rw 35555
450Ch Touch Probe Input 1 - Stable P5-12 VAR No 2
Level Duration UINT16 5
rw 32
450Dh Position Limiting Mode P5-13 VAR No 0
UINT16 0
rw 3
450Eh Motion Profile for Torque - P5-14 VAR No 1
Slope UINT32 100000
rw 30000000
450Fh Motion Profile for Torque - P5-15 VAR No 0
Activation UINT16 0
rw 1
4510h Encoder Increments in PUU P5-16 VAR No -2147483647
INT32 0
rw 2147483647
4512h External Encoder (Pulses) P5-18 VAR No -2147483648
INT32 -
ro 2147483647
4514h Deceleration Ramp - Signal P5-20 VAR No 6
Input Function STOP UINT16 50
rw 65500
4515h Deceleration Ramp - P5-21 VAR No 6
Detected Transmission Error UINT16 50
rw 65500
4516h Deceleration Ramp - Position P5-22 VAR No 6
Overflow UINT16 30
rw 65500
490 EIO0000002305 07/2019


Triggering of Negative UINT16 50
Software Limit Switch rw 65500
Triggering of Positive UINT16 50
Software Limit Switch rw 65500
Triggering of Negative UINT16 30
Hardware Limit Switch rw 65500
451Ah Deceleration Ramp - P5-26 VAR No 6
Triggering of Positive UINT16 30
Hardware Limit Switch rw 65500
4523h Touch Probes Polarity P5-35 VAR Yes 0
UINT16 -
ro 3
4524h Touch Probe Input 1 - P5-36 VAR No -2147483647
Captured Position CANopen INT32 0
Units ro 2147483647
Captured Position INT32 0
ro 2147483647
4526h Touch Probe Input 1 - Event P5-38 VAR Yes 0
Counter UINT16 0
ro 65535
4527h Touch Probe Input 1 - P5-39 VAR No 0
Configuration UINT16 0
rw 257
Captured Position CANopen INT32 0
Units ro 2147483647
Captured Position INT32 0
ro 2147483647
453Ah Touch Probe Input 2 - Event P5-58 VAR Yes 0
Counter UINT16 0
ro 65535
453Bh Touch Probe Input 2 - P5-59 VAR No 0
Configuration UINT16 0
rw 257
454Ch Move Offset When Homing P5-76 VAR No 0
UINT16 0
rw 1
454Dh Touch Probe Input 2 - Stable P5-77 VAR No 2
Level Duration UINT16 5
rw 32
EIO0000002305 07/2019 491

46xxh Object Group

This objects list is also available in P6 - Data sets group 1 parameters (see page 280)

4600h Position of Homing Data Set P6-00 VAR No -2147483647
INT32 0
rw 2147483647
4601h Subsequent Data Set and P6-01 VAR No 0
Auto-start of Homing Data UINT32 0
Set rw 8193
4602h Target Position of Data Set 1 P6-02 VAR No -2147483647
INT32 0
rw 2147483647
4603h Configuration of Data Set 1 P6-03 VAR No 0
UINT16 0
rw 208
INT32 0
rw 2147483647
UINT16 0
rw 208
INT32 0
rw 2147483647
UINT16 0
rw 208
INT32 0
rw 2147483647
UINT16 0
rw 208
460Ah Target Position of Data Set 5 P6-10 VAR No -2147483647
INT32 0
rw 2147483647
460Bh Configuration of Data Set 5 P6-11 VAR No 0
UINT16 0
rw 208
460Ch Target Position of Data Set 6 P6-12 VAR No -2147483647
INT32 0
rw 2147483647
460Dh Configuration of Data Set 6 P6-13 VAR No 0
UINT16 0
rw 208
460Eh Target Position of Data Set 7 P6-14 VAR No -2147483647
INT32 0
rw 2147483647
460Fh Configuration of Data Set 7 P6-15 VAR No 0
UINT16 0
rw 208
INT32 0
rw 2147483647
UINT16 0
rw 208
492 EIO0000002305 07/2019


INT32 0
rw 2147483647
UINT16 0
rw 208
4614h Target Position of Data Set P6-20 VAR No -2147483647
10 INT32 0
rw 2147483647
UINT16 0
rw 208
11 INT32 0
rw 2147483647
UINT16 0
rw 208
12 INT32 0
rw 2147483647
UINT16 0
rw 208
461Ah Target Position of Data Set P6-26 VAR No -2147483647
13 INT32 0
rw 2147483647
UINT16 0
rw 208
461Ch Target Position of Data Set P6-28 VAR No -2147483647
14 INT32 0
rw 2147483647
UINT16 0
rw 208
461Eh Target Position of Data Set P6-30 VAR No -2147483647
15 INT32 0
rw 2147483647
UINT16 0
rw 208
16 INT32 0
rw 2147483647
UINT16 0
rw 208
17 INT32 0
rw 2147483647
UINT16 0
rw 208
18 INT32 0
rw 2147483647
UINT16 0
rw 208
EIO0000002305 07/2019 493


19 INT32 0
rw 2147483647
UINT16 0
rw 208
20 INT32 0
rw 2147483647
UINT16 0
rw 208
21 INT32 0
rw 2147483647
UINT16 0
rw 208
22 INT32 0
rw 2147483647
UINT16 0
rw 208
23 INT32 0
rw 2147483647
UINT16 0
rw 208
24 INT32 0
rw 2147483647
UINT16 0
rw 208
25 INT32 0
rw 2147483647
UINT16 0
rw 208
26 INT32 0
rw 2147483647
UINT16 0
rw 208
27 INT32 0
rw 2147483647
UINT16 0
rw 208
28 INT32 0
rw 2147483647
UINT16 0
rw 208
494 EIO0000002305 07/2019


29 INT32 0
rw 2147483647
UINT16 0
rw 208
30 INT32 0
rw 2147483647
UINT16 0
rw 208
31 INT32 0
rw 2147483647
UINT16 0
rw 208
32 INT32 0
rw 2147483647
UINT16 0
rw 208
EIO0000002305 07/2019 495

47xxh Object Group

Part of this objects list is also available in P7 - Data sets group 2 parameters (see page 287)

4700h Deceleration and P7-00 VAR No 393222
Acceleration of Homing Data UINT32 13107400
Set rw 4292673500
4701h Waiting Time of Homing Data P7-01 VAR No 0
Set UINT32 0
rw 32767
Acceleration of Data Set 1 UINT32 13107400
rw 4292673500
4703h Waiting Time and Target P7-03 VAR No 0
Velocity of Data Set 1 UINT32 13107200
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
470Ah Deceleration and P7-10 VAR No 393222
rw 4292673500
470Bh Waiting Time and Target P7-11 VAR No 0
rw 3932192767
470Ch Deceleration and P7-12 VAR No 393222
rw 4292673500
470Dh Waiting Time and Target P7-13 VAR No 0
rw 3932192767
470Eh Deceleration and P7-14 VAR No 393222
rw 4292673500
470Fh Waiting Time and Target P7-15 VAR No 0
rw 3932192767
rw 4292673500
rw 3932192767
496 EIO0000002305 07/2019


rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
EIO0000002305 07/2019 497


rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
498 EIO0000002305 07/2019


rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
rw 4292673500
rw 3932192767
EIO0000002305 07/2019 499

48xxh Object Group

This objects list is also available in P8 - Control loops parameters (see page 293)

