I550 Series Ins en

Commissioning | EN
Inverter
Inverter i550 Cabinet 0.25 ... 90 kW
Contents
Contents
1 General information 15
1.1 Read first, then start 15
2 Safety instructions 16
2.1 Basic safety measures 16
2.2 Residual hazards 17
2.3 Application as directed 17
3 Mechanical installation 18
3.1 Dimensions 18
4 Electrical installation 28
4.1 Important notes 28
4.2 Mains connection 29
4.2.1 1-phase mains connection 120 V 29
4.2.1.1 Connection plan 29
4.2.1.2 Fusing and terminal data 30
4.2.2 1-phase mains connection 230/240 V 32
4.2.3 3-phase mains connection 230/240 V 37
4.2.5 3-phase mains connection 400 V "light duty" 47
4.2.7 3-phase mains connection 480 V "Light Duty" 58
4.3 Control connections 63
4.4 Networks 64
4.4.1 CANopen 64
4.4.2 Modbus RTU 65
4.4.3 Modbus TCP 66
4.4.4 PROFIBUS 67
4.4.5 EtherCAT 68
4.4.6 EtherNet/IP 68
4.4.7 PROFINET 69
4.4.8 POWERLINK 70
4.5 Connection of the safety module 70
3
Contents
5 Commissioning 71
5.1 Important notes 71
5.2 Operating interfaces 72
5.2.1 Keypad 72
5.2.2 Engineering tool »EASY Starter« 73
5.2.2.1 Generate a connection between inverter and »EASY Starter« 74
5.3 Parameter setting 76
5.3.1 General notes on parameters 77
5.3.2 Basic inverter settings 78
5.3.3 Basic motor settings 81
5.3.4 Function assignment of the inputs and outputs 82
5.4 Keypad parameter list 85
5.5 Save parameter settings in the memory module 107
5.5.1 Save parameter settings with keypad 107
5.5.2 Save parameter settings with »EASY Starter« 107
6 Diagnostics and fault elimination 108
6.1 LED status display 108
6.2 Diagnostics parameter 109
6.2.1 Logbook 110
6.2.2 Error history buffer 111
6.2.3 Inverter diagnostics 114
6.2.4 Network diagnostics 118
6.2.4.1 CANopen diagnostics 119
6.2.4.2 Modbus diagnostics 122
6.2.4.3 PROFIBUS diagnostics 122
6.2.4.4 EtherNet/IP diagnostics 125
6.2.4.5 PROFINET diagnostics 126
6.2.4.6 EtherCAT diagnostics 127
6.2.4.7 POWERLINK diagnostics 128
6.2.5 Diagnostics of the inputs and outputs 129
6.2.5.1 Digital inputs and outputs 129
6.2.5.2 Analog inputs and outputs 130
6.2.6 Wireless-LAN diagnostics 132
6.2.7 Setpoint diagnostic 133
6.2.8 Process controller status 133
6.2.9 Sequencer diagnostics 134
6.2.10 Device identification 135
6.2.11 Device overload monitoring (i*t) 136
6.2.12 Heatsink Temperature Monitoring 137
6.2.13 Life-diagnosis 137
6.3 Error handling 139
6.3.1 Error types 139
6.3.2 Error configuration 140
6.3.3 Error reset 140
6.3.4 Keypad error messages 140
6.4 Data handling 141
4
Contents
7 Basic setting 143

7.1 Mains voltage 144
7.2 Inverter load characteristic 146
7.3 Control source selection 147
7.4 Selection of setpoint source 148
7.4.1 Keypad setpoint default setting 151
7.5 Starting/stopping performance 153
7.5.1 Starting performance 153
7.5.2 Stopping performance 155
7.6 Frequency limits and ramp times 156
7.7 Quick stop 159
7.8 S-shaped ramps 161
7.9 Optical device identification 162
5
Contents
8 Motor control 163

8.1 Motor data 164
8.1.1 Manual setting of the motor data 164
8.2 Motor control selection 165
8.2.1 V/f characteristic control (VFC) 166
8.2.1.1 Linear V/f characteristic 167
8.2.1.2 Square-law V/f characteristic 168
8.2.1.3 User-definable V/f characteristic 169
8.2.1.4 V/f characteristic control - energy-saving (VFC Eco) 170
8.2.2 V/f characteristic control (VFC closed loop) 172
8.2.3 Sensorless vector control (SLVC) 173
8.2.4 Servo control for asynchronous motors (SC-ASM) 176
8.2.5 Sensorless control for synchronous motors (SL-PSM) 178
8.2.5.1 Stall monitoring 181
8.3 Optimisation of motor control 182
8.3.1 V/f voltage boost 183
8.3.2 Skip frequencies 184
8.3.3 Optimising the stalling behaviour 186
8.3.4 Slip compensation 188
8.3.5 Oscillation damping 190
8.3.6 Pole position identification without movement 191
8.4 Optimisation of the control loops 193
8.4.1 Options for optimized motor tuning 196
8.4.1.1 Motor selection from motor catalogue 197
8.4.1.2 Tuning of the motor and the speed controller 198
8.4.1.3 Automatic motor identification (energized) 199
8.4.1.4 Automatic motor calibration (non-energized) 200
8.4.2 Inverter Characteristics 200
8.4.3 Motor equivalent circuit diagram data 201
8.4.4 Motor controller settings 202
8.4.4.1 Current controller 202
8.4.4.2 Field controller 203
8.4.4.3 Field weakening controller 203
8.4.4.4 Field weakening controller (advanced) 203
8.4.4.5 Imax controller 204
8.4.4.6 Flying restart controller 205
8.4.4.7 SLVC controller 205
8.4.4.8 Torque control w/ freq. limit 206
8.4.4.9 Slip controller 210
8.4.5 Speed controller 211
8.5 Motor rotating direction 212
8.6 Switching frequency changeover 213
6
Contents
8.7 Motor protection 214

8.7.1 Motor overload monitoring (i²*t) 215
8.7.2 Motor temperature monitoring 219
8.7.3 Current limits 220
8.7.4 Overcurrent monitoring 222
8.7.5 Motor phase failure detection 223
8.7.6 Motor speed monitoring 224
8.7.7 Motor torque monitoring 224
7
Contents
9 Configuring the network 226

9.1 General network settings 227
9.2 Predefined process data words 246
9.2.1 Device profile CiA 402 247
9.2.2 AC Drive Profile 248
9.2.3 Lenze LECOM profile 249
9.2.4 Further process data 251
9.2.5 Parameter access monitoring (PAM) 257
9.2.6 Process data handling in case of error 258
9.3 Acyclic data exchange 258
9.4 CANopen 259
9.4.1 Introduction 259
9.4.2 Node address setting 260
9.4.3 Baud rate setting 261
9.4.4 Configure device as mini master 262
9.4.5 Diagnostics 263
9.4.6 Emergency telegram 264
9.4.7 Heartbeat protocol 264
9.4.8 Process data objects 266
9.4.9 Data mapping 271
9.4.10 Service data objects 274
9.4.11 Error responses 275
9.4.12 Diagnostic counter 276
9.4.13 LED status displays 277
9.4.14 Restart communication 278
9.4.15 Short setup 279
9.5 Modbus RTU 282
9.5.2 Node address setting 282
9.5.4 Data format setting 283
9.5.5 Time-out monitoring 284
9.5.7 Function codes 287
9.5.11 Response time setting 291
8
Contents
9.6 PROFIBUS 294

9.6.2 Communication time setting 294
9.6.3 Station address setting 295
9.6.5 Monitoring 296
9.6.8 Functions 299
9.6.10 Parameter data transfer 303
9.6.11 Read parameter data 305
9.6.12 Write parameter data 308
9.6.13 Error codes for parameter data transfer 311
9.7 EtherNet/IP 316
9.7.1 Basic settings 317
9.7.5 Objects 324
9.7.7 Process data transfer 332
9.7.7.1 Customer specific configurations 337
9.8 Modbus TCP 348
9.8.3 Time-out behaviour 351
9.8.6 Function codes 355
9.9 PROFINET 365
9
Contents
9.10 EtherCAT 383

9.10.1 Device identification 384
9.10.2 EtherCAT configuration 385
9.10.6 Objects 388
9.11 POWERLINK 396
9.11.7 Error response 400
9.11.8 Supported objects 400
10 Configuring the process controller 407
10.1 Basic process controller settings 408
10.2 Process controller - idle state and rinse function 414
10.2.1 Process controller idle state 414
10.2.2 Process controller rinse function 416
10
Contents
11 Additional functions 417

11.1 Device Commands 418
11.1.1 Reset parameters to default 418
11.1.2 Saving/loading the parameter settings 419
11.1.3 Device commands for parameter change-over 421
11.1.4 Delete logbook 421
11.2 Keypad 422
11.2.1 Keypad language selection 422
11.2.2 Keypad setpoint increment 422
11.2.3 Keypad scaling of speed display 422
11.2.4 Keypad status display 422
11.2.5 Keypad - Configuration of R/F and CTRL buttons 423
11.3 Wireless LAN (WLAN) 426
11.3.1 WLAN LED status displays 426
11.3.2 WLAN basic settings 427
11.3.2.1 Resetting WLAN settings to default setting 429
11.3.3 WLAN access point mode 430
11.3.3.1 Establishing a direct WLAN connection between smartphone and inverter 431
11.3.3.2 Using the smartphone as "Smart Keypad" 432
11.3.3.3 Establishing a direct WLAN connection between Engineering PC and inverter 433
11.3.4 WLAN client mode 435
11.4 DC braking 437
11.4.1 Example 1: Automatic DC braking when the motor is started 439
11.4.2 Example 2: Automatic DC braking when the motor is stopped 440
11.4.3 Migration of Lenze Inverter Drives 8200/8400 442
11.5 Brake energy management 443
11.5.1 Use of a brake resistor 445
11.5.2 Stopping the deceleration ramp function generator 447
11.5.3 Inverter motor brake 448
11.6 Load loss detection 449
11.7 Access protection 450
11.7.1 Write access protection 450
11.7.1.1 Write access protection in the »EASY Starter« 452
11.7.1.2 Write access protection in the keypad 455
11.8 Favorites 459
11.8.1 Accessing the "Favorites" with the keypad 459
11.8.2 Favorites parameter list (default setting) 460
11.8.3 Configuring the "Favorites" 461
11.9 Parameter change-over 464
11.9.1 Example: Selective control of several motors with one inverter 467
11.10 Device profile CiA 402 469
11.11 Holding brake control 472
11.11.1 Basic setting 473
11.11.2 "Automatic" brake mode (automatic operation) 474
11.11.3 Brake holding load 476
11.11.4 Brake closing level 478
11.11.5 Manual release of the holding brake 480
11.12 Flying restart circuit 481
11.13 Timeout für fault reaction 483
11
Contents
11.14 Automatic restart 484

11.15 Mains failure control 485
11.15.1 Activating the mains failure control 487
11.15.2 Restart protection 488
11.15.3 Fast mains recovery 488
11.15.4 Commissioning the mains failure control 489
11.16 UPS operation 490
11.17 Process data 493
11.17.1 Position counter 493
11.18 Encoder settings 495
11.18.1 HTL encoder 496
11.18.2 Encoder monitoring 498
11.19 Firmware download 501
11.19.1 Firmware download with »EASY Starter (Firmware loader)« 501
11.20 Additive voltage impression 502
11.20.1 Example: Using the function with a 400-V inverter 503
12 Sequencer 504
12.1 Segment configuration 506
12.2 Sequence configuration 516
12.3 Sequencer basic settings 520
13 Safety functions 523
13.1 Safe torque off (STO) 523
12
Contents
14 Flexible I/O configuration 525

14.1 Control source change-over 526
14.1.1 Example 1: Change-over from terminal control to keypad control 529
14.1.2 Example 2: Change-over from terminal control to network control 530
14.2 Start / stop motor 531
14.2.1 Example 1: Start/stop (1 signal) and reversal 537
14.2.2 Example 2: Start forward/start reverse/stop (edge-controlled) 538
14.2.3 Example 3: Run forward/Run reverse/stop (status-controlled) 540
14.2.4 Example 4: Quick stop 542
14.2.5 Example 5: Jog forward/Jog reverse 543
14.2.6 Example 6: Enable inverter 545
14.3 Setpoint change-over 546
14.3.1 Priority of the setpoint sources 548
14.3.2 Analog input setpoint source 548
14.3.3 Keypad setpoint source 551
14.3.4 Network setpoint source 553
14.3.5 Setpoint source of preset setpoints 554
14.3.6 Motor potentiometer setpoint source (MOP) 559
14.3.7 Setpoint source segment setpoints 563
14.3.8 HTL input setpoint source 565
14.3.8.1 Example 1: Input range 10 ... 85 kHz ≡ setting range 0 ... 50 Hz 569
14.3.8.2 Example 2: Input range 10 ... 85 kHz ≡ setting range -50 ... 50 Hz 569
14.4 Reset error 570
14.5 Activating DC braking manually 572
14.6 Releasing holding brake manually 574
14.7 Activating ramp 2 manually 576
14.8 Triggering a user-defined fault 578
14.9 Functions for parameter change-over 579
14.9.1 Example 1: Activation via command (only when disabled) 581
14.9.2 Example 2: Activation via command (immediately) 582
14.9.3 Example 3: Activation if the selection is changed (only if the inverter is disabled) 583
14.9.4 Example 4: Activation if the selection is changed (immediately) 584
14.10 Process controller function selection 585
14.11 Sequencer control functions 588
14.12 Frequency threshold for "Frequency threshold exceeded" trigger 593
14.13 Configuration of digital inputs 594
14.14 Configuration of analog inputs 597
14.14.1 Analog input 1 597
14.14.1.1 Example 1: Input range 0 ... 10 V ≡ setting range 0 ... 50 Hz 599
14.14.1.2 Example 2: Input range 0 ... 10 V ≡ setting range -40 ... +40 Hz 599
14.14.1.3 Example 3: Input range -10 ... +10 V ≡ setting range -40 ... +40 Hz 600
14.14.1.4 Example 4: Error detection 600
14.14.2 Analog input 2 601
13
Contents
14.15 Configuration of digital outputs 603

14.15.1 Relay 603
14.15.2 Digital output 1 607
14.15.3 Digital output 2 608
14.15.4 NetWordOUT1 status word 609
14.15.5 HTL output 612
14.15.5.1 Example 1: Pulse train 0 ... 10 kHz ≡ output frequency 0 ... 100 Hz 615
14.15.5.2 Example 2: Pulse train 2 ... 10 kHz ≡ output frequency 30 ... 60 Hz 616
14.16 Configuration of analog outputs 617
14.16.1 Analog output 1 617
14.16.1.1 Example 1: Output voltage 0 ... 10 V ≡ output frequency 0 ... 100 Hz 619
14.16.1.2 Example 2: Output voltage 2 ... 10 V ≡ output frequency 30 ... 60 Hz 619
14.16.2 Analog output 2 620
15 Technical data 622
15.1 Standards and operating conditions 622
15.1.1 Conformities/approvals 622
15.1.2 Protection of persons and device protection 622
15.1.3 EMC data 622
15.1.4 Motor connection 623
15.1.5 Environmental conditions 623
15.1.6 Electrical supply conditions 623
15.2 1-phase mains connection 120 V 624
15.2.1 Rated data 624
15.3 1-phase mains connection 230/240 V 625
15.4 3-phase mains connection 230/240 V 626
15.6 3-phase mains connection 400 V "light duty" 628
15.8 3-phase mains connection 480 V "Light Duty" 630
16 Appendix 631
16.1 Operate and parameterise the inverter with keypad 631
16.1.1 Keypad operating mode 632
16.1.1.1 Keypad status display 632
16.1.1.2 Function of keypad keys in operating mode 633
16.1.1.3 Error reset with keypad 634
16.1.2 Keypad parameterisation mode 635
16.1.2.1 Parameter groups 635
16.1.2.2 Function of the keypad keys in the parameterisation mode 636
16.1.2.3 Save parameter settings with keypad 637
16.1.2.4 Display of status words on keypad 638
16.2 Error codes 639
16.3 Parameter attribute list 659
14
General information
Read first, then start
1 General information
1.1 Read first, then start
WARNING!
Read this documentation thoroughly before carrying out the installation and commissioning.
▶ Please observe the safety instructions!
Information and tools with regard to the Lenze products can be found on the
Internet:
http://www.lenze.com à Download
15
Safety instructions
Basic safety measures
2 Safety instructions
2.1 Basic safety measures
Disregarding the following basic safety measures may lead to severe personal injury and dam-
age to material assets!
The product
• must only be used as directed.
• must never be commissioned if they display signs of damage.
• must never be technically modified.
• must never be commissioned if they are not fully mounted.
• must never be operated without required covers.
Connect/disconnect all pluggable terminals only in deenergised condition.
Only remove the product from the installation in the deenergised state.
Insulation resistance tests between 24V control potential and PE: According to EN 61800−5−1,
the maximum test voltage must not exceed 110 V DC.
Observe all specifications of the corresponding documentation supplied. This is the precondi-
tion for safe and trouble-free operation and for obtaining the product features specified.
The procedural notes and circuit details described in this document are only proposals. It is up
to the user to check whether they can be adapted to the particular applications. Lenze does
not take any responsibility for the suitability of the procedures and circuit proposals descri-
bed.
The product must only be used by qualified personnel. IEC 60364 or CENELEC HD 384 define
the skills of these persons:
• They are familiar with installing, mounting, commissioning, and operating the product.
• They have the corresponding qualifications for their work.
• They know and can apply all regulations for the prevention of accidents, directives, and
laws applicable at the place of use.
Please observe the specific notes in the other chapters!
Notes used:
DANGER!
This note refers to an imminent danger which, if not avoided, may result in death or serious
injury.
WARNING!
This note refers to a danger which, if not avoided, may result in death or serious injury.
CAUTION!
This note refers to a danger which, if not avoided, may result in minor or moderate injury.
NOTICE
This note refers to a danger which, if not avoided, may result in damage to property.
16
Safety instructions
Application as directed
2.2 Residual hazards

The user must take the residual hazards mentioned into consideration in the risk assessment
for his/her machine/system.
If the above is disregarded, this can lead to severe injuries to persons and damage to material
assets!
Product
Observe the warning labels on the product!
Icon Description
Electrostatic sensitive devices:
Before working on the product, the staff must ensure to be free of electrostatic charge!
Dangerous electrical voltage

Before working on the product, check if no voltage is applied to the power terminals!
After mains disconnection, the power terminals carry the hazardous electrical voltage given on the product!
High leakage current:
Carry out fixed installation and PE connection in compliance with EN 61800−5−1 or EN 60204−1!
Hot surface:
Use personal protective equipment or wait until devices have cooled down!
Motor
If there is a short circuit of two power transistors, a residual movement of up to 180°/number
of pole pairs can occur at the motor! (For 4-pole motor: residual movement max. 180°/2 =
90°).
2.3 Application as directed

• The product must only be operated under the operating conditions prescribed in this doc-
umentation.
• The product meets the protection requirements of 2014/35/EU: Low-Voltage Directive.
• The product is not a machine in terms of 2006/42/EC: Machinery Directive.
• Commissioning or starting the operation as directed of a machine with the product is not
permitted until it has been ensured that the machine meets the regulations of the EC
Directive 2006/42/EC: Machinery Directive; observe EN 60204−1.
• Commissioning or starting the operation as directed is only allowed when there is compli-
ance with the EMC Directive 2014/30/EU.
• The harmonised standard EN 61800−5−1 is used for the inverters.
• The product is not a household appliance, but is only designed as component for commer-
cial or professional use in terms of EN 61000−3−2.
• The product can be used according to the technical data if drive systems have to comply
with categories according to EN 61800−3.
In residential areas, the product may cause EMC interferences. The operator is responsible
for taking interference suppression measures.
17
Mechanical installation
3 Mechanical installation
3.1 Dimensions
0.25 kW ... 0.37 kW
The dimensions in mm apply to:
0.25 kW I55AE125B I55AE125D
0.37 kW I55AE137B I55AE137D I55AE137F
18
Dimensions
0.25 kW ... 0.37 kW

0.25 kW I55AE125A
0.37 kW I55AE137A
19
Dimensions
0.55 kW ... 0.75 kW

0.55 kW I55AE155B I55AE155D I55AE155F
0.75 kW I55AE175B I55AE175D I55AE175F
20
Dimensions
0.75 kW ... 1.1 kW

0.75 kW I55AE175A
1.1 kW I55AE211A
21
Dimensions
1.1 kW ... 2.2 kW

1.1 kW I55AE211B I55AE211D I55AE211F
1.5 kW I55AE215B I55AE215D I55AE215F
2.2 kW I55AE222B I55AE222D I55AE222F
22
Dimensions
3 kW ... 5.5 kW
3 kW I55AE230F
4 kW I55AE240C I55AE240F
5.5 kW I55AE255C I55AE255F
23
Dimensions
7.5 kW ... 11 kW
7.5 kW I55AE275F
11 kW I55AE311F
24
Dimensions
15 kW ... 22 kW
15 kW I55AE315F
18.5 kW I55AE318F
22 kW I55AE322F
25
Dimensions
30 kW ... 45 kW
30 kW I55AE330F
37 kW I55AE337F
45 kW I55AE345F
26
Dimensions
55 kW ... 75 kW
55 kW I55AE355F
75 kW I55AE375F
27
Electrical installation
Important notes
4 Electrical installation
4.1 Important notes
DANGER!
Dangerous electrical voltage
Possible consequence: death or severe injuries
▶ All work on the inverter must only be carried out in the deenergised state.
▶ After switching off the mains voltage, wait for at least 3 minutes before you start working.
28
Mains connection
1-phase mains connection 120 V
4.2 Mains connection
4.2.1 1-phase mains connection 120 V
4.2.1.1 Connection plan

The connection plan is valid for the inverters I55AExxxA.
Inverters I55AExxxA do not have an integrated RFI filter in the AC mains supply.
In order to meet the EMC requirements according to EN 61800−3, an external
EMC filter according to IEC EN 60939 must be used.
The user must verify that the conformity with EN 61800−3 is fulfilled.
L1 L1
L2 3/N/PE L2 2/N/PE
L3
N AC 208 V N AC 208 V ... 240 V
PE PE
F1 F1
1/N/PE 1/N/PE
Q1 Q1
AC 90 V ... 132 V AC 90 V ... 132 V
45 Hz ... 65 Hz 45 Hz ... 65 Hz
+
X100
L1
L2/N
CAN open Modbus RTU PROFIBUS EtherCAT PROFINET EtherNet/IP Modbus TCP POWERLINK
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
L2/N
X100
X9
L1
COM
NC
NO
COM
+
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
24E
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
X3
T1
T2
W
+
U
V
" "
Safety STO
"
1k ... 10k
0 ... 10 V
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~
Fig. 1: Wiring example

S1 Start/Stop Q1 Mains contactor
Fx Fuses --- Dashed line = options
29
Mains connection
4.2.1.2 Fusing and terminal data

Fuse data
Inverter I55AE125A I55AE175A
I55AE137A I55AE211A
Cable installation in compliance with EN 60204-1
Installation method B2
operation without mains choke
Fuse
Characteristics gG/gL or gRL
Max. rated current A 16 25
Circuit breaker
Characteristics B
operation with mains choke
Fuse
Circuit breaker
Characteristics B
Earth-leakage circuit breaker
1-phase mains connection ≥ 30 mA, type A or B
Fuse data
I55AE137A I55AE211A
Cable installation in compliance with US National Electrical Code NFPA 70 / Canadian Electrical Code C22.1
Fuse
Characteristics all acc. to UL 248 / Class CC
Circuit breaker
Characteristics -
Fuse
Circuit breaker
Characteristics -
30
Mains connection
Mains connection
I55AE137A I55AE211A
Connection X100
Connection type pluggable screw terminal
Min. cable cross-section mm² 1
Min. cable cross-section AWG 18
Max. cable cross-section mm² 2.5 6
Max. cable cross-section AWG 12 10
Stripping length mm 8
Stripping length inch 0.32
Tightening torque Nm 0.5 0.7
Tightening torque lb-in 4.4 6.2
Required tool 0.5 x 3.0 0.6 x 3.5
PE connection
Inverter I55AE125A
I55AE137A
I55AE175A
I55AE211A
Connection PE
Connection type PE screw
Min. cable cross-section mm² 1.5
Max. cable cross-section mm² 6
Max. cable cross-section AWG 10
Tightening torque Nm 2
Tightening torque lb-in 18
Required tool TORX TX20
Motor connection
Inverter I55AE125A
I55AE137A
I55AE175A
I55AE211A
Connection X105
Max. cable cross-section mm² 2.5
Tightening torque Nm 0.5
Tightening torque lb-in 4.4
Required tool 0.5 x 3.0
31
Mains connection
1-phase mains connection 230/240 V
4.2.2 1-phase mains connection 230/240 V

The connection plan is valid for the inverters I55AExxxB.
L1 L1 L1
L2 3/N/PE L2 3/N/PE L2 2/N/PE
L3 L3
N AC 400 V N AC 208 V ... 240 V N AC 208 V ... 240 V
PE PE PE
F1 F1
F1 … …
F2 F3
1/N/PE 2/PE 2/PE
Q1 Q1 Q1
AC 170 V ... 264 V AC 170 V ... 264 V AC 170 V ... 264 V
45 Hz ... 65 Hz 45 Hz ... 65 Hz 45 Hz ... 65 Hz
+ +
L2/N
L2/N
X100
L1
X100
L1
CANopen Modbus RTU PROFIBUS EtherCAT PROFINET EtherNet/IP Modbus TCP POWERLINK
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
L2/N
X100
X9
L1
COM
NC
NO
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

32
Mains connection
The connection plan is valid for the inverters I55AExxxD.
Inverters I55AExxxD do not have an integrated RFI filter in the AC mains supply.
L1 L1
L2 3/N/PE L2 3/N/PE
L3 L3
N AC 400 V N AC 208 V ... 240 V
PE PE
F1
F1 …
F2
1/N/PE 2/PE
Q1 Q1
AC 170 V ... 264 V AC 170 V ... 264 V
45 Hz ... 65 Hz 45 Hz ... 65 Hz
+
L2/N
X100
L1
L3
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
L2/N
X100
X9
L1
L3
COM
NC
NO
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

33
Mains connection

Fuse data
Inverter I55AE125B I55AE125D I55AE155B I55AE155D
I55AE137B I55AE137D I55AE175B I55AE175D
Fuse
Max. rated current A 10 10 16 16
Circuit breaker
Characteristics B
Fuse
Circuit breaker
Characteristics B
3-phase mains connection - ≥ 30 mA, type B - ≥ 30 mA, type B
Fuse data
Inverter I55AE211B I55AE211D
I55AE215B I55AE215D
I55AE222B I55AE222D
Fuse
Circuit breaker
Characteristics B
Fuse
Circuit breaker
Characteristics B
3-phase mains connection - ≥ 30 mA, type B
34
Mains connection
Fuse data
Inverter I55AE125B I55AE125D
I55AE211B I55AE211D
I55AE137B I55AE137D
I55AE215B I55AE215D
I55AE155B I55AE155D
I55AE222B I55AE222D
I55AE175B I55AE175D
Fuse
Circuit breaker
Characteristics -
Fuse
Circuit breaker
Characteristics -
3-phase mains connection - ≥ 30 mA, type B - ≥ 30 mA, type B
Mains connection
Inverter I55AE125B
I55AE125D I55AE211B
I55AE137B I55AE211D
I55AE137D I55AE215B
I55AE155B I55AE215D
I55AE155D I55AE222B
I55AE175B I55AE222D
I55AE175D
Connection X100
Tightening torque Nm 0.5 0.7
Tightening torque lb-in 4.4 6.2
35
Mains connection
PE connection
Inverter I55AE125B
I55AE125D
I55AE137B
I55AE137D
I55AE155B
I55AE155D
I55AE175B
I55AE175D
I55AE211B
I55AE211D
I55AE215B
I55AE215D
I55AE222B
I55AE222D
Connection PE
Max. cable cross-section AWG -
Motor connection
Inverter I55AE125B
I55AE125D
I55AE137B
I55AE137D
I55AE155B
I55AE155D
I55AE175B
I55AE175D
I55AE211B
I55AE211D
I55AE215B
I55AE215D
I55AE222B
I55AE222D
Connection X105
36
Mains connection
4.2.3 3-phase mains connection 230/240 V

The connection plan is valid for the inverters I55AExxxC.
Inverters I55AExxxC do not have an integrated RFI filter in the AC mains supply.
L1
L2 3/N/PE
L3
N AC 208 V ... 240 V
PE
F1
…
F3
3/PE
Q1
AC 170 V ... 264 V
45 Hz ... 65 Hz
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
X100
X9
L1
L2
L3
n.c.
n.c.
COM
NC
NO
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

37
Mains connection
The connection plan is valid for the inverters I55AExxxD.
Inverters I55AExxxD do not have an integrated RFI filter in the AC mains supply.
L1
L2 3/N/PE
L3
N AC 208 V ... 240 V
PE
F1
…
F3
3/PE
Q1
AC 170 V ... 264 V
45 Hz ... 65 Hz
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
X100
L2/N
X9
L1
L3
COM
NC
NO
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

38
Mains connection

Fuse data
Inverter I55AE211D
I55AE125D I55AE155D I55AE240C
I55AE215D
I55AE137D I55AE175D I55AE255C
I55AE222D
Installation method B2 C
Fuse
Circuit breaker
Characteristics B
Fuse
Circuit breaker
Characteristics B
1-phase mains connection ≥ 30 mA, type A or B -
3-phase mains connection ≥ 30 mA, type B ≥ 300 mA, type B
Fuse data
Inverter I55AE125D
I55AE211D
I55AE137D I55AE240C
I55AE215D
I55AE155D I55AE255C
I55AE222D
I55AE175D
Fuse
Characteristics all acc. to UL 248 / Class CC all acc. to UL 248 / Class J, T, R
Max. rated current A 15 30 40
Circuit breaker
Characteristics -
Max. rated current A 15 30 -
Fuse
Max. rated current A 15 30 40
Circuit breaker
Characteristics -
Max. rated current A 15 30 -
1-phase mains connection ≥ 30 mA, type A or B -
39
Mains connection
Mains connection
Inverter I55AE125D
I55AE211D
I55AE137D I55AE240C
I55AE215D
I55AE155D I55AE255C
I55AE222D
I55AE175D
Connection X100
Connection type pluggable screw terminal Screw terminal
Min. cable cross-section mm² 1 1.5
Min. cable cross-section AWG 18 16
Max. cable cross-section AWG 12 10 8
Stripping length mm 8 9
Stripping length inch 0.32 0.35
Tightening torque Nm 0.5 0.7 0.5
Tightening torque lb-in 4.4 6.2 4.4
PE connection
Inverter I55AE125D
I55AE137D
I55AE155D
I55AE175D
I55AE211D
I55AE215D
I55AE222D
I55AE240C
I55AE255C
Connection PE
Motor connection
Inverter I55AE125D
I55AE137D
I55AE155D
I55AE240C
I55AE175D
I55AE255C
I55AE211D
I55AE215D
I55AE222D
Connection X105
Connection type pluggable screw terminal Screw terminal
Min. cable cross-section mm² 1 1.5
Stripping length mm 8 9
Stripping length inch 0.32 0.35
40
Mains connection

The connection plan is valid for the inverters I55AExxxF.
L1
L2
L3 3/N/PE AC 400 V
N
PE
F1
…
F3
Q1 3/PE
AC 340 V ... 528 V
45 Hz ... 65 Hz
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
X100
X9
L1
L2
L3
COM
NC
NO
+UG
-UG
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

41
Mains connection

Fuse data
Inverter I55AE137F I55AE211F I55AE230F
I55AE275F
I55AE155F I55AE215F I55AE240F
I55AE311F
Fuse
Circuit breaker
Characteristics B
Fuse
Circuit breaker
Characteristics B
Fuse data
Inverter I55AE315F
I55AE318F
Fuse
Characteristics gG/gL or gRL -
Max. rated current A 63 - - -
Circuit breaker
Characteristics B -
Fuse
Circuit breaker
Characteristics B
3-phase mains connection ≥ 300 mA, type B
42
Mains connection
Fuse data
Inverter I55AE355F
I55AE345F
I55AE375F
Installation method C F
operation
Fuse
Characteristics -
Max. rated current A - -
Circuit breaker
Characteristics -
Fuse
Characteristics gG/gL or gRL gR
Circuit breaker
Characteristics B -
Max. rated current A 125 -
Fuse data
Inverter I55AE137F
I55AE155F
I55AE230F
I55AE175F
I55AE211F
I55AE255F
I55AE215F
I55AE222F
Fuse
Circuit breaker
Characteristics -
Max. rated current A - 25 35 -
Fuse
Circuit breaker
Characteristics -
43
Mains connection
Fuse data
Inverter I55AE315F
I55AE318F
Fuse
Characteristics all acc. to UL 248 / Class
-
J, T, R
Circuit breaker
Characteristics - - - -
Max. rated current A - - - -
Fuse
Characteristics all acc. to UL 248 / Class J, T, R
Circuit breaker
Fuse data
Inverter I55AE355F
I55AE345F
I55AE375F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics - -
Fuse
Characteristics acc. to UL 248 / Class J (recommended: HSJ by
all acc. to UL 248 / Class J, T, R
Mersen)
Circuit breaker
Characteristics - -
44
Mains connection
Mains connection
Inverter I55AE137F
I55AE155F
I55AE215F
I55AE222F
Connection X100
Connection type pluggable
Screw terminal
screw terminal
Min. cable cross-section mm² 1 1.5 10 25
Min. cable cross-section AWG 18 16 6 2
Max. cable cross-section mm² 2.5 6 16 35 50 95
Max. cable cross-section AWG 12 10 6 2 1/0 4/0
Stripping length mm 8 9 11 18 19 22
Stripping length inch 0.32 0.35 0.43 0.7 0.75 0.87
Tightening torque Nm 0.5 1.2 3.8 4 10
Tightening torque lb-in 4.4 11 34 35 89
Required tool 0.5 x 3.0 0.6 x 3.5 0.8 x 4.0 0.8 x 5.5 Allen key 4.0 Allen key 6.0
PE connection
Inverter I55AE137F
I55AE315F
I55AE155F
I55AE318F
I55AE175F
I55AE322F
I55AE211F
I55AE275F I55AE330F
I55AE215F
I55AE311F I55AE337F
I55AE222F
I55AE345F
I55AE230F
I55AE355F
I55AE240F
I55AE375F
I55AE255F
Connection PE
Min. cable cross-section mm² 1.5 2.5 4
Max. cable cross-section mm² 6 16 25
Stripping length mm 10 11 16
Stripping length inch 0.39 0.43 0.63
Tightening torque Nm 2 3.4 4
Tightening torque lb-in 18 30 35
Required tool TORX TX20 PZ2
45
Mains connection
Motor connection
Inverter I55AE137F
I55AE155F
I55AE215F
I55AE222F
Connection X105
Screw terminal
screw terminal
46
Mains connection
3-phase mains connection 400 V "light duty"
4.2.5 3-phase mains connection 400 V "light duty"

See chapter "3-phase mains connection 400 V". ^ 41
47
Mains connection

Fuse data
Inverter I55AE230F
I55AE240F I55AE275F I55AE311F I55AE315F
I55AE255F
operation without mains choke without mains choke
Fuse
Characteristics gG/gL or gRL - gG/gL or gRL
Max. rated current A 25 32 - 63
Circuit breaker
Characteristics B - B
Fuse
Circuit breaker
Characteristics B
Fuse data
Inverter I55AE318F
I55AE322F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics -
Fuse
Circuit breaker
Characteristics B
48
Mains connection
Fuse data
Inverter I55AE355F
I55AE390F
I55AE375F
Installation method F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics - -
Fuse
Characteristics gR
Circuit breaker
Characteristics - -
Fuse data
Inverter I55AE230F
I55AE255F
Fuse
Characteristics all acc. to UL 248 / Class all acc. to UL 248 / Class all acc. to UL 248 / Class
-
CC J, T, R J, T, R
Circuit breaker
Characteristics -
Max. rated current A 25 35 - -
Fuse
CC
Circuit breaker
Characteristics -
49
Mains connection
Fuse data
Inverter I55AE318F
I55AE322F
operation
Fuse
Characteristics -
Circuit breaker
Fuse
Circuit breaker
Fuse data
Inverter I55AE355F
I55AE390F
I55AE375F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics - -
Fuse
Mersen)
Circuit breaker
Characteristics - -
50
Mains connection
Mains connection
I55AE275F I55AE355F
I55AE311F I55AE375F
Connection X100
Connection type Screw terminal
Min. cable cross-section mm² 1.5 10 25 35
Max. cable cross-section mm² 6 16 35 50 95 150
Max. cable cross-section AWG 10 6 2 1/0 4/0 -
Tightening torque Nm 0.5 1.2 3.8 4 10 18
Tightening torque lb-in 4.4 11 34 35 89 160
Required tool 0.6 x 3.5 0.8 x 4.0 0.8 x 5.5 Allen key 4.0 Allen key 6.0 Allen key 8.0
Motor connection
I55AE275F I55AE355F
I55AE311F I55AE375F
Connection X105
51
Mains connection

The connection plan is valid for the inverters I55AExxxF.
L1
L2
L3 3/N/PE AC 480 V
N
PE
F1
…
F3
Q1 3/PE
AC 340 V ... 528 V
45 Hz ... 65 Hz
+
X216
X216
X226
X246
X247
X256
X257
X266
X267
X276
X277
X286
X287
CL
TA
CH
CG
TB
X100
X9
L1
L2
L3
COM
NC
NO
+UG
-UG
COM
IN
IN
OUT
OUT
AC 240 V
3A Application I/O
Standard I/O
+24 V +10 V
10 mA
100 mA
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
4.4k
DO 1
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 1
24E
GND
GND
X105
X109
GND
GND
GND
DO 2
AO 1
AO 2
24V
Rb1
Rb2
10V
24V
24E
AI 1
AI 2
SIA
SIB
GS
X1
T1
T2
X3
W
+
U
V
" "
Safety STO
"
0 ... 10 V
1k ... 10k
DC 24 V SELV /PELV
J (+19.2 … +28.8 V) DI3 DI4
J
M S1
+ 3~

52
Mains connection

Fuse data
I55AE275F
I55AE311F
Fuse
Circuit breaker
Characteristics B
Fuse
Circuit breaker
Characteristics B
Fuse data
Inverter I55AE315F
I55AE322F
Fuse
Characteristics gG/gL or gRL -
Circuit breaker
Characteristics B -
Fuse
Circuit breaker
Characteristics B
53
Mains connection
Fuse data
Inverter I55AE355F
I55AE375F
operation
Fuse
Characteristics -
Max. rated current A -
Circuit breaker
Characteristics -
Fuse
Characteristics gR
Max. rated current A 160
Circuit breaker
Characteristics -
Fuse data
Inverter I55AE137F
I55AE155F
I55AE230F
I55AE175F
I55AE211F
I55AE255F
I55AE215F
I55AE222F
Fuse
Circuit breaker
Characteristics -
Fuse
Circuit breaker
Characteristics -
54
Mains connection
Fuse data
Inverter I55AE315F
I55AE322F
Fuse
-
J, T, R
Circuit breaker
Fuse
Circuit breaker
Fuse data
Inverter I55AE355F
I55AE375F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics -
Fuse
Characteristics acc. to UL 248 / Class J (recommended: HSJ by Mersen)
Max. rated current A 200
Circuit breaker
Characteristics -
55
Mains connection
Mains connection
Inverter I55AE137F
I55AE155F
I55AE215F
I55AE222F
Connection X100
Screw terminal
screw terminal
PE connection
Inverter I55AE137F
I55AE315F
I55AE155F
I55AE318F
I55AE175F
I55AE322F
I55AE211F
I55AE275F I55AE330F
I55AE215F
I55AE311F I55AE337F
I55AE222F
I55AE345F
I55AE230F
I55AE355F
I55AE240F
I55AE375F
I55AE255F
Connection PE
Max. cable cross-section mm² 6 16 25
Tightening torque Nm 2 3.4 4
Tightening torque lb-in 18 30 35
Required tool TORX TX20 PZ2
56
Mains connection
Motor connection
Inverter I55AE137F
I55AE155F
I55AE215F
I55AE222F
Connection X105
Screw terminal
screw terminal
57
Mains connection
3-phase mains connection 480 V "Light Duty"
4.2.7 3-phase mains connection 480 V "Light Duty"

See chapter "3-phase mains connection 480 V". ^ 52
58
Mains connection

Fuse data
Inverter I55AE230F
I55AE255F
Fuse
Characteristics gG/gL or gRL - gG/gL or gRL
Circuit breaker
Characteristics B - B
Fuse
Circuit breaker
Characteristics B
Fuse data
Inverter I55AE318F
I55AE322F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics -
Fuse
Circuit breaker
Characteristics B
59
Mains connection
Fuse data
Inverter I55AE355F
I55AE390F
I55AE375F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics - -
Fuse
Characteristics gR
Circuit breaker
Characteristics - -
Fuse data
Inverter I55AE230F
I55AE255F
Fuse
Characteristics all acc. to UL 248 / Class all acc. to UL 248 / Class all acc. to UL 248 / Class
-
CC J, T, R J, T, R
Circuit breaker
Characteristics -
Fuse
CC
Circuit breaker
Characteristics -
60
Mains connection
Fuse data
Inverter I55AE318F
I55AE322F
operation
Fuse
Characteristics -
Circuit breaker
Fuse
Circuit breaker
Fuse data
Inverter I55AE355F
I55AE390F
I55AE375F
operation
Fuse
Characteristics -
Circuit breaker
Characteristics - -
Fuse
Mersen)
Circuit breaker
Characteristics - -
61
Mains connection
Mains connection
I55AE275F I55AE355F
I55AE311F I55AE375F
Connection X100
Max. cable cross-section AWG 10 6 2 1/0 4/0 -
PE connection
Inverter I55AE315F
I55AE318F
I55AE322F
I55AE230F
I55AE275F I55AE330F
I55AE240F I55AE390F
I55AE311F I55AE337F
I55AE255F
I55AE345F
I55AE355F
I55AE375F
Connection PE
Connection type PE screw PE bolt
Max. cable cross-section mm² 6 16 25 150
Stripping length mm 10 11 16 -
Stripping length inch 0.39 0.43 0.63 -
Tightening torque Nm 2 3.4 4 10
Tightening torque lb-in 18 30 35 89
Required tool TORX TX20 PZ2 Width across flats 13
Motor connection
I55AE275F I55AE355F
I55AE311F I55AE375F
Connection X105
62
Control connections
4.3 Control connections

Terminal description Relay output PTC input Control terminals
Connection X9 X109 X3
Connection type pluggable screw terminal pluggable screw terminal pluggable spring terminal
Min. cable cross-section mm² 0.5 0.5 0.5
Min. cable cross-section AWG 22 22 22
Max. cable cross-section mm² 1.5 1.5 1.5
Tightening torque Nm 0.2 0.2 -
Tightening torque lb-in 1.8 1.8 -
Required tool 0.4 x 2.5 0.4 x 2.5 0.4 x 2.5
63
Networks
CANopen
4.4 Networks
4.4.1 CANopen
Typical topologies
Line
A1 A2 A3 An
120 120 120 120
R R R R
X216 CH CL CG X216 CH CL CG X216 CH CL CG X216 CH CL CG
Terminal description CANopen

Connection X216
Connection type pluggable spring terminal
Tightening torque Nm -
Tightening torque lb-in -
Basic network settings

Use the DIP switch to set the node address and baud rate and to activate the integrated bus
terminating resistor.
R d c b a 64 32 16 8 4 2 1
O
N
Baud CAN Address
Bus termination Baud rate CAN node address

R d c b a 64 32 16 8 4 2 1
OFF OFF ON OFF ON 20 kbps OFF OFF OFF OFF OFF OFF OFF
Inactive OFF OFF ON ON 50 kbps Value from parameter
ON OFF OFF ON OFF 125 kbps Node address - example:
Active OFF OFF OFF ON 250 kbps OFF OFF ON OFF ON ON ON
OFF OFF OFF OFF Value from parameter (500 kbps) Node address = 16 + 4 + 2 + 1 = 23
OFF ON OFF OFF 1 Mbps
All other combinations Value from parameter (500 kbps)
Bold print = default setting
The network must be terminated with a 120 Ω resistor at the physically first and
last node.
Set the "R" switch to ON at these nodes.
64
Networks
Modbus RTU
4.4.2 Modbus RTU

Typical topologies
Line
A1 A2 A3 An
120 120 120 120
X216 TA TB COM X216 TA TB COM X216 TA TB COM X216 TA TB COM
Terminal description Modbus RTU

Connection X216

Use the DIP switch to set the node address and baud rate and to activate the integrated bus
terminating resistor.
R c b a 128 64 32 16 8 4 2 1
O
N
Mode Address
Bus termination Baud rate Parity Modbus node address

R c b a 128 64 32 16 8 4 2 1
OFF n.c. OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
Inactive Automatic detection Automatic detection Value from parameter
ON ON ON Node address - example:
Active Value from parameter Value from parameter OFF OFF OFF ON OFF ON ON ON
Node address = 16 + 4 + 2 + 1 = 23
Node address > 247: value from parameter
The network must be terminated with a 120 Ω resistor at the physically first and
last node.
Set the "R" switch to ON at these nodes.
65
Networks
Modbus TCP
4.4.3 Modbus TCP

Typical topologies
Line Tree
M M
R
S1 S2 Sn SW1 SW2 SWn
M Master SW Switch
S Slave

The rotary encoder switch allows you to set the last byteof the IP address.
x16 x1
Setting Value of last byte Resulting IP address

0x00 Value from parameter Value from parameter
0x01 ... 0xFE Switch position 192.168.124.<switch position>
0xFF Default setting 192.168.124.16
66
Networks
PROFIBUS
4.4.4 PROFIBUS
Typical topologies
Line with repeater
M
R
R X1 R
R
R
S11 S12 S1n S21 S2n
1 2
M Master X Repeater
S Slave R Activated bus terminating resistor
Terminal description PROFIBUS

Connection X226
Connection type Sub-D 9p
Min. cable cross-section mm² -
Min. cable cross-section AWG -
Max. cable cross-section mm² -
Stripping length mm -
Stripping length inch -
Required tool -

Use the DIP switch to set the station address.
The baud rate is detected automatically.
64 32 16 8 4 2 1
O
N
PROFIBUS Address
PROFIBUS station address

64 32 16 8 4 2 1
OFF OFF OFF OFF OFF OFF OFF
Value from parameter
Station address - example:
OFF OFF ON OFF ON ON ON
Station address = 16 + 4 + 2 + 1 = 23
Do not set station address = 126 and station address = 127. These station addresses are invalid.
The network must be terminated with a resistor at the physically first and last
node.
Activate the bus terminating resistor at these nodes in the bus connection plug.
67
Networks
EtherNet/IP
4.4.5 EtherCAT
Typical topologies
Line
IN OUT IN OUT IN R
SD1 SD2 SDn
M Master
SD Slave Device

The rotary encoder switch allows you to set an EtherCAT identifier.
x16 x1
Setting Identifier
0x00 Value from parameter
0x01 ... 0xFF Switch position
4.4.6 EtherNet/IP
Typical topologies
Line Tree
S S
R
A1 A2 An SW1 SW2 SWn
Ring
An DLR A1
A3 A2
S Scanner SW Switch
A Adapter

The rotary encoder switch allows you to set the last byteof the IP address.
x16 x1
Setting Value of last byte Resulting IP address

0x00 Value from parameter Value from parameter
0x01 ... 0xFE Switch position 192.168.124.<switch position>
0xFF Default setting 192.168.124.16
68
Networks
PROFINET
4.4.7 PROFINET
Typical topologies
Line Tree
C C
R
D1 D2 Dn SW1 SW2 SWn
Ring
SW
Dn R D1
D3 D2
C IO controller SW Switch SCALANCE (MRP capable)

D IO device R Redundant domain
The rotary encoder switch has no function.
69
Connection of the safety module
4.4.8 POWERLINK
Typical topologies
Line
MN
H1
CN11 CN12 CN1n
CN21 CN22 CN2n
H2
Mrated Managing Node H Hub

CN Controlled Node

The rotary encoder switch allows you to set the node address (last byte of the IP address).
x16 x1
Setting Node address Resulting IP address

0x00 Value from parameter 192.168.100.<parameter value>
0x01 ... 0xEF Switch position 192.168.100.<switch position>
4.5 Connection of the safety module
DANGER!
Automatic restart if the request of the safety function is deactivated.
Possible consequences: Death or severe injuries
▶ You must provide external measures according to EN ISO 13849−1 which ensure that the
drive only restarts after a confirmation.
Terminal description Safety STO

Connection X1
70
Commissioning
Important notes
5 Commissioning
5.1 Important notes
WARNING!
Incorrect wiring can cause unexpected states during the commissioning phase.
Possible consequence: death, severe injuries or damage to property
Check the following before switching on the mains voltage:
▶ Is the wiring complete and correct?
▶ Are there no short circuits and earth faults?
▶ Is the motor circuit configuration (star/delta) adapted to the output voltage of the inverter?
▶ Is the motor connected in-phase (direction of rotation)?
▶ Does the "emergency stop" function of the entire plant operate correctly?
WARNING!
Incorrect settings during commissioning may cause unexpected and dangerous motor and sys-
tem movements.
Possible consequence: death, severe injuries or damage to property
▶ Clear hazardous area.
▶ Observe safety instructions and safety clearances.
71
Commissioning
Operating interfaces
Keypad
5.2 Operating interfaces

Commissioning the inverter requires an operator-process interface.
5.2.1 Keypad
The keypad is an easy means for the local operation, parameterisation, and diagnostics of the
inverter.
• The keypad is simply connected to the diagnostic interface on the front of the inverter.
• The keypad can also be connected and removed during operation.
Detailed information on the keypad can be found in the appendix:

4Operate and parameterise the inverter with keypad ^ 631
72
Commissioning
Engineering tool »EASY Starter«
5.2.2 Engineering tool »EASY Starter«

The »EASY Starter« is a PC software that is especially designed for the commissioning and
maintenance of the inverter.
The »EASY Starter« PC software can be found on the Internet:

http://www.lenze.com à Download à Software Downloads
Sample screenshot:
73
Commissioning
5.2.2.1 Generate a connection between inverter and »EASY Starter«

For commissioning the inverter with the »EASY Starter«, a communication link with the inver-
ter is required. This can be established in a wired or wireless manner via WLAN.
Preconditions
• For the wired communication with the inverter, the USB module and a USB 2.0 cable (A
plug on Micro-B plug) are required.
• For the wireless communication with the inverter, the WLAN module is required. More-
over, the PC on which the »EASY Starter« is installed must be wireless-enabled.
74
Commissioning
Details
The following instructions describe the connection establishment via the USB module.
• Parameterising without motor operation does not require a mains voltage: If you connect
the inverter directly to the PC without a hub, The USB interface of the PC is sufficient for
the voltage supply.
• Instructions for the connection establishment via the WLAN module can be found in the
chapter "Wireless LAN (WLAN)". ^ 426
How to establish a communication to the inverter via USB:

Preconditions for commissioning:
• The functional test described in the mounting and switch-on instructions has been com-
pleted successfully (without any errors or faults).
• The inverter is ready for operation (mains voltage is switched on).
Accessories required for commissioning:
• USB module
• USB 2.0 cable (A-plug on micro B-plug)
• PC with installed »EASY Starter« software
1. Plug the USB module onto the front of the inverter (interface X16).
2. Use a USB cable to connect the inverter to the PC on which »EASY Starter« is installed:
a) Plug the micro B plug of the USB cable into the socket of the USB module.
b) Plug the other end into a free USB type A-socket of the PC.
3. Start »EASY Starter«.
The "Add devices" dialog is shown.
4. Select the "USB - USB via adapter i5MADU0000000S" connection:
5. Click the Insert button.

»EASY Starter« searches for connected devices via the communication path selected. When
the connection has been established successfully, the inverter is displayed in the device list
of »EASY Starter«. The inverter parameters can now be accessed via the tabs of »EASY
Starter«.
75
Commissioning
Parameter setting
5.3 Parameter setting

As a part of a machine with a speed-variable drive system, the inverter must be adapted to its
drive task. The adaptation process of the inverter is carried out by changing parameters.
Optionally these parameters can be accessed by means of the keypad or »EASY Starter«. If the
inverter is provided with a network option, access can also be effected by a higher-level Con-
troller via the corresponding network.
Certain device commands or settings which might cause a critical state of the
drive behaviour can only be carried our when the inverter is inhibited.
76
Commissioning
Parameter setting
General notes on parameters
5.3.1 General notes on parameters

Each parameter features a 16-bit index as address. Under this address, the parameter is
stored in the object directory of the inverter.
• Parameters that belong together functionally are combined in a data set. These parame-
ters are additionally provided with an 8-bit subindex.
• The colon is used as a separator between the index and subindex Example: "0x2540:001"
• There are parameters the setting of which can be changed, and (diagnostic) parameters
which can only be read.
Parameterisation using the keypad
• All parameters which can be accessed by means of the keypad are provided with a "Display
code", the first digit of the display code specifying the group in which the parameter can
be found on the keypad.
• In the documentation, the display code — if available — is specified in brackets behind the
address. Example: "0x2915 (P210.00)".
4Keypad parameterisation mode ^ 635
Structure of the parameter descriptions in this documentation
• The parameter descriptions in this documentation are structured in table form.
• The representation distinguishes parameters with a setting range, text, selection list, and
bit-coded display.
• The default setting of parameters with a write access feature is shown in bold.
• The display code as well as the short keypad designation of the parameter which is limited
to 16 characters, are — if available — shown in brackets.
Example: parameters with a setting range
Parameter Name / value range / [default setting] Info
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
(display code) (abbreviated keypad designation)
Minimum value ... [default setting] ... maximum value
• Optional information with regard to the parameter.
Example: parameters with a selection list

(display code) (abbreviated keypad designation) Note: The corresponding selection number (here 0, 1, or 2) must be set.
• Optional information with regard to the parameter. Other values are not permissible.
0 Designation of selection 0 Optionally: Explanations & notes with regard to the corresponding selec-
1 Designation of selection 1 tion.
The default selection is shown in bold.
2 Designation of selection 2
Example: parameters with a bit-coded display

(display code) (abbreviated keypad designation)
• Optional information with regard to the parameter.
Bit 0 Designation of bit 0 Optionally: Explanations & notes with regard to the corresponding bit.
Bit 1 Designation of bit 1
... ...
Parameter overview lists in this documentation

• Keypad parameter list: for the parameterisation using the keypad, contains a list of all
parameters which can also be accessed by means of the keypad. ^ 85
• Parameter attribute list: contains a list of all inverter parameters. This list in particular
includes some information that is relevant for the reading and writing of parameters via
the network. ^ 659
77
Commissioning
Parameter setting
Basic inverter settings
5.3.2 Basic inverter settings

Check the following basic settings of the inverter and adapt them, if required.
0x2540:001 Mains settings: Rated mains voltage Selection of the mains voltage for actuating the inverter.
(P208.01) (Mains settings: Mains voltage)
• Setting can only be changed if the inverter is inhibi-
ted.
0 230 Veff
1 400 Veff
2 480 Veff
3 120 Veff
10 230 Veff/reduced LU level
0x2838:001 Start/stop configuration: Start method Behaviour after start command.
(P203.01) (Start/stop confg: Start method)
ted.
0 Normal After start command, the standard ramps are active.
• Acceleration time 1 can be set in 0x2917 (P220.00).
• Deceleration time 1 can be set in 0x2918 (P221.00).
1 DC braking After start command, the "DC braking" function is active for the time set
in 0x2B84:002 (P704.02).
4DC braking ^ 437
2 Flying restart circuit After the start command, the flying restart circuit is active.
The flying restart function makes it possible to restart a coasting motor
during operation without speed feedback. Synchronicity between the
inverter and motor is coordinated so that the transition to the rotating
motor is effected without jerk at the time of connection.
4Flying restart circuit ^ 481
3 Start with magnetisation
0x2838:002 Start/stop configuration: Start at power-up Starting performance after switching on the mains voltage.
(P203.02) (Start/stop confg: Start at powerup)
0 Off No automatic start after switching on mains voltage. In addition to the
inverter enable, a renewed start command is always required to start the
motor.
1 On Automatic start of the motor after switching on the mains voltage if the
inverter is enabled and a start command exists.
0x2838:003 Start/stop configuration: Stop method Behaviour after the "Stop" command.
(P203.03) (Start/stop confg: Stop method)
0 Coasting The motor becomes torqueless (coasts down to standstill).
1 Standard ramp The motor is brought to a standstill with deceleration time 1 (or deceler-
ation time 2, if activated).
• Deceleration time 2 can be set in 0x291A (P223.00).
4Frequency limits and ramp times ^ 156
2 Quick stop ramp The motor is brought to a standstill with the deceleration time set for
the "Quick stop" function.
• Deceleration time for quick stop can be set in 0x291C (P225.00).
• The "quick stop" function can also be activated manually, for instance
via a digital input. 4Quick stop ^ 159
0x283A Limitation of rotation Optional restriction of the rotating direction.
(P304.00) (Limit. rotation)
0 Only clockwise (CW) The motor can only be rotated clockwise (CW). The transfer of negative
frequency and PID setpoints to the motor control is prevented.
• This function takes effect after the "Reverse rotational direction" func-
tion (0x2631:013 (P400.13)).
• Since this function only prevents negative setpoints, counter-clock-
wise rotation (CCW) is possible if the motor has been wired for this
rotating direction.
1 Both rotational directions Both directions of motor rotation are enabled.
78
Commissioning
Parameter setting

0x2860:001 Frequency control: Default setpoint source Selection of the standard setpoint source for operating mode "MS:
(P201.01) (Stnd. setpoints: Freq. setp. src.) Velocity mode".
• The selected standard setpoint source is always active in the operat-
ing mode 0x6060 (P301.00) = "MS: Velocity mode [-2]" when no set-
point change-over to another setpoint source via corresponding trig-
gers/functions is active.
4Setpoint change-over ^ 546
1 Keypad The setpoint is specified locally by the keypad.
• Default setting: 0x2601:001 (P202.01)
• Use the and navigation keys to change the keypad setpoint
(also during running operation).
2 Analog input 1 The setpoint is defined as analog signal via the analog input 1.
4Analog input 1 ^ 597
4 HTL input (from version 04.00) The digital inputs DI3 and DI4 can be configured as HTL input to use an
HTL encoder as setpoint encoder or define the setpoint as a reference
frequency ("pulse train").
4HTL input setpoint source ^ 565
5 Network The setpoint is defined as process data object via the network.
4Configuring the network ^ 226
11 Frequency preset 1 For the setpoint selection, preset values can be parameterised and selec-
12 Frequency preset 2 ted.
4Setpoint source of preset setpoints ^ 554
13 Frequency preset 3
31 Segment preset 1 (from version 03.00) For the setpoint selection, the segment presets parameterised for the
32 Segment preset 2 (from version 03.00) "sequencer" function can be selected as well.
4Sequencer ^ 504
33 Segment preset 3 (from version 03.00)
50 Motor potentiometer The setpoint is generated by the "motor potentiometer" function. This
function can be used as an alternative setpoint control which is control-
led via two signals: "MOP setpoint up" and "MOP setpoint down".
4Motor potentiometer setpoint source (MOP) ^ 559
201 Internal value (from version 05.00) Internal values of the manufacturer.
202 Internal value (from version 05.00)
79
Commissioning
Parameter setting

0x2911:001 Frequency setpoint presets: Preset 1 Parameterisable frequency setpoints (presets) for operating mode "MS:
(P450.01) (Freq. presets: Freq. preset 1) Velocity mode".
0.0 ... [20.0] ... 599.0 Hz
0x2911:002 Frequency setpoint presets: Preset 2
(P450.02) (Freq. presets: Freq. preset 2)
0.0 ... [40.0] ... 599.0 Hz
Device for 50-Hz mains: 0.0 ... [50.0] ... 599.0 Hz
0x2915 Minimum frequency Lower limit value for all frequency setpoints.
(P210.00) (Min. frequency)
0.0 ... [0.0] ... 599.0 Hz
0x2916 Maximum frequency Upper limit value for all frequency setpoints.
(P211.00) (Max. frequency)
0x2917 Acceleration time 1 Acceleration time 1 for the operating mode "MS: Velocity mode".
(P220.00) (Accelerat.time 1) • The acceleration time set refers to the acceleration from standstill to
0.0 ... [5.0] ... 3600.0 s the maximum frequency set. In the case of a lower setpoint selection,
the actual acceleration time is reduced accordingly.
• Setting is not effective in the operating mode 0x6060 (P301.00) =
"CiA: Velocity mode [2]". 4Device profile CiA 402 ^ 469
0x2918 Deceleration time 1 Deceleration time 1 for the operating mode "MS: Velocity mode".
(P221.00) (Decelerat.time 1) • The deceleration time set refers to the deceleration from the maxi-
0.0 ... [5.0] ... 3600.0 s mum frequency set to standstill. In the case of a lower actual fre-
quency, the actual deceleration time is reduced accordingly.
0x291C Quick stop deceleration time Quick stop deceleration time for the operating mode "MS: Velocity
(P225.00) (QSP dec. time) mode".
0.0 ... [1.0] ... 3600.0 s • If the "Quick stop" function is activated, the motor is brought to a
standstill within the deceleration time set here.
• The deceleration time set refers to the deceleration from the maxi-
mum frequency set to standstill. In the case of a lower actual fre-
All possible basic settings are described in the "Basic setting" chapter. ^ 143
80
Commissioning
Parameter setting
Basic motor settings
5.3.3 Basic motor settings

Check the following default settings for the motor and motor control and adapt them, if
required.
Drive behaviour by default
By default, the V/f characteristic control with a linear characteristic is preset as motor control
for asynchronous motors. The V/f characteristic control is a motor control for conventional
frequency inverter applications. It is based on a simple and robust control mode for the opera-
tion of asynchronous motors with a linear or square-law load torque characteristic (e.g. fan).
Because of the minimal parameterisation effort, such applications can be commissioned easily
and quickly.
The default settings of the parameters ensure that the inverter is ready for operation imme-
diately and the motor works adequately without further parameterisation if an inverter and
an asynchronous motor* Hz asynchronous machine with matching performances are
assigned to each other.
* Depending on the device/mains frequency either 50-Hz asynchronous motor or 60-Hz asyn-
chronous motor.
0x2B01:001 V/f shape data: Base voltage Base voltage and base frequency define the V/f ratio and thus the gradi-
(P303.01) (V/f shape data: Base voltage) ent of the V/f characteristic.
0 ... [230]* ... 5000 V • The V/f base voltage is usually set to the rated motor voltage
* Default setting depending on the size. 0x2C01:007 (P320.07).
0x2B01:002 V/f shape data: Base frequency • The V/f base frequency is usually set to the rated motor frequency
(P303.02) (V/f shape data: Base frequency) 0x2C01:005 (P320.05).
Device for 50-Hz mains: 0 ... [50]* ... 1500 Hz
* Default setting depending on the size.
0x2C00 Motor control mode Selection of the motor control type.
(P300.00) (Motor ctrl mode)
ted.
2 Servo control (SC ASM) (from version 02.00) This control mode is used for servo control of an asynchronous motor.
4Servo control for asynchronous motors (SC-ASM) ^ 176
3 Sensorless control (SL PSM) (from This control type is used for the sensorless control of a synchronous
version 02.00) motor.
• Control mode is possible up to a rated power of maximally 22 kW.
4Sensorless control for synchronous motors (SL-PSM) ^ 178
4 Sensorless vector control (SLVC) This control type is used for sensorless vector control of an asynchro-
nous motor.
4Sensorless vector control (SLVC) ^ 173
6 V/f characteristic control (VFC open loop) This control mode is used for the speed control of an asynchronous
motor via a V/f characteristic and is the simplest control mode.
4V/f characteristic control (VFC) ^ 166
7 V/f characteristic control (VFC closed loop) The control mode is used for speed control of an asynchronous motor
(from version 04.00) via a V/f characteristic with speed feedback.
A motor encoder must be connected to the inverter and set as feedback
system for the motor control.
4V/f characteristic control (VFC closed loop) ^ 172
0x2C01:010 Motor parameters: Motor name The name (e.g. " 1") can be freely selected by the user.
If the motor in the engineering tool has been selected from the "motor
catalog", the respective motor name is automatically entered here
(example: "MDSKA080-22, 70").
0x6075 Motor rated current The rated motor current to be set here serves as a reference value for
(P323.00) (Motor current) different parameters with a setting/display of a current value in percent.
0.001 ... [1.700]* ... 500.000 A Example:
• Motor rated current = 1.7 A
• Setting can only be changed if the inverter is inhibi- • Max current 0x6073 (P324.00) = 200 % Motor rated current = 3.4 A
ted.
All possible settings with regard to the motor and motor control are described in the "Motor
control" chapter. ^ 163
81
Commissioning
Parameter setting
Function assignment of the inputs and outputs
5.3.4 Function assignment of the inputs and outputs

The inverter control can be adapted individually to the respective application. This is basically
effected by assigning digital control sources ("triggers") to functions of the inverter.
By default, the inverter can be controlled via the I/O terminals as follows:
Input signals Mains voltage
60 Hz t
50 Hz
40 Hz
Frequency setpoint selection 30 Hz
via analog input 1 20 Hz
10 Hz
0 Hz t
Fault status
Trigger Function t
Digital input 1 [11] Run
t
Digital input 2 [12] Reset error
t
Digital input 3 [13] Invert rotation
t
Digital input 4 [14] Activate preset (bit 0)
t
t
Preset 1 Presets 1 ... 3
Output signals 60 Hz
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
Output frequency
0 Hz t
0x2DDD (P100.00) -10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
Status signals Output -60 Hz
Ready for operat. [51] Relay
t
Release brake [115] Digital output 1 Braking function is switched off in default setting of 0x2820:001.
t
Error active [56] Digital output 2 Digital output 2 only available with Application I/O.
t
Parameter Name Default setting

Control functions
① 0x2631:002 (P400.02) Run Digital input 1 [11]
② 0x2631:004 (P400.04) Reset fault Digital input 2 [12]
③ 0x2631:013 (P400.13) Reverse rotational direction Digital input 3 [13]
④ 0x2631:018 (P400.18) Activate preset (bit 0) Digital input 4 [14]
⑤ 0x2631:019 (P400.19) Activate preset (bit 1) Digital input 5 [15]
Configuration of digital outputs
⑥ 0x2634:001 (P420.01) Relay Ready for operation [51]
⑦ 0x2634:002 (P420.02) Digital output 1 Release holding brake [115]
⑧ 0x2634:003 (P420.03) Digital output 2 (only for application I/O) Error active [56]
Settings for the frequency setpoint
⑨ 0x2860:001 (P201.01) Frequency control: Default setpoint source Analog input 1 [2]
⑩ 0x2911:001 (P450.01) Frequency setpoint presets: Preset 1 20 Hz
⑪ 0x2911:002 (P450.02) Frequency setpoint presets: Preset 2 40 Hz
⑫ 0x2911:003 (P450.03) Frequency setpoint presets: Preset 3 50 Hz
⑬ 0x2917 (P220.00) Acceleration time 1 5.0 s
⑭ 0x2918 (P221.00) Deceleration time 1 5.0 s
82
Commissioning
Parameter setting

0x2631:002 Function list: Run Assignment of a trigger to the "Run" function.
(P400.02) (Function list: Run)
• Setting can only be changed if the inverter is inhibi- Function 1: Start / stop motor (default setting)
ted. Function 1 is active if no further start commands (start forward/start
• For further possible settings, see parameter reverse) have been connected to triggers, no keypad control is active and
0x2631:001 (P400.01). ^ 532 no network control is active.
11 Digital input 1 Trigger = TRUE: Let motor rotate forward (CW).
Trigger = FALSE: Stop motor.
Notes to function 1:
• If "Enable inverter" 0x2631:001 (P400.01) = "Constant TRUE [1]", only
a digital input is permissible as trigger for this function in order that
the motor can be stopped again any time.
Exception: If the "Safe torque off (STO)" safety function is available,
both functions "Enable inverter" and "Run" can be set to "Constant
TRUE [1]". The inverter is then controlled via the STO signal unless no
other start commands (start-forward/start-backward) have been con-
nected to triggers.
• The stop method can be selected in 0x2838:003 (P203.03).
• The function also serves to realise an automatic start after switch-on.
4Starting performance ^ 153
Function 2: Start enable/stop motor

Function 2 is active if further start commands have been connected to
triggers, keypad control is active or network control is active.
Trigger = TRUE: Start commands of the active control source are ena-
bled.
• If no separate start enable is required for the application, the trigger
"Constant TRUE [1]" must be set.
0x2631:004 Function list: Reset fault Assignment of a trigger for the "Reset fault" function.
(P400.04) (Function list: Reset fault) Trigger = FALSE↗TRUE (edge): Active error is reset (acknowledged) if the
• For further possible settings, see parameter error condition is not active anymore and the error is resettable.
0x2631:001 (P400.01). ^ 532 Trigger = FALSE: no action.
12 Digital input 2
0x2631:013 Function list: Reverse rotational direction Assignment of a trigger for the "Reverse rotational direction" function.
(P400.13) (Function list: Reverse rot.dir.) Trigger = TRUE: the setpoint specified is inverted (i. e. the sign is inver-
• Setting can only be changed if the inverter is inhibited).
ted. Trigger = FALSE: no action / deactivate function again.
• For further possible settings, see parameter
0x2631:001 (P400.01). ^ 532
13 Digital input 3
0x2631:018 Function list: Activate preset (bit 0) Assignment of a trigger for the "Activate preset (bit 0)" function.
(P400.18) (Function list: Setp: Preset b0) Selection bit with the valency 20 for the bit-coded selection and activa-
• For further possible settings, see parameter tion of a parameterised setpoint (preset value).
0x2631:001 (P400.01). ^ 532 Trigger = FALSE: selection bit = "0".
14 Digital input 4 Trigger = TRUE: selection bit = "1".
0x2634:001 Digital outputs function: Relay Assignment of a trigger to the relay.
(P420.01) (Dig.out.function: Relay function) Trigger = FALSE: X9/NO-COM open and NC-COM closed.
• For further possible settings, see parameter Trigger = TRUE: X9/NO-COM closed and NC-COM open.
0x2634:001 (P420.01). ^ 603 Notes:
• An inversion set in 0x2635:001 (P421.01)is taken into consideration
here.
51 Ready for operation TRUE if inverter is ready for operation (no error active, no STO active and
DC-bus voltage ok). Otherwise FALSE.
83
Commissioning
Parameter setting

0x2634:002 Digital outputs function: Digital output 1 Assignment of a trigger to digital output 1.
(P420.02) (Dig.out.function: DO1 function) Trigger = FALSE: X3/DO1 set to LOW level.
• For further possible settings, see parameter Trigger = TRUE: X3/DO1 set to HIGH level.
0x2634:001 (P420.01). ^ 603 Notes:
115 Release holding brake • An inversion set in 0x2635:002 (P421.02) is taken into consideration
here.
100 Sequencer controlled (from version 03.00) The control is executed via the sequencer (according to the configura-
tion of the digital outputs for the current segment).
4Segment configuration ^ 506
• Only available for application I/O. Trigger = TRUE: X3/DO2 set to HIGH level.
• For further possible settings, see parameter Notes:
0x2634:001 (P420.01). ^ 603
• An inversion set in 0x2635:003 (P421.03) is taken into consideration
56 Error active here.
All functional possible settings for controlling the inverter are described in the "Flexible I/O
configuration" chapter. ^ 525
84
Commissioning
Keypad parameter list
5.4 Keypad parameter list

For commissioning or diagnostics using the keypad, all parameters of the inverter that can
also be accessed by means of the keypad are listed in the following "Keypad parameter list".
• The keypad parameter list is sorted in ascending order in compliance with the "display
code" (Pxxx).
• In order to provide for quick access, all parameters of the inverter are divided into differ-
ent groups according to their function.
• Group 0 contains the configurable "Favorites". In the default setting these are the most
common parameters for the solution of typical applications. 4Favorites ^ 459
• Based on the hundreds digit of the display code (Pxxx) you can quickly see in which group
the parameter is to be found on the keypad:
Parameter Group - name Description
P1xx Group 1 - Diagnostics Diagnostic/display parameters for displaying device-internal process factors, cur-
rent actual values, and status messages.
4Diagnostics parameter ^ 109
P2xx Group 2 - Basic setting Setting of the mains voltage, selection of the control and setpoint source, starting
and stopping performance, frequency limits and ramp times.
4Basic setting ^ 143
P3xx Group 3 - Motor control Configuration of the motor and motor control
4Motor control ^ 163
P4xx Group 4 - I/O setting Function assignment and configuration of the inputs and outputs
4Flexible I/O configuration ^ 525
P5xx Group 5 - Network setting Configuration of the network (if available)
P6xx Group 6 - Process controller Configuration of the process controller
4Configuring the process controller ^ 407
P7xx Group 7 - Additional functions Parameterisable additional functions
4Additional functions ^ 417
P8xx Group 8 - Sequencer The "sequencer" function serves to define a programmed sequence of speed set-
points, PID setpoints or torque setpoints for the motor control. Switching to the
next setpoint can be executed in a time-based or event-based manner.
4Sequencer ^ 504
A complete overview of all parameter indexes can be found in the annex in the
Parameter attribute list. ^ 659
Frequently used abbreviations in the short keypad designations of the parameters:

Abbreviation Meaning
AI Analog input
AO Analog output
B0, B1, ... Bit 0, bit 1, ...
CU Control unit
DI Digital input
DO Digital output
LU Undervoltage
MOP Motor potentiometer
NET Network
OU overvoltage
PID Process controller
PU Power unit
QSP Quick stop
Setp Setpoint
WD Watchdog
85
Commissioning
How to read the keypad parameter list:

Column Meaning
Display code Parameter number on the keypad.
Format: Number.Subindex
Short designation Short keypad designation limited to 16 characters.
Default setting Default setting of the parameter.
Setting range Possible setting range for the parameter.
Format: minimum value ... maximum value [unit]
Address Address of the parameter in the object directory.
Format: Index:Subindex
Category Functional assignment of the parameter, for example "motor control" or "CANopen".
Keypad parameter list (short overview of all parameters with display code)
Display code Short designation Default setting Setting range Address Category
P100.00 Output frequency x.x Hz - (Read only) 0x2DDD general
P101.00 Scaled act value x Units - (Read only) 0x400D general
P102.00 Freq. setpoint x.x Hz - (Read only) 0x2B0E general
P103.00 Current actual x.x % - (Read only) 0x6078 general
P104.00 Motor current x.x A - (Read only) 0x2D88 general
P105.00 DC-bus voltage xV - (Read only) 0x2D87 general
P106.00 Motor voltage x VAC - (Read only) 0x2D89 general
P107.00 Torque actual x.x % - (Read only) 0x6077 general
P108.xx Output power
└ P108.01 Effective power x.xxx kW - (Read only) 0x2DA2:001 general
└ P108.02 Apparent power x.xxx kVA - (Read only) 0x2DA2:002 general
P109.xx Output energy
└ P109.01 Motor x.xx kWh - (Read only) 0x2DA3:001 general
└ P109.02 Generator x.xx kWh - (Read only) 0x2DA3:002 general
P110.xx AI1 diagnostics
└ P110.01 AI1 terminal % x.x % - (Read only) 0x2DA4:001 general
└ P110.02 AI1 scaled freq. x.x Hz - (Read only) 0x2DA4:002 general
└ P110.03 AI1 scaled PID x.xx PID unit - (Read only) 0x2DA4:003 general
└ P110.04 AI1 scaled torq. x.x % - (Read only) 0x2DA4:004 general
└ P110.16 AI1 status - - (Read only) 0x2DA4:016 general
P111.xx AI2 diagnostics
└ P111.01 AI2 terminal % x.x % - (Read only) 0x2DA5:001 general
└ P111.02 AI2 scaled freq. x.x Hz - (Read only) 0x2DA5:002 general
└ P111.03 AI2 scaled PID x.xx PID unit - (Read only) 0x2DA5:003 general
└ P111.04 AI2 scaled torq. x.x % - (Read only) 0x2DA5:004 general
└ P111.16 AI2 status - - (Read only) 0x2DA5:016 general
P112.xx AO1 diagnostics
└ P112.01 AO1 Voltage x.xx V - (Read only) 0x2DAA:001 general
└ P112.02 AO1 Current x.xx mA - (Read only) 0x2DAA:002 general
P113.xx AO2 diagnostics
└ P113.01 AO2 Current x.xx V - (Read only) 0x2DAB:001 Appl. I/O
└ P113.02 AO2 Voltage x.xx mA - (Read only) 0x2DAB:002 Appl. I/O
P114.xx DO actual freq.
└ P114.01 Digital output 1 x.x Hz - (Read only) 0x2646:001 general
└ P114.02 Digital output 2 x.x Hz - (Read only) 0x2646:002 general
P115.00 Actual sw. freq. - - (Read only) 0x293A general
P115.xx HTL inp. diag.
└ P115.01 Input frequency x.x Hz - (Read only) 0x2642:001 general
└ P115.02 Freq. setpoint x.x Hz - (Read only) 0x2642:002 general
└ P115.03 PID setpoint x.xx PID unit - (Read only) 0x2642:003 general
└ P115.04 Torque setpoint x.x % - (Read only) 0x2642:004 general
P117.xx Heatsink temp.
* Default setting depending on the size. Firmware version 05.00.00.00
86
Commissioning
└ P117.01 Heatsink temp. x.x °C - (Read only) 0x2D84:001 general
P118.00 Digital inputs - - (Read only) 0x60FD general
P119.00 Keypad status - - (Read only) 0x2DAC general
P120.00 Int. HW states - - (Read only) 0x2DAD general
P121.xx
└ P121.01 PID setpoint x.xx PID unit - (Read only) 0x401F:001 general
└ P121.02 PID process var. x.xx PID unit - (Read only) 0x401F:002 general
└ P121.03 PID status - - (Read only) 0x401F:003 general
P123.00 Mot. i2t utilis. x% - (Read only) 0x2D4F general
P125.xx Inverter diag.
└ P125.01 Active control - - (Read only) 0x282B:001 general
└ P125.02 Active setpoint - - (Read only) 0x282B:002 general
└ P125.03 Keypad LCD stat. - - (Read only) 0x282B:003 general
└ P125.04 Drive mode - - (Read only) 0x282B:004 general
└ P125.05 Netw. contr.reg. - - (Read only) 0x282B:005 general
└ P125.06 Netw. setp.reg. - - (Read only) 0x282B:006 general
P126.xx Status words
└ P126.01 Cause of disable - - (Read only) 0x282A:001 general
└ P126.02 Cause of QSP - - (Read only) 0x282A:002 general
└ P126.03 Cause of stop - - (Read only) 0x282A:003 general
└ P126.05 Device status - - (Read only) 0x282A:005 general
P135.xx Device utilisat.
└ P135.04 ixt utilisation x% - (Read only) 0x2D40:004 general
└ P135.05 Error response Fault [3] Selection list 0x2D40:005 general
P140.xx Sequencer diag
└ P140.01 Active Step - - (Read only) 0x2DAE:001 general
└ P140.02 StepTime elapsed x.x s - (Read only) 0x2DAE:002 general
└ P140.03 StepTime remain x.x s - (Read only) 0x2DAE:003 general
└ P140.04 Steps complete - - (Read only) 0x2DAE:004 general
└ P140.05 Steps remain - - (Read only) 0x2DAE:005 general
└ P140.06 Active sequence - - (Read only) 0x2DAE:006 general
└ P140.07 Active segment - - (Read only) 0x2DAE:007 general
└ P140.08 SeqTime remain % x% - (Read only) 0x2DAE:008 general
└ P140.09 SeqTime remain x.x s - (Read only) 0x2DAE:009 general
P150.00 Error code - - (Read only) 0x603F general
P151.xx Life-diagnosis
└ P151.01 Operating time xs - (Read only) 0x2D81:001 general
└ P151.02 Power-on time xs - (Read only) 0x2D81:002 general
└ P151.03 CU oper. time x ns - (Read only) 0x2D81:003 general
└ P151.04 Switching cycles - - (Read only) 0x2D81:004 general
└ P151.05 Relay cycles - - (Read only) 0x2D81:005 general
└ P151.06 Short-circ.count - - (Read only) 0x2D81:006 general
└ P151.07 Earthfault count - - (Read only) 0x2D81:007 general
└ P151.08 Clamp active - - (Read only) 0x2D81:008 general
└ P151.09 Fan oper. time xs - (Read only) 0x2D81:009 general
P155.xx Fault memory
└ P155.00 Error memory - - (Read only) 0x2006:000 general
P190.xx Device data
└ P190.01 Product code - - (Read only) 0x2000:001 general
└ P190.02 Serial number - - (Read only) 0x2000:002 general
└ P190.04 CU firmware ver. - - (Read only) 0x2000:004 general
└ P190.05 CU firmware type - - (Read only) 0x2000:005 general
└ P190.06 CU bootlder ver. - - (Read only) 0x2000:006 general
└ P190.07 CU bootlder type - - (Read only) 0x2000:007 general
87
Commissioning
└ P190.08 OBD version - - (Read only) 0x2000:008 general
└ P190.10 PU firmware ver. - - (Read only) 0x2000:010 general
└ P190.11 PU firmware type - - (Read only) 0x2000:011 general
└ P190.12 PU bootlder ver. - - (Read only) 0x2000:012 general
└ P190.13 PU bootlder type - - (Read only) 0x2000:013 general
└ P190.14 Mod. firmware - - (Read only) 0x2000:014 general
└ P190.15 FW revision nr. - - (Read only) 0x2000:015 general
└ P190.16 Bootloader revNo - - (Read only) 0x2000:016 general
P191.00 Device name My Device Text 0x2001 general
P192.xx Device module
└ P192.04 CU type code - - (Read only) 0x2002:004 general
└ P192.05 PU type code - - (Read only) 0x2002:005 general
└ P192.06 CU serial number - - (Read only) 0x2002:006 general
└ P192.07 PU serial number - - (Read only) 0x2002:007 general
P197.00 Protect. status - - (Read only) 0x2040 general
P198.00 Status load. par - - (Read only) 0x2827 general
P200.00 Control select. Flexible I/O [0] Selection list 0x2824 general
P201.xx Stnd. setpoints
└ P201.01 Freq. setp. src. Analog input 1 [2] Selection list 0x2860:001 general
└ P201.02 PID setp. src. Keypad [1] Selection list 0x2860:002 general
└ P201.03 Torque setp.src. Analog input 1 [2] Selection list 0x2860:003 general
P202.xx Keypad setpoints
└ P202.01 KP freq.setpoint 20.0 Hz 0.0 ... 599.0 Hz 0x2601:001 general
└ P202.02 KP PID setpoint 0.00 PID unit -300.00 ... 300.00 PID unit 0x2601:002 general
└ P202.03 KP torq.setpoint 100.0 % -400.0 ... 400.0 % 0x2601:003 general
P203.xx Start/stop confg
└ P203.01 Start method Normal [0] Selection list 0x2838:001 general
└ P203.02 Start at powerup Off [0] Selection list 0x2838:002 general
└ P203.03 Stop method Standard ramp [1] Selection list 0x2838:003 general
P208.xx Mains settings
└ P208.01 Mains voltage 230 Veff [0] Selection list 0x2540:001 general
└ P208.02 LU warn. thresh. 0V* 0 ... 800 V 0x2540:002 general
└ P208.03 LU error thresh. xV - (Read only) 0x2540:003 general
└ P208.04 LU reset thresh. xV - (Read only) 0x2540:004 general
└ P208.05 OU warn. thresh. 0V* 0 ... 800 V 0x2540:005 general
└ P208.06 OU error thresh. xV - (Read only) 0x2540:006 general
└ P208.07 OU reset thresh. xV - (Read only) 0x2540:007 general
P210.00 Min. frequency 0.0 Hz 0.0 ... 599.0 Hz 0x2915 general
P211.00 Max. frequency Device for 50-Hz mains: 0.0 ... 599.0 Hz 0x2916 general
50.0 Hz
Device for 60-Hz mains:
60.0 Hz
P220.00 Accelerat.time 1 5.0 s 0.0 ... 3600.0 s 0x2917 general
P221.00 Decelerat.time 1 5.0 s 0.0 ... 3600.0 s 0x2918 general
P222.00 Accelerat.time 2 5.0 s 0.0 ... 3600.0 s 0x2919 general
P223.00 Decelerat.time 2 5.0 s 0.0 ... 3600.0 s 0x291A general
P224.00 Ramp 2 thresh. 0.0 Hz 0.0 ... 599.0 Hz 0x291B general
P225.00 QSP dec. time 1.0 s 0.0 ... 3600.0 s 0x291C general
P226.xx S-ramp char.
└ P226.01 Smoothing factor 0.0 % 0.0 ... 100.0 % 0x291E:001 general
P230.xx Optical tracking
└ P230.01 Start detection Stop [0] Selection list 0x2021:001 general
└ P230.02 Blink. duration 5s 0 ... 3600 s 0x2021:002 general
P300.00 Motor ctrl mode VFC open loop [6] Selection list 0x2C00 general
88
Commissioning
P301.00 Modes of op. MS: Velocitymode [-2] Selection list 0x6060 general
P302.00 V/f charac.shape Linear [0] Selection list 0x2B00 general
P303.xx V/f shape data
└ P303.01 Base voltage 230 V * 0 ... 5000 V 0x2B01:001 MCTRL
└ P303.02 Base frequency Device for 50-Hz mains: 0 ... 1500 Hz 0x2B01:002 MCTRL
50 Hz
60 Hz *
└ P303.03 Midpoint voltage 0V 0 ... 5000 V 0x2B01:003 MCTRL
└ P303.04 Midpoint freq 0 Hz 0 ... 1500 Hz 0x2B01:004 MCTRL
P304.00 Limit. rotation Both rot. direct [1] Selection list 0x283A general
P305.00 Switching freq. 0* Selection list 0x2939 general
P306.xx Inv. load char.
└ P306.01 Duty selection Heavy Duty [0] Selection list 0x2D43:001 general
P308.xx Motor overload
└ P308.01 Max.load.for 60s 150 % 30 ... 200 % 0x2D4B:001 general
└ P308.02 Speed comp. On [0] Selection list 0x2D4B:002 general
└ P308.03 Response Fault [3] Selection list 0x2D4B:003 general
P309.xx Mot.temp.monit.
└ P309.02 Response Fault [3] Selection list 0x2D49:002 general
P310.xx Mot.phase.fail.
└ P310.01 Response No response [0] Selection list 0x2D45:001 general
└ P310.02 Current thresh. 5.0 % 1.0 ... 25.0 % 0x2D45:002 general
└ P310.03 Voltage thresh. 10.0 V 0.0 ... 100.0 V 0x2D45:003 general
P315.xx Slip compens.
└ P315.01 Slip: gain 100.00 % -200.00 ... 200.00 % 0x2B09:001 general
└ P315.02 Filter time 100 ms 1 ... 6000 ms 0x2B09:002 general
P316.xx V/f boosts
└ P316.01 Fixed V/f boost 2.5 % * 0.0 ... 20.0 % 0x2B12:001 MCTRL
└ P316.02 Dynam. V/f boost 0.0 % 0.0 ... 20.0 % 0x2B12:002 general
P317.xx Skip frequencies
└ P317.01 Skip frequency 1 0.0 Hz 0.0 ... 599.0 Hz 0x291F:001 general
└ P317.02 Skip bandwidth 1 0.0 Hz 0.0 ... 10.0 Hz 0x291F:002 general
P318.xx Oscillat. damp.
└ P318.01 Gain 150 % -400 ... 400 % 0x2B0A:001 MCTRL
└ P318.02 Filter time 30 ms 1 ... 600 ms 0x2B0A:002 MCTRL
P319.00 Field weak thold 0.0 Hz -599.0 ... 599.0 Hz 0x2B0C general
P320.xx Motor parameters
└ P320.04 Rated speed Device for 50-Hz mains: 50 ... 50000 rpm 0x2C01:004 MCTRL
1450 rpm
1750 rpm
└ P320.05 Rated frequency Device for 50-Hz mains: 1.0 ... 1000.0 Hz 0x2C01:005 MCTRL
50.0 Hz
60.0 Hz
└ P320.06 Rated power 0.25 kW * 0.00 ... 655.35 kW 0x2C01:006 MCTRL
└ P320.07 Rated voltage 230 V * 0 ... 65535 V 0x2C01:007 MCTRL
└ P320.08 Cosine phi 0.80 0.00 ... 1.00 0x2C01:008 MCTRL
P322.00 Max motor speed 6075 rpm 0 ... 480000 rpm 0x6080 general
P323.00 Motor current 1.700 A * 0.001 ... 500.000 A 0x6075 MCTRL
89
Commissioning
P324.00 Max current 200.0 % 0.0 ... 3000.0 % 0x6073 general
P325.00 Motor torque 1.650 Nm * 0.001 ... 4294967.295 Nm 0x6076 MCTRL
P326.00 Max torque 250.0 % 0.0 ... 3000.0 % 0x6072 general
P327.xx Axis commands
└ P327.04 Identify mot. 0 0 ... 1 0x2822:004 general
└ P327.05 Calibrate mot. 0 0 ... 1 0x2822:005 general
P329.xx MaxTrq.Monitor
└ P329.01 Response No response [0] Selection list 0x2D67:001 MCTRL
└ P329.02 Triggering delay 0.000 s 0.000 ... 10.000 s 0x2D67:002 MCTRL
P330.xx VFC-ECO
└ P330.01 Min. voltage 20 % 20 ... 100 % 0x2B0D:001 MCTRL
└ P330.06 Cos Phi actual - - (Read only) 0x2B0D:006 general
P332.xx Speed controller
└ P332.01 Gain 0.00193 Nm/rpm * 0.00000 ... 0x2900:001 MCTRL
20000.00000 Nm/rpm
└ P332.02 Reset time 80.0 ms * 1.0 ... 6000.0 ms 0x2900:002 MCTRL
P333.xx V/f Imax contr.
└ P333.01 Gain 0.284 Hz/A * 0.000 ... 1000.000 Hz/A 0x2B08:001 MCTRL
└ P333.02 Reset time 2.3 ms * 1.0 ... 2000.0 ms 0x2B08:002 MCTRL
P334.xx Current contr.
└ P334.01 Gain 42.55 V/A * 0.00 ... 750.00 V/A 0x2942:001 MCTRL
└ P334.02 Reset time 4.50 ms * 0.01 ... 2000.00 ms 0x2942:002 MCTRL
P335.xx Moment of inert.
└ P335.01 Motor inertia 3.70 kg cm² * 0.00 ... 20000000.00 kg cm² 0x2910:001 MCTRL
└ P335.02 Load inertia 3.70 kg cm² * 0.00 ... 20000000.00 kg cm² 0x2910:002 MCTRL
└ P336.02 Ramp time 1.0 s 0.0 ... 60.0 s 0x2948:002 general
P337.xx
└ P337.01 Pos. torqlim src Max torque [0] Selection list 0x2949:001 general
└ P337.02 Neg. torqlim src (-) Max torque [0] Selection list 0x2949:002 general
└ P337.03 Act postorqlim x.x % - (Read only) 0x2949:003 general
└ P337.04 Act negtorqlim x.x % - (Read only) 0x2949:004 general
P340.xx Speed limitation
└ P340.01 Upper limit 0 vel. unit -480000 ... 480000 vel. unit 0x2946:001 general
└ P340.02 Lower limit 0 vel. unit -480000 ... 480000 vel. unit 0x2946:002 general
└ P340.03 Uppspeed lim src Max. frequency [0] Selection list 0x2946:003 general
└ P340.04 Lowspeed lim src (-) Max. freq. [0] Selection list 0x2946:004 general
└ P340.05 Upper freq.limit Device for 50-Hz mains: -1000.0 ... 1000.0 Hz 0x2946:005 general
50.0 Hz
60.0 Hz
└ P340.06 Lower freq.limit Device for 50-Hz mains: -1000.0 ... 1000.0 Hz 0x2946:006 general
-50.0 Hz
-60.0 Hz
└ P340.07 Act uppspeed lim x.x Hz - (Read only) 0x2946:007 general
└ P340.08 Act lowspeed lim x.x Hz - (Read only) 0x2946:008 general
P341.xx Encoder settings
└ P341.01 Enc. Inc/Rev 128 1 ... 16384 0x2C42:001 general
P342.00 Enc.error resp. Warning [1] Selection list 0x2C45 general
P350.xx Overspeed monit.
└ P350.01 Threshold 8000 rpm 50 ... 50000 rpm 0x2D44:001 general
P351.xx ASM motor par.
└ P351.01 Rotor resistance 8.8944 Ω * 0.0000 ... 200.0000 Ω 0x2C02:001 MCTRL
└ P351.02 Mutual induct. 381.9 mH * 0.0 ... 50000.0 mH 0x2C02:002 MCTRL
90
Commissioning
└ P351.03 Magn. current 0.96 A * 0.00 ... 500.00 A 0x2C02:003 MCTRL
└ P351.04 Slip frequency x.x Hz - (Read only) 0x2C02:004 general
P352.xx PSM motor par.
└ P352.01 BEMF constant 41.8 V/1000rpm 0.0 ... 100000.0 V/1000rpm 0x2C03:001 MCTRL
P353.xx Overcurr. monit.
└ P353.01 Threshold 6.8 A * 0.0 ... 1000.0 A 0x2D46:001 general
P354.00 Voltage reserve 5% 1 ... 20 % 0x29E4 general
P400.xx Function list
└ P400.01 Enable inverter TRUE [1] Selection list 0x2631:001 general
└ P400.02 Run Digital input 1 [11] Selection list 0x2631:002 general
└ P400.03 Quick stop Not connected [0] Selection list 0x2631:003 general
└ P400.04 Reset fault Digital input 2 [12] Selection list 0x2631:004 general
└ P400.05 DC braking Not connected [0] Selection list 0x2631:005 general
└ P400.06 Start forward Not connected [0] Selection list 0x2631:006 general
└ P400.07 Start reverse Not connected [0] Selection list 0x2631:007 general
└ P400.08 Run forward Not connected [0] Selection list 0x2631:008 general
└ P400.09 Run reverse Not connected [0] Selection list 0x2631:009 general
└ P400.10 Jog foward Not connected [0] Selection list 0x2631:010 general
└ P400.11 Jog reverse Not connected [0] Selection list 0x2631:011 general
└ P400.12 Keypad control Not connected [0] Selection list 0x2631:012 general
└ P400.13 Reverse rot.dir. Digital input 3 [13] Selection list 0x2631:013 general
└ P400.14 Setp: AI1 Not connected [0] Selection list 0x2631:014 general
└ P400.15 Setp: AI2 Not connected [0] Selection list 0x2631:015 general
└ P400.16 Setp: Keypad Not connected [0] Selection list 0x2631:016 general
└ P400.17 Setp: Network Not connected [0] Selection list 0x2631:017 general
└ P400.18 Setp: Preset b0 Digital input 4 [14] Selection list 0x2631:018 general
└ P400.19 Setp: Preset b1 Digital input 5 [15] Selection list 0x2631:019 general
└ P400.20 Setp: Preset b2 Not connected [0] Selection list 0x2631:020 general
└ P400.21 Setp: Preset b3 Not connected [0] Selection list 0x2631:021 general
└ P400.22 Setp: HTL input Not connected [0] Selection list 0x2631:022 general
└ P400.23 MOP up Not connected [0] Selection list 0x2631:023 general
└ P400.24 MOP down Not connected [0] Selection list 0x2631:024 general
└ P400.25 Setp: MOP Not connected [0] Selection list 0x2631:025 general
└ P400.26 Setp: Segment b0 Not connected [0] Selection list 0x2631:026 general
└ P400.30 Seq: Run/abort Not connected [0] Selection list 0x2631:030 general
└ P400.31 Seq: Start Not connected [0] Selection list 0x2631:031 general
└ P400.32 Seq: Next step Not connected [0] Selection list 0x2631:032 general
└ P400.33 Seq: Pause Not connected [0] Selection list 0x2631:033 general
└ P400.34 Seq: Suspense Not connected [0] Selection list 0x2631:034 general
└ P400.35 Seq: Stop Not connected [0] Selection list 0x2631:035 general
└ P400.36 Seq: Abort Not connected [0] Selection list 0x2631:036 general
└ P400.37 Network control Not connected [0] Selection list 0x2631:037 general
└ P400.39 Activ. ramp 2 Not connected [0] Selection list 0x2631:039 general
└ P400.40 Load param.set Not connected [0] Selection list 0x2631:040 general
└ P400.41 Sel. paramset b0 Not connected [0] Selection list 0x2631:041 general
└ P400.42 Sel. paramset b1 Not connected [0] Selection list 0x2631:042 general
└ P400.43 Fault 1 Not connected [0] Selection list 0x2631:043 general
└ P400.44 Fault 2 Not connected [0] Selection list 0x2631:044 general
└ P400.45 PID off Not connected [0] Selection list 0x2631:045 general
└ P400.46 PID output=0 Not connected [0] Selection list 0x2631:046 general
91
Commissioning
└ P400.47 PID-I inhibited Not connected [0] Selection list 0x2631:047 general
└ P400.48 PID-Inf ramp on TRUE [1] Selection list 0x2631:048 general
└ P400.49 Release brake Not connected [0] Selection list 0x2631:049 general
└ P400.50 Seq: Select. b0 Not connected [0] Selection list 0x2631:050 general
└ P400.54 PosCounter reset Not connected [0] Selection list 0x2631:054 general
└ P400.55 Activ. UPS oper. Not connected [0] Selection list 0x2631:055 general
P410.xx DI settings
└ P410.01 Assertion level HIGH active [1] Selection list 0x2630:001 general
└ P410.02 Input function Digital Input [0] Selection list 0x2630:002 general
P411.xx DI inversion
└ P411.01 DI1 inversion Not inverted [0] Selection list 0x2632:001 general
└ P411.06 DI6 inversion Not inverted [0] Selection list 0x2632:006 Appl. I/O
└ P411.07 DI7 inversion Not inverted [0] Selection list 0x2632:007 Appl. I/O
P412.00 Freq. threshold 0.0 Hz 0.0 ... 599.0 Hz 0x4005 general
P413.00 MOP startmode Last value [0] Selection list 0x4003 general
P414.xx MOP start value
└ P414.01 Frequency 0.0 Hz 0.0 ... 599.0 Hz 0x4004:001 general
└ P414.02 PID value 0.00 PID unit -300.00 ... 300.00 PID unit 0x4004:002 general
└ P414.03 Torque 0.0 % 0.0 ... 1000.0 % 0x4004:003 general
P415.xx HTL inp. setting
└ P415.01 Min.frequency 0.0 Hz -100000.0 ... 100000.0 Hz 0x2640:001 general
└ P415.02 Max. frequency 0.0 Hz -100000.0 ... 100000.0 Hz 0x2640:002 general
└ P415.03 Min.motor.freq 0.0 Hz -1000.0 ... 1000.0 Hz 0x2640:003 general
└ P415.04 Max.motor.freq Device for 50-Hz mains: -1000.0 ... 1000.0 Hz 0x2640:004 general
50.0 Hz
60.0 Hz
└ P415.05 Min.PID setpoint 0.00 PID unit -300.00 ... 300.00 PID unit 0x2640:005 general
└ P415.06 Max.PID setpoint 100.00 PID unit -300.00 ... 300.00 PID unit 0x2640:006 general
└ P415.07 Min.torque setp. 0.0 % -400.0 ... 400.0 % 0x2640:007 general
└ P415.08 Max.torque setp 100.0 % -400.0 ... 400.0 % 0x2640:008 general
└ P415.09 Filter time 10 ms 0 ... 10000 ms 0x2640:009 general
P416.xx HTL inp. monit.
└ P416.01 Min.freq.thresh. 0.0 Hz -214748364.8 ... 0x2641:001 general
214748364.7 Hz
└ P416.02 Min.delay thres. 5.0 s 0.0 ... 300.0 s 0x2641:002 general
└ P416.03 Max.freq.thresh. 0.0 Hz -214748364.8 ... 0x2641:003 general
214748364.7 Hz
└ P416.04 Max.delay thres. 5.0 s 0.0 ... 300.0 s 0x2641:004 general
└ P416.05 Monit. condition < min. frequency [1] Selection list 0x2641:005 general
└ P416.06 Error response No response [0] Selection list 0x2641:006 general
P420.xx Dig.out.function
└ P420.01 Relay function Rdy for operat. [51] Selection list 0x2634:001 general
└ P420.02 DO1 function Release brake [115] Selection list 0x2634:002 general
└ P420.03 DO2 function Error [56] Selection list 0x2634:003 Appl. I/O
└ P420.10 NetWordOUT1.00 Rdy for operat. [51] Selection list 0x2634:010 general
└ P420.11 NetWordOUT1.01 Not connected [0] Selection list 0x2634:011 general
└ P420.12 NetWordOUT1.02 Operat. enabled [52] Selection list 0x2634:012 general
92
Commissioning
└ P420.13 NetWordOUT1.03 Error [56] Selection list 0x2634:013 general
└ P420.15 NetWordOUT1.05 Quick stop [54] Selection list 0x2634:015 general
└ P420.16 NetWordOUT1.06 Running [50] Selection list 0x2634:016 general
└ P420.17 NetWordOUT1.07 Device warning [58] Selection list 0x2634:017 general
└ P420.20 NetWordOUT1.10 Speed - setp=act [72] Selection list 0x2634:020 general
└ P420.21 NetWordOUT1.11 At current limit [78] Selection list 0x2634:021 general
└ P420.22 NetWordOUT1.12 Actual speed=0 [71] Selection list 0x2634:022 general
└ P420.23 NetWordOUT1.13 Rot.dir.reversed [69] Selection list 0x2634:023 general
└ P420.24 NetWordOUT1.14 Release brake [115] Selection list 0x2634:024 general
└ P420.25 NetWordOUT1.15 Safe Torque Off [55] Selection list 0x2634:025 general
P421.xx DO inversion
└ P421.01 Relay inverted Not inverted [0] Selection list 0x2635:001 general
└ P421.02 DO1 inversion Not inverted [0] Selection list 0x2635:002 general
└ P421.03 DO2 inversion Not inverted [0] Selection list 0x2635:003 Appl. I/O
P423.xx DO1 freq. setup
└ P423.01 Min. frequency 0.0 Hz 0.0 ... 10000.0 Hz 0x2644:001 general
└ P423.02 Max. frequency 10000.0 Hz 0.0 ... 10000.0 Hz 0x2644:002 general
└ P423.03 Function Not connected [0] Selection list 0x2644:003 general
└ P423.04 Min. signal 0 -2147483648 ... 2147483647 0x2644:004 general
└ P423.05 Max. signal 1000 -2147483648 ... 2147483647 0x2644:005 general
P424.xx DO2 freq. setup
└ P424.01 Min. frequency 0.0 Hz 0.0 ... 10000.0 Hz 0x2645:001 general
└ P424.02 Max. frequency 10000.0 Hz 0.0 ... 10000.0 Hz 0x2645:002 general
└ P424.03 Function Not connected [0] Selection list 0x2645:003 general
└ P424.04 Min. signal 0 -2147483648 ... 2147483647 0x2645:004 general
└ P424.05 Max. signal 1000 -2147483648 ... 2147483647 0x2645:005 general
P430.xx Analog input 1
└ P430.01 AI1 input range 0 ... 10 VDC [0] Selection list 0x2636:001 general
└ P430.02 AI1 freq @ min 0.0 Hz -1000.0 ... 1000.0 Hz 0x2636:002 general
└ P430.03 AI1 freq @ max Device for 50-Hz mains: -1000.0 ... 1000.0 Hz 0x2636:003 general
50.0 Hz
60.0 Hz
└ P430.04 AI1 PID @ min 0.00 PID unit -300.00 ... 300.00 PID unit 0x2636:004 general
└ P430.05 AI1 PID @ max 100.00 PID unit -300.00 ... 300.00 PID unit 0x2636:005 general
└ P430.06 AI1 filter time 10 ms 0 ... 10000 ms 0x2636:006 general
└ P430.07 AI1 dead band 0.0 % 0.0 ... 100.0 % 0x2636:007 general
└ P430.08 AI1 monit.level 0.0 % -100.0 ... 100.0 % 0x2636:008 general
└ P430.09 AI1 monit.cond. IN < threshold [0] Selection list 0x2636:009 general
└ P430.10 AI1 error resp. Fault [3] Selection list 0x2636:010 general
└ P430.11 Min. torque 0.0 % -400.0 ... 400.0 % 0x2636:011 general
└ P430.12 Max. torque 100.0 % -400.0 ... 400.0 % 0x2636:012 general
P431.xx Analog input 2
└ P431.01 AI2 input range 0 ... 10 VDC [0] Selection list 0x2637:001 general
└ P431.02 AI2 freq @ min 0.0 Hz -1000.0 ... 1000.0 Hz 0x2637:002 general
└ P431.03 AI2 freq @ max Device for 50-Hz mains: -1000.0 ... 1000.0 Hz 0x2637:003 general
50.0 Hz
60.0 Hz
└ P431.04 AI2 PID @ min 0.00 PID unit -300.00 ... 300.00 PID unit 0x2637:004 general
└ P431.05 AI2 PID @ max 100.00 PID unit -300.00 ... 300.00 PID unit 0x2637:005 general
└ P431.06 AI2 filter time 10 ms 0 ... 10000 ms 0x2637:006 general
93
Commissioning
└ P431.07 AI2 dead band 0.0 % 0.0 ... 100.0 % 0x2637:007 general
└ P431.08 AI2 monit.level 0.0 % -100.0 ... 100.0 % 0x2637:008 general
└ P431.09 AI2 error resp. IN < threshold [0] Selection list 0x2637:009 general
└ P431.10 AI2 error resp. Fault [3] Selection list 0x2637:010 general
└ P431.11 Min. torque 0.0 % -400.0 ... 400.0 % 0x2637:011 general
└ P431.12 Max. torque 100.0 % -400.0 ... 400.0 % 0x2637:012 general
P440.xx Analog output 1
└ P440.01 AO1 outp. range 0 ... 10 VDC [1] Selection list 0x2639:001 general
└ P440.02 AO1 function Outp. frequency [1] Selection list 0x2639:002 general
└ P440.03 AO1 min. signal 0 -2147483648 ... 2147483647 0x2639:003 general
└ P440.04 AO1 max. signal 1000 -2147483648 ... 2147483647 0x2639:004 general
P441.xx Analog output 2
└ P441.01 AO2 outp. range 0 ... 10 VDC [1] Selection list 0x263A:001 Appl. I/O
└ P441.02 AO2 function Motor current [5] Selection list 0x263A:002 Appl. I/O
└ P441.03 AO2 min. signal 0 -2147483648 ... 2147483647 0x263A:003 Appl. I/O
└ P441.04 AO2 max. signal 1000 -2147483648 ... 2147483647 0x263A:004 Appl. I/O
P450.xx Freq. presets
└ P450.01 Freq. preset 1 20.0 Hz 0.0 ... 599.0 Hz 0x2911:001 general
└ P450.03 Freq. preset 3 Device for 50-Hz mains: 0.0 ... 599.0 Hz 0x2911:003 general
50.0 Hz
60.0 Hz
P451.xx PID presets
└ P451.01 PID preset 1 0.00 PID unit -300.00 ... 300.00 PID unit 0x4022:001 general
P452.xx Torque presets
└ P452.01 Torque preset 1 100.0 % -400.0 ... 400.0 % 0x2912:001 general
P500.xx Module ID
94
Commissioning
└ P500.01 Active module ID - - (Read only) 0x231F:001 general
└ P500.02 Module ID conn. - - (Read only) 0x231F:002 general
P505.xx NetWordIN1 fct.
└ P505.01 NetWordIN1.00 Not active [0] Selection list 0x400E:001 general
└ P505.03 NetWordIN1.02 Quick stop [3] Selection list 0x400E:003 general
└ P505.05 NetWordIN1.04 Run forward [8] Selection list 0x400E:005 general
└ P505.06 NetWordIN1.05 Setp: Preset b0 [18] Selection list 0x400E:006 general
└ P505.07 NetWordIN1.06 Setp: Preset b1 [19] Selection list 0x400E:007 general
└ P505.08 NetWordIN1.07 Reset error [4] Selection list 0x400E:008 general
└ P505.10 NetWordIN1.09 DC braking [5] Selection list 0x400E:010 general
└ P505.13 NetWordIN1.12 Reverse rot.dir. [13] Selection list 0x400E:013 general
P508.00 CANopen comm. No action [0] Selection list 0x2300 CANopen
P508.00 EtherCAT comm. No action [0] Selection list 0x2360 EtherCAT
P508.00 EtherN/IP comm. No action [0] Selection list 0x23A0 EtherNet/IP
P508.00 Modbus comm. No action [0] Selection list 0x2320 Modbus RTU
P508.00 MBTCP comm. No action [0] Selection list 0x23B0 Modbus TCP
P508.00 PROFINET comm. No action [0] Selection list 0x2380 PROFINET
P509.00 CANopen switch - - (Read only) 0x2303 CANopen
P509.00 EtherC. switch - - (Read only) 0x2363 EtherCAT
P509.00 EtherN. switch - - (Read only) 0x23A3 EtherNet/IP
P509.00 Modbus switch - - (Read only) 0x2323 Modbus RTU
P509.00 Switch position - - (Read only) 0x23B3 Modbus TCP
P509.00 PROFIBUS switch - - (Read only) 0x2343 PROFIBUS
P510.xx CANopen sett.
└ P510.01 Node ID 1 1 ... 127 0x2301:001 CANopen
└ P510.02 Baud rate 500 kbps [5] Selection list 0x2301:002 CANopen
└ P510.03 Slave/Master Slave [0] Selection list 0x2301:003 CANopen
└ P510.04 Start rem. delay 3000 ms 0 ... 65535 ms 0x2301:004 CANopen
└ P510.05 SDO2 channel Not active [0] Selection list 0x2301:005 CANopen
└ P510.06 COB-ID Config Base + node-ID [0] Selection list 0x2301:006 CANopen
P510.xx EtherCAT sett.
└ P510.04 Device ident. 0 0 ... 65535 0x2361:004 EtherCAT
P510.xx EtherN/IP sett.
└ P510.01 IP address 276605120 0 ... 4294967295 0x23A1:001 EtherNet/IP
└ P510.02 Subnet 16777215 0 ... 4294967295 0x23A1:002 EtherNet/IP
└ P510.03 Gateway 0 0 ... 4294967295 0x23A1:003 EtherNet/IP
└ P510.04 Host name Text 0x23A1:004 EtherNet/IP
└ P510.05 IP configuration BOOTP [1] Selection list 0x23A1:005 EtherNet/IP
└ P510.06 Multicast TTL 1 1 ... 255 0x23A1:006 EtherNet/IP
└ P510.07 Mcast allocation Default alloc. [0] Selection list 0x23A1:007 EtherNet/IP
└ P510.08 Mcast IP addr. 3221373167 0 ... 4294967295 0x23A1:008 EtherNet/IP
└ P510.09 Multicast number 1 1 ... 8 0x23A1:009 EtherNet/IP
└ P510.10 Timeout 10000 ms 500 ... 65535 ms 0x23A1:010 EtherNet/IP
P510.xx Modbus sett.
└ P510.01 Node ID 1 1 ... 247 0x2321:001 Modbus RTU
└ P510.02 Baud rate Automatic [0] Selection list 0x2321:002 Modbus RTU
95
Commissioning
└ P510.03 Data format Automatic [0] Selection list 0x2321:003 Modbus RTU
└ P510.04 Min. resp. time 0 ms 0 ... 1000 ms 0x2321:004 Modbus RTU
P510.xx MBTCP settings
└ P510.01 IP address 276605120 0 ... 4294967295 0x23B1:001 Modbus TCP
└ P510.02 Subnet 16777215 0 ... 4294967295 0x23B1:002 Modbus TCP
└ P510.03 Gateway 0 0 ... 4294967295 0x23B1:003 Modbus TCP
└ P510.05 IP configuration Stored IP [0] Selection list 0x23B1:005 Modbus TCP
└ P510.06 TTL value 32 1 ... 255 0x23B1:006 Modbus TCP
└ P510.10 Ethernet timeout 10 s 0 ... 65535 s 0x23B1:010 Modbus TCP
└ P510.11 Secondary port 502 0 ... 65535 0x23B1:011 Modbus TCP
P510.xx PROFIBUS sett.
└ P510.01 Station address 3 1 ... 125 0x2341:001 PROFIBUS
P510.xx PROFINET sett.
└ P510.01 IP address 0 0 ... 4294967295 0x2381:001 PROFINET
└ P510.02 Subnet 0 0 ... 4294967295 0x2381:002 PROFINET
└ P510.03 Gateway 0 0 ... 4294967295 0x2381:003 PROFINET
└ P510.04 Station name Text 0x2381:004 PROFINET
P511.xx CANopen diag.
└ P511.01 Active node ID - - (Read only) 0x2302:001 CANopen
└ P511.02 Active baud rate - - (Read only) 0x2302:002 CANopen
P511.xx EtherCAT diag.
└ P511.04 Device ident. - - (Read only) 0x2362:004 EtherCAT
└ P511.06 Station address - - (Read only) 0x2362:006 EtherCAT
└ P511.07 Tx length - - (Read only) 0x2362:007 EtherCAT
└ P511.08 Rx length - - (Read only) 0x2362:008 EtherCAT
P511.xx EtherN/IP diag.
└ P511.01 IP address - - (Read only) 0x23A2:001 EtherNet/IP
└ P511.02 Subnet - - (Read only) 0x23A2:002 EtherNet/IP
└ P511.03 Gateway - - (Read only) 0x23A2:003 EtherNet/IP
└ P511.05 MAC address - - (Read only) 0x23A2:005 EtherNet/IP
└ P511.06 Mcast address - - (Read only) 0x23A2:006 EtherNet/IP
P511.xx Modbus diag.
└ P511.01 Active node ID - - (Read only) 0x2322:001 Modbus RTU
└ P511.02 Active baud rate - - (Read only) 0x2322:002 Modbus RTU
└ P511.03 Data format - - (Read only) 0x2322:003 Modbus RTU
P511.xx Act. MBTCP sett.
└ P511.01 Act. IP address - - (Read only) 0x23B2:001 Modbus TCP
└ P511.02 Act. subnet - - (Read only) 0x23B2:002 Modbus TCP
└ P511.03 Act. gateway - - (Read only) 0x23B2:003 Modbus TCP
└ P511.05 MAC address - - (Read only) 0x23B2:005 Modbus TCP
P511.xx PROFIBUS diag.
└ P511.01 Act.station addr - - (Read only) 0x2342:001 PROFIBUS
└ P511.02 Active baud rate - - (Read only) 0x2342:002 PROFIBUS
└ P511.03 Watchdog time - - (Read only) 0x2342:003 PROFIBUS
P511.xx PROFINET diag.
└ P511.01 IP address - - (Read only) 0x2382:001 PROFINET
└ P511.02 Subnet - - (Read only) 0x2382:002 PROFINET
└ P511.03 Gateway - - (Read only) 0x2382:003 PROFINET
└ P511.04 Station name - - (Read only) 0x2382:004 PROFINET
└ P511.05 MAC Address - - (Read only) 0x2382:005 PROFINET
P512.xx Port settings
└ P512.01 Port 1 Auto-Negotiation [0] Selection list 0x23A4:001 EtherNet/IP
└ P512.02 Port 2 Auto-Negotiation [0] Selection list 0x23A4:002 EtherNet/IP
P512.xx Port settings
96
Commissioning
└ P512.01 Port 1 Auto-Negotiation [0] Selection list 0x23B4:001 Modbus TCP
└ P512.02 Port 2 Auto-Negotiation [0] Selection list 0x23B4:002 Modbus TCP
P512.xx PROFIBUS Config.
└ P512.01 Ext. diag. bit Delete [0] Selection list 0x2344:001 PROFIBUS
P513.00 QualityOfService - - (Read only) 0x23A6 EtherNet/IP
P513.xx Act. port sett.
└ P513.01 Port 1 - - (Read only) 0x23B5:001 Modbus TCP
└ P513.02 Port 2 - - (Read only) 0x23B5:002 Modbus TCP
P514.00 AddrConflctDetec Enabled [1] Selection list 0x23A7 EtherNet/IP
P514.xx MBTCP t-out mon
└ P514.01 Time-out time 2.0 s 0.0 ... 300.0 s 0x23B6:001 Modbus TCP
└ P514.02 Keep al t-out 2.0 s 0.0 ... 300.0 s 0x23B6:002 Modbus TCP
└ P514.05 Keep al register 0 0 ... 65535 0x23B6:005 Modbus TCP
P515.00 Time-out status - - (Read only) 0x2307 CANopen
P515.xx EtherCAT monit.
└ P515.01 WD elapsed Trouble [2] Selection list 0x2859:001 EtherCAT
└ P515.03 Invalid config Trouble [2] Selection list 0x2859:003 EtherCAT
└ P515.04 Init. error Trouble [2] Selection list 0x2859:004 EtherCAT
└ P515.05 Inval. proc.data Trouble [2] Selection list 0x2859:005 EtherCAT
P515.xx EtherN/IP monit.
└ P515.01 WD elapsed Trouble [2] Selection list 0x2859:001 EtherNet/IP
└ P515.03 Invalid config Trouble [2] Selection list 0x2859:003 EtherNet/IP
└ P515.04 Init. error Trouble [2] Selection list 0x2859:004 EtherNet/IP
└ P515.05 Inval. proc.data Trouble [2] Selection list 0x2859:005 EtherNet/IP
└ P515.06 Timeout ExplMsg Warning [1] Selection list 0x2859:006 EtherNet/IP
└ P515.07 Timeout Comm. Warning [1] Selection list 0x2859:007 EtherNet/IP
P515.xx Modbus monit.
└ P515.01 Resp. Time-out Fault [3] Selection list 0x2858:001 Modbus RTU
└ P515.02 Time-out time 2.0 s 0.0 ... 300.0 s 0x2858:002 Modbus RTU
P515.xx MBTCP monitoring
└ P515.03 Config error Trouble [2] Selection list 0x2859:003 Modbus TCP
└ P515.04 Init error Trouble [2] Selection list 0x2859:004 Modbus TCP
└ P515.07 React t-out netw Warning [1] Selection list 0x2859:007 Modbus TCP
└ P515.08 React t-out mast Fault [3] Selection list 0x2859:008 Modbus TCP
└ P515.09 Reac t-out kp-al Fault [3] Selection list 0x2859:009 Modbus TCP
P515.xx PROFIBUS monit.
└ P515.01 WD elapsed Trouble [2] Selection list 0x2859:001 PROFIBUS
└ P515.02 Data exch.exited No response [0] Selection list 0x2859:002 PROFIBUS
└ P515.03 Invalid config Trouble [2] Selection list 0x2859:003 PROFIBUS
└ P515.04 Init. error Trouble [2] Selection list 0x2859:004 PROFIBUS
└ P515.05 Inval. proc.data Trouble [2] Selection list 0x2859:005 PROFIBUS
P515.xx PROFINET monit.
└ P515.01 WD elapsed Trouble [2] Selection list 0x2859:001 PROFINET
└ P515.02 Data exch.exited No response [0] Selection list 0x2859:002 PROFINET
└ P515.03 Invalid config Trouble [2] Selection list 0x2859:003 PROFINET
└ P515.04 Init. error Trouble [2] Selection list 0x2859:004 PROFINET
└ P515.05 Inval. proc.data Trouble [2] Selection list 0x2859:005 PROFINET
P516.00 CANopen status - - (Read only) 0x2308 CANopen
P516.00 EtherCAT status - - (Read only) 0x2368 EtherCAT
P516.00 CIP module stat. - - (Read only) 0x23A8 EtherNet/IP
P516.00 MBTCP modul. stat - - (Read only) 0x23B8 Modbus TCP
P516.xx PROFIBUS Status
└ P516.01 Bus status - - (Read only) 0x2348:001 PROFIBUS
└ P516.02 Watchdog status - - (Read only) 0x2348:002 PROFIBUS
97
Commissioning
P516.00 PROFINET status - - (Read only) 0x2388 PROFINET
P517.00 CAN contr.status - - (Read only) 0x2309 CANopen
P517.00 EtherCAT error - - (Read only) 0x2369 EtherCAT
P517.00 EtherN/IP status - - (Read only) 0x23A9 EtherNet/IP
P517.00 MBTCP netw stat - - (Read only) 0x23B9 Modbus TCP
P517.00 PROFIBUS error - - (Read only) 0x2349 PROFIBUS
P517.xx PROFINET error
└ P517.01 Error 1 - - (Read only) 0x2389:001 PROFINET
└ P517.02 Error2 - - (Read only) 0x2389:002 PROFINET
P518.00 CAN errorcounter - - (Read only) 0x230B CANopen
P519.xx Port diagnostics
└ P519.01 Port 1 - - (Read only) 0x23A5:001 EtherNet/IP
└ P519.02 Port 2 - - (Read only) 0x23A5:002 EtherNet/IP
P520.xx Cons. heartbeat
└ P520.00 Highest subindex - - (Read only) 0x1016:000 CANopen
└ P520.01 Cons. heartbeat1 0x00000000 0x00000000 ... 0x00FFFFFF 0x1016:001 CANopen
P522.00 Prod. heartbeat 0 ms 0 ... 65535 ms 0x1017 CANopen
P530.xx Para. mapping
└ P530.01 ... 24 Parameter 1 ... Parameter 0x00000000 0x00000000 ... 0xFFFFFF00 0x232B:001 ... Modbus RTU
24 0x232B:024
P530.xx MBTCP param.mapp
└ P530.01 ... 24 Parameter 1 ... Parameter 0x00000000 0x00000000 ... 0xFFFFFFFF 0x23BB:001 ... Modbus TCP
24 0x23BB:024
P531.xx Reg. assigned
└ P531.01 ... 24 Register 1 ... Register 24 - - (Read only) 0x232C:001 ... Modbus RTU
0x232C:024
P531.xx Register assignm
└ P531.01 ... 24 Register 1 ... Register 24 - - (Read only) 0x23BC:001 ... Modbus TCP
0x23BC:024
P532.00 Verificationcode - - (Read only) 0x232D Modbus RTU
P532.00 Verificat. code - - (Read only) 0x23BD Modbus TCP
P540.xx RPDO1 config.
└ P540.01 COB-ID 0x00000200 0x00000000 ... 0xFFFFFFFF 0x1400:001 CANopen
└ P540.02 Transm. type 255 0 ... 255 0x1400:002 CANopen
└ P540.05 Event timer 100 ms 0 ... 65535 ms 0x1400:005 CANopen
P550.xx TPDO1 config.
└ P550.03 Inhibit time 0.0 ms 0.0 ... 6553.5 ms 0x1800:003 CANopen
└ P550.05 NetWordIN5 0.0 % -100.0 ... 100.0 % 0x4008:005 general
└ P551.01 COB-ID 0xC0000280 0x00000001 ... 0xFFFFFFFF 0x1801:001 CANopen
98
Commissioning
└ P552.01 COB-ID 0xC0000380 0x00000001 ... 0xFFFFFFFF 0x1802:001 CANopen
P580.xx CAN statistics
└ P580.01 PDO1 received - - (Read only) 0x230A:001 CANopen
└ P580.05 PDO1 transmitted - - (Read only) 0x230A:005 CANopen
└ P580.09 SDO1 counter - - (Read only) 0x230A:009 CANopen
└ P580.10 SDO2 counter - - (Read only) 0x230A:010 CANopen
P580.xx Modbus statistic
└ P580.01 Mess. received - - (Read only) 0x232A:001 Modbus RTU
└ P580.02 Val. mess. rec. - - (Read only) 0x232A:002 Modbus RTU
└ P580.03 Mess. w. exc. - - (Read only) 0x232A:003 Modbus RTU
└ P580.04 Mess. w. errors - - (Read only) 0x232A:004 Modbus RTU
└ P580.05 Messages sent - - (Read only) 0x232A:005 Modbus RTU
P580.xx MBTCP statistics
└ P580.01 Rx messages - - (Read only) 0x23BA:001 Modbus TCP
└ P580.02 Valid Rx messag. - - (Read only) 0x23BA:002 Modbus TCP
└ P580.03 Mess. w. except - - (Read only) 0x23BA:003 Modbus TCP
└ P580.05 Tx messages - - (Read only) 0x23BA:005 Modbus TCP
P580.xx PROFIBUS counter
└ P580.01 Data cycles/sec. - - (Read only) 0x234A:001 PROFIBUS
└ P580.02 PRM events - - (Read only) 0x234A:002 PROFIBUS
└ P580.03 CFG events - - (Read only) 0x234A:003 PROFIBUS
└ P580.04 DIAG events - - (Read only) 0x234A:004 PROFIBUS
└ P580.05 C1 messages - - (Read only) 0x234A:005 PROFIBUS
└ P580.06 C2 messages - - (Read only) 0x234A:006 PROFIBUS
└ P580.07 WD events - - (Read only) 0x234A:007 PROFIBUS
└ P580.08 DataEx.event - - (Read only) 0x234A:008 PROFIBUS
└ P580.09 Tot. data cycles - - (Read only) 0x234A:009 PROFIBUS
P583.xx Rx data diagn.
└ P583.01 Rx data offset 0 0 ... 240 0x232E:001 Modbus RTU
└ P583.02 Last RxD byte0 - - (Read only) 0x232E:002 Modbus RTU
└ P583.07 Letzt RxD-Byte5 - - (Read only) 0x232E:007 Modbus RTU
99
Commissioning
P585.xx Tx data diagn.
└ P585.01 Tx data offset 0 0 ... 240 0x232F:001 Modbus RTU
└ P585.02 Last TxD byte0 - - (Read only) 0x232F:002 Modbus RTU
└ P585.03 Last TxD Byte1 - - (Read only) 0x232F:003 Modbus RTU
P585.xx MBTCP Tx/Rx diag
└ P585.01 Rx offset 0 0 ... 240 0x23BE:001 Modbus TCP
└ P585.02 Last Rx message - - (Read only) 0x23BE:002 Modbus TCP
└ P585.03 Tx offset 0 0 ... 240 0x23BE:003 Modbus TCP
└ P585.04 Last Tx message - - (Read only) 0x23BE:004 Modbus TCP
P590.xx NetWordINx
└ P590.01 NetWordIN1 0x0000 0x0000 ... 0xFFFF 0x4008:001 general
└ P590.02 NetWordIN2 0x0000 0x0000 ... 0xFFFF 0x4008:002 general
└ P590.03 NetWordIN3 0.0 % 0.0 ... 100.0 % 0x4008:003 general
└ P590.04 NetWordIN4 0.0 % 0.0 ... 100.0 % 0x4008:004 general
P591.xx NetWordOUTx
└ P591.01 NetWordOUT1 - - (Read only) 0x400A:001 general
└ P591.02 NetWordOUT2 - - (Read only) 0x400A:002 general
P592.xx Process data IN
└ P592.01 AC control word 0x0000 0x0000 ... 0xFFFF 0x400B:001 general
└ P592.02 LECOM ctrl word 0x0000 0x0000 ... 0xFFFF 0x400B:002 general
└ P592.03 Net.freq. 0.1 0.0 Hz 0.0 ... 599.0 Hz 0x400B:003 general
└ P592.04 Net.setp. speed 0 rpm 0 ... 50000 rpm 0x400B:004 general
└ P592.05 Net.freq. 0.01 0.00 Hz 0.00 ... 599.00 Hz 0x400B:005 general
└ P592.06 Veloc. mode setp 0.0 Hz -599.0 ... 599.0 Hz 0x400B:006 general
└ P592.07 PID setpoint 0.00 PID unit -300.00 ... 300.00 PID unit 0x400B:007 general
└ P592.08 Torque mode setp 0 Nm -32768 ... 32767 Nm 0x400B:008 general
└ P592.09 Torque scaling 0 -128 ... 127 0x400B:009 general
└ P592.11 PID feedback 0.00 PID unit -300.00 ... 300.00 PID unit 0x400B:011 general
└ P592.12 NetSetfreq0.02Hz 0 Hz -29950 ... 29950 Hz 0x400B:012 general
└ P592.13 N.FrqSet+/-16384 0 -32768 ... 32767 0x400B:013 general
P593.xx Process data OUT
└ P593.01 AC status word - - (Read only) 0x400C:001 general
└ P593.02 LECOM stat. word - - (Read only) 0x400C:002 general
└ P593.03 Frequency (0.1) x.x Hz - (Read only) 0x400C:003 general
└ P593.04 Motor speed x rpm - (Read only) 0x400C:004 general
└ P593.05 Drive status - - (Read only) 0x400C:005 general
└ P593.06 Frequency 0.01 x.xx Hz - (Read only) 0x400C:006 general
└ P593.07 Torque scaled - - (Read only) 0x400C:007 general
100
Commissioning
└ P593.08 Frequency 0.02Hz Hz - (Read only) 0x400C:008 general
└ P593.09 Freq. [+/-16384] - - (Read only) 0x400C:009 general
P595.xx PAM monitoring
└ P595.02 Keep alive reg. 0 0 ... 65535 0x2552:002 general
└ P595.03 Time-out time 10.0 s 0.0 ... 6553.5 s 0x2552:003 general
└ P595.04 Reaction No response [0] Selection list 0x2552:004 general
└ P595.05 Action No action [0] Selection list 0x2552:005 general
└ P595.06 PAM status - - (Read only) 0x2552:006 general
└ P595.07 WLAN reset t.out 0s 0 ... 65535 s 0x2552:007 general
P600.xx PID setup
└ P600.01 Operating mode Inhibited [0] Selection list 0x4020:001 general
└ P600.02 PID process var. Analog input 1 [1] Selection list 0x4020:002 general
└ P600.03 PID speed range 100 % 0 ... 100 % 0x4020:003 general
└ P600.04 PID line speed w/o speed.add. [0] Selection list 0x4020:004 general
└ P600.05 Min speed lim -100.0 % -100.0 ... 100.0 % 0x4020:005 general
└ P600.06 Max speed lim 100.0 % -100.0 ... 100.0 % 0x4020:006 general
P601.00 PID P-component 5.0 % 0.0 ... 1000.0 % 0x4048 general
P602.00 PID I- component 400 ms 10 ... 6000 ms 0x4049 general
P603.00 PID D-component 0.0 s 0.0 ... 20.0 s 0x404A general
P604.00 PID setp.ramp 20.0 s 0.0 ... 100.0 s 0x404B general
P605.xx PID setp. limit
└ P605.01 Minimum setpoint -300.00 PID unit -300.00 ... 300.00 PID unit 0x404E:001 general
└ P605.02 Maximum setpoint 300.00 PID unit -300.00 ... 300.00 PID unit 0x404E:002 general
P606.xx PID speed op.
└ P606.01 Accel. time 1.0 s 0.0 ... 3600.0 s 0x4021:001 general
└ P606.02 Decel. time 1.0 s 0.0 ... 3600.0 s 0x4021:002 general
P607.xx PID influence
└ P607.01 Activation time 5.0 s 0.0 ... 999.9 s 0x404C:001 general
└ P607.02 Mask out time 5.0 s 0.0 ... 999.9 s 0x404C:002 general
P608.xx PID alarms
└ P608.01 MIN alarm thrsh. 0.00 PID unit -300.00 ... 300.00 PID unit 0x404D:001 general
└ P608.02 MAX alarm thrsh. 100.00 PID unit -300.00 ... 300.00 PID unit 0x404D:002 general
└ P608.03 Bandw. feedback 2.00 % 0.00 ... 100.00 % 0x404D:003 general
P610.xx PID sleep mode
└ P610.01 Activation Disabled [0] Selection list 0x4023:001 general
└ P610.02 Stop method Coasting [0] Selection list 0x4023:002 general
└ P610.03 Freq. thresh. 0.0 Hz 0.0 ... 599.0 Hz 0x4023:003 general
└ P610.04 Feedback thresh. 0.00 PID unit -300.00 ... 300.00 PID unit 0x4023:004 general
└ P610.05 Delay time 0.0 s 0.0 ... 300.0 s 0x4023:005 general
└ P610.06 Recovery Setp. > P610.3 [0] Selection list 0x4023:006 general
└ P610.07 Bandwidth 0.00 PID unit 0.00 ... 300.00 PID unit 0x4023:007 general
└ P610.08 Recovery thresh. 0.00 PID unit -300.00 ... 300.00 PID unit 0x4023:008 general
P615.xx Auto-rinsing
└ P615.01 Rinsing in idle Inhibited [0] Selection list 0x4024:001 general
└ P615.02 Rinse interval 30.0 min 0.0 ... 6000.0 min 0x4024:002 general
└ P615.03 Rinse speed 0.0 Hz -599.0 ... 599.0 Hz 0x4024:003 general
└ P615.04 Rinse period 0.0 s 0.0 ... 6000.0 s 0x4024:004 general
P700.xx Device commands
└ P700.01 Load def. sett. Off / ready [0] Selection list 0x2022:001 general
└ P700.03 Save user data Off / ready [0] Selection list 0x2022:003 general
└ P700.04 Load user data Off / ready [0] Selection list 0x2022:004 general
└ P700.05 Load OEM data Off / ready [0] Selection list 0x2022:005 general
└ P700.06 Save OEM data Off / ready [0] Selection list 0x2022:006 general
└ P700.07 Load par. set 1 Off / ready [0] Selection list 0x2022:007 general
101
Commissioning
└ P700.11 Save par. set 1 Off / ready [0] Selection list 0x2022:011 general
└ P700.15 Delete logbook Off / ready [0] Selection list 0x2022:015 general
P701.00 KP setp. incr. 1 1 ... 100 0x2862 general
P702.00 Scal.speed fact. 0.00 0.00 ... 650.00 0x4002 general
P703.00 KP status displ. 0x00000000 0x00000000 ... 0xFFFFFF00 0x2864 general
P704.xx DC braking
└ P704.01 Current 0.0 % 0.0 ... 200.0 % 0x2B84:001 general
└ P704.02 Hold time autom. 0.0 s 0.0 ... 1000.0 s 0x2B84:002 general
└ P704.03 Threshold autom. 0.0 Hz 0.0 ... 599.0 Hz 0x2B84:003 general
└ P704.04 Demagnet. time 100 % 0 ... 150 % 0x2B84:004 general
└ P704.05 Def. demag. time x ms - (Read only) 0x2B84:005 general
└ P704.06 DCbrk/inv.disab 0 0 ... 1 0x2B84:006 general
P705.00 KP language English [1] Selection list 0x2863 general
P706.xx Brake management
└ P706.01 Operating mode Rfg stop (RFGS) [1] Selection list 0x2541:001 general
└ P706.02 Active threshold xV - (Read only) 0x2541:002 general
└ P706.03 Red. threshold 0V 0 ... 100 V 0x2541:003 general
└ P706.04 Add.frequency 0.0 Hz 0.0 ... 10.0 Hz 0x2541:004 general
└ P706.05 Del.overr.time 2.0 s 0.0 ... 60.0 s 0x2541:005 general
└ P706.06 Brk. res. behav Off:disabl+error [0] Selection list 0x2541:006 general
P707.xx Brake resistor
└ P707.02 Resistance value 180.0 Ω * 0.0 ... 500.0 Ω 0x2550:002 general
└ P707.03 Rated power 50 W * 0 ... 800000 W 0x2550:003 general
└ P707.04 Maximum heat 8.0 kWs * 0.0 ... 100000.0 kWs 0x2550:004 general
└ P707.07 Thermal load x.x % - (Read only) 0x2550:007 general
└ P707.08 Warning thresh. 90.0 % 50.0 ... 150.0 % 0x2550:008 general
└ P707.09 Error thresh. 100.0 % 50.0 ... 150.0 % 0x2550:009 general
└ P707.10 Warning resp. Warning [1] Selection list 0x2550:010 general
└ P707.11 Error response Fault [3] Selection list 0x2550:011 general
P708.xx Keypad setup
└ P708.01 CTRL&F/R keys CTRL&F/R Enable [1] Selection list 0x2602:001 general
└ P708.02 Select rot.dir. Forward [0] Selection list 0x2602:002 general
└ P708.03 Keypad Full Ctrl Off [0] Selection list 0x2602:003 general
P710.xx Load loss detect
└ P710.01 Threshold 0.0 % 0.0 ... 200.0 % 0x4006:001 general
└ P710.02 Deceleration 0.0 s 0.0 ... 300.0 s 0x4006:002 general
P711.xx Position counter
└ P711.01 Signal source Disbled [0] Selection list 0x2C49:001 general
└ P711.02 Reset mode Rising edge [0] Selection list 0x2C49:002 general
└ P711.03 Actual position - - (Read only) 0x2C49:003 general
P712.xx Brake control
└ P712.01 Brake mode Off [2] Selection list 0x2820:001 general
└ P712.02 Closing time 100 ms 0 ... 10000 ms 0x2820:002 general
└ P712.03 Opening time 100 ms 0 ... 10000 ms 0x2820:003 general
└ P712.07 Closing thresh. 0.2 Hz 0.0 ... 599.0 Hz 0x2820:007 general
└ P712.08 Holding load 0.0 % -500.0 ... 500.0 % 0x2820:008 general
└ P712.12 ClosingThr delay 0 ms 0 ... 10000 ms 0x2820:012 general
└ P712.13 HoldLoad ramptim 0 ms 0 ... 100 ms 0x2820:013 general
102
Commissioning
└ P712.15 Brake status - - (Read only) 0x2820:015 general
P718.xx Flying restart
└ P718.01 Current 30 % 0 ... 100 % 0x2BA1:001 MCTRL
└ P718.02 Start frequency 20.0 Hz -599.0 ... 599.0 Hz 0x2BA1:002 MCTRL
└ P718.03 Restart time 5911 ms * 1 ... 60000 ms 0x2BA1:003 MCTRL
└ P718.08 Fl.res.frequency x.x Hz - (Read only) 0x2BA1:008 MCTRL
P721.xx Mains fail. ctrl
└ P721.01 Enable function Disabled [0] Selection list 0x2D66:001 general
└ P721.02 DC-bus act.level 0%* 60 ... 90 % 0x2D66:002 general
└ P721.03 Gain V-ctrl 0.01000 Hz/V 0.00001 ... 0.50000 Hz/V 0x2D66:003 general
└ P721.04 Res. time V-ctrl 20 ms 5 ... 2000 ms 0x2D66:004 general
└ P721.05 DC voltage setp. 100 % 80 ... 110 % 0x2D66:005 general
└ P721.06 Setp. ramp 20 ms 1 ... 16000 ms 0x2D66:006 general
└ P721.07 Clear time 20 ms 1 ... 60000 ms 0x2D66:007 general
└ P721.08 Restart level 0.0 Hz 0.0 ... 599.0 Hz 0x2D66:008 general
└ P721.09 RERT:Status - - (Read only) 0x2D66:009 general
P730.00 PIN1 protection 0 -1 ... 9999 0x203D general
P731.00 PIN2 protection 0 -1 ... 9999 0x203E general
P732.00 Auto-Save EPM Inhibit [0] Selection list 0x2829 general
P740.xx Favorites sett.
└ P740.01 Parameter 1 0x2DDD0000 0x00000000 ... 0xFFFFFF00 0x261C:001 general
└ P740.02 Parameter 2 0x60780000 0x00000000 ... 0xFFFFFF00 0x261C:002 general
└ P740.03 Parameter 3 0x2D890000 0x00000000 ... 0xFFFFFF00 0x261C:003 general
└ P740.04 Parameter 4 0x603F0000 0x00000000 ... 0xFFFFFF00 0x261C:004 general
└ P740.14 Parameter 14 0x2C000000 0x00000000 ... 0xFFFFFF00 0x261C:014 general
└ P740.15 Parameter 15 0x2B000000 0x00000000 ... 0xFFFFFF00 0x261C:015 general
└ P740.18 Parameter 18 0x283A0000 0x00000000 ... 0xFFFFFF00 0x261C:018 general
└ P740.21 Parameter 21 0x2D4B0100 0x00000000 ... 0xFFFFFF00 0x261C:021 general
103
Commissioning
P750.xx Param.set setup
└ P750.01 ... 32 Parameter 1 ... Parameter 0x00000000 0x00000000 ... 0xFFFFFF00 0x4041:001 ... general
32 0x4041:032
P751.xx Par. value set 1
└ P751.01 ... 32 Set 1 - Value 1 ... Set 1 - 0 -2147483648 ... 2147483647 0x4042:001 ... general
Value 32 0x4042:032
Value 32 0x4043:032
Value 32 0x4044:032
Value 32 0x4045:032
P755.00 PSet activation On op. disabled [0] Selection list 0x4046 general
P756.xx PSet error msg.
└ P756.01 Status - - (Read only) 0x4047:001 general
└ P756.02 List entry - - (Read only) 0x4047:002 general
P760.xx Fault config.
└ P760.02 Restart delay 3.0 s 0.0 ... 1000.0 s 0x2839:002 general
└ P760.03 Restart counter 5 0 ... 255 0x2839:003 general
└ P760.04 Tro.count r.time 40.0 s 0.1 ... 3600.0 s 0x2839:004 general
└ P760.05 Trouble counter - - (Read only) 0x2839:005 general
P780.00 CiA: Statusword - - (Read only) 0x6041 general
P781.00 Target velocity 0 rpm -32768 ... 32767 rpm 0x6042 general
P782.00 Velocity demand x rpm - (Read only) 0x6043 general
P783.00 Velocity actual x rpm - (Read only) 0x6044 general
P784.xx Vel. min max
└ P784.01 Vel. min amount 0 rpm 0 ... 480000 rpm 0x6046:001 general
└ P784.02 Vel. max amount 2147483647 rpm 0 ... 2147483647 rpm 0x6046:002 general
P785.xx Vel.acceleration
└ P785.01 Delta speed 3000 rpm 0 ... 2147483647 rpm 0x6048:001 general
└ P785.02 Delta time 10 s 0 ... 65535 s 0x6048:002 general
P786.xx Vel.deceleration
└ P786.01 Delta speed 3000 rpm 0 ... 2147483647 rpm 0x6049:001 general
└ P786.02 Delta time 10 s 0 ... 65535 s 0x6049:002 general
P788.00 Modes of op. dis - - (Read only) 0x6061 general
P789.00 Supported modes - - (Read only) 0x6502 general
104
Commissioning
P790.00 Quick stop dec. 546000 pos. unit/s² 0 ... 2147483647 pos. unit/s² 0x6085 general
P791.00 Fault reaction Coasting [0] Selection list 0x605E general
P800.00 Sequencer mode Disabled [0] Selection list 0x4025 general
P801.xx Segment 1
└ P801.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x4026:001 general
└ P801.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x4026:002 general
└ P801.03 Time 0.0 s 0.0 ... 100000.0 s 0x4026:003 general
└ P801.04 Digital outp. 0 0 ... 255 0x4026:004 general
└ P801.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x4026:005 general
└ P801.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x4026:006 general
└ P801.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x4026:007 general
P802.xx Segment 2
P803.xx Segment 3
P804.xx Segment 4
P805.xx Segment 5
└ P805.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x402A:001 general
└ P805.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x402A:002 general
└ P805.03 Time 0.0 s 0.0 ... 100000.0 s 0x402A:003 general
└ P805.04 Digital outp. 0 0 ... 255 0x402A:004 general
└ P805.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x402A:005 general
└ P805.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x402A:006 general
└ P805.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x402A:007 general
P806.xx Segment 6
└ P806.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x402B:001 general
└ P806.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x402B:002 general
└ P806.03 Time 0.0 s 0.0 ... 100000.0 s 0x402B:003 general
└ P806.04 Digital outp. 0 0 ... 255 0x402B:004 general
└ P806.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x402B:005 general
└ P806.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x402B:006 general
└ P806.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x402B:007 general
P807.xx Segment 7
└ P807.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x402C:001 general
└ P807.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x402C:002 general
105
Commissioning
└ P807.03 Time 0.0 s 0.0 ... 100000.0 s 0x402C:003 general
└ P807.04 Digital outp. 0 0 ... 255 0x402C:004 general
└ P807.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x402C:005 general
└ P807.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x402C:006 general
└ P807.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x402C:007 general
P808.xx Segment 8
└ P808.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x402D:001 general
└ P808.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x402D:002 general
└ P808.03 Time 0.0 s 0.0 ... 100000.0 s 0x402D:003 general
└ P808.04 Digital outp. 0 0 ... 255 0x402D:004 general
└ P808.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x402D:005 general
└ P808.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x402D:006 general
└ P808.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x402D:007 general
P820.00 StartOfSeq. mode Restart sequencr [0] Selection list 0x4040 general
P822.xx End segment
└ P822.01 Frequency setp. 0.0 Hz -599.0 ... 599.0 Hz 0x402E:001 general
└ P822.02 Accel./decel. 5.0 s 0.0 ... 3600.0 s 0x402E:002 general
└ P822.03 Time 0.0 s 0.0 ... 100000.0 s 0x402E:003 general
└ P822.04 Digital outp. 0 0 ... 255 0x402E:004 general
└ P822.05 Analog outp. 0.00 VDC 0.00 ... 10.00 VDC 0x402E:005 general
└ P822.06 PID setp. 0.00 PID unit -300.00 ... 300.00 PID unit 0x402E:006 general
└ P822.07 Torque setp. 100.0 % -400.0 ... 400.0 % 0x402E:007 general
P824.00 End of seq. mode Keep running [0] Selection list 0x402F general
P830.xx Sequence 1
└ P830.01 ... 16 Step 1 ... Step 16 Skip step [0] Selection list 0x4030:001 ... general
0x4030:016
P831.00 Cycl. sequence 1 1 1 ... 65535 0x4031 general
P835.xx Sequence 2
0x4032:016
P840.xx Sequence 3
0x4034:016
P845.xx Sequence 4
0x4036:016
P850.xx Sequence 5
0x4038:016
P855.xx Sequence 6
└ P855.01 ... 16 Step 1 ... Step 16 Skip step [0] Selection list 0x403A:001 ... general
0x403A:016
P856.00 Cycl. sequence 6 1 1 ... 65535 0x403B general
P860.xx Sequence 7
└ P860.01 ... 16 Step 1 ... Step 16 Skip step [0] Selection list 0x403C:001 ... general
0x403C:016
P861.00 Cycl. sequence 7 1 1 ... 65535 0x403D general
P865.xx Sequence 8
└ P865.01 ... 16 Step 1 ... Step 16 Skip step [0] Selection list 0x403E:001 ... general
0x403E:016
P866.00 Cycl. sequence 8 1 1 ... 65535 0x403F general
106
Commissioning
Save parameter settings in the memory module
Save parameter settings with »EASY Starter«
5.5 Save parameter settings in the memory module
5.5.1 Save parameter settings with keypad

If one parameter setting has been changed with the keypad but has not been saved in the
memory module with mains failure protection, the SET display is blinking.
In order to save parameter settings in the user memory of the memory module, press the key-
pad enter key longer than 3 s.
VEL:FLEX:AIN1 Saving Parameters Parameters Saved
000STOP
LOC REM MAN AUTO SET
>3s
SAVINGP
SPSAVED
5.5.2 Save parameter settings with »EASY Starter«

If a parameter setting has been changed with the »EASY Starter« but not yet saved in the
memory module with mains failure protection, the status line of the »EASY Starter« displays
the note "The parameter set was changed".
In order to save parameter settings in the user memory of the memory module,
• click the button in the toolbar of the »EASY Starter« or
• press the function key <F6> or
• execute the device command "Save user data": 0x2022:003 (P700.03) = "On / start [1]".
107
Diagnostics and fault elimination
LED status display
6 Diagnostics and fault elimination

6.1 LED status display
The "RDY" and "ERR" LED status displays on the front of the inverter provide some quick infor-
mation about certain operating states.
"RDY" LED (blue) "ERR" LED (red) Status/meaning
off off No supply voltage.
Initialisation (inverter is started.)
on on
Safe torque off (STO) active.
off
4Safe torque off (STO) ^ 523
blinking (1 Hz) Safe torque off (STO) active, warning active.
blinking fast (4 Hz)
off Inverter inhibited.
Inverter disabled, warning active.
blinking fast (4 Hz) 4Error handling ^ 139
Inverter disabled, error active.
on 4Error handling ^ 139
blinking (2 Hz) Inverter inhibited, no DC-bus voltage.
lit every 1.5 s for a
short time
USB module is connected, 5-V supply voltage for the USB module is available.
on for a short time
every 1 s
Inverter enabled.
off
The motor rotates according to the specified setpoint or quick stop active.
Inverter enabled, warning active.
on blinking fast (4 Hz) The motor rotates according to the specified setpoint or quick stop active.
Inverter enabled, quick stop as response to fault active.
blinking (1 Hz) 4Error handling ^ 139
Firmware update active.
4Firmware download ^ 501
Both LEDs are blinking in a rapidly alternating
mode
"Visual tracking" function is active.
4Optical device identification ^ 162
Both LEDs are blinking in a very rapidly synchro-
nous mode
108
Diagnostics parameter
6.2 Diagnostics parameter

The inverter provides many diagnostic parameters which are helpful for operation, mainte-
nance, error diagnosis, error correction, etc.
• In the following overview the most common diagnostic parameters are listed. For the key-
pad you can find these diagnostic parameters in group 1.
• Further parameters for more specific diagnostic purposes are described in the following
subchapters.
• The diagnostic parameters can only be read and cannot be written to.

0x2030 CRC parameter set Display of the 32-bit hash sum for the integrity check of the parameter
• Read only set.
0x2B0B Frequency setpoint Display of the actual frequency setpoint that is internally transferred to
• Read only: x.x Hz the motor control (after scaling and ramp generator).
• From version 03.00
0x2B0E Frequency setpoint Display of the frequency setpoint currently assigned.
(P102.00) (Freq. setpoint) • Depending on the present operating conditions, this value may differ
• Read only: x.x Hz from the current output frequency 0x2DDD (P100.00).
0x2B0F VFC output frequency Display of the current output frequency at V/f operation.
• Read only: x.x Hz
0x2D4F Motor utilisation (i²*t) Display of the current thermal motor utilisation.
(P123.00) (Mot. i2t utilis.)
• Read only: x %
0x2D87 DC-bus voltage Display of the current DC-bus voltage.
(P105.00) (DC-bus voltage)
• Read only: x V
0x2D88 Motor current Display des present current-r.m.s. value.
(P104.00) (Motor current)
• Read only: x.x A
0x2D89 Motor voltage Display of the current motor voltage.
(P106.00) (Motor voltage)
• Read only: x VAC
0x2DA2:001 Output power: Effective power Display of the active output power for an energy analysis in the respec-
(P108.01) (Output power: Effective power) tive application.
• Read only: x.xxx kW
0x2DA2:002 Output power: Apparent power Display of the apparent output power for an energy analysis in the
(P108.02) (Output power: Apparent power) respective application.
• Read only: x.xxx kVA
0x2DA3:001 Output energy: Motor Display of the output power in motor mode for an energy analysis in the
(P109.01) (Output energy: Motor) respective application.
• Read only: x.xx kWh
0x2DA3:002 Output energy: Generator Display of the output power in generator mode for an energy analysis in
(P109.02) (Output energy: Generator) the respective application.
• Read only: x.xx kWh
0x2DDD Output frequency Display of the current output frequency for diagnostics of the control.
(P100.00) (Output frequency)
0x400D Scaled actual value Display of the current speed in application units.
(P101.00) (Scaled act value)
• Read only: x Units
0x6077 Torque actual value Display of the current torque.
(P107.00) (Torque actual) • 100 % ≡ Motor rated torque 0x6076 (P325.00)
• Read only: x.x %
0x6078 Current actual value Display of the present motor current.
(P103.00) (Current actual) • 100 % ≡ Motor rated current 0x6075 (P323.00)
109
Logbook
6.2.1 Logbook
For diagnostic purposes, the logbook contains the last 32 error messages and warning signals
of the inverter, which have occurred during operation.
Preconditions
The logbook can only be accessed
• via the user interface of »EASY Starter« ("Diagnostics" tab) or
• via network.
Details
In contrast to the error history buffer, the logbook additionally protocols the following events:
• Fault messages
• Change-over from normal to setup mode (and vice versa)
• Execution of device commands
• Avoidance of safety functions
The logbook entries are saved persistently in the inverter. If all 32 memory units are occupied,
the oldest entry is deleted for a new entry. By means of the "Delete logbook" device com-
mand, all logbook entries can be deleted.
Accessing the logbook with »EASY Starter«
1. Select the inverter on the left side in the »EASY Starter« device list.
2. Change to the "Diagnostics" tab.
3. Click the icon to open the logbook.
Observe that the logbook only presents a snapshot at the time the data are read out. If a new
event occurs, the logbook must be read out again so that the new event becomes visible.
Accessing the logbook via network
The logbook can also be accessed via network from a higher-level controller or a visualisation.
The structure of the diagnostic messages complies with the "ETG.1020" standard of the Ether-
CAT Technology Group (ETG).
See chapter 13.3 of document "ETG.1020 Protocol Enhancements" provided by

the EtherCAT Technology Group (ETG) for detailed information on the structure
of the diagnostic messages.