4800h Derivative Gain P8-00 VAR No 0
UINT32 800
rw 20000
4801h Integral Gain P8-01 VAR No 0
UINT32 100
rw 2000
4802h Derivative-Integral Gain P8-02 VAR No 0
UINT32 400
rw 4000
4803h Proportional Gain P8-03 VAR No 0
UINT32 300
rw 4000
4804h Global Gain P8-04 VAR No 100
UINT32 500
rw 3000
4805h LTN Spring Filter P8-05 VAR No 10
UINT16 7000
rw 7000
4806h Anti-Vibration Gain P8-06 VAR No 0
UINT32 0
rw 10000
4807h Pe filter P8-07 VAR No 0
UINT32 0
rw 99000
4808h Anti-Vibration Filter P8-08 VAR No 50
UINT32 4000
rw 4000
4809h Pe filter P8-09 VAR No 50
UINT32 4000
rw 8000
480Ah Ratio of Load Inertia to Motor P8-10 VAR No 0
Inertia for Anti-Vibration UINT32 0
rw 6000
480Bh NL Anti-Resonance Filter P8-11 VAR No 1
Divider UINT32 200
rw 10000
480Ch Anti-Resonance Sharpness P8-12 VAR No 10
UINT16 500
rw 10000
480Dh Pe Sharpness P8-13 VAR No 10
UINT16 500
rw 10000
480Eh Current Filter Damping P8-14 VAR No 0
UINT16 0
rw 100
480Fh Current Filter Low Pass Filter P8-15 VAR No 0
Rise Time UINT16 300
rw 3000
4810h Current Filter - Second Notch P8-16 VAR No 0
Filter Bandwidth UINT16 0
rw 500
4811h Current Filter - Second Notch P8-17 VAR No 5
Filter Center UINT16 100
rw 1800
500 EIO0000002305 07/2019


4812h Current Filter - Notch Filter P8-18 VAR No 0
Bandwidth UINT16 0
rw 500
Center UINT16 100
rw 1800
4814h Elasticity Compensation P8-20 VAR No 0
UINT32 50000
rw 50000
4815h Spring Deceleration Ratio P8-21 VAR No 0
UINT16 1000
rw 2000
4816h Analog NCT standstill P8-22 VAR No -3815
INT16 0
rw 3815
4817h Analog Input 1 Filter P8-23 VAR No 10
UINT16 1000
rw 10000
4818h Analog Input 2 - Filter P8-24 VAR No 10
UINT16 1000
rw 10000
4819h Electronic Gear Filter - P8-25 VAR No -2000
Acceleration Feedforward INT16 0
rw 2000
481Ah Electronic Gear Filter - P8-26 VAR No 0
Activation UINT16 0
rw 2
481Bh Electronic Gear Filter - Depth P8-27 VAR No 75
UINT32 200
rw 3200
481Ch Electronic Gear Filter - P8-28 VAR No 0
Velocity and Acceleration UINT16 400
Depth rw 6000
481Dh Electronic Gear Filter - P8-29 VAR No -20000
Velocity Feedforward INT32 0
rw 20000
481Eh Interpolation of Input Signal P8-30 VAR No 0
for Electronic Gear - UINT16 1
Activation rw 1
481Fh Method for Operating Mode P8-31 VAR No 0
Pulse Train (PT) UINT16 1
rw 3
4820h S-Curve Setting P8-32 VAR No 25
UINT32 400
rw 25600
4821h Low Pass Filter Setting P8-33 VAR No 1
UINT32 5000
rw 500000
4822h Smoothing Filter for P8-34 VAR No 0
Operating modes PT and PS UINT16 2
- Type rw 2
4823h Type of Velocity Control and P8-35 VAR No 5
Type of position Control UINT16 519
rw 16385
4824h Pe filter 3 P8-36 VAR No 0
UINT32 0
rw 6000
UINT32 4000
rw 8000
EIO0000002305 07/2019 501


UINT32 1000
rw 10000
4827h Gravity Compensation P8-39 VAR No -
INT16 0
rw -
4828h LTN AFF P8-40 VAR No 0
UINT16 0
rw 200
4829h Pe Sharpness P8-41 VAR No 10
UINT16 200
rw 10000
482Ah Homing Incorrect Information P8-42 VAR No 0
UINT32 -
ro 4294967295
482Bh ZSPD Low Pass Filter Value P8-43 VAR No 10
UINT16 1000
rw 1000
482Ch Send commands to multi turn P8-44 VAR No 0
encoder UINT16 -
rw 2
482Dh Feedback type P8-45 VAR No 0
UINT16 -
ro 2
482Eh Encoder temperature P8-46 VAR No -
INT16 -
ro -
482Fh Encoder firmware and P8-47 VAR No 0
hardware versions UINT32 -
ro 4294967295
4830h Encoder active errors P8-48 VAR No 0
UINT32 -
ro 4294967295
4831h Encoder active alerts P8-49 VAR No 0
UINT32 -
ro 4294967295
4833h Speed Observer Mode P8-51 VAR No 0
UINT16 0
rw 3
4834h Electronic Gear Filter Depth P8-52 VAR No 0
UINT32 200
rw 3200
4835h Position Linear Controller P8-53 VAR No 0
Proportional Gain UINT16 300
(see page 303) rw 12000
4836h Position Velocity P8-54 VAR No -2000
Feedforward INT32 500
rw 2000
4837h Position Acceleration P8-55 VAR No -20000
Feedforward INT32 0
rw 20000
4838h Position Acceleration P8-56 VAR No -20000
Feedforward to Current Loop INT32 0
rw 20000
4839h Velocity Proportional Gain P8-57 VAR No 0
(see page 303) UINT32 300
rw 1000000000
483Ah Velocity Integral Gain P8-58 VAR No 0
(see page 303) UINT32 30000
rw 200000000
502 EIO0000002305 07/2019


483Bh Velocity Feedforward Ratio P8-59 VAR No 0
UINT16 900
rw 1000
483Ch Velocity Loop Output Filter P8-60 VAR No 0
Mode (see page 303) UINT16 2
rw 3
483Dh Velocity Loop Output Filter P8-61 VAR No 1
Parameter 1 (see page 303) UINT16 500
rw 10000
483Eh Velocity Loop Output Filter P8-62 VAR No 1
Parameter 2 (see page 303) UINT16 500
rw 10000
483Fh Velocity Filter Mode P8-63 VAR No 0
UINT16 1
rw 2
4840h Velocity Filter Pole P8-64 VAR No 20
Frequency UINT16 440
rw 2000
4841h Current Feedforward Low P8-65 VAR No 10
Pass Filter UINT16 1000
rw 1000
4842h LTN Torque Filter Mode P8-66 VAR No 0
UINT16 0
rw 1
4843h LTN Torque Filter Bandwidth P8-67 VAR No 50
UINT16 1000
rw 2000
Mode UINT16 0
rw 1
4845h Standstill Mode P8-69 VAR No 0
UINT16 0
rw 1
4846h Standstill Gain P8-70 VAR No 128
UINT16 1024
rw 1024
4847h Encoder Filter Mode P8-71 VAR No 0
INT16 1
rw 1
4863h Adaptive Velocity Reference P8-99 VAR No 0
Value Gain UINT32 1000
rw 3000
EIO0000002305 07/2019 503

49xxh Object Group

Part of this objects list is also available in P9 - DTM data parameters (see page 304)

4900h Lexium program number P9-00 VAR No 0
UINT32 -
ro 4294967295
4901h Firmware Version Date P9-01 VAR No 0
UINT32 -
ro 4294967295
4902h MTP Identification Code P9-02 VAR No 0
UINT16 -
ro 65535
4906h User-Defined Application P9-06 VAR No 0
Name 1 UINT32 0
rw 4294967295
Name 2 UINT32 0
rw 4294967295
Name 3 UINT32 0
rw 4294967295
Name 4 UINT32 0
rw 4294967295
490Ah Modbus Word Order P9-10 VAR No 0
UINT16 0
rw 1
490Bh Serial Number Part 1 P9-11 VAR No 0
UINT32 -
ro 4294967295
490Ch Serial Number Part 2 P9-12 VAR No 0
UINT32 -
ro 4294967295
490Dh Serial Number Part 3 P9-13 VAR No 0
UINT32 -
ro 4294967295
490Eh Serial Number Part 4 P9-14 VAR No 0
UINT32 -
ro 4294967295
490Fh Autotuning Method P9-15 VAR No 0
UINT16 0
rw 6
4910h Autotuning Motion Profile - P9-16 VAR No 0
Type UINT16 0
rw 2
4911h Anti-vibration tuning mode. P9-17 VAR No 0
UINT16 0
rw 6
4912h Autotuning Results - P9-18 VAR No 0
Save/Discard UINT16 0
rw 3
4913h Autotuning - Elasticity P9-19 VAR No 0
Compensation Filters INT16 1
rw 1
4914h Autotuning - Direction of P9-20 VAR No 0
Movement INT16 0
rw 3
504 EIO0000002305 07/2019