0x2022:015 Device commands: Delete logbook 1 = delete all entries in the logbook.
(P700.15) (Device commands: Delete logbook)
ted.
0 Off / ready
1 On / start
110
Error history buffer
6.2.2 Error history buffer

For purposes of diagnostics, the error history buffer contains the last 32 error and warning
messages of the inverter, which have occurred during operation. The error history buffer can
be read out using the keypad via P155.00 and provides a limited view on the logbook.
Details
• For each event that is recorded, the error history buffer contains the message text, the
error code, the time of occurrence as well as a counter for successive, identical events. If
an event that has already been recorded occurs repeatedly, only the counter is incremen-
ted.
• The error history buffer can be reset by the user. In order to prevent the buffer from being
reset by the user, this function can be protected by means of a password.
• Observe that the error history buffer only presents a snapshot at the time the data are
read out. If a new event occurs, the error history buffer must be read out again via P155.00
so that the new event becomes visible.
Accessing the error history buffer with the keypad
1. VEL:FLEX:AIN1 1. Use the key in the operating mode to navigate to the
parameterisation mode one level below.
000STOP
You are now in the group level. All parameters of the
inverter are divided into different groups according to
their function.
2. Favorites Note: By using the key you can navigate one level
GROUPOO
upwards again anytime.
2. Use the navigation key to select group 1 ("Diagnos-
tics").
3. Diagnostics 3. Use the key to navigate to one level below.
You are now in the parameter level of the group selec-
GROUPO1
ted.
4. Use the and select the P155.00 parameter.
5. Use the key to navigate to one level below.
4. Output frequency
You are now in the error history buffer.
OP1OOOO
6. Use the and navigation keys you can now scroll
through the error history buffer entries.
Use the key, you can switch over the display.
5. Error memory
OP155OO
Information displayed (page 1):
① Message text
② No. of the entry (01 = latest event)
③ Response (W = warning, T = trouble, F = fault)
6. Warn.DC Bus UV ④ Error code
O1W3221
Information displayed (page 2):
⑤ Time of occurrence
⑥ No. of the entry (01 = latest event)
⑦ Counter for successive, identical events
Time:01d17h04m00s
O1C OO1
Note: By using the
buffer again.
key you can exit the error history

0x2006:000 Error history buffer: Keypad display Display of the error history buffer on the keypad.
(P155.00) (Fault memory: Error memory)
• Read only
0x2006:001 Error history buffer: Maximum number of messages Display of the maximum number of messages which can be stored in the
• Read only history buffer (from subindex 6).
111

0x2006:002 Error history buffer: Latest message Display of the subindex of the most recent message.
• Read only
0x2006:003 Error history buffer: Latest acknowledgement mes- 0 = delete all entries in the error history buffer.
sage
0 ... [0] ... 37
0x2006:004 Error history buffer: New message Reserved for future extensions.
• Read only
0x2006:005 Error history buffer: Buffer overflow Bit 0 ... bit 4 = 0.
0 ... [1] ... 65535 Bit 5 = 1 ≡ overflow (after recording the 33rd event in the error history
Bit 0 Send emergency message buffer.
Bit 1 Disable info message
Bit 2 Disable warning message
Bit 3 Disable error message
Bit 4 Mode selection
Bit 5 Message overwritten
0x2006:006 Error history buffer: Message 0 Error history buffer entry 01 (latest event)
• Read only
0x2006:007 Error history buffer: Message 1 Error history buffer entry 02
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
112

• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
Structure of the messages

The following example shows the detailed structure of one of the following messages (param-
eter 0x2006:006 ... 0x2006:037):
Message: 00E010431201990000520B0473FC0100050001
00E01043 1201 9900 00520B0473FC0100 0500 01
Meaning: Diag code Message type Text ID Time stamp in [ns] Flag param. 1 Parameter 1
Data type: U32 U16 U16 U64 U16 U8
Hex value: 0x4310 E000 0x0112 0x0099 0x0001 FC73 040B 5200 0x0005 0x01
Notes:
• The upper 16 bits of the "Diag Code" contain the error code (in the example "0x4310").
• Bit 0 ... 3 of the message type contain the error type (0: Info, 1: Warning, 2: Trouble,
3: Fault).
• Convert time stamp: 0x0001 FC73 040B 5200 = 559045896000000 ns = 6 days, 11 hours,
17 minutes, 25 seconds
• The flag for parameter 1 has no meaning for decoding the message.
• The parameter 1 contains the counter for successive, identical events.
113
Inverter diagnostics
6.2.3 Inverter diagnostics

The following parameters supply some information about the current operating status of the
inverter.
This includes the following information:
• Active access protection after log-in by means of PIN1/PIN2
• Currently loaded parameter settings
• Cause(s) for disable, quick stop and stop.
• Active control source and active setpoint source
• Active operating mode
• Keypad status
• Status of the internal motor control
Some of the following parameters contain bit-coded status words. Each single bit has a certain
meaning.
4Display of status words on keypad ^ 638
0x2040 Access protection status Bit-coded display of the active access protection after login by PIN1/
(P197.00) (Protect. status) PIN2.
• Read only
Bit 0 No write access
Bit 1 Only favorites changeable
0x2827 Currently loaded parameter settings Display of the parameter settings currently loaded.
(P198.00) (Status load. par) 4Data handling ^ 141
• Read only 4Saving/loading the parameter settings ^ 419
0 User settings User parameter settings of the memory module
1 Reset 60 Hz setting Delivery status (default setting) for 50-Hz device
2 Reset 50 Hz setting Delivery status (default setting) for 60-Hz device
3 OEM default settings OEM parameter settings of the memory module
0x282A:001 Status words: Cause of disable Bit-coded display of the cause(s) for disabled inverter.
(P126.01) (Status words: Cause of disable)
• Read only
Bit 0 Flexible I/O configuration 1 ≡ the inverter was disabled by the trigger set in 0x2631:001 (P400.01).
Bit 1 Network 1 ≡ the inverter was disabled via network.
Bit 2 Axis command 1 ≡ the inverter was disabled via axis command .
Bit 6 Fault DC-bus 1 ≡ the inverter was inhibited due to a DC-bus error.
Bit 7 Drive not ready 1 ≡ the inverter was disabled internally since the drive was not ready for
operation.
Possible causes:
• Under/overvoltage in the DC bus
• Defect device hardware
Bit 8 Quick stop active 1 ≡ the inverter has been disabled by the "Quick stop" function.
Bit 9 Motor data identification 1 ≡ the inverter was disabled by the "Automatic identification of the
motor data" function.
Bit 10 Automatic holding brake control 1 ≡ the inverter was disabled by the "Holding brake control" function.
Bit 11 DC braking -
Bit 12 CiA402 Inverter disabled 1 ≡ the inverter was disabled by the internal state machine.
The bit is only set if
• operating mode 0x6060 (P301.00) = "CiA: Velocity mode [2]" and
• state machine in the "Switch on disabled" state and
• the state change has not been carried out via the "Disable operation"
command.
Bit 13 CiA402 Quick stop option code 2 1 ≡ the inverter has been disabled by the "Quick stop" function.
Bit 14 Safe torque off (STO) 1 ≡ the inverter has been disabled by the integrated safety system.
Bit 15 CiA402 operation mode 0 1 ≡ the inverter has been disabled because the selection "No mode
change/no mode assigned [0]" is set in 0x6060 (P301.00).
114

0x282A:002 Status words: Cause of quick stop Bit coded display of the cause(s) of quick stop.
(P126.02) (Status words: Cause of QSP)
• Read only
Bit 0 Flexible I/O configuration 1 ≡ quick stop was activated by the trigger set in 0x2631:003 (P400.03).
Bit 1 Network 1 ≡ quick stop was activated via network.
Bit 2 Axis command 1 ≡ quick stop was activated via axis command .
Bit 6 Error response 1 ≡ quick stop has been activated as a response to an error.
0x282A:003 Status words: Cause of stop Bit coded display of the cause(s) of stop.
(P126.03) (Status words: Cause of stop)
• Read only
Bit 0 Flexible I/O: Start disabled 1 ≡ stop was activated by the trigger set in 0x2631:002 (P400.02).
Bit 1 Flexible I/O: Run forward 1 ≡ stop has been activated due to cancellation of the command "Run
forward (CW)".
Bit 2 Flexible I/O: Run reverse 1 ≡ stop has been activated due to cancellation of the command "Run
reverse (CCW)".
Bit 3 Flexible I/O: Jog forward 1 ≡ stop has been activated due to cancellation of the command "Jog
foward (CW)".
Bit 4 Flexible I/O: Jog reverse 1 ≡ stop has been activated due to cancellation of the command "Jog
reverse (CCW)".
Bit 5 Network 1 ≡ stop was activated via network.
Bit 6 Keypad 1 ≡ stop was activated via keypad.
Bit 7 Control mode transition 1 ≡ stop has been activated due to a change of the operating mode.
Bit 8 End of sequence 1 ≡ stop was activated by the "sequencer" function since the sequence is
completed.
• The bit is only set after the sequence is completed if End of sequence
mode0x402F (P824.00) is set ="Stop [1]" or "Stop and abort [2]".
Bit 15 Waiting for start 1 ≡ Stop is active as a start command is not yet available (e.g. after ena-
bling the inverter).
0x282A:004 Status words: Extended status word Bit-coded status word.
• Read only
Bit 8 Reverse rotational direction 1 ≡ reversal active.
Bit 10 Safe torque off (STO) active 1 ≡ "Safe torque off (STO)" function has been triggered by the integrated
safety system.
Bit 11 Both STO channels not active 1 ≡ safe inputs SIA and SIB = LOW (simultaneously).
0x282A:005 Status words: Device status Display of the current inverter device state.
(P126.05) (Status words: Device status)
• Read only
0 Initialisation
2 Not ready to switch on
3 Switch on disabled
4 Ready to switch on
5 Switched on
6 Operation enabled
7 Disable operation
8 Shut down
9 Quick stop active
10 Fault reaction active
11 Fault
0x282B:001 Inverter diagnostics: Active control source Display of the control source that is currently active.
(P125.01) (Inverter diag.: Active control)
• Read only
0 Flexible I/O configuration
1 Network
2 Keypad
8 Keypad full control
115

0x282B:002 Inverter diagnostics: Active setpoint source Display of the setpoint source that is currently active.
(P125.02) (Inverter diag.: Active setpoint)
• Read only
0 Not selected
1 Analog input 1
2 Analog input 2
3 Keypad Setpoint
4 HTL input
5 Network Setpoint
11 Setpoint preset 1
31 Segment preset 1
32 Segment preset 2
33 Segment preset 3
34 Segment preset 4
35 Segment preset 5
36 Segment preset 6
37 Segment preset 7
38 Segment preset 8
39 Last segment
50 Motor potentiometer
51 PID setpoint (from version 04.00)
0x282B:003 Inverter diagnostics: Keypad LCD status Bit-coded state of the keypad status displays.
(P125.03) (Inverter diag.: Keypad LCD stat.)
• Read only
Bit 0 LOC 1 ≡ local keypad control active.
Bit 1 REM 1 ≡ remote control via terminals, network, etc. active.
Bit 2 MAN 1 ≡ manual setpoint selection via keypad active.
Bit 3 Auto 1 ≡ automatic setpoint selection via terminals, network, etc. active.
Bit 4 Set 1 ≡ a parameter setting has been changed but not been saved yet in the
memory module with mains failure protection.
116

0x282B:004 Inverter diagnostics: Active drive mode Display of the active drive mode.
(P125.04) (Inverter diag.: Drive mode)
• Read only
0 Velocity mode "Velocity mode" active.
1 PID control PID control active.
2 Torque mode (from version 03.00) "Torque mode" active.
4 Jog operation "Jog foward (CW)" or "Jog reverse (CCW)" function active.
0x2831 Inverter status word Bit-coded status word of the internal motor control.
• Read only
Bit 1 Speed 1 limited 1 ≡ input of speed controller 1 in limitation.
Bit 2 Speed limited 1 ≡ output of speed controller 1 in limitation.
Bit 3 Torque limited 1 ≡ setpoint torque in limitation.
Bit 4 Current limited 1 ≡ setpoint current in limitation.
Bit 5 Speed 2 limited 1 ≡ input of the speed controller 2 in "torque mode" in limitation.
Bit 6 Upper speed limit active 1 ≡ in "torque mode", the speed is limited to upper speed limit
0x2946:001 (P340.01).
Bit 7 Lower speed limit active 1 ≡ in "torque mode", the speed is limited to lower speed
limit0x2946:002 (P340.02).
Bit 10 Output frequency limited 1 ≡ setpoint frequency with V/f operation in limitation.
Bit 11 Magnetisation completed 1 ≡ during V/f operation, the factor 7 rotor time constant has passed
(calculated from the time at which the inverter was enabled without
restart on the fly and with a total motor current of 20 % rated motor cur-
rent for the first time). Otherwise 0.
Bit 12 Motor phase error 1 ≡ motor phase failure detection active.
Bit 14 Error reset blocking time active 1 ≡ the fault can only be reset when the blocking time has elapsed.
0x2833 Inverter status word 2 Bit-coded status word 2 of the inverter.
• Read only
Bit 1 Manual test mode active 1 ≡ manual test mode active.
Bit 2 Manual control active 1 ≡ manual control active.
Bit 6 DC braking active 1 ≡ DC braking active.
Bit 15 UPS operation active 1 ≡ UPS operation active.
0x293A Actual switching frequency Display of the currently active switching frequency of the inverter.
(P115.00) (Actual sw. freq.) Example:
• Read only • "16 kHz variable / drive-optimised / 4 kHz min. [22]" is selected as
1 2 kHz drive-optimised switching frequency in 0x2939 (P305.00).
2 4 kHz drive-optimised • An increase of the ambient temperature and/or the load have caused
3 8 kHz drive-optimised a decrease of the switching frequency to 8 kHz. In this case, this
parameter indicates the selection "8 kHz power loss-optimised [7]".
4 16 kHz drive-optimised
5 2 kHz power loss-optimised
0x2DAC Keypad status Bit-coded display of the keypad status.
(P119.00) (Keypad status)
• Read only
Bit 0 Start Key 1 ≡ keypad start key pressed.
Bit 1 Stop Key 1 ≡ keypad stop key pressed.
Bit 2 Up arrow 1 ≡ keypad up-arrow key pressed.
Bit 3 Down arrow 1 ≡ keypad down-arrow key pressed.
Bit 4 Enter Key 1 ≡ keypad enter key pressed.
Bit 5 Back key 1 ≡ keypad back key pressed.
117

0x2DAD Internal hardware states Bit-coded display of internal hardware states.
(P120.00) (Int. HW states)
• Read only
Bit 0 Relay 0 ≡ X9/NO-COM open and NC-COM closed.
1 ≡ X9/NO-COM closed and NC-COM open.
Bit 1 Digital output 1 0 ≡ LOW level, 1 ≡ HIGH level.
Bit 2 Digital output 2
Bit 10 Charge Relay 1 ≡ precharging of the DC bus via charge relay is active.
0x603F Error code Error message
(P150.00) (Error code)
• Read only
6.2.4 Network diagnostics

The following parameters show some general information with regard to the network option
available and the network.
Further fieldbus-specific diagnostic parameters are described in the following subchapters.
0x282B:005 Inverter diagnostics: Most recently used control regis- Display of the network register for the control that was accessed last
(P125.05) ter (e. g. 0x6040 or 0x400B:1).
(Inverter diag.: Netw. contr.reg.) • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
• Read only • The lowest byte is always 0x00.
0x282B:006 Inverter diagnostics: Most recently used setpoint reg- Display of the network register for setpoint selection that was accessed
(P125.06) ister last (e. g. 0x6042 or 0x400B:3).
(Inverter diag.: Netw. setp.reg.) • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
• Read only • The lowest byte is always 0x00.
0x400B:006 Process input data: Velocity mode setpoint Mappable parameter for defining the setpoint for operating mode "MS:
(P592.06) (Process data IN: Veloc. mode setp) Velocity mode" via network.
-599.0 ... [0.0] ... 599.0 Hz • If this parameter is to be used as standard setpoint source, the selec-
tion "Network [5]" must be set in 0x2860:001 (P201.01).
• If this bipolar setpoint is used, the direction of rotation cannot be con-
trolled via the network control word. The direction of rotation is
determined by the sign of the setpoint.
0x400B:007 Process input data: PID setpoint Mappable parameter for defining the setpoint for the PID control via
(P592.07) (Process data IN: PID setpoint) network.
-300.00 ... [0.00] ... 300.00 PID unit • If this parameter is to be used as standard setpoint source, the selec-
0x400B:008 Process input data: Torque mode setpoint Mappable parameter for defining the setpoint for operating mode "MS:
(P592.08) (Process data IN: Torque mode setp) Torque mode" via network.
-32768 ... [0] ... 32767 Nm • If this parameter is to be used as standard setpoint source, the selec-
• The scaling factor can be set in 0x400B:009 (P592.09).
• Scaled torque setpoint = torque setpoint (0x400B:008) / 2scaling factor
Example:
• Torque setpoint (0x400B:008) = 345 [Nm]
• Scaling factor (0x400B:009) = 3
• Scaled torque setpoint = 345 [Nm] / 23 = 43.125 [Nm]
118
Network diagnostics

0x231F:001 Module ID: Active module ID Display of the network options currently configured in the inverter.
(P500.01) (Module ID: Active module ID) • With the help of this module ID, the keypad only shows the communi-
• Read only cation parameters relevant to the respective network.
48 No network
Note!
67 CANopen
When switched on, the inverter checks whether the parameter settings
71 EtherNet/IP (from version 02.00) saved in the memory module match the inverter hardware and firm-
ware. In case of an incompatibility, a corresponding error message is
output. For details see chapter "Data handling" (section "Hardware and
firmware updates/downgrades"). ^ 141
78 POWERLINK (from version 05.00)
80 PROFIBUS Display of the network options currently configured in the inverter.
82 PROFINET (from version 02.00) • With the help of this module ID, the keypad only shows the communi-
cation parameters relevant to the respective network.
84 EtherCAT (from version 02.00)
86 Modbus TCP/IP Note!
87 Modbus When switched on, the inverter checks whether the parameter settings
saved in the memory module match the inverter hardware and firm-
0x231F:002 Module ID: Module ID connected Display of the network option currently available in the inverter.
(P500.02) (Module ID: Module ID conn.)
• Read only Note!
• For the meaning of the display see parameter When switched on, the inverter checks whether the parameter settings
0x231F:001 (P500.01). ^ 229 saved in the memory module match the inverter hardware and firm-
0x400B:009 Process input data: Torque scaling Scaling factor for torque setpoint 0x400B:008 (P592.08) and actual tor-
(P592.09) (Process data IN: Torque scaling) que value 0x400C:007 (P593.07) via network.
-128 ... [0] ... 127 • With the setting 0, no scaling takes place.
Related topics
6.2.4.1 CANopen diagnostics
The following parameters serve to diagnose the CANopen interface and communication via
CANopen.
Preconditions
Control unit (CU) of the inverter is provided with CANopen.
0x1000 Device type CANopen device profile according CANopen specification CiA 301/
• Read only CiA 402.
Specifies the axis type:
• 0x01010192 ≡ single axis
• 0x02010192 ≡ double axis
• 0x01020192 ≡ servo single axis
• 0x02020192 ≡ servo double axis
• 0x01030192 ≡ stepper single axis
• 0x02030192 ≡ stepper double axis
0x1001 Error register Bit-coded error status.
• Read only • Bit 0 is set if an error is active.
The other bits signalise which group the active error belongs to:
• Bit 1: Current error
• Bit 2: Voltage error
• Bit 3: Temperature error
• Bit 4: Communication error
• Bit 5: Device profile-specific error
• Bit 6: Reserved (always 0)
• Bit 7: Manufacturer-specific error
119
Network diagnostics

0x1008 Manufacturer device name Display of the manufacturer device name.
• Read only
0x1009 Manufacturer hardware version Display of the manufacturer hardware version.
• Read only
0x100A Manufacturer software version Display of the manufacturer software version.
• Read only
0x1018:001 Identity object: Vendor ID Display of the manufacturer's identification number.
• Read only • The identification number allocated to Lenze by the organisation
"CAN in Automation e. V." is "0x0000003B".
0x1018:002 Identity object: Product ID Display of the product code of the inverter.
• Read only
0x1018:003 Identity object: Revision number Display of the main and subversion of the firmware.
• Read only
0x1018:004 Identity object: Serial number Display of the serial number of the inverter.
• Read only
0x2302:001 Active CANopen settings: Active node ID Display of the active node address.
(P511.01) (CANopen diag.: Active node ID)
• Read only
0x2302:002 Active CANopen settings: Active baud rate Display of the active baud rate.
(P511.02) (CANopen diag.: Active baud rate)
• Read only
0 Automatic (from version 03.00)
1 20 kbps
2 50 kbps
3 125 kbps
4 250 kbps
5 500 kbps
6 800 kbps
7 1 Mbps
0x2307 CANopen time-out status Bit-coded status display of the CAN time monitoring functions.
(P515.00) (Time-out status)
• Read only
Bit 0 RPDO1-Timeout 1 ≡ RPDO1 was not received within the monitoring time or not with the
sync configured.
• Status is reset automatically after the RPDO has been received again.
• Setting of monitoring time for RPDO1 in 0x1400:005 (P540.05).
sync configured.
sync configured.
Bit 8 Heartbeat-Timeout Consumer 1 1 ≡ within the "Heartbeat Consumer Time", no heartbeat telegram was
received from node 1 to be monitored.
• Status can only be reset by mains switching or error reset.
• "Heartbeat Consumer Time" setting in 0x1016:001 (P520.01).
120
Network diagnostics

0x2308 CANopen status Display of the current fieldbus state
(P516.00) (CANopen status)
• Read only
0 Initialisation Fieldbus initialisation active.
• The initialisation is started automatically at mains connection. During
this phase, the inverter us not involved in the data exchange process
on the CAN bus.
• All CAN-relevant parameters are initialised with the saved settings.
• When the initialisation process has been completed, the inverter
automatically adopts the "Pre-Operational" state.
1 Reset node "Reset Node" NMT command active.
• All parameters are initialised with the saved settings (not only the
CAN-relevant parameters).
2 Reset communication "Reset Communication" NMT command active.
• Initialisation of all CAN-relevant parameters with the values stored.
4 Stopped Only network management telegrams can be received.
5 Operational Parameter data and process data can be received. If defined, process
data is sent as well.
127 Pre-Operational Parameter data can be received, process data are ignored.
0x2309 CANopen controller status Status display of the internal CANopen controller.
(P517.00) (CAN contr.status)
• Read only
1 Error active The inverter is a fully-fledged communication node at the CANopen net-
work. It is able to transmit and receive data and to report faults.
2 Error passive The inverter can only passively indicate faulty reception via the ACK
field.
3 Bus off The inverter is electrically separated from the CANopen network. In
order to exit this state, the CANopen interface must be reset. An auto-
matic restart is implemented.
0x230A:001 CANopen statistics: PDO1 received Display of the number of PDO1 telegrams received.
(P580.01) (CAN statistics: PDO1 received)
• Read only
• Read only
• Read only
0x230A:005 CANopen statistics: PDO1 transmitted Display of the number of PDO1 telegrams sent.
(P580.05) (CAN statistics: PDO1 transmitted)
• Read only
• Read only
• Read only
0x230A:009 CANopen statistics: SDO1 telegrams Display of the number of SDO1 telegrams.
(P580.09) (CAN statistics: SDO1 counter)
• Read only
• Read only
0x230B CANopen error counter Display of the total number of CAN faults that have occurred.
(P518.00) (CAN errorcounter)
• Read only
Related topics
4CANopen ^ 259
121
Network diagnostics
6.2.4.2 Modbus diagnostics

The following parameters serve to diagnose the Modbus interface and communication via
Modbus.
Preconditions
Control unit (CU) of the inverter is provided with Modbus.
0x2322:001 Active Modbus settings: Active node ID Display of the active node address.
(P511.01) (Modbus diag.: Active node ID)
• Read only
0x2322:002 Active Modbus settings: Active baud rate Display of the active baud rate.
(P511.02) (Modbus diag.: Active baud rate)
• Read only
• For the meaning of the display see parameter
0x2321:002 (P510.02). ^ 283
0x2322:003 Active Modbus settings: Data format Display of the active data format.
(P511.03) (Modbus diag.: Data format)
• Read only
0x2321:003 (P510.03). ^ 283
0x232A:001 Modbus statistics: Messages received Display of the total number of messages received.
(P580.01) (Modbus statistic: Mess. received) • This counter counts both valid and invalid messages.
• Read only • After the maximum value has been reached, the counter starts again
"0".
0x232A:002 Modbus statistics: Valid messages received Display of the number of valid messages received.
(P580.02) (Modbus statistic: Val. mess. rec.) • After the maximum value has been reached, the counter starts again
• Read only "0".
0x232A:003 Modbus statistics: Messages with exceptions Display of the number of messages with exceptions that have been
(P580.03) (Modbus statistic: Mess. w. exc.) received.
"0".
0x232A:004 Modbus statistics: Messages with errors Display of the number of messages received with a faulty data integrity
(P580.04) (Modbus statistic: Mess. w. errors) (parity, CRC).
"0".
0x232A:005 Modbus statistics: Messages sent Display of the total number of messages sent.
(P580.05) (Modbus statistic: Messages sent) • After the maximum value has been reached, the counter starts again
• Read only "0".
Related topics
4Modbus RTU ^ 282
6.2.4.3 PROFIBUS diagnostics
The following parameters serve to diagnose the PROFIBUS interface and communication via
PROFIBUS.
Preconditions
Control unit (CU) of the inverter is provided with PROFIBUS.
0x2342:001 Active PROFIBUS settings: Active station address Display of the active station address.
(P511.01) (PROFIBUS diag.: Act.station addr)
• Read only
122
Network diagnostics

0x2342:002 Active PROFIBUS settings: Active baud rate Display of the active baud rate.
(P511.02) (PROFIBUS diag.: Active baud rate)
• Read only
0 12 Mbps
1 6 Mbps
2 3 Mbps
3 1.5 Mbps
4 500 kbps
5 187.5 kbps
6 93.75 kbps
7 45.45 kbps
8 19.2 kbps
9 9.6 kbps
15 Search Automatic baud rate detection active.
0x2342:003 Active PROFIBUS settings: Watchdog time Display of the watchdog monitoring time specified by the master.
(P511.03) (PROFIBUS diag.: Watchdog time) • Monitoring starts with the arrival of the first telegram.
• Read only • When a value of "0" is displayed, the monitoring function is deactiva-
ted.
• A change in the watchdog monitoring time in the master is effective
immediately.
0x2348:001 PROFIBUS Status: Bus status Display of the current DP state machine state (DP-STATE).
(P516.01) (PROFIBUS Status: Bus status)
• Read only
0 WAIT_PRM After the run-up, the inverter (slave) is waiting for parameter data
(CHK_PRM) from the master. All other frame types are not processed.
Exchanging user data with the master is not possible yet.
1 WAIT_CFG The inverter (slave) is waiting for configuration data (CHK_CFG) from the
master that define the structure of the cyclic frames.
2 DATA_EXCH Parameter and configuration data have been received and accepted by
the inverter (slave). The inverter is in the "Data Exchange" state. It is now
possible to exchange user data with the master.
0x2348:002 PROFIBUS Status: Watchdog status Display of the current state of the watchdog state machine (WD-STATE).
(P516.02) (PROFIBUS Status: Watchdog status)
• Read only
0 BAUD_SEARCH The inverter (slave) is able to detect the baud rate automatically.
1 BAUD_CONTROL After detecting the correct baud rate, the inverter (slave) status changes
to BAUD_CONTROL, and the baud rate is monitored.
2 DP_CONTROL The DP_CONTROL state serves to the response monitoring of the master.
123
Network diagnostics

0x2349 PROFIBUS error Bit-coded display of PROFIBUS errors.
(P517.00) (PROFIBUS error)
• Read only
Bit 0 Watchdog elapsed Communication with the PROFIBUS master is continuously interrupted,
e. g. by cable break or failure of the PROFIBUS master.
• No process data are sent to the inverter (slave) in the "Data Exchange"
state.
• When the watchdog monitoring time specified by the master has
elapsed, the response set in 0x2859:001 (P515.01) is triggered in the
inverter.
Preconditions for a response by the inverter (slave):
• The slave is in the "Data Exchange" state.
• The watchdog monitoring time is configured correctly in the master
(1 ... 65535 ms).
If one of these preconditions is not met, the response to the absence of
cyclic process data telegrams from the master is not executed.
Bit 1 Data exchange completed Data exchange via PROFIBUS has been terminated.
• The inverter (slave) can be instructed by the master to exit the "Data
Exchange" state.
• If this state change is to be treated as an error in the inverter, the
desired response can be set in 0x2859:002 (P515.02).
Bit 2 Incorrect configuration data The inverter (slave) has received invalid configuration data from the
master.
• The response set in 0x2859:003 (P515.03) is effected.
Bit 3 Initialisation error An error has occurred during the initialisation of the PROFIBUS interface.
Bit 4 Invalid process data The inverter (slave) has received invalid process data from the master,
e.g. no process data or deleted process data are sent by the "Stop" oper-
ating status in the master.
0x234A:001 PROFIBUS statistics: Data cycles per second Display of the data cycles per second.
(P580.01) (PROFIBUS counter: Data cycles/sec.)
• Read only
0x234A:002 PROFIBUS statistics: Parameterization events Display of the number of parameterisation events.
(P580.02) (PROFIBUS counter: PRM events)
• Read only
0x234A:003 PROFIBUS statistics: Configuration events Display of the number of configuration events.
(P580.03) (PROFIBUS counter: CFG events)
• Read only
0x234A:004 PROFIBUS statistics: Diagnostics events Display of the number of diagnostic telegrams sent.
(P580.04) (PROFIBUS counter: DIAG events)
• Read only
0x234A:005 PROFIBUS statistics: C1 messages Display of the number of requests by the class 1 DPV1 master.
(P580.05) (PROFIBUS counter: C1 messages)
• Read only
• Read only
0x234A:007 PROFIBUS statistics: Watchdog events Display of the number of watchdog events.
(P580.07) (PROFIBUS counter: WD events)
• Read only
0x234A:008 PROFIBUS statistics: Data exchange aborts Display of the number of "Data Exchange exited" events.
(P580.08) (PROFIBUS counter: DataEx.event)
• Read only
0x234A:009 PROFIBUS statistics: Total data cycles Display of the number of cyclic process data received.
(P580.09) (PROFIBUS counter: Tot. data cycles)
• Read only
Related topics
4PROFIBUS ^ 294
124
Network diagnostics
6.2.4.4 EtherNet/IP diagnostics

The following parameters serve to diagnose the EtherNet/IP interface and the communication
via EtherNet/IP.
Preconditions
Control unit (CU) of the inverter is provided with EtherNet/IP.
0x23A2:001 Active EtherNet/IP settings: IP address Display of the active IP address.
(P511.01) (EtherN/IP diag.: IP address) The default setting 276605120 corresponds to the IP address
• Read only 192.168.124.16.
• From version 02.00 • 276605120 = 0x107CA8C0 à 0xC0.0xA8.0x7C.0x10 = 192.168.124.16
0x23A2:002 Active EtherNet/IP settings: Subnet Display of the active subnet mask.
(P511.02) (EtherN/IP diag.: Subnet) The default setting 16777215 corresponds to the subnet mask
• Read only 255.255.255.0.
• From version 02.00 • 16777215 = 0xFFFFFF à 0xFF.0xFF.0xFF.0x00 = 255.255.255.0
0x23A2:003 Active EtherNet/IP settings: Gateway Display of the active gateway address.
(P511.03) (EtherN/IP diag.: Gateway) Example:
• Read only The setting 276344004 corresponds to the gateway address
• From version 02.00 196.172.120.16.
• 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16
0x23A2:005 Active EtherNet/IP settings: MAC address Display of the active MAC address.
(P511.05) (EtherN/IP diag.: MAC address)
• Read only
0x23A2:006 Active EtherNet/IP settings: Multicast address Display of the active Multicast IP address.
(P511.06) (EtherN/IP diag.: Mcast address) The default setting 3221373167 corresponds to the Multicast IP address
• Read only 239.64.2.192.
• From version 02.00 • 3221373167 = 0xC00240EF à 0xEF.0x40.0x02.0xC0 = 239.64.2.192
0x23A3 EtherNet/IP switch position Display of the rotary encoder switch settings at the last mains power-on.
(P509.00) (EtherN. switch)
• Read only
0x23A5:001 Active port settings: Port 1 Display of the active baud rate for Ethernet port 1.
(P519.01) (Port diagnostics: Port 1)
• Read only
0 Not connected
1 10 Mbps/Half Duplex
2 10 Mbps/Full Duplex
• Read only
0 Not connected
5 Reserved
6 Reserved
0x23A6 Quality of service Display if the QoS tag for prioritising the data packages to be transmitted
(P513.00) (QualityOfService) is used.
• Read only
0 802.1Q Tag disable
1 802.1Q Tag enable
0x23A8 CIP module status Display of the active CIP module status.
(P516.00) (CIP module stat.)
• Read only
125
Network diagnostics

0x23A9 EtherNet/IP status Display of the active network status.
(P517.00) (EtherN/IP status)
• Read only
Related topics
4EtherNet/IP ^ 316
6.2.4.5 PROFINET diagnostics
The following parameters serve to diagnose the PROFINET interface and the communication
via PROFINET.
Preconditions
Control unit (CU) of the inverter is provided with PROFINET.
0x2382:001 Active PROFINET settings: IP address Display of the active IP address.
(P511.01) (PROFINET diag.: IP address)
• Read only
0x2382:002 Active PROFINET settings: Subnet Display of the active subnet mask.
(P511.02) (PROFINET diag.: Subnet)
• Read only
0x2382:003 Active PROFINET settings: Gateway Display of the gateway address.
(P511.03) (PROFINET diag.: Gateway)
• Read only
0x2382:004 Active PROFINET settings: Station name Display of the active station name.
(P511.04) (PROFINET diag.: Station name)
• Read only
0x2382:005 Active PROFINET settings: MAC Address Display of the active MAC address.
(P511.05) (PROFINET diag.: MAC Address)
• Read only
0x2388 PROFINET status Bit coded display of the current Bus status.
(P516.00) (PROFINET status)
• Read only
Bit 0 Initialized After initialisation, the network component waits for a communication
partner and the system power-up.
Bit 1 Online
Bit 2 Connected
Bit 3 IP address error The IP address is invalid. Valid IP addresses are defined according to RFC
3330.
Bit 4 Hardware fault
Bit 6 Watchdog elapsed PROFINET communication is continuously interrupted in the
"Data_Exchange" state, e.g. by cable break or failure of the IO Controller.
• PROFINET communication changes to the "No_Data_Exchange" state.
When the watchdog monitoring time specified by the IO Controller has
inverter.
Bit 7 Protocol error
Bit 8 PROFINET stack ok
Bit 9 PROFINET stack not configured
Bit 10 Ethernet controller fault
Bit 11 UDP stack fault
126
Network diagnostics

0x2389:001 PROFINET error: Error 1 The parameter currently contains the error detected on the network.
(P517.01) (PROFINET error: Error 1) • The error values may occur in combination with the error values from
• Read only parameter 0x2389:002 (P517.02).
0 No error
1 Reserved
2 Unit ID unknown
3 Max. units exceeded
4 Invalid size
5 Unit type unknown
6 Runtime plug error
7 Invalid argument
8 Service pending
9 Stack not ready
10 Command unknown
11 Invalid address descriptor
(P517.02) (PROFINET error: Error2) • The error values may occur in combination with the error values from
3330.
Bit 8 Station name problem The station name must be assigned according to the PROFINET specifica-
tion.
Bit 9 DataExch left
Bit 10 Stack boot error
Bit 11 Stack online error
Bit 12 Stack state error
Bit 13 Stack revision error
Bit 14 Initialization problem
Bit 15 Stack init error The stack cannot be initiated with the user specifications. A reason
might be, e. g., a station name that does not correspond to the PROFI-
NET specification.
Related topics
4PROFINET ^ 365
6.2.4.6 EtherCAT diagnostics
The following parameters serve to diagnose the EtherCAT interface and the communication
via EtherCAT.
Preconditions
The control unit (CU) of the inverter is provided with EtherCAT (from firmware 02.00).
• Read only
• Read only
• Read only
• Read only
127
Network diagnostics

• Read only
• Read only
• Read only
0x2362:004 Active EtherCAT settings: Device identifier Display of the clear device address in the network which is defined via
(P511.04) (EtherCAT diag.: Device ident.) rotary encoder switch or object 0x2361:004 (P510.04).
• Read only
0x2362:006 Active EtherCAT settings: Station address Display of the active station address.
(P511.06) (EtherCAT diag.: Station address)
• Read only
0x2362:007 Active EtherCAT settings: Tx length Display of the length of the transmitted cyclic data in bytes.
(P511.07) (EtherCAT diag.: Tx length)
• Read only
0x2362:008 Active EtherCAT settings: Rx length Display of the length of the received cyclic data in bytes.
(P511.08) (EtherCAT diag.: Rx length)
• Read only
0x2368 EtherCAT status Display of the current network status.
(P516.00) (EtherCAT status)
• Read only
1 Initialisation Network initialisation is active.
• No PDO/SDO transmission.
• Device identification is possible by network scan.
2 Pre-Operational The network is active.
• SDO transmission (CoE communication via mailbox) is possible.
• No PDO transmission.
3 Bootstrap Firmware update active.
• For the firmware update, the FoE protocol is used.
4 Safe-Operational SDO transmission (CoE communication via mailbox) is possible.
PDO transmission:
• The input data in the process image are updated.
• The output data from the process image are not transmitted.
8 Operational Normal operation
• PDO/SDO transmission is possible.
• Network synchronisation is successful (if used).
0x2369 EtherCAT error Bit coded display of EtherCAT errors.
(P517.00) (EtherCAT error)
• Read only
Related topics
4EtherCAT ^ 383
6.2.4.7 POWERLINK diagnostics
The following parameters serve to diagnose the POWERLINK interface and the communication
via POWERLINK.
Preconditions
Control unit (CU) of the inverter is provided with POWERLINK.
0x1000 NMT_DeviceType_U32 CANopen device profile according CANopen specification CiA 301/
128
Network diagnostics

0x1008 NMT_ManufactDevName_VS Display of the manufacturer device name.
• Read only
0x1009 NMT_ManufactHwVers_VS Display of the manufacturer hardware version.
• Read only
0x100A NMT_ManufactSwVers_VS Display of the manufacturer software version.
• Read only
0x1018:001 NMT_IdentityObject_REC: VendorId_U32 Display of the manufacturer's identification number.
• Read only
0x23C2:001 Active POWERLINK settings: IP address Display of the active IP address.
• Read only
0x23C2:002 Active POWERLINK settings: Subnet Display of the active subnet mask.
• Read only
0x23C2:003 Active POWERLINK settings: Gateway Display of the IP address of the router that connects the POWERLINK
• Read only segment to the higher-level network.
0x23C2:004 Active POWERLINK settings: Node ID Display of the active node address (node ID) in the network.
• Read only
0x23C2:005 Active POWERLINK settings: MAC Address Display of the active MAC address.
• Read only
0x23C2:007 Active POWERLINK settings: Tx length Display of the length of the transmitted cyclic data in bytes.
• Read only
0x23C2:008 Active POWERLINK settings: Rx length Display of the length of the received cyclic data in bytes.
• Read only
0x23C3 POWERLINK switch position Display of the rotary encoder switch setting at the last mains power-on.
• Read only
0x23C8:001 POWERLINK status: Network management Display of the current bus status.
• Read only
0x23C9:001 POWERLINK error: Error Bit coded display of the bus error state reported by the LED "BE" (Bus
• Read only Error).
• Bit 0 = 0 (0x0000) ≡ no bus error
• Bit 0 = 1 (0x0001) ≡ active bus error
Related topics
4POWERLINK ^ 396
6.2.5 Diagnostics of the inputs and outputs
6.2.5.1 Digital inputs and outputs

The following parameters serve to diagnose the digital inputs and outputs of the inverter.
0x60FD Digital inputs Bit coded display of the current state of the digital inputs
(P118.00) (Digital inputs)
• Read only
Bit 16 Level from digital input 1 0 ≡ LOW level, 1 ≡ HIGH level.
Bit 17 Level from digital input 2 Digital input 6 and digital input 7 are only available with application I/O.
Bit 18 Level from digital input 3
Bit 25 Internal interconnection of digital inputs 0 ≡ digital input terminals are set to HIGH level via pull-up resistors.
1 ≡ digital input terminals are set to LOW level via pull-down resistors.
0x2DAD Internal hardware states Bit-coded display of internal hardware states.
(P120.00) (Int. HW states)
• Read only
Bit 0 Relay 0 ≡ X9/NO-COM open and NC-COM closed.
1 ≡ X9/NO-COM closed and NC-COM open.
Bit 1 Digital output 1 0 ≡ LOW level, 1 ≡ HIGH level.
Bit 2 Digital output 2
Bit 10 Charge Relay 1 ≡ precharging of the DC bus via charge relay is active.
129
Diagnostics of the inputs and outputs

0x4016:005 Digital output 1: Terminal state Display of the logic state of output terminal X3/DO1.
• Read only
0 FALSE
1 TRUE
0x4016:006 Digital output 1: Trigger signal state Display of the logic state of the trigger signal for digital output 1 (without
• Read only taking a ON/OFF delay set and inversion into consideration).
0 FALSE
1 TRUE
• Read only
• Only available for application I/O.
0 FALSE
1 TRUE
0 FALSE
1 TRUE
0x4018:005 Relay: Relay state Display of the logic state of the relay.
• Read only
0 FALSE
1 TRUE
0x4018:006 Relay: Trigger signal state Display of the logic state of the trigger signal for the relay (without tak-
• Read only ing a ON/OFF delay set and inversion into consideration).
0 FALSE
1 TRUE
Related topics
4Configuration of digital inputs ^ 594
4Configuration of digital outputs ^ 603
6.2.5.2 Analog inputs and outputs
The following parameters serve to diagnose the analog inputs and outputs of the inverter.
0x2DA4:001 Diagnostics of analog input 1: Value in percent Display of the current input value at X3/AI1 scaled as value in percent.
(P110.01) (AI1 diagnostics: AI1 terminal %) • 100 % ≡ 10 V or 20 mA or 5 V
0x2DA4:002 Diagnostics of analog input 1: Frequency value Display of the current input value at X3/AI1 scaled as a frequency value.
(P110.02) (AI1 diagnostics: AI1 scaled freq.) • The standard setpoint source for operating mode 0x6060 (P301.00) =
• Read only: x.x Hz "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
0x2DA4:003 Diagnostics of analog input 1: Process controller value Display of the current input value at X3/AI1 scaled as a process controller
(P110.03) (AI1 diagnostics: AI1 scaled PID) value.
• Read only: x.xx PID unit • The standard setpoint source for the reference value of PID control is
selected in 0x2860:002 (P201.02).
0x2DA4:004 Diagnostics of analog input 1: Torque value Display of the current input value at X3/AI1 scaled as a percentage tor-
(P110.04) (AI1 diagnostics: AI1 scaled torq.) que value.
• Read only: x.x % • 100 % ≡ permissible maximum torque 0x6072 (P326.00)
• The standard setpoint source for operating mode 0x6060 (P301.00) =
"MS: Torque mode [-1]" is selected in 0x2860:003 (P201.03).
130
Diagnostics of the inputs and outputs

0x2DA4:016 Diagnostics of analog input 1: Status Bit-coded display of the status of analog input 1 (X3/AI1).
(P110.16) (AI1 diagnostics: AI1 status)
• Read only
Bit 0 Mode 0: 0 ... 10 VDC active
Bit 3 Mode 3: -10 ... 10 VDC active
Bit 4 Mode 4: 4 ... 20 mA active
Bit 6 24 V supply OK
Bit 7 Calibration successful
Bit 8 Monitoring threshold exceeded/not reached
Bit 9 Input current too low (mode 4)
Bit 10 Input voltage too low (mode 2)
Bit 11 Input voltage too high (mode 4)
0x2DA5:001 Diagnostics of analog input 2: Value in percent Display of the current input value at X3/AI2 scaled as a value in percent.
(P111.01) (AI2 diagnostics: AI2 terminal %) • 100 % ≡ 10 V or 20 mA or 5 V
0x2DA5:002 Diagnostics of analog input 2: Frequency value Display of the current input value at X3/AI2 scaled as a frequency value.
(P111.02) (AI2 diagnostics: AI2 scaled freq.) • The standard setpoint source for operating mode 0x6060 (P301.00) =
• Read only: x.x Hz "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
0x2DA5:003 Diagnostics of analog input 2: Process controller value Display of the current input value at X3/AI2 scaled as a process controller
(P111.03) (AI2 diagnostics: AI2 scaled PID) value.
selected in 0x2860:002 (P201.02).
0x2DA5:004 Diagnostics of analog input 2: Torque value Display of the current input value at X3/AI2 scaled as a percentage tor-
(P111.04) (AI2 diagnostics: AI2 scaled torq.) que value.
• Read only: x.x % • 100 % ≡ permissible maximum torque 0x6072 (P326.00)
0x2DA5:016 Diagnostics of analog input 2: Status Bit-coded display of the status of analog input 2 (X3/AI2).
(P111.16) (AI2 diagnostics: AI2 status)
• Read only
Bit 3 Mode 3: -10 ... 10 VDC active
Bit 6 24 V supply OK
Bit 7 Calibration successful
Bit 8 Monitoring threshold exceeded/not reached
Bit 9 Input current too low
Bit 10 Input voltage too low
Bit 11 Input voltage too high
0x2DAA:001 Diagnostics of analog output 1: Voltage Display of the current output voltage at X3/AO1.
(P112.01) (AO1 diagnostics: AO1 Voltage)
• Read only: x.xx V
0x2DAA:002 Diagnostics of analog output 1: Current Display of the present output current at X3/AO1.
(P112.02) (AO1 diagnostics: AO1 Current)
• Read only: x.xx mA
0x2DAB:001 Diagnostics of analog output 2: Voltage Display of the current output voltage at X3/AO2.
(P113.01) (AO2 diagnostics: AO2 Current)
• Read only: x.xx V
0x2DAB:002 Diagnostics of analog output 2: Current Display of the present output current at X3/AO2.
(P113.02) (AO2 diagnostics: AO2 Voltage)
• Read only: x.xx mA
131
Wireless-LAN diagnostics
Related topics
4Configuration of analog inputs ^ 597
4Configuration of analog outputs ^ 617
6.2.6 Wireless-LAN diagnostics

The following parameters serve to diagnose the WLAN module and the WLAN communica-
tion.
Preconditions
WLAN module has been plugged onto the interface X16 on the front of the inverter.
0x2442:001 Active WLAN settings: Active IP address Display of the active IP address.
• Read only • If DHCP is activated, the active IP address usually derives from the
• From version 02.00 configured static IP address of the device.
0x2442:002 Active WLAN settings: Active netmask Display of the active netmask.
• Read only
0x2442:003 Active WLAN settings: Active gateway Display of the active gateway IP address.
• Read only
0x2442:004 Active WLAN settings: Active module mode Display of the active data source for the WLAN settings.
• Read only • This parameter indicates whether the settings used come from the
• From version 02.00 inverter or from the WLAN module.
0 Inverter The WLAN settings saved in the inverter are used.
1 Standalone The WLAN settings saved in the WLAN module are used.
0x2442:005 Active WLAN settings: MAC address Display of the MAC address of the WLAN module.
• Read only
0x2448:001 WLAN status: Connection time Display of the connection time in [s] since the current connection was
• Read only established.
0x2448:002 WLAN status: Number of connections In access point mode: Display of the number of currently connected cli-
• Read only ents.
• From version 02.00 In client mode: 0 ≡ not connected; 1 ≡ connected with external WLAN
network.
0x2448:003 WLAN status: Rx frame counter Display of the number of request received via WLAN.
• Read only
0x2448:004 WLAN status: Error statistics Display of the quality of the WLAN connection. A display value > 0 indi-
• Read only cates communication problemsn.
0x2449 WLAN error Bit coded display of WLAN errors.
• Read only
Bit 2 WLAN error
Bit 3 Memory problem
Bit 4 WLAN connection problem
Bit 7 WLAN off
Bit 9 Client mode off
Bit 12 TCP/IP configuration error
Bit 13 Password length
Bit 14 Access denied
Related topics
4Wireless LAN (WLAN) ^ 426
132
Setpoint diagnostic
6.2.7 Setpoint diagnostic

The following parameters show the current setpoints of different setpoint sources.
0x282B:007 Inverter diagnostics: Default frequency setpoint Display of the frequency setpoint of the standard setpoint source set in
• Read only: x.x Hz 0x2860:001 (P201.01).
0x282B:008 Inverter diagnostics: Preset frequency setpoint Display of the preset frequency setpoint selected via the four functions
• Read only: x.x Hz "Activate preset (bit 0)" ... " Activate preset (bit 3)".
• From version 03.00 4Setpoint source of preset setpoints ^ 554
0x282B:009 Inverter diagnostics: Actual frequency setpoint Display of the currently selected frequency setpoint that is internally
• Read only: x.x Hz transferred to the motor control.
0x282B:010 Inverter diagnostics: Default PID setpoint Display of the PID control value of the standard setpoint source set in
• Read only: x.xx PID unit 0x2860:002 (P201.02).
0x282B:011 Inverter diagnostics: Preset PID setpoint Display of the preset PID setpoint selected via the four functions "Acti-
• Read only: x.xx PID unit vate preset (bit 0)" ... " Activate preset (bit 3)".
0x282B:012 Inverter diagnostics: Default torque setpoint Display of the torque setpoint of the standard setpoint source set in
• Read only: x.x % 0x2860:003 (P201.03).
• From version 03.00 • 100 % ≡ Motor rated torque 0x6076 (P325.00)
0x282B:013 Inverter diagnostics: Preset torque setpoint Display of the preset torque setpoint selected via the four functions
• Read only: x.x % "Activate preset (bit 0)" ... " Activate preset (bit 3)".
0x2948:001 Actual torque setpoint Display of the currently selected torque setpoint that is internally trans-
• Read only: x.x % ferred to the motor control.
0x2DAE:010 Sequencer diagnostics: Frequency setpoint Display of the current frequency setpoint of the "sequencer" function.
• Read only: x.x Hz 4Sequencer ^ 504
0x2DAE:011 Sequencer diagnostics: PID setpoint Display of the current PID control value of the "sequencer" function.
• Read only: x.xx PID unit 4Sequencer ^ 504
0x2DAE:012 Sequencer diagnostics: Torque setpoint Display of the current torque setpoint of the "sequencer" function.
• Read only: x.x % • 100 % ≡ Motor rated torque 0x6076 (P325.00)
• From version 03.00 4Sequencer ^ 504
0x4009:004 MOP values saved: Frequency setpoint Display of the last MOP value saved internally for the operating mode
• Read only: x.x Hz "MS: Velocity mode".
0x4009:005 MOP values saved: PID setpoint Display of the last MOP value saved internally for the reference value of
• Read only: x.xx PID unit the PID control.
0x4009:006 MOP values saved: Torque setpoint Display of the last MOP value saved internally for the operating mode
• Read only: x.x % "MS: Torque mode".
Related topics
4Selection of setpoint source ^ 148
6.2.8 Process controller status

The following parameters serve to diagnose the process controller.
0x401F:001 Current setpoint Display of the current reference value (setpoint) for the process control-
(P121.01) (PID setpoint) ler.
• Read only: x.xx PID unit
0x401F:002 Current process variable Display of the current controlled variable (actual value) fed back for the
(P121.02) (PID process var.) process controller.
• Read only: x.xx PID unit
133
Process controller status

0x401F:003 Status Bit-coded status display of the process controller.
(P121.03) (PID status)
• Read only
Bit 0 Process controller off
Bit 1 PID output set to 0
Bit 2 PID I-component inhibited
Bit 3 PID influence active
Bit 4 Setpoint = actual value
Bit 5 Idle state active
Bit 6 Max. alarm
Bit 7 Min. alarm
0x401F:004 PID control value Display of the output frequency after the PID controller, but without any
• Read only: x.x Hz influencing factor.
0x401F:005 PID Feedforward value Display of the feedforward control value for the process controller.
0x401F:006 PID output value Display of the current process controller setpoint that is internally trans-
• Read only: x.x Hz ferred to the motor control (considering the feedforward control value).
0x401F:007 PID error value Display of the difference between reference value (setpoint) and fed
• Read only: x.xx PID unit back variable (actual value) of the process controller.
Related topics
6.2.9 Sequencer diagnostics

The following parameters serve to diagnose the "sequencer" function.
0x2DAE:001 Sequencer diagnostics: Active step Display of the active step.
(P140.01) (Sequencer diag: Active Step) • 0 ≡ no sequence active.
• Read only
0x2DAE:002 Sequencer diagnostics: Step time elapsed Display of the time that has passed since the start of the current step.
(P140.02) (Sequencer diag: StepTime elapsed)
• Read only: x.x s
0x2DAE:003 Sequencer diagnostics: Step time remaining Display of the residual time for the current step.
(P140.03) (Sequencer diag: StepTime remain)
0x2DAE:004 Sequencer diagnostics: Steps complete Display of the number of steps that have been made since the start of
(P140.04) (Sequencer diag: Steps complete) the sequence.
• Read only
0x2DAE:005 Sequencer diagnostics: Steps remaining Display of the residual number of steps until the current sequence is
(P140.05) (Sequencer diag: Steps remain) completed. This includes the current step.
• Read only
0x2DAE:006 Sequencer diagnostics: Active sequence Display of the active sequence.
(P140.06) (Sequencer diag: Active sequence) • 0 ≡ no sequence active.
• Read only
0x2DAE:007 Sequencer diagnostics: Active segment Display of the active segment.
(P140.07) (Sequencer diag: Active segment) • 0 ≡ no sequence active.
• Read only • 255 ≡ final sequence active.
134
Sequencer diagnostics

0x2DAE:008 Sequencer diagnostics: Relative sequence time Display of the residual time of the sequence in [%].
(P140.08) remaining
(Sequencer diag: SeqTime remain %)
• Read only: x %
0x2DAE:009 Sequencer diagnostics: Absolute sequence time Display of the residual time of the sequence in [s].
(P140.09) remaining
(Sequencer diag: SeqTime remain)
Related topics
4Sequencer ^ 504
4Sequencer control functions ^ 588
6.2.10 Device identification

The following parameters show some general information about the inverter.
0x2000:001 Device data: Product code Product code of the complete device.
(P190.01) (Device data: Product code) Example: "I55AE155D10V10017S"
• Read only • If control unit and power unit were ordered separately, the product
code "XXXXXXXXXXXXXXXXXXX" is displayed.
0x2000:002 Device data: Serial number Serial number of the complete device.
(P190.02) (Device data: Serial number) Example: "0000000000000000XYZXYZ"
• Read only • If control unit and power unit were ordered separately, the serial
number "XXXXXXXXXXXXXXXXXXX" is displayed.
0x2000:004 Device data: CU firmware version Firmware version of the control unit.
(P190.04) (Device data: CU firmware ver.) Example: "01.00.01.00"
• Read only
0x2000:005 Device data: CU firmware type Firmware type of the control unit.
(P190.05) (Device data: CU firmware type) Example: "IOFW51AC10"
• Read only
0x2000:006 Device data: CU bootloader version Bootloader version of the control unit.
(P190.06) (Device data: CU bootlder ver.) Example: "00.00.00.13"
• Read only
0x2000:007 Device data: CU bootloader type Bootloader type of the control unit.
(P190.07) (Device data: CU bootlder type) Example: "IOBL51AOnn"
• Read only
0x2000:008 Device data: Object directory version Example: "108478"
(P190.08) (Device data: OBD version)
• Read only
0x2000:010 Device data: PU firmware version Firmware version of the power unit.
(P190.10) (Device data: PU firmware ver.) Example: "00202"
• Read only
0x2000:011 Device data: PU firmware type Firmware type of the power unit.
(P190.11) (Device data: PU firmware type) Example: "IDFW5AA"
• Read only
0x2000:012 Device data: PU bootloader version Bootloader version of the power unit.
(P190.12) (Device data: PU bootlder ver.)
• Read only
0x2000:013 Device data: PU bootloader type Bootloader type of the power unit.
(P190.13) (Device data: PU bootlder type)
• Read only
0x2000:014 Device data: Module - firmware version Firmware version of the plugged-in module (e. g. WLAN module).
(P190.14) (Device data: Mod. firmware)
• Read only
0x2000:015 Device data: Firmware revision number Firmware version of the network option.
(P190.15) (Device data: FW revision nr.)
• Read only
135
Device identification

0x2000:016 Device data: Bootloader revision number Bootloader version of the network option.
(P190.16) (Device data: Bootloader revNo)
• Read only
0x2001 Device name Any device name (e.g. "Wheel drive") can be set in this object for the
(P191.00) (Device name) purpose of device identification.
["My Device"]
0x2002:004 Device module: CU type code Type code of the control unit.
(P192.04) (Device module: CU type code)
• Read only
0x2002:005 Device module: PU type code Type code of the power unit.
(P192.05) (Device module: PU type code)
• Read only
0x2002:006 Device module: CU serial number Serial number of the control unit.
(P192.06) (Device module: CU serial number)
• Read only
0x2002:007 Device module: PU serial number Serial number of the power unit.
(P192.07) (Device module: PU serial number)
• Read only
6.2.11 Device overload monitoring (i*t)

The inverter calculates the i*t utilisation in order to protect itself against thermal overload. In
simple terms: a higher current or an overcurrent that continues for a longer time causes a
higher i*t utilisation.
DANGER!
Uncontrolled motor movements by pulse inhibit.
When the device overload monitoring function is activated, pulse inhibit is set and the motor
becomes torqueless. A load that is connected to motors without a holding brake may there-
fore cause uncontrolled movements! Without a load, the motor will coast.
▶ Only operate the inverter under permissible load conditions.
Details
The device overload monitoring function primarily offers protection to the power section.
Indirectly, also other components such as filter chokes, circuit-board conductors, and termi-
nals are protected against overheating. Short-time overload currents followed by recovery
periods (times of smaller current utilisation) are permissible. The monitoring function during
operation checks whether these conditions are met, taking into consideration that higher
switching frequencies and lower stator frequencies as well as higher DC voltages cause a
greater device utilisation.
• If the device utilisation exceeds the warning threshold set in 0x2D40:002 (default setting:
95 %), the inverter outputs a warning.
• If the device utilisation exceeds the permanent error threshold 100 %, the inverter is disa-
bled immediately and any further operation is stopped.
• Device overload monitoring depends on the inverter load characteristic 0x2D43:001
(P306.01).
• The device overload can be obtained from the configuration document.

0x2D40:002 Device utilisation (i*t): Warning threshold If the device utilisation exceeds the threshold set, the inverter outputs a
0 ... [95] ... 101 % warning.
• With the setting 0 % or ≥ 100 %, the warning is deactivated.
0x2D40:004 Device utilisation (i*t) Display of the current device utilisation.
(P135.04) (Device utilisat.: ixt utilisation)
• Read only: x %
136
Heatsink Temperature Monitoring

0x2D40:005 Device utilisation (i*t): Error response Selection of the response to be executed when the device overload
(P135.05) (Device utilisat.: Error response) monitoring function is triggered.
Associated error code:
• 9090 | 0x2382 - I*t error
2 Trouble 4Error types ^ 139
3 Fault
0x2DDF:001 Axis information: Rated current Display of the rated current of the axis.
• Read only: x.xx A
6.2.12 Heatsink Temperature Monitoring

0x2D84:001 Heatsink temperature Display of the current heatsink temperature.
(P117.01) (Heatsink temp.: Heatsink temp.)
• Read only: x.x °C
0x2D84:002 Heatsink temperature: Warning threshold Warning threshold for temperature monitoring.
50.0 ... [80.0]* ... 100.0 °C • If the heatsink temperature exceeds the threshold set here, the inver-
* Default setting depending on the size. ter outputs a warning.
• The warning is reset with a hysteresis of approx. 5 °C.
• If the heatsink temperature increases further and exceeds the non-
adjustable error threshold (100 °C), the inverter changes to the
"Fault" device status. The inverter is disabled and thus any further
operation is stopped.
6.2.13 Life-diagnosis
The following parameters provide some information about the use of the inverter.
This includes the following information:
• Operating and power-on time of the inverter/control unit
• Operating time of the internal fan
• Number of switching cycles of the mains voltage
• Number of switching cycles of the relay
• Number of short-circuits and earth faults that have occurred
• Display of the number of "Imax: Clamp responded too often" errors that have occurred.

0x2D81:001 Life-diagnosis: Operating time Display showing for how long the inverter has been running so far "Oper-
(P151.01) (Life-diagnosis: Operating time) ation enabled" device state).
• Read only: x s
0x2D81:002 Life-diagnosis: Power-on time Display showing for how long the inverter has been supplied with mains
(P151.02) (Life-diagnosis: Power-on time) voltage so far.
• Read only: x s
0x2D81:003 Life-diagnosis: Control unit operating time Display showing for how long the control unit has been supplied with
(P151.03) (Life-diagnosis: CU oper. time) voltage so far. This includes the external 24-V supply and voltage supply
• Read only: x ns via USB module.
• This also includes the time within which the control unit has only
been supplied with an external 24 V voltage.
0x2D81:004 Life-diagnosis: Main switching cycles Display of the number of switching cycles of the mains voltage.
(P151.04) (Life-diagnosis: Switching cycles)
• Read only
0x2D81:005 Life-diagnosis: Relay switching cycles Display of the number of switching cycles of the relay.
(P151.05) (Life-diagnosis: Relay cycles)
• Read only
0x2D81:006 Life-diagnosis: Short-circuit counter Display of the number of short circuits that have occurred.
(P151.06) (Life-diagnosis: Short-circ.count)
• Read only
0x2D81:007 Life-diagnosis: Earth fault counter Display of the number of earth faults that have occurred.
(P151.07) (Life-diagnosis: Earthfault count)
• Read only
137
Life-diagnosis

0x2D81:008 Life-diagnosis: Clamp active Display of the number of "Imax: Clamp responded too often" errors that
(P151.08) (Life-diagnosis: Clamp active) have occurred.
• Read only • "Clamp" = short-time inhibit of the inverter in V/f operation when the
current limit shown in 0x2DDF:002 is reached.
0x2D81:009 Life-diagnosis: Fan operating time Display showing for how long the internal fan has been running so far.
(P151.09) (Life-diagnosis: Fan oper. time)
• Read only: x s
138
Error handling
Error types
6.3 Error handling

Many functions integrated in the inverter can
• detect errors and thus protect inverter and motor from damages,
• detect an operating error of the user,
• output a warning or information if desired.
6.3.1 Error types

In the event of an error, the inverter response is determined by the error type defined for the
error.
In the following, the different error types are described.
Error type "No response"
The error is completely ignored (does not affect the running process).
Error type "Warning"
A warning does not severely affect the process and may be also ignored in consideration of
safety aspects.
Error type "Fault"
The motor is brought to a standstill with the quick stop ramp.
• The inverter will only be disabled after the quick stop is executed (motor at standstill) or
after the time-out time set in 0x2826 has been elapsed. 4Timeout für fault reaction ^ 483
• Exception: In case of a serious fault, the inverter is disabled immediately. The motor
becomes torqueless (coasts). For details see the table "Error codes". ^ 639
Error type "Trouble"
Just like "Fault", but the error state will be left automatically if the error condition is not active
anymore.
• Exception: In case of a severe trouble, the inverter is disabled immediately. The motor
becomes torqueless (coasts). For details see the table "Error codes". ^ 639
• The restart behaviour after trouble can be configured. 4Automatic restart ^ 484
In the operating mode 0x6060 (P301.00) = "CiA: Velocity mode [2]", the behav-
iour in case of "Trouble" is just like in case of "Fault"!
Comparison of the error types

The following table compares the main differences of the error types:
Error type Logging in the Display in the Inverter disable Motor stop Error reset is "ERR" LED (red)
Error history buf- CiA 402 status required
fer / Logbook word 0x6041
(P780.00)
No response No No No No No off
Warning Yes yes, bit 7 No No No

after quick stop or quick stop ramp or
Trouble Yes yes, bit 3 No
immediately. coasting. blinking (1 Hz)
Error Yes yes, bit 3 For details see table "Error codes". ^ 639 Yes
on
139
Error handling
Keypad error messages
6.3.2 Error configuration

The errors can be divided into two types:
• Errors with predefined error type
• Errors with configurable error type
Especially critical errors are permanently set to the "Fault" error type in order to protect inver-
ter and motor from damages.
In case of errors with configurable error type, the default setting can be changed in considera-
tion of safety aspects and the operational performance. The selection "No response [0]" is,
however, only available for minor errors.
The "Error codes" table lists the error type for each error. If the error type can be configured
by the user, the "adjustable in" column displays the corresponding parameter. ^ 639
6.3.3 Error reset

If the error condition is not active anymore, there are several options to reset an active error
and thus leave the error state again:
• Via the keypad key . 4Error reset with keypad ^ 634
• Via the trigger assigned to the Reset fault" function. 4Reset error ^ 570
• Via the button in the »EASY Starter« ("Diagnostics" tab).
• In the default setting of 0x400E:008 (P505.08) via bit 7 in the mappable data word Net-
WordIN1 0x4008:001 (P590.01).
• Via bit 7 in the mappable CiA 402 control word 0x6040.
• Via bit 2 in the mappable AC Drive control word 0x400B:001 (P592.01).
• Via bit 11 in the mappable LECOM control word 0x400B:002 (P592.02).
Notes:
• Certain errors can only be reset by mains switching.
• Certain errors (e. g. earth fault or short circuit of the motor phases) may cause a blocking
time. In this case, the error can be reset only after the blocking time has elapsed. An active
blocking time is displayed via bit 14 in the inverter status word 0x2831.
The "Error codes" table gives the blocking time (if available) for each error. This table also
shows whether mains switching is required for the error reset. ^ 639
6.3.4 Keypad error messages

If an error is pending, the keypad shows the following information:
Keypad display Meaning
① Error text
Warn.DC Bus UV ② Error type:

F Fault
O1W3221
T Trouble
W Warning
③ Error code (hexadecimal)
• Faults (F) and trouble (T) are displayed con-
tinuously. 4Error codes ^ 639
• Warnings (W) are only displayed every 2 sec- 4Error reset with keypad ^ 634
onds for a short time.
Restart Pending After a disturbance, a restart is possible if the error condition is not active anymore. The keypad
shows this by the "Restart Pending" note. The note is displayed in a 1-second interval alternating
with the error text.
AI1 fault 4Timeout für fault reaction ^ 483
OOF7O81
140
Data handling
6.4 Data handling

In the following, the behaviour of the inverter is described if the data on the memory module
do not match the inverter hardware or firmware, for whatever reason.
The following points are described in detail here:
• Automatic loading of the parameter settings when the inverter is switched on
• Manual loading of the user data via device command
• Manual loading of the OEM data via device command
• Manual saving of the parameter settings via device command
• Hardware and firmware updates/downgrades
Automatic loading of the parameter settings when the inverter is switched on
Process when the inverter is switched on:
1. The default setting saved in the inverter firmware is loaded.
2. If a memory module with valid data is available, the data is loaded from the user memory.
Otherwise a corresponding error message is output:
Error message Info
0x7681: No memory The default setting saved in the inverter firmware is loaded. The error cannot be reset by the user.
module Remedy:
1. Switch off inverter.
2. Plug the memory module into the inverter.
3. Switch the inverter on again.
Note: The memory module cannot be replaced during ongoing operation!
0x7682: Memory mod- The user parameter settings in the memory module are invalid. Thus, the user parameter settings get lost. The default
ule: invalid user data setting is loaded automatically.
Remedy:
1. Execute user parameter settings again.
2. Execute device command "Save user data" 0x2022:003 (P700.03).
0x7684: Data not com- Saving the parameter settings was interrupted by an unexpected disconnection. The user parameter settings were not
pletely saved before saved completely. When the inverter is switched on the next time, the backup data is copied to the user memory.
switch-off Remedy:
1. Check user parameter settings. (The loaded backup is an older version.)
2. If required, repeat the changes made last.
3. Execute device command "Save user data" 0x2022:003 (P700.03).
0x7689: Memory mod- The OEM memory contains invalid parameter settings or is empty. The user parameter settings are loaded automatically.
ule: invalid OEM data Remedy:
• Execute device command "Save OEM data" 0x2022:006 (P700.06).
• Thus, the user parameter settings get lost!
Notes:
• If the memory module contains invalid data, the device commands "Load user data"
0x2022:004 (P700.04) and "Load OEM data" 0x2022:005 (P700.05) are not executed. The
status feedback "Action cancelled" takes place.
• If the memory module is empty, the default setting saved in the inverter firmware is loa-
ded. No access is required by the user. The memory module remains empty until the
device command "Save user data" 0x2022:003 (P700.03) or "Save OEM data" 0x2022:006
(P700.06) is executed.
• Irrespective of the data on the memory module, the device command "Load default set-
tings" 0x2022:001 (P700.01) is always enabled.
Manual loading of the user data via device command
Device command: "Load user data" 0x2022:004 (P700.04)
• If the user memory contains invalid parameter settings, the default setting saved in the
inverter firmware is automatically loaded.
• For possible error messages, see the table above.
141
Data handling
Manual loading of the OEM data via device command

Device command: "Load OEM data" 0x2022:005 (P700.05)
• If the OEM memory contains invalid parameter settings, the user parameter settings are
loaded automatically.
• If the OEM memory is empty, the status feedback "Action cancelled" takes place. The cur-
rent parameter settings remain unchanged.
Manual saving of the parameter settings via device command
Device command: "Save user data" 0x2022:003 (P700.03)
• It may happen that the parameter settings cannot be saved because the user memory is
full. In this case, the following error message appears:
Error message Info
0x7680: Memory mod- The memory module contains too many parameter settings. The parameter settings were not saved in the memory mod-
ule is full ule.
Remedy: Execute device command "Save user data" 0x2022:003 (P700.03) again. This reinitialises the user memory with
the current parameter settings. By this means, parameter settings no longer required are deleted automatically.
Hardware and firmware upgrades/downgrades

By "taking along" the memory module, all parameter settings of a device can be transferred to
another device, for instance, in case of a device replacement. When switched on, the inverter
checks whether the parameter settings saved in the memory module match the inverter hard-
ware and firmware. In case of an incompatibility, a corresponding error message is output.
The following table contains details on different scenarios:
Prio Compatibility check Error message Info
User data ßà device
1 Device has a newer firmware - The "firmware upgrade" is recognised.
Example: Version 2.x à version 3.x • The user parameter settings are loaded without an action being
required by the user.
• If the parameter settings are saved afterwards, the user memory is
reinitialised with the current parameter settings. By this means,
parameter settings no longer required are deleted automatically.
Device has an older firmware 0x7690: EPM firmware The data is loaded into the RAM memory but are incompatible.
Example: Version 4.x à version 3.x version incompatible Remedy:
2 Firmware type is different 0x7691: EPM data: 1. Execute device command "Load default settings" 0x2022:001
firmware type incom- (P700.01).
patible 2. Execute "Save user data" 0x2022:003 (P700.03) or "Save OEM data"
Power unit is different (and incom- 0x7693: EPM data: PU 0x2022:006 (P700.06) device command.
patible with saved data) size incompatible
Country code is different 0x7691: EPM data:
Example: EU à USA firmware type incom-
Device has less functionality patible
Examples:
i550 à i510
Application I/O à Standard I/O
3 Network option is different 0x7692: EPM data: The data is loaded into the RAM memory and is compatible. However,
Example: CANopen à PROFIBUS new firmware type the settings must be accepted by the user:
detected 1. Check parameter settings.
2. Reset error.
3. Execute "Save user data" 0x2022:003 (P700.03) or "Save OEM data"
0x2022:006 (P700.06) device command.
4 Device has more functionality - The "hardware upgrade" is recognised.
Examples: • The user parameter settings are loaded without an action being
i510 à i550 required by the user.
Standard I/O à application I/O • If the parameter settings are saved afterwards, the user memory is
reinitialised with the current parameter settings. By this means,
parameter settings no longer required are deleted automatically.
5 Power unit is different (but compat- 0x7694: EPM data: The data is loaded into the RAM memory and is compatible. However,
ible with saved data) new PU size detected the settings must be accepted by the user:
Example: 1. Check parameter settings.
230 V/0.75 kW à 400 V/5.5 kW 2. Reset error.
3. Execute "Save user data" 0x2022:003 (P700.03) or "Save OEM data"
0x2022:006 (P700.06) device command.
142
Basic setting
7 Basic setting
This chapter contains the most frequently used functions and settings to adapt the inverter to
a simple application based on the default setting.
• Mains voltage ^ 144
• Inverter load characteristic ^ 146
• Control source selection ^ 147
• Selection of setpoint source ^ 148
• Starting/stopping performance ^ 153
• Frequency limits and ramp times ^ 156
• Quick stop ^ 159
• S-shaped ramps ^ 161
• Optical device identification ^ 162
143
Basic setting
Mains voltage
7.1 Mains voltage

The rated mains voltage set for the inverter has an impact on the operating range of the inver-
ter.
Details
By default, the rated mains voltage in 0x2540:001 (P208.01) is set according to the product
code of the inverter.
Check the setting of the rated mains voltage in 0x2540:001 (P208.01). Ensure
that it matches the actual mains voltage applied!
Region Inverter Product code Rated mains voltage

0x2000:001 (P190.01) Default setting Possible settings
EU i500, 230 V, 1-phase i5xAExxxBxxxx0xxxx 230 Veff [0] 230 Veff [0]
US i500, 230 V, 1-phase i5xAExxxBxxxx1xxxx 230 Veff [0] 230 Veff [0]
EU i500, 230 V, 1/3-phase i5xAExxxDxxxx0xxxx 230 Veff [0] 230 Veff [0]
US i500, 230 V, 1/3-phase i5xAExxxDxxxx1xxxx 230 Veff [0] 230 Veff [0]
EU i500, 400 V, 3-phase i5xAExxxFxxxx0xxxx 400 Veff [1] 400 Veff [1], 480 Veff [2]
US i500, 480 V, 3-phase i5xAExxxFxxxx1xxxx 480 Veff [2] 400 Veff [1], 480 Veff [2]
EU i500, 120 V, 1-phase i5xAExxxAxxxx0xxxx 120 Veff [3] 120 Veff [3]
US i500, 120 V, 1-phase i5xAExxxAxxxx1xxxx 120 Veff [3] 120 Veff [3]
Notes regarding the table:
• The inverter types 400/480 V can be used with different mains voltages. For setting the
internal limit values, the rated mains voltage can be set in 0x2540:001 (P208.01) by the
user.
• The inverter types 120 V are designed for a 1-phase 120-V mains voltage and 3-phase 230-
V three-phase AC motors. These inverters have an internal DC bus similar to the 230-V
inverters. The voltage thresholds correspond to the ones of the 230-V inverters.
• If the inverter is reset to the delivery status, the rated mains voltage is also reset to the
default setting listed in the table according to the product code.
The following results from the rated mains voltage set:
• the error threshold for monitoring the DC-bus voltage and
• the voltage threshold for braking operation ("brake chopper threshold").
Monitoring of the DC-bus voltage
• The warning thresholds for monitoring are adjustable.
• The error thresholds and reset thresholds for monitoring result from the rated mains volt-
age set:
Rated mains volt- Undervoltage thresholds Overvoltage thresholds
age Warning threshold Error threshold Reset threshold Warning threshold Error threshold Reset threshold
Setting in Setting in Display in Display in Setting in Display in Display in
0x2540:001 0x2540:002 0x2540:003 0x2540:004 0x2540:005 0x2540:006 0x2540:007
(P208.01) (P208.02) (P208.03) (P208.04) (P208.05) (P208.06) (P208.07)
• If the DC-bus voltage of the inverter falls below the undervoltage error threshold, the
"Trouble" response is triggered.
• Without external 24-V supply: Motor behaves according to 0x2838:002 (P203.02).
• With external 24-V supply: At undervoltage, motor behaves according to disturbance
response.
• If the DC-bus voltage of the inverter exceeds the overvoltage error threshold, the "Fault"
response is triggered.
The motor does not restart automatically after the overvoltage monitoring func-
tion has been activated.
144
Basic setting
Mains voltage

ted.
0 230 Veff
1 400 Veff
2 480 Veff
3 120 Veff
0x2540:002 Mains settings: Undervoltage warning threshold Setting of the warning threshold for monitoring DC bus undervoltage.
(P208.02) (Mains settings: LU warn. thresh.) • If the DC bus voltage falls below the threshold set, the inverter out-
0 ... [0]* ... 800 V puts a warning.
* Default setting depending on the size. • The warning is reset with a hysteresis of 10 V.
0x2540:003 Mains settings: Undervoltage error threshold Display of the fixed error threshold for monitoring DC bus undervoltage.
(P208.03) (Mains settings: LU error thresh.) • If the DC-bus voltage falls below the threshold displayed, the "Fault"
• Read only: x V response is triggered.
0x2540:004 Mains settings: Undervoltage reset threshold Display of the fixed reset threshold for monitoring DC bus undervoltage.
(P208.04) (Mains settings: LU reset thresh.)
• Read only: x V
0x2540:005 Mains settings: Overvoltage warning threshold Setting of the warning threshold for monitoring DC bus overvoltage.
(P208.05) (Mains settings: OU warn. thresh.) • If the DC bus voltage exceeds the threshold set, the inverter outputs a
0 ... [0]* ... 800 V warning.
* Default setting depending on the size. • The warning is reset with a hysteresis of 10 V.
0x2540:006 Mains settings: Overvoltage error threshold Display of the fixed error threshold for monitoring the DC bus overvolt-
(P208.06) (Mains settings: OU error thresh.) age.
• Read only: x V • If the DC-bus voltage exceeds the threshold displayed, the "Fault"
response is triggered.
0x2540:007 Mains settings: Overvoltage reset threshold Display of the fixed reset threshold for monitoring DC bus overvoltage.
(P208.07) (Mains settings: OU reset thresh.)
• Read only: x V
145
Basic setting
Inverter load characteristic
7.2 Inverter load characteristic

The inverter has two different load characteristics: "Light Duty" and "Heavy Duty". The load
characteristic "Light Duty" enables a higher output current with restrictions regarding over-
load capacity, ambient temperature and switching frequency. This enables the motor required
for the application to be driven by a less powerful inverter. The selected load characteristic
depends on the application.
NOTICE
Load characteristic "Light Duty"
In order to prevent irreversible damage of the inverter/motor:
▶ Based on the configuration document, check whether the inverter can be operated with the
load characteristic "Light Duty".
▶ Comply with all data in the configuration document for this load characteristic and the cor-
responding mains voltage range. Among other things, this includes information on the type
of installation and required fuses, cable cross-sections, mains chokes and filters.
▶ Set parameters only in accordance with the following specifications.
Details
The following table compares the two load characteristics:
Duty selection 0x2D43:001 (P306.01)
"Heavy Duty [0]" "Light Duty [1]"
Characteristics High dynamic requirements Low dynamic requirements
Typical applications Main tool drives, travelling drives, hoist drives, winders, Pumps, fans, general horizontal materials handling tech-
forming drives, and conveyors. nology and line drives.
Overload capacity 3 s/200 %, 60 s/150 % Reduced overload
For details see configuration document For details see configuration document
If the inverter is reset to the default setting, the load characteristic is set to
"Heavy Duty [0]".

0x2D43:001 Inverter load characteristic: Duty selection Selection of the load characteristic.
(P306.01) (Inv. load char.: Duty selection) Further required settings:
• Setting can only be changed if the inverter is inhibi- • Set the motor data according to the motor.
ted.
• Set further parameters (e. g. current limits) according to the applica-
tion.
0 Heavy Duty Load characteristic for high dynamic requirements.
1 Light Duty Load characteristic for low dynamic requirements.
• The device overload monitoring (i*t) is adapted.
CAUTION!
Observe the information in the configuration document for this load
characteristic.
Related topics
4Motor data ^ 164
4Current limits ^ 220
146
Basic setting
Control source selection
7.3 Control source selection

The selected "control source" serves to provide the inverter with its start, stop, and reversal
commands.
Possible control sources are:
• Digital inputs
• Keypad
• Network
Irrespective of the control source selection, stop commands are always active
from each source connected! If, for instance, the network control is active and a
keypad is connected for diagnostic purposes, the motor is also stopped if the
keypad key is pressed.
Exception: In the jog operation, a stop command has no impact.
Details
• The default setting "Flexible I/O configuration [0]" in 0x2824 (P200.00) enables a flexible
control of the inverter via digital inputs, network and keypad. The control of the inverter
via the digital inputs is preconfigured. For details see the chapter "Function assignment of
the inputs and outputs". ^ 82
• If the keypad is to be used as the sole control source for the application, selection "Keypad
[1]" is to be set in 0x2824 (P200.00).
• The control source that is currently active is displayed in 0x282B:001 (P125.01).