4915h Minimum Dwell Time for P9-21 VAR No 100
Detection of Movement Cycle UINT16 200
rw 1000
4916h Autotuning - Automatic P9-22 VAR No 0
Estimation of Ratio of Load UINT16 0
Inertia and Motor Inertia rw 1
4917h Defines which values will be P9-23 VAR No 0
used for the position UINT16 0
command filters. rw 1
4919h Autotuning Motion Profile - P9-25 VAR No 0
Activation UINT16 0
rw 1
491Ah Autotuning - Movement P9-26 VAR No -2147483647
Range in Direction1 INT32 0
rw 2147483647
491Bh Autotuning - Movement P9-27 VAR No -2147483647
Range in Direction2 INT32 0
rw 2147483647
491Ch Autotuning Active P9-28 VAR No 0
INT16 -
ro 1
491Dh Autotuning - Velocity P9-29 VAR No -
UINT32 -
rw -
491Eh Autotuning - Status P9-30 VAR No 0
UINT32 -
ro 65535
491Fh Autotuning - Acceleration and P9-31 VAR No 6| 6
Deceleration UINT32 6000| 6000
rw 65500| 65500
4920h Autotune advance mode. P9-32 VAR No 0
UINT16 1
rw 2
4921h Maximum Autotuning P9-33 VAR No 0
Optimization Value UINT32 -
ro 1000
4922h Autotuning Progress Bar P9-34 VAR No 0
UINT16 0
ro 100
4923h Autotuning - Gravity P9-35 VAR No 0
Estimation UINT16 0
rw 1
4924h Set LTNAFRC in Autotune P9-36 VAR No 0
INT16 0
rw 2
4925h Autotuning - Last Stored P9-37 VAR No 0
Event UINT32 0
ro 65535
4926h Mode 2 AT improvment P9-38 VAR No 0
UINT16 0
ro 100
4927h Cycle Identification status P9-39 VAR No 0
UINT16 0
ro 9
4928h LTN Autotuning Using P9-40 VAR No 0
Defaults UINT16 0
rw 1
EIO0000002305 07/2019 505

4Bxxh Object Group
4Bxxh Vendor-specific Object Group

4B00h Position - VAR No -
INT32 -
ro -
4B01h Target Position in PUU - VAR No -
INT32 -
ro -
4B02h Position Deviation in PUU - VAR No -
INT32 -
ro -
4B03h Actual Position in Pulses - VAR No -
INT32 -
ro -
4B04h Target Position in Pulses - VAR No -
INT32 -
ro -
4B05h Position Deviation in Pulses - VAR No -
INT32 -
ro -
4B06h Input Frequency - VAR Yes -
INT32 -
ro -
4B07h Actual Velocity in rpm - VAR No -
INT32 -
ro -
4B08h Target Velocity in V - VAR Yes -
INT32 -
ro -
4B09h Target Velocity in rpm - VAR No -
INT32 -
ro -
4B0Ah Target Torque in V - VAR Yes -
INT32 -
ro -
4B0Bh Target Torque in Percent of - VAR No -
Nominal Current INT32 -
ro -
4B0Eh DC Bus Voltage - VAR No -
INT32 -
ro -
4B0Fh Ratio of Load Inertia and - VAR No -
Motor Inertia INT32 -
ro -
4B10h Drive Temperature - Power - VAR No -
Stage INT32 -
ro -
4B13h Map P0-25 - VAR No -
INT32 -
ro -
INT32 -
ro -
INT32 -
ro -
506 EIO0000002305 07/2019


INT32 -
ro -
4B17h Indicate P0-09 - VAR No -
INT32 -
ro -
INT32 -
ro -
INT32 -
ro -
4B1Ah Indicate P0-12 - VAR No -
INT32 -
ro -
4B1Bh Drive Temperature - - VAR No -
Controller INT32 -
ro -
4B27h Digital Inputs - VAR No -
INT32 -
ro -
4B28h Digital Outputs - VAR No -
INT32 -
ro -
4B29h Drive Status - VAR Yes -
INT32 -
ro -
4B2Ah Operating Mode - VAR No -
INT32 -
ro -
4B31h External Encoder - VAR No -
INT32 -
ro -
4B32h Target Velocity in rpm - VAR No -
INT32 -
ro -
4B35h Target Torque - VAR No -
INT32 -
ro -
4B36h Actual Torque in Percent - VAR No -
INT32 -
ro -
4B37h Actual Torque in A - VAR No -
INT32 -
ro -
4B3Ch Target Position Raw - VAR No -
INT32 -
ro -
4B3Dh Position Deviation Raw in - VAR No -
PUU INT32 -
ro -
4B3Eh Target Position Raw in - VAR No -
Pulses INT32 -
ro -
4B3Fh Position Deviation Raw in - VAR No -
Pulses INT32 -
ro -
4B4Dh Target Velocity in Operating - VAR No -
Modes PT / PS INT32 -
ro -
EIO0000002305 07/2019 507

4Fxxh Object Group
4Fxxh Vendor-specific Object Group

4FA0h Drive Profile Lexium Control - RECORD No -
- -
- -
4FA0:0h NumOfEntries - VAR No 0
UINT8 9
ro 9
4FA0:1h ShiftRefA - VAR No 0
UINT16 0
ro 65535
4FA0:2h ModeError - VAR No 0
UINT16 0
ro 65535
4FA0:3h ModeErrorInfo - VAR No 0
UINT16 0
ro 65535
4FA0:4h Dpl_int_Lim - VAR No 0
UINT16 0
rw 65535
4FA0:5h Ds402intLim - VAR No 0
UINT16 0
rw 65535
4FA0:6h MON_V_Threshold - VAR No 0
UINT32 0
rw 4294967295
4FA0:7h MON_I_Threshold - VAR No -
UINT16 -
rw -
4FA0:8h DataError - VAR No -
UINT16 -
ro -
4FA0:9h DataErrorInfo - VAR No -
UINT16 -
ro -
4FA3h Save/Load Status - VAR No 0
UINT8 0
ro 255
4FA4h Commanded velocity - VAR No -2147483648
INT32 0
ro 2147483647
4FA5h Electronic Gear Ratio - ARRAY No -
- -
- -
4FA5:0h Number of Entries - VAR No 2
UINT8 2
ro 2
4FA5:1h Electronic Gear Ratio - VAR Yes 1
(Numerator) INT32 128
rww 536870911
4FA5:2h Electronic Gear Ratio - VAR Yes 1
(Denominator) INT32 10
rww 2147483647
4FA6h CANopen Manufacturer - VAR No 0
Specific SDO Abort Code UINT32 -
ro 4294967295
508 EIO0000002305 07/2019

Section 22.4
6000h … 6FFFh Device-Specific Object Group
6000h … 6FFFh Device-Specific Object Group

Topic Page
EIO0000002305 07/2019 509

60xxh Object Group
60xxh Device-Specific Object Group

603Fh Error Code VAR Yes 0
UINT16 -
ro 65535
6040h Controlword VAR Yes 0
UINT16 -
rww 65535
6041h Statusword VAR Yes 0
UINT16 -
ro 65535
605Dh Halt Option Code VAR No 1
INT16 1
rw 2
6060h Modes of Operation VAR Yes -128
INT8 0
rww 8
6061h Modes of Operation Display VAR Yes -128
INT8 -
ro 8
6062h Position Demand Value VAR No -2147483648
Unit: User-defined position unit INT32 -
ro 2147483647
6063h Position Actual Internal Value VAR Yes -2147483648
Unit: Increments INT32 -
ro 2147483647
6064h Position Actual Value VAR Yes -2147483648
ro 2147483647
6065h Following Error Window VAR Yes 0
Unit: User-defined position unit UINT32 1280000
rww 4294967295
6066h Following Error Time Out VAR Yes 0
Unit: ms UINT16 0
rww 65535
6067h Position Window VAR Yes 0
Unit: User-defined position unit UINT32 163840
rww 4294967295
6068h Position Window Time VAR No 0
Unit: ms UINT16 1
rw 65535
606Bh Velocity Demand Value VAR No -2147483648
Unit: User-defined position unit/s INT32 -
ro 2147483647
606Ch Velocity Actual Value VAR Yes -2147483648
Unit: User-defined position unit/s INT32 -
ro 2147483647
606Eh Velocity Window Time VAR No 0
Unit: ms UINT16 0
rw 65535
6070h Velocity Threshold Time VAR No 0
Unit: ms UINT16 0
rw 65535
6071h Target Torque VAR Yes -32768
rww 32767
510 EIO0000002305 07/2019


6073h Maximum Current VAR Yes 0
Unit: 1/1000 of nominal current UINT16 -
rww 65535
6074h Torque Demand Value VAR Yes -32768
Unit: 1/1000 of nominal torque INT16 -
ro 32767
6075h Motor Rated Current VAR No 0
Unit: mA UINT32 -
ro 150
6076h Motor Rated Torque VAR No 0
Unit: mNm UINT32 0
rw 4294967295
6077h Torque Actual Value VAR Yes -32768
Unit: 1/1000 of nominal torque INT16 -
ro 32767
6078h Current Actual Value VAR Yes -32768
Unit: 1/1000 of nominal current INT16 -
ro 32767
6079h DC Link Circuit Voltage VAR No 0
Unit: mV UINT32 -
ro 4294967295
607Ah Target Position VAR Yes -2147483648
rww 2147483647
607Ch Home Offset VAR No -2147483648
rw 2147483647
607Dh Software Position Limit ARRAY No -
- -
- -
607D:0h Highest Subindex Supported VAR No 2
UINT8 2
ro 2
607D:1h Minimum Software Position Limit VAR No -2147483648
Unit: User-defined position unit INT32 -1717986906
rw 2147483647
607D:2h Maximum Software Position Limit VAR No -2147483648
rw 2147483647
607Eh Polarity VAR No 0
UINT8 0
rw 192
607Fh Maximum Profile Velocity VAR No 1
rw 4294967295
6080h Maximum Motor Speed VAR No 0
ro 4294967295
6081h Profile Velocity in profile position mode VAR Yes 0
rww 4294967295
rww 4294967295
rww 4294967295
6085h Quick Stop Deceleration VAR No 1
rw 4294967295
EIO0000002305 07/2019 511


6087h Torque Slope VAR Yes 1
Unit: 1/1000 of nominal torque/s UINT32 -
rww 30000000
608Fh Position Encoder Resolution ARRAY No -
- -
- -
608F:0h Highest subindex supported VAR No 2
UINT8 2
rw 2
608F:1h Encoder Increments VAR No 16
Unit: Increments UINT32 1048576
rw 10000000
608F:2h Motor Revolutions VAR No 1
Unit: Revolutions UINT32 1
ro 1
6091h Gear Ratio ARRAY No -
- -
- -
6091:0h Highest subindex supported VAR No 2
UINT8 2
ro 2
6091:1h Motor Revolutions VAR No 1
UINT32 1
rw 4294967295
6091:2h Shaft Revolutions VAR No 1
UINT32 1
rw 4294967295
6092h Feed Constant ARRAY No -
User-defined position unit - -
- -
UINT8 2
ro 2
6092:1h Feed VAR No 1
UINT32 1280000
rw 4294967295
6092:2h Shaft Revolutions VAR No 1
UINT32 1
rw 4294967295
6098h Homing Method VAR No 1
INT8 2
rw 35
6099h Homing Speeds ARRAY No -
- -
- -
UINT8 2
ro 2
6099:1h Fast Homing Speed VAR No 1
rw 4294967295
6099:2h Slow Homing Speed VAR No 1
rw 4294967295
609Ah Homing Acceleration VAR No 1
rw 4294967295
60B0h Position Offset VAR No -2147483648
rw 2147483647
512 EIO0000002305 07/2019


60B1h Velocity Offset VAR Yes -2147483648
rww 2147483647
60B2h Torque Offset VAR Yes -32768
rww 32767
60B8h Touch Probe Function VAR Yes 0
UINT16 -
rww 65535
60B9h Touch Probe Status VAR Yes 0
UINT16 0
ro 65535
60BAh Touch Probe 1 Position Positive Value VAR Yes -2147483648
ro 2147483647
60BBh Touch Probe 1 Position Negative Value VAR Yes -2147483648
ro 2147483647
60BCh Touch Probe 2 Position Positive Value VAR Yes -2147483648
ro 2147483647
60BDh Touch Probe 2 Position Negative Value VAR Yes -2147483648
ro 2147483647
60C0h Interpolation Sub Mode Select VAR No 0
INT16 0
rw 2
60C1h Interpolation Data Record ARRAY No -
- -
- -
60C1:0h Highest subindex supported VAR No 1
UINT8 4
ro 254
60C1:1h Data Record 1 VAR Yes -2147483648
INT32 0
rww 2147483647
INT32 0
rww 2147483647
INT32 0
rww 2147483647
INT32 0
rww 2147483647
60C2h Interpolation Time Period RECORD No -
- -
- -
UINT8 2
ro 2
60C2:1h Interpolation time period value VAR No 1
Unit: 10(interpolation time index) seconds UINT8 2
rw 255
60C2:2h Interpolation time index VAR No -128
INT8 -3
rw 63
60C4h Interpolation Data Configuration RECORD No -
- -
- -
EIO0000002305 07/2019 513


UINT8 6
ro 6
60C4:1h Maximum buffer size VAR No 1
Unit: Number of data records UINT32 1
ro 1
60C4:2h Actual buffer size VAR No 1
Unit: Number of data records UINT32 -
rw 1
60C4:3h Buffer organization VAR No 0
UINT8 0
rw 1
60C4:4h Buffer position VAR No 0
UINT16 -
rw 0
60C4:5h Size of data record VAR No 4
Unit: Bytes UINT8 -
wo 4
60C4:6h Buffer clear VAR No 0
UINT8 -
wo 1
60C5h Maximum Acceleration VAR No 1
rw 4294967295
60C6h Maximum Deceleration VAR No 1
rw 4294967295
60D5h Touch probe 1 positive edge counter VAR Yes 0
UINT16 0
ro 65535
60D6h Touch probe 1 negative edge counter VAR Yes 0
UINT16 0
ro 65535
60D7h Touch probe 2 positive edge counter VAR Yes 0
UINT16 0
ro 65535
60D8h Touch probe 2 negative edge counter VAR Yes 0
UINT16 0
ro 65535
60F2h Position option code VAR No 0
UINT16 0
rw 65535
60F4h Following Error Actual Value VAR Yes -2147483648
ro 2147483647
60FCh Position Demand Internal Value VAR No -2147483648
Unit: Increments INT32 -
ro 2147483647
60FDh Digital Inputs VAR Yes 0
UINT32 -
ro 4294967295
60FEh Digital Outputs ARRAY No -
- -
- -
60FE:0h Highest subindex supported VAR No 2
UINT8 2
ro 2
60FE:1h Physical Outputs VAR Yes 0
UINT32 -
rww 4294967295
514 EIO0000002305 07/2019


60FE:2h Output Mask VAR No 0
UINT32 0
rw 4294967295
60FFh Target Velocity VAR Yes -2147483648
rww 2147483647
EIO0000002305 07/2019 515