0x2824 Control selection Selection of the type of inverter control.
(P200.00) (Control select.)
0 Flexible I/O configuration This selection enables a flexible assignment of the start, stop, and rotat-
ing direction commands with digital signal sources.
• Digital signal sources can be digital inputs, network and keypad.
• The I/O configuration is made via the parameters 0x2631:xx (P400.xx).
1 Keypad This selection enables the motor to be started exclusively via the start
key of the keypad. Other signal sources for starting the motor are
ignored.
Start motor Stop motor
Note!
• The functions "Enable inverter" 0x2631:001 (P400.01) and "Run"
0x2631:002 (P400.02) must be set to TRUE to start the motor.
• If jog operation is active, the motor cannot be stopped via the
keypad key.
0x282B:001 Inverter diagnostics: Active control source Display of the control source that is currently active.
(P125.01) (Inverter diag.: Active control)
• Read only
1 Network
2 Keypad
8 Keypad full control
Related topics
• The preset I/O configuration can be individually adapted to the respective application. For
details see the chapter "Flexible I/O configuration". ^ 525
• For details of the network control of the inverter, see the chapter "General network set-
tings". ^ 227
147
Basic setting
Selection of setpoint source
7.4 Selection of setpoint source

The selected "setpoint source" serves to provide the inverter with its setpoint. The setpoint
source can be selected individually for each operating mode.
Possible setpoint sources are:
• Analog inputs
• Keypad
• Network
• Parameterisable setpoints (presets)
• Digital inputs (configured as HTL input for pulse train or HTL encoder)
• "Motor potentiometer" function
• "Sequencer" function
Details
• For applications only requiring one setpoint it is sufficient to define the standard setpoint
source in the following parameters.
• For applications requiring a change-over of the setpoint source during operation, the func-
tions for setpoint change-over have to be configured accordingly. 4Setpoint change-over
^ 546

148
Basic setting

4Sequencer ^ 504
149
Basic setting

0x2860:002 PID control: Default setpoint source Selection of the standard setpoint source for the reference value of the
(P201.02) (Stnd. setpoints: PID setp. src.) PID control.
• The selected standard setpoint source is always active with an activa-
ted PID control when no setpoint change-over to another setpoint
source via corresponding triggers/functions is active.
11 PID preset 1 For the setpoint selection, preset values can be parameterised and selec-
12 PID preset 2 ted.
13 PID preset 3
14 PID preset 4
15 PID preset 5
16 PID preset 6
17 PID preset 7
18 PID preset 8
4Sequencer ^ 504
150
Basic setting
Keypad setpoint default setting

0x2860:003 Torque control: Default setpoint source Selection of the standard setpoint source for operating mode "MS: Tor-
(P201.03) (Stnd. setpoints: Torque setp.src.) que mode".
• From version 03.00 • The selected standard setpoint source is always active in the operat-
ing mode 0x6060 (P301.00) = "MS: Torque mode [-1]" when no set-
11 Torque preset 1 For the setpoint selection, preset values can be parameterised and selec-
12 Torque preset 2 ted.
13 Torque preset 3
14 Torque preset 4
15 Torque preset 5
16 Torque preset 6
17 Torque preset 7
18 Torque preset 8
31 Segment preset 1 For the setpoint selection, the segment presets parameterised for the
32 Segment preset 2 "sequencer" function can be selected as well.
4Sequencer ^ 504
33 Segment preset 3
34 Segment preset 4
35 Segment preset 5
36 Segment preset 6
37 Segment preset 7
38 Segment preset 8
7.4.1 Keypad setpoint default setting

For the manual setpoint selection via keypad the following default settings are used.
0x2601:001 Keypad setpoints: Frequency setpoint Default setting of the keypad setpoint for the operating mode 0x6060
(P202.01) (Keypad setpoints: KP freq.setpoint) (P301.00) = "MS: Velocity mode [-2]".
0.0 ... [20.0] ... 599.0 Hz
0x2601:002 Keypad setpoints: Process controller setpoint Default setting of the keypad setpoint for the reference value of the PID
(P202.02) (Keypad setpoints: KP PID setpoint) control.
-300.00 ... [0.00] ... 300.00 PID unit
151
Basic setting

0x2601:003 Keypad setpoints: Torque setpoint Default setting of the keypad setpoint for the operating mode 0x6060
(P202.03) (Keypad setpoints: KP torq.setpoint) (P301.00) = "MS: Torque mode [-1]".
-400.0 ... [100.0] ... 400.0 % • 100 % ≡ Motor rated torque 0x6076 (P325.00)
The increment for keypad setpoints can be adapted in 0x2862 (P701.00) by pressing a keypad
arrow key once.
152
Basic setting
Starting/stopping performance
Starting performance
7.5 Starting/stopping performance
7.5.1 Starting performance

The start can be optionally made with DC braking or flying restart circuit. Moreover, an auto-
matic start can be activated after switch-on.
Details
The start method can be selected in 0x2838:001 (P203.01). The following diagram demon-
strates the different start methods:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
Digital input 1 [11] Enable inverter
t
t
Output frequency 50 Hz
0x2DDD 40 Hz
0x2838:001 = Normal [0] 30 Hz
20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
0x2838:001 = DC braking [1] 30 Hz
DC brake
DC brake
DC brake
20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
0x2838:001 = Flying restart circuit [2] 30 Hz
20 Hz
10 Hz
0 Hz t
① Start method = "Normal [0]": After the start command, the motor is accelerated to the setpoint with the set acceleration time.
② Start method = "DC braking [1]": After the start command, the "DC braking" function is active. Only after the hold time set in 0x2B84:002
(P704.02) has elapsed, the motor is accelerated to the setpoint with the set acceleration time.
4DC braking ^ 437
③ For demonstrating the flying restart circuit: At the time of the start command, the motor is not at standstill (for instance by loads with high
inertia such as fans or flywheels).
④ Start method = "Flying restart circuit [2]": After the start command, the flying restart circuit is active. The flying restart circuit serves to
restart a coasting motor on the fly during operation without speed feedback. The synchronicity between inverter and motor is coordinated
so that the transition to the rotating motor is effected without jerk at the time of connection.
153
Basic setting
Starting performance
Automatic start after switching on the mains voltage

The automatic start can be activated in 0x2838:002 (P203.02).
Preconditions for the automatic start:
• Flexible I/O configuration is selected: 0x2824 (P200.00) = "Flexible I/O configuration [0]"
• For the start command, a digital input has been configured. (In case of keypad or activated
network control, an automatic start is not possible.)
The following diagram demonstrates the function:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Mains voltage
t
Trigger Function
Constant TRUE [1] Enable inverter
t
t
0x2DDD 40 Hz
0x2838:002 = Off [0] 30 Hz
20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
0x2838:002 = On [1] 30 Hz
20 Hz
10 Hz
0 Hz t
① Start at power-up = "Off [0]": After switching on the mains voltage, a renewed start command is required to start the motor.
② Start at power-up = "On [1]": After switching on the mains voltage, the motor starts automatically if a start command is active.

ted.
in 0x2B84:002 (P704.02).
4DC braking ^ 437
0x2838:002 Start/stop configuration: Start at power-up Starting performance after switching on the mains voltage.
(P203.02) (Start/stop confg: Start at powerup)
0 Off No automatic start after switching on mains voltage. In addition to the
inverter enable, a renewed start command is always required to start the
motor.
1 On Automatic start of the motor after switching on the mains voltage if the
inverter is enabled and a start command exists.
154
Basic setting
Stopping performance
7.5.2 Stopping performance

In the default setting, the motor is brought to a standstill after a stop command with standard
ramp. Alternatively, coasting or ramping down with quick stop ramp can be selected.
Details
The stop method can be selected in 0x2838:003 (P203.03). The following diagram demon-
strates the different stop methods:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
0x2DDD 40 Hz
0x2838:003 = Coasting [0] 30 Hz
20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
0x2838:003 = Standard ramp [1] 30 Hz
20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
0x2838:003 = Quick stop ramp [2] 30 Hz
20 Hz
10 Hz
0 Hz t
① Stop method = "Coasting [0]": The motor is coasting.
② Stop method = "Standard ramp [1]": The motor is brought to standstill with a deceleration time 1 (here: 10 s).
③ Stop method = "Quick stop ramp [2]": The motor is brought to a standstill with the deceleration time for quick stop (here: 1 s).
④ If "Enable inverter" is set to FALSE, the inverter is disabled. The motor becomes torqueless and coasts to standstill depending on the mass
inertia of the machine (irrespective of the set stop method).

155
Basic setting
Frequency limits and ramp times
7.6 Frequency limits and ramp times

The frequency range can be limited by setting a minimum and maximum frequency. For the
frequency setpoint, two different ramps can be parameterised. Change-over to ramp 2 can be
carried out manually or automatically.
Details
The frequency setpoint is internally led via a ramp generator.
• The acceleration time set in 0x2917 (P220.00) refers to an acceleration from standstill to
the maximum frequency set in 0x2916 (P211.00). At a low setpoint selection, the real
acceleration time decreases accordingly.
• The deceleration time set in 0x2918 (P221.00) refers to the deceleration of the set maxi-
mum frequency to standstill. In case of a lower actual frequency, the actual deceleration
time is reduced accordingly.
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
0x2916
50 Hz
40 Hz
Output frequency
30 Hz
0x2DDD 20 Hz
10 Hz
0 Hz t
0x2917 0x2918
Automatic/manual change-over to ramp 2

• For ramp 2, the acceleration time 2 set in 0x2919 (P222.00) and the deceleration time 2
set in 0x291A (P223.00) apply.
• The change-over to ramp 2 is effected automatically if the frequency setpoint (absolute
value) ≥ auto-changeover threshold 0x291B (P224.00).
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
50 Hz
0x2
19
40 Hz
Output frequency
29
Ramp 2 active
91
30 Hz
0x
0x2DDD 0x
A
20 Hz 7 29 0x291B = 20 Hz
91
10 Hz 0x2 Ramp 1 active 18
0 Hz t
• The "Activate ramp 2" function serves to manually activate the acceleration time 2 and the
deceleration time 2. 4Activating ramp 2 manually ^ 576

0.0 ... [0.0] ... 599.0 Hz
156
Basic setting

• The acceleration time 2 is active if the frequency setpoint (absolute
value) ≥ auto switching threshold 0x291B (P224.00) or the trigger
assigned to the function "Activate ramp 2" in 0x2631:039 (P400.39) =
TRUE.
• The acceleration time 2 is also used for changing the MOP setpoint
generated by the "motor potentiometer" function.
0x291A Deceleration time 2 Deceleration time 2 for the operating mode "MS: Velocity mode".
• The deceleration time 2 is active if the frequency setpoint (absolute
value) ≥ auto change-over threshold 0x291B (P224.00) or the trigger
TRUE.
• The deceleration time 2 is also used for changing the MOP setpoint
0x291B Auto-changeover threshold of ramp 2 Threshold for the automatic change-over to acceleration time 2 and
(P224.00) (Ramp 2 thresh.) deceleration time 2.
0.0 ... [0.0] ... 599.0 Hz • The change-over is effected if the frequency setpoint (absolute value)
≥ auto change-over threshold.
• With the setting 0, the automatic change-over function is deactivated.
157
Basic setting
Example for operating mode

Parameter Name Setting for this example
0x2631:001 (P400.01) Enable inverter Constant TRUE [1]
0x2631:002 (P400.02) Run Digital input 1 [11]
0x2915 (P210.00) Minimum frequency 15 Hz
0x2916 (P211.00) Maximum frequency 40 Hz
0x2917 (P220.00) Acceleration time 1 4s
0x2918 (P221.00) Deceleration time 1 3s
Input signals 60 Hz
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
Frequency setpoint selection 0 Hz t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Trigger Function
t
t
50 Hz 0x2916
40 Hz
30 Hz 0x2915 0x2915
20 Hz
10 Hz 0x2917 0x2918
Output frequency
0 Hz t
0x2DDD -10 Hz
0x2917 0x2918 0x2918
-20 Hz
-30 Hz 0x2915
-40 Hz
-50 Hz 0x2916
-60 Hz
① After a start command, the motor is accelerated to the minimum frequency. This is also the case if the setpoint selection is = 0 Hz. If the
setpoint exceeds the minimum frequency, the ramp generator follows the setpoint.
② If the start command is deactivated again, the motor is stopped with the stop method set in 0x2838:003 (P203.03) (here: Standard ramp).
③ The motor is accelerated to the set maximum frequency.
④ If the setpoint falls below the minimum frequency, it is decelerated up to the minimum frequency.
⑤ In case of a sign reversal of the setpoint, a change of direction of rotation takes place, minimum and maximum frequency, however, con-
tinue to apply.
158
Basic setting
Quick stop
7.7 Quick stop

The "quick stop" function is an alternative stop method if the motor has to be stopped faster
than normal.
Cancelling the quick stop causes a restart of the motor if the start command is
still active and the inverter is enabled!
Details
• Possible triggers to be selected for the "quick stop" function are available for example in
0x2631:003 (P400.03) the digital inputs and internal status signals of the inverter.
• An activation via network is possible via the mappable NetWordIN1 data word or one of
the predefined process data words. 4General network settings ^ 227
Diagnostic parameters:
• 0x282A:002 (P126.02) displays the cause of quick stop bit-coded.

0x291C Quick stop deceleration time Quick stop deceleration time for the operating mode "MS: Velocity
(P225.00) (QSP dec. time) mode".
0.0 ... [1.0] ... 3600.0 s • If the "Quick stop" function is activated, the motor is brought to a
standstill within the deceleration time set here.
• The deceleration time set refers to the deceleration from the maxi-
mum frequency set to standstill. In the case of a lower actual fre-
0x2631:003 Function list: Activate quick stop Assignment of a trigger for the "Activate quick stop" function.
(P400.03) (Function list: Quick stop) Trigger = TRUE: Activate quick stop.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: Deactivate quick stop.
ted. Notes:
• For further possible settings, see parameter • The "Quick stop" function brings the motor to a standstill within the
0x2631:001 (P400.01). ^ 532 deceleration time set in 0x291C (P225.00).
0 Not connected
159
Basic setting
Quick stop

0x2631:003 (P400.03) Activate quick stop Digital input 2 [12]
0x2838:003 (P203.03) Stop method Standard ramp [1]
0x2917 (P220.00) Acceleration time 1 4s
0x2918 (P221.00) Deceleration time 1 3s
0x291C (P225.00) Quick stop deceleration time 1s
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate quick stop
t
0x2916
50 Hz
40 Hz
Output frequency
30 Hz
0x2DDD 20 Hz
10 Hz
0 Hz t
0x2917 0x291C 0x2918
Status signals
Quick stop active [54]
t
① Quick stop is activated: The motor is brought to a standstill within the deceleration time set in 0x291C (P225.00).
② If quick stop is active, the status signal "Quick stop active [54]" is set to TRUE. This status signal can be assigned via the Flexible I/O configu-
ration of a function or a digital output.
③ Quick stop is deactivated again: The motor accelerates again to the setpoint since the start command is still active.
160
Basic setting
S-shaped ramps
7.8 S-shaped ramps

In order to reduce the jerk and to therefore prevent the drive components from damage, a
smoothing factor can be set for the acceleration/deceleration ramps.
Details
In the default setting, the motor is accelerated and decelerated with linear ramps since this is
the most used configuration. The setting of a smoothing factor causes S-shaped ramps. This
leads to a smoother starting and braking behaviour which, for instance, is used for sensitive
machine parts with backlash. It has to be observed here that the setting of a smoothing factor
causes longer acceleration and delay times (see the following diagrams).
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
0x2916
0x2DDD 40 Hz
0x291E:001 = 0 % 30 Hz
20 Hz
10 Hz
0 Hz t
0x2917 0x2918
60 Hz
50 Hz
40 Hz
0x291E:001 = 50 % 30 Hz
20 Hz
10 Hz
0 Hz t
0x2917 + (50 % · 0x2917 ) 0x2918 + (50 % · 0x2918 )
60 Hz
50 Hz
40 Hz
0x291E:001 = 100 % 30 Hz
20 Hz
10 Hz
0 Hz t
0x2917 + (100 % · 0x2917 ) 0x2918 + (100 % · 0x2918 )

0x291E:001 S-Ramp characteristic: Smoothing factor Factor for S-rounding of the acceleration/deceleration ramps.
(P226.01) (S-ramp char.: Smoothing factor) • With the setting "0.0", the S-rounding is deactivated and acceleration/
0.0 ... [0.0] ... 100.0 % deceleration with linear ramps is carried out.
161
Basic setting
Optical device identification
7.9 Optical device identification

For applications including several interconnected inverters it may be difficult to locate a device
that has been connected online. The "Optical device identification" function serves to locate
the inverter by means of blinking LEDs.
Details
In order to start the visual tracking,
• click the button in the toolbar of the »EASY Starter« or
• set 0x2021:001 (P230.01) = "Start [1]".
After the start, both LEDs "RDY" and "ERR" on the front of the inverter synchronously blink
very fast.
"RDY" LED (blue) "ERR" LED (red) Status/meaning
"Visual tracking" function is active.
Both LEDs are blinking in a very rapidly synchro-

nous mode
The blinking duration can be set in 0x2021:002 (P230.02) or selected in the »EASY Starter« in
the dropdown list field:

0x2021:001 Optical tracking: Start detection 1 = start optical device identification.
(P230.01) (Optical tracking: Start detection) • After the start, the two LEDs "RDY" and "ERR" on the front of the
0 Stop inverter are blinking with a blinking frequency of 20 Hz for the blink-
ing duration set in 0x2021:002 (P230.02). The setting is then automat-
1 Start
ically reset to "0" again.
• If the function is reactivated within the blinking time set, the time is
extended correspondingly.
• A manual reset to "0" makes it possible to stop the function prema-
turely.
0x2021:002 Optical tracking: Blinking duration
(P230.02) (Optical tracking: Blink. duration)
0 ... [5] ... 3600 s
162
Motor control
8 Motor control
This chapter contains all functions and settings relevant for the motor control.
Basic procedure of commissioning the motor control
In the first step, the rated data of the motor must be set. The other steps depend on the
respective application case.
There are several options for setting the motor data and optimising the control loops. Basi-
cally, you can select between a manual and an automatic process. Whether a setting can be
applied or not depends on the motor (Lenze motor yes/no) and the application. If possible,
always use the possible setting listed first in the following diagram since this one leads to the
most accurate results.
Setting of motor data Possible settings:

a) Using data from motor catalogue
b) Entering data manually (e.g. from the nameplate)
Motor control selection Options:

V/f characteristic control (open-loop) (default setting), V/f characteristic control (closed-loop),
servo control, sensorless control, sensorless vector control
Optimisation of motor control Parameterisable functions:

V/f voltage boost, skip frequencies, optimisation of the stalling behaviour,
slip compensation, oscillation damping
Optimisation of the control loops
Possible settings:
a) Identifying data automatically (by inverter)
Inverter characteristic b) Calibrating data automatically (by inverter or engineering tool)
c) Loading preset inverter characteristics
Possible settings:
a) Identifying data automatically (by inverter)
Motor b) Using data from the motor catalogue
equivalent circuit data
c) Calibrating data automatically (by inverter or engineering tool)
d) Entering data manually
Possible settings:
Motor controller a) Identifying data automatically (by inverter)
settings
b) Entering data manually
Possible settings:
Speed controller a) Identifying data automatically (by inverter)
b) Entering data manually
• Motor data ^ 164

• Motor control selection ^ 165
• Optimisation of motor control ^ 182
• Optimisation of the control loops ^ 193
• Motor rotating direction ^ 212
• Switching frequency changeover ^ 213
• Motor protection ^ 214
163
Motor control
Motor data
Manual setting of the motor data
8.1 Motor data

Setting of motor data Motor control selection Optimisation of motor control Optimisation of the control loops
The term "motor data" comprises all parameters only depending on the motor and only char-
acterising the electrical behaviour of the machine. Motor data are independent of the applica-
tion in which the inverter and the motor are used.
Preconditions
When you enter the motor nameplate data, take into account the phase connection imple-
mented for the motor (star or delta connection). Only enter the data applying to the connec-
tion type selected.
Possible settings
If a Lenze motor is connected to the inverter, you can simply select the used motor in the
engineering tool from the "motor catalog".
• For details see chapter "Motor selection from motor catalogue". ^ 197
Otherwise the motor data has to be set manually (see the following subchapter).
8.1.1 Manual setting of the motor data

If an external motor is connected to the inverter, the motor data must be set manually in the
following parameters according to the manufacturer information/motor data sheet.
0x2C01:001 Motor parameters: Number of pole pairs Display of the number of pole pairs calculated from the rated speed and
• Read only rated frequency.
0x2C01:004 Motor parameters: Rated speed General motor data.
(P320.04) (Motor parameters: Rated speed) Carry out settings as specified by motor nameplate data.
Device for 50-Hz mains: 50 ... [1450] ... 50000 rpm
Device for 60-Hz mains: 50 ... [1750] ... 50000 rpm Note!
0x2C01:005 Motor parameters: Rated frequency When you enter the motor nameplate data, take into account the phase
(P320.05) (Motor parameters: Rated frequency) connection implemented for the motor (star or delta connection). Only
Device for 50-Hz mains: 1.0 ... [50.0] ... 1000.0 Hz enter the data applying to the connection type selected.
0x2C01:006 Motor parameters: Rated power
(P320.06) (Motor parameters: Rated power)
0.00 ... [0.25]* ... 655.35 kW
0x2C01:007 Motor parameters: Rated voltage
(P320.07) (Motor parameters: Rated voltage)
0 ... [230]* ... 65535 V
0x2C01:008 Motor parameters: Cosine phi
(P320.08) (Motor parameters: Cosine phi)
0.00 ... [0.80] ... 1.00
0.001 ... [1.700]* ... 500.000 A Example:
ted.
0x6076 Motor rated torque The rated motor torque to be set here serves as a reference value for
(P325.00) (Motor torque) different parameters with a setting/display of a torque value in percent.
0.001 ... [1.650]* ... 4294967.295 Nm Example:
• Motor rated torque = 1.65 Nm
• Setting can only be changed if the inverter is inhibi- • Max torque 0x6072 (P326.00) = 250 % Motor rated torque = 4.125 Nm
ted.
0x6080 Max motor speed Limitation of the maximum motor speed.
(P322.00) (Max motor speed)
0 ... [6075] ... 480000 rpm
164
Motor control
Motor control selection
8.2 Motor control selection

The inverter supports different modes for closed-loop/open-loop motor control.

ted.
nous motor.
In the following subchapters, each motor control is described in detail.
165
Motor control
V/f characteristic control (VFC)
8.2.1 V/f characteristic control (VFC)

The V/f characteristic control is a motor control for conventional frequency inverter applica-
tions. It is based on a simple and robust control mode for the operation of asynchronous
motors with a linear or square-law load torque characteristic (e.g. fan). Because of the mini-
mal parameterisation effort, such applications can be commissioned easily and quickly.
Preconditions
• The V/f characteristic control is only suitable for asynchronous motors.
• If you want to actuate a drive with a square-law V/f characteristic: please always check
whether the corresponding drive is suitable for operation with a square-law V/f character-
istic!
• From the motor nameplate data, at least the rated speed and rated frequency must be
entered, so that the inverter can calculate the correct number of pole pairs. 4Motor data
^ 164
• The motor must only be actuated above the rated motor frequency/rated voltage if this is
expressly approved by the motor manufacturer!
Details
This motor control type is activated by setting 0x2C00 (P300.00) = " V/f characteristic control
(VFC open loop) [6]".
• 0x2B00 (P302.00) provides different characteristic shapes which are described in detail in
the following subchapters.
• Limiting factors for the V/f characteristic are rated mains voltage 0x2540:001 (P208.01),
minimum frequency 0x2915 (P210.00) and maximum frequency 0x2916 (P211.00).

0x2B00 V/f characteristic shape Selection of the V/f characteristic shape for the adaptation to different
(P302.00) (V/f charac.shape) load profiles.
ted.
0 Linear Linear characteristic for drives with constant load torque over the speed.
4Linear V/f characteristic ^ 167
1 Quadratic Square-law characteristic for drives with a linear or square-law load tor-
que over the speed.
• Square-law V/f characteristics are preferably used for centrifugal
pumps and fan drives.
• Please always check whether the corresponding drive is suitable for
operation with a square-law V/f characteristic!
• If your pump drive or fan drive is not suitable for operation with a
square-law V/f characteristic, use the linear V/f characteristic instead.
4Square-law V/f characteristic ^ 168
2 Multipoint (from version 03.00) Linear characteristics with an additional centre characteristic point for
the purpose of adaptation to specific load profiles.
4User-definable V/f characteristic ^ 169
3 Eco (from version 02.00) Linear characteristic with energy optimisation in the partial load opera-
tional range.
4V/f characteristic control - energy-saving (VFC Eco) ^ 170
166
Motor control
8.2.1.1 Linear V/f characteristic

The linear V/f characteristic is the most used characteristic shape for general applications
since they cause a torque that is largely constant.
Details
Select V/f characteristic control with linear characteristic:
1. Motor control mode 0x2C00 (P300.00) = "V/f characteristic control (VFC open loop) [6]"
2. V/f characteristic shape 0x2B00 (P302.00) = "Linear [0]"
Setting of the V/f characteristic:
• The base voltage 0x2B01:001 (P303.01) is usually set to the rated motor voltage (motor
nameplate data). The base voltage is preset to the rated mains voltage. This again is preset
according to the product key of the inverter. 4Mains voltage ^ 144
• The base frequency 0x2B01:002 (P303.02) is usually set to the rated motor frequency
(motor nameplate data).
[V]
0x2540:001
0x2B01:001
0
0 0x2B01:002 [Hz]
0x2915 0x2916
The current output frequency can exceed the set maximum frequency if the
gain for the slip compensation in 0x2B09:001 (P315.01) is set to a value higher
than 0.
Example
In this example, a 400 V/50 Hz motor is connected to the inverter which is to be operated with
maximally 75 Hz. The minimum frequency is set to 10 Hz.
• V/f characteristic on the left: The inverter is operated with a rated mains voltage of 400 V.
• V/f characteristic on the right: The inverter is operated with a rated mains voltage of 480 V.
This causes the output voltage to further increase above 50 Hz.
[V] [V]
480
400 400
0 0
0 10 50 75 [Hz] 0 10 50 75 [Hz]

0x2540:001 (P208.01) Rated mains voltage 400 Veff [1] (on the left) / 480 Veff [2] (on the right)
0x2915 (P210.00) Minimum frequency 10 Hz
0x2B01:001 (P303.01) Base voltage 400 V
0x2B01:002 (P303.02) Base frequency 50 Hz
Next steps
• The inverter provides different functions by means of which the drive behaviour can be
further optimised.4Optimisation of motor control ^ 182
• An optimisation of the control loops is not mandatory for this motor control type but may
lead to a better control mode. 4Optimisation of the control loops ^ 193
167
Motor control
8.2.1.2 Square-law V/f characteristic

The square-law V/f characteristic is typically used in heating, ventilation and climate applica-
tions to control the speed of fans and pumps.
Details
Each application that is provided with the features according to the affinity laws may possibly
benefit from a square-law V/f characteristic.
The affinity laws describe the relation between the speed and other variables:
• The volume flow increases proportionately to the speed.
• The required pressure behaves proportionately to the square of the speed.
• The power input is proportionately to the cube of the speed. This means that already a
minimal reduction of the speed may lead to substantial savings in energy consumption.
Volume flow Pressure Power input
[%] [%] [%]
100 100 100
50 50 50
0 0 0
0 50 100 [%] 0 50 100 [%] 0 50 100 [%]
Speed Speed Speed
By approximation, the square-law V/f characteristic corresponds to the curve for power input
shown above. At low frequencies, the voltage is reduced since due to the type of load a lower
voltage is sufficient to generate the required power. All in all, this results in an energy-efficient
system.
Select V/f characteristic control with square-law characteristic:
2. V/f characteristic shape 0x2B00 (P302.00) = "Quadratic [1]"
[V]
0x2540:001
0x2B01:001
0
0 0x2B01:002 [Hz]
0x2915 0x2916
than 0.
Next steps
168
Motor control
8.2.1.3 User-definable V/f characteristic

The user-definable V/f characteristic is based on the linear V/f characteristic. An additional
medium characteristic point, however, enables the adaptation to applications with special tor-
que properties.
Details
An application case for this characteristic shape are applications that require a higher torque
at lower speeds. The additional medium characteristic point can be then configured in such a
way that more voltage is provided in the lower frequency range of the characteristic. Other-
wise, the same limits apply for the adaptive characteristic as for the linear characteristic.
Select V/f characteristic control with adaptive characteristic:
2. V/f characteristic shape 0x2B00 (P302.00)= "Multipoint [2]"
• The additional medium characteristic point is defined based on the parameters
0x2B01:003 (P303.03) and 0x2B01:004 (P303.04).
Characteristic examples:
• Example on the left: Base voltage is set equal to rated mains voltage
• Example on the right: Base voltage s set lower than rated mains voltage
[V] [V]
0x2B01:001 = 0x2540:001 0x2540:001
0x2B01:001
0x2B01:003 0x2B01:003
0 0
0x2B01:004
0 0x2916 [Hz] 0 0x2B01:004 0x2916 [Hz]
0x2915 0x2B01:002 0x2915 0x2B01:002

0x2B01:003 V/f shape data: Midpoint voltage Definition of the medium characteristic point for user-definable V/f char-
(P303.03) (V/f shape data: Midpoint voltage) acteristic.
0 ... [0] ... 5000 V • Only relevant if V/f characteristic shape 0x2B00 (P302.00) is set =
• From version 03.00 "Multipoint [2]".
0x2B01:004 V/f shape data: Midpoint frequency
(P303.04) (V/f shape data: Midpoint freq)
0 ... [0] ... 1500 Hz
Next steps
169
Motor control
8.2.1.4 V/f characteristic control - energy-saving (VFC Eco)

In case of the energy-saving V/f characteristic control (VFCplusEco). the motor voltage of the
inverter is detected by means of a linear characteristic as a function of the rotating field fre-
quency or motor speed to be generated. Moreover, the motor is always driven in the optimal
efficiency range via a cosϕ control and the resulting voltage reduction (reduced copper losses
in the asynchronous motor).
Details
Select energy-saving V/f characteristic control with linear characteristic:
2. V/f characteristic shape 0x2B00 (P302.00)= "Eco [3]"
Eco efficiency range:
• The Eco efficiency range (grey) is between the V/f-standard characteristic (black) and the
V/f Eco characteristic (green).
• The V/f Eco characteristic (green) is defined by the operating point that results from the
minimum voltage 0x2B0D:001 (P330.01) and the base frequency 0x2B01:002 (P303.02).
• The minimum voltage 0x2B0D:001 (P330.01) has to be set in percent with reference to the
base voltage 0x2B01:001 (P303.01).
[V]
0x2540:001
0x2B01:001 100 %
0x2B0D:001 20 %
0
0 0x2B01:002 [Hz]
0x2915 0x2916
than 0.

0x2B0D:001 VFC-ECO: Minimum voltage Defining the operating point of the V/f eco characteristic. The V/f eco
(P330.01) (VFC-ECO: Min. voltage) characteristic defines the lower limit of the eco efficiency range.
20 ... [20] ... 100 % • 100 % ≡ Base voltage 0x2B01:001 (P303.01)
0x2B0D:006 Cos phi actual value
(P330.06) (Cos Phi actual)
• Read only
0x2822:004 Axis commands: Identify motor data (energized) 1 = start automatic identification of the motor data.
(P327.04) (Axis commands: Identify mot.) • Inverter characteristics, motor equivalent circuit diagram data and
0 ... [0] ... 1 controller settings are identified and set automatically.
• During the procedure, the motor is energised!
0x2822:005 Axis commands: Calibrate motor data (non-energized) 1 = start automatic calibration of the motor data.
(P327.05) (Axis commands: Calibrate mot.) • A default inverter characteristic is loaded.
0 ... [0] ... 1 • the motor equivalent circuit diagram data and controller settings are
calculated on the basis of the currently set rated motor data.
• The motor is not energised.
170
Motor control

0x2B00 V/f characteristic shape Selection of the V/f characteristic shape for the adaptation to different
(P302.00) (V/f charac.shape) load profiles.
ted.
0 Linear Linear characteristic for drives with constant load torque over the speed.
4Linear V/f characteristic ^ 167
1 Quadratic Square-law characteristic for drives with a linear or square-law load tor-
que over the speed.
• Square-law V/f characteristics are preferably used for centrifugal
pumps and fan drives.
• Please always check whether the corresponding drive is suitable for
operation with a square-law V/f characteristic!
• If your pump drive or fan drive is not suitable for operation with a
square-law V/f characteristic, use the linear V/f characteristic instead.
4Square-law V/f characteristic ^ 168
2 Multipoint (from version 03.00) Linear characteristics with an additional centre characteristic point for
the purpose of adaptation to specific load profiles.
4User-definable V/f characteristic ^ 169
3 Eco (from version 02.00) Linear characteristic with energy optimisation in the partial load opera-
tional range.
4V/f characteristic control - energy-saving (VFC Eco) ^ 170
ted.
nous motor.
Next steps
171
Motor control
V/f characteristic control (VFC closed loop)
8.2.2 V/f characteristic control (VFC closed loop)

The V/f characteristic control with feedback (VFC closed loop) can be used if an asynchronous
motor with motor encoder is connected to the inverter.
The speed feedback leads to the following advantages:
• Stationary speed accuracy
• Improved dynamics compared to the V/f characteristic control without feedback (VFC
open loop) or to the encoderless vector control (SLVC)
• Suitability for group drives
Preconditions
• The V/f characteristic control (VFC closed loop) is only suitable for asynchronous motors.
• The V/f characteristic control (VFC closed loop) requires a feedback of the speed. A motor
encoder must be connected to the inverter and set as feedback system for the motor con-
trol.
• This setting is not made automatically if a motor is selected from the motor catalog.
• For required settings see chapter "HTL encoder". ^ 496
• If you want to actuate a drive with a square-law V/f characteristic: please always check
whether the corresponding drive is suitable for operation with a square-law V/f character-
istic!
• From the motor nameplate data, at least the rated speed and rated frequency must be
entered, so that the inverter can calculate the correct number of pole pairs. 4Motor data
^ 164
• The motor must only be actuated above the rated motor frequency/rated voltage if this is
expressly approved by the motor manufacturer!
Details
This motor control type is activated by setting 0x2C00 (P300.00) = " V/f characteristic control
(VFC closed loop) [7]".
• 0x2B00 (P302.00) provides different characteristic shapes.
• The slip compensation is deactivated in this motor control type. In case of V/f characteris-
tic control with feedback, the slip is calculated and injected by the slip regulator. 4Slip
controller ^ 210
Next steps
172
Motor control
Sensorless vector control (SLVC)
8.2.3 Sensorless vector control (SLVC)

Sensorless (field-oriented) vector control for asynchronous motors is based on a decoupled,
separate control for the torque-producing and the field-producing current component. In
addition, the actual speed is reconstructed by means of a motor model so that a speed sensor
is not required.
Preconditions
• Sensorless vector control (SLVC) is only suitable for asynchronous motors.
• The operation of the sensorless vector control (SLVC) is only permitted for a single drive,
i. e., only one motor may be connected to the inverter.
• Operation of the sensorless vector control (SLVC) is not permissible for hoists!
Supported operating modes 0x6060 (P301.00):
• "MS: Velocity mode [-2]"
• "MS: Torque mode [-1]"
• "CiA: Velocity mode [2]"
Details
This motor control type is activated by setting 0x2C00 (P300.00) = "Sensorless vector control
(SLVC) [4]".
Compared to the V/f characteristics, the sensorless vector control (SLVC) serves to achieve
improved drive characteristics thanks to:
• higher torque throughout the entire speed range
• higher speed accuracy and higher concentricity factor
• higher efficiency
Torque
Rated torque
Speed
Rated speed
① Sensorless vector control (SLVC)
② V/f characteristic control (VFC) ^ 166
For a speed control with torque limitation in operating mode 0x6060 (P301.00) = "MS: Veloc-
ity mode [-2]":
1. Select the source in 0x2949:001 (P337.01) for the positive torque limit source and set it
accordingly.
2. Select the source in 0x2949:002 (P337.02) for the negative torque limit source and set it
accordingly.
Alternatively, the inverter can be configured in this motor control type in such a way that it
controls a motor torque within a defined frequency range. For details, see chapter "Torque
control w/ freq. limit". ^ 206
0x2B40:003 Q-Feedforward Feedforward control for the SLVC Q controller.
0.00 ... [0.00] ... 10000.00
0x2B40:004 D-Feedforward Feedforward control of the SLVC-D controller.
0.00 ... [0.00] ... 10000.00
173
Motor control

0x2949:001 Positive torque limit source Selection of the source for the positive torque limit source.
(P337.01) (Pos. torqlim src)
0 Max torque Positive torque limit source = Max torque 0x6072 (P326.00).
1 Fixed Limit 0.0 % Positive torque limit source = 0.0 %.
2 Analog Input 1 The positive torque limit source is defined as analog signal via the analog
input 1.
input 2.
4 Positive torque limit Positive torque limit source = Positive torque limit 0x60E0.
5 Network target torque The positive torque limit source is defined as process data object via net-
work.
0x2949:002 Negative torque limit source Selection of the source for the negative torque limit source.
(P337.02) (Neg. torqlim src)
0 (-) Max torque Negative torque limit source = (-) Max torque 0x6072 (P326.00).
1 Fixed Limit 0.0 % Negative torque limit source = 0.0 %.
2 Analog Input 1 The negative torque limit source is defined as analog signal via the ana-
log input 1.
log input 2.
4 Negative torque limit Negative torque limit source = Negative torque limit 0x60E1.
5 Network target torque The negative torque limit source is defined as process data object via
network.
ted.
nous motor.
174
Motor control

0x6060 Modes of operation Selection of the operating mode.
(P301.00) (Modes of op.)
ted.
-2 MS: Velocity mode Vendor specific velocity mode
-1 MS: Torque mode (from version 03.00) Vendor specific torque mode
• Only possible in motor control type 0x2C00 (P300.00) = "Sensorless
vector control (SLVC) [4]" or "Servo control (SC ASM) [2]".
4Torque control w/ freq. limit ^ 206
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
Next steps
• The default setting enables the operation of a power-adapted motor. An optimum opera-
tion of this motor control type requires an optimisation of the control loops! 4Optimisa-
tion of the control loops ^ 193
• If the inverter is to control a motor torque within a defined frequency range, the torque
control must be configured accordingly after the control loops are optimised. 4Torque
control w/ freq. limit ^ 206
175
Motor control
Servo control for asynchronous motors (SC-ASM)
8.2.4 Servo control for asynchronous motors (SC-ASM)

The field-oriented servo control is based on a decoupled, separated control of the torque-pro-
ducing and field-producing current share. The motor control is based on a feedback, field-ori-
ented and cascaded controller structure and enables a dynamic and stable operation in all
four quadrants.
Preconditions
• The servo control (SC ASM) is only suitable for asynchronous motors.
• The servo control (SC-ASM) requires a feedback of the speed. A motor encoder must be
connected to the inverter and set as feedback system for the motor control.
• This setting is not made automatically if a motor is selected from the motor catalog.
• For required settings see chapter "HTL encoder". ^ 496
Details
This motor control type is activated by setting 0x2C00 (P300.00) = "Servo control (SC ASM)
[2]".
Basically, the servo control has the same advantages as the sensorless vector control (SLVC).
Compared to the V/f characteristic control without feedback, the following can be achieved by
means of the servo control:
• A higher maximum torque throughout the entire speed range
• A higher speed accuracy
• A higher concentricity factor
• A higher level of efficiency
• The implementation of torque-actuated operation with speed limitation
• The limitation of the maximum torque in motor and generator mode for speed-actuated
operation
ity mode [-2]":
accordingly.
accordingly.
Alternatively, the inverter can be configured in this motor control type in such a way that it
controls a motor torque within a defined frequency range. For details, see chapter "Torque
control w/ freq. limit". ^ 206
0x2901 Speed controller gain adaption Mappable parameter for adaptive adjustment of the speed controller
0.00 ... [100.00] ... 200.00 % gain via network.
input 1.
input 2.
work.
176
Motor control
Servo control for asynchronous motors (SC-ASM)

log input 1.
log input 2.
network.
ted.
nous motor.
Next steps
177
Motor control
Sensorless control for synchronous motors (SL-PSM)
8.2.5 Sensorless control for synchronous motors (SL-PSM)

The sensorless control for synchronous motors is based on a decoupled, separated control of
the torque-producing current and the current in field direction. In contrast to the servo con-
trol, the actual speed value and rotor position are reconstructed via a motor model.
NOTICE
In case of this motor control type, an adjustable, constant current is injected in the lower
speed range. If this current is higher than the rated motor current, the motor may heat up in
the lower speed range. This effect increases if the motor is operated in the lower speed range
for a longer period of time.
Possible consequence: Destruction of the motor by overheating
▶ Do not operate the motor for a longer period of time in the lower speed range.
▶ For detecting and monitoring the motor temperature, we recommend a temperature feed-
back via PTC thermistor or thermal contact. 4Motor temperature monitoring ^ 219
Preconditions
The sensorless control for synchronous motors (SL-PSM) is possible up to a rated power of
maximally 22 kW.
Details
This motor control type is activated by setting 0x2C00 (P300.00) = "Sensorless control (SL
PSM) [3]".
The motor model-based speed observer requires a rotating machine. Thus, as a matter of
principle, the operational performance of the sensorless control for synchronous motors is
divided into two ranges:
1. Low speed range (|setpoint speed| < lower limit 0x2C11:001)
• In the range of low speed, the speed of a synchronous motor cannot be observed. In
this "Low speed range", an open-loop controlled operation takes place: For accelera-
tion processes, the current set in 0x2C12:001 is injected and for processes without
acceleration (for instance standstill or constant setpoint speed) the current set in
0x2C12:002 is injected.
2. High speed range (|setpoint speed| > lower limit 0x2C11:001)
• In this area, the rotor flux position and the speed are reconstructed by means of an
observer. The control is executed in a field-oriented way. Only the current required for
generating the necessary torque is injected.
Pole position identification (PLI)
• For controlling a permanent-magnet synchronous motor, the pole position - the angle
between the motor phase U and the field axis of the rotor - must be known.
• In case of a drive at standstill, the inverter enable is directly followed by the "pole position
identification (PLI)" which identifies the initial pole position.
Flying restart circuit
• From firmware version 4 onwards, a flying restart circuit for the synchronous motor up to
speeds lower than half the rated speed is supported.
• If the flying restart circuit shall be used, set the start method "Flying restart circuit [2]" in
0x2838:001 (P203.01). More settings are not required for the flying restart circuit at sen-
sorless control of a synchronous motor.
ity mode [-2]":
accordingly.
accordingly.
178
Motor control
SL-PSM parameters
The parameters for this motor control type are calculated and set automatically while optimis-
ing the control loops. 4Optimisation of the control loops ^ 193
0x2C03:001 Back EMF constant Voltage induced by the motor (rotor voltage / 1000 rpm).
(P352.01) (BEMF constant)
0.0 ... [41.8] ... 100000.0 V/1000rpm
0x2C11:001 High speed range: Lower limit Definition of the lower limit of the high speed range.
5 ... [30] ... 100 % • The lower limit has a permanent hysteresis of 5 %.
0x2C11:002 High speed range: Tracking controller gain Gain factor for tracking the rotor position in the motor model.
0 ... [200] ... 65535 %
0x2C11:003 High speed range: Tracking controller reset time Reset time for tracking the rotor position in the motor model.
0.00 ... [6.00] ... 655.35 ms
0x2C11:004 High speed range: Tracking controller decouple time Temporal hysteresis for the switching back and forth from the open-loop
0.0 ... [200.0] ... 6553.5 ms controlled to the closed-loop controlled operation.
0x2C12:001 SM low speed range: Acceleration current R.m.s. current value for acceleration processes in the lower velocity
5 ... [70] ... 400 % range.
• From version 02.00 • 100 % ≡ rated motor current 0x6075 (P323.00)
• In the lower speed range and during the acceleration phase, the cur-
rent setpoints of 0x2C12:001 and 0x2C12:002 are added and injected
to the motor.
0x2C12:002 SM low speed range: Standstill current R.m.s. current value for processes without acceleration (for instance
5 ... [30] ... 400 % standstill or constant setpoint speed) in the lower velocity range.
• From version 02.00 • 100 % ≡ rated motor current 0x6075 (P323.00)
• In the lower speed range and during the acceleration phase, the cur-
rent setpoints of 0x2C12:001 and 0x2C12:002 are added and injected
to the motor.
Note!
In case of a "100 %" setting and at standstill, a motor current flows, the
r.m.s. value of which is square root of 2 higher than the rated motor cur-
rent. The reason for this is that at standstill a DC current is injected into
the synchronous motor and not an AC current. But as soon as the motor
rotates, the correct rated motor current flows.
input 1.
input 2.
work.
179
Motor control

log input 1.
log input 2.
network.
ted.
nous motor.
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [250.0] ... 3276.7 % • 100 % ≡ Motor rated torque 0x6076 (P325.00)
0x60E1 Negative torque limit Negative torque limit source for speed control with torque limitation.
Next steps
180
Motor control
8.2.5.1 Stall monitoring

The stalling monitoring for the sensorless control for synchronous motors (SL-PSM) switches
off the drive if the motor is about to "stall". A possible cause may be an overload of the motor.
Preconditions
The stalling monitoring only works in the controlled area and if the motor is not operated in
the field weakening range.
Details
In order to detect the motor stalling, the cosine phi is used.
Example:
• For the cosine phi, the value "0.9" is set in 0x2C01:008 (P320.08) according to the data
given on the motor nameplate.
• The limit value for stalling monitoring is set in 0x2C11:006 to "80 %".
• Stalling monitoring is triggered if the current cosine phi is lower than 0.72 (80 % of 0.9).
If stalling monitoring is triggered, the "Trouble" error response takes place. If

the operating mode "MS: Velocity mode [-2]" is set in 0x6060 (P301.00), the
motor automatically restarts if the trouble does not exist anymore.

0x2C11:006 High speed range: Stall monitoring limit The stall monitoring limit refers to the cosine phi of the motor in per-
0 ... [50] ... 65535 % cent.
ted.
181
Motor control
Optimisation of motor control
8.3 Optimisation of motor control

The inverter provides different functions by means of which the drive behaviour can be fur-
ther optimised.
Function Motor control type
VFC open VFC closed SC-ASM SL-PSM SLVC
loop loop
V/f voltage boost ^ 183 l l
The parameterisable voltage boost makes it possible to improve the
starting performance for applications requiring a high starting tor-
que.
Skip frequencies ^ 184 l l l l l
By means of the three parameterisable skip frequencies, critical fre-
quencies can be suppressed which lead to mechanical resonances in
the system.
Optimising the stalling behaviour ^ 186 l l
For special motors which enable an operation in the field weakening
range, the behaviour in the field weakening range can be adapted to
the motor.
Slip compensation ^ 188 l
In case of a load, the speed of an asynchronous motor decreases.
This load-dependent speed drop is called slip. The slip compensation
serves to counteract the load-dependent speed loss.
Oscillation damping ^ 190 l l
The oscillation damping serves to reduce the oscillations during no-
load operation which are caused by energy oscillating between the
mechanical system (mass inertia) and the electrical system (DC bus).
l
For controlling a permanent-magnet synchronous motor, the pole
position - the angle between the motor phase U and the field axis of
the rotor - must be known. This function serves to detect the pole
position for the currently activated motor encoder.
VFC open loop = V/f characteristic control
VFC closed loop = V/f characteristic control with speed feedback
SC-ASM = servo control for asynchronous motor
SL-PSM = sensorless control for synchronous motor
SLVC = sensorless vector control
182
Motor control
V/f voltage boost
8.3.1 V/f voltage boost

The parameterisable voltage boost makes it possible to improve the starting performance for
applications requiring a high starting torque.
Preconditions
The function is only effective in the following motor control types:
• V/f characteristic control (VFC open loop)
• V/f characteristic control (VFC closed loop)
Details
• In 0x2B12:001 (P316.01), a permanent voltage boost can be set. ①
• In 0x2B12:002 (P316.02), an additional voltage boost can be set for acceleration processes
only. ②
• Reference for the percentage setting of the voltage boost is the base voltage 0x2B01:001
(P303.01).
[%]
0x2540:001
0x2B01:001 100
0x2B12:002
0x2B12:001
0
0 0x2B01:002 [Hz]
0x2B12:001 0x2B01:002 0x2916
2 2

0x2B12:001 Fixed boost Fixed (constant) voltage boost for V/f characteristic control without feed-
(P316.01) (Fixed V/f boost) back.
0.0 ... [2.5]* ... 20.0 % • 100 % ≡ V/f base voltage 0x2B01:001 (P303.01)
* Default setting depending on the size. • For the purpose of optimising the starting performance for applica-
tions requiring a high starting torque.
0x2B12:002 V/f voltage boost: Boost at acceleration Additional voltage boost for V/f characteristic control without feedback.
(P316.02) (V/f boosts: Dynam. V/f boost) • 100 % ≡ V/f base voltage 0x2B01:001 (P303.01)
0.0 ... [0.0] ... 20.0 % • This voltage boost is only active while the motor is accelerated. It then
acts in addition to the fixed voltage boost set in 0x2B12:001
(P316.01).
183
Motor control
Skip frequencies
8.3.2 Skip frequencies

By means of the three parameterisable skip frequencies, critical frequencies can be sup-
pressed which lead to mechanical resonances in the system.
Details
A blocking zone is active as soon as the frequency for this blocking zone is set to value unequal
to "0 Hz".
• The set frequency defines the centre of the range to be masked out. ①
• The set bandwidth defines its total size. ②
Output
[Hz]
[Hz]
Input
Example: For a blocking zone, the frequency is set to 20 Hz and the bandwidth to 10 Hz.
These settings mask out the range from 15 Hz to 25 Hz.
Notes:
• Skip frequencies are absolute values. With the setting "20 Hz", at the same time also the
skip frequency "-20 Hz" is defined.
• The inverter accelerates/decelerates the motor by the range to be masked out. A continu-
ous operation within this range is not possible.
• A blocking zone is not active if its bandwidth is set to "0 Hz".
Adjacent and overlapping ranges:
• Example on the left: If the ranges are closely spaced, the ranges are passed through as
shown.
• Example on the right: If the ranges overlap, the lowest and highest value form a new
range. In the status display 0x291F:016, both ranges are shown as active.
Output Output
[Hz] [Hz]
[Hz] [Hz]
Input Input
184
Motor control
Skip frequencies
Valid and invalid ranges:

• Example on the left: Skip frequency = 5 Hz, bandwidth = 10 Hz
à Valid range (starts at ≥ 0)
• Example on the right: Skip frequency = 4 Hz, bandwidth = 10 Hz
à Invalid range (starts at < 0); is thus ignored.
Output Output
[Hz] [Hz]
[Hz] [Hz]
Input Input

0x291F:001 Skip frequencies: Skip frequency 1 Centre of frequency range 1 which is to be skipped.
(P317.01) (Skip frequencies: Skip frequency 1)
0.0 ... [0.0] ... 599.0 Hz
0x291F:002 Skip frequencies: Skip bandwidth 1 Size of frequency range 1 which is to be skipped.
(P317.02) (Skip frequencies: Skip bandwidth 1)
0.0 ... [0.0] ... 10.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 10.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 10.0 Hz
0x291F:016 Skip frequencies: Status Bit-coded status display of the skip frequencies.
• Read only
Bit 0 Blocking zone 1 active
Bit 4 Frequency above blocking zone 1
Bit 8 Blocking zone 1 invalid
0x291F:032 Skip frequencies: Input frequency Display of the skip filter input frequency.
• Read only: x.xx Hz
0x291F:033 Skip frequencies: Output frequency Display of the skip filter output frequency.
• Read only: x.xx Hz
185
Motor control
Optimising the stalling behaviour
8.3.3 Optimising the stalling behaviour

If the motor is driven with frequencies above the rated motor frequency, the operating point
is shifted to the "field weakening range". In this range, the motor voltage does not increase
proportionately to the output frequency anymore. As a consequence, the inverter automati-
cally reduces the maximum current since the full torque is not available anymore at these fre-
quencies.
For special motors which enable an operation in the field weakening range, the behaviour in
the field weakening range can be adapted to the motor with 0x2B0C (P319.00).
DANGER!
Danger by incorrect parameterisation.
Possible consequences: damage to material assets and injury to persons
▶ Only change the default setting (0 Hz) in 0x2B0C (P319.00) after consulting the motor man-
ufacturer!
▶ Recommendation: Maintain default setting (0 Hz).
Preconditions
186
Motor control
Optimising the stalling behaviour
Details
The operating range of an asynchronous motor consists of the voltage range ① and the field
weakening range. The field weakening range again is divided into two ranges:
• In the first range ②, the power can be kept constant without the motor stalling.
• The second field weakening range ③ is characterised by the fact that the maximum per-
missible stator current is decreased to prevent the motor from stalling .
Speed/torque curve of the asynchronous motor with two field weakening ranges
M = Mmax
1.0
0.9
M = Mmax * n1/n
0.8
0.7
0.6
M2
0.5
0.4
M = M2 * n2²/n²
0.3
0.2
0.1
0
2.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.1
3.2
3.3
3.4
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
n1 n2
The override point (n2, M2) can be influenced with 0x2B0C (P319.00).
0x2B0C (P319.00) > 0 Hz:
• The maximum current characteristic is shifted to higher field frequencies by the frequency
entered.
• The maximum permissible current and the maximum torque increase in the field weaken-
ing range.
• The risk of motor stalling increases.
0x2B0C (P319.00) < 0 Hz:
• The maximum current characteristic is shifted to lower field frequencies by the frequency
entered.
• The maximum permissible current and the maximum torque are reduced in the field weak-
ening range.
• The risk of motor stalling is reduced.

0x2B0C Override field weakening Offset of the override point for field weakening.
(P319.00) (Field weak thold)
-599.0 ... [0.0] ... 599.0 Hz
0x2B01:002 V/f shape data: Base frequency Base voltage and base frequency define the V/f ratio and thus the gradi-
(P303.02) (V/f shape data: Base frequency) ent of the V/f characteristic.
Device for 50-Hz mains: 0 ... [50]* ... 1500 Hz • The V/f base voltage is usually set to the rated motor voltage
Device for 60-Hz mains: 0 ... [60]* ... 1500 Hz 0x2C01:007 (P320.07).
* Default setting depending on the size. • The V/f base frequency is usually set to the rated motor frequency
0x2C01:005 (P320.05).
187
Motor control
Slip compensation
8.3.4 Slip compensation

In case of a load, the speed of an asynchronous motor decreases. This load-dependent speed
drop is called slip. The slip compensation serves to counteract the load-dependent speed loss.
Preconditions
The function is only effective in the motor control type "V/f characteristic control (VFC open
loop)".
In order that the function can determine the rated slip correctly, the following parameters
must be set correctly:
• Rated speed
• Rated frequency
• Number of pole pairs (Automatically calculated from Rated speed and Rated frequency)
Details
The slip compensation increases or decreases the output frequency as a response to a load
change. Thus, the slip is counteracted and the speed is kept precisely.
Motor speed
Load
Output frequency
The rated slip required for the slip compensation is calculated by the inverter according to the
following formula:
Rated slip [%] = (1 - (rated motor speed [rpm] / (120 * rated motor frequency [Hz] / number of
poles))) * 100
Calculation example:
• Rated motor speed = 1750 rpm
• Rated motor frequency = 60 Hz
• Number of poles = 2 * Number of pole pairs = 2 * 2 = 4
• Rated slip = (1 - (1750 / (120 * 60 / 4))) * 100 = 2.77 %
The rated slip represents the reduction of the motor speed due to the motor load. At full
speed and full load, the motor given in the example would rotate with 1750 rpm, which
means 2.77 % below its synchronous speed of 1800 rpm. In order to compensate this speed
loss, the inverter increases the output frequency by the rated slip multiplied by the rated
motor frequency. In the example 2.77 % * 60 Hz = 1.66 Hz increase at full load.
In order to consider load changes, the influence of the rated slip on output frequency can be
adapted in 0x2B09:001 (P315.01). A setting of 100 % corresponds to the rated slip of the
machine in the nominal operating point.
With reference to the example above and a setpoint frequency of 60 Hz:
• If 0x2B09:001 (P315.01) = 100 %, the output frequency is = 61.66 Hz
(60 Hz + 100 % * 1.66 Hz).
• If 0x2B09:001 (P315.01) = 50 %, the output frequency is = 60.83 Hz
(60 Hz + 50 % * 1.66 Hz).
Additionally, the filter time for the slip compensation can be adapted in 0x2B09:002 (P315.02)
if required. The preset filter time is adapted to typical motors. If full load or nearly full load
oscillations or instabilities occur, we recommend an increase of the filter time.
0x2B09:001 Slip compensation: Gain Adjustment in percent of the slip calculated.
(P315.01) (Slip compens.: Slip: gain) • For instance required for deviations of the real motor data from the
-200.00 ... [100.00] ... 200.00 % nameplate data.
• A setting of 100 % corresponds to the rated slip of the machine in the
nominal operating point.
0x2B09:002 Slip compensation: Filter time Filter time for the slip compensation.
(P315.02) (Slip compens.: Filter time) • The preset filter time is adapted to typical motors.
1 ... [100] ... 6000 ms
188
Motor control
Slip compensation

0x2C02:004 Slip frequency Display of the rated slip determined.
(P351.04) (Slip frequency)
0x2C01:001 Motor parameters: Number of pole pairs Display of the number of pole pairs calculated from the rated speed and
• Read only rated frequency.
0x2C01:004 Motor parameters: Rated speed General motor data.
(P320.04) (Motor parameters: Rated speed) Carry out settings as specified by motor nameplate data.
Device for 50-Hz mains: 50 ... [1450] ... 50000 rpm
Device for 60-Hz mains: 50 ... [1750] ... 50000 rpm Note!
0x2C01:005 Motor parameters: Rated frequency When you enter the motor nameplate data, take into account the phase
(P320.05) (Motor parameters: Rated frequency) connection implemented for the motor (star or delta connection). Only
Device for 50-Hz mains: 1.0 ... [50.0] ... 1000.0 Hz enter the data applying to the connection type selected.
189
Motor control
Oscillation damping
8.3.5 Oscillation damping

The oscillation damping serves to reduce the oscillations during no-load operation which are
caused by energy oscillating between the mechanical system (mass inertia) and the electrical
system (DC bus). Furthermore, the oscillation damping can also be used to compensate for
resonances.
Preconditions
Restrictions
Observe the following restrictions:
• Damping is possible only for constant oscillations at a steady-state operating point.
• Oscillations occurring sporadically cannot be damped.
• Oscillation damping is not suitable for oscillations occurring during dynamic processes
(e.g. accelerations or load changes).
• Oscillation damping is only active if the setpoint speed is greater than 10 rpm and the DC-
bus voltage exceeds a value of 100 V.
Details
The determination of the oscillation is based on the active current. In order to obtain the
alternating component of the active current, this current is differentiated. This signal is then
passed through a PT1 filter.
Identification of the oscillation
Before the oscillation damping function can be parameterised, the oscillation has to be identi-
fied. One way to do this is to examine the motor current while oscillation damping is switched
off (gain = 0 %). At steady-state operation, a constant current flows. If the drive oscillates,
these oscillations are also visible on the motor current. It is therefore possible to determine
the frequency and the amplitude of the oscillation from the alternating component of the
motor current. In the following, this alternating component is referred to as "current oscilla-
tion".
Parameter setting
The gain of the oscillation signal is to be set according to the following equation:
0x2B0A:001 (P318.01) = current amplitude * 100 % / (Ö2 * maximum device current)
The default time constant of the PT1 filter should be sufficient for most applications. If
required, it is only possible to adapt the time constant via »EASY Starter«. Generally, the time
constant must be set so that the oscillation can be dampened, but that higher-frequency com-
ponents are filtered from the signal. The time constant is determined from the reciprocal
value of the double current oscillation frequency:
0x2B0A:002 (P318.02) = 1 / (2 * oscillation frequency)
0x2B0A:001 Gain Gain of the oscillation signal.
(P318.01) (Gain) • With the setting 0, oscillation damping is deactivated.
-400 ... [150] ... 400 %
0x2B0A:002 Filter time Time constant of the PT1 filter.
(P318.02) (Filter time)
1 ... [30] ... 600 ms
0x2DDF:002 Axis information: Maximum current Display of the maximum current of the axis.
• Read only: x.xx A
190
Motor control
Pole position identification without movement
8.3.6 Pole position identification without movement

If a permanent-magnet synchronous motor is driven by the inverter, a "pole position identifi-
cation (PLI)" is required for an optimum and jerk-free starting torque. In the default setting, a
pole position identification is executed after each inverter enable. If the pole position identifi-
cation is deactivated, the motor may briefly rotate backwards before starting or stall if the
starting torque is too high.
NOTICE
With an incorrect parameter setting and dimensioning of the inverter, the maximum permissi-
ble motor current may be exceeded during the pole position identification.
Possible consequence: irreversible damage of the motor.
▶ Set the motor data correctly. 4Motor data ^ 164
▶ Only use an inverter that is performance-matched to the motor.
Preconditions
• The wiring of the three motor phases and the motor encoder must be carried out accord-
ing to the specifications from the mounting instructions.
• The inverter is ready for operation (no fault active).
• For the pole position identification (PPI) without movement, the motor must be at stand-
still. In order that the pole position identification is only executed at standstill, set the start
method "Flying restart circuit [2]" in 0x2838:001 (P203.01).
Details
This function was developed for a wide range of motor characteristics. In case of some motor
types, the identified pole position may differ considerably from the real pole position, so that
a considerable loss in torque and greater motor losses may occur.
The pole position identification can be executed automatically after every inverter enable if
"After each enable [2]" is selected in 0x2C63:001. Further settings are not required for this
function.
Process of the pole position identification:
1. After inverter enable, a defined pulse pattern is output that provides currents up to
approx. maximum motor current. The respective currents are measured. Based on these
currents, the field distribution can be detected so that the pole position can be calculated.
This process lasts maximally 1.8 seconds.
2. After the pole position identification has been carried out successfully, the motor follows
the setpoint selection.
During the pole position identification:
• The current test pulses cause audible engine noises that may be increased by the machine
mechanics depending on the mechanical coupling!
• The function can be aborted by the inverter disable any time without changing the set-
tings. In this case, you have to carry out the pole position identification again.
• If the function is aborted by itself, the motor features may not be suitable for this function.
If an error occurs during the pole position identification,
• the procedure is stopped without the settings being changed.
• the response set in 0x2C60 is effected.

0x2C60 PPI monitoring: Reaction Selection of the response triggered by the occurrence of an error during
• From version 04.00 the pole position identification (PLI).
• For further possible settings, see parameter Associated error code:
0x2D45:001 (P310.01). ^ 223
• 28961 | 0x7121 - Pole position identification fault
3 Fault
191
Motor control
Pole position identification without movement

0x2C63:001 PPI without movement: Execution Starting performance (without or with pole position identification before
• Setting can only be changed if the inverter is inhibi- the start).
ted.
0 Deactivated Do not execute a pole position identification.
2 After each enable Execute a pole position identification after every inverter enable.
192
Motor control
8.4 Optimisation of the control loops

If there is a need to improve the total power of the system, different options are available:
a) Select motor from motor catalogue
b) Tuning of the motor and the speed controller
c) Automatic motor identification (energized)
d) Automatic motor calibration (non-energized)
Simply select an option that best suits your environment and requirements!
Before the different options are described in detail, first make the decision which operator
interface you want to use to execute the optimisation:
Option 1: Performing optimisation with engineering tool ^ 194
Option 2: Performing optimisation with keypad ^ 195
193
Motor control
Performing optimisation with engineering tool

The following flow diagram shows the optimisation process with an engineering tool
(e. g. »EASY Starter«):
Start
Yes Lenze motor No

connected?
Set manually:
• Motor data (e.g. according to data
a) on the motor nameplate)
Yes Engineering tool No
Select motor from motor • Motor control type
available?
catalogue • Mechanical load and its coupling
to the motor
• Filter time for speed feedback
Set manually:
Adaptation of the
No Yes • Mechanical load and its coupling
speed controller to the motor
required? • Filter time for speed feedback
Identification Identification
No Yes Yes No
(energized) (energized)
possible? possible?
b) c) d)
Tuning of the motor Automatic motor identification Automatic motor calibration
and the speed controller (energized) (non-energized)
End
a) No matter which option suits you best, first the relevant motor data must be set. By selecting the motor from the motor catalogue, you
benefit from very accurate Motor equivalent circuit diagram data.
4Motor selection from motor catalogue ^ 197
b) If you already have an optimised system, but the load adjustment has changed, it makes sense to just re-initialise the speed controller.
4Tuning of the motor and the speed controller ^ 198
c) If the application enables you to energise the system during the optimisation procedure, carry out an automatic identification. This proce-
dure results in the best possible parameter settings.
4Automatic motor identification (energized) ^ 199
d) If the application does not enable you to energise the system during the optimisation procedure, carry out an automatic calibration.
4Automatic motor calibration (non-energized) ^ 200
194
Motor control
Performing optimisation with keypad

Since there is no access with the keypad to the motor catalogue, first the motor data must be
set manually with the keypad according to the manufacturer data/motor data sheet. 4Man-
ual setting of the motor data ^ 164
The following flow diagram shows the optimisation process with the keypad:
Start
Yes Lenze motor No

connected?
Set manually:
• Motor data (e.g. according to data on
the motor nameplate)
Engineering tool No
• Motor control type
available?
• Mechanical load and its coupling
to the motor
• Filter time for speed feedback
Identification
Yes No
(energized)
possible?
c) d)
Automatic motor identification Automatic motor calibration
(energized) (non-energized)
End
c) If the application enables you to energise the system during the optimisation procedure, carry out an automatic identification. This proce-
dure results in the best possible parameter settings.
d) If the application does not enable you to energise the system during the optimisation procedure, carry out an automatic calibration.
195
Motor control
Options for optimized motor tuning
8.4.1 Options for optimized motor tuning

The option to be selected depends on the respective application. Depending on the selected
option, different procedures become active and thus different parameter groups are influ-
enced:
• Rated motor data
• Inverter characteristic
• Motor equivalent circuit diagram data
• Motor controller settings
• Speed controller settings
For further details, see the following subchapters:
• Motor selection from motor catalogue ^ 197
• Tuning of the motor and the speed controller ^ 198
• Automatic motor identification (energized) ^ 199
• Automatic motor calibration (non-energized) ^ 200
196
Motor control
8.4.1.1 Motor selection from motor catalogue

The following describes how to optimise your drive system by selecting a Lenze motor from
the motor catalogue. Several steps are started invisibly in the background to load/calculate
the settings for the relevant parameters.
Preconditions
• Access to a Lenze engineering tool (e. g. »EASY Starter«).
• Optimisation is possible online or offline (with or without connected motor).
Required steps
1. Open the Lenze engineering tool that provides for the functionality of a "Lenze motor cata-
logue".
2. Click the Select motor... button. In case of the »EASY Starter«, you find the Select motor...
button on the "settings". tab.
3. Select the used motor in the "Select motor" dialog:
• By entering filter criteria, you can restrict the selection.

• Name (e. g. "MDSKxxx"), rated power and C86 value can be found on the motor name-
plate.
4. Click the OK button to start the optimisation.
Optimisation process
As soon as the optimisation has been started, the following steps are initiated by the engi-
neering tool:
1. The rated motor data are loaded from the motor catalogue.
2. The motor equivalent circuit diagram data are loaded from the motor catalogue.
3. The motor controller settings are calculated based on the previously loaded data.
4. The speed controller settings are automatically calculated based on the previously loaded
data.
Notes:
• The data involved in this optimisation are provided be the motor catalogue alone. Further
user data is not required.
• The inverter characteristic is not changed by this optimisation.

197
Motor control
8.4.1.2 Tuning of the motor and the speed controller

The following describes in general how to optimise the speed controller. This may be required
if some parameters have on the load side of the drive system have changed or have not been
set yet, such as:
• Motor moment of inertia
• Load moment of inertia
• Type of coupling between moment of inertia of the motor and that of the load
Preconditions
• All rated motor data are known and set in the inverter, either by selecting the motor from
the motor catalogue or manually.
4Manual setting of the motor data ^ 164
• All further options for optimisation have been executed before if possible.
• Optimisation is possible online or offline (with or without connected motor).
Required steps
Adapt the following parameters to your drive system using the engineering tool. Since this
only changes load-dependent data, the other parameter groups must not be calculated again.
0x2910:001 Motor moment of inertia Setting of the moment of inertia of the motor.
(P335.01) (Motor inertia)
0.00 ... [3.70]* ... 20000000.00 kg cm²
0x2910:002 Load moment of inertia Setting of the moment of inertia of the load.
(P335.02) (Load inertia) • Always adjust the setting to the current load, otherwise the optimisa-
0.00 ... [3.70]* ... 20000000.00 kg cm² tion process cannot be executed successfully.
0x2910:003 Coupling Selection of the type of coupling between the moment of inertia of the
0 Stiff motor and that of the load.
1 Elastic
2 With backlash
0x2904 Actual speed filter time Filter time for the actual speed value.
0.0 ... [2.0] ... 50.0 ms
For further details on the speed controller, see chapter "Speed controller". ^ 211
198
Motor control
8.4.1.3 Automatic motor identification (energized)

The automatic identification of the motor results in the best possible parameter settings. If
the application enables you to energise the system during the optimisation, carry out this
optimisation.
Preconditions
• In 0x2C00 (P300.00), the motor control type required and suitable for the motor is selec-
ted.
• In 0x6060 (P301.00), the operating mode "MS: Velocity mode [-2]" or "CiA: Velocity mode
[2]" is set.
• DC-bus voltage is available.
• The inverter is error-free and in the "Ready to switch on" or "Switched on" device state.
• The motor is stopped (no start enable).
• No inverter disable is active.
• No quick stop is active.
• No other axis command is active anymore.
General information on the identification
• The automatic identification can take from some seconds to minutes.
• The procedure can be aborted any time by inverter disable or cancellation of the start ena-
ble without settings being changed.
• During and after the procedure, the LED "RDY" (blue) is permanently on.
• After completing, a renewed start command is required to start the motor.
Required steps
Optimisation with engineering tool (e. g. »EASY Starter«):
1. Go to the "Settings" tab and navigate to the parameterisation dialog "Advanced motor set-
ting".
2. Click the Energized button under "motor calibration".
3. Follow the instructions of the engineering tool.
Optimisation with keypad:

1. Request automatic identification: Set 0x2822:004 (P327.04) = "1".
2. Issue the start command to start the procedure.

0x2822:004 Axis commands: Identify motor data (energized) 1 = start automatic identification of the motor data.
(P327.04) (Axis commands: Identify mot.) • Inverter characteristics, motor equivalent circuit diagram data and
0 ... [0] ... 1 controller settings are identified and set automatically.
• During the procedure, the motor is energised!
As soon as the process has been started, the following steps are initiated:
1. The inverter characteristic is automatically identified by the inverter.
2. The motor equivalent circuit diagram data are automatically identified by the inverter.
3. The motor controller settings are automatically calculated.
4. The speed controller settings are automatically calculated.
199
Motor control
Inverter Characteristics
8.4.1.4 Automatic motor calibration (non-energized)

If the application does not enable you to energise the system during the optimisation, carry
out this optimisation.
Preconditions
• In 0x2C00 (P300.00), the motor control type required and suitable for the motor is selec-
ted.
• The inverter is error-free and in the "Ready to switch on" or "Switched on" device state.
• The inverter is disabled or the motor is stopped (no start enable).
• No other axis command is active anymore.
Required steps
Optimisation with engineering tool (e. g. »EASY Starter«):
1. Go to the "Settings" tab and navigate to the parameterisation dialog "Advanced motor set-
ting".
2. Click the Non-energized button under "motor calibration".
3. Follow the instructions of the engineering tool.
Optimisation with keypad:
• 0x2822:005 (P327.05) Set = "1" to start the process.

0x2822:005 Axis commands: Calibrate motor data (non-energized) 1 = start automatic calibration of the motor data.
(P327.05) (Axis commands: Calibrate mot.) • A default inverter characteristic is loaded.
0 ... [0] ... 1 • the motor equivalent circuit diagram data and controller settings are
calculated on the basis of the currently set rated motor data.
• The motor is not energised.
As soon as the process has been started, the following steps are initiated:
1. A default inverter characteristic is loaded.
2. The motor equivalent circuit diagram data is calculated based on the currently set rated
motor data.
3. The motor controller settings are automatically calculated.
4. The speed controller settings are automatically calculated.
8.4.2 Inverter Characteristics

The inverter characteristic is automatically set if one of the following optimisations is carried
out:
The settings made can be seen if required, but should not be changed. A wrong
setting may influence the control negatively!

0x2947:001 ... Inverter characteristic: Value y1 ... Value y17 The inverter characteristic (consisting of 17 values) is calculated and set
0x2947:017 0.00 ... [0.00]* ... 20.00 V during the automatic identification of the motor data. If only an auto-
* Default setting depending on the size. matic calibration of the motor data is carried out, a default inverter char-
acteristic is loaded instead.
Note!
Changing these values is not recommended by the manufacturer.
200
Motor control
Motor equivalent circuit diagram data
8.4.3 Motor equivalent circuit diagram data

The motor equivalent circuit diagram data are automatically set if one of the following optimi-
sations is carried out:
0x2C01:002 Motor parameters: Stator resistance General motor data.
0.0000 ... [10.1565]* ... 125.0000 Ω Carry out settings as specified by manufacturer data/motor data sheet.
0x2C01:003 Motor parameters: Stator leakage inductance
0.000 ... [23.566]* ... 500.000 mH
0x2C02:001 Motor parameter (ASM): Rotor resistance Equivalent circuit data of the motor required for the motor model.
(P351.01) (ASM motor par.: Rotor resistance)
0.0000 ... [8.8944]* ... 200.0000 Ω
0x2C02:002 Motor parameter (ASM): Mutual inductance
(P351.02) (ASM motor par.: Mutual induct.)
0.0 ... [381.9]* ... 50000.0 mH
0x2C02:003 Motor parameter (ASM): Magnetising current
(P351.03) (ASM motor par.: Magn. current)
0.00 ... [0.96]* ... 500.00 A
201
Motor control
Motor controller settings
8.4.4 Motor controller settings

After the motor settings have been made, the different control loops must be set. For a quick
commissioning, the calculations and settings are made automatically if one of the following
optimisations is carried out:
Details
The following controllers have an influence in the respective motor control type:
Controller Motor control type
VFC open VFC closed SC-ASM SL-PSM SLVC
loop loop
Current controller ^ 202 l l l l l
Field controller ^ 203 l l
Field weakening controller ^ 203 l l
Imax controller ^ 204 l l
Flying restart controller ^ 205 l l l
SLVC controller ^ 205 l
Slip controller ^ 210 l
VFC open loop = V/f characteristic control
VFC closed loop = V/f characteristic control with speed feedback
SC-ASM = servo control for asynchronous motor
SL-PSM = sensorless control for synchronous motor
SLVC = sensorless vector control
8.4.4.1 Current controller

For a quick commissioning, the calculations and settings are made automatically during the
optimisation.
For typical applications, a manual adaptation of the parameters of the current

controller is not recommended. A wrong setting may have a negative effect on
the control. For special applications, contact the manufacturer before adapting
the parameters.
Preconditions
The current controller parameters are calculated based on the stator resistance and leakage
inductance. Thus, the following parameters must be set correctly, either via optimisation or
manually (according to manufacturer-data/motor data sheet):
• 0x2C01:002: Stator resistance
• 0x2C01:003: Stator leakage inductance
4Motor equivalent circuit diagram data ^ 201
0x2942:001 Current controller parameters: Gain Gain factor Vp of the current controller.
(P334.01) (Current contr.: Gain)
0.00 ... [42.55]* ... 750.00 V/A
0x2942:002 Current controller parameters: Reset time Reset time Ti of the current controller.
(P334.02) (Current contr.: Reset time)
0.01 ... [4.50]* ... 2000.00 ms
202
Motor control
8.4.4.2 Field controller

optimisation.
Preconditions
The field controller is only effective in the following motor control types:
• Servo control (SC ASM)
• Sensorless vector control (SLVC)

0x29C0:001 Gain Gain factor Vp of the field controller.
0.00 ... [59.68]* ... 50000.00 A/Vs
0x29C0:002 Reset time Reset time Tn of the field controller.
1.0 ... [45.5]* ... 6000.0 ms
8.4.4.3 Field weakening controller

optimisation.
Preconditions
The field weakening controller is only effective in the following motor control types:

0x29E0:001 Field weakening controller settings: Gain Gain factor Vp of the field weakening controller.
0.000 ... [0.000]* ... 2000000.000 Vs/V
0x29E0:002 Field weakening controller settings: Reset time Reset time Tn of the field weakening controller.
1.0 ... [1478.3]* ... 240000.0 ms
0x29E1 Field weakening controller Field limitation Field limitation of the field weakening controller.
5.00 ... [100.00] ... 100.00 %
8.4.4.4 Field weakening controller (advanced)

optimisation.
Preconditions
The field weakening controller is only effective in the following motor control types:

0x29E2 DC-bus filter time Filter time for the current DC-bus voltage.
1.0 ... [25.0] ... 1000.0 ms
0x29E3 Motor voltage filter time Filter time for the current motor voltage.
1.0 ... [25.0] ... 1000.0 ms
0x29E4 Voltage reserve range Voltage reserve range at the transition point to the field weakening.
(P354.00) (Voltage reserve) • Only relevant if 0x2C00 (P300.00) is set = "Servo control (SC ASM) [2]".
1 ... [5] ... 20 %
203
Motor control
8.4.4.5 Imax controller

optimisation.
For typical applications, a manual adaptation of the parameters of the Imax con-
troller is not recommended. A wrong setting may have a negative effect on the
control. For special applications, contact the manufacturer before adapting the
parameters.
Preconditions
The Imax controller is only effective in the following motor control types:
Details
The Imax controller becomes active in the V/f operation if the actual motor current exceeds
the maximum overload current "Max current". The Imax controller changes the output fre-
quency to counteract the exceedance.
The maximum overload current "Max current" is defined in 0x6073 (P324.00) in percent with
regard to the rated motor current "Motor rated current" 0x6075 (P323.00).
If the maximum overload current is exceeded:
• During operation in motor mode, the Imax controller reduces the output frequency.
• During operation in generator mode, the Imax controller increases the output frequency.
Setting notes
If oscillations occur at the current limit during operation:
• Reduce gain of the Imax controller in 0x2B08:001 (P333.01).
• Increase reset time of the Imax controller in 0x2B08:002 (P333.02).
• Carry out the changes in small steps only (by 2 ... 3 % of the set value) until the oscillations
do not exist anymore.
If the Imax controller does not respond fast enough after the maximum current has been
exceeded:
• Increase gain of the Imax controller in 0x2B08:001 (P333.01).
• Reduce reset time of the Imax controller in 0x2B08:002 (P333.02).
• Carry out the changes in small steps only (by 2 ... 3 % of the set value) until the response
time is acceptable.