65xxh Object Group
65xxh Device Profile Object Group

6502h Supported Drive Modes VAR No 237
UINT32 -
ro 237
516 EIO0000002305 07/2019

Glossary
EIO0000002305 07/2019
Glossary
A
Abbreviations
Req. = Required
Opt. = Optional
absolute movement
A movement to a position defined from a reference point.
analog input
Converts received voltage or current levels into numerical values. You can store and process these values
within the logic controller.
analog output
Converts numerical values within the logic controller and sends out proportional voltage or current levels.
ASCII
(American standard code for Information Interchange) A protocol for representing alphanumeric characters
(letters, numbers, certain graphics, and control characters).
AWG
(American wire gauge) The standard that specifies wire section sizes in North America.
B
BOOL
(boolean) A basic data type in computing. A BOOL variable can have one of these values: 0 (FALSE), 1
(TRUE). A bit that is extracted from a word is of type BOOL; for example, %MW10.4 is a fifth bit of memory
word number 10.
BOOTP
(bootstrap protocol) A UDP network protocol that can be used by a network client to automatically obtain
an IP address (and possibly other data) from a server. The client identifies itself to the server using the
client MAC address. The server, which maintains a pre-configured table of client device MAC addresses
and associated IP addresses, sends the client its pre-configured IP address. BOOTP was originally used
as a method that enabled diskless hosts to be remotely booted over a network. The BOOTP process
assigns an infinite lease of an IP address. The BOOTP service utilizes UDP ports 67 and 68.
bps
(bit per second) A definition of transmission rate, also given in conjunction with multiplicator kilo (kbps) and
mega (mbps).
byte
A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.
C
CAN
(controller area network) A protocol (ISO 11898) for serial bus networks, designed for the interconnection
of smart devices (from multiple manufacturers) in smart systems and for real-time industrial applications.
Originally developed for use in automobiles, CAN is now used in a variety of industrial automation control
environments.
CANmotion
A CANopen-based motion bus with an additional mechanism that provides synchronization between the
motion controller and the drives.
CANopen
An open industry-standard communication protocol and device profile specification (EN 50325-4).
CCW
Counter ClockWise
EIO0000002305 07/2019 517

Glossary
CiA
(CAN in automation) A non-profit group of manufacturers and users dedicated to developing and
supporting CAN-based higher layer protocols.
CiA405
The CANopen interface and device profile for IEC 61131-3 programmable controllers.
closed loop
A closed loop control is a motion control system that used both positional feedback and velocity feedback
to generate a correction signal. It does this by comparing its position and velocity to the values of specified
parameters. The devices providing the feedback are typically encoders, resolvers, LVTDs, and
tachometers.
See also: open loop
COB
(communications object) CANopen refers to a CAN frame as a communications object. Within the CAN
frame is the COB-ID, which is normally an 11-bit identifier and defines the designated device (node) for the
frame and a function code.
COB ID
Each COB is uniquely identified in a CAN network by a number called the COB Identifier (COB-ID).
CODESYS
Free of charge development environment for application programming according to the IEC 61131-3.
controller
Automates industrial processes (also known as programmable logic controller or programmable
controller).
CRC
(cyclical redundancy check) A method used to determine the validity of a communication transmission. The
transmission contains a bit field that constitutes a checksum. The message is used to calculate the
checksum by the transmitter according to the content of the message. Receiving nodes, then recalculate
the field in the same manner. Any discrepancy in the value of the 2 CRC calculations indicates that the
transmitted message and the received message are different.
CSA
(Canadian standards association) The Canadian standard for industrial electronic equipment in hazardous
environments.
CTS
(clear to send) A data transmission signal and acknowledges the RDS signal from the transmitting station.
CW
ClockWise
cyclic task
The cyclic scan time has a fixed duration (interval) specified by the user. If the current scan time is shorter
than the cyclic scan time, the controller waits until the cyclic scan time has elapsed before starting a new
scan.
D
data log
The controller logs events relative to the user application in a data log.
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).
DHCP
(dynamic host configuration protocol) An advanced extension of BOOTP. DHCP is more advanced, but
both DHCP and BOOTP are common. (DHCP can handle BOOTP client requests.)
digital I/O
(digital input/output) An individual circuit connection at the electronic module that corresponds directly to a
data table bit. The data table bit holds the value of the signal at the I/O circuit. It gives the control logic
digital access to I/O values.
DIN
(Deutsches Institut für Normung) A German institution that sets engineering and dimensional standards.
518 EIO0000002305 07/2019

Glossary
DINT
(double integer type) Encoded in 32-bit format.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example: 31.12.11 corresponds to December 31, 2011;
31.12.2011 corresponds to December 31, 2011
DTM
(device type manager) Classified into 2 categories:
 Device DTMs connect to the field device configuration components.
 CommDTMs connect to the software communication components.
The DTM provides a unified structure for accessing device parameters and configuring, operating, and
diagnosing the devices. DTMs can range from a simple graphical user interface for setting device
parameters to a highly sophisticated application capable of performing complex real-time calculations for
diagnosis and maintenance purposes.
DWORD
(double word) Encoded in 32-bit format.
E
EDS
(electronic data sheet) A file for fieldbus device description that contains, for example, the properties of a
device such as parameters and settings.
EEPROM
(electrically erasable programmable read-only memory) A type of non-volatile memory to store required
data even when power is removed.
Electronic Gear
Calculation of a new output velocity for the motor movement based on the input velocity and the values of
an adjustable gear ratio; calculated by the drive system.
EMC
Electromagnetic compatibility
EMCY
(emergency) The object that enables devices to indicate internal errors detected in and by the device.
When the devices receive this signal, other network participants can evaluate the received information and
start appropriate manufacturer-specific counter actions.
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.
equipment
A part of a machine including sub-assemblies such as conveyors, turntables, and so on.
Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition.
ESD
(electro-static discharge)
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).
EIO0000002305 07/2019 519

Glossary
Fault Reset
Function used to exit the operating state Fault. Before the function is used, the cause of the detected error
must be removed.
FDR
(fast device replacement): A service supported by the device, that facilitate the replacement of an
inoperable equipment.
FDT
(field device tool) The specification describing the standardized data exchange between the devices and
control system or engineering or asset management tools.
FE
(functional Earth) A common grounding connection to enhance or otherwise allow normal operation of
electrically sensitive equipment (also referred to as functional ground in North America).
In contrast to a protective Earth (protective ground), a functional earth connection serves a purpose other
than shock protection, and may normally carry current. Examples of devices that use functional earth
connections include surge suppressors and electromagnetic interference filters, certain antennas, and
measurement instruments.
firmware
Represents the BIOS, data parameters, and programming instructions that constitute the operating system
on a controller. The firmware is stored in non-volatile memory within the controller.
flash memory
A non-volatile memory that can be overwritten. It is stored on a special EEPROM that can be erased and
reprogrammed.
free wire
The end of a multi-core digital I/O cable whose wires do not have a connector.
H
health bit
Variable that indicates the communication state of the channels.
health timeout
Represents the maximal time (in ms) between a request of the Modbus IO scanner and a response of the
slave.
hex
(hexadecimal)
HMI
(human machine interface) An operator interface (usually graphical) for human control over industrial
equipment.
homing
The method used to establish the reference point for absolute movement.
I
I/O
(input/output)
I/O scan
(input/output scan) Scan that continuously polls I/O modules to collect data bits and status, errors, and
diagnostics information. This process monitors inputs and controls outputs.
I/O terminal
(input/output terminal) A collection of connection points between the field wiring and the I/O modules or
those integrated into the controller.
ID
(identifier/identification)
IEC
(international electrotechnical commission) A non-profit and non-governmental international standards
organization that prepares and publishes international standards for electrical, electronic, and related
technologies.
520 EIO0000002305 07/2019

Glossary
IEC 61131-3
Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with
controller programming languages and defines 2 graphical and 2 textual programming language
standards. The graphical programming languages are ladder diagram and function block diagram. The
textual programming languages include structured text and instruction list.
implicit messaging
UDP/IP-based class 1 connected messaging for EtherNet/IP. Implicit messaging maintains an open
connection for the scheduled transfer of control data between a producer and consumer. Because an open
connection is maintained, each message contains primarily data, without the overhead of object
information, plus a connection identifier.
Input Assembly
Assemblies are blocks of data exchanged between network devices and the logic controller. An Input
Assembly generally contains status information from a network device read by the controller.
INT
(integer) A whole number encoded in 16 bits.
Internal Units
Resolution of the power stage at which the motor can be positioned. Internal units are specified in
increments.
IT Mains
Mains in which all active components are isolated from ground or are grounded by a high impedance. IT:
isolé terre (French), isolated ground. Opposite: Grounded mains, see TT/TN mains
L
LED
(light emitting diode) An indicator that illuminates under a low-level electrical charge.
Limit Switch
Switches that signal overtravel of the permissible range of travel.
LINT
(long integer) A whole number encoded in a 64-bit format (4 times INT or 2 times DINT).
LREAL
(long real) A floating-point number encoded in a 64-bit format.
LSB
(least significant bit/byte) The part of a number, address, or field that is written as the right-most single
value in conventional hexadecimal or binary notation.
LWORD
(long word) A data type encoded in a 64-bit format.
M
minimum I/O update time
The time needed by the module or block to update I/O on the bus. If the bus cycle time is shorter than this
minimum value, the I/O is updated on the bus at the next bus cycle time.
Modbus
The protocol that allows communications between many devices connected to the same network.
Modbus channel
Communication shuttle that carries a Modbus request between the master and a slave.
Modbus SL
(Modbus serial line The implementation of the protocol over a RS-232 or RS-485 serial connection.
Monitoring Function
Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to
check whether it is within permissible limits. Monitoring functions are used for error detection.
ms
(millisecond)
EIO0000002305 07/2019 521

Glossary
MS0, MS1
Number of a master in the network.
MSB
(most significant bit/byte The part of a number, address, or field that is written as the left-most single value
in conventional hexadecimal or binary notation.
N
N/A
(not applicable)
N/O
(normally open) A contact pair that opens when the actuator is de-energized (no power is applied) and
closes when the actuator is energized (power is applied).
NAK
(negative acknowledge)
NC
(not connected)
NEC
(national electric code) The standard that dictates the installation of proper electrical wiring and equipment.
NEMA
(national electrical manufacturers association) The standard for the performance of various classes of
electrical enclosures. The NEMA standards cover corrosion resistance, ability to help protect from rain,
submersion, and so on. For IEC member countries, the IEC 60529 standard classifies the ingress
protection rating for enclosures.
network
A system of interconnected devices that share a common data path and protocol for communications.
nibble
A half-byte (representing 4 bits of a byte).
NMT state machine
(network management state machine) The communication behavior of any CANopen device. The
CANopen NMT state machine consists of an initialization state, a pre-operational state, an operational
state, and a stopped state. After power-on or reset, the device enters the initialization state. After the device
initialization is finished, the device automatically enters the pre-operational state and announces the state
transition by sending the boot-up message. In this manner, the device indicates that it is ready to work. A
device that stays in pre-operational state may start to transmit SYNC-, Time Stamp-, or Heartbeat
message. In this state, the device cannot communicate through a PDO; it communicates with an SDO. In
the operational state, the device can use supported communication objects.
node
An addressable device on a communication network.
non-volatile memory
A memory that can be overwritten. It is stored on a special EEPROM that can be erased and
reprogrammed.
O
OD
(object dictionary) A CANopen protocol.
ODVA
(open DeviceNet vendors association) The family of network technologies that are built on CIP
(EtherNet/IP, DeviceNet, and CompoNet).
OSI
(open system interconnection) The 7-layer reference model that describes network protocol
communications. Each abstract layer receives services from the layer below it and provides services to the
layer above.
522 EIO0000002305 07/2019

Glossary
P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
PDO
(process data object) An unconfirmed broadcast message or sent from a producer device to a consumer
device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that
corresponds to the receive PDO of the consumer devices.
PE
(Protective Earth) A common grounding connection to help avoid the hazard of electric shock by keeping
any exposed conductive surface of a device at earth potential. To avoid possible voltage drop, no current
is allowed to flow in this conductor (also referred to as protective ground in North America or as an
equipment grounding conductor in the US national electrical code).
PELV
Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41
periodic execution
The task is executed either cyclically or periodically. In periodic mode, you determine a specific time
(period) in which the task is executed. If it is executed under this time, a waiting time is generated before
the next cycle. If it is executed over this time, a control system indicates the overrun. If the overrun is too
high, the controller is stopped.
persistent data
Value of persistent data is used at next application change or cold start. Only get re-initialized at a reboot
of the controller or reset origin. Especially, they maintain their values after a download.
PLC
(programmable logic controller) An industrial computer used to automate manufacturing, industrial, and
other electromechanical processes. PLCs are different from common computers in that they are designed
to have multiple input and output arrays and adhere to more robust specifications for shock, vibration,
temperature, and electrical interference among other things.
PLCopen
For more information, refer to http://www.plcopen.org/.
Position Deviation
The position deviation is the difference between reference position and actual position. The current
position deviation consists of the load-dependent position deviation and the dynamic position deviation.
Power Stage
The power stage controls the motor. The power stage generates current for controlling the motor on the
basis of the motion signals from the controller.
power supply terminals
The power supply is connected to these terminals to provide power to the controller.
protocol
A convention or standard definition that controls or enables the connection, communication, and data
transfer between 2 computing system and devices.
PTO
(pulse train outputs) a fast output that oscillates between off and on in a fixed 50-50 duty cycle, producing
a square wave form. The PTO is especially well suited for applications such as stepper motors, frequency
converters, and servo motor control, among others.
PWM
(pulse width modulation) A fast output that oscillates between off and on in an adjustable duty cycle,
producing a rectangular wave form (though you can adjust it to produce a square wave). The PTO is well
adapted to simulate or approximate an analog output in that it regulates the voltage of the output over its
period making it useful in light dimming or speed control applications, among others.
Q
Quick Stop
The quick Stop function can be used for fast deceleration of a movement as a response to a detected error
or via a command.
EIO0000002305 07/2019 523

Glossary
R
REAL
A data type that is defined as a floating-point number encoded in a 32-bit format.
relative movement
Movement by a specified distance from the current position.
RJ45
A standard type of 8-pin connector for network cables defined for Ethernet.
rms
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)
RPDO
(receive process data object An unconfirmed broadcast message or sent from a producer device to a
consumer device in a CAN-based network. The transmit PDO from the producer device has a specific
identifier that corresponds to the receive PDO of the consumer devices.
RPI
(requested packet interval) The time period between cyclic data exchanges requested by the scanner.
EtherNet/IP devices publish data at the rate specified by the RPI assigned to them by the scanner, and
they receive message requests from the scanner with a period equal to RPI.
RPM
(revolutions per minute)
RPS
(revolutions per second)
RSDO
(receive service data object) A message received from a producer device to a consumer device in a CAN-
based network.
RTC
(real-time clock) A battery-backed time-of-day and calender clock that operates continuously, even when
the controller is not powered for the life of the battery.
RTS
(request to send) A data transmission signal and CTS signal that acknowledges the RTS from the
destination node.
RxD
The line that receives data from one source to another.
S
Safety Function
Safety functions are defined in the standard IEC 61800-5-2 (for example, Safe Torque Off (STO), Safe
Operating Stop (SOS) or Safe Stop 1 (SS1)). If the safety functions are wired properly, they meet the
requirements specified in IEC 61800-5-2.
SDO
(service data object) A message used by the field bus master to access (read/write) the object directories
of network nodes in a CAN-based. SDO types include service SDOs (SSDOs) and client SDOs (CSDOs).
security parameters
A set of configuration parameters used to enable or disable specific protocols and features relating to the
cybersecurity of an application.
SINT
(signed integer) A 15-bit value plus sign.
SL
(serial line)
SoMachine
A comprehensive controller development system software tool for configuring and programming the
Modicon logic controller and devices compliant with IEC 61131-3.
524 EIO0000002305 07/2019