0x2822:019 Axis commands: Calculate Imax controller parameter 1 = start automatic calculation of the Imax controller parameters.
0 ... [0] ... 1 • Gain 0x2B08:001 (P333.01) and reset time 0x2B08:002 (P333.02) of
the Imax controller are recalculated and set.
0x2B08:001 V/f Imax controller: Gain Gain factor Vp of the Imax controller.
(P333.01) (V/f Imax contr.: Gain)
0.000 ... [0.284]* ... 1000.000 Hz/A
0x2B08:002 V/f Imax controller: Reset time Reset time Ti of the Imax controller.
(P333.02) (V/f Imax contr.: Reset time)
1.0 ... [2.3]* ... 2000.0 ms
204
Motor control
8.4.4.6 Flying restart controller

optimisation.
Preconditions
The flying restart controller is only effective in the following motor control types:
• Sensorless control (SL PSM)
Details
The following parameter is only relevant for the flying restart circuit if an asynchronous motor
is controlled. In case of a sensorless control of a synchronous motor (SL-PSM) the parameter
has no meaning.
0x2BA1:003 Flying restart circuit: Restart time Integration time for controlling the flying restart circuit.
(P718.03) (Flying restart: Restart time)
1 ... [5911]* ... 60000 ms
8.4.4.7 SLVC controller

optimisation.
Preconditions
The SLVC controller is only effective in the motor control type "Sensorless vector control
(SLVC)".
0x2B40:001 Gain Gain of the SLVC-Q controller.
0.0000 ... [0.2686]* ... 1000.0000 Hz/A
0x2B40:002 Reset time Reset time of the SLVC-Q controller.
1.0 ... [2.3]* ... 2000.0 ms
205
Motor control
8.4.4.8 Torque control w/ freq. limit

In general, the inverter is operated in a mode that controls the motor frequency. Alternatively,
the inverter can be configured in such a way that it controls a motor torque within a defined
frequency range.
Typical applications for such a torque control with frequency limitation are winders and pack-
aging machines.
Preconditions
A torque control is only possible in the motor control type 0x2C00 (P300.00) = "Sensorless
vector control (SLVC) [4]" or "Servo control (SC ASM) [2]". Thus, first this motor control type
must be configured. For details see the following chapter:
After configuring the sensorless vector control (SLVC), one of the following optimisations must
be carried out for a torque control as precise as possible:
Details
Setpoint selection:
• Instead of a frequency setpoint in [Hz], a torque setpoint has to be defined for the torque
control. This can be either a value in percent with reference to the rated motor torque set
in 0x6076 (P325.00) or a value in [Nm] if defined via the network.
• The standard setpoint source for the torque control can be selected in 0x2860:003
(P201.03) (default setting: Analog input 1).
• Corresponding functions make it possible to change over to other setpoint sources during
operation.4Setpoint change-over ^ 546
Limitation of the torque range:
• The positive and negative torque limit can be set independently of each other.
Frequency limitation / speed limitation:
• The adjustable speed limits serve to protect against very high speeds. High speeds can
occur if a pure torque is selected without a counter torque being available (load-free
machine).
• The torque control controls the assigned torque setpoint within the set speed limits. The
actual speed results from the load conditions of the application. If the actual speed rea-
ches the set speed limits, it is kept on the respective limit value. This protective function is
also called "speed limitation".
• The lower and upper speed limit for speed limitation can be set independently of each
other. They can also be defined via analog inputs or network.
In the following, the steps required for configuring the torque control with frequency limita-
tion are described.
206
Motor control
Parameterisation required
1. Set the operating mode "MS: Torque mode [-1]" in 0x6060 (P301.00).
2. Set the rated motor torque in 0x6076 (P325.00).
3. Set the permissible maximum torque in 0x6072 (P326.00).
• The setting is made in percent with reference to the rated motor torque set in 0x6076
(P325.00).
4. Select the source for the positive torque limit in 0x2949:001 (P337.01).
• Default setting: Maximum torque 0x6072 (P326.00)
• In case of selection "Analog Input 1 [2]": Set setting range in 0x2636:011 (P430.11) and
0x2636:012 (P430.12).
0x2637:012 (P431.12).
• In case of selection "Positive torque limit [4]": Set the positive torque limit in 0x60E0.
5. Select the source for the negative torque limit in 0x2949:002 (P337.02).
• Default setting: (-) Maximum torque 0x6072 (P326.00)
0x2636:012 (P430.12).
0x2637:012 (P431.12).
• In case of selection "Negative torque limit [4]": Set the negative torque limit in 0x60E1.
6. Select the source for the upper speed limit in 0x2946:003 (P340.03).
• Default setting: Maximum frequency 0x2916 (P211.00)
• In case of selection "Analog input 1 [2]": Set setting range in 0x2636:002 (P430.02) and
0x2636:003 (P430.03).
0x2637:003 (P431.03).
• In case of selection "Upper frequency limit [4]": Set the upper speed limit in [Hz] in
0x2946:005 (P340.05).
• In case of selection "Upper speed limit [5]": Set the upper speed limit in [vel. unit in
0x2946:001 (P340.01).
7. Select the source for the lower speed limit in 0x2946:004 (P340.04).
• Default setting: (-) Maximum frequency 0x2916 (P211.00)
0x2636:003 (P430.03).
0x2637:003 (P431.03).
• In case of selection "Lower frequency limit [4]": Set the lower speed limit in [Hz] in
0x2946:006 (P340.06).
• In case of selection "Lower speed limit [5]": Set the lower speed limit in [vel. unit in
0x2946:002 (P340.02).
8. Select the standard setpoint source for the torque control in 0x2860:003 (P201.03).
• Default setting: Analog input 1. In case of this selection, set the setting range in
0x2636:011 (P430.11) and 0x2636:012 (P430.12).
0x2637:012 (P431.12).
• Except for the network, the torque setpoint must be given in percent with regard to the
0x6076 (P325.00) rated motor torque.
• Via the network the torque setpoint is selected via the mappable parameter 0x400B:
008 (P592.08) in [Nm / 2scaling factor]. The scaling factor can be set in 0x400B:009
(P592.09).
9. Optionally: For a "smooth" change-over between different setpoint sources, adapt the
ramp time for the torque setpoint in 0x2948:002 (P336.02).
The torque control with frequency limitation is now active and the inverter responds to the
torque setpoint given by the selected setpoint source.
207
Motor control
• 0x2DD5: Torque setpoint
• 0x2949:003 (P337.03): Actual positive torque limit
• 0x2949:004 (P337.04): Actual negative torque limit
• 0x2946:007 (P340.07): Speed limitation: Actual upper speed limit
• 0x2946:008 (P340.08): Speed limitation: Actual lower speed limit

0x2912:001 Torque setpoint presets: Preset 1 Parameterisable torque setpoints (presets) for operating mode "MS: Tor-
(P452.01) (Torque presets: Torque preset 1) que mode".
0x2912:002 Torque setpoint presets: Preset 2
(P452.02) (Torque presets: Torque preset 2)
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
-400.0 ... [100.0] ... 400.0 %
0x2946:001 Speed limitation: Upper speed limit Upper limit for the speed limitation.
(P340.01) (Speed limitation: Upper limit) • Setting is only effective with the selection "Upper speed limit [5]" in
-480000 ... [0] ... 480000 vel. unit 0x2946:003 (P340.03).
0x2946:002 Speed limitation: Lower speed limit Lower limit for speed limitation.
(P340.02) (Speed limitation: Lower limit) • Setting is only effective with the selection "Lower speed limit [5]" in
-480000 ... [0] ... 480000 vel. unit 0x2946:004 (P340.04).
0x2946:003 Speed limitation: Upper speed limit source Selection of the source for the upper speed limit.
(P340.03) (Speed limitation: Uppspeed lim src)
0 Maximum frequency Upper speed limit = Maximum frequency 0x2916 (P211.00).
1 Fixed Limit 0.0 Hz Upper speed limit = 0.0 Hz.
2 Analog input 1 The upper speed limit is defined as analog signal via the analog input 1.
3 Analog input 2 The upper speed limit is defined as analog signal via the analog input 2.
4 Upper frequency limit Upper speed limit = setting in 0x2946:005 (P340.05) in [Hz].
5 Upper speed limit Upper speed limit = setting in 0x2946:001 (P340.01) in [vel. unit].
6 Network target velocity The upper speed limit is defined as process data object via network.
208
Motor control

0x2946:004 Speed limitation: Lower speed limit source Selection of the source for the lower speed limit.
(P340.04) (Speed limitation: Lowspeed lim src)
0 (-) Maximum frequency Lower speed limit = (-) Maximum frequency 0x2916 (P211.00).
1 Fixed Limit 0.0 Hz Lower speed limit = 0.0 Hz.
2 Analog input 1 The lower speed limit is defined as analog signal via the analog input 1.
3 Analog input 2 The lower speed limit is defined as analog signal via the analog input 2.
4 Lower frequency limit Lower speed limit = setting in 0x2946:006 (P340.06) in [Hz].
5 Lower speed limit Lower speed limit = setting in 0x2946:002 (P340.02) in [vel. unit].
6 Network target velocity The lower speed limit is defined as process data object via network.
0x2946:005 Speed limitation: Upper frequency limit Upper limit for the speed limitation.
(P340.05) (Speed limitation: Upper freq.limit) • Setting is only effective with the selection "Lower frequency limit [4]"
Device for 50-Hz mains: -1000.0 ... [50.0] ... 1000.0 Hz in 0x2946:004 (P340.04).
Device for 60-Hz mains: -1000.0 ... [60.0] ... 1000.0 Hz
0x2946:006 Speed limitation: Lower frequency limit Lower limit for speed limitation.
(P340.06) (Speed limitation: Lower freq.limit) • Setting is only effective with the selection "Lower frequency limit [4]"
Device for 50-Hz mains: -1000.0 ... [-50.0] ... in 0x2946:004 (P340.04).
1000.0 Hz
Device for 60-Hz mains: -1000.0 ... [-60.0] ...
1000.0 Hz
0x2946:007 Speed limitation: Actual upper speed limit Display of the current upper limit for speed limitation.
(P340.07) (Speed limitation: Act uppspeed lim)
0x2946:008 Speed limitation: Actual lower speed limit Display of the current lower limit for speed limitation.
(P340.08) (Speed limitation: Act lowspeed lim)
0x2948:002 ramp time Ramp time for operating mode "MS: Torque mode".
(P336.02) (Ramp time) • The torque setpoint is led via a ramp generator. This provides for a
0.0 ... [1.0] ... 60.0 s "smooth" switch-over between different setpoint sources.
• From version 03.00 • The set ramp time refers to the ramping up/down of 0 ... 100 % rated
motor torque 0x6076 (P325.00). At a lower setpoint selection, the
ramp time is reduced accordingly.
input 1.
input 2.
work.
209
Motor control

log input 1.
log input 2.
network.
0x2949:003 Actual positive torque limit Display of the current positive torque limit.
(P337.03) (Act postorqlim) • 100 % ≡ Motor rated torque 0x6076 (P325.00)
0x2949:004 Actual negative torque limit Display of the current negative torque limit.
(P337.04) (Act negtorqlim) • 100 % ≡ Motor rated torque 0x6076 (P325.00)
0x2DD5 Torque setpoint Display of the current torque setpoint.
• Read only: x.xx Nm
8.4.4.9 Slip controller

In case of V/f characteristic control with feedback (VFC closed loop), the slip is calculated and
injected by the slip controller. The default setting of the slip controller provides robustness
and moderate dynamics.
Preconditions
In 0x2C00 (P300.00), the motor control type "V/f characteristic control (VFC closed loop) [7]"
is selected and configured. For details, see chapter "V/f characteristic control (VFC closed
loop)". ^ 172
Details
• The slip controller is designed as PI controller.
• In order to improve the response to setpoint changes, the setpoint speed of setpoint fre-
quency is added as feedforward control value to the output (correcting variable) of the slip
controller.
• With the setting 0x2B14:003 = 0 Hz, the slip controller is deactivated.

0x2B14:001 Gain Gain of the slip controller.
0.000 ... [0.100] ... 65.535
0x2B14:002 Reset time Reset time of the slip controller.
0.0 ... [100.0] ... 6553.5 ms
0x2B14:003 Frequency limitation Frequency limitation of the slip controller.
0.00 ... [10.00] ... 100.00 Hz • With the setting of 0 Hz, the slip controller is deactivated.
210
Motor control
Speed controller
8.4.5 Speed controller

The speed controller is automatically set if one of the following optimisations is carried out:
For typical applications, a manual adaptation of the parameters of the speed

controller is not recommended. A wrong setting may have a negative effect on
the control. For special applications, contact the manufacturer before adapting
the parameters.
Details
The speed controller has an influence in the following motor control types:
The automatically calculated settings for the speed controller enable an optimal control
behaviour for typical load requirements:
• Minimum speed loss ①
• Minimum settling time ②
• Minimum overshoot ③
Load requirement
Speed setpoint
Speed
Setting notes
If oscillations occur during operation after high load requirements:
• Reduce gain of the speed controller in 0x2900:001 (P332.01).
• Increase reset time of the speed controller in 0x2900:002 (P332.02).
If the speed loss is too high or the settling time too long during operation with high load
requirements:
• Increase gain of the speed controller in 0x2900:001 (P332.01).
If the gain is set too high or the reset time too low, the speed control loop can
become unstable!

0x2900:001 Speed controller settings: Gain Gain factor Vp of the speed controller.
(P332.01) (Speed controller: Gain)
0.00000 ... [0.00193]* ... 20000.00000 Nm/rpm
0x2900:002 Speed controller settings: Reset time Reset time Ti of the speed controller.
(P332.02) (Speed controller: Reset time)
1.0 ... [80.0]* ... 6000.0 ms
0x2904 Actual speed filter time Filter time for the actual speed value.
0.0 ... [2.0] ... 50.0 ms
211
Motor control
Motor rotating direction
8.5 Motor rotating direction

In the default setting, both directions of motor rotation are enabled. Optionally, the direction
of rotation can be restricted so that only a clockwise rotation (CW) of the motor is possible.
Preconditions
Wiring of the motor phases must be carried out correctly with regard to the direction of
motor rotation.
In the documentation and the parameter selection texts, the following terms are used for the
direction of rotation:
• Forward = clockwise direction of rotation (CW)
• Reverse = counter-clockwise direction of rotation (CCW)
Details
The direction of rotation of the motor can be controlled in various ways:
• Via the function "Reverse rotational direction". Possible triggers to be selected for the
function "Reverse rotational direction" are available for example in 0x2631:013 (P400.13)
the digital inputs and internal status signals of the inverter.
• Via network. The definition of the direction of rotation is possible via the mappable Net-
WordIN1 data word or one of the predefined process data words.
• By specifying a bipolar setpoint value via analog input. Either via bipolar input range
(-10 ... +10 V) or configuration of a bipolar setting range.
If a reversal is not required, the direction of rotation can be restricted in 0x283A (P304.00) to
"Only clockwise (CW) [0]".
0x283A Limitation of rotation Optional restriction of the rotating direction.
(P304.00) (Limit. rotation)
0 Only clockwise (CW) The motor can only be rotated clockwise (CW). The transfer of negative
frequency and PID setpoints to the motor control is prevented.
• This function takes effect after the "Reverse rotational direction" func-
tion (0x2631:013 (P400.13)).
• Since this function only prevents negative setpoints, counter-clock-
wise rotation (CCW) is possible if the motor has been wired for this
rotating direction.
1 Both rotational directions Both directions of motor rotation are enabled.
0x2631:001 (P400.01). ^ 532
13 Digital input 3
212
Motor control
Switching frequency changeover
8.6 Switching frequency changeover

The output voltage of the inverter is a DC voltage with sine-coded pulse width modulation
(PWM). This corresponds by approximation to a AC voltage with variable frequency. The fre-
quency of the PWM pulses is adjustable and is called "switching frequency".
Details
The switching frequency has an impact on the smooth running performance and the noise
generation in the motor connected as well as on the power loss in the inverter. The lower the
switching frequency, the better the concentricity factor, the smaller the power loss and the
higher the noise generation.
0x2939 Switching frequency Selection of the inverter switching frequency.
(P305.00) (Switching freq.) Abbreviations used:
• "Variable": adaptation of the switching frequency as a function of the
1 4 kHz variable / drive-optimised current
2 8 kHz variable / drive-optimised • "Drive-opt.": drive-optimised modulation ("sine/delta modulation")
3 16 kHz variable / drive-optimised • "Fixed": fixed switching frequency
• "Min. Pv": additional reduction of power loss
5 2 kHz fixed / drive-optimised
11 4 kHz variable / min. Pv
15 2 kHz constant/min. Pv
21 8 kHz variable / drive-optimised / 4 kHz min.
22 16 kHz variable / drive-optimised / 4 kHz
min.
23 16 kHz variable / drive-optimised / 8 kHz
min.
31 8 kHz variable /min. Pv / 4 kHz min.
0x293A Actual switching frequency Display of the currently active switching frequency of the inverter.
(P115.00) (Actual sw. freq.) Example:
• Read only • "16 kHz variable / drive-optimised / 4 kHz min. [22]" is selected as
1 2 kHz drive-optimised switching frequency in 0x2939 (P305.00).
2 4 kHz drive-optimised • An increase of the ambient temperature and/or the load have caused
3 8 kHz drive-optimised a decrease of the switching frequency to 8 kHz. In this case, this
parameter indicates the selection "8 kHz power loss-optimised [7]".
4 16 kHz drive-optimised
213
Motor control
Motor protection
8.7 Motor protection

Many monitoring functions integrated in the inverter can detect errors and thus protect the
device or motor from being destroyed or overloaded.
• Motor overload monitoring (i²*t) ^ 215
• Motor temperature monitoring ^ 219
• Current limits ^ 220
• Overcurrent monitoring ^ 222
• Motor phase failure detection ^ 223
• Motor speed monitoring ^ 224
• Motor torque monitoring ^ 224
214
Motor control
Motor protection
Motor overload monitoring (i²*t)
8.7.1 Motor overload monitoring (i²*t)

This function monitors the thermal utilisation of the motor, taking the motor currents recor-
ded and a mathematical model as a basis.
DANGER!
Fire hazard by overheating of the motor.
▶ To achieve full motor protection, an additional temperature monitoring function with a sep-
arate evaluation must be installed.
▶ When actuating motors that are equipped with PTC thermistors or thermal contacts, always
activate the PTC input.
Details
This function only serves to functionally protect the motor. It is not suitable for the safety-rele-
vant protection against energy-induced hazards, since the implementation is not fail-safe.
• When the thermal motor utilisation calculated reaches the threshold set in 0x2D4B:001
(P308.01), the response set in 0x2D4B:003 (P308.03) is triggered.
• With the setting 0x2D4B:003 (P308.03) = "No response [0]", the monitoring function is
deactivated.
For a UL-compliant operation with motor overload protection, 0x2D4B:002

(P308.02) and 0x2D4B:003 (P308.03) must be left on the default setting! This
setting serves to save the calculated thermal motor utilisation internally when
the inverter is switched off and reloaded when it is switched on.
If monitoring is deactivated by the setting 0x2D4B:003 (P308.03) = "No response
[0]", no motor overload protection is active. In this case, an external motor
overload protection can be provided by the user for a UL-compliant operation.
If a suitable motor temperature sensor is connected to the terminals X109/T1

and X109/T2 and the response to the triggering of the motor temperature mon-
itoring in 0x2D49:002 (P309.02) is set to "Fault [3]", the response of the motor
overload monitoring may be set other than "Fault [3]" " in 0x2D4B:003
(P308.03).
4Motor temperature monitoring ^ 219
215
Motor control
Motor protection
The following two diagrams show the relation between the motor load and release time of
the monitoring under the following conditions:
• Maximum utilisation 0x2D4B:001 (P308.01) = 150 %
• Speed compensation 0x2D4B:002 (P308.02) = "Off [1]" or output frequency ≥ 40 Hz
Release time
[s]
16000
14000
12000
10000
8000
6000
4000
2000
0 Load
[%]
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
Load * Load ratio Release time

Release time
[s]
110 % Indefinite
100
90 135 % 93 s
80
70
60 150 % 60 s
50
40 200 % 26 s
30
20
10 250 % 17 s
0 Load
[%]
140
150
160
170
180
190
200
210
220
230
240
250
Depending on the setting in 0x2D4B:001 (P308.01), the release time from the diagrams can be
derived as follows:
• Calculation of the load ratio:
Load ratio = 150 % / maximum utilisation 0x2D4B:001 (P308.01)
(example: 0x2D4B:001 (P308.01) = 75 % à load ratio = 150 % / 75 % = 2)
• Calculation of the release time of the monitoring:
Release time = actual load * load ratio
(example: actual load = 75 % à release time = 75 % * 2 = 150 %)
• Looking up the release time from the above table based on load * load ratio.
(example: Load * load ratio = 150 % à release time = 60 s)
216
Motor control
Motor protection
Speed compensation for protecting motors at low speed

The inverter comes with an implemented compensation for low speed. If the motor is driven
with frequencies lower than 40 Hz, the speed compensation in 0x2D4B:002 (P308.02)should
be set to "On [0]" (default setting). This setting serves to reduce the release time of the moni-
toring at low speed to consider the reduced natural ventilation at AC motors. The speed com-
pensation for UL-compliant operation in 0x2D4B:002 (P308.02) must be set to "On [0]" as
well.
If the speed compensation is activated, the release time is reduced as follows:
• With an output frequency < 40 Hz: Reduced release time to 62.5 % + 37.5 % * output fre-
quency [Hz] / 40 [Hz]
• With an output frequency ≥ 40 Hz: No reduced release time
The following diagram shows the reduced release time with activated speed compensation.
• Speed compensation 0x2D4B:002 (P308.02) = "On [0]"
Release time
[s]
Output frequency Release time
70
40 Hz 60 s
60
50 30 Hz ≈ 41 s
40
30 20 Hz ≈ 31 s
20
10 10 Hz ≈ 23 s
0 Frequency
[Hz]
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
The following diagram shows the possible permanent load with activated speed compensa-
tion without the monitoring being triggered.
• Speed compensation 0x2D4B:002 (P308.02) = "On [0]"
Load
[%]
Output frequency Possible permanent load
120
40 Hz 110 %
100
80 30 Hz 99 %
60
40
20 Hz 90 %
20 10 Hz 79 %
0 Frequency
[Hz]
0
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
In case of 0 Hz, only a load of 62.7 % (≈ 62.5 %) with regard to the load at 40 Hz or above is
possible (69 / 110 * 100 % = 62.7 %). In case of a deviating setting in 0x2D4B:001 (P308.01),
the maximum possible motor load changes proportionately.
0x2D4B:001 Motor overload monitoring (i²*t): Maximum utilisa- Maximum permissible thermal motor utilisation (max. permissible motor
(P308.01) tion [60 s] current for 60 seconds).
(Motor overload: Max.load.for 60s) • 100 % ≡ rated motor current 0x6075 (P323.00)
30 ... [150] ... 200 % • If the motor is actuated with the current set here for 60 seconds, the
maximum permissible thermal motor utilisation is reached and the
response set in 0x2D4B:003 (P308.03) is executed.
• If the motor is actuated with a different current, the time period until
the motor overload monitoring function is activated is different. Gen-
erally the following applies: the lower the current, the lower the ther-
mal utilisation and the later the monitoring function is triggered.
217
Motor control
Motor protection

0x2D4B:002 Motor overload monitoring (i²*t): Speed compensa- Use this function to protect motors that are actuated at a speed below
(P308.02) tion 40 Hz.
(Motor overload: Speed comp.) • UL-compliant operation with motor overload protection requires the
setting "On [0]"!
0 On Release time for motor overload monitoring is reduced in order to com-
pensate for the reduced cooling of naturally ventilated AC induction
motors during operation at low speed.
1 Off Function deactivated, no reduction of the motor overload monitoring
release time. May require an external motor overload protection for the
UL-compliant operation.
0x2D4B:003 Motor overload monitoring (i²*t): Response Selection of the response to the triggering of motor overload monitor-
(P308.03) (Motor overload: Response) ing.
• For further possible settings, see parameter • UL-compliant operation with motor overload protection requires the
0x2D45:001 (P310.01). ^ 223 setting "error [3]"!
3 Fault • If monitoring is deactivated by the setting 0x2D4B:003 (P308.03) =
"No response [0]", no motor overload protection is active. In this case,
an external motor overload protection can be provided by the user for
a UL-compliant operation.
• 9040 | 0x2350 - CiA: i²*t overload (thermal state)
0x2D4B:005 Motor overload monitoring (i²*t): Thermal load Display of the value of the internal i²*t integrator.
• Read only • 37500 ≡ 100 % thermal load
• When power is switched off, this value is saved in the internal
EEPROM.
• When power is switched on, the saved value is reloaded into the i²*t
integrator.
• The internal i²*t integrator detects the thermal load based on the load
conditions even if the motor overload monitoring is deactivated.
218
Motor control
Motor protection
Motor temperature monitoring
8.7.2 Motor temperature monitoring

In order to record and monitor the motor temperature, a PTC thermistor (single sensor
according to DIN 44081 or triple sensor according to DIN 44082) or thermal contact (normally-
closed contact) can be connected to the terminals T1 and T2. This measure helps to prevent
the motor from being destroyed by overheating.
Preconditions
• The inverter can only evaluate one PTC thermistor! Do not connect several PTC thermistors
in series or parallel.
• If several motors are actuated on one inverter, thermal contacts (NC contacts) connected
in series are to be used.
• To achieve full motor protection, an additional temperature monitoring function with a
separate evaluation must be installed.
• By default, a wire jumper is installed between terminals X109/T1 and X109/T2, which must
be removed when the PTC thermistor or thermal contact is connected.
Details
If 1.6 kΩ < R < 4 kΩ at terminals X109/T1 and X109/T2, the monitoring function will be activa-
ted; see functional test below.
• If the monitoring function is activated, the response set in 0x2D49:002 (P309.02) will be
effected.
• The setting 0x2D49:002 (P309.02) = 0 deactivates the monitoring function.
If a suitable motor temperature sensor is connected to the terminals X109/T1

and X109/T2 and the response in 0x2D49:002 (P309.02) is set to "Fault [3]", the
response of the motor overload monitoring may be set other than "Fault [3]" in
0x2D4B:003 (P308.03).
4Motor overload monitoring (i²*t) ^ 215
Functional test
Connect a fixed resistor to the PTC input:
• R > 4 kΩ : the monitoring function must be activated.
• R < 1 kΩ : the monitoring function must not be activated.

0x2D49:002 Motor temperature monitoring: Response Selection of the response to the triggering of the motor temperature
(P309.02) (Mot.temp.monit.: Response) monitoring.
0x2D45:001 (P310.01). ^ 223
• 17168 | 0x4310 - Motor overtemperature error
3 Fault
219
Motor control
Motor protection
Current limits
8.7.3 Current limits

For the purpose of current limitation, a maximum overload current can be set for the inverter.
If the current consumption of the motor exceeds this current limit, the inverter changes its
dynamic behaviour, in order to counteract this exceedance.
Details
• The maximum overload current of the inverter can be set in 0x6073 (P324.00).
• Reference for the percentage setting of the maximum overload current is the rated motor
current set in 0x6075 (P323.00).
• The actual motor current is displayed in 0x2D88 (P104.00).
If the change in the dynamic behaviour carried out by the inverter does not
result in exiting the overcurrent state, the inverter outputs an error.
Load behaviour Impact

Overload during acceleration in A longer time than is required for reaching the frequency setpoint is set.
motor mode
Overload during deceleration in A longer time than is required for reaching standstill is set.
generator mode
Increasing load at constant fre- If the motor current limit value is reached:
quency • The inverter reduces the effective speed setpoint until a stable working is set or an effective speed setpoint
of 0 rpm is reached.
• If the load is reduced, the inverter increases the effective speed setpoint until the setpoint speed is
reached or the load reaches the current limit value again.
When the generator current limit value is reached:
• The inverter increases the effective speed setpoint until a stable working point is reached or up to the max-
imum permissible output frequency 0x2916 (P211.00).
• If the load is reduced, the inverter reduces the effective speed setpoint until the setpoint speed is reached
or the load reaches the current limit value again.
If an abrupt load is building at the motor shaft (e.g. drive is blocked), the overcurrent switch-off function may
respond.
Example: Overcurrent switch-off in case of a sudden load at the motor shaft

Frequency setpoint selection
60 Hz
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0 Hz t
Output frequency
60 Hz
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0 Hz t
Motor load
100 %
0x6073
0% t
220
Motor control
Motor protection
Current limits

0x6073 Max current Maximum overload current of the inverter.
(P324.00) (Max current) • 100 % ≡ Motor rated current 0x6075 (P323.00)
0.0 ... [200.0] ... 3000.0 % • If the current consumption of the motor exceeds this current limit,
the inverter changes its dynamic behaviour, in order to counteract this
exceedance.
• If the change in the dynamic behaviour carried out by the inverter
does not result in exiting the overcurrent state, the inverter outputs
an error.
Note!
This parameter is not identical to the so-called ultimate motor current
IULT !
• The ultimate motor current set in 0x2D46:001 (P353.01) is a limit
value for synchronous motors that serves to protect their magnets.
• The value to be set here should always be considerably below the ulti-
mate motor current!
221
Motor control
Motor protection
Overcurrent monitoring
8.7.4 Overcurrent monitoring

This function monitors the instantaneous value of the motor current and serves as motor pro-
tection.
NOTICE
With an incorrect parameterisation, the maximum permissible motor current may be excee-
ded in the process.
Possible consequence: irreversible damage of the motor.
▶ The setting of the threshold for the overcurrent monitoring in 0x2D46:001 (P353.01) must
be adapted to the connected motor.
▶ Set the maximum output current of the inverter in 0x6073 (P324.00) much lower than the
threshold for overcurrent monitoring.
Details
The inverter monitors its output current. This monitoring takes place irrespective of the set-
tings for the current limiting function. 4Current limits ^ 220
• If the instantaneous value of the motor current exceeds the threshold set in 0x2D46:001
(P353.01), the response set in 0x2D46:002 (P353.02) takes place.
• With the setting 0x2D46:002 (P353.02) = "No response [0]", the monitoring function is
deactivated.
The threshold for the overcurrent monitoring is preset to four times the rated motor current.
This presetting is overwritten in case a motor in the engineering tool is selected from the
"motor catalog" or the automatic identification or calibration of the motor data is carried out.
For a suitable protection, the automatically adapted setting should be used. If disturbances
occur during operation, the value can be increased.
0x2D46:001 Overcurrent monitoring: Threshold Warning/error threshold for motor current monitoring.
(P353.01) (Overcurr. monit.: Threshold) • If the instantaneous value of the motor current exceeds the threshold
0.0 ... [6.8]* ... 1000.0 A set, the response set in 0x2D46:002 (P353.02) is effected for the pur-
* Default setting depending on the size. pose of motor protection.
• From version 02.00 • The parameter is calculated and set in the course of the automatic
identification of the motor.
• The parameter can also be set and thus overwritten by selecting a
motor in the engineering tool from the "motor catalog" or calibrating
the motor.
4Optimisation of the control loops ^ 193
0x2D46:002 Overcurrent monitoring: Response Selection of the response to the triggering of motor current monitoring.
(P353.02) (Overcurr. monit.: Response) Associated error code:
• For further possible settings, see parameter • 29056 | 0x7180 - Motor overcurrent
0x2D45:001 (P310.01). ^ 223
3 Fault
222
Motor control
Motor protection
Motor phase failure detection
8.7.5 Motor phase failure detection

The motor phase failure detection function can be activated for both synchronous and asyn-
chronous motors.
Preconditions
Phase failure detection during operation is basically only suitable for applications which are
operated with a constant load and speed. In other cases, transient processes or unfavourable
operating points can cause maloperation.
Details
If a current-carrying motor phase (U, V, W) fails during operation, the response selected in
0x2D45:001 (P310.01) is tripped. In case of setting "No response [0]", only an entry is made in
the logbook.
A motor phase failure can only be detected if
1. the rated motor current is higher than 10 % of the rated inverter current and
2. the output frequency is not lower than 0.1 Hz (standstill).
The lower the output frequency the longer the detection of the motor phase failure.
0x2D45:001 Motor phase failure detection: Response Selection of the response following the detection of a motor phase fail-
(P310.01) (Mot.phase.fail.: Response) ure.
Associated error codes:
• 65289 | 0xFF09 - Motor phase missing
• 65290 | 0xFF0A - Phase U motor phase failure
• 65291 | 0xFF0B - Motor phase failure phase V
• 65292 | 0xFF0C - Motor phase failure phase W
0 No response 4Error types ^ 139
1 Warning
2 Trouble
3 Fault
0x2D45:002 Motor phase failure detection: Current threshold Current threshold for the activation of the motor phase failure detection
(P310.02) (Mot.phase.fail.: Current thresh.) function.
1.0 ... [5.0] ... 25.0 % • 100 % ≡ Maximum current 0x2DDF:002
• Background: in order to be able to reliably detect the failure of a
motor phase, first a certain must flow for the current sensor system.
The detection function is therefore only activated if the actual value
of the motor current has exceeded the current threshold set here.
• Display of the present motor current in 0x2D88 (P104.00).
0x2D45:003 Motor phase failure detection: Voltage threshold Voltage threshold for motor phase monitoring.
(P310.03) (Mot.phase.fail.: Voltage thresh.) • The monitoring function is triggered if the level of the motor current
0.0 ... [10.0] ... 100.0 V is lower than the device-dependent threshold for longer than 20 ms.
• In case of V/f characteristic control, the voltage threshold is consid-
ered additionally for the motor phase failure detection. If the motor
voltage is higher than the voltage threshold, monitoring is combined
with the motor current.
223
Motor control
Motor protection
Motor speed monitoring
8.7.6 Motor speed monitoring

This function monitors the motor speed during operation.
Preconditions
• In order to detect the current motor speed, the inverter must be enabled and the motor
must rotate.
• For an exact monitoring, rated motor speed 0x2C01:004 (P320.04) and rated motor fre-
quency 0x2C01:005 (P320.05) must be set correctly.
Details
• If the motor speed reaches the threshold set in 0x2D44:001 (P350.01), the response set in
0x2D44:002 (P350.02) takes place.
• With the setting 0x2D44:002 (P350.02) = "No response [0]", the monitoring function is
deactivated.

0x2D44:001 Overspeed monitoring: Threshold Warning/error threshold for motor speed monitoring.
(P350.01) (Overspeed monit.: Threshold) • If the motor speed reaches the threshold set, the response selected in
50 ... [8000] ... 50000 rpm 0x2D44:002 (P350.02) is effected.
• The parameter is calculated and set in the course of the automatic
identification of the motor.
• The parameter can also be set and thus overwritten by selecting a
motor in the engineering tool from the "motor catalog" or calibrating
the motor.
4Optimisation of the control loops ^ 193
0x2D44:002 Overspeed monitoring: Response Selection of the response to the triggering of motor speed monitoring.
(P350.02) (Overspeed monit.: Response) Associated error code:
• For further possible settings, see parameter • 65286 | 0xFF06 - Motor overspeed
0x2D45:001 (P310.01). ^ 223
3 Fault
8.7.7 Motor torque monitoring

This function monitors the motor torque during operation.
Preconditions
The motor torque monitoring can only be used for the following motor control types with
speed controller:
Details
This function sets the internal status signal "Torque limit reached [79]" = TRUE if the maximum
possible torque has been reached.
• The status signal is set irrespective of the response 0x2D67:001 (P329.01) and delay time
0x2D67:002 (P329.02) set for this monitoring.
• The user can use the status signal to activate certain functions. 4Flexible I/O configura-
tion ^ 525
• The status signal also serves to set a digital output or a bit of the NetWordOUT1 status
word. 4Configuration of digital outputs ^ 603

0x2D67:001 Maximum torque monitoring: Response Selection of response to reaching the maximum possible torque.
(P329.01) (MaxTrq.Monitor: Response) • The selected response takes place if the status signal "Torque limit
• From version 02.00 reached [79]" = TRUE and the deceleration time set in 0x2D67:002
• For further possible settings, see parameter (P329.02) has elapsed.
0x2D45:001 (P310.01). ^ 223 Associated error code:
0 No response • 33553 | 0x8311 - Torque limit reached
224
Motor control
Motor protection
Motor torque monitoring

0x2D67:002 Maximum torque monitoring: Triggering delay Optional setting of a deceleration for triggering the response selected in
(P329.02) (MaxTrq.Monitor: Triggering delay) 0x2D67:001 (P329.01).
0.000 ... [0.000] ... 10.000 s Typical application:
• From version 02.00 • The motor should be driven at the torque limit for a short time with-
out triggering the selected response.
• Only after a longer operation (> set deceleration) at the torque limit,
the selected response is to take place.
0x6072 Max torque Symmetrical selection of the maximum permissible torque.
(P326.00) (Max torque) • 100 % ≡ Motor rated torque 0x6076 (P325.00)
0.0 ... [250.0] ... 3000.0 % • This parameter serves to implement a statically and bipolarly acting
• From version 02.00 torque limitation. This can be used, for instance, as overload protec-
tion of the mechanical transmission path/elements starting at the
motor shaft.
• This limitation acts irrespective of the torque limitations acting in uni-
polar mode that are set in 0x60E0 and 0x60E1.
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0x60E1 Negative torque limit Negative torque limit source for speed control with torque limitation.
225
Configuring the network
9 Configuring the network

The inverter is available as variants with different network options.
• General network settings ^ 227
• Predefined process data words ^ 246
• Acyclic data exchange ^ 258
• CANopen ^ 259
• Modbus RTU ^ 282
• PROFIBUS ^ 294
• EtherNet/IP ^ 316
• Modbus TCP ^ 348
• PROFINET ^ 365
• EtherCAT ^ 383
• POWERLINK ^ 396
226
General network settings
9.1 General network settings

Activate network control
In order to be able to control the inverter via network, a trigger must be first assigned in
0x2631:037 (P400.37) to the "Activate network control" function.
• This trigger can for instance be the constant value "TRUE" or a digital input.
• If the assigned trigger is = TRUE, the motor can only be started via the network control
word (exception: Jog operation; see chapter "Start / stop motor" ^ 531).
In case of an activated network control, the following functions are still active:
• 0x2631:001 (P400.01): Enable inverter
• 0x2631:002 (P400.02): Run
• 0x2631:003 (P400.03): Activate quick stop
• 0x2631:004 (P400.04): Reset fault
• 0x2631:005 (P400.05): Activate DC braking
• 0x2631:010 (P400.10): Jog foward (CW)
• 0x2631:011 (P400.11): Jog reverse (CCW)
• 0x2631:012 (P400.12): Activate keypad control
• 0x2631:037 (P400.37): Activate network control
• 0x2631:043 (P400.43): Activate fault 1
• 0x2631:054 (P400.54): Position counter reset
All other functions configurable via 0x2631:xx (P400.xx) are deactivated in case of network
control. 4Flexible I/O configuration ^ 525
Network control word and status word
For establishing a simple network connection, the inverter provides predefined control and
status words for device profile CiA 402, AC drive profile as well as in LECOM format. For imple-
menting your own formats, the data words NetWordIN1 and NetWordOUT1 are available. By
means of data mapping to a network register, each of these words can be transferred as proc-
ess date via network.
Designation Parameter Associated mapping Further information
entry *
CiA: Controlword 0x6040 0x60400010 4Device profile CiA 402 ^ 247
CiA: Statusword 0x6041 (P780.00) 0x60410010
AC Drive control word 0x400B:001 (P592.01) 0x400B0110 4AC Drive Profile ^ 248
AC Drive status word 0x400C:001 (P593.01) 0x400C0110
LECOM control word 0x400B:002 (P592.02) 0x400B0210 4Lenze LECOM profile ^ 249
LECOM status word 0x400C:002 (P593.02) 0x400C0210
NetWordIN1 0x4008:001 (P590.01) 0x40080110 For implementing an individual control word format.
The functions that are to be triggered via bits 0 ... 15 of the NetWordIN1
data word are defined in 0x400E:001 (P505.01) ... 0x400E:016 (P505.16).
NetWordOUT1 0x400A:001 (P591.01) 0x400A0110 For implementing an individual status word format.
The triggers for bits 0 ... 15 of the NetWordOUT1 data word are defined
in 0x2634:010 (P420.10) ... 0x2634:025 (P420.25).
* A mapping entry consists of index, subindex and data length in bits of the parameter to be mapped.
General information about the process of data mapping can be found in the chapter of the
same name for the corresponding network.
227
Network setpoint
It must be observed that the network setpoint must be selected explicitly. There are various
options to select/change-over to the network setpoint. See the following examples.
Example 1: The AC drive control word shall enable a change-over from the standard setpoint
source to the network setpoint (bit 6).
1. Set a standard setpoint source different than Network" [5]" in 0x2860:001 (P201.01).
2. Set the selection Network setpoint active " [116]" in 0x2631:017 (P400.17).
Example 2: Independent of the used network, a change-over from the standard setpoint
source to the network setpoint shall be possible via a digital trigger (e. g. digital input).
2. Set the desired digital trigger (e. g. digital input) in 0x2631:017 (P400.17) via which the
change-over to the network setpoint is to take place.
Example 3: The setpoint is to be defined exclusively via network.

1. As standard setpoint source, set the selection "Network [5]" in 0x2860:001 (P201.01).
The following table describes the change-over to the network setpoint via the different net-
work control words in detail:
Network control word Change-over to network setpoint
NetWordIN1 data word Assign the functionActivate network setpoint [17]" to the bit that is to be used for activating the network
0x4008:001 (P590.01) setpoint.
• The functions that are to be triggered via bits 0 ... 15 of the NetWordIN1 data word are defined in 0x400E:
001 (P505.01) ... 0x400E:016 (P505.16).
Bit x Selection:
0 Standard setpoint source selected in 0x2860:001 (P201.01).
1 Network setpoint
AC drive control word The network setpoint is activated via bit 6 of the AC Drive control word:
0x400B:001 (P592.01) Bit 6 Selection:
1 Network setpoint
Note!
In order that the activation via bit 6 works, the selection "Network setpoint active [116]" must be set in
0x2631:017 (P400.17).
LECOM control word The setpoint is selected via bit 0 and bit 1 of the LECOM control word:
0x400B:002 (P592.02) Bit 1 Bit 0 Selection:
0 0 Standard setpoint source selected in 0x2860:001 (P201.01).
0 1 Frequency setpoint preset 1 0x2911:001 (P450.01)
CiA 402 Controlword In case of control via device profile CiA 402:
0x6040 • In the operating mode "CiA: Velocity mode [2]", the setpoint speed defined via the "Target velocity"
0x6042 (P781.00) parameter is used.4Device profile CiA 402 ^ 469
• A change-over to an alternative setpoint source via the CiA 402 Controlword is not possible.
If a bipolar network setpoint is specified for the operating mode "MS: Velocity
mode" (e. g. via the mappable parameter 0x400B:006 (P592.06)), the direction
of rotation cannot be controlled via the network control word. The direction of
rotation is determined by the sign of the setpoint.
228

0x231F:001 Module ID: Active module ID Display of the network options currently configured in the inverter.
(P500.01) (Module ID: Active module ID) • With the help of this module ID, the keypad only shows the communi-
• Read only cation parameters relevant to the respective network.
48 No network
Note!
67 CANopen
When switched on, the inverter checks whether the parameter settings
71 EtherNet/IP (from version 02.00) saved in the memory module match the inverter hardware and firm-
78 POWERLINK (from version 05.00)
80 PROFIBUS Display of the network options currently configured in the inverter.
82 PROFINET (from version 02.00) • With the help of this module ID, the keypad only shows the communi-
cation parameters relevant to the respective network.
84 EtherCAT (from version 02.00)
86 Modbus TCP/IP Note!
87 Modbus When switched on, the inverter checks whether the parameter settings
saved in the memory module match the inverter hardware and firm-
0x231F:002 Module ID: Module ID connected Display of the network option currently available in the inverter.
(P500.02) (Module ID: Module ID conn.)
• Read only Note!
• For the meaning of the display see parameter When switched on, the inverter checks whether the parameter settings
0x231F:001 (P500.01). ^ 229 saved in the memory module match the inverter hardware and firm-
0x400E:001 NetWordIN1 function: Bit 0 Definition of the function that is to be triggered via bit 0 of the mappa-
(P505.01) (NetWordIN1 fct.: NetWordIN1.00) ble NetWordIN1 data word.
ted.
0 Not active Trigger bit without any function.
1 Disable inverter Trigger bit = 0-1 edge: The inverter is disabled.
Trigger bit = 0: The inverter is enabled (unless there is another cause for
inverter disable).
Notes:
• In all device states, a 0-1 edge causes an immediate change to the
inhibited state with one exception: If the inverter is in the error status
and the error condition still exists, the inverter remains in the error
status.
• Changing to the disabled state causes an immediate stop of the
motor, regardless of the stop method set in 0x2838:003 (P203.03).
The motor coasts down as a function of the mass inertia of the
machine.
• In the disabled state, the motor cannot be started.
• After the inverter disable is deactivated, a renewed start command is
required to restart the motor.
• The cause(s) that are active for the disabled state are shown in
0x282A:001 (P126.01).
2 Stopping Trigger bit = 1: Motor is stopped.
Trigger bit = 0: No action / Deactivate stop again.
Notes:
3 Activate quick stop Trigger bit = 1: "Quick stop" function activated.
Trigger bit = 0: no action / deactivate function again.
Notes:
• The "Quick stop" function brings the motor to a standstill within the
deceleration time set in 0x291C (P225.00).
• The "Quick stop" function has a higher priority than the "Run" func-
tion.
229

4 Reset error Trigger bit = 0-1 edge: Active error is reset (acknowledged) if the error
condition is not active anymore and the error is resettable.
Trigger bit = 0: No action.
Notes:
• After resetting the error, a new enable/start command is required to
restart the motor.
4Error handling ^ 139
5 Activate DC braking Trigger bit = 1: "DC braking" function activated.
4DC braking ^ 437
8 Run forward (CW) Trigger bit = 0-1 edge: Motor is started in forward rotating direction
(CW).
Trigger bit = 1-0 edge: Motor is stopped again.
Notes:
• In the case of a bipolar setpoint selection (e.g ±10 V), the function is
executed irrespective of the rotating direction. The rotating direction
is determined by the sign of the setpoint.
• The "Reverse rotational direction [13]" function can be used in con-
nection with this function.
9 Run reverse (CCW) Trigger bit = 0-1 edge: Motor is started in backward rotating direction
(CCW).
Trigger bit = 1-0 edge: Motor is stopped again.
Notes:
• The "Reverse rotational direction [13]" function can be used in con-
nection with this function.
13 Reverse rotational direction Trigger bit = 1: the setpoint specified is inverted (i. e. the sign is inver-
ted).
14 Activate AI1 setpoint Trigger bit = 1: analog input 1 is used as setpoint source (if the trigger bit
assigned has the highest setpoint priority).
15 Activate AI2 setpoint Trigger bit = 1: analog input 2 is used as setpoint source (if the trigger bit
17 Activate network setpoint Trigger bit = 1: the network is used as setpoint source (if the trigger bit
18 Activate preset (bit 0) Selection bits for bit coded selection and activation of a parameterised
19 Activate preset (bit 1) setpoint (preset).
20 Activate preset (bit 2)
26 Activate segment 1 setpoint (from Selection bits for bit coded selection and activation of a parameterised
version 03.00) segment setpoint.
27 Activate segment 2 setpoint (from Notes:
version 03.00) • During normal operation (no active sequence), this function serves to
28 Activate segment 3 setpoint (from activate the setpoint of a segment (instead of an entire sequence in
version 03.00) the sequencer operation).
29 Activate segment 4 setpoint (from • This function is not intended for the use in the sequencer operation.
version 03.00) 4Setpoint source segment setpoints ^ 563
230

30 Run/abort sequence (from version 03.00) Trigger bit = 1: Start selected sequence.
Trigger bit = 0: Abort sequence.
Notes:
• The assigned trigger bit must remain set to "1" for the duration of the
sequence.
• If the trigger bit is reset to "0", the sequence is aborted. In this case,
the standard setpoint or the setpoint source selected via setpoint
change-over is active again.
• A sequence is selected in a binary-coded fashion via the trigger bits
assigned to the four functions "Select sequence (bit 0) [50]" ... "Select
sequence (bit 3) [53]".
4Sequencer ^ 504
32 Next sequence step (from version 03.00) Trigger bit = 0↗1 (edge): Next sequence step.
Trigger bit = 1↘0 (edge): No action.
Notes:
• The execution of the current step is completed even if the time para-
meterised for the segment has not elapsed yet.
• The function is only relevant for Sequencer mode 0x4025 (P800.00) =
"Step operation [2]" or "Time & step operation [3]".
• A jump to the next sequence step is not possible if the sequence pau-
ses, the sequence is suspended or the final segment is executed.
4Sequencer ^ 504
33 Pause sequence (from version 03.00) Trigger bit = 1: Pause sequence.
Trigger bit = 0: Continue sequence.
Notes:
• During the pause, the sequence stops in the current step. The expira-
tion of the time set for the segment is stopped.
• The sequencer setpoint continues to remain active.
4Sequencer ^ 504
34 Suspend sequence (from version 03.00) Trigger bit = 1: Suspend sequence.
Trigger bit = 0: Continue sequence.
Notes:
• This function serves to temporarily change over to the standard set-
point or the setpoint source selected via setpoint change-over.
• The sequence is continued at the point where it was suspended.
4Sequencer ^ 504
35 Stop sequence (from version 03.00) Trigger bit = 0↗1 (edge): Stop sequence.
Notes:
• If the sequence is stopped, it is jumped to the final segment.
• The further execution depends on the selected End of sequence
mode 0x402F (P824.00).
4Sequencer ^ 504
36 Abort sequence (from version 03.00) Trigger bit = 0↗1 (edge): Abort sequence.
Notes:
• This function serves to directly stop the sequence without the final
segment being executed. In this case, the standard setpoint or the set-
point source selected via setpoint change-over is active again.
4Sequencer ^ 504
39 Activate ramp 2 Trigger bit = 1: activate acceleration time 2 and deceleration time 2 man-
ually.
40 Load parameter set Trigger bit = 0-1 edge: parameter change-over to the value set selected
via "Select parameter set (bit 0)" and "Select parameter set (bit 1)".
Trigger bit = 0: no action.
Notes:
• The activation method for the "Parameter change-over" function can
be selected in 0x4046 (P755.00).
4Parameter change-over ^ 464
231

41 Select parameter set (bit 0) Selection bits for the "Parameter change-over" function.
42 Select parameter set (bit 1) 4Parameter change-over ^ 464
43 Activate fault 1 Trigger bit = 1: Trigger user-defined error 1.
Notes:
• After the error is triggered, the motor is brought to a standstill with
the quick stop ramp. The inverter is then disabled.
• 25249 | 0x62A1 - Network: user fault 1
44 Activate fault 2 Trigger bit = 1: Trigger user-defined error 2.
Notes:
• After the error is triggered, the motor is brought to a standstill with
• 25250 | 0x62A2 - Network: user fault 2
45 Deactivate PID controlling Trigger bit = 1: If PID control is activated, ignore PID control and drive the
motor in speed-controlled manner.
Trigger bit = 0: If PID control is activated, drive the motor with PID con-
trol.
Notes:
• The PID control can be activated in 0x4020:001 (P600.01).
46 Set PID output to 0 Trigger bit = 1: If PID control is activated, I component and the output of
the PID controller are set to 0 and the internal control algorithm is stop-
ped. The PID control remains active.
Trigger bit = 0: No action / deactivate function again.
47 Inhibit PID I-component Trigger bit = 1: If the PID control is activated, the I component of the PID
controller is set to 0 and the integration process is stopped.
48 Activate PID influence ramp Trigger bit = 1: the influence of the process controller is shown by means
of a ramp.
Trigger bit = 0 or not connected: the influence of the process controller
is shown by means of a ramp.
Notes:
• The influence of the process controller is always active (not only when
PID control is activated).
• Acceleration time for showing the influence of the process controller
can be set in 0x404C:001 (P607.01).
• Deceleration time for hiding the influence of the process controller
can be set in 0x404C:002 (P607.02).
49 Release holding brake Trigger bit = 1: Release holding brake manually.
Notes:
• The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger. Thus, the holding
brake can be manually released if the power section is switched off.
• The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
4Holding brake control ^ 472
50 Select sequence (bit 0) Selection bits for bit coded selection of a sequence.
51 Select sequence (bit 1) Notes:
52 Select sequence (bit 2) • The selected sequence is not started automatically.
53 Select sequence (bit 3) • For a status-controlled start, the function "Run/abort sequence [30]"
is available.
232

54 Position counter reset Trigger bit = 1: Reset position counter manually.
4Position counter ^ 493
55 Activate UPS operation Trigger bit = 1: Activate UPS operation.
4UPS operation ^ 490
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
3 Activate quick stop
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
8 Run forward (CW)
ted.
0x400E:001 (P505.01). ^ 229
ted.
0x400E:001 (P505.01). ^ 229
ted.
0x400E:001 (P505.01). ^ 229
4 Reset error
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
233

ted.
0x400E:001 (P505.01). ^ 229
5 Activate DC braking
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
13 Reverse rotational direction
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
ted.
0x400E:001 (P505.01). ^ 229
0 Not active
0x2631:001 Function list: Enable inverter Assignment of a trigger for the "Enable inverter" function.
(P400.01) (Function list: Enable inverter) Trigger = TRUE: The inverter is enabled (unless there is another cause for
• Setting can only be changed if the inverter is inhibi- inverter disable).
ted. Trigger = FALSE: The inverter is disabled.
Notes:
• This function must be set to TRUE to start the motor. Either via an
assigned digital input or by default setting "Constant TRUE [1]".
• Changing to the inhibited state causes an immediate stop of the
The motor becomes torqueless and coasts down as a function of the
mass inertia of the machine.
0x282A:001 (P126.01).
0 Not connected No trigger assigned (trigger is constantly FALSE).
234

1 Constant TRUE Trigger is constantly TRUE.
11 Digital input 1 State of X3/DI1, taking an inversion set in 0x2632:001 (P411.01) into
consideration.
consideration.
consideration.
consideration.
consideration.
consideration.
Digital input 6 is only available in the Control Unit (CU) with application
I/O.
consideration.
I/O.
50 Running TRUE if inverter and start are enabled and output frequency > 0.2 Hz.
Otherwise FALSE.
53 Stop active TRUE if inverter is enabled and motor is not started and output fre-
quency = 0.
54 Quick stop active TRUE if quick stop is active. Otherwise FALSE.
58 Device warning active TRUE if warning is active. Otherwise FALSE.
• A warning has no impact on the operating status of the inverter.
• A warning is reset automatically if the cause has been eliminated.
59 Device fault active TRUE if a fault is active. Otherwise FALSE.
• In the event of a fault, the motor is brought to a standstill with the
quick stop ramp. The inverter is then disabled.
• Exception: In case of a serious fault, the inverter is disabled immedi-
ately. The motor becomes torqueless (coasts).
• The error state will be left automatically if the error condition is not
active anymore.
• The restart behaviour after trouble can be configured. 4Automatic
restart ^ 484
60 Heatsink temperature warning active TRUE if current heatsink temperature > warning threshold for tempera-
ture monitoring. Otherwise FALSE.
• Display of the current heatsink temperature in 0x2D84:001 (P117.01).
• Setting of the warning threshold in 0x2D84:002.
69 Rotational direction reversed TRUE if output frequency is negative. Otherwise FALSE.
70 Frequency threshold exceeded TRUE if current output frequency > frequency threshold. Otherwise
FALSE.
• Display of the current output frequency in 0x2DDD (P100.00).
• Setting Frequency thresholdin 0x4005 (P412.00).
4Frequency threshold for "Frequency threshold exceeded" trigger ^ 593
71 Actual speed = 0 TRUE if current output frequency = 0 Hz (± 0.01 Hz), irrespective of the
operating mode. Otherwise FALSE.
78 Current limit reached TRUE if current motor current ≥ maximum current. Otherwise FALSE.
• Setting for the maximum current in 0x6073 (P324.00).
79 Torque limit reached (from version 02.00) TRUE if torque limit has been reached or exceeded. Otherwise FALSE.
• Setting "Positive torque limit" in 0x60E0.
• Setting "Negative torque limit" in 0x60E1.
235

81 Error of analog input 1 active TRUE if the monitoring of the input signal at the analog input 1 has
responded. Otherwise FALSE.
This trigger is set as a function of the following settings:
• Monitoring threshold 0x2636:008 (P430.08)
• Monitoring condition 0x2636:009 (P430.09)
The setting of the Error response in 0x2636:010 (P430.10) has no effect
on this trigger.
on this trigger.
83 Load loss detected TRUE if actual motor current < threshold for load loss detection after
delay time of the load loss detection has elapsed. Otherwise FALSE.
• Display of the present motor current in 0x6078 (P103.00).
• Setting Threshold in 0x4006:001 (P710.01).
• Setting Decelerationin 0x4006:002 (P710.02).
4Load loss detection ^ 449
102 Sequence suspended (from version 03.00) Status signal of the "sequencer" function:
TRUE if the sequence is currently suspended.
4Sequencer ^ 504
103 Sequence done (from version 03.00) Status signal of the "sequencer" function:
TRUE if the sequence is completed (final segment has been passed
through).
4Sequencer ^ 504
104 Local control active TRUE if local keypad control ("LOC") active. Otherwise FALSE.
105 Remote control active TRUE if remote control ("REM") via terminals, network, etc. active. Oth-
erwise FALSE.
106 Manual setpoint selection active TRUE if manual setpoint selection ("MAN") via keypad active. Otherwise
FALSE.
• Selection of the trigger for the "Activate keypad setpoint" function in
0x2631:016 (P400.16).
107 Automatic setpoint selection active TRUE if automatic setpoint selection ("AUTO") via terminals, network,
etc. active. Otherwise FALSE.
236

nected to triggers.

bled.
ted. Notes:
0 Not connected
12 Digital input 2
0x2631:005 Function list: Activate DC braking Assignment of a trigger for the "Activate DC braking" function.
(P400.05) (Function list: DC braking) Trigger = TRUE: Activate DC braking.
• For further possible settings, see parameter Trigger = FALSE: Deactivate DC braking.
0x2631:001 (P400.01). ^ 532 CAUTION!
0 Not connected DC braking remains active as long as the trigger is set to TRUE.
4DC braking ^ 437
237

0x2631:010 Function list: Jog foward (CW) Assignment of a trigger for the "Jog foward (CW)" function.
(P400.10) (Function list: Jog foward) Trigger = TRUE: Let motor rotate forward with preset 5.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: Stop motor.
ted.
CAUTION!
0x2631:001 (P400.01). ^ 532 The jog operation has a higher priority than the "Run" function, all other
0 Not connected start commands and the keypad key .
• If jog operation is active, the motor cannot be stopped with the previ-
ously mentioned functions!
• However, jog operation can be interrupted by the "Quick stop" func-
tion.
Notes:
• The preset value 5 can be set in 0x2911:005 (P450.05).
• If "Jog foward (CW)" and "Jog reverse (CCW)" are activated at the
same time, the motor is stopped using the stop method and jog oper-
ation must be triggered again.
• Jog operation cannot be started automatically. The "Start at power-
up" option in 0x2838:002 (P203.02) does not apply to jog operation.
0x2631:011 Function list: Jog reverse (CCW) Assignment of a trigger for the "Jog reverse (CCW)" function.
(P400.11) (Function list: Jog reverse) Trigger = TRUE: Let motor rotate backward with preset 6.
ted.
CAUTION!
tion.
Notes:
0x2631:012 Function list: Activate keypad control Assignment of a trigger for the "Activate keypad control" function.
(P400.12) (Function list: Keypad control) Trigger = TRUE: activate keypad as control source.
• For further possible settings, see parameter Trigger = FALSE: no action / deactivate keypad as control source again.
0x2631:001 (P400.01). ^ 532
0 Not connected
0x2631:017 Function list: Activate network setpoint Assignment of a trigger for the "Activate network setpoint" function.
(P400.17) (Function list: Setp: Network) Trigger = TRUE: the network is used as setpoint source (if the trigger
• From version 02.01 assigned has the highest setpoint priority).
• For further possible settings, see parameter Trigger = FALSE: no action / deactivate function again.
0x2631:001 (P400.01). ^ 532
0 Not connected
116 Network setpoint active (from version 02.00) TRUE if a change-over to network setpoint is requested via bit 6 of the
AC drive control word0x400B:001 (P592.01). Otherwise FALSE.
Notes:
• Set this selection if the network setpoint is to be activated via bit 6 of
the AC drive control word.
• The AC drive control word can be used with any communication pro-
tocol.
4AC Drive Profile ^ 248
238

0x2631:037 Function list: Activate network control Assignment of a trigger for the "Activate network control" function.
(P400.37) (Function list: Network control) Trigger = TRUE: Activate network control.
• For further possible settings, see parameter Trigger = FALSE: No action / deactivate network control again.
0x2631:001 (P400.01). ^ 532
0 Not connected
114 Network control active (from version 02.00) TRUE if the network control is requested via bit 5 of the AC drive control
word 0x400B:001 (P592.01). Otherwise FALSE.
Notes:
• Set this selection if the network control is to be activated via bit 5 of
tocol.
0x2631:043 Function list: Activate fault 1 Assignment of a trigger for the "Activate fault 1" function.
(P400.43) (Function list: Fault 1) Trigger = TRUE: Trigger user-defined error 1.
• For further possible settings, see parameter Trigger = FALSE: no action.
0x2631:001 (P400.01). ^ 532 Notes:
0 Not connected • After the error is triggered, the motor is brought to a standstill with
• 25217 | 0x6281 - User-defined fault 1
0x2631:001 (P400.01). ^ 532 Notes:
0x2634:010 Digital outputs function: NetWordOUT1 - bit 0 Assignment of a trigger to bit 0 of NetWordOUT1.
(P420.10) (Dig.out.function: NetWordOUT1.00) Trigger = FALSE: bit set to 0.
• For further possible settings, see parameter Trigger = TRUE: bit set to 1.
0x2634:001 (P420.01). ^ 603
51 Ready for operation
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
52 Operation enabled
0x2634:001 (P420.01). ^ 603
56 Error active
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
54 Quick stop active
239

0x2634:001 (P420.01). ^ 603
50 Running
0x2634:001 (P420.01). ^ 603
58 Device warning active
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
72 Setpoint speed reached
0x2634:001 (P420.01). ^ 603
78 Current limit reached
0x2634:001 (P420.01). ^ 603
71 Actual speed = 0
0x2634:001 (P420.01). ^ 603
69 Rotational direction reversed
0x2634:001 (P420.01). ^ 603
115 Release holding brake
0x2634:001 (P420.01). ^ 603
55 Safe torque off (STO) active
240

4Sequencer ^ 504
241

13 PID preset 3
14 PID preset 4
15 PID preset 5
16 PID preset 6
17 PID preset 7
18 PID preset 8
4Sequencer ^ 504
242

0x4008:001 Process input words: NetWordIN1 Mappable data word for flexible control of the inverter via network.
(P590.01) (NetWordINx: NetWordIN1)
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Mapping bit 0 Assignment of the function: 0x400E:001 (P505.01)
Alternatively, this mapping bit can be used for controlling the digital out-
puts.
Assignment of the digital outputs:
• Relay: 0x2634:001 (P420.01) / selection [30]
• Digital output 1: 0x2634:002 (P420.02) / selection [30]
Note!
Do not assign the mapping bit to a function and a digital output at the
same time. A double assignment can cause an unpredictable drive
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
243

0x400A:001 Process output words: NetWordOUT1 Mappable data word for the output of status messages of the inverter
(P591.01) (NetWordOUTx: NetWordOUT1) via network.
• Read only
Bit 0 Mapping bit 0 Mappable data word for the output of status messages of the inverter
via network.
Assignment of the status message: 0x2634:010 (P420.10)
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
244

0x400A:002 Process output words: NetWordOUT2 Mappable data word for the output of messages of the "Sequencer"
(P591.02) (NetWordOUTx: NetWordOUT2) function via network.
• Read only Configuration of the messages:
Bit 0 Mapping bit 0 • 0x4026:008: NetWordOUT2 value for sequencer segment 1
• 0x4029:008: NetWordOUT2 value for sequencer segment 4
Bit 3 Mapping bit 3
• 0x402A:008: NetWordOUT2 value for sequencer segment 5
Bit 4 Mapping bit 4 • 0x402B:008: NetWordOUT2 value for sequencer segment 6
Bit 5 Mapping bit 5 • 0x402C:008: NetWordOUT2 value for sequencer segment 7
Bit 6 Mapping bit 6 • 0x402D:008: NetWordOUT2 value for sequencer segment 8
• 0x402E:008: NetWordOUT2 value for final segment
Bit 7 Mapping bit 7
Bit 8 Mapping bit 8
Bit 9 Mapping bit 9
Bit 10 Mapping bit 10
245
Predefined process data words
9.2 Predefined process data words

Process data are exchanged via cyclic data exchange between the network master and the
inverter.
Details
For the cyclic data exchange, the inverter is provided with 24 network registers.
• 12 network registers are provided as input registers for data words from the network mas-
ter to the inverter.
• 12 network registers are provided as output registers for data words from the inverter to
the network master.
• Each network register is provided with a corresponding code that defines which parame-
ters (or other data codes) are mapped to the network register.
• The input and output registers are divided into three blocks (A, B, C) in each case, featuring
4 successive data words, respectively:
Network register
Input register Output register
Network IN A0 Network OUT A0
Network IN B0 Network OUT B0
Network IN C0 Network OUT C0
The terms "input" and "output" refer to the point of view of the inverter:
• Input data are transmitted by the network master and received by the inverter.
• Output data are transmitted by the inverter and received by the network master.
The exact assignment of the network registers and the number of data words
that can be transmitted cyclically varies according to the network/communica-
tion protocol. You can find some detailed information in the documentation for
the respective communication protocol.
Data mapping
For establishing a simple network connection, the inverter provides predefined control and
status words for device profile CiA 402, AC drive profile as well as in LECOM format. By means
of data mapping to a network register, each of these words can be transferred as process date
via network. Additionally, further mappable data words are provided to individually control
the inverter. The mappable data words are described in detail in the following subchapters.
Data mapping cannot be applied to all parameters. The mappable parameters

are marked correspondingly in the parameter attribute list.
246
Device profile CiA 402
9.2.1 Device profile CiA 402

For control via device profile CiA 402, the parameters listed in the following can be mapped to
network register.
Details
• The mapping entry for the CiA 402 control word is 0x60400010.
• The mapping entry for the CiA 402 status word is 0x60410010.
• General information about the process of data mapping can be found in the chapter of the
• For further CiA 402 parameters, see chapter "Device profile CiA 402". ^ 469

0x6040 CiA: Controlword Mappable CiA 402 control word with bit assignment according to device
0 ... [0] ... 65535 profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = DC bus: Establish readiness for operation
Bit 2 Quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = enable operation
Bit 4 Operation mode specific Bits are not supported.
Bit 5 Operation mode specific
Bit 7 Fault reset 0-1 edge = reset error
Bit 8 Halt (from version 04.00) 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode dependent
Bit 14 Release holding brake 1 = releasing holding brake manually
CAUTION!
0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device
(P780.00) (CiA: Statusword) profile CiA 402.
• Read only
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1 Switched on 1 ≡ drive switched-on
Bit 2 Operation enabled 1 ≡ operation enabled
Bit 3 Fault 1 ≡ fault or trouble active
Bit 4 Voltage enabled 1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6 Switch on disabled 1 ≡ operation inhibited
Bit 7 Warning 1 ≡ warning active
Bit 8 RPDOs deactivated 1 ≡ cyclic PDOs have been deactivated.
Bit 9 Remote 1 ≡ inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 (P301.00) = "MS: Velocity
mode [-2]".
Bit 10 Target reached 1 ≡ the actual position is in the window.
Bit 11 Internal limit active 1 ≡ internal limitation of a setpoint active.
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15 Safe torque off (STO) not active 0 ≡ STO active
1 ≡ STO not active
247
AC Drive Profile
9.2.2 AC Drive Profile

For control via AC drive profile, the parameters listed in the following can be mapped to net-
work registers.
Details
• The mapping entry for the AC Drive control word is 0x400B0110.
• The mapping entry for the AC Drive status word is 0x400C0110.
• Detailed information on the data mapping can be found in the chapter of the correspond-
ing network.
AC drive control word
The AC Drive control word 0x400B:001 (P592.01) will only be processed if the network control
in 0x2631:037 (P400.37) has been activated and the network is also active as control source.
4Control source change-over ^ 526
• Moreover, some bits in the AC drive control word are ignored if the bit 5 ("Activate net-
work control") is not set. For details see the parameter description for 0x400B:001
(P592.01).
• The following logic applies to bit 0 "Run forward (CW)" and bit 1 "Run reverse (CCW)":
Bit 0 Bit 1 Action
"Run forward (CW)" "Run reverse (CCW)"
0 0 Stopping with stop method set in 0x2838:003 (P203.03).
0↗1 (edge) 0 Run forward (CW)
0 0↗1 (edge) Run reverse (CCW)
0↗1 (edge) 0↗1 (edge) No action / last action is continued to be executed.
1 1
1 0
0 1
1↘0 (edge) 1 Run reverse (CCW)
1 1↘0 (edge) Run forward (CW)
For further details on the single bits, see the following parameter descriptions:
0x400B:001 Process input data: AC Drive control word Mappable control word with bit assignment in compliance with Ether-
(P592.01) (Process data IN: AC control word) Net/IP™ AC drive profile.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Run forward (CW) Bits are only evaluated if bit 5 = "1".
Bit 1 Run reverse (CCW) For the exact logic, see the above truth table.
Bit 2 Reset error (0-1 edge)
Bit 5 Activate network control If bit 5 = "1" and 0x2631:037 (P400.37) = "Network control active [114]":
All bits of the AC drive control word are evaluated.
If bit 5 = "0" or 0x2631:037 (P400.37) = "Not connected [0]":
• Bit 0, 1, 12, 13, 14, 15 of the AC drive control word are not evaluated
(ignored).
• Active control source is the "Flexible I/O configuration". 4Control
source change-over ^ 526
Bit 6 Activate network setpoint 0 = the standard setpoint source selected in 0x2860:001 (P201.01) is
used.
1 = network setpoint is used.
Bit 12 Disable inverter Bits are only evaluated if bit 5 = "1".
Bit 13 Activate quick stop
Bit 14 Deactivate PID controlling
Bit 15 Activate DC braking
248
AC Drive Profile

0x400C:001 Process output data: AC Drive status word Mappable status word with bit assignment in compliance with
(P593.01) (Process data OUT: AC status word) EtherNet/IP™ AC drive profile.
• Read only
Bit 0 Fault/Trip active
Bit 1 Warning active
Bit 2 Running forward
Bit 3 Running reverse
Bit 4 Ready
Bit 5 Network control active
Bit 6 Network setpoint active
Bit 7 At Reference
Bit 8 Profile-State bit 0 The drive status is coded as follows:
Bit 9 Profile-State bit 1 0: Manufacturer-specific (reserved)
1: Startup (Drive initialisation)
Bit 10 Profile-State bit 2
2: Not_Ready (Mains voltage switched off)
Bit 11 Profile-State bit 3 3: Ready (Mains voltage switched on)
4: Enabled (Drive has received run command)
5: Stopping (Drive has received stop command and is stopped)
6: Fault_Stop (Drive is stopped due to a fault)
7: Faulted (Faults have occurred)
Bit 12 Process controller active
Bit 13 Torque mode active
Bit 14 Current limit reached
Bit 15 DC braking active
0x6402 Motor type AC motor type
• From version 02.00 • Motor Data Object (0x28) - instance attribute 3
3 PM synchronous
7 Squirrel cage induction
9.2.3 Lenze LECOM profile

For connection to Lenze inverters with a LECOM control word (C135) and LECOM status word
(C150), the parameters listed in the following can be mapped to network registers.
Details
• The mapping entry for the LECOM control word is 0x400B0210.
• The mapping entry for the LECOM status word is 0x400C0210.
• General information about the process of data mapping can be found in the chapter of the

0x400B:002 Process input data: LECOM control word Mappable control word with bit assignment in compliance with code
(P592.02) (Process data IN: LECOM ctrl word) C135 of the 8200 Lenze inverter.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Activate preset (bit 0)
Bit 1 Activate preset (bit 1)
Bit 2 Reverse rotational direction
Bit 3 Activate quick stop
Bit 9 Disable inverter
Bit 10 Activate user fault
Bit 11 Reset error (0-1 edge)
Bit 14 Activate DC braking
249
Lenze LECOM profile

0x400C:002 Process output data: LECOM status word Mappable status word with bit assignment in compliance with code
(P593.02) (Process data OUT: LECOM stat. word) C150 of the 8200 Lenze inverter.
• Read only
Bit 0 Active parameter set (0 = set 1 or 3; 1 = set 2
or 4)
Bit 1 Power section inhibited
Bit 2 Current or Torque limit reached
Bit 3 Frequency setpoint reached
Bit 4 Ramp generator (input = output)
Bit 5 Frequency < frequency threshold
Bit 6 Actual frequency = 0
Bit 7 Inverter disabled
Bit 8 Coded status bit 0
Bit 12 Overtemperature warning
Bit 13 DC-bus overvoltage
Bit 14 Rotational direction reversed
Bit 15 Ready for Operation
250
Further process data
9.2.4 Further process data

The parameters listed in the following can also be mapped to network registers, in order to
transmit control and status information as well as setpoints and actual values as process data.
Details
• The following parameters are always available irrespective of the network option.
• The use of these parameters for the transmission of process data is optional. It is also pos-
sible to only use a part of the parameters. For the transmission of the frequency setpoint
and actual value, for instance, several parameters with a different resolution can be selec-
ted.
• Via the parameters, at the same time the general network activity can be diagnosed.
NetWordIN1 ... NetWordIN5
These mappable data words are provided to individually control the inverter:
Data word Parameter Intended use
NetWordIN1 0x4008:001 (P590.01) For implementing an individual control word format.
4General network settings ^ 227
NetWordIN2 0x4008:002 (P590.02) For controlling the digital outputs via network.
4Configuration of digital outputs ^ 603
NetWordIN3 0x4008:003 (P590.03) For controlling the analog outputs via network.
NetWordIN4 0x4008:004 (P590.04) 4Configuration of analog outputs ^ 617
NetWordIN5 0x4008:005 (P550.05) For defining an additive voltage impression via network.
4Additive voltage impression ^ 502
NetWordOUT1 and NetWordOUT2

These mappable data words are provided to output status messages to the network master:
Data word Parameter Intended use
NetWordOUT1 0x400A:001 (P591.01) For implementing an individual status word format.
4NetWordOUT1 status word ^ 609
NetWordOUT2 0x400A:002 (P591.02) For the output of messages of the "sequencer" function.
The following describes all further process data.
251

0x0000 ... [0x0000] ... 0xFFFF
puts.
Note!
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
252

0x4008:002 Process input words: NetWordIN2 Mappable data word for optional control of the digital outputs via net-
(P590.02) (NetWordINx: NetWordIN2) work.
0x0000 ... [0x0000] ... 0xFFFF Assignment of the digital outputs:
Bit 0 Mapping bit 0 • Relay: 0x2634:001 (P420.01) / selection [34] ... [49]
Bit 1 Mapping bit 1 • Digital output 1: 0x2634:002 (P420.02) / selection [34] ... [49]
Bit 2 Mapping bit 2 • Digital output 2: 0x2634:003 (P420.03) / selection [34] ... [49]
Bit 3 Mapping bit 3
Bit 4 Mapping bit 4
Bit 5 Mapping bit 5
Bit 6 Mapping bit 6
Bit 7 Mapping bit 7
Bit 8 Mapping bit 8
Bit 9 Mapping bit 9
0x4008:003 Process input words: NetWordIN3 Mappable data word for optional control of an analog output via net-
0.0 ... [0.0] ... 100.0 % Assignment of the analog outputs:
• Analog output 1: 0x2639:002 (P440.02) = "NetWordIN3 [20]"
• Analog output 2: 0x263A:002 (P441.02) = "NetWordIN3 [20]"
0x4008:005 Process input words: NetWordIN5 Mappable data word for optionally specifying an additive voltage set-
(P550.05) (NetWordINx: NetWordIN5) point via network.
-100.0 ... [0.0] ... 100.0 % • 100 % ≡ Rated voltage 0x2C01:007 (P320.07)
• This value is used if "Network [3]" is selected in 0x2B13:002.
253

• Read only
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
254

0x400A:002 Process output words: NetWordOUT2 Mappable data word for the output of messages of the "Sequencer"
(P591.02) (NetWordOUTx: NetWordOUT2) function via network.
• Read only Configuration of the messages:
• 0x4029:008: NetWordOUT2 value for sequencer segment 4
Bit 3 Mapping bit 3
• 0x402A:008: NetWordOUT2 value for sequencer segment 5
Bit 4 Mapping bit 4 • 0x402B:008: NetWordOUT2 value for sequencer segment 6
Bit 5 Mapping bit 5 • 0x402C:008: NetWordOUT2 value for sequencer segment 7
Bit 6 Mapping bit 6 • 0x402D:008: NetWordOUT2 value for sequencer segment 8
• 0x402E:008: NetWordOUT2 value for final segment
Bit 7 Mapping bit 7
Bit 8 Mapping bit 8
Bit 9 Mapping bit 9
0x400B:003 Process input data: Network setpoint frequency (0.1) Mappable parameter for specifying the frequency setpoint in [0.1 Hz] via
(P592.03) (Process data IN: Net.freq. 0.1) network.
0.0 ... [0.0] ... 599.0 Hz • The specification is made without sign (irrespective of the rotating
direction).
• The rotating direction is specified via the control word.
• Example: 456 ≡ 45.6 Hz
0x400B:004 Process input data: Network setpoint speed Mappable parameter for specifying the setpoint as speed in [rpm] via
(P592.04) (Process data IN: Net.setp. speed) network.
0 ... [0] ... 50000 rpm • The specification is made without sign (irrespective of the rotating
direction).
• Example: 456 ≡ 456 rpm
0x400B:005 Process input data: Network setpoint frequency (0.01) Mappable parameter for specifying the frequency setpoint in [0.01 Hz]
(P592.05) (Process data IN: Net.freq. 0.01) via network.
direction).
• Example: 456 ≡ 4.56 Hz
0x400B:009 Process input data: Torque scaling Scaling factor for torque setpoint 0x400B:008 (P592.08) and actual tor-
(P592.09) (Process data IN: Torque scaling) que value 0x400C:007 (P593.07) via network.
-128 ... [0] ... 127 • With the setting 0, no scaling takes place.
0x400B:012 Process input data: Network setpoint frequency Mappable parameter for specifying the frequency setpoint in [0.02 Hz]
(P592.12) [0.02Hz] via network.
(Process data IN: NetSetfreq0.02Hz) • The specification is made without sign (irrespective of the rotating
-29950 ... [0] ... 29950 Hz direction).
• From version 04.00 • The rotating direction is specified via the control word.
• Examples: 50 ≡ 1 Hz, 100 ≡ 2 Hz
0x400B:013 Process input data: Network frequency setpoint Mappable parameter for specifying the frequency setpoint via network.
(P592.13) [+/-16384] • ±16384 ≡ ±100 % Maximum frequency 0x2916 (P211.00)
(Process data IN: N.FrqSet+/-16384)
-32768 ... [0] ... 32767
0x400C:003 Process output data: Frequency (0.1) Mappable parameter for the output of the actual frequency value in
(P593.03) (Process data OUT: Frequency (0.1)) [0.1 Hz] via network.
• Read only: x.x Hz • The output is effected without sign (irrespective of the rotating direc-
tion).
• The rotating direction is specified via the status word.
• Example: 456 ≡ 45.6 Hz
255

0x400C:004 Process output data: Motor speed Mappable parameter for the output of the actual value as speed in [rpm]
(P593.04) (Process data OUT: Motor speed) via network.
• Read only: x rpm • The output is effected without sign (irrespective of the rotating direc-
tion).
• Example: 456 ≡ 456 rpm
0x400C:005 Process output data: Drive status Mappable status word (Modbus Legacy Register 2003).
(P593.05) (Process data OUT: Drive status)
• Read only
0 Error (non-resettable) active
1 Error active
2 Waiting for start
3 Identification not executed
4 Inverter disabled
5 Stop active
7 Identification active
8 Running
9 Acceleration active
10 Deceleration active
11 Deceleration override active
12 DC braking active
13 Flying start active
16 Process controller idle state
(P593.06) (Process data OUT: Frequency 0.01) [0.01 Hz] via network.
• Read only: x.xx Hz • The output is effected without sign (irrespective of the rotating direc-
tion).
• Example: 456 ≡ 4.56 Hz
0x400C:007 Process output data: Torque scaled Mappable parameter for the output of the actual torque value in [Nm /
(P593.07) (Process data OUT: Torque scaled) 2scaling factor] via network.
• Read only • The scaling factor can be set in 0x400B:009 (P592.09).
• From version 02.00 • Actual torque value = scaled actual torque value (0x400C:007) / 2scaling
factor
Example:
• Scaled actual torque value (0x400C:007) = 345 [Nm]
• Actual torque value = 345 [Nm] / 23 = 43.125 [Nm]
0x400C:008 Process output data: Frequency [0.02 Hz] Mappable parameter for the output of the actual frequency value in
(P593.08) (Process data OUT: Frequency 0.02Hz) [0.02 Hz] via network.
• Read only: Hz • The output is effected without sign (irrespective of the rotating direc-
• From version 04.00 tion).
• Examples: 50 ≡ 1 Hz, 100 ≡ 2 Hz
0x400C:009 Process output data: Frequency [+/-16384] Mappable parameter for the output of the actual frequency value via
(P593.09) (Process data OUT: Freq. [+/-16384]) network.
• Read only • ±16384 ≡ ±100 % Maximum frequency 0x2916 (P211.00)
256
Parameter access monitoring (PAM)
9.2.5 Parameter access monitoring (PAM)

The parameter access monitoring can be used as basic protection against a control loss of the
inverter. Monitoring is triggered if a parameter write access to a certain index does not take
place at regular intervals via the established communication connection.
Preconditions
This monitoring only works when the network control is activated.
Except for the keypad, the monitoring can be used for all communication connections, for
instance:
• PC/Engineering Tool <--> inverter with USB module
• PC/Engineering Tool <--> inverter with WLAN module
• Controller <--> network <--> inverter with network option
Details
For monitoring purposes, a non-zero value must be written into the "Keep-alive register"
0x2552:002 (P595.02) at regular intervals. The first write access with a non-zero value acti-
vates monitoring. The intervals between the write accesses must not be higher than the time-
out time set in 0x2552:003 (P595.03). If no parameter write access takes place within the
time-out time, monitoring is triggered: The response selected in 0x2552:005 (P595.05) takes
place and the action selected in 0x2552:005 (P595.05). In addition, the status bit 1 in
0x2552:006 (P595.06) is set to "1".
The error status can be left by a normal "error reset". Since monitoring continues to be active
and the time-out time is not reset by the error reset, the inverter immediately changes again
to the error status. In order to prevent his, you have the following options:
a) Restore communication exchange.
b) Set the monitoring response in 0x2552:004 (P595.04) to "No response [0]" or "Warning
[1]".
c) Change over to local or flexible control.

0x2552:002 Parameter access monitoring: Keep alive register Register for cyclic parameter write accesses for monitoring the commu-
(P595.02) (PAM monitoring: Keep alive reg.) nication link.
0 ... [0] ... 65535 • If the setting is non-zero, the monitoring is active.
• From version 04.00 • In order that the monitoring is not tripped, a non-zero value has to be
entered into this index at regular intervals. The temporal distances of
the write accesses must not be higher than the time-out time set in
0x2552:003 (P595.03).
0x2552:003 Parameter access monitoring: Time-out time Maximum permitted time between two write accesses to the "keep-
(P595.03) (PAM monitoring: Time-out time) alive-register".
0.0 ... [10.0] ... 6553.5 s In case of a time-out
• From version 04.00 • the error response selected in 0x2552:004 (P595.04) is effected,
• the action selected in 0x2552:005 (P595.05) is effected,
• the status bit 1 in 0x2552:006 (P595.06) is set to "1".
0x2552:004 Parameter access monitoring: Reaction Selection of the response to the triggering of the parameter access mon-
(P595.04) (PAM monitoring: Reaction) itoring.
• From version 04.00 Associated error code:
• For further possible settings, see parameter • 33045 | 0x8115 - Time-out (PZÜ)
0x2D45:001 (P310.01). ^ 223
0 No response
0x2552:005 Parameter access monitoring: Action Selection of the action to be executed if the parameter access monitor-
(P595.05) (PAM monitoring: Action) ing is triggered.
0 No action
1 Reserved
257
Acyclic data exchange

0x2552:006 Parameter access monitoring: Parameter Access Mon- Bit coded display of the status of parameter access monitoring.
(P595.06) itoring-Status
(PAM monitoring: PAM status)
• Read only
Bit 0 Monitoring activated 1 ≡ parameter access monitoring is active.
Bit 1 Timeout 1 ≡ within the time-out time set in 0x2552:003 (P595.03), no successful
parameter write access to the "keep-alive register" 0x2552:002
(P595.02) was made.
0x2552:007 Parameter access monitoring: WLAN reset time-out Time after which the WLAN network with the current settings of the
(P595.07) time WLAN parameters is restarted if no "keep alive" messages are received.
(PAM monitoring: WLAN reset t.out) • 0 s = function deactivated (no WLAN restart).
0 ... [0] ... 65535 s • With a setting > 0 s and a time-out, the control units sets 0x2440 =
• From version 05.00 "Restart with current values [1]".
9.2.6 Process data handling in case of error

If the inverter receives invalid process data, the inverter uses the process data received last
(valid). You can optionally set that the contents of the process data in the inverter are set to
the value "0" after invalid process data has been received.
The setting in 0x24E5:001 is independent of the response selected in

0x2859:005 if invalid process data has been received!
If the application requires that the drive keeps moving with the last valid proc-
ess data when receiving invalid process data, set the response "No response" or
"Warning" in 0x2859:005. Moreover, the selection "Clear data [1]" must not be
set in 0x24E5:001. Deleting the process data would stop the motor.

0x24E5:001 Process data handling in case of error: Procedure Selection which process data the inverter is to use after receiving invalid
process data.
0 Keep last data The last valid process data of the master are used.
1 Clear data The contents of the process data in the inverter is set to the value "0".
9.3 Acyclic data exchange

The acyclic data exchange is normally used for transmitting parameter data the transmission
of which is not time-critical. Such parameter data are for example operating parameters,
motor data, and diagnostic information.
Details
• The acyclic data exchange enables access to all parameters of the inverter.
• For all communication protocols except Modbus, the parameter is addressed directly via
the index and subindex.
• The parameter attribute list contains a list of all inverter parameters. This list in particular
includes some information that is relevant to the reading and writing of parameters via the
network.
258
CANopen
Introduction
9.4 CANopen
CANopen® is an internationally approved communication protocol which is designed for com-

mercial and industrial automation applications. High data transfer rates in connection with
efficient data formatting provide for the coordination of motion control devices in multi-axis
applications.
• Detailed information on CANopen can be found on the web page of the CAN in Automa-
tion (CiA) user organisation: http://www.can-cia.org
• Information about the dimensioning of a CANopen network can be found in the configura-
tion document for the inverter.
• CANopen® is a registered community trademark of the CAN in Automation e. V user organ-
isation.
Preconditions
• Control unit (CU) of the inverter is provided with CANopen.
• The DIP switches for node address, baud rate and bus terminating resistors are set cor-
rectly. See "Basic network settings" in the section 4CANopen ^ 64.
• The network is terminated by one bus terminating resistor each at the first and last node.
See "Typical topologies" in the section 4CANopen ^ 64.
• The required EDS device description files for the inverters to be operated are loaded in the
master.
• Download of EDS files
9.4.1 Introduction
• The implementation of the CANopen communication profile (CiA DS301, version 4.02)
enables baud rates of 20 kbps to 1 Mbps.
• For establishing a simple network connection, the inverter provides predefined control and
status words for device profile CiA 402, AC-drive profile and in LECOMformat. Additionally,
further mappable data words are provided to individually control the inverter.
• The inverter control is preconfigured via a CiA 402-compliant control word.
259
CANopen
Node address setting
9.4.2 Node address setting

Each network node must be provided with a unique node address.
Details
• The node address of the inverter can be optionally set in 0x2301:001 (P510.01) or using
the DIP switches on the device labelled with "1" ... "64".
• The setting that is active when the inverter is switched on is the effective setting.
• The labelling of the DIP switches corresponds to the values of the individual DIP switches
for determining the node address (see the following example).
• The active node address is displayed in 0x2302:001 (P511.01).
View of the DIP switch
R d c b a 64 32 16 8 4 2 1
O
N
Baud CAN Address
Example of how the node address is set via the DIP switches
DIP switch 64 32 16 8 4 2 1
Setting OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = sum of all values = 16 + 4 + 2 + 1 = 23
The parameters for addressing the device are described below.

0x2301:001 CANopen settings: Node ID Optionally setting of the node address (instead of setting via DIP
(P510.01) (CANopen sett.: Node ID) switches 1 ... 64).
1 ... [1] ... 127 • The node address set here only becomes effective if DIP switches
1 ... 64 have been set to OFF before mains switching.
• A change in the node address will not be effective until a CAN Reset
Node is performed.
0x2302:001 Active CANopen settings: Active node ID Display of the active node address.
(P511.01) (CANopen diag.: Active node ID)
• Read only
0x2303 CANopen switch position Display of the DIP switch setting at the last mains power-on.
(P509.00) (CANopen switch)
• Read only
260
CANopen
Baud rate setting
9.4.3 Baud rate setting

All network nodes must be set to the same baud rate.
Details
• The baud rate can be optionally set in 0x2301:002 (P510.02) or using the DIP switches on
the device labelled with "a" ... "d" (see the following table).
• The active baud rate is displayed in 0x2302:002 (P511.02).
R d c b a 64 32 16 8 4 2 1
O
N
Baud CAN Address
d c b a Baud rate
OFF ON OFF ON 20 kbps
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
OFF ON OFF OFF 1 Mbps
When a combination is set that is not in the list, the baud rate is set to 500 kbps.
The parameters for the baud rate of the device are described below.
0x2301:002 CANopen settings: Baud rate Optionally, setting of the baud rate (instead of setting via DIP switches
(P510.02) (CANopen sett.: Baud rate) a ... d).
0 Automatic (from version 03.00) • The parameterised baud rate is only effective if DIP switches a ... d
and 1 ... 64 were set to before mains switching.
1 20 kbps
• A change in the baud rate will not be effective until a CAN reset node
2 50 kbps is performed.
3 125 kbps
4 250 kbps
5 500 kbps
6 800 kbps
7 1 Mbps
0x2302:002 Active CANopen settings: Active baud rate Display of the active baud rate.
(P511.02) (CANopen diag.: Active baud rate)
• Read only
0 Automatic (from version 03.00)
1 20 kbps
2 50 kbps
3 125 kbps
4 250 kbps
5 500 kbps
6 800 kbps
7 1 Mbps
261
CANopen
Configure device as mini master
9.4.4 Configure device as mini master

If the initialisation of the CANopen network and the associated status change from "Pre-
Operational" to "Operational" is not effected by a higher-level host system, the inverter can
instead be defined as a "mini" master to execute this task.
Details
The inverter is configured as mini master in 0x2301:003 (P510.03).
• In the default setting, the inverter is configured as slave and waits for the NMT telegram
"Start Remote Node" from the master/host system after being switched on.
• Configured as mini master, the inverter changes to the "Operational" state after being
switched on and sets all nodes connected to the CAN bus (broadcast telegram) to the
"Operational" communication state using the "Start Remote Node" NMT telegram after
the deceleration time set in 0x2301:004 (P510.04) has elapsed. Only this communication
status enables data exchange via the process data objects.
The change of the master/slave operation only becomes effective by renewed

mains switching of the inverter or by sending the NMT telegram "Reset Node"
or "Reset Communication" to the inverter. Alternatively, the CAN communica-
tion can be restarted via 0x2300 (P508.00). 4Restart communication ^ 278

0x2301:003 CANopen settings: Slave/Master 1 = after mains switching, inverter starts as mini-master.
(P510.03) (CANopen sett.: Slave/Master)
0 Slave
1 Mini-master
0x2301:004 CANopen settings: Start remote delay If the inverter has been defined as mini-master, a delay time can be set
(P510.04) (CANopen sett.: Start rem. delay) here, which has to elapse after mains switching before the inverter
0 ... [3000] ... 65535 ms deposits the "Start Remote Node" NMT telegram on the CAN bus.
262
CANopen
Diagnostics
9.4.5 Diagnostics
For the purpose of diagnostics, the inverter provides several status words via which the CAN
bus status, the CAN bus controller status, and the status of different time monitoring func-
tions can be queried.
0x2307 CANopen time-out status Bit-coded status display of the CAN time monitoring functions.
(P515.00) (Time-out status)
• Read only
sync configured.
sync configured.
sync configured.
0x2308 CANopen status Display of the current fieldbus state
(P516.00) (CANopen status)
• Read only
0 Initialisation Fieldbus initialisation active.
• The initialisation is started automatically at mains connection. During
this phase, the inverter us not involved in the data exchange process
on the CAN bus.
• All CAN-relevant parameters are initialised with the saved settings.
• When the initialisation process has been completed, the inverter
automatically adopts the "Pre-Operational" state.
1 Reset node "Reset Node" NMT command active.
• All parameters are initialised with the saved settings (not only the
CAN-relevant parameters).
2 Reset communication "Reset Communication" NMT command active.
• Initialisation of all CAN-relevant parameters with the values stored.
4 Stopped Only network management telegrams can be received.
5 Operational Parameter data and process data can be received. If defined, process
data is sent as well.
127 Pre-Operational Parameter data can be received, process data are ignored.
263
CANopen
Emergency telegram

0x2309 CANopen controller status Status display of the internal CANopen controller.
(P517.00) (CAN contr.status)
• Read only
1 Error active The inverter is a fully-fledged communication node at the CANopen net-
work. It is able to transmit and receive data and to report faults.
2 Error passive The inverter can only passively indicate faulty reception via the ACK
field.
3 Bus off The inverter is electrically separated from the CANopen network. In
order to exit this state, the CANopen interface must be reset. An auto-
matic restart is implemented.
9.4.6 Emergency telegram

If the error status changes when an internal device error occurs or is remedied, an emergency
telegram is sent to the NMT master once.
Details
• The identifier for the emergency telegram is fixedly defined and is shown in 0x1014.
• In 0x1015, a blocking time can be set, in order to limit the bus load in the case of emer-
gency telegrams following quickly in succession.

0x1014 COB-ID EMCY Display of the identifier for emergency telegrams.
• Read only
0x1015 Inhibit time EMCY Blocking time which can be set in order to limit the bus load in the case
0.0 ... [0.0] ... 6553.5 ms of emergency telegrams following quickly in succession.
9.4.7 Heartbeat protocol

The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Details
Basic procedure:
1. A heartbeat producer cyclically sends a heartbeat telegram to one or several receivers
(consumers).
2. The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.
Heartbeat producer Heartbeat consumers
7 0
request indication
r s
Producer heartbeat time
indication
Consumer heartbeat
indication
time
7 0
request indication
r s
indication
Consumer heartbeat
indication
time
indication
EMERGENCY Heartbeat
event
NMT master
The inverter can be configured as producer or as consumer to monitor up to four other nodes.
0x1016:000 Consumer heartbeat time: Highest sub-index suppor- Highest subindex, permanently set to 4. Corresponds at the same time
(P520.00) ted to the maximum possible number of nodes to be monitored.
(Cons. heartbeat: Highest subindex)
• Read only
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Heartbeat protocol

0x1016:001 Consumer heartbeat time: Consumer heartbeat time Node ID and heartbeat time of node 1 which is to be monitored.
(P520.01) 1 • Format: 0x00nnhhhh (nn = node ID, hhhh = heartbeat time in [ms])
(Cons. heartbeat: Cons. heartbeat1)
0x00000000 ... [0x00000000] ... 0x00FFFFFF
0x00000000 ... [0x00000000] ... 0x00FFFFFF
0x00000000 ... [0x00000000] ... 0x00FFFFFF
0x00000000 ... [0x00000000] ... 0x00FFFFFF
0x1017 Producer heartbeat time Time interval for the transmission of the heartbeat telegram to the con-
(P522.00) (Prod. heartbeat) sumer(s).
0 ... [0] ... 65535 ms • The heartbeat telegram is sent automatically as soon as a time > 0 ms
is set.
• The set time is internally rounded up to the next multiple of 10 ms.
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CANopen
Process data objects
9.4.8 Process data objects

Process data objects (PDOs) are used for the cyclic transmission of (process) data via CAN-
open. PDOs only contain data and an identifier. They do not contain any information about
the sender or receiver and are therefore very efficient.
Details
• Process data objects which the inverter receives via the network are referred to as
"Receive PDOs" (RPDOs).
• Process data objects which the inverter sends via the network are referred to as "Transmit
PDOs" (TPDOs).
• The maximum length of a PDO is 8 bytes (4 data words).
• Each PDO requires a unique identifier ("COB-ID") for the purpose of identification within
the network.
• Communication parameters such as the transmission type and cycle time for each PDO
can be set freely and independently of the settings of other PDOs
Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner. The
below table shows that it is possible to combine the different methods by means of logic
operations (AND, OR):
• Event-controlled: The PDO is sent if a special device-internal event has occurred, for
instance, if the data contents of the TPDO have changed or if a transmission cycle time has
elapsed.
• Synchronous transmission: Transmission of a TPDOs or reception of an RPDO is effected
after the inverter has received a sync telegram (COB-ID 0x80).
• Cyclic transmission: The cyclic transmission of PDOs is effected when the transmission
cycle time has elapsed.
• Polled via RTR: Transmission of a TPDO is carried out on request by another device via data
request frame (RTR remote transmit request). For this, the data requester (e.g. master)
sends the data request frame with the COB-ID of the TPDO that is to be requested to
transmit. The receiver recognises the RTR and carries out the transmission.
Transmission type PDO transmission Logic combination of differ-
cyclic synchronous event-controlled ent transmission types
0 l l AND
1 ... 240 l -
254, 255 l l OR
Transmission type Description

0 Synchronous and acyclic
• The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change occurs in the PDO).
1 ... 240 Synchronous and cyclic (sync-controlled with a response)
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
241 ... 251 Reserved
252 Synchronous - RTR only
253 Asynchronous - RTR only
254, 255 Asynchronous - manufacturer-specific / device profile-specific
• If one of these values is entered, the PDO is transferred in an event-controlled or cyclic manner. (The values "254"
and "255" are equivalent).
• For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case, cyclic transmission
takes place in addition to event-controlled transmission.
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CANopen
Synchronisation of PDOs via sync telegram

During cyclic transmission, one or more PDOs are transmitted/received in fixed time intervals.
An additional specific telegram, the so-called sync telegram, is used for synchronising cyclic
process data.
• The sync telegram is the trigger point for the transmission of process data from the slaves
to the master and for the acceptance of process data from the master in the slaves.
• For sync-controlled process data processing, the sync telegram must be generated accord-
ingly.
• The response to a sync telegram is determined by the transmission type selected.
Generating the sync telegram:
• 0x1005 can be used to activate the generation of sync telegrams and to write the identifier
value.
• Sync telegrams are created when bit 30 (see below) is set to "1".
• The interval between sync telegrams is to be set in 0x1006.
Writing identifiers:
• To receive sync telegrams, the value 0x80 must be entered in the 11-bit identifier in the
default setting (and in compliance with the CANopen specification). This means that all
inverters are set to the same sync telegram by default.
• If sync telegrams are only to be received by specific nodes, their identifiers can be entered
with a value of up to and including 0x07FF.
• The identifier can only be changed if the inverter does not send any sync telegrams
(0x1005, Bit 30 = "0").
Data telegram assignment
8th byte (data 4) 7th byte (data 3) 6th byte (data 2) 5th byte (data 1)
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
x 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".

0x1005 COB-ID SYNC Identifier for sync telegram.
0x00000000 ... [0x00000080] ... 0xFFFFFFFF How to change the identifier:
1. Deactivate Sync: Set bit 30 to "0".
2. Change identifier.
3. Activate Sync: Set bit 30 to "1".
0x1006 Communication cyclic period Cycle time for sync telegrams.
0 ... [0] ... 65535000 us • With the setting "0", no sync telegrams are generated.
• The set time is internally rounded up to the next multiple of 10 ms.
The shortest possible cycle time thus is 10 ms.
0x1400:000 RPDO1 communication parameter: Highest sub-index
supported
• Read only
0x1400:001 RPDO1 communication parameter: COB-ID RPDO1: identifier
(P540.01) (RPDO1 config.: COB-ID) How to change the identifier:
0x00000000 ... [0x00000200] ... 0xFFFFFFFF
1. Set PDO to "invalid": Set bit 31 to "1".
Bit 0 COB-ID bit 0 2. Change identifier and reset PDO to "valid" (bit 31 = "0").
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 10 COB-ID bit 10
Bit 31 PDO invalid
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CANopen

0x1400:002 RPDO1 communication parameter: Transmission type RPDO1: transmission type in compliance with DS301 V4.02
(P540.02) (RPDO1 config.: Transm. type)
0 ... [255] ... 255
0x1400:005 RPDO1 communication parameter: Event timer RPDO1: time-out for the monitoring of data reception.
(P540.05) (RPDO1 config.: Event timer)
0 ... [100] ... 65535 ms
0x00000000 ... [0x80000300] ... 0xFFFFFFFF
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 31 PDO invalid
0 ... [255] ... 255
0 ... [100] ... 65535 ms
0x00000000 ... [0x80000400] ... 0xFFFFFFFF
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 31 PDO invalid
0 ... [255] ... 255
0 ... [100] ... 65535 ms
0x1800:000 TPDO1 communication parameter: Highest sub-index The value "5" is permanently set.
supported
• Read only
268
CANopen

0x1800:001 TPDO1 communication parameter: COB-ID TPDO1: identifier
(P550.01) (TPDO1 config.: COB-ID) How to change the identifier:
0x00000001 ... [0x40000180] ... 0xFFFFFFFF
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 30 RTR not allowed
Bit 31 PDO invalid
0x1800:002 TPDO1 communication parameter: Transmission type TPDO1: transmission type in compliance with DS301 V4.02
(P550.02) (TPDO1 config.: Transm. type)
0 ... [255] ... 255
0x1800:003 TPDO1 communication parameter: Inhibit time TPDO1: minimum time between the transmission of two identical PDOs
(P550.03) (TPDO1 config.: Inhibit time) (see DS301 V4.02).
0.0 ... [0.0] ... 6553.5 ms
0x1800:005 TPDO1 communication parameter: Event timer TPDO1: Cycle time for PDO transmission with transmission type "254" or
(P550.05) (TPDO1 config.: Event timer) "255".
0 ... [20] ... 65535 ms • The set time is internally rounded up to the next multiple of 10 ms.
supported
• Read only
0x00000001 ... [0xC0000280] ... 0xFFFFFFFF
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 31 PDO invalid
0 ... [255] ... 255
0.0 ... [0.0] ... 6553.5 ms
supported
• Read only
269
CANopen

0x00000001 ... [0xC0000380] ... 0xFFFFFFFF
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 31 PDO invalid
0 ... [255] ... 255
0.0 ... [0.0] ... 6553.5 ms
0x2301:006 CANopen settings: COB-ID Configuration Selection of the process for assigning the identifiers.
(P510.06) (CANopen sett.: COB-ID Config) Irrespective of this selection, these are the following bits of the identifi-
• From version 03.00 ers:
• Bit 30: "RTR not allowed" (only in case of TPDO)
• Bit 31: "PDO invalid"
0 Base + node-ID Identifier = set (basic) identifiers + set node address
1 Freely configurable Identifier = set identifiers
270
CANopen
Data mapping
9.4.9 Data mapping

Data mapping serves to define which process data are transmitted cyclically via the process
data channels.
Details
Data mapping (in the case of CANopen also referred to as "PDO mapping") is preconfigured
for control of the inverter via the device profile CiA 402:
• RPDO1 = CiA 402 control word 0x6040 and Target velocity 0x6042 (P781.00).
• TPDO1 = CiA 402 status word 0x6041 (P780.00) and Velocity actual value 0x6044
(P783.00).
Variable PDO mapping
For individual drive solutions, the inverter supports "variable PDO mapping", providing 8 map-
ping entries in each case to assign 8-bit, 16-bit, and 32-bit parameters to a PDO in an optional
order. The total length of the parameters mapped, however, must not exceed 8 bytes.
The process of PDO mapping cannot be applied to all parameters. The mappable
parameters are marked correspondingly in the parameter attribute list.
The process of variable PDO mapping only allows the following procedure:
1. Set PDO to "invalid": set bit 31 in the corresponding identifier (0x1400:1 ... 0x1402:1 or
0x1800:1 ... 0x1802:1) to "1".
2. Set PDO mapping to "invalid": Set subindex 0 in the mapping parameter (0x1600 ... 0x1602
or 0x1A00 ... 0x1A02) to "0".
3. Set desired PDO mapping via the corresponding mapping entries.
format: 0xiiiissll (iiii = hexadecimal index, ss = hexadecimal subindex, ll = hexadecimal data
length)
4. Set subindex 0 in the mapping parameter (0x1600 ... 0x1602 or 0x1A00 ... 0x1A02) to a
valid value (number of parameters mapped).
5. Reset PDO to "valid": set bit 31 in the corresponding identifier (0x1400:1 ... 0x1402:1 or
0x1800:1 ... 0x1802:1) to "0".

0x1600:000 RPDO1 mapping parameter: Number of mapped Number of objects mapped in RPDO1.
application objects in PDO
0 ... [2] ... 8
0x1600:001 RPDO1 mapping parameter: Application object 1 Mapping entry 1 for RPDO1.
0x00000000 ... [0x60400010] ... 0xFFFFFFFF
0x00000000 ... [0x60420010] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0 ... [0] ... 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
271
CANopen
Data mapping

0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0 ... [0] ... 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x1A00:000 TPDO1 mapping parameter: Number of mapped Number of objects mapped in TPDO1.
application objects in TPDO
0 ... [2] ... 8
0x1A00:001 TPDO1 mapping parameter: Application object 1 Mapping entry 1 for TPDO1.
0x00000000 ... [0x60410010] ... 0xFFFFFFFF
0x00000000 ... [0x60440010] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0 ... [0] ... 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
272
CANopen
Data mapping

0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0 ... [0] ... 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
273
CANopen
Service data objects
9.4.10 Service data objects

Service data objects (SDOs) make it possible to read and write all parameters of the inverter
via CANopen.
Details
• Two independent SDO channels are provided at the same time. SDO channel 1 is always
active. SDO channel 2 can be activated via 0x2301:005 (P510.05).
• An SDO is always transmitted with confirmation, i. e. the reception of an SDO frame is
acknowledged by the receiver.
• The identifiers for SDO1 and SDO2 are generated from the basic identifier (in compliance
with the "Predefined Connection Set") and the node address set:
Object Direction Identifier
to the device from the device
SDO1 l Basic identifier 0x600 + node address
l Basic identifier 0x580 + node address
SDO2 l Basic identifier 0x640 + node address
l Basic identifier 0x5C0 + node address
Structure of the SDO frame user data

The user data are shown in Motorola format:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
See table below. LOW byte HIGH byte LOW word HIGH word
Address of the parameter to be read or written. LOW byte HIGH byte LOW byte HIGH byte
The following commands can be transmitted or received for writing and reading the parame-
ters:
Command 1st byte Data length Info
hex dec
Write request 0x23 35 4 bytes Writing of a parameter to the inverter.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Inverter acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the inverter.
Read response 0x43 67 4 bytes Inverter response to a read request with the current parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Inverter response to the incorrect execution of the read/write request.
More precisely, the command byte comprises the following information:

Command 1st byte
Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1
Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmented (normal block service)
More commands are defined in the DS301 V4.02 CANopen specification (e. g. segmented
transfer).
274
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Service data objects
Maximally 4 bytes are available for parameter value entries. Depending on the data format,
they are assigned as follows:
5th byte 6th byte 7th byte 8th byte
Parameter value (1 byte) 0x00 0x00 0x00
Parameter value (2 bytes) 0x00 0x00
LOW byte HIGH byte
Parameter value (4 bytes)
LOW word HIGH word
LOW byte HIGH byte LOW byte HIGH byte
The parameter attribute list in the annex also specifies a scaling factor. The scal-
ing factor is relevant to the transmission of parameter values which are repre-
sented with one or several decimal positions in the parameter list. If the scaling
factor is > 1, before the transmission, the value must be multiplied with the scal-
ing factor specified, so that the value can be transferred completely (as an inte-
ger value). On the SDO-client side, the integer value must then be divided by the
scaling factor again, in order to receive the original value with decimal positions.

0x1200:000 SDO1 server parameter: Highest sub-index supported
• Read only
0x1200:001 SDO1 server parameter: COB-ID client -> server (rx) Display of the receive identifier for SDO server channel 1 (basic SDO
• Read only channel).
• According to DS301 V4.02, the basic SDO channel can neither be
changed nor deactivated.
0x1200:002 SDO1 server parameter: COB-ID server -> client (tx) Display of the transmit identifier for SDO server channel 1 (basic SDO
• Read only channel).
• According to DS301 V4.02, the basic SDO channel can neither be
changed nor deactivated.
0x1201:000 SDO2 server parameter: Highest sub-index supported
• Read only
0x1201:001 SDO2 server parameter: COB-ID client -> server (rx) Specification of the receive identifier for SDO server channel 2.
0x00000000 ... [0x80000640] ... 0xFFFFFFFF • If SDO server channel 2 is activated via 0x2301:005 (P510.05), this
parameter is set to the value "node address + 0x640". This default set-
ting can be changed.
0x1201:002 SDO2 server parameter: COB-ID server -> client (tx) Specification of the transmit identifier for SDO server channel 2.
0x00000000 ... [0x800005C0] ... 0xFFFFFFFF • If SDO server channel 2 is activated via 0x2301:005 (P510.05), this
parameter is set to the value "node address + 0x5C0". This default set-
ting can be changed.
0x1201:003 SDO2 server parameter: Node-ID of the SDO client Specification of the node address for the SDO client.
1 ... [0] ... 127
0x2301:005 CANopen settings: Activate SDO2 channel 1 = activate SDO server channel 2.
(P510.05) (CANopen sett.: SDO2 channel)
0 Not active
1 Active
9.4.11 Error responses

The response to CANopen errors such as missing PDOs or heartbeat frames can be configured
via the following parameters.
0x1029:000 Error behavior: Highest sub-index supported
• Read only
275
CANopen
Error responses

0x1029:001 Error behavior: Communication error Selection of the NMT state to which the inverter is to change automati-
cally if a failure of a CANopen node or an internal error is detected in the
"Operational" state.
These also include the following communication errors:
• Change-over of the CAN interface to the "Bus-off" state.
• Occurrence of a "Heartbeat Event".
0 Status -> Pre-operational In the "Pre-operational" state, network management, sync, and emer-
gency telegrams as well as parameter data can be received; process
data, however, are ignored.
1 No status change
2 Status -> Stopped In the "Stopped" state, only network management telegrams can be
received.
0x2857:001 CANopen monitoring: RPDO1-Timeout Selection of the response to triggering the RPDO1 time monitoring.
0x2D45:001 (P310.01). ^ 223
• 33425 | 0x8291 - CAN: RPDO1 time-out
3 Fault
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2857:005 CANopen monitoring: Heartbeat-Timeout Consumer 1 Selection of the response with "Heartbeat Event" in consumer 1.
0x2D45:001 (P310.01). ^ 223
• 33156 | 0x8184 - CAN: heartbeat time-out consumer 1
3 Fault
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2857:010 CANopen monitoring: "Bus-off" state change Selection of the response to changing to the "Bus off" state.
0x2D45:001 (P310.01). ^ 223
• 33154 | 0x8182 - CAN: bus off
2 Trouble
0x2857:011 CANopen monitoring: Warning Selection of the response that is executed in the case of too many incor-
• For further possible settings, see parameter rectly sent or received CAN telegrams (> 96).
1 Warning • 33155 | 0x8183 - CAN: warning
9.4.12 Diagnostic counter

The following parameters serve to diagnose the communication activities between the inver-
ter and the CANopen network. The counters are free-running, i. e. when the maximum value
has been reached, the respective counter starts at 0 again.
0x230A:000 CANopen statistics: Highest subindex Number of frame and error counters.
• Read only
• Read only
276
CANopen
LED status displays

• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
0x230B CANopen error counter Display of the total number of CAN faults that have occurred.
(P518.00) (CAN errorcounter)
• Read only
9.4.13 LED status displays

Information about the CAN bus status can be obtained quickly via the "CAN-RUN" and "CAN-
ERR" LED displays on the front of the inverter.
The meaning can be seen from the tables below.
Inverter not active on the CAN bus (yet)
LED "CAN-RUN" LED "CAN-ERR" Meaning
off Inverter is not active on the CAN bus.
off "Bus Off" state.
on
Automatic baud rate detection active.
Both LEDs are flickering alternately
Inverter active on the CAN bus

The green "CAN-RUN" LED indicates the CANopen state:
LED "CAN-RUN" CANopen state
Pre-Operational
Operational
on
Stopped
blinking 1x, then goes off for 1 s
The red "CAN-ERR" LED indicates a CANopen error:

LED "CAN-ERR" CANopen error
Warning Limit reached
Heartbeat Event
Sync message error (only possible in the "Operational" state)
277
CANopen
Restart communication
9.4.14 Restart communication

The following parameter can be used to restart or stop communication. Optionally it is also
possible to reset all communication parameters to the default status.
Details
A restart of communication is required after changes of the interface configuration (e. g. node
address and baud rate) in order that the changed settings become effective.
For restarting communication, there are two options:
a) Switch inverter off and on again.
b) Set the selection = "Restart with current values [1]" in 0x2300 (P508.00).

0x2300 CANopen communication Restart / stop communication.
(P508.00) (CANopen comm.) • After successful execution, the value 0 is shown.
ted.
0 No action/no error Only status feedback
1 Restart with current values Restart communication with the current values.
2 Restart with default values Restart communication with the standard values of the CAN parameters
(0x1000 ... 0x1FFF and 0x2301).
5 Stop network communication Stop communication.
• The "Stop Remote Node" NMT command is executed. After successful
execution of this command, only the reception of network manage-
ment frames is possible.
10 In progress Only status feedback
11 Action cancelled
12 Error
278
CANopen
Short setup
9.4.15 Short setup

In the following, the steps required for controlling the inverter via CANopen are described.
1. Set the CANopen node address.
• Each network node must be provided with a unique node address.
• Details: 4Node address setting ^ 260
2. Set the CANopen baud rate.
• Default setting: 500 kbps
• Details: 4Baud rate setting ^ 261
3. Optional: Configure inverter as "mini master".
• Required if the initialisation of the CANopen network and the associated status change
from "Pre-Operational" to "Operational" is not effected by a higher-level host system.
• Details: 4Configure device as mini master ^ 262
4. Optional: Change the response of the inverter to the triggering of the RPDO time monitor-
ing.
• Default setting: In case of missing RPDOs, an error is triggered.
• Details: 4Error responses ^ 275
5. Save parameter settings: 0x2022:003 (P700.03) = "On / start [1]".
6. Switch the inverter off and then on again in order that the changed communication set-
tings can get effective.
7. Program the master so that the following SDO messages are sent to the inverter:
1. 0x2631:037 (P400.37) = 1 (activate network control)
2. 0x2860:001 (P201.01) = 5 (set network as standard setpoint source)
3. PDO mapping and configuration of the process data objects RPDO1 and TPDO1 (see
the sections "RPDO1 mapping" and "TPDO1 mapping").
8. Control inverter via RPDO1 (and evaluate the current status via TPDO1).
• For assignment of the control word and setpoint selection, see section "RPDO1 map-
ping".
• For assignment of the status word and actual value output, see section "TPDO1 map-
ping".
• Acceleration 0x2917 (P220.00) and deceleration 0x2918 (P221.00) can be set/changed
via SDO messages.
In the default setting, the digital input DI1 is assigned with the "Run" function. If
the network control is activated, this function serves as "start enable" for start
commands via network. Hence, the digital input DI1 must be set to HIGH level in
order that the motor can be started via network. 4Start / stop motor ^ 531
279
CANopen
Short setup
RPDO1 mapping
The RPDO1 is used to control the inverter.
Changing the identifier (COB-ID) and the PDO mapping only allows the following procedure:
1. Set RPDO1 to "invalid": Set bit 31 in the identifier 0x1400:001 (P540.01) to "1".
2. Set RPDO1 mapping to "invalid": 0x1600:000 = set 0.
3. Map NetWordIN1 data word0x4008:001 (P590.01) to RPDO1:
0x1600:001 = set 0x40080110.
4. MapNetwork setpoint frequency (0.1) 0x400B:003 (P592.03) to RPDO1:
0x1600:002 = set 0x400B0310.
5. Set RPDO1 mapping to "valid" again: 0x1600:000 = set 2 (number of mapped parameters).
6. Optional: Set time-out time for monitoring the data reception in 0x1400:005 (P540.05) in
[ms].
• Default setting: 100 ms
7. Change identifier for RPDO1 (optional) and set RPDO1 to "valid" again: Write the new
identifier into 0x1400:001 (P540.01) and simultaneously set bit 31 to "0".
• Default setting: 0x200 + node address (hex)
• Example: Node address = 10 (0xA) and basic identifier = default setting:
Identifier to be written into 0x1400:001 (P540.01) = 0x200 + 0xA = 0x20A
(0b0011 0000 1010)
Function assignment of the NetWordIN1 data word (byte 1+2 of the RPDO1)
Bit Default setting For details and configuration, see
0 Not active (reserve) 0x400E:001 (P505.01)
2 Activate quick stop 0x400E:003 (P505.03)
4 Run forward (CW) 0x400E:005 (P505.05)
5 Activate preset (bit 0) 0x400E:006 (P505.06)
7 Reset error 0x400E:008 (P505.08)
9 Activate DC braking 0x400E:010 (P505.10)
12 Reverse rotational direction 0x400E:013 (P505.13)
Specifying the frequency setpoint (byte 3+4 of the RPDO1)
• The specification is made unsigned (independent of the direction of rotation) as integer in
the resolution [0.1 Hz].
• The direction of rotation is defined in the default setting via bit 12 of the NetWordIN1 data
word.
• Example: 456 ≡ 45.6 Hz
280
CANopen
Short setup
TPDO1 mapping
The TPDO1 is used for the output of status information and the actual frequency value.
Changing the identifier (COB-ID) and the PDO mapping only allows the following procedure:
1. Set TPDO1 to "invalid": Set bit 31 in the identifier 0x1800:001 (P550.01) to "1".
2. Set TPDO1 mapping to "invalid": 0x1A00:000 = set 0.
3. Map NetWordOUT1 data word 0x400A:001 (P591.01)to TPDO1:
0x1A00:001 = set 0x400A0110.
4. MapFrequency (0.1) 0x400B:003 (P592.03) to TPDO1:
0x1A00:002 = set 0x400C0310.
5. Set TPDO1 mapping to "valid" again: 0x1A00:000 = set 2 (number of mapped parameters).
6. Optional: Set Transmission type in 0x1800:002 (P550.02) and Event timer in 0x1800:005
(P550.05).
• Default setting: Cyclic transmission every 20 ms.
7. Change identifier for TPDO1 (optional) and set TPDO1 to "valid" again: Write the new iden-
tifier into 0x1800:001 (P550.01) and simultaneously set bit 31 to "0".
• Default setting: 0x40000180 + node address (hex)
• Example: Node address = 10 (0xA) and TPDO1 basic identifier = default setting:
Identifier to be written into 0x1800:001 (P550.01) = 0x40000180 + 0xA = 0x4000018A
(0b0100 0000 0000 0000 0000 0001 1000 1010)
Status assignment of the NetWordOUT1 data word (byte 1+2 of the TPDO1)
0 Ready for operation 0x2634:010 (P420.10)
1 Not connected 0x2634:011 (P420.11)
2 Operation enabled 0x2634:012 (P420.12)
3 Error active 0x2634:013 (P420.13)
4 Not connected 0x2634:014 (P420.14)
5 Quick stop active 0x2634:015 (P420.15)
6 Running 0x2634:016 (P420.16)
7 Device warning active 0x2634:017 (P420.17)
8 Not connected 0x2634:018 (P420.18)
9 Not connected 0x2634:019 (P420.19)
10 Setpoint speed reached 0x2634:020 (P420.20)
11 Current limit reached 0x2634:021 (P420.21)
12 Actual speed = 0 0x2634:022 (P420.22)
13 Rotational direction reversed 0x2634:023 (P420.23)
14 Release holding brake 0x2634:024 (P420.24)
15 Safe torque off (STO) active 0x2634:025 (P420.25)
Output of the actual frequency value (byte 3+4 of the TPDO1)
• The output is made unsigned (independent of the direction of rotation) as integer in the
resolution [0.1 Hz].
• An active reversal is displayed via bit 13 of the NetWordOUT1 data word.
• Example: 456 ≡ 45.6 Hz
281
Modbus RTU
Introduction
9.5 Modbus RTU
Modbus is an internationally approved, asynchronous, serial communication protocol,

designed for commercial and industrial automation applications.
• Detailed information on the Modbus can be found on the web page of the international
Modbus Organization, USA, who also further develop the Modbus protocol: http://
www.modbus.org
• Information about the dimensioning of a Modbus network can be found in the configura-
Preconditions
Control unit (CU) of the inverter is provided with Modbus.
9.5.1 Introduction
• The process of data transmission distinguishes between three different operating modes:
Modbus ASCII, Modbus RTU, and Modbus TCP. This chapter describes the Modbus RTU
operating mode ("Remote Terminal Unit").
• The Modbus protocol is based on a master/slave architecture where the inverter always
works as slave.
• The Modbus network only permits one master sending commands and requests. The mas-
ter is also the sole instance to be allowed to initiate Modbus communication. No direct
communication takes place between the slaves.
• The physical interface corresponds to TIA/EIA-485-A which is very common and suitable
for the industrial environment. This interface enables baud rates from 2400 to
115200 kbps.
• The inverter supports Modbus function codes 3, 6, 16 (0x10) and 23 (0x17).
9.5.2 Node address setting

Each network node must be provided with a unique node address.
Details
• The node address of the inverter can be optionally set in 0x2321:001 (P510.01) or using
the DIP switches on the device labelled with "1" ... "128".
for determining the node address (see the following example).
• The node address 0 is reserved for messages to all nodes ("Broadcast") .
• The active node address is shown in 0x2322:001 (P511.01).
Example of how the node address is set via the DIP switches
DIP switch 128 64 32 16 8 4 2 1
Setting OFF OFF OFF ON OFF ON ON ON
Value 0 0 0 16 0 4 2 1
Node address = sum of all values = 16 + 4 + 2 + 1 = 23

0x2321:001 Modbus settings: Node ID Optionally setting of the node address (instead of setting via DIP
(P510.01) (Modbus sett.: Node ID) switches 1 ... 128).
1 ... [1] ... 247 • The node address set here only becomes effective if DIP switches
• A change in the node address only becomes effective after a restart of
Modbus communication.
282
Modbus RTU
Data format setting

0x2323 Modbus switch position Display of the DIP switch setting at the last mains power-on.
(P509.00) (Modbus switch) • The value displayed corresponds to the sum of all DIP switch values
• Read only (except for DIP switches for terminating resistor).

All network nodes must be set to the same baud rate.
Details
• If the DIP switch labelled with "b" is in the OFF position at switch-on, the automatic baud
rate detection function is active. If it is in the ON position, the setting in 0x2321:002
(P510.02)applies instead.
• If the automatic baud rate detection function is activated, the first 5 ... 10 messages are
lost after switch-on.

0x2321:002 Modbus settings: Baud rate Optionally setting of the baud rate (instead of setting via DIP switch b).
(P510.02) (Modbus sett.: Baud rate) • The baud rate set here is only effective if DIP switch b was set to ON
0 Automatic before mains switching. Otherwise automatic baud rate detection is
active.
1 2400 bps
• A change in the baud rate only becomes effective after a restart of
2 4800 bps Modbus communication.
3 9600 bps • If the automatic baud rate detection function is activated, the first
4 19200 bps 5 ... 10 messages are lost after switch-on.
5 38400 bps
6 57600 bps
7 115200 bps
9.5.4 Data format setting

All network nodes must be set to the same data format.
Details
• If the DIP switch labelled with "a" is in the OFF position at switch-on, the automatic data
format detection function is active. If it is in the ON position, the setting in 0x2321:003
(P510.03)applies instead.
• If the automatic data format detection function is activated, the first 5 ... 10 messages are
lost after switch-on.
• The active data format is displayed in 0x2322:003 (P511.03).

0x2321:003 Modbus settings: Data format Definition of the parity and stop bits.
(P510.03) (Modbus sett.: Data format)
0 Automatic Automatic data format detection.
• With this setting, the first 5 ... 10 messages are lost after switch-on.
1 8, E, 1 8 data bits, even parity, 1 stop bit
2 8, O, 1 8 data bits, odd parity, 1 stop bit
3 8, N, 2 8 data bits, no parity bit, 2 stop bits
4 8, N, 1 8 data bits, no parity bit, 1 stop bit
283
Modbus RTU
Time-out monitoring
9.5.5 Time-out monitoring

The response to the missing Modbus messages can be configured via the following parame-
ters.
0x2858:001 Modbus monitoring: Response to time-out Selection of the response executed if no valid messages have been
(P515.01) (Modbus monit.: Resp. Time-out) received via the Modbus for a longer time than the time-out period set
• For further possible settings, see parameter in 0x2858:002 (P515.02).
3 Fault • 33185 | 0x81A1 - Modbus: network time-out
0x2858:002 Modbus monitoring: Time-out time Time-out period for monitoring the message reception via Modbus.
(P515.02) (Modbus monit.: Time-out time)
0.0 ... [2.0] ... 300.0 s
9.5.6 Diagnostics
ter and the Modbus network.
0x2322:001 Active Modbus settings: Active node ID Display of the active node address.
(P511.01) (Modbus diag.: Active node ID)
• Read only
0x2322:002 Active Modbus settings: Active baud rate Display of the active baud rate.
(P511.02) (Modbus diag.: Active baud rate)
• Read only
0x2321:002 (P510.02). ^ 283
0x2322:003 Active Modbus settings: Data format Display of the active data format.
(P511.03) (Modbus diag.: Data format)
• Read only
0x2321:003 (P510.03). ^ 283
0x232A:001 Modbus statistics: Messages received Display of the total number of messages received.
(P580.01) (Modbus statistic: Mess. received) • This counter counts both valid and invalid messages.
"0".
0x232A:002 Modbus statistics: Valid messages received Display of the number of valid messages received.
(P580.02) (Modbus statistic: Val. mess. rec.) • After the maximum value has been reached, the counter starts again
• Read only "0".
0x232A:003 Modbus statistics: Messages with exceptions Display of the number of messages with exceptions that have been
(P580.03) (Modbus statistic: Mess. w. exc.) received.
"0".
0x232A:004 Modbus statistics: Messages with errors Display of the number of messages received with a faulty data integrity
(P580.04) (Modbus statistic: Mess. w. errors) (parity, CRC).
"0".
0x232A:005 Modbus statistics: Messages sent Display of the total number of messages sent.
(P580.05) (Modbus statistic: Messages sent) • After the maximum value has been reached, the counter starts again
• Read only "0".
0x232E:001 Modbus diagnostics of last Rx data: Offset For purposes of diagnostics, the last message received (max. 16 bytes) is
(P583.01) (Rx data diagn.: Rx data offset) shown in 0x232E:002 (P583.02)...0x232E:017 (P583.17). For longer mes-
0 ... [0] ... 240 sages, an offset can be specified here, indicating from which byte of the
message the display of the 16 bytes is to start.
284
Modbus RTU
Diagnostics

0x232E:002 Modbus diagnostics of last Rx data: Data byte 0 Display of the message received last.
(P583.02) (Rx data diagn.: Last RxD byte0)
• Read only
0x232E:003 Modbus diagnostics of last Rx data: Data byte 1
• Read only
• Read only
• Read only
• Read only
(P583.07) (Rx data diagn.: Letzt RxD-Byte5)
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
0x232F:001 Modbus diagnostics of last Tx data: Offset For purposes of diagnostics, the last message sent (max. 16 bytes) is
(P585.01) (Tx data diagn.: Tx data offset) shown in 0x232F:002 (P585.02)...0x232F:017 (P585.17). For longer mes-
0 ... [0] ... 240 sages, an offset can be specified here, indicating from which byte of the
message the display of the 16 bytes is to start.
285
Modbus RTU
Diagnostics

0x232F:002 Modbus diagnostics of last Tx data: Data byte 0 Display of the message sent last.
(P585.02) (Tx data diagn.: Last TxD byte0)
• Read only
0x232F:003 Modbus diagnostics of last Tx data: Data byte 1
(P585.03) (Tx data diagn.: Last TxD Byte1)
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
286
Modbus RTU
Function codes
9.5.7 Function codes

The mode of access to inverter data (parameters) is controlled via function codes.
Details
The inverter supports the following function codes:
Function code Function name Description
3 0x03 Read Holding Registers Read one or more 16-bit data words.
6 0x06 Preset Single Register Write a 16-bit data word.
16 0x10 Preset Multiple Registers Write one or more 16-bit data words.
23 0x17 Read/Write 4X Registers Within a transaction
• write into a group of connected 4X holding registers.
• read from a group of connected 4X holding registers.
Addressing
• The function codes listed above exclusively refer to 4X registers in Modbus addressing.
• All data in the inverter can only be accessed via 4X registers, i.e. via register addresses
from 40001.
• The 4xxxx reference is implicit, i. e. given by the function code used. In the frame therefore
the leading 4 is omitted in the addressing process.
• Lenze supports the basic 1 addressing of Modbus, i.e. the numbering of the registers starts
with 1 whereas addressing starts with 0. For example, the address 0 is used in the frame
when register 40001 is read.
Frame structure
Communication is established on the basis of the central medium access method. Communi-
cation is always started by a master request. The inverter (slave) then either gives a valid
response or outputs an error code (provided that the request has been received and evalu-
ated as a valid Modbus frame). Error causes can be invalid CRC checksums, function codes
that are not supported, or impermissible data access.
All Modbus frames have the following basic structure:
• A "frame" consists of a PDU (Protocol Data Unit) and an ADU (Application Data Unit).
• The PDU contains the function code and the data belonging to the function code.
• The ADU serves the purposes of addressing and error detection.
• The data are represented in Big Endian format (most significant byte first).
ADU (Application Data Unit)
Slave address Function code Data Checksum (CRC)
PDU (Protocol Data Unit)
287
Modbus RTU
Function codes
Error codes
In the event of an error, the node responds with a function code associated to the message:
Function code Associated func- Supported error codes
tion code in the
event of an
error
0x03 0x83 0x01, 0x02, 0x03, 0x04
0x06 0x86 0x01, 0x02, 0x03, 0x04
0x10 0x90 0x01, 0x02, 0x03, 0x04
0x17 0x97 0x01, 0x02, 0x03, 0x04
Error code Designation Cause(s)

0x01 Invalid function The function code is not supported by the inverter, or the inverter is in a state in which the request is not
code permissible or in which it cannot be processed.
0x02 Invalid data The combination of a start address and the length of the data to be transmitted is invalid.
address Example: If you have a slave with 100 registers, the first register has the address 0 and the last register has the
address 99. If there is a request of four registers now, from the start address 96, the request can be processed
successfully (for registers 96, 97, 98, and 99). If, however, five registers from the start address 96 are queried,
this error code is returned, since the slave has no register with the address 100.
0x03 Invalid data Error in the reset structure of a complex request, e. g. because the data length that has resulted implicitly is
value not correct.
The cause, however, is not that a (parameter) value is written outside the valid setting range. As a matter of
principle, the Modbus protocol has no information on valid setting ranges of single registers or their meaning.
0x04 Slave device fail- A non-correctable error has occurred while the request was processed in the inverter.
ure
288
Modbus RTU
Data mapping
9.5.8 Data mapping

The process of data mapping is used for defining which Modbus registers read or write to
which inverter parameters.
Details
• There are fixedly defined Modbus registers for common control and status words, which
are located in consecutive blocks, in order to facilitate communication with OPC servers
and other Modbus masters. In order to access all relevant data of the inverter, only a mini-
mum number of commands is required.
• In addition, 24 registers are provided for variable mapping, i. e. free assignment to inverter
parameters.
Predefined Modbus control registers
• These registers are provided with write and read access.
• The cross-reference in column 2 leads to the detailed parameter description.
Modbus registers Permanently assigned parameter
Address Name
42101 0x400B:001 (P592.01) AC Drive control word
42102 0x400B:005 (P592.05) Network setpoint frequency (0.01)
42103 0x4008:002 (P590.02) NetWordIN2
42104 0x4008:003 (P590.03) NetWordIN3
42105 0x400B:007 (P592.07) PID setpoint
42106 0x6071 Target torque
42107 0x4008:001 (P590.01) NetWordIN1
42108 0x4008:004 (P590.04) NetWordIN4
42109 ... 42121 - Reserved
Predefined Modbus status registers

• These registers are only provided with read access.
Address Name
42001 0x400C:001 (P593.01) AC Drive status word
42002 0x400C:006 (P593.06) Frequency (0.01)
42003 0x603F (P150.00) Error code
42004 0x400C:005 (P593.05) Drive status
42005 0x2D89 (P106.00) Motor voltage
42006 0x2D88 (P104.00) Motor current
42007 0x6078 (P103.00) Current actual value
42008 0x2DA2:002 (P108.02) Apparent power
42009 (42008 = High Word, 42009 = Low Word)
42010 0x2D84:001 (P117.01) Heatsink temperature
42011 0x2D87 (P105.00) DC-bus voltage
42012 0x60FD (P118.00) Digital inputs (only bit 16 ... bit 31)
42013 0x6077 (P107.00) Torque actual value
42014 ... 42021 - Reserved
289
Modbus RTU
LED status displays
Variable mapping
• Via 0x232B:001 ... 0x232B:024 (P530.01 ... 24), 24 registers can be mapped to parameters
of the inverter.
Format: 0xiiiiss00 (iiii = index hexadecimal, ss = subindex hexadecimal)
• The display of the internal Modbus register numbers in 0x232C:001 ... 0x232C:024
(P531.01 ... 24) is generated automatically. Since 32-bit parameters require two registers,
there is no 1:1 assignment.
• For the mappable registers, a CRC (Cyclic Redundancy Check) is executed. The checksum
determined is displayed in 0x232D (P532.00). The user can read this "validation code" and
use it for comparison in the Modbus master. In this way it can be checked whether the
inverter currently queried is configured correctly for the respective application.

0x232B:001 ... Modbus parameter mapping: Parameter 1 ... Parame- Mapping entries for Modbus register 40103 ... 40149.
0x232B:024 ter 24 • Format: 0xiiiiss00 (iiii = index, ss = subindex)
(P530.01 ... 24) (Para. mapping: Parameter 1 ... Parameter 24)
0x00000000 ... [0x00000000] ... 0xFFFFFF00
0x232C:001 ... Modbus register assignment: Register 1 ... Register 24 Display of the internal Modbus register number starting from which the
0x232C:024 (Reg. assigned: Register 1 ... Register 24) parameter mapped in 0x232B:001 ... 0x232B:024 (P530.01 ... 24) is
(P531.01 ... 24) • Read only stored.
• For the first parameter mapped, always 2500.
• From the second parameter mapped, 2500 + offset. The offset results
from the data types of the previously mapped parameters.
0x232D Modbus verification code
(P532.00) (Verificationcode)
• Read only

Information about the Modbus status can be obtained quickly via the "MOD-RUN" and "MOD-
ERR" LED displays on the front of the inverter.
The meaning can be seen from the tables below.
Inverter not active on the Modbus bus (yet)
LED "MOD-RUN" LED "MOD-ERR" Meaning
Internal error
off on
Automatic detection of baud rate and data format active.
Both LEDs are flickering alternately
Inverter active on the Modbus

The green "MOD-RUN" LED indicates the communication status:
LED "MOD-RUN" Communication status
off No reception / no transmission
Reception / transmission active
on
The red "MOD-ERR" LED indicates an error:

LED "MOD-ERR" Error
off No fault
Communication error
Blinking
290
Modbus RTU
Response time setting

The following parameter can be used to restart communication.
Details
A restart of communication is required after changes of the interface configuration (e. g. node
address and baud rate) in order that the changed settings become effective.
b) Set the selection = "Restart with current values [1]" in 0x2320 (P508.00).

0x2320 Modbus communication 1 = restart communication in order that changed settings of the interface
(P508.00) (Modbus comm.) configuration become effective.
0 No action/no error
1 Restart with current values
9.5.11 Response time setting

Define a minimum time delay between the reception of a valid Modbus message and the
response of the inverter.
Especially at higher baud rates, defining a minimum time delay ensures the data exchange
between transmitter (Modbus master) and receiver (e. g. inverter).
0x2321:004 Modbus settings: Minimum response time
(P510.04) (Modbus sett.: Min. resp. time)
0 ... [0] ... 1000 ms
291
Modbus RTU
Short setup
9.5.12 Short setup

In the following, the steps required for controlling the inverter via Modbus are described.
1. Activate network control: 0x2631:037 (P400.37) = "TRUE [1]"
2. Set network as standard setpoint source: 0x2860:001 (P201.01) = "Network [5]"
3. Set Modbus node address.
• Each network node must be provided with a unique node address.
• Details: 4Node address setting ^ 282
4. Set Modbus baud rate.
• Default setting: Automatic detection.
• If the automatic baud rate detection function is activated, the first 5 ... 10 messages
are lost after switch-on.
• Details: 4Baud rate setting ^ 283
5. Set Modbus data format.
• Default setting: Automatic detection.
• If the automatic data format detection function is activated, the first 5 ... 10 messages
are lost after switch-on.
• Details: 4Data format setting ^ 283
6. Save parameter settings: 0x2022:003 (P700.03) = "on / start [1]".
Starting/stopping the drive via Modbus

For starting/stopping the drive, Modbus register 42101 can be used.
• Modbus register 42101 is permanently assigned to the AC Drive control word 0x400B:001
(P592.01).
• In the frame, the leading 4 is omitted in the addressing process. The numbering of the reg-
isters starts with 1; addressing, however starts with 0. Therefore the address 2100
(0x0834) is used in the frame when register 42101 is written.
Bits set in the AC drive control word:
• Bit 0 ≡ Run forward (CW)
• Bit 5 ≡ Activate network control
• Bit 6 ≡ Activate network setpoint
Example of an inverter with the node address 1:
Request frame by the master
Register address AC Drive control word
0x01 0x06 0x08 0x34 0x00 0x61 0x0B 0x8C
If digital input DI1 ("Start enable") is set to HIGH level, the drive should start and the inverter
should respond with the same frame as confirmation:
Response message from the inverter
Register address AC Drive control word
0x01 0x06 0x08 0x34 0x00 0x61 0x0B 0x8C
292
Modbus RTU
Short setup
Write the speed of the drive via Modbus

The drive speed can be changed via the Modbus register 42102, see Data mapping.
Register address Network setpoint frequency (0.01)
0x01 0x06 0x08 0x35 0x04 0xD2 0x19 0x39

0x01 0x06 0x08 0x35 0x04 0xD2 0x19 0x39
The drive now rotates with a frequency of 12.34 Hz.

Read the drive speed via Modbus
The drive speed can be read out via the Modbus register 42002, see Data mapping. For read-
ing a single register or several connected register blocks, the function code 3 is used, see
Function codes.
Register address Number of words
0x01 0x03 0x07 0xD1 0x00 0x01 0xD5 0x47

Read bytes Frequency (0.01)
0x01 0x03 0x02 0x04 0xD1 0x7A 0xD8
The drive rotates with a frequency of 12.33 Hz.
293
PROFIBUS
Communication time setting
9.6 PROFIBUS
PROFIBUS® (Process Field Bus) is a widely-used fieldbus system for the automation of
machines and production plants.
• Detailed information on PROFIBUS can be found on the web page of the PROFIBUS & PRO-
FINET International (PI) user organisation: http://www.profibus.com
• Information about the dimensioning of a PROFIBUS network can be found in the configu-
ration document for the inverter.
• PROFIBUS® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organisation.
Preconditions
• Control unit (CU) of the inverter is provided with PROFIBUS.
• The DIP switch for the node address is set correctly. See "Basic network settings" in the
section 4PROFIBUS ^ 67.
• The GSD file is imported into the hardware configurator of the control.
• Download of the GSD file
9.6.1 Introduction
The inverter is integrated into a PROFIBUS-DP network as slave. Therefore it is only allowed to
receive and acknowledge messages and to respond to requests by a master. The master is also
referred to as an active node. Two different types are distinguished:
• Class 1 DP master: central control (PLC or PC) which cyclically exchanges process data with
the slave. Acyclic data exchange via a separate transmission channel is also possible.
• Class 2 DP master: engineering, configuration, or operator device (HMI) which only
exchanges data with the slave acyclically, e.g. for the purposes of configuration, mainte-
nance, or diagnostics.
9.6.2 Communication time setting

The communication time is the time between the start of a request and the arrival of the cor-
responding response.
The communication times in the PROFIBUS network depend on the ...
• processing time in the inverter
• Telegram runtime (baud rate/telegram length),
• nesting depth of the network.
In the case of the inverter, the processing time for process data is approx. 2 ... 3 ms, and for
parameter data (DPV1) it is approx. 10 ms. There are no interdependencies between parame-
ter data and process data.
294
PROFIBUS
Station address setting
9.6.3 Station address setting

Each network node must be provided with a unique station address.
Details
• The station address of the inverter can be optionally set via the DIP switches on the device
labelled with "1" ... "64" or in 0x2341:001 (P510.01). (The DIP switches have priority.)
for determining the station address (see the following example).
• The active station address is shown in 0x2342:001 (P511.01).
64 32 16 8 4 2 1
O
N
PROFIBUS Address
Example of how the station address is set via the DIP switches
DIP switch 64 32 16 8 4 2 1
Setting OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Station address = sum of all values = 16 + 4 + 2 + 1 = 23

0x2341:001 PROFIBUS settings: Station address Optional setting of the station address (instead of setting via DIP
(P510.01) (PROFIBUS sett.: Station address) switches 1 ... 64).
1 ... [3] ... 125 • The station address set here only becomes effective if DIP switches
• A change in the station address only becomes effective after a restart
of PROFIBUS communication.
0x2342:001 Active PROFIBUS settings: Active station address Display of the active station address.
(P511.01) (PROFIBUS diag.: Act.station addr)
• Read only
0x2343 PROFIBUS switch position Display of the DIP switch setting at the last mains power-on.
(P509.00) (PROFIBUS switch) • The displayed value corresponds to the sum of the individual DIP
• Read only switch values 1 ... 64.
295
PROFIBUS
Baud rate setting

At the class 1 DP master, the desired baud rate is set. All masters at the bus must be set to the
same baud rate.
Details
• The inverter detects the baud rate automatically.
• The status of automatic detection is displayed in 0x2348:002 (P516.02).

0x2342:002 Active PROFIBUS settings: Active baud rate Display of the active baud rate.
(P511.02) (PROFIBUS diag.: Active baud rate)
• Read only
0 12 Mbps
1 6 Mbps
2 3 Mbps
3 1.5 Mbps
4 500 kbps
5 187.5 kbps
6 93.75 kbps
7 45.45 kbps
8 19.2 kbps
9 9.6 kbps
15 Search Automatic baud rate detection active.
• Read only
9.6.5 Monitoring
The inverter can give a parameterisable response to various PROFIBUS errors.
The parameters for setting network monitoring functions are described below.
Details
The following table lists the PROFIBUS errors that can be set for a response.
Event Display in Response can be set in Default setting
Communication to the PROFIBUS master is continuously interrupted. 0x2349 (P517.00), Bit 0 0x2859:001 (P515.01) Error
Data exchange via PROFIBUS has been terminated. 0x2349 (P517.00), Bit 1 0x2859:002 (P515.02) No response
The inverter has received invalid configuration data from the master. 0x2349 (P517.00), Bit 2 0x2859:003 (P515.03) Error
An error has occurred during the initialisation of the PROFIBUS interface. 0x2349 (P517.00), Bit 3 0x2859:004 (P515.04) Error
The process data received are invalid. 0x2349 (P517.00), Bit 4 0x2859:005 (P515.05) Trouble

0x2342:003 Active PROFIBUS settings: Watchdog time Display of the watchdog monitoring time specified by the master.
(P511.03) (PROFIBUS diag.: Watchdog time) • Monitoring starts with the arrival of the first telegram.
• Read only • When a value of "0" is displayed, the monitoring function is deactiva-
ted.
• A change in the watchdog monitoring time in the master is effective
immediately.
296
PROFIBUS
Monitoring

• Read only
0x2349 PROFIBUS error Bit-coded display of PROFIBUS errors.
(P517.00) (PROFIBUS error)
• Read only
Bit 0 Watchdog elapsed Communication with the PROFIBUS master is continuously interrupted,
e. g. by cable break or failure of the PROFIBUS master.
• No process data are sent to the inverter (slave) in the "Data Exchange"
state.
• When the watchdog monitoring time specified by the master has
inverter.
Preconditions for a response by the inverter (slave):
• The slave is in the "Data Exchange" state.
• The watchdog monitoring time is configured correctly in the master
(1 ... 65535 ms).
If one of these preconditions is not met, the response to the absence of
cyclic process data telegrams from the master is not executed.
Bit 1 Data exchange completed Data exchange via PROFIBUS has been terminated.
• The inverter (slave) can be instructed by the master to exit the "Data
Exchange" state.
• If this state change is to be treated as an error in the inverter, the
desired response can be set in 0x2859:002 (P515.02).
Bit 2 Incorrect configuration data The inverter (slave) has received invalid configuration data from the
master.
Bit 3 Initialisation error An error has occurred during the initialisation of the PROFIBUS interface.
Bit 4 Invalid process data The inverter (slave) has received invalid process data from the master,
e.g. no process data or deleted process data are sent by the "Stop" oper-
ating status in the master.
0x2859:001 PROFIBUS monitoring: Watchdog elapsed Selection of the response to the continuous interruption of communica-
(P515.01) (PROFIBUS monit.: WD elapsed) tion to the PROFIBUS master, e. g. by cable break or failure of the PROFI-
• For further possible settings, see parameter BUS master.
2 Trouble • 33168 | 0x8190 - Network: watchdog timeout
0x2859:002 PROFIBUS monitoring: Data exchange exited Selection of the response to exiting the "Data Exchange" state.
(P515.02) (PROFIBUS monit.: Data exch.exited) Associated error code:
• For further possible settings, see parameter • 33169 | 0x8191 - Network: disruption of cyclic data exchange
0x2D45:001 (P310.01). ^ 223
0 No response
0x2859:003 PROFIBUS monitoring: Invalid configuration Selection of the response triggered by the reception of invalid configura-
(P515.03) (PROFIBUS monit.: Invalid config) tion data.
0x2D45:001 (P310.01). ^ 223
• 33414 | 0x8286 - Network: PDO mapping error
2 Trouble
0x2859:004 PROFIBUS monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
(P515.04) (PROFIBUS monit.: Init. error) the initialisation of the PROFIBUS module.
0x2D45:001 (P310.01). ^ 223
• 33170 | 0x8192 - Network: initialisation error
2 Trouble
297
PROFIBUS
LED status displays

0x2859:005 PROFIBUS monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
(P515.05) (PROFIBUS monit.: Inval. proc.data) data.
• For further possible settings, see parameter • If the master changes to the "Stop" state, no cyclic process data are
0x2D45:001 (P310.01). ^ 223 sent to the inverter (slave) anymore; the length of the process data
2 Trouble then is 0.
• 33171 | 0x8193 - Network: invalid cyclic process data

Information about the PROFIBUS status can be obtained quickly via the "NS" and "NE" LED
displays on the front of the inverter.
The meaning can be seen from the table below.
LED "NS" (green) LED "NE" (red) Status/meaning
off off No supply voltage available, network deactivated, not initialised, or firmware download active.
Connected with master, control running, "Data Exchange" state active.
on
Not connected, control stopped, or no data exchange.
Blinking
Watchdog monitoring time elapsed.
Blinking Blinking
PROFIBUS parameterisation error.
Flashing
Any
PROFIBUS configuration error.
Flashing 2 x
Invalid station address set or non-correctable error.
off on
9.6.7 Diagnostics
ter and the PROFIBUS network.
0x2344:001 PROFIBUS Configuration: Extended diagnostic bit 1 = set external diagnostic bit ("Diag Bit").
(P512.01) (PROFIBUS Config.: Ext. diag. bit) • The diagnostic bit is sent to the master where it is evaluated sepa-
0 Delete rately.
1 Set
0x2348:001 PROFIBUS Status: Bus status Display of the current DP state machine state (DP-STATE).
(P516.01) (PROFIBUS Status: Bus status)
• Read only
0 WAIT_PRM After the run-up, the inverter (slave) is waiting for parameter data
(CHK_PRM) from the master. All other frame types are not processed.
Exchanging user data with the master is not possible yet.
1 WAIT_CFG The inverter (slave) is waiting for configuration data (CHK_CFG) from the
master that define the structure of the cyclic frames.
2 DATA_EXCH Parameter and configuration data have been received and accepted by
the inverter (slave). The inverter is in the "Data Exchange" state. It is now
possible to exchange user data with the master.
0x234A:001 PROFIBUS statistics: Data cycles per second Display of the data cycles per second.
(P580.01) (PROFIBUS counter: Data cycles/sec.)
• Read only
0x234A:002 PROFIBUS statistics: Parameterization events Display of the number of parameterisation events.
(P580.02) (PROFIBUS counter: PRM events)
• Read only
0x234A:003 PROFIBUS statistics: Configuration events Display of the number of configuration events.
(P580.03) (PROFIBUS counter: CFG events)
• Read only
0x234A:004 PROFIBUS statistics: Diagnostics events Display of the number of diagnostic telegrams sent.
(P580.04) (PROFIBUS counter: DIAG events)
• Read only
298
PROFIBUS
Functions

• Read only
• Read only
0x234A:007 PROFIBUS statistics: Watchdog events Display of the number of watchdog events.
(P580.07) (PROFIBUS counter: WD events)
• Read only
0x234A:008 PROFIBUS statistics: Data exchange aborts Display of the number of "Data Exchange exited" events.
(P580.08) (PROFIBUS counter: DataEx.event)
• Read only
0x234A:009 PROFIBUS statistics: Total data cycles Display of the number of cyclic process data received.
(P580.09) (PROFIBUS counter: Tot. data cycles)
• Read only
• Read only
9.6.8 Functions
The inverter supports PROFIBUS DP-V0 (DRIVECOM profile) and PROFIBUS DP-V1 (PROFIdrive
profile). PROFIBUS DP-V2 is not supported.
Details
The PROFIBUS DP communication protocol is provided with the following functions:
• DP-V0: cyclic data exchange, diagnostics (all devices).
• DP-V1: acyclic data exchange, process alarm processing (process automation). Note: The
inverter does not support any alarm diagnostics.
• DP-V2: cycle synchronisation and time stamp, slave-to-slave communication.
A class 1 DP master connection (DPV1 C1) between a cyclic master and slave is established
automatically when the "Data Exchange" state has been established. In byte 7 of the parame-
terisation frame, the "DPV1_Enable" bit must be set. Furthermore, a class 2 DP master con-
nection (DPV1 C2) with the slave can be defined by another master connected. This connec-
tion must be established via the "MSAC2_Initiate" service.
The inverter supports the following acyclic DPV1 services:
• MSAC1_Read/Write: C1 read/write request for a data block.
• MSAC2_Initiate/Abort: connection or disconnection for acyclic data exchange between a
class 2 DP master and the slave.
• MSAC2_Read/Write: C2 read/write request for a data block.
299
PROFIBUS
Data mapping
9.6.9 Data mapping

Data mapping is used to define which process data are exchanged cyclically between the mas-
ter and slave. Data mapping is defined in the hardware configurator. The configuration of the
process data is automatically sent to the inverter. The same applies to the bit configuration of
the data words NetWordIN1 and NetWordOUT1.
Details
External tools are only described as required for the corresponding network.
• The already imported GSD file serves to select the required data for the application to add
the node to the PROFIBUS network configuration.
• After the start-up, the master communicates the structure of the cyclic frames to the inver-
ter (slave) via the configuration frame (CHK_CFG).
• The inverter checks the configuration. If the configuration is accepted, the inverter
changes from the "Wait Configuration" state to the "Data Exchange" state. It is now possi-
ble to exchange user data with the master.
• The internal mapping of the cyclic data is set in 0x24E0:xxx (master → inverter direction)
and 0x24E1:xxx (inverter → master direction).
Format: 0xiiiissll (iiii = index hexadecimal, ss = subindex hexadecimal, ll = data length hexa-
decimal)

0x24E0:000 Generic RPDO mapping: Highest subindex Number of mapping entries for RPDO.
0 ... [2] ... 16
0x24E0:001 Generic RPDO mapping: Entry 1 Mapping entry 1 for RPDO.
0x00000000 ... [0x60400010] ... 0xFFFFFFFF
0x00000000 ... [0x60420010] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
300
PROFIBUS
Data mapping

0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x24E1:000 Generic TPDO mapping: Highest subindex Number of mapping entries for TPDO.
0 ... [3] ... 16
0x24E1:001 Generic TPDO mapping: Entry 1 Mapping entry 1 for TPDO.
0x00000000 ... [0x60410010] ... 0xFFFFFFFF
0x00000000 ... [0x60440010] ... 0xFFFFFFFF
0x00000000 ... [0x603F0010] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
301
PROFIBUS
Data mapping

0x00000000 ... [0x00000000] ... 0xFFFFFFFF
302
PROFIBUS
Parameter data transfer
9.6.10 Parameter data transfer

Data communication with PROFIBUS DP-V0 is characterised by cyclic diagnostics and cyclic
process data transfer. An optional service expansion is the acyclic parameter data transfer of
PROFIBUS DP-V1. This service does not impair the functionality of the standard services under
PROFIBUS DP-V0.
Details
• PROFIBUS DP-V0 and PROFIBUS DP-V1 can be operated simultaneously in the same net-
work. This enables the step-by-step expansion or modification of a system.
• The services of PROFIBUS DP-V1 can be used by the class 1 master (PLC) and the class 2 DP
master (diagnostics master, etc.).
• Integration of the acyclic service into the fixed bus cycle depends on the corresponding
configuration of the class 1 master:
• With configuration, a time slot is reserved.
• Without configuration, the acyclic service is appended when a class 2 DP master acycli-
cally accesses a DP-V1 slave.
Product features
• 16 bits each for addressing the parameter index and subindex.
• Several parameter requests can be combined to one request (multi-parameter requests).
• Only one request is processed at a time (no pipelining).
• A request or response must fit into one data block (max. 240 bytes). Requests or responses
cannot be split into several data blocks.
• No spontaneous messages are transferred.
• There are only acyclic parameter requests.
• Profile-specific parameters can be read independently of the slave state.
• A class 1 DP master can always request parameters from a slave if the slave is in the "Data
Exchange" state.
• In addition to a class 1 DP master, a class 2 DP master can establish communication with a
slave:
Transmission directions for acyclic data transfer
Master DP-V1 Slave
Parameter request Write.req Parameter request

with data (parameter request)
Write.res
without data
Read.req
without data
Parameter
Read.res (-) processing
without data
Read.req
without data
Parameter response Read.res (+) Parameter response

with data (parameter response)
Procedure:
1. A "Write.req" is used to pass the data set (DB47) to the slave in the form of a parameter
request.
2. With "Write.res" the master receives the confirmation for the receipt of the message.
3. The master requests the response of the slave with "Read.req".
4. The slave responds with "Read.res (-)" if processing has not been completed yet.
5. After parameter processing, the parameter request is completed by transmitting the
parameter response to the master with "Read.res (+)".
303
PROFIBUS
Telegram structure
SD LE LEr SD DA SA FC DSAP SSAP Data Unit (DU) FCS ED
The Data Unit (DU) contains the DP-V1 header and the parameter request or the parameter
response. The DP V1 header consists of the function detection, slot number, data set, and the
length of the user data. More information about the DP-V1 header can be found in the corre-
sponding PROFIBUS specification. A detailed description of the parameter request and param-
eter response can be found in the following subchapters.
Assignment of the user data depending on the data type
Depending on the data type used, the user data are assigned as follows:
Data type Length User data assignment
Byte 1 Byte 2 Byte 3 Byte 4 Byte ...
String x bytes Data (x bytes)
U8 1 byte Data 0x00
U16 2 bytes HIGH byte LOW byte

Data Data
U32 4 bytes HIGH word LOW word

HIGH byte LOW byte HIGH byte LOW byte
Data Data Data Data
304
PROFIBUS
Read parameter data
9.6.11 Read parameter data

This section describes the request and response for the acyclic reading of a parameter.
Details
• When a read request is processed, no parameter value is written to the slave.
• When a read request is transmitted by multi-parameters, the parameter attribute, index
and subindex are repeated.
• A read request must not exceed the maximum data length of 240 bytes.
Request header
Byte 1 Byte 2 Byte 3 Byte 4
Request reference Request identification Axis Number of indices
Field Data type Values

Request reference U8 This value is defined by the master.
Request identification U8 0x01: Request parameters for reading.
Axis U8 0x00 or 0x01
Number of indices U8 0x"n" (n = number of parameters requested)
Parameter attribute
Byte 5 Byte 6
Attribute Number of subindices

Attribute U8 0x10: Value
Number of subindices U8 0x00
Index and subindex

Index Subindex

Index U16 0x0001 ... 0xFFFF (1 ... 65535)
Subindex U16 0x0000 ... 0x00FF (0 ... 255)
Response to a correctly executed read request

Responses to a read request do not contain parameter attributes, indices and subindices.
Response header
Request reference Response identification Axis Number of indices
(mirrored) (mirrored)

Request reference U8 Mirrored value of the parameter request.
Response identification U8 0x01: Parameter has been read.
305
PROFIBUS
Read parameter data
Parameter format
Byte 5 Byte 6
Format Number of values

Format U8 0x02: integer8 (1 byte with sign)
0x03: Integer16 (2 bytes with sign)
0x05: Unsigned8 (1 byte without sign)
0x06: Unsigned16 (2 bytes without sign)
0x09: Visible String (with n characters)
0x0A: Octet String (with n characters)
0x40: Zero
0x41: Byte
0x42: Word
0x43: Double word
Number of values U8 0x01 or number of characters (n) for string parameters.
Parameter value
Value
(Integer8 / Unsigned8 / byte)
Value
(Integer16 / Unsigned16 / word)
Value
(Integer32 / Unsigned32 / double word)
Byte 7 Byte 8 Byte 9 Byte ...