Glossary
SoMachine Basic
SoMachine Basic is a software development tool designed to make it easy to configure, program, and
commission programs for Modicon logic controllers and associated devices.
SSI
(serial synchronous interface) A common interface for relative and absolute measurement systems like
encoders.
STO
(Safe Torque Off) The Safety Function STO (IEC 61800-5-2) (“Safe Torque Off”) removes power to the
motor thereby relieving the torque applied by the motor. There is no monitoring for standstill..
string
A variable that is a series of ASCII characters.
SYNC
Synchronization Object
T
TN Mains
Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite:
Ungrounded mains, see IT mains.
touchprobe input
Touchprobe inputs are advanced digital inputs. These inputs are used for measuring functions, which
accurately detect positions relative to a measure input. Once a touchprobe function has been activated, it
runs independently in the system, independent of the IEC program. The IEC program can use parameters
to detect the state of the measuring function. This function is supported by hardware and software.
TP
(touch probe) A position capture that is triggered by a fast input signal (quick sensor). On the rising edge
of the touch probe input, the position of an encoder is captured.
For example, this is used for packaging machines to capture the position of a printmark on a film to cut on
the same position.
TPDO
(transmit process data object) An unconfirmed broadcast message or sent from a producer device to a
consumer device in a CAN-based network. The transmit PDO from the producer device has a specific
identifier that corresponds to the receive PDO of the consumer devices.
TSDO
(transmit service data object) A message sent from a producer device to a consumer device in a CAN-
based network.
TT Mains
Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite:
Ungrounded mains, see IT mains.
TxD
The line that sends data from one source to another.
U
UDINT
(unsigned double integer) Encoded in 32 bits.
UINT
(unsigned integer) Encoded in 16 bits.
UL
(underwriters laboratories) A US organization for product testing and safety certification.
UTC
(universal time coordinated) The primary time standard by which the world regulates clocks and time.
EIO0000002305 07/2019 525

Glossary
W
Warning
If the term is used outside the context of safety instructions, a warning alerts to a potential problem that
was detected by a monitoring function. A warning does not cause a transition of the operating state.
watchdog
A watchdog is a special timer used to ensure that programs do not overrun their allocated scan time. The
watchdog timer is usually set to a higher value than the scan time and reset to 0 at the end of each scan
cycle. If the watchdog timer reaches the preset value, for example, because the program is caught in an
endless loop, an error is declared and the program stopped.
WORD
A type encoded in a 16-bit format.
Z
Zone of operation
This term is used in conjunction with the description of specific hazards, and is defined as it is for a hazard
zone or danger zone in the EC Machinery Directive (2006/42/EC) and in ISO 12100-1.
526 EIO0000002305 07/2019

Index
EIO0000002305 07/2019
Index
A H
access channels, 314 hazard and risk analysis, 111
accessories
external braking resistors, 125
external mains filters, 105 I
improvement of EMC, 104
installation site and connection, 37
B Intended Use, 9, 10
braking resistor internal braking resistor, 124
rating, 122
M
C manual tuning, 222
cable specifications monitoring functions, 126
protected cable installation, 119 mounting distances;ventilation, 140
cables, 106 mounting position, 179
category 0 stop, 115
category 1 stop, 115
comfort tuning, 216 N
commissioning software, 206 nameplate, 34, 56
common DC bus, 109
communication objects, 454
components and interfaces, 55 O
control cabinet, 140 online help, 206
operating states, 315
overvoltage category UL, 28
D
DC bus, 109
degree of protection, 37 P
dimensions P0-00, 239
drive, 39 P0-01, 239
disposal, 449, 449 P0-02, 239
drive:mounting, 141 P0-03, 239
P0-04, 240
P0-08, 240
E P0-09, 240
easy tuning, 215 P0-10, 240
Electrical Installation Drive, 142 P0-11, 240
electromagnetic compatibility (EMC), 102, 103 P0-12, 240
EMC, 102, 103 P0-13, 240
improvement of EMC, 104 P0-17, 241
environmental conditions P0-18, 241
drive, 37 P0-19, 241
motor, 60 P0-20, 241
equipotential bonding conductors, 104, 106, 163 P0-21, 241
P0-25, 241
P0-26, 241
F P0-27, 241
Fault Reset, 315 P0-28, 241
function P0-29, 242
safety function, 116 P0-30, 242
functional safety, 112 P0-31, 242
functions P0-32, 242
CW/CCW, 50 P0-35, 242
P/D, 51 P0-36, 242
signals A/B, 49 P0-37, 242
fuses UL, 28 P0-38, 243
P0-39, 243
P0-40, 243
EIO0000002305 07/2019 527

Index
P0-41, 243 P1-70, 255

P0-42, 243 P1-71, 255
P0-46, 243 P1-72, 255
P0-47, 243 P1-78, 255
P1-00, 244 P1-79, 255
P1-01, 244 P1-80, 255
P1-02, 245 P1-81, 255
P1-03, 246 P1-82, 255
P1-04, 246 P1-84, 256
P1-05, 246 P1-85, 256
P1-06, 246 P1-87, 256
P1-07, 246 P2-01, 257
P1-09, 246 P2-05, 257
P1-10, 246 P2-08, 257
P1-11, 247 P2-09, 257
P1-12, 247 P2-10, 258
P1-13, 247 P2-11, 258
P1-14, 247 P2-12, 258
P1-15, 248 P2-13, 258
P1-16, 248 P2-14, 258
P1-17, 248 P2-15, 258
P1-18, 248 P2-16, 258
P1-19, 248 P2-17, 258
P1-20, 248 P2-18, 259
P1-21, 248 P2-19, 259
P1-22, 248 P2-20, 259
P1-23, 248 P2-21, 259
P1-24, 249 P2-22, 259
P1-25, 249 P2-23, 259
P1-26, 249 P2-24, 260
P1-27, 249 P2-27, 260
P1-28, 249 P2-29, 260
P1-29, 249 P2-30, 260
P1-30, 249 P2-31, 260
P1-32, 250 P2-32, 261
P1-34, 250 P2-34, 261
P1-35, 250 P2-35, 261
P1-37, 250 P2-36, 261
P1-38, 251 P2-37, 261
P1-39, 251 P2-44, 261
P1-40, 251 P2-50, 262
P1-41, 251 P2-60, 262
P1-42, 251 P2-61, 262
P1-44, 252 P2-62, 262
P1-45, 252 P2-65, 262
P1-46, 252 P2-66, 263
P1-47, 252 P2-68, 264
P1-48, 252 P2-69, 264
P1-52, 253 P2-70, 264
P1-53, 253 P3-00, 265
P1-54, 253 P3-01, 265
P1-55, 253 P3-02, 265
P1-57, 253 P3-03, 265
P1-58, 253 P3-04, 265
P1-59, 253 P3-05, 265
P1-60, 253 P3-06, 266
P1-61, 254 P3-07, 266
P1-62, 254 P3-09, 266
P1-63, 254 P3-10, 266
P1-64, 254 P3-11, 266
P1-65, 254 P3-12, 266
P1-66, 254 P3-13, 266
P1-67, 254 P3-14, 266
P1-68, 254 P3-15, 266
P1-69, 255 P3-16, 267
528 EIO0000002305 07/2019