String
(Visible String / octet string with an optional length)

Value U8/U16/U32 Value range/length depends on the parameter format (see table above).
String U8 Visible string / octet string with an optional length (n characters = n
bytes)
Response to a read error

In the case of a multi-parameter request, correct and possible faulty messages are summar-
ised in one telegram. They have the following data contents:
Correct message
• Format: data type of the value requested
• Number of values: as described above.
• Parameter value: value requested
Faulty message
• Format: 0x44
• Number of values: 0x01 or 0x02
• Error code without additional information (for number of values = 0x01) or error code with
additional information (for number of values = 0x02)
A faulty access to a parameter "n" is indicated at the nth position in the response telegram of
a multi-parameter request.
306
PROFIBUS
Read parameter data
Response header

Response identification U8 0x81: Parameter has not been read.
The data in bytes 7 + 8 must be interpreted as an error code.
Parameter format
Byte 5 Byte 6

Format U8 0x44: Error
Number of values U8 0x01: Error code without additional information.
0x02: Error code with additional information.
Error code
Error code Additional information (if available)

Error code U16 0x0000 ... 0xFFFF
Additional information (if available) U16 Error codes for parameter data transfer ^ 311
307
PROFIBUS
Write parameter data
9.6.12 Write parameter data

This section describes the request and response for the acyclic writing of a parameter.
Details
• When a multi-parameter write request is transmitted, the parameter attribute, index and
subindex and then the parameter format and parameter value are repeated "n" times, "n"
being the number of parameters addressed.
• A write request must not exceed the maximum data length of 240 bytes.
Request header
Request reference Request identification Axis Number of indices

Request reference U8 This value is defined by the master.
Request identification U8 0x02: Write parameters.
Number of indices U8 0x"n" (n = number of parameters addressed)
Parameter attribute
Byte 5 Byte 6
Attribute Number of subindices

Attribute U8 0x10: Value
Number of subindices U8 0x00
Index and subindex

Index Subindex

Index U16 0x0001 ... 0xFFFF (1 ... 65535)
Subindex U16 0x0000 ... 0x00FF (0 ... 255)
Parameter format
Byte 11 Byte 12

Format U8 0x02: integer8 (1 byte with sign)
0x05: Unsigned8 (1 byte without sign)
0x09: Visible String (with n characters)
0x0A: Octet String (with n characters)
0x40: Zero
0x41: Byte
0x42: Word
0x43: Double word
Number of values U8 0x01 or number of characters (n) for string parameters.
308
PROFIBUS
Parameter value
Value
(Integer8 / Unsigned8 / byte)
Value
(Integer16 / Unsigned16 / word)
Value
(Integer32 / Unsigned32 / double word)
Byte 13 Byte 14 Byte 15 Byte ...

String
(Visible string / octet string with an optional length)

Value U8/U16/U32 Value range/length depends on the parameter format (see table above).
String U8 Visible string / octet string with an optional length (n characters = n
bytes)
Response to a correctly executed write request

With an error-free multi-parameter request, only the response header is transmitted, and the
complete data area is omitted.
Response header

Response identification U8 0x02: Parameter has been written.
Response to a write error

In the case of a multi-parameter request, correct and possible faulty messages are summar-
ised in one telegram. They have the following data contents:
Correct message
• Format: 0x40
• Number of values: 0x00
Faulty message
• Format: 0x44
• Number of values: 0x01 or 0x02
• Error code without additional information (for number of values = 0x01) or error code with
additional information (for number of values = 0x02)
A faulty access to a parameter "n" is indicated at the nth position in the response telegram of
a multi-parameter request.
Response header

Response identification U8 0x82: Parameter has not been written.
The data in bytes 7 + 8 must be interpreted as an error code.
309
PROFIBUS
Parameter format
Byte 5 Byte 6

Format U8 0x44: Error
Number of values U8 0x01: Error code without additional information.
0x02: Error code with additional information.
Error code
Error code Additional information (if available)

Error code U16 0x0000 ... 0xFFFF
Additional information (if available) U16 Error codes for parameter data transfer ^ 311
310
PROFIBUS
Error codes for parameter data transfer
9.6.13 Error codes for parameter data transfer

The following table lists all possible error codes for the acyclic data exchange:
Error code Description Explanation Additional infor-
mation
0x0000 Parameter number impermissible Access to non-available parameter. -
0x0001 Parameter value cannot be changed Change access to a parameter value that cannot be Subindex
changed.
0x0002 Lower or upper value limit exceeded Change access with value beyond the value limits. Subindex
0x0003 Subindex impermissible Access to non-available subindex. Subindex
0x0004 No array Access with subindex to non-indicated parameter. -
0x0005 Incorrect data type Change access with value that does not match the -
data type of the parameter.
0x0006 No setting permitted (only resettable) Change access with a non-zero value where it is not Subindex
permitted.
0x0007 Description element cannot be changed Change access to a description element that cannot Subindex
be changed.
0x0008 Reserved (PROFIdrive profile V2: PPO-Write requested in IR is -
not available.)
0x0009 Description data not available Access to non-available description (parameter value -
is available).
0x000A Reserved (PROFIdrive profile V2: Wrong access group.) -
0x000B No parameter change rights Change access with missing parameter change rights. -
0x000C Reserved (PROFIdrive profile V2: Wrong password.) -
0x000D Reserved (PROFIdrive profile V2: Text cannot be read in cyclic -
data transfer.)
0x000E Reserved (PROFIdrive profile V2: Name cannot be read in cyclic -
data transfer.)
0x000F No text array available Access to non-available text array (parameter value is -
available).
0x0010 Reserved (PROFIdrive profile V2: No PPO-Write.) -
0x0011 Request cannot be executed due to the operating Access is not possible for temporary reasons that are -
state not specified in detail.
0x0012 Reserved (PROFIdrive profile V2: Other error.) -
0x0013 Reserved (PROFIdrive profile V2: Date cannot be read in cyclic -
data transfer.)
0x0014 Value impermissible Change access with the value that is within the value Subindex
limits but that is impermissible for other permanent
reasons (parameters with defined individual values).
0x0015 Response too long The length of the current response exceeds the maxi- -
mum length transferrable.
0x0016 Parameter address impermissible Impermissible value or value which is not supported -
for the attribute, number of subindexes, parameter
number, or subindex, or a combination.
0x0017 Format impermissible Write request: Impermissible or non-supported for- -
mat of parameter data.
0x0018 Number of values not consistent Write request: Number of parameter data values does -
not match the number of subindexes in the parameter
address.
0x0019 Axis impermissible Access to non-available axis. For double axis, only -
0x00 or 0x01 permitted.
0x001A Reserved - -
...
0x00FF
311
PROFIBUS

Details
A restart of communication is required after changes of the interface configuration (e. g. sta-
tion address and baud rate) in order that the changed settings become effective.
b) Set the selection = "Restart with current values [1]" in 0x2340.

0x2340 PROFIBUS communication Restart / stop communication.
2 Restart with default values Restart communication with the standard values of the communication
parameters.
11 Action cancelled
12 Error
312
PROFIBUS
Short setup
9.6.15 Short setup

In the following, the steps required for controlling the inverter via PROFIBUS are described.
3. Set PROFIBUS station address.
• Each network node must be provided with a unique station address.
• Details: 4Station address setting ^ 295
4. Optional: Change the response of the inverter if the communication to the PROFIBUS mas-
ter is interrupted.
• Default setting: If communication is interrupted, an error is triggered.
• Details: 4Monitoring ^ 296
7. Configure the host system (master) in order to enable communication with the inverter.
See section "Configuring the host system (master)".
8. Control inverter via RPDO (and evaluate in the current status via TPDO).
• For assignment of the control word and setpoint selection, see section "RPDO map-
ping".
• For assignment of the status word and actual value output, see section "TPDO map-
ping".
• Acceleration 0x2917 (P220.00) and deceleration 0x2918 (P221.00) can be set/changed
via the acyclic parameter data transfer.
Configuring the host system (master)

Configure the host system (master) as follows in order to enable communication with the
inverter.
1. Import the device description file of the inverter into the master.
The device description file for the inverter can be found in the Internet:
http://www.lenze.com à Download
The following language versions of the device description file can be used:
• LENZE[product type].GSE (source file, English), e.g. LENZE550.GSE for i550
• LENZE[product type].GSG (German), e.g. LENZE550.GSG for i550
• LENZE[product type].GSE (English), e.g. LENZE550.GSE for i550
2. Define the user data length.
• The user data length is defined during the initialisation phase of the master.
• The inverter supports the configuration of maximally 16 process data words (maximally
32 bytes).
• The user data length for process input data and process output data is the same.
3. Execute data mapping in the hardware configurator.
• For preconfigured PDO mapping, see the sections "RPDO mapping" and "TPDO map-
ping".
• Details: 4Data mapping ^ 300
313
PROFIBUS
Short setup
RPDO mapping
For the process data from the master to the inverter, the following data mapping is preset in
the device description file:
1. NetWordIN1 data word0x4008:001 (P590.01)
2. Network setpoint frequency (0.01) 0x400B:005 (P592.05)
3. 16 bit selectable output data, mapped to Keypad setpoints: Process controller setpoint
0x2601:002 (P202.02)
Function assignment of the NetWordIN1 data word
7 Reset error 0x400E:008 (P505.08)
Specifying the frequency setpoint
word.
• Example: 4560 ≡ 45.60 Hz
314
PROFIBUS
Short setup
TPDO mapping
For the process data from the inverter to the master, the following data mapping is preset in
1. NetWordOUT1 data word 0x400A:001 (P591.01)
3. Motor current 0x2D88 (P104.00)
Status assignment of the NetWordOUT1 data word
1 Not connected 0x2634:011 (P420.11)
3 Error active 0x2634:013 (P420.13)
4 Not connected 0x2634:014 (P420.14)
6 Running 0x2634:016 (P420.16)
8 Not connected 0x2634:018 (P420.18)
9 Not connected 0x2634:019 (P420.19)
12 Actual speed = 0 0x2634:022 (P420.22)
Output of the actual frequency value
• Example: 4560 ≡ 45.60 Hz
315
EtherNet/IP
9.7 EtherNet/IP
EtherNet/IP™ (EtherNet Industrial Protocol) is a fieldbus based on Ethernet which uses the
Common Industrial Protocol™ (CIP™) for data exchange.
• EtherNet/IP™ andCommon Industrial Protocol™ (CIP™) are trademarks and patented tech-
nologies, licensed by the user organisation ODVA (Open DeviceNet Vendor Assoziation),
USA.
• Detailed information on EtherNet/IP can be found on the web page of the user organisa-
tion: http://www.odva.org
• Information on the dimensioning of a EtherNet/IP network can be found in the configura-
tion document for the product.
The inverter can be controlled by every CIP Generic Master that either uses "Class 1 Messag-
ing" or "Class 3 Messaging".
For this purpose, the inverter must be configured as AC drive Adapter with the programming
software »RSLogix™ 5000« from the Rockwell Automation® Corporation.
Registered trademarks used or trademarks of the Rockwell Automation® Corporation, USA:
• »RSLogix™«, »RSLogix™ 5000«
• »Allen-Bradley®«
• »CompactLogix™«, »ControlLogix®«, »SoftLogix™«
Conditions for commissioning
• The control unit (CU) of the inverter is provided with EtherNet/IP (from firmware 02.01).
• The device is networked as EtherNet/IPAdapter with an EtherNet/IP Scanner and, if neces-
sary, further EtherNet/IP nodes, see "Typical topologies" in the section 4EtherNet/IP^ 68.
• An Engineering PC with the programming software »RSLogix™ 5000« (from version 20) is
connected to the Scanner.
• Current device description files for EtherNet/IP are available.
• EDS files for Lenze devices: Download
• The files are installed via the "EDS Hardware Installation Tool" of the »RSLogix™ 5000«.
• Allen-Bradley control systems do not need any EDS files to add devices to their configu-
ration.
• An »RSLogix™ 5000« project has been created and is in the offline state.
• The CPU and Ethernet adapter of the PLC (Scanner) have been configured.
• All EtherNet/IP nodes are supplied with voltage and are switched on.
Commissioning with »RSLogix™ 5000« (from version 20)
The basic commissioning steps can be found under:
4Short setup ^ 346
316
EtherNet/IP
Basic settings
9.7.1 Basic settings

IP basic settings
The basic IP settings are required to let the engineering software access the network nodes
(PLC, inverter) directly via Ethernet.
The PC with the engineering software must be in the same network as the devices to be con-
figured.
First, configure the PC so that this condition is fulfilled.
The required steps are described by the example of the operating system Microsoft® Win-
dows® 7.
How to define the IP basic settings:

1. Call the "Network and sharing center" under "Control panel".
2. Select "Change adapter settings" (observe administrator rights!).
3. Select the network to be configured (double-click), e. g.:
The network nodes (PLC, inverter) must be connected to the network.
The status dialog box of the network is opened.

4. Click "Properties".
The properties dialog box of the network is opened.
5. Select "Internet protocol version 4 (TCP/IPv4)" and click "Properties".
The properties dialog box of the "Internet protocol version 4 (TCP/IPv4)" is opened.
6. Enter the IP address, the subnet mask and, if required, the gateway address under "Use the
following addresses".
7. Click "OK".
The IP basic settings are now completed.
Set IP address
The rotary encoder switches at the front of the device serve to set the IP address in terms of
hardware.
Setting Addressing
0x00 IP address via parameter 0x23A1:001 (P510.01).
0x01 ... 0xFE Setting of the 4th byte of the IP address via the rotary encoder switch.
192.168.124.[setting]
Example: Setting for the value 52
(3 × 16) + (4 × 1) = 52
x16 x1
The value set via the rotary encoder switches is used when the mains is switched on or after a
network restart with 0x23A0 (P508.00) = 1 or 2 . A changed value during operation will only
become valid after the network has been restarted.
• 0x23A3 (P509.00) shows the switch setting at the last mains connection.
• 0x23A2:001 (P511.01) shows the active IP address.
Set subnet mask
The desired subnet mask is set via 0x23A1:002 (P510.02).
0x23A2:002 (P511.02) shows the active subnet mask.
317
EtherNet/IP
Basic settings
Set gateway address

If a gateway is used, set the gateway address via 0x23A1:003 (P510.03).
0x23A2:003 (P511.03) shows the active gateway address.
Set host name
Set the desired host name (max. 64 characters) via 0x23A1:004 (P510.04).
Since DNS is not supported, the host name only serves to identify the device.
IP configuration
As an alternative to the manual setting of the IP addresses, a DHCP or BOOTP server can also
be used to assign the IP addresses to each single network node.
0x23A1:005 (P510.05) serves to define whether the currently saved IP addresses are used or
the IP addresses are assigned by means of DHCP or BOOTP.
Multicast settings
We recommend you to keep the default settings in order to ensure a safe multi-
cast transmission.
Multicast enables the transfer of data packages to several nodes or to a closed node group at
the same time. For this purpose, the scanner automatically generates a multicast IP address
for the device.
The preset multicast TTL value is 1, which means that the multicast data packages are only
transferred via the local subnetwork. Contact your IT department for the correct setting of the
respective network installation.
The multicast settings can also be made manually via the following parameters:
• 0x23A1:008 (P510.08): Multicast IP address
• 0x23A1:007 (P510.07): Multicast allocation
• 0x23A1:006 (P510.06): Multicast TTL
• 0x23A1:009 (P510.09): Multicast number
Set the baud rate for the Ethernet ports manually
By default, the device automatically recognises the baud rate of the connected Ethernet net-
work.
For the Ethernet ports of the device, you can also set the baud rate explicitly and define
whether the communication is to be half duplex or full duplex:
• 0x23A4:001 (P512.01): Setting of the baud rate for Ethernet port 1
• 0x23A4:002 (P512.02): Setting of the baud rate for Ethernet port 2
• 0x23A5:001 (P519.01): Display of the active baud rate for Ethernet port 1
• 0x23A5:002 (P519.02): Display of the active baud rate for Ethernet port 2
Address conflict detection (ACD)
0x23A7 (P514.00) serves to switch off the Address conflict detection.
In the default setting, the Address conflict detection is activated.
A change of the setting only gets effective after the device has been reset ("power off/on" or
"type 0 reset").
Quality of service (QoS)
0x23A6 (P513.00) indicates if the EtherNet/IP-specific QoS tag (802.1Q) for prioritising the
data packages to be transmitted is used.
In the presetting, the QoS tag is not used.
The parameters for configuring the network of the device are described below.
318
EtherNet/IP
Basic settings

0x23A1:001 EtherNet/IP settings: IP address Set IP address.
(P510.01) (EtherN/IP sett.: IP address) The default setting 276605120 corresponds to the IP address
0 ... [276605120] ... 4294967295 192.168.124.16.
0x23A1:002 EtherNet/IP settings: Subnet Set subnet mask.
(P510.02) (EtherN/IP sett.: Subnet) The default setting 16777215 corresponds to the subnet mask
0 ... [16777215] ... 4294967295 255.255.255.0.
0x23A1:003 EtherNet/IP settings: Gateway Set gateway address.
(P510.03) (EtherN/IP sett.: Gateway) Example:
0 ... [0] ... 4294967295 The setting 276344004 corresponds to the gateway address
• From version 02.00 196.172.120.16.
• 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16
0x23A1:004 EtherNet/IP settings: Host name Set host name.
(P510.04) (EtherN/IP sett.: Host name) • String with up to 64 characters.
0x23A1:005 EtherNet/IP settings: IP configuration Set IP configuration.
(P510.05) (EtherN/IP sett.: IP configuration)
0 Stored IP The currently saved IP configuration is used.
1 BOOTP The IP configuration is assigned by the Scanner via BOOTP.
2 DHCP The IP configuration is assigned by the Scanner via DHCP.
The assignment of a gateway address that is not in the same subnetwork
as the IP address, is denied.
0x23A1:006 EtherNet/IP settings: Multicast TTL Setting of the multicast TTL value for the validity of data packages in the
(P510.06) (EtherN/IP sett.: Multicast TTL) network.
1 ... [1] ... 255
0x23A1:007 EtherNet/IP settings: Multicast allocation Selection for multicast-IP addressing.
(P510.07) (EtherN/IP sett.: Mcast allocation)
0 Default allocation
1 Multicast number/start address
0x23A1:008 EtherNet/IP settings: Multicast IP address Set multicast IP address.
(P510.08) (EtherN/IP sett.: Mcast IP addr.) The default setting 3221373167 corresponds to the Multicast IP address
0 ... [3221373167] ... 4294967295 239.64.2.192.
0x23A1:009 EtherNet/IP settings: Multicast number Set multicast number.
(P510.09) (EtherN/IP sett.: Multicast number)
1 ... [1] ... 8
0x23A4:001 Port settings: Port 1 Set baud rate for Ethernet port 1.
(P512.01) (Port settings: Port 1)
0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
3 Reserved
4 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
319
EtherNet/IP
Basic settings

0x23A4:002 Port settings: Port 2 Set baud rate for Ethernet port 2.
0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
3 Reserved
4 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
0x23A7 Address conflict detection Activate address conflict detection (ACD) (enable).
(P514.00) (AddrConflctDetec) • If this value is changed, the device must be reset ("Power off/on" or
• From version 02.00 "Type 0 Reset").
0 Disabled
1 Enabled
0x23A3 EtherNet/IP switch position Display of the rotary encoder switch settings at the last mains power-on.
(P509.00) (EtherN. switch)
• Read only
0x23A6 Quality of service Display if the QoS tag for prioritising the data packages to be transmitted
(P513.00) (QualityOfService) is used.
• Read only
0 802.1Q Tag disable
1 802.1Q Tag enable
9.7.2 Monitoring
0x23A1:010 EtherNet/IP settings: Timeout Setting of the maximum permissible time-out for the CIP communica-
(P510.10) (EtherN/IP sett.: Timeout) tion.
500 ... [10000] ... 65535 ms When the specified monitoring time has elapsed, the response set in
• From version 02.00 0x2859:007 (P515.07) is triggered in the inverter.
0x2859:001 EtherNet/IP monitoring: Watchdog elapsed Selection of the response to a permanent interruption of the communi-
(P515.01) (EtherN/IP monit.: WD elapsed) cation to the Scanner, e. g. by cable break or failure of the Scanner.
• For further possible settings, see parameter • 33168 | 0x8190 - Network: watchdog timeout
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:003 EtherNet/IP monitoring: Invalid configuration Selection of the response triggered by the reception of invalid configura-
(P515.03) (EtherN/IP monit.: Invalid config) tion data.
• For further possible settings, see parameter • 33414 | 0x8286 - Network: PDO mapping error
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:004 EtherNet/IP monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
(P515.04) (EtherN/IP monit.: Init. error) the initialisation of the network component.
• For further possible settings, see parameter • 33170 | 0x8192 - Network: initialisation error
0x2D45:001 (P310.01). ^ 223
2 Trouble
320
EtherNet/IP
Monitoring

0x2859:005 EtherNet/IP monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
(P515.05) (EtherN/IP monit.: Inval. proc.data) data.
• For further possible settings, see parameter • 33171 | 0x8193 - Network: invalid cyclic process data
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:006 EtherNet/IP monitoring: Timeout explicit message Selection of the response to time-outs during the transfer of Explicit
(P515.06) (EtherN/IP monit.: Timeout ExplMsg) Messages.
• For further possible settings, see parameter • 33042 | 0x8112 - Network: timeout explicit message
0x2D45:001 (P310.01). ^ 223
1 Warning
0x2859:007 EtherNet/IP monitoring: Timeout communication Selection of the response to the time-out during the CIP communication.
(P515.07) (EtherN/IP monit.: Timeout Comm.) Selection of the response to the time-out during the CIP communication.
• From version 02.00 The monitoring time for the CIP communication is defined in
• For further possible settings, see parameter 0x23A1:010 (P510.10).
1 Warning • 33044 | 0x8114 - Network: overall communication timeout
321
EtherNet/IP
LED status displays

Information on the CIP status can be obtained quickly via the "MS" and "NS" LED displays on
the front of the inverter. In addition, the LEDs at the RJ45 sockets indicate the Ethernet con-
nection status.
The meaning of the "MS" and "NS" LEDs can be obtained from the following two tables.
LED "MS" (green/red) CIP module status Status/meaning
off Nonexistent The network option is not supplied with voltage.
Operational The network option works correctly.
On (green)
Standby The network option is not configured completely or the configuration is incorrect.
Blinking green
Major recoverable The network option contains a correctable error.
Blinking red fault
Major unrecoverable The network option contains a non-correctable error.
on (red) fault
Device self testing The network option executes a self-test.
Blinking green/red
LED "NS" (green/red) CIP network status Status/meaning

off No IP address The network option is not supplied with voltage or has not received an IP address yet.
Connected The network option works correctly an has established a connection to the scanner.
On (green)
No connections The network option
Blinking green • works correctly,
• has been assigned to an IP address,
• has not been implemented into the network yet by the scanner.
Connection timeout A time-out has occurred.
Blinking red
Duplicate IP The network option cannot access the network (IP address conflict).
on (red)
Blinking green/red
Status displays at the RJ45 sockets

The LEDs at the RJ45 sockets indicate the connection status to the network:
LED "Link" (green) Status/meaning
off No connection to the network.
A physical connection to the network is available.
on
LED "Activity" (yellow) Status/meaning

off No data transfer.
Data is exchanged via the network.
on or flickers
9.7.4 Diagnostics
The parameters for diagnosing the network are described below.
0x23A2:001 Active EtherNet/IP settings: IP address Display of the active IP address.
(P511.01) (EtherN/IP diag.: IP address) The default setting 276605120 corresponds to the IP address
• Read only 192.168.124.16.
0x23A2:002 Active EtherNet/IP settings: Subnet Display of the active subnet mask.
(P511.02) (EtherN/IP diag.: Subnet) The default setting 16777215 corresponds to the subnet mask
• Read only 255.255.255.0.
322
EtherNet/IP
Diagnostics

0x23A2:003 Active EtherNet/IP settings: Gateway Display of the active gateway address.
(P511.03) (EtherN/IP diag.: Gateway) Example:
• From version 02.00 196.172.120.16.
• 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16
0x23A2:005 Active EtherNet/IP settings: MAC address Display of the active MAC address.
(P511.05) (EtherN/IP diag.: MAC address)
• Read only
0x23A2:006 Active EtherNet/IP settings: Multicast address Display of the active Multicast IP address.
(P511.06) (EtherN/IP diag.: Mcast address) The default setting 3221373167 corresponds to the Multicast IP address
• Read only 239.64.2.192.
• Read only
0 Not connected
• Read only
0 Not connected
5 Reserved
6 Reserved
0x23A8 CIP module status Display of the active CIP module status.
(P516.00) (CIP module stat.)
• Read only
0x23A9 EtherNet/IP status Display of the active network status.
(P517.00) (EtherN/IP status)
• Read only
323
EtherNet/IP
Objects
9.7.5 Objects
An EtherNet/IP node is a collection of objects. A single object is described by its class, their
instances and attributes. Various services such as read or write services can be applied to
these objects.
This chapter only describes the CIP objects implemented by Lenze and their sup-
ported features (attributes).
Not all object features as described in the "Common Industrial Protocol Specifi-
cation" of the ODVA are supported.
Class Attribute Services

These "Class Attribute Services" are supported:
Service ID Name Data type
1 Get Revision UNIT
2 Get Max. Instance
3 Get Number of Instances
4 Get Number Attributes
5 Get Optional Attributes
6 Get Max. ID Number Class Attributes
7 Get Max. ID Number Instance Attributes
Instance Attribute Services

These "Instance Attribute Services" are supported:
Service ID Name Data type
1 Get No. of Member in List UNIT
2 Get Member List
3 Get/Set Data
4 Get Size
0x01: Identity Object

The "Identity Object" provides the identification and the general information on the device.
Attribute Name Info
(Instance ID)
1 Vendor ID Lenze
2 Device Type 2 (AC Drive)
3 Product Code 550
4 Revision e.g. "1.5"
5 Status
6 Serial Number
7 Product Name IOFW51AGXX
8 State
324
EtherNet/IP
Objects
0x04: Assembly Object

The inverter contains EtherNet/IP assembly object instances which refer to the follow-
ing »RSLogix™ 5000« connection parameters:
• Inputs (actual value such as actual speed, actual position, etc.)
• Outputs (enable and reference value for the drive)
• Configuration
The inputs and outputs refer to the view of the Scanner (PLC).
Output data/assemblies are created by the Scanner (PLC) and transmitted to the
Adapter (inverter).
Input data/assemblies are created by the Adapter (inverter) and transmitted to
the Scanner (PLC).
The assembly object instances can be accessed via "Class 1 Messaging" (Implicit Messaging)
and "Class 3 Messaging" (Explicit Messaging).
Customer specific configurations with the assembly object instances 110 and 111 are only
possible with PLCs (Scanner) that support "Class 1 Messaging".
See also:
4Process data transfer ^ 332 (Implicit Messaging)
4Parameter data transfer ^ 342 (Explicit Messaging)
The Ethernet connection object offers the following common services for accessing the
assembly object instances:
• 0x0E: Get_Attribute_Single (read parameter/assembly data)
• 0x10: Set_Attribute_Single (write parameter/assembly data)
The following predefined assembly object instances can be used according to the "CIP™ Net-
work Library":
Attribute Name Info / parameter
(Instance ID)
Assembly output object instances according to AC Drive profile
20 Basic Speed Control Output LSB of the AC Drive control word 0x400B:001 (P592.01) (some bits are masked)
40x400B:004 (P592.04) Network setpoint speed
21 Extended Speed Control Output LSB of the AC Drive control word 0x400B:001 (P592.01)
22 Speed and Torque Control Output LSB of the AC Drive control word 0x400B:001 (P592.01) (some bits are masked)
40x400B:008 (P592.08) Torque mode setpoint
23 Extended Speed and Torque Control Out- LSB of the AC Drive control word 0x400B:001 (P592.01)
put 40x400B:004 (P592.04) Network setpoint speed
40x400B:008 (P592.08) Torque mode setpoint
Assembly input object instances according to the AC Drive profile
70 Basic Speed Control Input LSB of the AC Drive status word 0x400C:001 (P593.01) (some bits are masked)
40x400C:004 (P593.04) Motor speed
71 Extended Speed Control Input LSB of the AC Drive status word 0x400C:001 (P593.01)
40x400C:004 (P593.04) Motor speed
72 Speed and Torque Control Input LSB of the AC Drive status word 0x400C:001 (P593.01)
40x400C:004 (P593.04) Motor speed
40x400C:007 (P593.07) Torque scaled
73 Extended Speed and Torque Control LSB of the AC Drive status word 0x400C:001 (P593.01)
Input MSB Drive State of the AC Drive status word (mask bits 12 ... 15)
40x400C:004 (P593.04) Motor speed
40x400C:007 (P593.07) Torque scaled
Assembly object instances for customer specific configurations
110 Custom Output Customised
111 Custom Input The inverter must be registered with an EDS device description file in »RSLogix™
5000« to be able to assign data to these assembly object instances.
325
EtherNet/IP
Objects
Assembly output objects (outputs)

Assembly output objects are usually used to enable the inverter (Adapter) and define a speed
or torque setpoint.
Depending on the data length defined by the PLC (Scanner) the memory map of the I/O data
may vary in size.
In case of assembly output objects, a 32-bit-run/idle header is assumed. When the assemblies
are mapped, this header is inserted automatically into the data flow by most of the Allen-
Bradley PLC/SLC devices. For this purpose, no adaptations are required.
If your PLC does not support the 32-bit run/idle header, complement the output image by a
leading 32-bit header. Set the data in the header to 0.
Bit 0 of the header can be defined in the process image of your PLC:
• State 0: Idle mode
• State 1: Run mode
Structure of the output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
RunFwd
0 FaultRst
(CW)
20 1
(0x14)
2 Speed Reference (low byte)
3 Speed Reference (high byte)
RunRev RunFwd
0 NetRef NetCtrl FaultRst
(CCW) (CW)
21 1
(0x15)
2 Speed Reference (low byte)
RunFwd
0 FaultRst
(CW)
1
22 2 Speed Reference (low byte)
(0x16)
4 Torque Reference (low byte)
5 Torque Reference (high byte)
RunRev RunFwd
0 NetRef NetCtrl FaultRst
(CCW) (CW)
1
23 2 Speed Reference (low byte)
(0x17)
4 Torque Reference (low byte)
5 Torque Reference (high byte)
0
110
... Custom Output
(0x6E)
31
326
EtherNet/IP
Objects
Assembly input objects (inputs)

Assembly input objects are usually used to monitor the status of the inverter (Adapter) and
request current actual values (e. g. the current speed).
The input objects are mapped in the Adaptermemory from byte 0 and transmitted "mode-
less".
The inverter does not use a 32-bit header for the real time status. Thus, the start address in
the assembly memory map is the real start of the first assembly data element.
When the assembly input objects are mapped to the control memory, observe
the real assembly lengths.
Structure of the input objects

Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
Running1
0 Faulted
(Fwd, CW)
70 1
(0x46)
2 Speed Actual (low byte)
3 Speed Actual (high byte)
Running2 Running1
0 AtReference RefFromNet CtrlFromNet Ready Warning Faulted
(Rev, CCW) (Fwd, CW)
71 1 Drive State
(0x47)
2 Speed Actual (low byte)
Running1
0 Faulted
(Fwd, CW)
1
72 2 Speed Actual (low byte)
(0x48)
4 Torque Actual (low byte)
5 Torque Actual (high byte)
Running2 Running1
0 AtReference RefFromNet CtrlFromNet Ready Warning Faulted
(Rev, CCW) (Fwd, CW)
1 Drive State
73 2 Speed Actual (low byte)
(0x49)
4 Torque Actual (low byte)
5 Torque Actual (high byte)
0
111
... Custom Input
(0x6F)
31
0x28: Motor Data Object

The "Motor Data Object" provides a data basis for motor parameters.
(Instance ID)
3 Motor Type 40x6402 Motor type
Default setting: Squirrel cage induction
6 Rated Current [mA] 40x6075 (P323.00) Motor rated current
7 Rated Voltage [V] 40x2C01:007 (P320.07) Rated voltage
327
EtherNet/IP
Objects
0x29: Control Supervisor Object

The "Control Supervisor Object" describes all management functions of the device for the
motor control.
(Instance ID)
3 Run1 AC Drive control word 0x400B:001 (P592.01): Bit 0 (run forward, CW)
4 Run2 AC Drive control word 0x400B:001 (P592.01): Bit 1 (run backward, CCW)
5 NetCtrl AC Drive control word 0x400B:001 (P592.01): Bit 5 (activate network control:
0x2631:037 (P400.37) = 114)
6 State AC Drive status word 0x400C:001 (P593.01):
Bits 8 ... 11 (profile status/Drive State)
Bits 12 ... 15 masked

7 Running1 AC Drive status word 0x400C:001 (P593.01): Bit 2 (run forward active, CW)
8 Running2 AC Drive status word 0x400C:001 (P593.01): Bit 3 (run backward active, CCW)
9 Ready AC Drive status word 0x400C:001 (P593.01): Bit 4 (ready)
10 Faulted AC Drive status word 0x400C:001 (P593.01): Bit 0 (fault/trouble active)
11 Warning AC Drive status word 0x400C:001 (P593.01): Bit 1 (warning active)
12 FaultRst AC Drive control word 0x400B:001 (P592.01): Bit 2 (fault reset)
13 FaultCode 40x603F (P150.00) Error code
15 CtrlFromNet AC Drive status word 0x400C:001 (P593.01): Bit 5 (network control active)
Assignment of "CiA 402 plus States" to "AC Drive Profile Drive States"
CiA 402 plus States AC Drive Profile Drive States
INIT (0, 1) 0: Manufacturer-specific
NOT_READY_TO_SWITCH_ON (2) 1: Startup (drive initialisation)
SWITCH_ON_DISABLED (3) 2: Not_Ready (mains voltage switched off)
READY_TO_SWITCH_ON (4)
3: Ready (mains voltage switched on)
SWITCHED_ON (5)
OPERATION_ENABLED (6) 4: Enabled (drive has received run command)
DISABLE_OPERATION (7)
SHUT_DOWN (8) 5: Stopping (drive has received stop command and is stopped)
QUICK_STOP (9)
FAULT_REACTION_ACTIVE (10) 6: Fault_Stop (drive is stopped due to a fault)
FAULT (11) 7: Faulted (faults have occurred)
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EtherNet/IP
Objects
0x2A: AC Drive Object

The "AC Drive Object" describes the device-specific functions of the inverter, e. g. speed
ramps, torque control etc.
(Instance ID)
3 AtReference AC Drive status word 0x400C:001 (P593.01): Bit 7 (At Reference)
4 NetRef AC Drive control word 0x400B:001 (P592.01): Bit 6 (Network Setpoint Source)
Activate network setpoint: 0x2631:017 (P400.17) = 116
6 DriveMode 40x400B:010 AC Drive mode
7 SpeedActual [rpm / 2SpeedScale] 40x400C:004 (P593.04) Current motor speed

A speed scale parameter is not supported.
8 SpeedRef [rpm / 2SpeedScale] 40x400B:004 (P592.04) Setpoint speed
A speed scale parameter is not supported.
11 TorqueActual [Nm / 2TorqueScale] 40x400C:007 (P593.07) Actual torque (scaled)
12 TorqueRef [Nm / 2TorqueScale] 40x400B:008 (P592.08) Torque setpoint
The scaling factor can be set with 0x400B:009 (P592.09).
Example:
• Torque setpoint (0x400B:008) = 345 [Nm]
• Scaled torque setpoint = 345 [Nm] / 23 = 43.125 [Nm]
22 SpeedScale Not implemented. Use the value "0" for SpeedScale.
24 TorqueScale 40x400B:009 (P592.09) Torque scaling of TorqueRef (0x400B:008 (P592.08)) and
TorqueActual (0x400C:007 (P593.07))
29 RefFromNet AC Drive status word 0x400C:001 (P593.01): Bit 6 (Reference from Network)
The following table shows the negative influence of an AC Drive mode on the mode selection
parameters.
Impacts of the AC Drive mode on the mode selection parameters of the inverter
0x400B:010 0x6402 0x6060 (P301.00) 0x2C00 (P300.00) 0x4020:001 (P600.01)
AC Drive mode Motor type Modes of operation Motor control mode Operating mode
0x2A: AC Drive Object
Attribute 6: Drive Mode
0: Vendor specific Unchanged Unchanged Unchanged Unchanged
1: Speed control (open 7: Squirrel cage induction 2: MS: Velocity mode 6: V/f characteristic control 0: Inhibited
loop) (VFC open loop)
2: Speed control (closed 7: Squirrel cage induction 2: MS: Velocity mode 2: Servo control (SC ASM) 0: Inhibited
loop)
3: Torque control 7: Squirrel cage induction 1: MS: Torque mode Unchanged 0: Inhibited
The parameters for the implemented EtherNet/IP objects are described below.
0x400B:010 AC Drive mode Selection of the AC drive mode.
0 Vendor specific
1 Speed control (open loop)
2 Speed control (closed loop)
3 Torque control (from version 03.00)
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EtherNet/IP
Objects

0x2631:001 (P400.01). ^ 532
0 Not connected
Notes:
tocol.
0x6402 Motor type AC motor type
• From version 02.00 • Motor Data Object (0x28) - instance attribute 3
3 PM synchronous
7 Squirrel cage induction
330
EtherNet/IP

In order that the inverter can be controlled via the network, activate the network control:
0x2631:037 (P400.37) = "Network control active [114]"
Select "Network [5]" in 0x2860:001 (P201.01)to use the network generally as a standard set-
point source. If another standard setpoint source is set, a change-over to the network setpoint
via the AC Drive control word 0x400B:001 (P592.01) is possible in case the network control is
activated:
Change-over to network setpoint
The network setpoint is activated via bit 6 (NetRef) of the AC Drive control word:
Bit 6 Selection:
1 Network setpoint
Note!
In order that the activation via bit 6 works, the selection "Network setpoint active [116]" must be set in 0x2631:017 (P400.17).
Optionally, a change-over from the standard setpoint source to the network setpoint is also
possible via a digital input:
• Set a standard setpoint source different than Network" [5]" in 0x2860:001 (P201.01).
• Set the desired digital input in 0x2631:017 (P400.17) via which the change-over to the net-
work setpoint is to take place.
Bits 5 (NetCtrl) and 6 (NetRef) of byte 0 in the assembly output objects 21 and
23 must be transmitted to the inverter in order that control and speed reference
commands are accepted by the network.
If the network control is active (0x400B:001 (P592.01)/bit 5 = 1 and 0x2631:037
(P400.37) = 114), all bits of the AC drive control word (0x400B:001 (P592.01))
are processed.
If the network control is not active (0x400B:001 (P592.01)/bit 5 = 0 or
0x2631:037 (P400.37) = 0), the control bits 0, 1, 12, 13, 14, 15 are not pro-
cessed. Their states are ignored and the drive is in local control.

0x23A0 EtherNet/IP communication Restart / stop communication.
(P508.00) (EtherN/IP comm.) • When the device command has been executed successfully, the value
• From version 02.00 0 is shown.
• A communication restart has nothing to do with the acceptance of the
described operating modes. For this purpose, a restart of the device is
required!
2 Restart with default values Restart communication with the standard values.
10 In process Only status feedback
11 Action cancelled
12 Fault
331
EtherNet/IP
Process data transfer
9.7.7 Process data transfer

Implicit Messaging
Configure the cyclic data transfer (Implicit Messaging) in »RSLogix™ 5000« (from version 20):
1. Network configuration of the inverter.
1. Go to the navigation tree ("Controller Organizer") under "I/O Configuration à Ethernet"
and execute the context menu command "New Module" with a right-click.
2. Select the "ETHERNET MODULE Generic Ethernet Module" module type in the appear-
ing dialog box.
3. Click "Create".
The "New Module" dialog box is opened.
4. Fill in input fields.
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EtherNet/IP
In the example, the assembly input object 73 is used for reading status information of
the inverter and the assembly output object 23 is used for controlling the inverter.
The assembly objects 73 (Extended Speed and Torque Control Input) and 23 (Extended
Speed and Torque Control Output) can be used for most of the applications.
Information on the assembly objects: 4Objects ^ 324
Further entries:
a) The name to be entered should refer to the process or the device.
b) When entering the IP address, make sure that the inverter (adapter) is in the same
network as the PLC (scanner). The subnetwork corresponds to the first three bytes of
the IP address.
See also: 4Basic settings ^ 317
c) Select "Data-INT" for the "Comm Format" since the data in the assembly objects 73
and 23 are given in 16-bit-integer words.
d) The required size "0" is entered for the configuration assembly 130.
e) Size "3" is entered for the assembly input object 73.
f) Size "3" is entered for the assembly output object 23.
The inverter (adapter) must be in the same subnetwork as the PLC (scanner).
The subnetwork corresponds to the first three bytes of the IP address.
The size of the assembly input and output objects must comply with the num-
ber of words that are actually used.
Bits 5 (NetCtrl) and 6 (NetRef) of byte 0 in the assembly output object 23 must
be transmitted for the inverter in order that the control and speed reference
commands are accepted by the network.
If the network control is active (0x400B:001 (P592.01)/bit 5 = 1 and 0x2631:037
(P400.37) = 114), all bits of the AC drive control word (0x400B:001 (P592.01))
are processed.
If the network control is not active (0x400B:001 (P592.01)/bit 5 = 0 or
0x2631:037 (P400.37) = 0), the control bits 0, 1, 12, 13, 14, 15 are not pro-
cessed. Their states are ignored and the drive is in local control.
5. Click "OK".
The "Module Properties Report: ..." dialog box is opened.
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EtherNet/IP
6. Set the RPI rate.

The example shows the default setting of the RPI rate with "10.0" ms. This means that
the inverter is queried every 10 milliseconds by the scanner. For the most inverter appli-
cations, it is not required to query the inverter more frequently.
The minimum value for inverters of the i series is 4.0 ms.
7. Activate/deactivate "Use Unicast Connection over EtherNet/IP".
The inverter supports "Unicast Connection over EtherNet/IP". The activation of this
function causes a faster overall network power. The use of this function, however, can
make the error correction for managed switches more complicated.
8. Make optional settings.
a) Activating "Inhibit Module" inhibits the inverter.
b) Activating "Major Fault On Controller If Connection Fails While in Run Mode"
switches the inverter to "error" if the EtherNet/IP connection to the inverter gets lost
during operation.
9. Click "OK".
The network configuration of the inverter is now completed.
In the navigation tree ("Controller Organizer") under "Controller à Controller Tags",
assembly tags are generated.
In the sample configuration with the "My_EIP_i550" inverter, these three assembly tags
are generated:
"My_EIP_i550:C" for the configuration assembly
"My_EIP_i550:I" for the input assembly
"My_EIP_i550:O" for the output assembly
By clicking [+] in front of the assembly names, the display of the assemblies is extended.
334
EtherNet/IP
Here, for instance, the four words are displayed, the output assembly "My_EIP_i550:O"
consists of:
2. Creating alias tags for individual bits of the assemblies.

1. In the navigation tree (Controller Organizer) under "Controller", open the "Controller
Tags".
2. Right-click any tag to execute the "New Tag" context menu command.
The "New Tag" dialog box is opened.
3. Fill in input fields.

In the example ...
a) the name "i550_Run_Rev" is entered.
b) the "Alias" type is selected.
c) in the output assembly word "My_EIP_i550:O.Data[0]", bit 1 is assigned to
"Run_Rev".
4. Click "Create".
The new alias tag is added to the database.
The configuration is now completed.
335
EtherNet/IP
Save the »RSLogix™« project and load the configuration into the PLC (scanner):
1. »RSLogix™«project must be saved.
Click "File" in the upper toolbar and execute the "Save" menu command.
If the project is saved for the first time, the "Save as" dialog box appears. Here, navigate to a
folder and click "Save".
The configuration is saved in a file on your PC.
2. Load configuration into the scanner.
a) Click "Communications" in the upper toolbar and execute the "Download" menu com-
mand.
The "Download" dialog box is opened.
b) Click "Download".
The configuration is loaded into the scanner.
If the download has been completed successfully, »RSLogix™« changes to the online
mode and the I/O-OK field in the upper left area of the screen is green.
336
EtherNet/IP
9.7.7.1 Customer specific configurations

In addition to the defined AC Drive Profile, the inverter supports customer specific configura-
tions.
Customer specific configurations with the assembly object instances 110 and 111 are only
possible with PLCs (Scanner) that support "Class 1 Messaging".
Preconditions
For a customer specific configuration, the inverter must be registered with an EDS device
description file in »RSLogix™ 5000«.
Afterwards, I/O data can be freely assigned in the assembly objects 110 (Custom Output) and
111 (Custom Input).
Information on the assembly objects: 4Objects ^ 324
337
EtherNet/IP
Execute a customer specific configuration in »RSLogix™ 5000« (from version 20):

1. Open the dialog "Select Module Type".
2. Go to the "Catalog" tab ...

a) and select the "AC Drive Device" type category.
b) select the "IOFW51AGXX" catalog.
3. Click "Create".
The "New Module" dialog box is opened.
4. Go to the "General" tab ...

a) assign a name for the inverter.
b) assign an unambiguous IP address.
338
EtherNet/IP
DNS is not supported.

The host name only describes the device.
5. Click "Change".
6. Open the "Module Definition" dialog box.
7. Here the access to the I/O data for the technology applications "Speed" and "Torque" or a
freely definable I/O process data set is defined.
a) Select connection "Speed", "Speed & Torque" or "Custom I/O Connection".
"Speed" and "Torque" correspond to the ODVA "AC Drive Speed/Torque" profile.
"Custom I/O Connection" provides a freely definable I/O process data set.
b) Set data type to the corresponding value (SINT, INT, DINT).
The real data length of each object that is mapped in the I/O data is determined by the
inverter OBD object.
INT and SINT prevent an uneven data length.
DINT prevent an uneven number of data words.
8. Click "Change" in the line "Input" or "Output" to adapt the corresponding mapping individu-
ally.
This example shows a mapping selection for inputs:
339
EtherNet/IP
9. Group the process data according to their data length to prevent gaps.
Example:
1. All required DINT data
2. All required INT data
3. All required SINT data
At the end, a DINT value is automatically added to prevent tool zero-length problems.
Data types are provided according to the input or output data length.
Thus, e. g., no DINT type is provided at 10 bytes of input data:
The customer specific configuration is now completed.
340
EtherNet/IP
mand.
341
EtherNet/IP

• The acyclic/non-cyclic data access (service access) provides a procedure for the PLC (scan-
ner) to access any drive or device parameter.
• This type of parameter access is typically used for ...
• monitoring or the not time-controlled parameter access with low priority;
• writing parameter data (assembly data) for controlling the inverter (adapter).
• For this purpose, the device supports several methods.
Explicit Messaging
An explicit message is a logic instruction in the PLC program for the message transfer. It can be
used to read or write a parameter setting or the data of an EtherNet/IP node (assembly data).
If the Allen-Bradley control systems»CompactLogix™«, »ControlLogix®« and »SoftLogix™« are
used, the "Explicit Message" instruction provides the functionalities described in the following
sections. Further PLC types can be found in the programming documentation of the PLC.
General drive variables (parameters and subindices) are contained in class "0x6E". The
instance is the index number of the parameter and the attribute is the subindex number. If no
subindex is available, the attribute must be set to "0". The attribute value "1" is only suppor-
ted for those clients that do not support the attribute value "0".
All these variables have the data type SINT (8 bit, 1-byte objects), INT (16 bit, 2-byte objects)
or DINT (32 bit, 4-byte objects).
The device parameters and the PLC program variables must have the same data lengths!
342
EtherNet/IP
Read parameter value

Definitions to read a parameter value (Adapter à Scanner):
• Message Type = CIP Generic
• Service Code = 0x0E (read parameter, Get_Attribute_Single)
• Class= 0x6E (hex)
• Instance= index number of the parameter
• Attribute= parameter subindex number (or 0x01 in case of no subindex)
• Destination Element= target variable in the PLC (scanner) for the parameter data to be
read.
The variable must have the same format and data length as the parameter!
Write parameter value

Definitions to write a parameter value (Scanner à Adapter):
• Service Code = 0x10 (write parameter, Set_Attribute_Single)
• Class= 0x6E
• Instance= index number of the parameter
• Attribute= parameter subindex number (or 0x01 in case of no subindex)
• Source Element= variable in the PLC (scanner) which is used as source of the parameter
data to be written.
• Source Length= data length (bytes) of the data to be written
343
EtherNet/IP
Write variables "TorqueScale" and "Drive_Mode"

The variables "TorqueScale" and "Drive_Mode" are AC Drive profile objects
They are defined in the CIP library:
Variable Class Instance Attribute Data type Size
Drive_Mode 2a 1 6 SINT 1 byte
TorqueScale 2a 1 18 SINT 1 byte
• Drive_Mode
The variable "Drive_Mode" only has two valid settings:

• 1: Velocity Mode
• 3: Torque Mode
• TorqueScale
The variable "TorqueScale" refers to the real torque command by the following equation:
Torque reference in TorqueScale = Nm * 2TorqueScale
Due to the setting of TorqueScale = 0, the torque reference (assembly output object 23,
bytes 4/5) is the real torque (= Nm * 20 = Nm * 1 = Nm).
Loading the value "2" as torque reference determines a torque limit of the drive of 2 Nm.
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EtherNet/IP
CIP Generic Master(read/write assembly data)

For "CIP Generic Master" that do not support the Implicit Messaging (class 1), the assembly
data can be read or written via Explicit Messaging (class 3).
Definitions to read assembly data (Adapter à Scanner):
• Service Code = 0x0E (read assembly data, Get_Attribute_Single)
• Class= 0x04
• Instance= assembly number in the desired device (e. g. 73 for assembly "73")
• Attribute= 0x03
• Destination Element= target array in the PLC (scanner) for the assembly data to be read.
The array must have the INT format and the same data length as the desired assembly!
Definitions to write assembly data (Scanner à Adapter):
• Service Code = 0x10 (write assembly data, Set_Attribute_Single)
• Class= 0x04 (hex)
• Instance= assembly number in the desired device (e. g. 23 for assembly "23")
• Attribute= 0x03
• Source Element= INT array in the PLC (scanner) that is used as source of the assembly data
to be written.
• Source Length= data length (bytes) of the INT array to be written (the assembly "23" con-
tains e. g. 3 words which corresponds to 6 bytes.)
Explicit Message Path
For each explicit message, the path must be specified in order to forward the message from
the Ethernet port of the PLC (scanner) to the IP address of the inverter (adapter). This path
depends on the used PLC. If required, contact the PLC manufacturer to find out how the path
is specified.
Explicit Messaging Timeout

In order to prevent that the inverter runs continuously, a time-out error state can be set.
For this purpose, set these parameters:
• 0x23A1:010 (P510.10): Timeout
• 0x2859:007 (P515.07): Timeout communication
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EtherNet/IP
Short setup
9.7.9 Short setup

Typically, an EtherNet/IP network consists of segments that contain point-to-point connec-
tions in a star configuration (see "Typical topologies" in the section 4EtherNet/IP^ 68).
In the following, the required steps are described to control the device as EtherNet/IP adapter.
Conditions for commissioning
• The control unit (CU) of the inverter is provided with EtherNet/IP (from firmware 02.01).
• The device is networked as EtherNet/IPAdapter with an EtherNet/IP Scanner and, if neces-
sary, further EtherNet/IP nodes, see "Typical topologies" in the section 4EtherNet/IP^ 68.
• An Engineering PC with the programming software »RSLogix™ 5000« (from version 20) is
connected to the Scanner.
• Current device description files for EtherNet/IP are available.
• The files are installed via the "EDS Hardware Installation Tool" of the »RSLogix™ 5000«.
• Allen-Bradley control systems do not need any EDS files to add devices to their configu-
ration.
• An »RSLogix™ 5000« project has been created and is in the offline state.
• The CPU and Ethernet adapter of the PLC (Scanner) have been configured.
• All EtherNet/IP nodes are supplied with voltage and are switched on.
How to configure the network:

1. Configure IP communication.
1. Make IP basic settings at the Engineering PC.
The PC with the programming tool »RSLogix™ 5000« must be in the same network as
the devices to be configured.
2. Set IP address of the inverter (adapter) via rotary encoder switch and parameter
0x23A1:001 (P510.01).
3. Set subnet mask: 0x23A1:002 (P510.02)
4. Set gateway address: 0x23A1:003 (P510.03)
4Basic settings ^ 317
The configuration of the IP communication is now completed.
2. Activate network control in the inverter.
1. Activate network control: 0x2631:037 (P400.37) = "Network control active [114]"
If a different standard setpoint source is set and the network control is activated, a
change-over to the network setpoint is possible via the AC Drive control word 0x400B:
001 (P592.01).
4Restart communication ^ 331
The network control is now activated.
3. Save parameter settings: 0x2022:003 (P700.03) = "On / start [1]"
3. Execute I/O configuration with »RSLogix™ 5000« (version 20).
1. Start the »RSLogix™ 5000«.
2. Open or recreate a »RSLogix™« project.
3. Configure the cyclic data transfer (Implicit Messaging).
4Process data transfer ^ 332
4Customer specific configurations ^ 337
4. Configure the acyclic data transfer (Explicit Messaging).
4Parameter data transfer ^ 342
The I/O configuration is now completed.
The configuration of the network is now completed.
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EtherNet/IP
Short setup
mand.
347
Modbus TCP
Introduction
9.8 Modbus TCP
Modbus is an internationally approved, asynchronous, serial communication protocol,

designed for commercial and industrial automation applications.
• Detailed information on the Modbus can be found on the web page of the international
Modbus Organization, USA, who also further develop the Modbus protocol: http://
www.modbus.org
• Information about the dimensioning of a Modbus network can be found in the configura-
Preconditions
Control unit (CU) of the inverter is equipped with Modbus TCP.
9.8.1 Introduction
• The process of data transmission distinguishes between three different operating modes:
Modbus ASCII, Modbus RTU and Modbus TCP/IP. This chapter describes the Modbus
TCP/IP operating mode.
• The Modbus protocol is based on a master/slave architecture where the inverter always
works as slave.
• In the Modbus TCP/IP network, a master can only address one slave at a time. However,
several masters can be available in the network.
• Only a master can initiate the Modbus communication.
• No direct communication takes place between the slaves.
• The network option supports the baud rates 10 Mbps (10 BaseT) and 100 Mbps
(100 BaseT). The baud rate in the network is automatically detected.
• The inverter supports the function codes 3, 6, 16 (0x10) and 23 (0x17).
348
Modbus TCP
Basic settings

IP basic settings
The basic IP settings are required to let the engineering software access the network nodes
(PLC, inverter) directly via Ethernet.
The PC with the engineering software must be in the same network as the devices to be con-
figured.
First, configure the PC so that this condition is fulfilled.
The required steps are described by the example of the operating system Microsoft® Win-
dows® 7.
How to define the IP basic settings:

1. Call the "Network and sharing center" under "Control panel".
2. Select "Change adapter settings" (observe administrator rights!).
3. Select the network to be configured (double-click), e. g.:
The network nodes (PLC, inverter) must be connected to the network.
The status dialog box of the network is opened.

4. Click "Properties".
The properties dialog box of the network is opened.
5. Select "Internet protocol version 4 (TCP/IPv4)" and click "Properties".
The properties dialog box of the "Internet protocol version 4 (TCP/IPv4)" is opened.
6. Enter the IP address, the subnet mask and, if required, the gateway address under "Use the
following addresses".
7. Click "OK".
The IP basic settings are now completed.
Set IP address
The two rotary encoder switches at the front of the device serve to set the IP address in terms
of hardware.
Setting Addressing
0x00 IP address via the parameter 0x23B1:001 (P510.01).
0x01 ... 0xFF Setting of the 4th byte of the IP address via the rotary encoder switch.
192.168.124.[setting]
(3 × 16) + (4 × 1) = 52
x16 x1
The value set via the rotary encoder switches is used when the mains is switched on or after a
network restart with 0x23B0 (P508.00) = 1. A changed value during operation will only
• 0x23B3 (P509.00) shows the switch setting at the last mains connection.
• 0x23B2:001 (P511.01) shows the active IP address.
Time-To-Live (TTL)
The TTL value (8-bit value) limits the number of routers a sent package passes on the way to
its target.
• 0x23A1:006 (P510.06): Time-to-live value (TTL)
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Modbus TCP
Basic settings
The parameters for configuring the network of the device are described below.
0x23B1:001 Modbus -TCP/IP settings: IP address Set IP address.
(P510.01) (MBTCP settings: IP address) The default setting 276605120 corresponds to the IP address
0 ... [276605120] ... 4294967295 192.168.124.16.
0x23B1:002 Modbus -TCP/IP settings: Subnet Set subnet mask.
(P510.02) (MBTCP settings: Subnet) The default setting 16777215 corresponds to the subnet mask
0 ... [16777215] ... 4294967295 255.255.255.0.
0x23B1:003 Modbus -TCP/IP settings: Gateway Set gateway address.
(P510.03) (MBTCP settings: Gateway) Example
0 ... [0] ... 4294967295 The setting 276344004 corresponds to the gateway address
• From version 04.00 196.172.120.16.
• 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16
0x23B1:005 Modbus -TCP/IP settings: IP configuration Set IP configuration.
(P510.05) (MBTCP settings: IP configuration)
1 BOOTP The IP configuration is assigned by the master via BOOTP.
2 DHCP The IP configuration is assigned by the Master via DHCP.
0x23B1:006 Modbus -TCP/IP settings: Time-to-live value (TTL) Setting of the TTL value for the validity of data packages in the network.
(P510.06) (MBTCP settings: TTL value)
1 ... [32] ... 255
0x23B1:011 Modbus -TCP/IP settings: Secondary port Set port number for a second port.
(P510.11) (MBTCP settings: Secondary port)
0 ... [502] ... 65535
0x23B4:001 Port settings: Port 1 Set baud rate for the port 1.
0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
350
Modbus TCP
Basic settings

0x23B0 Modbus TCP communication Restart / stop communication
(P508.00) (MBTCP comm.)
0 No action/no error Only status feedback.
1 Restart with current values Restart communication in order that changed settings of the interface
configuration become effective.
11 Action cancelled
12 Error
0x23B3 Switch position Display of the rotary encoder switch setting at the last mains power-on.
(P509.00) (Switch position)
• Read only
9.8.3 Time-out behaviour

The response to the missing Modbus messages can be configured via the following parame-
ters.
0x23B1:010 Modbus -TCP/IP settings: Ethernet time-out Setting of the maximum permissible time-out of the TCP communica-
(P510.10) (MBTCP settings: Ethernet timeout) tion.
0 ... [10] ... 65535 s When the specified monitoring time has elapsed, the response set in
• From version 04.00 0x2859:007 (P515.07) is triggered in the inverter.
0x23B6:001 Time-out monitoring: Time-out time Monitoring is active if the first valid write command arrives at the Mod-
(P514.01) (MBTCP t-out mon: Time-out time) bus master. Each further valid write/read message resets the watchdog
0.0 ... [2.0] ... 300.0 s timer.
• From version 04.00 Monitoring responds if within the time set here no valid message has
been received by the Modbus master.
0x23B6:002 Time-out monitoring: Keep alive time-out time Monitoring is active after a valid value is written into the keep alive reg-
(P514.02) (MBTCP t-out mon: Keep al t-out) ister 0x23B6:005 (P514.05) via the Modbus for the first time.
0.0 ... [2.0] ... 300.0 s Keep alive monitoring responds if no value (range 1 ... 65535) has been
• From version 04.00 written into the keep alive register within the time set here.
0x23B6:005 Time-out monitoring: Keep alive register Time-out monitoring of the keep alive register is active after a value has
(P514.05) (MBTCP t-out mon: Keep al register) been written into the keep alive register for the first time.
0 ... [0] ... 65535 In order to prevent that time-out monitoring for the keep alive register
• From version 04.00 responds, the keep alive register must be written as follows:
• With a value of 1 ... 65535 and
• an interval that is shorter than the time set in 0x23B6:002 (P514.02).
0x2859:003 Modbus TCP/IP monitoring: Configuration error Selection of the response triggered by the reception of invalid configura-
(P515.03) (MBTCP monitoring: Config error) tion data.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:004 Modbus TCP/IP monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
(P515.04) (MBTCP monitoring: Init error) the initialisation of the network component.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:007 Modbus TCP/IP monitoring: Fault reaction by time-out If monitoring detects a time-out of the TCP communication with an exist-
(P515.07) Network ing TCP connection, the error response to be selected with this parame-
(MBTCP monitoring: React t-out netw) ter occurs.
• From version 04.00 The maximum permissible time-out of the TCP communication is defined
• For further possible settings, see parameter in 0x23B1:010 (P510.10).
1 Warning • 33044 | 0x8114 - Network: overall communication timeout
351
Modbus TCP
LED status displays

0x2859:008 Modbus TCP/IP monitoring: Fault reaction by time-out Selection of the response if within the time set in 0x23B6:001 (P514.01)
(P515.08) Master no valid message has arrived at the Modbus master.
(MBTCP monitoring: React t-out mast) Associated error code:
• From version 04.00 • 33046 | 0x8116 - Modbus TCP master time-out
0x2D45:001 (P310.01). ^ 223
3 Fault
0x2859:009 Modbus TCP/IP monitoring: Fault reaction by time-out Selection of the response if within the time set in 0x23B6:002
(P515.09) Keep alive (P514.02)no valid message has been written into the keep alive register.
(MBTCP monitoring: Reac t-out kp-al) Associated error code:
• From version 04.00 • 33047 | 0x8117 - Modbus TCP Keep Alive time-out
0x2D45:001 (P310.01). ^ 223
3 Fault

Information on the CIP status can be obtained quickly via the "MS" and "NS" LED displays on
the front of the inverter. In addition, the LEDs at the RJ45 sockets indicate the Ethernet con-
nection status.
The meaning of the "MS" and "NS" LEDs can be obtained from the following two tables.
LED "MS" (green/red) Module status Status/meaning
off Nonexistent The network option is not supplied with voltage.
On (green)
Standby The network option is not configured completely or the configuration is incorrect.
Blinking green
Major recoverable The network option contains a correctable error.
Blinking red fault
Major unrecoverable The network option contains a non-correctable error.
on (red) fault
Blinking green/red
LED "NS" (green/red) Network status Status/meaning

off No IP address The network option is not supplied with voltage or has not received an IP address yet.
Connected The network option works correctly an has established a connection to the master.
On (green)
No connections The network option
Blinking green • works correctly,
• has been assigned to an IP address,
• has not been implemented into the network yet by the master.
Connection timeout A time-out has occurred.
Blinking red
Duplicate IP The network option cannot access the network (IP address conflict).
on (red)
Blinking green/red

on

on or flickers
352
Modbus TCP
Diagnostics
9.8.5 Diagnostics
0x23B2:001 Active Modbus TCP settings: Active IP address Display of the active IP address.
(P511.01) (Act. MBTCP sett.: Act. IP address)
• Read only
0x23B2:002 Active Modbus TCP settings: Active subnet Display of the active subnet mask.
(P511.02) (Act. MBTCP sett.: Act. subnet)
• Read only
0x23B2:003 Active Modbus TCP settings: Active gateway Display of the active gateway address.
(P511.03) (Act. MBTCP sett.: Act. gateway) Example
• From version 04.00 196.172.120.16.
• 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16
0x23B2:005 Active Modbus TCP settings: MAC address Display of the active MAC address.
(P511.05) (Act. MBTCP sett.: MAC address)
• Read only
0x23B3 Switch position Display of the rotary encoder switch setting at the last mains power-on.
(P509.00) (Switch position)
• Read only
0x23B5:001 Active port settings: Port 1 Display of the baud rate set for the port 1 in parameter 0x23B4:001
(P513.01) (Act. port sett.: Port 1) (P512.01).
• Read only
0 Not connected
• Read only
0 Not connected
0x23B8 Modbus TCP module status Display of the TCP module state.
(P516.00) (MBTCP modul. stat)
• Read only
0 Power off
1 Initialization
2 Warning
3 Fault
4 No configuration
5 Operational
353
Modbus TCP
Diagnostics

0x23B9 Modbus TCP/IP network status Display of the active network status.
(P517.00) (MBTCP netw stat)
• Read only
0 No configuration
1 Initialization
2 Connection time-out
3 Configuration error
4 Not connected
5 Connection established
0x23BA:001 Modbus TCP statistics: Messages received Display of the total number of messages received.
(P580.01) (MBTCP statistics: Rx messages) • This counter counts both valid and invalid messages.
• From version 04.00 "0".
0x23BA:002 Modbus TCP statistics: Valid messages received Display of the number of valid messages received.
(P580.02) (MBTCP statistics: Valid Rx messag.) • After the maximum value has been reached, the counter starts again
• Read only "0".
0x23BA:003 Modbus TCP statistics: Messages with exceptions Display of the number of messages with exceptions that have been
(P580.03) (MBTCP statistics: Mess. w. except) received.
• From version 04.00 "0".
0x23BA:005 Modbus TCP statistics: Messages sent Display of the total number of messages sent.
(P580.05) (MBTCP statistics: Tx messages) • After the maximum value has been reached, the counter starts again
• Read only "0".
0x23BE:001 Modbus TCP/IP diagnostics of last Rx/Tx data: Receive For diagnostic purposes, the last received message (max. 16 bytes) is dis-
(P585.01) offset played in 0x23BE:002 (P585.02). For longer messages, an offset can be
(MBTCP Tx/Rx diag: Rx offset) specified here, indicating from which byte of the message the display of
0 ... [0] ... 240 the 16 bytes is to start.
0x23BE:002 Modbus TCP/IP diagnostics of last Rx/Tx data: Last Rx Display of the message received last.
(P585.02) message
(MBTCP Tx/Rx diag: Last Rx message)
• Read only
0x23BE:003 Modbus TCP/IP diagnostics of last Rx/Tx data: Trans- For diagnostic purposes, the last sent message (max. 16 bytes) is dis-
(P585.03) mit offset played in 0x23BE:004 (P585.04). For longer messages, an offset can be
(MBTCP Tx/Rx diag: Tx offset) specified here, indicating from which byte of the message the display of
0 ... [0] ... 240 the 16 bytes is to start.
0x23BE:004 Modbus TCP/IP diagnostics of last Rx/Tx data: Last Tx Display of the message sent last.
(P585.04) message
(MBTCP Tx/Rx diag: Last Tx message)
• Read only
0x23B1:005 Modbus -TCP/IP settings: IP configuration Set IP configuration.
(P510.05) (MBTCP settings: IP configuration)
1 BOOTP The IP configuration is assigned by the master via BOOTP.
2 DHCP The IP configuration is assigned by the Master via DHCP.
354
Modbus TCP
Function codes
9.8.6 Function codes

The mode of access to inverter data (parameters) is controlled via function codes.
Frame structure
Modbus Application Header (MBAP) Protocol Data Unit (PDU) CRC
Transaction Protocol charac- Number of the Slave address Function code Data / error code Checksum
number ters bytes still to fol-
(always 0x0000) low
2 bytes 2 bytes 2 bytes 1 byte 1 byte n byte 2 bytes
Tab. 1: ADU (Application Data Unit)

Communication is established on the basis of the master/slave mode. Communication is
always started by a master request.
The inverter (slave) then either gives a valid response or outputs an error code (provided that
the request has been received and evaluated as valid message).
In case of a valid answer, the function code is returned. In the event of an error, a function
code assigned to the request is returned.
Error causes can be invalid CRC checksums, non-supported function codes or impermissible
data accesses.
Elements of the ADU:
• MBAP (7 bytes)
• Number of the bytes still to follow in the message.
• Address of the inverter Basic settings ^ 349.
• The other bytes of the header are not described here.
• Function code
• The function codes exclusively refer to "4X registers", i. e. registers from the address
4000.
• All data in the inverter can only be accessed via these 4X registers, see Data mapping
^ 360.
• The 4xxxx reference is implicit, i. e. given by the function code used. In the frame there-
fore the leading 4 is omitted in the addressing process.
• Lenze supports the basic 1 addressing of Modbus, i.e. the numbering of the registers
starts with 1 whereas addressing starts with 0. For example, the address 0 is used in
the frame when register 40001 is read.
• Data or error code
• Checksum
All ADU contents are represented in the Big Endian format (most significant byte first).
Function codes
Function code Function code in the event of an Supported error codes
error
0x03 0x83 0x01, 0x02, 0x03, 0x04
0x06 0x86 0x01, 0x02, 0x03, 0x04
0x10 0x90 0x01, 0x02, 0x03, 0x04
0x17 0x97 0x01, 0x02, 0x03, 0x04
Function code Function name Info

3 0x03 Read Holding Registers Reading of a single register or a group of several interconnected regis-
ters.
6 0x06 Preset Single Register Writing of a single register.
16 0x10 Preset Multiple Registers Writing of a single register or a group of several interconnected registers.
23 0x17 Read/Write 4X Registers Reading and writing within a transaction:
• Writing of a data block into a group of several interconnected regis-
ters.
• Reading from a block of interconnected registers.
355
Modbus TCP
Function codes
Error codes
Error code Designation Cause(s)
0x01 Invalid function code The function code is not supported by the inverter, or the inverter is in a
state in which the request is not permissible or in which it cannot be
processed.
0x02 Invalid data address The combination of a start address and the length of the data to be
transmitted is invalid.
Example: If you have a slave with 100 registers, the first register has the
address 0 and the last register has the address 99. If there is a request of
four registers now, from the start address 96, the request can be pro-
cessed successfully (for registers 96, 97, 98, and 99). If, however, five reg-
isters from the start address 96 are queried, this error code is returned,
since the slave has no register with the address 100.
0x03 Invalid data value Error in the reset structure of a complex request, e. g. because the data
length that has resulted implicitly is not correct.
The cause, however, is not that a (parameter) value is written outside
the valid setting range. As a matter of principle, the Modbus protocol
has no information on valid setting ranges of single registers or their
meaning.
0x04 Slave device failure A non-correctable error has occurred while the request was processed in
the inverter.
Data transfer with function code 3

Request
Function code 0x03
Start address 0x0000 ... 0xFFFF
Number of registers (n) 0x01 ... 0x7D (1 ... 125)
Response
Function code 0x03
Number of bytes 2 x (number of registers)
Register value Data in (n) register of 2 bytes each
Error message
Function code in the event of an 0x83
error
Error code 01 ... 04
Example for data transfer with function code 3

The data from the registers 40108 to 40110 are to be read.
Request Info
Function code 0x03 Function code 3
Start address (High) 0x00 Start address 107 (0x006B)
Start address (Low) 0x6B
Number of registers (High) 0x00 Number of registers = 3 (0x0003)
Number of registers (Low) 0x03
Response Info
Number of bytes 0x06 6 bytes are read.
Value in registers 40108 (High) 0x02 Data in register 40108: 0x022B (555).
Value in registers 40108 (Low) 0x2B
Value in registers 40109 (High) 0x00 Data in register 40109: 0x0000 (0).
Value in registers 40109 (Low) 0x00
Value in registers 40110 (High) 0x00 Data in register 40110: 0x0064 (100).
Value in registers 40110 (Low) 0x64
356
Modbus TCP
Function codes

Request
Function code 0x06
Register address 0x0000 ... 0xFFFF
Register value 0x0000 ... 0xFFFF
Response
Function code 0x06
Register address 0x0000 ... 0xFFFF
Register value 0x0000 ... 0xFFFF
Error message
error

The value "3" (0x0003) is to be written into the register 40002.
Request Info
Register address (High) 0x00 Register address for register 40002: 1 (0x0001)
Register address (Low) 0x01
Register value (High) 0x00 Value to be written into the register: 3 (0x0003)
Register value (Low) 0x03
Response Info
Register address (High) 0x00 Register address: 1 (0x0001)
Register address (Low) 0x01
Register value (High) 0x00 Register value: 3 (0x0003)
Register value (Low) 0x03

Request
Function code 0x10
Start address 0x0000 ... 0xFFFF
Number of registers (n) 0x0001 ... 0x7D (0d125)
Register value Data in (n) register of 2 bytes each
Response
Function code 0x10
Register values Data in (n) register of 2 bytes each
Error message
error
357
Modbus TCP
Function codes

In a transaction, the value "10" is to be written into the register 40002 and the value "258" is
to be written into the adjacent register 40003.
Request Info
Start address (High) 0x00 Start address is the register 40002: 1 (0x0001)
Start address (Low) 0x01
Number of registers (High) 0x00 Number of registers: 2 (0x0002)
Number of bytes 0x04 4 bytes (0x0004) are to be written.
Register value (High) 0x00 The value "10" (0x000A) is written into the register with the start
Register value (Low) 0x0A address 1 (= register 40002).
Register value (High) 0x01 The value "258" (0x0102) is written into the following register (= register
Register value (Low) 0x02 40003).
Response Info
Start address (High) 0x00 Start address: 1 (0x0001)
Start address (Low) 0x01
Number of registers (High) 0x00 Number of registers: 2 (0x0002)

Request
Function code 0x17
Start address for reading (High) 0x0000 ... 0xFFFF
Start address for reading (Low) 0x0000 ... 0xFFFF
Number of registers for reading 0x00 ... 0xFF
(High)
Number of registers for reading 0x00 ... 0xFF
(Low)
Start address for writing (High) 0x0000 ... 0xFFFF
Start address for writing (Low) 0x0000 ... 0xFFFF
Number of registers for writing 0x00 ... 0xFF
(High)
Number of registers for writing 0x00 ... 0xFF
(Low)
Number of bytes for writing 2 x (number of registers)
Written value 1 (High) 0x00 ... 0xFF
Written value 1 (Low) 0x00 ... 0xFF
.... ...
Written value n (High) 0x00 ... 0xFF
Written value n (Low) 0x00 ... 0xFF
Response
Function code 0x17
Number of bytes for reading 2 x (number of registers)
Read value 1 (High) 0x00 ... 0xFF
Read value 1 (Low) 0x00 ... 0xFF
... ...
Read value x (High) 0x00 ... 0xFF
Read value x (Low) 0x00 ... 0xFF
Error message
error
358
Modbus TCP
Function codes

The following tasks are to be executed with a transaction:
• The values from six connected registers, starting with register 40005, are to be read.
• The value "255" is to be written into each of three connected registers, starting with regis-
ter 40016.
Request Info
Start address for reading (High) 0x00 Start address for reading is the register 40005: 4 (0x0004)
Start address for reading (Low) 0x04
Number of registers for reading 0x00 Number of registers for reading: 6 (0x0006))
(High)
Number of registers for reading 0x06
(Low)
Start address for writing (High) 0x00 Start address for writing is the register 40016: 15 (0x000F)
Start address for writing (Low) 0x0F
Number of registers for writing 0x00 Number of registers for writing: 3 (0x0003)
(High)
Number of registers for writing 0x03
(Low)
Number of bytes for writing 0x06 6 bytes (0x06) must be provided in 3 registers.
Written value 1 (High) 0x00 Data: 255 (0x00FF)
Written value 1 (Low) 0xFF
Response Info
Number of bytes for reading 0x0C 12 bytes (0x0C) from 6 registers are read.
Read value 1 (High) 0x00 1. written value
Read value 1 (Low) 0xFE Data: 254 (0x00FE)
Written value 2 (High) 0x0A 2. written value
Read value 2 (Low) 0xCD Data: 2765 (0x0ACD)
Read value 3 (High) 0x00 3. read value
Read value 3 (Low) 0x01 Data: 1 (0x0001)
Read value 4 (Low) 0x03 Data: 3 (0x0003)
Read value 5 (Low) 0x0D Data: 13 (0x000D)
Read value 6 (Low) 0xFF Data: 255 (0x00FF)
359
Modbus TCP
Data mapping
9.8.7 Data mapping

The process of data mapping is used for defining which Modbus registers read or write to
which inverter parameters.
Overview
The following table provides an overview of the Modbus register with variable and permanent
assignment:
Register Register address Info
40103 0102 Variable mapping
40104 0103 0x23BB:001 ... 0x23BB:024 (P530.01 ... 24) serves to map these 24 registers to parameters of the inver-
ter.
... ...
40149 0148
42001 2000 Predefined Modbus status registers
... ... For details see the following section "Predefined Modbus status registers".
42021 2020
42101 2100 Predefined Modbus control registers
... ... For details see the following section "Predefined Modbus control registers".
42121 2120
Details
• There are fixedly defined Modbus registers for common control and status words, which
are located in consecutive blocks, in order to facilitate communication with OPC servers
and other Modbus masters. In order to access all relevant data of the inverter, only a mini-
mum number of commands is required.
• In addition, 24 registers are provided for variable mapping, i. e. free assignment to inverter
parameters.
Predefined Modbus control registers
• These registers are provided with write and read access.
Address Name
42101 0x400B:001 (P592.01) AC Drive control word
42102 0x400B:005 (P592.05) Network setpoint frequency (0.01)
42103 0x4008:002 (P590.02) NetWordIN2
42104 0x4008:003 (P590.03) NetWordIN3
42105 0x400B:007 (P592.07) PID setpoint
42106 0x6071 Target torque
42107 0x4008:001 (P590.01) NetWordIN1
42108 0x4008:004 (P590.04) NetWordIN4
42109 ... 42121 - Reserved
360
Modbus TCP
Data mapping
Predefined Modbus status registers

• These registers are only provided with read access.
Address Name
42001 0x400C:001 (P593.01) AC Drive status word
42002 0x400C:006 (P593.06) Frequency (0.01)
42003 0x603F (P150.00) Error code
42004 0x400C:005 (P593.05) Drive status
42005 0x2D89 (P106.00) Motor voltage
42006 0x2D88 (P104.00) Motor current
42007 0x6078 (P103.00) Current actual value
42008 0x2DA2:002 (P108.02) Apparent power
42009 (42008 = High Word, 42009 = Low Word)
42010 0x2D84:001 (P117.01) Heatsink temperature
42011 0x2D87 (P105.00) DC-bus voltage
42012 0x60FD (P118.00) Digital inputs (only bit 16 ... bit 31)
42013 0x6077 (P107.00) Torque actual value
42014 ... 42021 - Reserved
Variable mapping
• Via 0x23BB:001 ... 0x23BB:024 (P530.01 ... 24), 24 registers can be mapped to parameters
of the inverter.
Format: 0xiiiiss00 (iiii = index, ss = subindex)
• The display of the internal Modbus register numbers in 0x23BC:001 ... 0x23BC:024
(P531.01 ... 24) is generated automatically. Since 32-bit parameters require two registers,
there is no 1:1 assignment.
• For the mappable registers, a CRC (Cyclic Redundancy Check) is executed. The checksum
determined is displayed in 0x23BD (P532.00). The user can read this "validation code" and
use it for comparison in the Modbus master. In this way it can be checked whether the
inverter currently queried is configured correctly for the respective application.