Index
P3-17, 267 P6-03, 280

P3-18, 267 P6-04, 280
P3-19, 267 P6-05, 280
P3-20, 267 P6-06, 280
P3-21, 267 P6-07, 280
P3-30, 267 P6-08, 281
P3-31, 268 P6-09, 281
P3-32, 268 P6-10, 281
P4-00, 269 P6-11, 281
P4-01, 269 P6-12, 281
P4-02, 269 P6-13, 281
P4-03, 269 P6-14, 281
P4-04, 269 P6-15, 281
P4-05, 269 P6-16, 281
P4-06, 270 P6-17, 281
P4-07, 270 P6-18, 281
P4-08, 271 P6-19, 282
P4-09, 271 P6-20, 282
P4-10, 271 P6-21, 282
P4-20, 271 P6-22, 282
P4-21, 271 P6-23, 282
P4-22, 271 P6-24, 282
P4-23, 271 P6-25, 282
P4-24, 272 P6-26, 282
P4-25, 272 P6-27, 282
P4-26, 272 P6-28, 282
P4-27, 272 P6-29, 282
P4-28, 272 P6-30, 283
P4-29, 273 P6-31, 283
P5-00, 274 P6-32, 283
P5-04, 274 P6-33, 283
P5-05, 274 P6-34, 283
P5-06, 274 P6-35, 283
P5-07, 275 P6-36, 283
P5-08, 275 P6-37, 283
P5-09, 275 P6-38, 283
P5-10, 275 P6-39, 283
P5-11, 275 P6-40, 283
P5-12, 275 P6-41, 284
P5-13, 276 P6-42, 284
P5-14, 276 P6-43, 284
P5-15, 276 P6-44, 284
P5-16, 276 P6-45, 284
P5-18, 276 P6-46, 284
P5-20, 276 P6-47, 284
P5-21, 277 P6-48, 284
P5-22, 277 P6-49, 284
P5-23, 277 P6-50, 284
P5-24, 277 P6-51, 284
P5-25, 277 P6-52, 285
P5-26, 277 P6-53, 285
P5-35, 278 P6-54, 285
P5-36, 278 P6-55, 285
P5-37, 278 P6-56, 285
P5-38, 278 P6-57, 285
P5-39, 278 P6-58, 285
P5-56, 278 P6-59, 285
P5-57, 278 P6-60, 285
P5-58, 278 P6-61, 285
P5-59, 278 P6-62, 285
P5-76, 279 P6-63, 286
P5-77, 279 P6-64, 286
P6-00, 280 P6-65, 286
P6-01, 280 P7-00, 287
P6-02, 280 P7-01, 287
EIO0000002305 07/2019 529

Index
P7-02, 287 P8-01, 293

P7-03, 287 P8-02, 293
P7-04, 287 P8-03, 293
P7-05, 287 P8-04, 293
P7-06, 287 P8-05, 293
P7-07, 287 P8-06, 293
P7-08, 287 P8-07, 293
P7-09, 287 P8-08, 293
P7-10, 287 P8-09, 293
P7-11, 288 P8-10, 293
P7-12, 288 P8-11, 294
P7-13, 288 P8-12, 294
P7-14, 288 P8-13, 294
P7-15, 288 P8-14, 294
P7-16, 288 P8-15, 294
P7-17, 288 P8-16, 294
P7-18, 288 P8-17, 294
P7-19, 288 P8-18, 294
P7-20, 288 P8-19, 294
P7-21, 288 P8-20, 294
P7-22, 288 P8-21, 294
P7-23, 289 P8-22, 295
P7-24, 289 P8-23, 295
P7-25, 289 P8-24, 295
P7-26, 289 P8-25, 295
P7-27, 289 P8-26, 295
P7-28, 289 P8-27, 295
P7-29, 289 P8-28, 295
P7-30, 289 P8-29, 295
P7-31, 289 P8-30, 296
P7-32, 289 P8-31, 296
P7-33, 289 P8-32, 296
P7-34, 289 P8-33, 296
P7-35, 290 P8-34, 296
P7-36, 290 P8-35, 297
P7-37, 290 P8-36, 297
P7-38, 290 P8-37, 297
P7-39, 290 P8-38, 297
P7-40, 290 P8-39, 297
P7-41, 290 P8-40, 297
P7-42, 290 P8-41, 297
P7-43, 290 P8-42, 297
P7-44, 290 P8-43, 297
P7-45, 290 P8-44, 298
P7-46, 290 P8-45, 298
P7-47, 291 P8-46, 298
P7-48, 291 P8-47, 298
P7-49, 291 P8-48, 298
P7-50, 291 P8-49, 299
P7-51, 291 P8-51, 299
P7-52, 291 P8-52, 299
P7-53, 291 P8-53, 299
P7-54, 291 P8-54, 299
P7-55, 291 P8-55, 300
P7-56, 291 P8-56, 300
P7-57, 291 P8-57, 300
P7-58, 291 P8-58, 300
P7-59, 292 P8-59, 300
P7-60, 292 P8-60, 300
P7-61, 292 P8-61, 301
P7-62, 292 P8-62, 301
P7-63, 292 P8-63, 301
P7-64, 292 P8-64, 301
P7-65, 292 P8-65, 301
P8-00, 293 P8-66, 301
530 EIO0000002305 07/2019

Index
P8-67, 301 S
P8-68, 301
safe torque off, 110
P8-69, 302
safety function
P8-70, 302
function, 116
P8-71, 302
requirements, 117
P8-99, 302
safety function STO, 110
P9-00, 304
scope of supply, 137
P9-01, 304
shipping, 449
P9-02, 304
signals
P9-06, 304
A/B, 49
P9-07, 304
state diagram, 315
P9-08, 304
STO, 110
P9-09, 304
function, 116
P9-10, 304
requirements, 117
P9-11, 304
storage, 449
P9-12, 304
P9-13, 305
P9-14, 305
P9-15, 305
T
P9-16, 305 tuning the control loops, 214
P9-17, 305 type code, 35, 58
P9-18, 305 drive, 35
P9-19, 305 motor, 58
P9-20, 305 type of cooling, 42
P9-21, 305
P9-22, 305
P9-23, 305
U
P9-25, 306 UL
P9-26, 306 conditions for wiring, 28
P9-27, 306 fuses, 28
P9-28, 306 overvoltage category, 28
P9-29, 306
P9-30, 307, 308
P9-31, 308 W
P9-32, 308 wiring UL, 28
P9-33, 308
P9-34, 308
P9-35, 309
P9-36, 309
P9-37, 309
P9-38, 309
P9-39, 309
P9-40, 309
parallel connection DC bus, 109
PDO mapping:dynamic, 456
PDO mapping:structure of entries, 457
permissible product combinations, 42
pollution degree, 37
protected cable installation, 119
PWM frequency power stage, 41
Q
Qualification of Personnel, 9, 9
R
rating of braking resistor, 122
Representation of the Parameters, 238
requirements
safety function, 117
resetting error message, 315
EIO0000002305 07/2019 531

Schneider

Uploaded by

Copyright:

Available Formats

Schneider

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Schneider

Uploaded by

Copyright:

Available Formats

Lexium 28A and BCH2 Servo Drive System

Lexium 28A and BCH2 Servo

Title of documentation Reference number

DC Bus Voltage Measurement

Servo Drive System Planning

What Is in This Part?

What Is in This Chapter?

Servo Drive Device Overview

 the accessories and spare parts (see page 91):

Drive / Motor References

Lexium 28A Drive References List

Drive references Nominal power Supply mains

BCH2 Motor References List

Motor references Nominal power

Drive / Motor Combinations

Drive Motor Nominal Nominal Nominal Peak Rotor Moment

 Engineering (see page 99)

 Commissioning (see page 191)

 Parameters (see page 235)

 Diagnostics and troubleshooting (see page 421)

Servo Drive System Technical Data

What Is in This Part?

What Is in This Chapter?

Conditions for UL 508C

LXM28A UA5, U01, U02, U20, U30, U45

Conditions for CSA

The CSA certificate can be downloaded on the Schneider Electric website.

Reference Group Reference Class Maximum Current

What Is in This Chapter?

What Is in This Section?

Servo Drive Description

Item Description Connector

Servo Drive Nameplate

Servo Drive Type Code

Servo Drive Type Code

Drive Technical Data

What Is in This Section?

Ambient Conditions During Operation

Description Unit Value

The following relative humidity is permissible during operation:

Description Unit Value

Description Unit Value

Ambient Conditions During Transportation and Storage

Description Unit Value

The following relative humidity is permissible during transportation and storage:

Description Unit Value

Installation Site and Connection

Pollution Degree and Degree of Protection

Degree of Protection When the Safety Function Is Used

Vibration and Shock During Operation

Vibration and Shock During Transportation and Storage

Lexium 28A Dimensions

LXM28A UA5M3X, U01M3X, U10M3X, U15M3X U20M3X

LXM28A Unit U30M3X, U45M3X

110 Vac Mains Voltage: Range and Tolerance

Description Unit Value

220 Vac Mains Voltage: Range and Tolerance

Description Unit Value

Description Unit Value