0x23BB:001 ... Modbus TCP/IP parameter mapping: Parameter 1 ... Mapping entries for Modbus register 40103 ... 40149.
0x23BB:024 Parameter 24 • Format: 0xiiiiss00 (iiii = index, ss = subindex)
(P530.01 ... 24) (MBTCP param.mapp: Parameter 1 ... Parameter 24)
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
0x23BC:001 ... Register assignment: Register 1 ... Register 24 Display of the internal Modbus register number starting from which the
0x23BC:024 (Register assignm: Register 1 ... Register 24) parameter mapped in 0x23BB:001 ... 0x23BB:024 (P530.01 ... 24) is
(P531.01 ... 24) • Read only stored.
• For the first parameter mapped, always 2500.
• From the second parameter mapped, 2500 + offset. The offset results
from the data types of the previously mapped parameters.
0x23BD Verification code
(P532.00) (Verificat. code)
• Read only
361
Modbus TCP
Short setup
9.8.8 Short setup

In the following, the steps required for controlling the inverter via Modbus are described.
3. Set IP address of the inverter (slave), see section Data mapping. ^ 360
4. Save parameter settings: 0x2022:003 (P700.03) = "on / start [1]".
5. In order that the changed communication settings become effective, there is the option to
• switch the inverter off and on again or
• restart the communication, see 0x23B0 (P508.00).
Starting/stopping the drive via Modbus

For starting/stopping the drive, Modbus register 42101 can be used.
• Modbus register 42101 is permanently assigned to the AC Drive control word 0x400B:001
(P592.01).
• In the frame, the leading 4 is omitted in the addressing process. The numbering of the reg-
isters starts with 1; addressing, however starts with 0. Therefore the address 2100
(0x0834) is used in the frame when register 42101 is written.
Bits set in the AC drive control word:
• Bit 0 ≡ Run forward (CW)
• Bit 5 ≡ Activate network control
• Bit 6 ≡ Activate network setpoint
• Function code 6, i. e. writing into a single register.
Slave address Function code Register address AC Drive control word Checksum (CRC)
Data: 0b1100001 ≡ 0x0061
0x01 0x06 0x08 0x34 0x00 0x61 0x0B 0x8C
If digital input DI1 ("Start enable") is set to HIGH level, the drive should start and the inverter
should respond with the same frame as confirmation:
Slave address Function code Register address AC Drive control word Checksum (CRC)
Data: 0b1100001 ≡ 0x0061
0x01 0x06 0x08 0x34 0x00 0x61 0x0B 0x8C
Write the speed of the drive via Modbus

The drive speed can be changed via the Modbus register 42102, see Data mapping.
0x01 0x06 0x08 0x35 0x04 0xD2 0x19 0x39

0x01 0x06 0x08 0x35 0x04 0xD2 0x19 0x39
The drive now rotates with a frequency of 12.34 Hz.
362
Modbus TCP
Read the drive speed via Modbus

The drive speed can be read out via the Modbus register 42002, see Data mapping. For read-
ing a single register or several connected register blocks, the function code 3 is used, see
Function codes.
Register address Number of words
0x01 0x03 0x07 0xD1 0x00 0x01 0xD5 0x47

Read bytes Frequency (0.01)
0x01 0x03 0x02 0x04 0xD1 0x7A 0xD8
The drive rotates with a frequency of 12.33 Hz.

0x2631:001 (P400.01). ^ 532
0 Not connected
Notes:
tocol.

0x23B0 Modbus TCP communication Restart / stop communication
(P508.00) (MBTCP comm.)
0 No action/no error Only status feedback.
1 Restart with current values Restart communication in order that changed settings of the interface
configuration become effective.
11 Action cancelled
12 Error

0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
363
Modbus TCP
Baud rate setting

0 Auto-Negotiation
1 10 Mbps
2 100 Mbps
• Read only
0 Not connected
• Read only
0 Not connected
364
PROFINET
Introduction
9.9 PROFINET
PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet.
• Detailed information on PROFINET can be found on the web page of the PROFIBUS & PRO-
FINET International (PI) user organisation: http://www.profibus.com
• Information about the dimensioning of a PROFINET network can be found in the configura-
• PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organisation.
Preconditions
• Control unit (CU) of the inverter is provided with PROFINET.
• The required GSDML device description files for PROFINET are installed in the engineering
tool for configuring the network.
• Download of GSDML files
9.9.1 Introduction
The inverter is implemented as IO-Device into a PROFINET network. PROFINET transmits
parameter data, configuration data, diagnostic data, alarm messages and process data
between the IO-Devices and the IO-Controller (in the following, this term is used instead of
"PLC" or "host system").
The data is transmitted as a function of its time-critical behaviour via corresponding communi-
cation channels.
Supported services
Features Inverter
Conformance Class CCB
Option according to conformance class Media Redundancy Protocol
Device class IO device
According to PN specification V2.2
Safety channel support -
Shared device -
Device access TCI, I&M0 ... 4
Device profile support -
Conductor access OK
The second inverter Yes
Fast startup No. (typical starting times, approx. 11 seconds)
Topology support LLDP MIB, station alias
PN blinking function OK
Alarm type User
Acyclic services OK
Additional Ethernet channel TCP/IP channel
Lenze GCI support OK
Lenze ESDCP support OK
Power over Ethernet PoE -
External 24V current supply X3 24E / GND
Optical fiber support -
365
PROFINET
Basic settings

For communicating with the inverter, the IO controller must be configured.
The configuration of the IO controller comprises
• the loading of the device description file into the IO controller,
• the assignment of a station name for the inverter and
• the assignment of an IP address for the inverter.
The station name and the IP address are assigned by the IO controller. The assignment can
also be made by the Lenze engineering tool.
Preconditions
• The entire wiring of the inverter has already been checked for completeness, short circuit
and earth fault.
• The GSDML device description file for PROFINET must be downloaded from
http://www.lenze.com/application-knowledge-base/artikel/200804173/0/ . Please
observe the required system requirements an the notes regarding the inverter.
Device description file
The current device description file is installed in the engineering tool used for configuring the
network. Thus, an unambiguous station name is assigned to the inverter which makes it possi-
ble for the IO controller to identify the device in the network and manage the data exchange
with the other network nodes.
The designation of the device description file is as follows:
"GSDML-V<x>.<z>-Lenze-i<NNN>PN<Version>-<yyyy><mm><dd>.xml".
The information in the wildcards (angle brackets) are explained in the following:
Wildcard Info
x Major version of the used GSDML scheme
z Minor version of the used GSDML scheme
NNN Specifying the inverter designation, e.g. i<550>
Version First software version that can be used with this GSDML. This data must not be changed.
yyyy Year of publication
mm Month of publication
dd Day of publication
Tab. 2: Explanation of the wildcards in the designation of the device description file
Station name
The station name is required for the clear addressing of the inverter by the IO controller.
The station name of the inverter must be entered into the 0x2381:004 (P510.04) parameter
with permissible characters according to the PROFINET specification. The characters permissi-
ble for the name allocation are given in the specification.
The station name is read out with 0x2382:004 (P511.04).
IP address
The IP address makes it possible to access the inverter in the entire network.
For configuring the IP address, the subnet mask and gateway address must also be assigned:
• 0x2381:001 (P510.01): IP address
• 0x2381:002 (P510.02): Subnet mask
• 0x2381:003 (P510.03): Gateway address
All three settings are read out with the parameters 0x2382:001 (P511.01) ... 0x2382:003
(P511.03).
366
PROFINET
Basic settings

0x2380 PROFINET communication Restart / stop communication
(P508.00) (PROFINET comm.) • When the device command has been executed successfully, the value
2 Restart with default values Restart communication with the standard values of the PROFINET
parameters (0x2381:001 ... 0x2381:009).
5 Stop network communication Stop communication
11 Action cancelled
12 Fault
0x2381:001 PROFINET settings: IP address Set IP address
(P510.01) (PROFINET sett.: IP address) • The change of this parameter becomes only effective after a restart.
0 ... [0] ... 4294967295
0x2381:002 PROFINET settings: Subnet Set subnet mask
(P510.02) (PROFINET sett.: Subnet) • The change of this parameter becomes only effective after a restart.
0 ... [0] ... 4294967295
0x2381:003 PROFINET settings: Gateway Set gateway address
(P510.03) (PROFINET sett.: Gateway) • The gateway address is valid if the network address of the IP address
0 ... [0] ... 4294967295 is identical to the gateway address. In this case, no gateway function-
• From version 02.00 ality is used.
• DHCP is not supported.
• The change of this parameter becomes only effective after a restart.
0x2381:004 PROFINET settings: Station name Set station name
(P510.04) (PROFINET sett.: Station name) • The change of this parameter becomes only effective after a restart.
0x2381:005 PROFINET settings: I&M1 System designation Input/output of the I&M1 system designation
• From version 02.00 • The default setting is an empty string.
0x2381:006 PROFINET settings: I&M1 Installation site Input/output of the I&M1 location identification code
0x2381:007 PROFINET settings: I&M2 Installation date Input/output of the I&M1 date of installation
0x2381:008 PROFINET settings: I&M3 additional information Input/output of the I&M1 additional information
0x2381:009 PROFINET settings: I&M4 signature code Input/output of the I&M1 signature
367
PROFINET
LED status displays

Information on the network status can be obtained quickly via the "BUS RDY" and "BUS ERR"
LED displays on the front of the inverter. In addition, the LEDs at the RJ45 sockets indicate the
PROFINET connection status.
The meaning of the "BUS RDY" and "BUS ERR" LEDs can be obtained from the following two
tables.
LED "BUS RDY" (green) Status/meaning
off No connection to the master
PLC in STOP
blinking
PLC in RUN (DATA_EXCHANGE)
on
LED "BUS ERR" (red) Status/meaning

off No fault
The PROFINET function "Node flashing test" is triggered by the IO controller. The flickering LED serves to identify (locate)
flickers accessible IO devices
Impermissible settings: Stack, station name or IP parameters are invalid.
blinking
Communication error (e.g. Ethernet cable removed)
on (red)

on

on or flickers
9.9.4 Diagnostics
• Read only
0x2382:002 Active PROFINET settings: Subnet Display of the active subnet mask.
(P511.02) (PROFINET diag.: Subnet)
• Read only
0x2382:003 Active PROFINET settings: Gateway Display of the gateway address.
(P511.03) (PROFINET diag.: Gateway)
• Read only
• Read only
0x2382:005 Active PROFINET settings: MAC Address Display of the active MAC address.
(P511.05) (PROFINET diag.: MAC Address)
• Read only
368
PROFINET
Diagnostics

• Read only
Bit 1 Online
Bit 2 Connected
3330.
inverter.
(P517.01) (PROFINET error: Error 1) • The error values may occur in combination with the error values from
0 No error
1 Reserved
2 Unit ID unknown
3 Max. units exceeded
4 Invalid size
5 Unit type unknown
6 Runtime plug error
7 Invalid argument
8 Service pending
9 Stack not ready
10 Command unknown
11 Invalid address descriptor
(P517.02) (PROFINET error: Error2) • The error values may occur in combination with the error values from
3330.
Bit 8 Station name problem The station name must be assigned according to the PROFINET specifica-
tion.
Bit 9 DataExch left
Bit 10 Stack boot error
Bit 11 Stack online error
Bit 12 Stack state error
Bit 13 Stack revision error
Bit 14 Initialization problem
Bit 15 Stack init error The stack cannot be initiated with the user specifications. A reason
might be, e. g., a station name that does not correspond to the PROFI-
NET specification.
369
PROFINET
Monitoring
9.9.5 Monitoring
0x2859:001 PROFINET monitoring: Watchdog elapsed Selection of the response to a permanent interruption of the communi-
(P515.01) (PROFINET monit.: WD elapsed) cation to the IO controller.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:002 PROFINET monitoring: Data exchange exited
(P515.02) (PROFINET monit.: Data exch.exited)
0x2D45:001 (P310.01). ^ 223
0 No response
0x2859:003 PROFINET monitoring: Invalid configuration Selection of the response triggered by the reception of invalid configura-
(P515.03) (PROFINET monit.: Invalid config) tion data.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:004 PROFINET monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
(P515.04) (PROFINET monit.: Init. error) the initialisation of the network component.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:005 PROFINET monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
(P515.05) (PROFINET monit.: Inval. proc.data) data.
• From version 02.00 Process data marked as invalid (IOPS is "BAD") are received by the IO
• For further possible settings, see parameter Controller. Typically in case of
0x2D45:001 (P310.01). ^ 223 • a PLC in STOP state,
2 Trouble • alarms,
• acyclic demand data.
• 33171 | 0x8193 - Network: invalid cyclic process data
370
PROFINET
Data mapping
9.9.6 Data mapping

The process data are used to control the inverter.
The process data is transmitted cyclically between the IO-Controller and the IO-Devices partic-
ipating at the PROFINET:
• The available 27 network registers ("slots") serve to maximally exchange 16 process data
words (data types 8-bit or 16-bit) or 8 process data double words (data type 32-bit) for
each direction.
• Output data direction: From IO-Controller to IO-Device.
• Input data direction: From IO-Device to IO-Controller.
Data mapping is used to define which process data are exchanged cyclically between IO-Con-
troller andIO-Device.
Details
• If the inverter is known in the PROFINET network as node and the IO-Controller connects
to the IO-Device for the first time, the mapping objects are automatically transferred to
the IO device, i. e. to the inverter.
• Internal mapping of the process output data is set in 0x24E0:001 ... 0x24E0:016.
• Internal mapping of the process input data is set in 0x24E1:001 ... 0x24E1:016.
All subsequent changes in the objects 0x24E1 and 0x24E1 can cause PROFINET
alarms according to the deviation of the automatically set configurations.
371
PROFINET
Data mapping
RPDO mapping
The assignment of different bits with the same function is not permissible.
For the process data from the master to the inverter, the following data mapping is preset in
1. NetWordIN1 data word 0x4008:001 (P590.01)
3. 16 bit selectable output data, mapped to Keypad setpoints: Process controller setpoint
0x2601:002 (P202.02)
Function assignment of the NetWordIN1 data word
7 Reset error 0x400E:008 (P505.08)
Specifying the frequency setpoint
word.
• Example: 4560 ≡ 45.60 Hz
372
PROFINET
Data mapping
TPDO mapping
The assignment of different bits with the same function is not permissible.
For the process data from the inverter to the master, the following data mapping is preset in
1. NetWordOUT1 data word 0x400A:001 (P591.01)
2. Frequency (0.01) 0x400C:006 (P593.06)
3. Motor current 0x2D88 (P104.00)
Status assignment of the NetWordOUT1 data word
1 Not connected 0x2634:011 (P420.11)
3 Error active 0x2634:013 (P420.13)
4 Not connected 0x2634:014 (P420.14)
6 Running 0x2634:016 (P420.16)
8 Not connected 0x2634:018 (P420.18)
9 Not connected 0x2634:019 (P420.19)
12 Actual speed = 0 0x2634:022 (P420.22)
Output of the actual frequency value
• Example: 4560 ≡ 45.60 Hz
373
PROFINET
Data mapping
Example for changing a pre-assigned mapping

The assignment of the third output word is to be changed. Due to the device description file,
this output word (designation "16 bit selectable OUT-data_1") has already been assigned with
the keypad setpoint.
The keypad setpoint (0x2601:002 (P202.02)) is to be replaced by the acceleration ramp
(0x2917 (P220.00)).
Proceeding
1. Mark the 3rd output word in the "Device view".
2. Select the "Module parameter" dialog in "Properties".
a) Display in "Index": 9729 (decimal form of the index 0x2601)
b) Display in "Subindex": 2
3. Replace keypad setpoint 0x2601:002 (P202.02) by acceleration ramp 0x2917 (P220.00)
a) Use the Parameter attribute list to check whether mapping is permitted for the current
parameter to be mapped and the data type is complied with. ^ 659
b) Entry in "Index": 10519 (decimal form of the index 0x2917)
c) Entry in "Subindex": 0
The acceleration time must be defined later, e.g. at the FB LCB_ActuatorSpeed,

input wFreeCtrl, with the factor 10 (10 s ≡ 100).
374
PROFINET

Data communication with PROFINET is characterised by the simultaneous operation of cyclic
and acyclic services in the network. As an optional extension, the parameter data transfer
belongs to the acyclic services.
Details
• Only one parameter request is processed at a time (no pipelining).
• No spontaneous messages are transferred.
• There are only acyclic parameter requests.
• Profile-specific parameters can be independently of the states of the IO-Device.
An IO-Controller can always request parameters from the IO-Device if the IO-Device is in the
DATA_EXCHANGE state.
Transmission directions for acyclic data transfer
IO controller IO device
Parameter request Write.req Parameter request

with data (parameter request)
Write.res
without data
Read.req
without data
Parameter
Read.res (-) processing
without data
Read.req
without data
Parameter response Read.res (+) Parameter response

with data (parameter response)
1. A "Write.req" is used to transmit the data set (DB47) to the IO-Device in the form of a
parameter request.
2. With "Write.res", the IO-Controller receives the confirmation for the receipt of the mes-
sage.
3. The IO-Controller requests the response of the IO-Device with "Read-req".
4. The IO-Device responds with a "Read.res (-)" if processing has not been completed yet.
5. After parameter processing, the parameter request is completed by transmitting the
parameter response to the IO-Controller with "Read.res (+).
Telegram structure
Type
Destr ScrAddr VLAN RPC NDR Read/Write Block Data FCS
0x0800
6 bytes 6 bytes 4 bytes 4 bytes 80 bytes 64 bytes 64 bytes 0 .... 240 bytes 4 bytes
In the Read / Write Block field, the initiator specifies the access to the "DB47" data set. The
data that is written on this index or read by it, contain a header and the parameter request or
the parameter response. The read data or the data to be written are contained in the Data
field.
375
PROFINET
Assignment of the user data depending on the data type

Depending on the data type used, the user data are assigned as follows:
Data type Length User data assignment
Byte 1 Byte 2 Byte 3 Byte 4 Byte ...
String x bytes Data (x bytes)
U8 1 byte Data 0x00
U16 2 bytes HIGH byte LOW byte

Data Data
U32 4 bytes HIGH word LOW word

Data Data Data Data
376
PROFINET
Short setup
9.9.8 Short setup

In the following, the steps required for controlling the inverter via PROFINET are described.
On the control side, all commissioning steps are carried out with the engineer-
ing tool of an original equipment manufacturer (e.g. »Siemens TIA Portal«).
Please note that in the standard setting of the used engineering tool, changes of
network parameters carried out by a Lenze engineering tool (e.g. »EASY
Starter«) may be overwritten.
1. Go to the device configuration and open the "net view" to drag the inverter from the cata-
log to the net view of the PROFINET.
Condition: The device description file has been installed before, see Basic settings.
2. Assign the inverter to the associated IO controller.
3. Mark the inverter and change to the "device view".
4. Set the IP address and the station name ("PROFINET device name") in "Properties".
For setting of the IP address and the station name, see Basic settings.
In order that the inverter can be identified via Ethernet when the IO controller is
switched off, it is necessary that the IP address is saved in the inverter with
mains failure protection via the separate entry with the »EASY Starter«.
Please observe the notes in the section Save parameter settings in the memory
module and use the 0x2022:003 (P700.03) parameter for saving the settings.
7. Below the module name and the name of the device description file, the device view
shows the pre-assignment of three output and input process data objects (TPDO / RPDO)
each:
• In the device view. further process data words can be added or preassigned PDOs can
be changed. Please make sure that all addresses of the input and output data words
follow each other without any gaps.
• Please observe the description for data mapping, see Data mapping and the subse-
quent "example for changing a pre-assigned mapping".
8. Save configuration in the engineering tool.
9. Load project into the IO controller.
10. Get the IO controller to "RUN", e.g. by setting bit 4 in the control word NetWordIN1
0x400E:005 (P505.05).
• The startup causes the current configuration to be transferred to the inverter.
• If required, save mapping and all other parameters in the inverter with mains failure
protection, see Save parameter settings in the memory module.
377
PROFINET
Short setup
Restart or stop communication

A restart of communication is required after changes of the interface configuration (e. g. sta-
tion address and baud rate) in order that the changed settings become effective.
1. Switch inverter off and on again.
2. Set the selection = "Restart with current values [1]" in 0x2380 (P508.00).

0x2022:003 Device commands: Save user data 1 = save current parameter settings in the main memory of the memory
(P700.03) (Device commands: Save user data) module with mains failure protection.
• For further possible settings, see parameter • It may take some seconds to execute the task. When the task has
0x2022:001 (P700.01). ^ 418 been executed successfully, the value 0 is shown.
0 Off / ready • Do not switch off the supply voltage during the saving process and do
not unplug the memory module from the inverter!
• When the inverter is switched on, all parameters are automatically
loaded from the main memory of the memory module to the RAM
memory of the inverter.
0x2381:004 PROFINET settings: Station name Set station name
(P510.04) (PROFINET sett.: Station name) • The change of this parameter becomes only effective after a restart.
• Read only
• Read only
• Read only
Bit 1 Online
Bit 2 Connected
3330.
inverter.
378
PROFINET
Short setup

nected to triggers.

bled.
0x2631:001 (P400.01). ^ 532
0 Not connected
Notes:
tocol.
0x2859:001 PROFINET monitoring: Watchdog elapsed Selection of the response to a permanent interruption of the communi-
(P515.01) (PROFINET monit.: WD elapsed) cation to the IO controller.
0x2D45:001 (P310.01). ^ 223
2 Trouble
379
PROFINET
Short setup

4Sequencer ^ 504
380
PROFINET
Short setup

0x0000 ... [0x0000] ... 0xFFFF
puts.
Note!
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
puts.
Note!
behaviour!
381
PROFINET
Short setup

• Read only
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
via network.
0x400B:005 Process input data: Network setpoint frequency (0.01) Mappable parameter for specifying the frequency setpoint in [0.01 Hz]
(P592.05) (Process data IN: Net.freq. 0.01) via network.
direction).
• Example: 456 ≡ 4.56 Hz
(P593.06) (Process data OUT: Frequency 0.01) [0.01 Hz] via network.
• Read only: x.xx Hz • The output is effected without sign (irrespective of the rotating direc-
tion).
• Example: 456 ≡ 4.56 Hz
382
EtherCAT
9.10 EtherCAT
EtherCAT® (Ethernet for Controller and Automation Technology)is an Ethernet-based fieldbus

system which fulfils the application profile for industrial realtime systems.
• EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Auto-
mation GmbH, Germany.
• Detailed information on EtherCAT can be found on the web page of EtherCAT Technology
Group (ETG): http://www.ethercat.org
• Information about the dimensioning of an EtherCAT network can be found in the configu-
ration document for the inverter.
Preconditions
• The control unit (CU) of the inverter is provided with EtherCAT (from firmware 02.00).
• For commissioning, the »PLC Designer« and current device description files for EtherCAT
are available:
• Download »PLC Designer«
• Download XML/ESI files for Lenze devices
Properties and supported services
Properties / supported services
CoE (CANopen over EtherCAT) ü
FSoE (Fail Safety over EtherCAT) -
Operating modes • Free run
• Config
• Run
Access • Logical write (W)
• Logical read/write (RW)
Maximum process data length per direction (Rx/Tx) 32 bytes
FMMU (Fieldbus Memory Management Units) 3*
SM (Sync-Managers) 4
DC synchronisation -
Topology addressing ü
Second slave address Only via EEPROM
Explicit Device Identification Mode ü
ü Is supported.
- Is not supported.
* Available for data mapping.
Restart of the network communication

The network communication is restarted with 0x2360 (P508.00) = 1.
0x2360 EtherCAT communication Restart communication.
(P508.00) (EtherCAT comm.) • When the device command has been executed successfully, the value
11 Action cancelled
12 Fault
383
EtherCAT
Device identification
9.10.1 Device identification

The EtherCAT objects for identifying the devices are described below.
The objects can only be accessed via the EtherCAT network.
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
384
EtherCAT
EtherCAT configuration
9.10.2 EtherCAT configuration

Addressing the EtherCAT devices
The EtherCAT devices are normally addressed via a permanent 16-bit address defined by the
master. At the start, this address is assigned automatically to each node by the master,
depending on the physical order in the network. The address is not saved and gets lost when
the device is switched off.
"Explicit Device Identification" via rotary encoder switch or parameter
The "Explicit Device Identification" is required if the device is part of a "Hot Connect" group or
the device is operated within a modular Lenze machine application. Each slave receives an
unambiguous identifier for being identified by the master.
Setting Assignment of the identifier
0x00 Identifier via the parameter 0x2361:004 (P510.04).
0x01 ... 0xFF Identifier via the rotary encoder switches.
(3 × 16) + (4 × 1) = 52
x16 x1
The value set via the rotary encoder switches is used once when the mains is switched on or
after a network restart with 0x2360 (P508.00) = 1. A changed value during operation will only
As an alternative, a master can also use station alias addresses of the slaves that are config-
ured and unambiguous in the network. For this purpose, a station alias address must be saved
in the EEPROM of the device by setting the corresponding register.
0x2361:004 EtherCAT settings: Device identifier Setting of the identifier unambiguous in the network (Explicit Device
(P510.04) (EtherCAT sett.: Device ident.) Identification).
0 ... [0] ... 65535 This setting is only valid for rotary encoder switch setting 0 (0x00).
0x2363 EtherCAT switch position Display of the current rotary encoder switch settings.
(P509.00) (EtherC. switch)
• Read only
385
EtherCAT
LED status displays

Information on the network status can be obtained quickly via the "BUS RDY" and "BUS ERR"
LED displays on the front of the inverter. In addition, the LEDs at the RJ45 sockets indicate the
EtherCAT connection status.
The meaning of the "BUS RDY" and "BUS ERR" LEDs can be obtained from the following two
tables.
LED "BUS RDY" (green) EtherCAT status Status/meaning
off off / Init The network option is not active at the network or is in the "Init" status.
Pre-Operational Access to parameters and objects possible. No process data exchange.
blinking
Safe-Operational The data is not active yet in the standard device.

on
Bootstrap Firmware update of the network option active.
flickers
LED "BUS ERR" (red) Status/meaning

off No fault
Local error. The network option changes automatically to the "Safe-Operational" status.
flickers
A "Sync Manager Watchdog Timeout" has occurred.
on (red)
The configuration is invalid/incorrect.
blinking
The LED "L/A" at the RJ45 sockets show the connection status to the network:
LED "L/A" (green) Status/meaning
flickers
on
9.10.4 Diagnostics
• Read only
• Read only
• Read only
• Read only
386
EtherCAT
Monitoring

• Read only
PDO transmission:
• Read only
9.10.5 Monitoring
0x2859:001 EtherCAT monitoring: Watchdog elapsed Selection of the response to the continuous interruption of communica-
(P515.01) (EtherCAT monit.: WD elapsed) tion to the EtherCAT master, e. g. by cable break or failure of the Ether-
• From version 02.00 CAT master.
0x2D45:001 (P310.01). ^ 223
• 33168 | 0x8190 - Network: watchdog timeout
2 Trouble
0x2859:003 EtherCAT monitoring: Invalid configuration Selection of the response triggered by the reception of invalid configura-
(P515.03) (EtherCAT monit.: Invalid config) tion data.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:004 EtherCAT monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
(P515.04) (EtherCAT monit.: Init. error) the initialisation of the network component.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:005 EtherCAT monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
(P515.05) (EtherCAT monit.: Inval. proc.data) data.
• For further possible settings, see parameter • 33171 | 0x8193 - Network: invalid cyclic process data
0x2D45:001 (P310.01). ^ 223
2 Trouble
387
EtherCAT
Objects
9.10.6 Objects
The parameters for the implemented EtherCAT objects are described below.
0x2360 EtherCAT communication Restart communication.
(P508.00) (EtherCAT comm.) • When the device command has been executed successfully, the value
11 Action cancelled
12 Fault
0x2361:004 EtherCAT settings: Device identifier Setting of the identifier unambiguous in the network (Explicit Device
(P510.04) (EtherCAT sett.: Device ident.) Identification).
0 ... [0] ... 65535 This setting is only valid for rotary encoder switch setting 0 (0x00).
• Read only
• Read only
• Read only
• Read only
0x2363 EtherCAT switch position Display of the current rotary encoder switch settings.
(P509.00) (EtherC. switch)
• Read only
• Read only
PDO transmission:
• Read only
388
EtherCAT

• Process data are cyclically transferred between the EtherCAT master and the slaves (per-
manent exchange of current input and output data).
• The transfer of process data is time-critical.
• The process data serve to control the EtherCAT slaves.
• The process data can be directly accessed by the master. The data in the PLC, for instance,
are directly stored in the I/O area.
• The contents of the process data are defined via I/O Data mapping (definition of the Ether-
CAT objects that are to be transmitted cyclically).
• Process data are not saved in the device.
• Process data are, e. g. setpoints, actual values, control and status words.
Configuration
• The available objects can be mapped in the CiA 402 operating mode "CiA: Velocity mode"
(0x6060 (P301.00) = 2) and as dynamic (free) configuration. The contents can be selected
from all mappable objects.
• Mapping objects for the CiA 402 operating mode "CiA: Velocity mode": 0x1603:001
and 0x1603:002 (RPDOs), 0x1A03:001 ... 0x1A03:003 (TPDOs)
• Mapping objects for a dynamic (free) assignment: 0x1605:001 ... 0x1605:016 (RPDOs),
0x1A05:001 ... 0x1A05:016 (TPDOs)
• The freely configurable mapping objects contain an 8 bit dummy entry (0x00050008). This
ensures that each object is transferred cyclically with 16 bits.
• Mapping is executed in the master configuration and automatically transferred to the
slave.
• The data format is 0xAAAABBCC (AAAA = index, BB = subindex, CC = length).
Standard mapping of the RPDOs in the CiA 402 operating mode "CiA: Velocity mode"
Master à slave
0x1603:001 RPDO mapping entry 1 (CiA: Velocity mode) CiA: Controlword (0x6040)
0x1603:002 RPDO mapping entry 2 (CiA: Velocity mode) CiA 402 parameter "Target velocity" (0x6042 (P781.00))
0x1605:001 RPDO mapping Entry 1 (freely configurable) Not assigned.
Standard mapping of the TPDOs in the CiA 402 operating mode "CiA: Velocity mode"
Slave à master
0x1A03:001 TPDO mapping entry 1 (CiA: Velocity mode) CiA: Statusword (0x6041 (P780.00))
0x1A03:002 TPDO mapping entry 2 (CiA: Velocity mode) CiA 402 parameter "Velocity actual value" (0x6044 (P783.00))
0x1A03:003 TPDO mapping entry 3 (CiA: Velocity mode) Error code (0x603F (P150.00))
0x1A05:001 TPDO mapping entry 1 (freely configurable) Digital inputs
Expert settings
• The sync managers are configured for the cyclic data transfer an the mailbox communica-
tion (display in 0x1C00:001 ... 0x1C00:004).
• For the communication, the I/O data mapping must be configured via
0x1C12:000 ... 0x1C12:002 (for RPDOs) and 0x1C13:000 ... 0x1C13:002 (for TPDOs).
• The basic settings for the sync managers are made via 0x1C32:001 ... 0x1C32:005 and
0x1C33:001 ... 0x1C33:005.
In the following, the EtherCAT objects are described (Mapping-Objekt-Index), that can be
assigned to process data.
The objects can only be accessed via the EtherCAT network.
0x1603:001 RPDO4 mapping parameter: Application object 1 Predefined mapping entry of CiA: Controlword (0x6040) for the CiA 402
• Read only operating mode "CiA: Velocity mode" (0x60400010).
0x1603:002 RPDO4 mapping parameter: Application object 2 Predefined mapping entry of "CiA: Target velocity" für den "Velocity
• Read only Mode" (0x60420010).
389
EtherCAT

0x1605:001 RPDO6 mapping parameter: Application object 1 Mapping entry for the selection of an object to be received.
• Read only
0x1605:002 RPDO6 mapping parameter: Application object 2
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
0x1A03:001 TPDO4 mapping parameter: Application object 1 Predefined mapping entry of CiA: Statusword (0x6041 (P780.00)) for the
• Read only CiA 402 operating mode "CiA: Velocity mode" (0x60410010).
0x1A03:002 TPDO4 mapping parameter: Application object 2 Predefined mapping entry of "CiA: Velocity actual value" für den "Veloc-
• Read only ity Mode" (0x60440010).
0x1A03:003 TPDO4 mapping parameter: Application object 3 Predefined mapping entry of "CiA: Error code" für den "Velocity Mode"
• Read only (0x603F0010).
390
EtherCAT

0x1A05:001 TPDO6 mapping parameter: Application object 1 Mapping entry for the selection of an object to be sent.
• Read only
0x1A05:002 TPDO6 mapping parameter: Application object 2
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
0x1C00:001 Sync Manager communication type: SM1 communica- The communication type SM1 is used for the mailbox input (MbxIn).
tion type
• Read only
0 Reserved
1 Receive mailbox
2 Transmit mailbox
3 Transmit process data
4 Receive process data
0x1C00:002 Sync Manager communication type: SM2 communica- The communication type SM2 is used for the mailbox output (MbxOut).
tion type
• Read only
391
EtherCAT

0x1C00:003 Sync Manager communication type: SM3 communica- The communication type SM3 is used for the input process data
tion type (RPDOs).
• Read only
0x1C00:004 Sync Manager communication type: SM4 communica- The communication type SM4 is used for the output process data
tion type (TPDOs).
• Read only
0x1C12:000 Number of assigned PDOs Number of selected RPDOs.
• Read only These values are written by the master according to the selected settings
• From version 02.00 in the master.
0x1C12:001 PDO mapping object index of 1. assigned RPDO Indication of the 1st mapping object index.
• Read only
0x1C12:002 PDO mapping object index of 2. assigned RPDO Indication of the 2nd mapping object index.
• Read only
0x1C13:000 Number of assigned PDOs Number of selected TPDOs.
• Read only These values are written by the master according to the selected settings
• From version 02.00 in the master.
0x1C13:001 PDO mapping object index of 1. assigned TPDO Display of the 1st mapping object index.
• Read only
0x1C13:002 PDO mapping object index of 2. assigned TPDO Display of the 2nd mapping object index.
• Read only
0x1C32:001 Sync Manager 2: Synchronization type Settings of the synchronisation method for the mailbox communication.
0 Free run The slave application runs independently of the EtherCAT cycle time.
0x1C32:002 Sync Manager 2: Cycle time Display of the cycle time for the mailbox communication.
• Read only: x ns
0x1C32:003 Sync Manager 2: Shift time Display of the time shift for the mailbox communication.
• Read only: x ns
0x1C32:004 Sync Manager 2: Synchronization types supported Display of the available synchronisation method for the mailbox commu-
• Read only nication.
• From version 02.00 • Bit 0 (free run)
0x1C32:005 Sync Manager 2: Minimum cycle time Display of the minimum cycle time for the mailbox communication.
• Read only: x ns
0x1C33:001 Sync Manager 3: Synchronization type Setting of the synchronisation method for the input process data
0 ... [0] ... 65535 (RPDO).
0x1C33:002 Sync Manager 3: Cycle time Display of the cycle time for the input process data (RPDO).
• Read only: x ns
0x1C33:003 Sync Manager 3: Shift time Display of the time shift for the input process data (RPDO).
• Read only: x ns
0x1C33:004 Sync Manager 3: Synchronization types supported Display of the available synchronisation method for the input process
• Read only data (RPDO).
• From version 02.00 • Bit 0 (free run)
0x1C33:005 Sync Manager 3: Minimum cycle time Display of the minimum cycle time for the input process data (RPDO).
• Read only: x ns
392
EtherCAT

• For configuring and diagnosing the EtherCAT devices, the parameters are accessed by
means of acyclic communication.
• Parameter data are transferred as SDOs (Service Data Objects).
• The SDO services enable the writing and reading access to parameters, EtherCAT objects
and CiA 402 objects.
• Objects^ 388
• Device profile CiA 402^ 469
• The transfer of parameter data is usually not time-critical.
• Parameter data are, for instance, operating parameters, motor data and diagnostic infor-
mation.
SDO return values
If an SDO request is evaluated negatively, a corresponding error code is output:
Index Description
0x00000000 No fault.
0x05030000 The state of the toggle bit has not changed.
0x05040000 SDO protocol time-out.
0x05040001 Invalid or unknown specification symbol for the client/server command.
0x05040005 The space in the main memory is not sufficient.
0x06010000 Unsupported access to an object.
0x06010001 Read access to a write-only object.
0x06010002 Write access to a read-only object.
0x06020000 An object is not available in the object directory.
0x06040041 An object cannot be mapped into the PDO.
0x06040042 The number and/or length of the mapped objects would exceed the PDO length.
0x06040043 General parameter incompatibility.
0x06040047 General internal incompatibility in the device.
0x06060000 The access has failed due to errors in the hardware.
0x06070010 The data type or the parameter length do not match.
0x06070012 Wrong data type: The parameter length is too big.
0x06070013 Wrong data type: The parameter length is too small.
0x06090011 A subindex is not available.
0x06090030 The value range for parameters is too big (only in case of write access).
0x06090031 The parameter value is too high.
0x06090032 The parameter value is too low.
0x06090036 The maximum value is smaller than the minimum value.
0x08000000 General fault.
0x08000020 Data cannot be transferred to the application or saved in the application.
0x08000021 Due to local control, the data cannot be transferred to the application or saved in the application.
0x08000022 Due to the current device state, the data cannot be transferred to the application or saved in the application.
0x08000023 The dynamic object directory generation has failed or no object directory is available.
393
EtherCAT
Short setup
9.10.9 Short setup

During commissioning, the EtherCAT master operates as gateway to access from the Engineer-
ing PC to the slaves.
In the following, the required steps are described to control the device as EtherCAT slave.
Preconditions
• The device is networked as EtherCAT slave with an EtherCAT master and, if necessary, fur-
ther EtherCAT devices (see "Typical topologies" in the section 4EtherCAT^ 68).
• An Engineering PC with installed »PLC Designer« from V3.12 is connected to the master.
• Download »PLC Designer«
• A »PLC Designer« project with current device description files for EtherCAT is available.
• Download XML/ESI files for Lenze devices
• The files are installed via the device repository of the »PLC Designer« (menu command
"Tools à Device repository").
• All EtherCAT devices are supplied with voltage and are switched on.
Short setup
• With the »PLC Designer« from V3.12, the CiA 402 operating mode "CiA: Velocity mode" is
automatically activated.
• In the operating mode "CiA: Velocity mode", the setpoint speed defined via the "Target
velocity" 0x6042 (P781.00) parameter is used.
• A changeover to an alternative setpoint source via CiA: Controlword (0x6040) is not possi-
ble.
• CiA: Controlword (0x6040) serves to start/stop the EtherCAT device.
• Standard configuration of the PDOs in the CiA 402 operating mode "CiA: Velocity mode":
4Process data transfer ^ 389
• CiA 402 objects:4Device profile CiA 402 ^ 469
394
EtherCAT
Short setup
How to configure the network:

1. Activate network control in the inverter.
The network control is now activated.
Further information on this: 4General network settings ^ 332
3. Save parameter settings: 0x2022:003 (P700.03) = "On / start [1]"
2. Configure the master for the gateway function.
1. Start the »PLC Designer«.
2. On»PLC Designer«project.
3. Open the "Communication settings" tab of the master.
4. Click "Add gateway".
Do the following in the appearing dialog window:
a) Enter the IP address of the master.
b) Confirm the entry with "OK".
5. Click "Search network".
6. Select the corresponding master for the previously entered IP address.
7. Click "Set active path".
8. Log into the master using the "Online à Log in" menu command or with <Alt>+<F8>.
Now you can access the slaves from the Engineering PC via the EtherCAT master as gate-
way.
3. Carry out network scan.
1. Execute the "Start Search" command in the context menu of the master.
The appearing dialog box lists all available EtherCAT devices according to the physical
order in the network.
2. Click "Copy all devices into the project".
The physical network structure is reproduced in the »PLC Designer«project.
A proper operation requires that the network topology generated in the project
corresponds to the physical order of the EtherCAT nodes in the network. Other-
wise, an error message displays which slave (product code) is to be expected at
which position.
4. Optionally: Adapt EtherCAT device to the application.
1. Adapt parameter values under the "Settings" and "Parameter list" tabs.
2. Set the PDO mapping under the "Process data" tab.
3. Assign variable names under the "EtherCAT I/O image" by double-clicking the variable
fields.
4. Create PLC program.
5. Load the network configuration into the master.
1. Log off: Menu command "Online à Log off" or <Ctrl>+<F8>.
2. Compiling: Menu command "Build à Build" or <F11>.
3. Log in: Menu command "Online à Log in" or <Alt>+<F8>.
The configuration, the parameter settings and the PLC program are loaded into the mas-
ter. Afterwards, all EtherCAT slaves are Initialised.
These steps must be carried out after every change within

the »PLC Designer«project. An already available configuration and an available
PLC program in the master will be then overwritten.
395
POWERLINK
Introduction
9.11 POWERLINK
POWERLINK is a real-time capable fieldbus system based on Ethernet.

• Detailed information on POWERLINK can be found on the web page of the Ethernet POW-
ERLINK Standardization Group (EPSG): http://www.ethernet-powerlink.org
• Information about the dimensioning of a POWERLINK network can be found in the config-
uration document for the inverter.
Preconditions
• Control unit (CU) of the inverter is provided with POWERLINK.
9.11.1 Introduction
The inverter is implemented as a controlled node (CN) into a POWERLINK network. Thus, it
only may respond to poll-request messages of a managing node (MN). For typical topologies
see the section "POWERLINK" in the "Electrical installation" chapter. ^ 70
Features
• The network option can both be supplied internally by the standard device and externally
by a separate voltage source.
• Real time Ethernet with the Ethernet POWERLINK V2 communication profile for Motion
and general applications
• A line topology can be set up by the integrated 2-port hub.
• Supported functionalities: POWERLINK CN
• Very short CN response times for optimum network performance
• Access to all inverter parameters
The following is not supported:
• Firmware download via POWERLINK
• PDO crosslinks for the managing node or the controlled node for setting up systems with
"distributed intelligence"
396
POWERLINK
Basic settings

Each network node must be provided with a unique node address (node ID).
Setting the node address
The node address can be set in 0x23C1:004 or via the two rotary encoder switches on the
front of the inverter.
• If both rotary encoder switches are set to "0", the value set in 0x23C1:004 is used as node
address.
• A value changed during operation only gets valid when the device is restarted.
• Valid node addresses for controlled nodes: 1 ... 239
• The resulting IP address is "192.168.100.[node address]".
Example: Setting of the node address 52 via the rotary encoder switches
• 52 = 3 x 16 + 4 x 1
x16 x1
• The resulting IP address is "192.168.100.52".
Note: If the value set via the rotary encoder switches is higher than 239, the node address is
set to 239.
• 0x23C2:004 displays the active node address.
• 0x23C3 displays the switch setting at the last mains switching.

0x23C1:004 POWERLINK settings: Node ID Setting of the unique node address (node ID) in the network.
0 ... [0] ... 255 • The node address set here is only effective if both rotary encoder
switches are set to "0".
• In the default setting "0", the rotary encoder switch setting is used.
• A changed node address only becomes effective after a restart of the
device.
• Read only
• Read only
397
POWERLINK
LED status displays

Information on the network status can be obtained quickly via the "BS" and "BE" LED displays
on the front of the inverter. In addition, the LEDs at the RJ45 sockets indicate the POWERLINK
connection status.
LED "BS" (green) NMT communication status Meaning
off - The network option is not supplied with voltage, is not active at the net-
work or is in the INIT state.
NMT_CS_PREOPERATIONAL_1 The POWERLINK network is in the initialisation phase.
Flashing
NMT_CS_PREOPERATIONAL_2 The POWERLINK network is in the initialisation phase with cyclic traffic.
Flashing 2 x
NMT_CS_READY_TO_OPERATE The network option waits for the start signal.
Flashing 3 x
NMT_CS_BASIC_ETHERNET The network option has not found a managing node and is in the "Basic
flickers Ethernet Mode".
NMT_CS_STOPPED The network option is in the "Stopped" state (waiting for switch-off).
blinking
NMT_CS_OPERATIONAL The network option is in the operating phase.
on
LED "BE" (red) Status/meaning

POWERLINK network error
on

The LEDs at the RJ45 sockets display the POWERLINK connection status:
LED "A" (green) Status/meaning
off No POWERLINK connection.
A physical POWERLINK connection is available.
on
Data is exchanged via POWERLINK.
flickers
LED "B" (red) Status/meaning

POWERLINK collision
on

LED "A" (green) Status/meaning
on
flickers
LED "B" (red) Status/meaning

POWERLINK collision
on
398
POWERLINK
9.11.4 Diagnostics
The controlled node indicates applied diagnostic data by an emergency message to the man-
aging node.
Details
• The XXXX parameter serves to suppress the transmission of emergency messages to the
managing node. Thus, errors of a certain type can be suppressed in a targeted way.
• Errors and warnings of the inverter and the network option are sent as extended diagnos-
tic messages to the managing node:
Bytes Meaning Value [hex]
1 ... 6 Diagnostic block header 0x0010 001C 0100
7 ... 8 Alarm type 0x0001 (diagnostics)
9 ... 12 API (Application Programming Interface) 0x0000 0000
13, 14 Slot number 0x0001 / 0x0002
15, 16 Subslot number 0x0001
17 ... 20 Module ID ID according to module
21 ... 24 Submodule number ID according to module
25, 26 Alarm specification 0xB000
27, 28 User structure ID 0x0001
29 ... 32 Error code 4Error codes ^ 639

POWERLINK transfers process data, parameter data, configuration data and diagnostic data
between the managing node and the involved controlled nodes. Depending on their time-crit-
ical behaviour, the data is transmitted via corresponding communication channels.
Details
• Process data is transmitted cyclically between the managing node and the controlled node
(permanent exchange of current input and output data).
• The transfer of process data is time-critical.
• The process data serves to control the POWERLINK nodes.
• The process data can be directly accessed by the managin node. The data in the PLC, for
instance, are directly stored in the I/O area.
• The contents of the process data are defined via I/O data mapping.
• Process data are not saved in the device.
Process data (RxPDO):
• 0x4008:001 (P590.01) (NetWordIN1)
• 0x400B:013 (P592.13) (Network frequency setpoint [+/-16384])
Process data (TxPDO):
• 0x400A:001 (P591.01) (NetWordOUT1)
• 0x400C:009 (P593.09) (Frequency [+/-16384])
• 0x2D88 (P104.00) (Motor current)
• 0x4050:002 (internal parameters)
399
POWERLINK
Error response
9.11.6 Monitoring
In the "Operational" state, the controlled node detects an interruption of the POWERLINK
communication, e. g. by cable breakage or failure of the managing node.
The response to the interrupted communication is controlled by the following settings:
1. The watchdog monitoring time defined in the managing node is transferred to the control-
led node when the POWERLINK communication is initialised.
2. If the controlled node does not receive any valid process data in the "Operational" state,
the process data are handled in a general (not fieldbus-specific) object according to the
setting. Thus, the data sent last by the managing node can be used or the process data is
set to zero.
3. 'After the communication has failed...
• the controlled node changes to the "Pre-Operational" state.
• the red "BE" LED on the front of the inverter is permanently on. 4LED status dis-
plays ^ 398
• the error response set in 0x2859:001 is effected (default setting: "Trouble").

0x2859:001 POWERLINK monitoring: Watchdog elapsed Selection of the error response when the "Operational" communication
• For further possible settings, see parameter status (watchdog elapsed) has been left.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:010 POWERLINK monitoring: CRC error Selection of the error response in case of CRC error.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:011 POWERLINK monitoring: Loss of SoC Selection of the error response in case of SoC loss.
0x2D45:001 (P310.01). ^ 223
2 Trouble
9.11.7 Error response

The response to POWERLINK errors such as the lack of PDOs can be configured via the follow-
ing parameters.
0x2859:001 POWERLINK monitoring: Watchdog elapsed Selection of the error response when the "Operational" communication
• For further possible settings, see parameter status (watchdog elapsed) has been left.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:010 POWERLINK monitoring: CRC error Selection of the error response in case of CRC error.
0x2D45:001 (P310.01). ^ 223
2 Trouble
0x2859:011 POWERLINK monitoring: Loss of SoC Selection of the error response in case of SoC loss.
0x2D45:001 (P310.01). ^ 223
2 Trouble
9.11.8 Supported objects

In the following, all supported objects of the Ethernet POWERLINK communication profile
(DS 301) are listed. The objects can only be accessed by the managing node via the network.
0x1001 ERR_ErrorRegister_U8 Error register
• Read only
400
POWERLINK
Supported objects

0x1003:001 ERR_History_ADOM: ErrorEntry_DOM 1 Error memory
• Read only • Further information on the error memory can be found in the current
0x1003:002 ERR_History_ADOM: ErrorEntry_DOM 2 Ethernet POWERLINK specification.
• Read only
0x1003:003 ERR_History_ADOM: ErrorEntry_DOM 3
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
• Read only
0x1006 NMT_CycleLen_U32 Length of the POWERLINK cycle in μs.
0 ... [0] ... 4294967295 • The selected value must correspond to the real bus cycle time in order
that the internal monitoring modes operate correctly.
• In the configured state, all POWERLINK nodes must be set to an iden-
tical value.
0x1016:001 NMT_ConsumerHeartbeatTime: HeartbeatDescription Node ID and heartbeat time of node 1 which is to be monitored.
0 ... [0] ... 4294967295 ms • Format: 0x00nnhhhh (nn = node ID, hhhh = heartbeat time in [ms])
0x1030:001 NMT_InterfaceGroup_0h_REC: InterfaceIndex_U16 Display of the interface number of the Ethernet interface.
• Read only
0x1030:002 NMT_InterfaceGroup_0h_REC: InterfaceDescrip- Display of the description of the Ethernet interface.
tion_VSTR
• Read only
0x1030:003 NMT_InterfaceGroup_0h_REC: InterfaceType_U8 Display of the interface type.
• Read only
0x1030:004 NMT_InterfaceGroup_0h_REC: InterfaceMtu_U32 Display of the maximum frame size.
• Read only
0x1030:005 NMT_InterfaceGroup_0h_REC: InterfacePhysAddress_ Display of the MAC address of the Ethernet interface.
OSTR
• Read only
0x1030:006 NMT_InterfaceGroup_0h_REC: InterfaceName_VSTR Symbolic name of the Ethernet interface.
["ETH0"]
0x1030:007 NMT_InterfaceGroup_0h_REC: InterfaceOper- Display of the operation status of the Ethernet interface.
State_U8
• Read only
0x1030:008 NMT_InterfaceGroup_0h_REC: InterfaceAdmin- Administration status of the Ethernet interface.
State_U8
0 ... [0] ... 255
0x1030:009 NMT_InterfaceGroup_0h_REC: Valid_BOOL Release of the interface description.
0 ... [0] ... 255
0x1300 SDO_SequLayerTimeout_U32 Time-out time for detecting an aborted connection of an SDO transfer.
0 ... [30000] ... 4294967295 ms
0x1301 SDO_CmdLayerTimeout_U32 Time-out time for detecting an aborted connection in the SDO command
0 ... [30000] ... 4294967295 ms layer.
0x1400:001 PDO_RxCommParam_00h_REC: NodeID_U8 Setting of the node ID for RPDO1.
0 ... [0] ... 255
401
POWERLINK
Supported objects

0x1400:002 PDO_RxCommParam_00h_REC: MappingVersion_U8 Display of the version of the RPDO1 mapping.
• Read only
0x1600:001 ... PDO_RxMappParam_00h_REC: ObjectMapping_U64 Mapping entries 1 ... 16 for RPDO1.
0x1600:016 1 ... ObjectMapping_U64 16
0 ... [0] ... 18446744073709552000
0x1800:001 PDO_TxCommParam_00h_REC: NodeID_U8 Display of the node ID of the TPDO1 receiver.
• Read only
0x1800:002 PDO_TxCommParam_00h_REC: MappingVersion_U8 Display of the TPDO1 mapping version.
• Read only
0x1A00:001 ... PDO_TxMappParam_00h_REC: ObjectMapping_U64 Mapping entries 1 ... 16 for TPDO1.
0x1A00:016 1 ... ObjectMapping_U64 16
0 ... [0] ... 18446744073709552000
0x1C0A:001 DLL_CNCollision_REC: CumulativeCnt_U32 Display of the number of "collision" errors detected by the controlled
• Read only node.
• The counter content is increased each time by 1 if the controlled node
has detected a "collision" error.
0x1C0B:001 DLL_CNLossSoC_REC: CumulativeCnt_U32 Display of the number of SoC losses detected by the controlled node.
• Read only • The counter content is increased each time by 1 if the controlled node
has detected an SoC loss.
0x1C0B:002 DLL_CNLossSoC_REC: ThresholdCnt_U32 Display of the network quality with regard to SoC losses.
has detected an SoC loss and decreased by 1 at every error-free cycle.
0x1C0B:003 DLL_CNLossSoC_REC: Threshold_U32 Error threshold for monitoring SoC losses.
0 ... [0] ... 4294967295 • If the counter content displayed in 0x1C0B:002 reaches the set thresh-
old, the error response selected in 0x2859:011 is effected.
• If the setting is "0", this monitoring is not active.
0x1C0F:001 DLL_CNCRCError_REC: CumulativeCnt_U32 Display of the number of CRC errors detected by the controlled node.
has detected a "CRC" error.
0x1C0F:002 DLL_CNCRCError_REC: ThresholdCnt_U32 Display of the network quality with regard to CRC errors.
has detected a CRC error and decreased by 1 at every error-free cycle.
0x1C0F:003 DLL_CNCRCError_REC: Threshold_U32 Error threshold for monitoring CRC errors.
0 ... [0] ... 4294967295 • If the counter content displayed in 0x1C0F:002 reaches the set thresh-
old, the error response selected in 0x2859:010 is effected.
• If the setting is "0", this monitoring is not active.
0x1C10 DLL_CNLossOfLinkCum_U32 Display of the number of connection losses detected by the controlled
• Read only node.
• The counter content is increased each time by 1 if the controlled node
has detected a connection loss.
• A connection loss may occur if the connection is interrupted, for
instance due to a cable break/unplugging the network cable or a
defect hub/switch in the POWERLINK network.
0x1E40:001 NWL_IpAddrTable_0h_REC: IfIndex_U16 Display of the LF index which clearly identifies the Ethernet interface.
• Read only
0x1E40:002 NWL_IpAddrTable_0h_REC: Addr IPAD Display of the IP address of the Ethernet interface.
• Read only
0x1E40:003 NWL_IpAddrTable_0h_REC: NetMask_IPAD Display of the network mask of the Ethernet interface.
• Read only
0x1E40:004 NWL_IpAddrTable_0h_REC: ReasmMaxSize_U16 Display of the maximum frame size which can be reconstructed by
• Read only frames that arrive in a fragmented way.
0x1E40:005 NWL_IpAddrTable_0h_REC: DefaultGateway_IPAD Display of the IP address of the router that connects the POWERLINK
0 ... [0] ... 4294967295 segment to the higher-level network.
0x1E4A:001 NWL_IpGroup_REC: Forwarding_BOOL Display whether the IP router function ("Forwarding") is supported or
• Read only not.
0x1E4A:002 NWL_IpGroup_REC: DefaultTTL_U16 Time-to-live value which is entered into the IP header of frames to be
0 ... [64] ... 65535 sent.
• If the frame passes a router or a gateway, the time-to-live value in the
IP header is reduced by 1. As soon as the value is set to 0, the frame is
not valid anymore and is discarded.
402
POWERLINK
Supported objects

0x1E4A:003 NWL_IpGroup_REC: ForwardingDatagrams_U32 Display of the number of frames received that were determined for a
• Read only different IP address.
• As the device does not support the IP router function, this value is
always 0.
0x1F81:001 ... NMT_NodeAssignment: Node assignment 1 ... Node Bit coded declaration of the controlled nodes, routers, managing nodes
0x1F81:254 assignment 254 and their properties.
0 ... [0] ... 4294967295 Subindex ≡ node address:
• 1 ... 239 = controlled nodes with address 1 ... 239
• 240 = managing node with standard address 240
• 254 = router (type 1) with standard address 254
The single bits have the following meaning:
• Bit 0 = 1 ≡ isochronous access
• Bit 1 = 1 ≡ SDO via UDP/IP
• Bit 2 = 1 ≡ SDO via EPL "ASnd"
• Bit 3 = 1 ≡ SDO integrated in PDO
• Bit 4 = 1 ≡ support of "NMT Info Services"
• Bit 5 = 1 ≡ support of extended "NMT State Commands"
• Bit 6 = 1 ≡ support of the dynamic PDO mapping
• Bit 7 = reserved (no function)
• Bit 8 = 1 ≡ configuration manager function
• Bit 9 = 1 ≡ isochronous multiplexed access possible
• Bit 10 = 1 ≡ address assignment via software
• Bit 12 = 1 ≡ device is router (type 1)
• Bit 14 ... 31 = reserved (no function)
0x1F82 NMT_FeatureFlags_U32 Bit coded display of the POWERLINK functions implemented by the
• Read only POWERLINK nodes.
The single bits have the following meaning:
• Bit 0 = 1 ≡ node with this ID exists.
• Bit 1 = 1 ≡ node with this ID is a controlled node.
• Bit 2 = 1 ≡ If a booting controlled node is detected, this is reported to
the application and the controlled node is started.
• Bit 3 = 1 ≡ controlled node is mandatory.
• Bit 4 = 1 ≡ managing node must not send any reset commands.
• Bit 5 = 1 ≡ software version verification of the controlled node
required.
• Bit 6 = 1 ≡ automatic software update of the application permitted.
• Bit 8 = 1 ≡ controlled node is addressed asynchronously.
• Bit 9 = 1 ≡ controlled node is addressed in a multiplexed way.
• Bit 12 = 1 ≡ managing node sends PRes frames.
• Bit 13 ... 30 = reserved (no function)
• Bit 31 = 1 ≡ bits 0 ... 30 are enabled.
0x1F83 NMT_EPLVers_U8 Display of the POWERLINK version.
• Read only
0x1F8C NMT_CurrState_U8 Display of the current NMT state of the POWERLINK node (according to
• Read only the Ethernet POWERLINK specification).
0x1F8D:001 ... NMT_MNPResPayloadList: PResPayload 1 ... PResPay- Setting of the reserved user data length of the PRes frames for control-
0x1F8D:254 load 254 led nodes.
0 ... [0] ... 65535 • This object contains a list of the expected PRes user data slot size in
octets for each configured node that is accessed isochronously (for
example via PReq/PRes frames).
• The user data slot size is a measure for the configured size of the PRes
frame. Up to this limit, the data slot can be filled by PDO data.
Subindex ≡ node address:
• 1 ... 239 = controlled nodes with address 1 ... 239
• 240 = managing node with standard address 240
• 254 = router (type 1) with standard address 254
0x1F93:001 NMT_EPLNodeID_REC: NodeID_U8 Display of the currently valid node address (node ID).
• Read only
403
POWERLINK
Supported objects

0x1F93:002 NMT_EPLNodeID_REC: NodeIDByHW_BOOL Display whether the node address (node ID) has been set via rotary
• Read only encoder switch or via software.
0x1F93:003 NMT_EPLNodeID_REC: SWNodeID_U8 Setting of the unique node address (node ID) in the network.
0 ... [0] ... 255 • This address setting is only valid for rotary encoder switch setting 0
(0x00).
0x1F98:001 NMT_CycleTiming_REC: IsochrTxMaxPayload_ U16 Display of the size of the isochronous transmit memory.
• Read only
0x1F98:002 NMT_CycleTiming_REC: IsochrRxMaxPayload_ U16 Display of the size of the isochronous receive memory.
• Read only
0x1F98:003 NMT_CycleTiming_REC: PResMaxLatency_U32 Display of the isochronous response delay.
• Read only: x ns
0x1F98:004 NMT_CycleTiming_REC: PReqActPayload_U16 Setting of the data size to be maximally received by the controlled node
0 ... [0] ... 65535 via PReq for the current network configuration.
• The set value is an upper limit value for the total size of the PDO map-
ping for the PReq frame.
• In the configured state, the value must be identical to the entry valid
for the POWERLINK node for a response.
0x1F98:005 NMT_CycleTiming_REC: PResActPayload_U16 Setting of the PDO data size to be maximally sent by the POWERLINK
0 ... [0] ... 65535 node for the current network configuration.
• The PDO mapping may assign data with a total size higher/equal to
the value set here.
• In the configured state, the value must be identical to the entry valid
for the POWERLINK node in 0x1F8D:xxx.
0x1F98:006 NMT_CycleTiming_REC: ASndMaxLatency_U32 Display of the asynchronous response delay.
• Read only: x ns
0x1F98:007 NMT_CycleTiming_REC: MultipleCycleCnt_U8 Setting of the maximum number of multiplexed cycles.
0 ... [0] ... 255 • In case of the setting "3", the multiplexed cycle is repeated every 3
cycles.
• Within one multiplexed cycle, the nodes are queried according to the
values in 0x1F9B:xxx. If, for instance, the value "2" is entered for a
node in 0x1F9B:xxx, it is always only queried in the 2nd of 3 multi-
plexed cycles.
0x1F98:008 NMT_CycleTiming_REC: AsyncMTUSize_U16 Setting of the maximum user data size for asynchronous frames.
0 ... [0] ... 65535 • Protocol-specific headers for POWERLINK, UDP/IP and others as well
as service-specified headers can be seen as part of the user data.
• In the configured state, all POWERLINK nodes must be set to an iden-
tical value.
0x1F98:009 NMT_CycleTiming_REC: Prescaler_U16 Configuration of the switching rate of the SoC-PS flag.
0 ... [0] ... 65535 ns
0x1F99 NMT_CNBasicEthernetTimeout_u32 Setting of the maximum time the booting controlled node waits for the
0 ... [0] ... 4294967295 managing node.
• If the controlled node detects a managing node within the time, the
controlled node changes to the "NMT_CS_PREOPERATIONAL_1" state.
Otherwise, the controlled node changes to the "Basic Ethernet Mode"
state.
0x1F9A NMT_HostName_VSTR Setting of a DNS-compatible device name.
• The length is limited to 20 characters.
• The device name must be clear within the network domain.
• The device name starts with a letter ends with a letter or a number.
Permitted characters:
• Letter (A ... Z, a ... z)
• Numbers (0 ... 9)
• Hyphen (-)
0x1F9B:001 ... NMT_MultiplCycleAssign_AU8: NMT_MultiplCycleAs- Display in which multiplexed cycle the respective controlled node is
0x1F9B:100 sign_AU8 1 ... NMT_MultiplCycleAssign_AU8 100 queried.
• Read only • Subindex 1 ... 100 ≡ node address 1 ... 100
• The value must not exceed the setting in 0x1F98:007.
Example:
• 0x1F98:007 = "3": The multiplexed cycle is repeated every three
cycles.
• If the value "2" is now entered in 0x1F9B:xxx for a node, it is always
only queried in the 2nd of 3 multiplexed cycles.
404
POWERLINK
Supported objects

0x1F9E NMT_ResetCmd_U8 This object enables the managing node to execute a reset command in
• Read only the controlled node.
Note!
A reset command at a single POWERLINK node in the network can cause
cycle and monitoring errors.
0x23C0 POWERLINK communication Restart / stop communication.
• When the device command has been executed successfully, the value
0 is shown.
11 Action cancelled
12 Error
0x23C1:004 POWERLINK settings: Node ID Setting of the unique node address (node ID) in the network.
0 ... [0] ... 255 • The node address set here is only effective if both rotary encoder
switches are set to "0".
• In the default setting "0", the rotary encoder switch setting is used.
• A changed node address only becomes effective after a restart of the
device.
0x1000 NMT_DeviceType_U32 CANopen device profile according CANopen specification CiA 301/
0x1008 NMT_ManufactDevName_VS Display of the manufacturer device name.
• Read only
0x1009 NMT_ManufactHwVers_VS Display of the manufacturer hardware version.
• Read only
0x100A NMT_ManufactSwVers_VS Display of the manufacturer software version.
• Read only
0x1018:001 NMT_IdentityObject_REC: VendorId_U32 Display of the manufacturer's identification number.
• Read only
0x23C2:001 Active POWERLINK settings: IP address Display of the active IP address.
• Read only
0x23C2:002 Active POWERLINK settings: Subnet Display of the active subnet mask.
• Read only
0x23C2:003 Active POWERLINK settings: Gateway Display of the IP address of the router that connects the POWERLINK
• Read only segment to the higher-level network.
• Read only
0x23C2:005 Active POWERLINK settings: MAC Address Display of the active MAC address.
• Read only
0x23C2:007 Active POWERLINK settings: Tx length Display of the length of the transmitted cyclic data in bytes.
• Read only
0x23C2:008 Active POWERLINK settings: Rx length Display of the length of the received cyclic data in bytes.
• Read only
• Read only
0x23C8:001 POWERLINK status: Network management Display of the current bus status.
• Read only
0x23C9:001 POWERLINK error: Error Bit coded display of the bus error state reported by the LED "BE" (Bus
• Read only Error).
• Bit 0 = 0 (0x0000) ≡ no bus error
• Bit 0 = 1 (0x0001) ≡ active bus error
405
POWERLINK
Short setup
9.11.9 Short setup

In the following, the steps required for controlling the inverter via POWERLINK are described.
3. Set the node address.
• Each network node must be provided with a unique node address (node ID).
• Details: 4Basic settings ^ 397
6. Check the readiness for operation of the inverter by means of the LED status displays.
• The red LEDs must be off, otherwise an error has occurred.
• The green LED at the RJ45 socket is on if a physical POWERLINK connection is available.
• Details: 4LED status displays ^ 398
Start network
The network is automatically started if you first set all controlled nodes (as described above)
and then the managing node.
Otherwise, there are the following two options:
a) Switch all network nodes off and then on again or
b) make a fault reset at the managing node (node ID 240).
406
Configuring the process controller
10 Configuring the process controller

By means of the process controller, a process variable can be regulated, for instance the pres-
sure of a pump. The process controller is also referred to as "PID controller" (PID controller =
proportional, integral and differential controller).
The process controller is part of a closed control loop. The variable to be influenced (control-
led variable) is measured continuously by means of a sensor and supplied to the inverter as an
analog signal (actual value) which, in the inverter, is then compared to the reference value
(setpoint). The system deviation resulting therefrom is supplied to the process controller
which, on this basis, decelerates or accelerates the motor speed according to the desired
dynamic performance of the control loop, so that, for instance, a pump always generates the
desired pressure.
Connection plan (example)
The following sample connection plan shows the control of a pump ①. The feedback of the
variable (here: pressure) takes place via a pressure transducer ② connected to the analog
input 1.
Inverter
X105
X109
Rb1
Rb2
T1
T1
W
+
U
V
S1 S2 S3 S4 S5
J J
+ M
3~
The digital inputs can be used to activate functions of the process controller. The specific
assignment of the digital inputs and type of the contacts (switches or buttons, normally-closed
contacts or normally-open contacts) depends on the application.
General information on the setting
• The basic setting of the process controller is described in the following subchapter.
4Basic process controller settings ^ 408
• Optionally, the motor can be put into an energy-saving idle state if no power is required.
4Process controller idle state ^ 414
• The rinsing function which can be activated in addition accelerates the motor in idle state
to a defined speed at regular intervals. The rinsing of a pipe system with a pump that has
been in an inactive state for a longer period is a typical application. 4Process controller
rinse function ^ 416
407
Basic process controller settings
10.1 Basic process controller settings

The process controller is set in two steps:
1. Basic settings
2. Fine adjustment of the PID controller for an optimum control mode
Basic settings
Based on the default setting, we recommend the following proceeding:
1. Activate PID control: Set the desired operating mode (normal or reverse operation) in
0x4020:001 (P600.01).
2. If the feedback of the variable is to take place via analog input 2 instead of analog input 1:
Set 0x4020:002 (P600.02) = "analog input 2 [2]".
3. Configure used analog input:
• Configure input range.
• Configure setting range for the PID control.
• Adapt filter time to minimise impacts of the noise on the variable.
• Set monitoring response to "No response [0]".
4Configuration of analog inputs ^ 597
4. If a (temporary) change-over to a speed-controlled operation is to be possible via a digital
input:
• Assign a free digital input to the control function "Deactivate PID controller" in
0x2631:045 (P400.45). As long as the digital input provides a TRUE signal, the PID con-
trol is ignored and the motor is driven in a speed-controlled way.
• Set acceleration time 0x4021:001 (P606.01) and deceleration time 0x4021:002
(P606.02) for speed-controlled drive control.
5. Select the standard setpoint source for the reference value in 0x2860:002 (P201.02).
• Functions for setpoint change-over can be used as well. 4Setpoint change-over ^ 546
• The keypad setpoint can be preset in 0x2601:002 (P202.02).
• If process controller presets are used, they have to be set in 0x4022:001 (P451.01) ...
0x4022:008 (P451.08).
• If the analog input is used as setpoint source, it must be configured accordingly. 4Con-
figuration of analog inputs ^ 597
• If the motor potentiometer is used as setpoint source, this function must be configured
accordingly. 4Motor potentiometer setpoint source (MOP) ^ 559
6. Set the speed range to be controlled in 0x4020:003 (P600.03).
7. If the output value of the process controller is to be limited, adapt the following parame-
ters:
• 0x4020:005 (P600.05): Min speed limit
• 0x4020:006 (P600.06): Max speed limit
8. Try out the following parameters with the default setting and only adapt them if required:
• 0x404B (P604.00): Setpoint ramp
• 0x404C:001 (P607.01): Acceleration time for showing the process controller influence
• 0x404C:002 (P607.02): Deceleration for hiding the process controller influence
9. Diagnostics: Check current reference value and feedback of the variable:
• The current reference value (setpoint) is displayed in 0x401F:001 (P121.01).
• The current variable (actual value) is displayed in 0x401F:002 (P121.02).
After the basic setting of the process controller has been carried out, a fine adjustment of the
PID controller must be executed for an optimum control mode (see the following section).
408
Fine adjustment of the PID controller

The dynamics of the PID controller is parameterised based on the gain of the P component
0x4048 (P601.00), the reset time for the I component 0x4049 (P602.00) and the gain of the D
component 0x404A (P603.00). In the default setting, the process controller operates as PI con-
troller, the D component is deactivated.
Basics
• If only the P component is used and the system operates in a steady-state status (reference
value is constant and process variable is controlled to a fixed value), a certain system devi-
ation always continues to exist. This remaining system deviation is also called "stationary
deviation".
• The I component prevents a permanent fluctuation around the setpoint. Here, the reset
time 0x4049 (P602.00) determines how much the duration of the control deviation influ-
ences the control. A high reset time means a lower influence of the I component and vice
versa.
• The D component does not respond to the height of the system deviation but to their rate
of change only. The D component acts as a "damper" for overshoots. Overshoots may
occur if the control tries to respond quickly to changes in the system deviation or the refer-
ence value. Thus, the D component reduces the risk of instabilities due to overshoots.
For most applications, the setting of the gain of the P component and the reset
time for the I component is sufficient for the fine adjustment. The setting of the
gain of the D component may by required for a further stabilisation of the sys-
tem especially if a quick response to system deviations is to take place.
Execute fine adjustment:

1. Set the reset time for the I component to 6000 ms in 0x4049 (P602.00) to deactivate the I
component.
• With this setting and the default setting of 0x404A (P603.00), the process controller
operates as P controller.
2. Increase gain of the P component step by step in 0x4048 (P601.00) unit the system gets
instable.
3. Reduce gain again until the system is stable again.
4. Reduce gain by another 15 %.
5. Set reset time for the I component in 0x4049 (P602.00).
• With this setting it should be noted that a too low reset time may cause overshoots,
especially in case of high steps of the system deviation.
6. Set optional gain of D component in 0x404A (P603.00).
• With this setting it should be noted that the D component responds very sensitively to
electrical disturbance on the feedback as well as digitisation errors.
409
Internal signal flow

The following illustration shows the internal signal flow of the process controller (without the
additional functions "idle state" and "rinsing function"):
PID controller
P component gain 0x4048 Status
I component reset time 0x4049 0x401F:003
D component gain 0x404A
Current reference value Closed-loop controlled speed range PID output value
0x404E:001 0x401F:001 0x4020:003 0x4020:001 0x401F:006
PID control: Default setpoint source
0, 1, 2 0x4020:006
Keypad [1] 0x2860:002
Source of PID variable 0x404E:002 0x404B [Hz]

Analog input 1 [1] 0x4020:002 0x4020:005
Current variable 3, 4
Deactivate PID controlling 0x401F:002 Both rotation directions
Not connected [0] 0x2631:045 Influence ramp
0x404C:001
Set PID output to 0
Not connected [0] 0x2631:046 100 %
Inhibit PID I-component 0x404C:002
Not connected [0] 0x2631:047
Activate PID influence ramp

Constant TRUE [1] 0x2631:048
0x2917
Speed feedforward control source
Additive line speed
Without speed feedforward control [0]0x4020:004
Comparison window 2 %
0x2918 Hysteresis 1 %
Status signals
PID feedback = setpoint [73]
0x404D:001
< MIN PID MIN alarm active [75]
> MAX PID MAX alarm active [76]
0x404D:002 1 PID MIN-MAX alarm active [77]
Control functions
The flexible I/O configuration serves to configure different control functions for the process
controller:
• 0x2631:045 (P400.45): Deactivate PID controller
• 0x2631:046 (P400.46): Set process controller output to 0
• 0x2631:047 (P400.47): Inhibit process controller I-component
• 0x2631:048 (P400.48): Activate PID influence ramp
For details see chapter "Process controller function selection". ^ 585
Status signals for configurable outputs
The process controller provides different internal status signals. These status signals can be
assigned to the relay, the digital outputs or the NetWordOUT1 status word.
For details see chapter "Configuration of digital outputs". ^ 603
0x400B:011 Process input data: PID feedback Mappable parameter for the feedback of the variable (actual value) via
(P592.11) (Process data IN: PID feedback) network.
-300.00 ... [0.00] ... 300.00 PID unit • Only effective with the selection "Network[5]" in 0x4020:002
• From version 03.00 (P600.02).
410

0x4020:001 Process controller setup (PID): Operating mode Selection of the process controller operating mode.
(P600.01) (PID setup: Operating mode)
0 Inhibited Process controller deactivated.
1 Normal operation The setpoint is higher than the fed back variable (actual value). If the sys-
tem deviation increases, the motor speed is increased.
Example: pressure-controlled booster pumps (increase in the motor
speed produces an increase in pressure.)
2 Reverse operation The setpoint is lower than the fed back variable (actual value). If the sys-
Example: temperature-controlled cooling water pump (increase in motor
speed produces decrease in temperature.)
3 Normal bi-drectional The direction of rotation corresponds to the sign of the system devia-
tion. If the system deviation increases, the motor speed is increased.
4 Reverse bi-directional A negative system deviation causes a positive direction of rotation. If the
system deviation increases, the motor speed is increased.
0x4020:002 Process controller setup (PID): PID process variable Selection of the source via which the feedback of the controlled variable
(P600.02) (PID setup: PID process var.) (actual value) for the process controller is effected.
1 Analog input 1
2 Analog input 2
3 DC-bus voltage (from version 02.00)
4 Motor Current (from version 02.00)
5 Network (from version 02.00)
6 HTL input (from version 04.00)
0x4020:003 Process controller setup (PID): Closed-loop controlled Setting of the maximum output frequency up to which the process con-
(P600.03) speed range troller carries out regulation.
(PID setup: PID speed range) • 100 % ≡ Maximum frequency 0x2916 (P211.00).
0 ... [100] ... 100 %
0x4020:004 Process controller setup (PID): Speed feedforward Optional selection of a speed feedforward control source for the process
(P600.04) control source controller.
(PID setup: PID line speed) • Is advisable, for instance, for dancer position controls if the motor
0 Without speed addition speed must not fall below line speed (process controller output value
= line speed + controlled motor speed).
1 Keypad frequency setpoint
• Standard applications usually do not require a speed feedforward con-
2 Analog input 1 trol; therefore it is deactivated in the default setting.
3 Analog input 2
8 Network
9 HTL input
0x4020:005 Process controller setup (PID): Min speed limit Configuration of the process controller
(P600.05) (PID setup: Min speed lim) • 100 % ≡ Maximum frequency 0x2916 (P211.00).
-100.0 ... [-100.0] ... 100.0 % • The limitation becomes effective after the line speed has been added.
• From version 03.00 • The value set here also limits the I component of the PID controller
(Integrator-Anti-Windup).
0x4020:006 Process controller setup (PID): Max speed limit Maximum output value of the process controller.
(P600.06) (PID setup: Max speed lim) • 100 % ≡ Maximum frequency 0x2916 (P211.00).
-100.0 ... [100.0] ... 100.0 % • The limitation becomes effective after the line speed has been added.
• From version 03.00 • The value set here also limits the I component of the PID controller
(Integrator-Anti-Windup).
0x4021:001 PID speed operation: Acceleration time Acceleration time for (temporary) speed-controlled drive control in proc-
(P606.01) (PID speed op.: Accel. time) ess controller mode.
0.0 ... [1.0] ... 3600.0 s • The acceleration time takes effect at the output of the process con-
troller.
0x4021:002 PID speed operation: Deceleration time Deceleration time for (temporary) speed-controlled drive control in
(P606.02) (PID speed op.: Decel. time) process controller mode.
0.0 ... [1.0] ... 3600.0 s • The deceleration time takes effect at the output of the process con-
troller.
• Exception: In case of quick stop, the quick stop delay time is effective.
411

0x4048 PID P-component Output frequency of the process controller per 1 % system deviation.
(P601.00) (PID P-component) • 100 % ≡ maximum frequency 0x2916 (P211.00).
0.0 ... [5.0] ... 1000.0 %
0x4049 PID I- component Reset time for system deviation.
(P602.00) (PID I- component) • With the setting "6000 ms", the I component is deactivated.
10 ... [400] ... 6000 ms • The I component can also be deactivated via the "Inhibit process con-
troller I-component" 0x2631:047 (P400.47) function.
0x404A PID D-component D component, does not respond to the rate of the system deviation, but
(P603.00) (PID D-component) only to its rate of change.
0.0 ... [0.0] ... 20.0 s
0x404B PID setpoint ramp Acceleration time and deceleration time for the process controller set-
(P604.00) (PID setp.ramp) point, relating to the entire setting range of the process controller.
0.0 ... [20.0] ... 100.0 s
0x404C:001 PID influence: Acceleration time for activation If the trigger assigned in 0x2631:048 (P400.48) of the "Activate PID influ-
(P607.01) (PID influence: Activation time) ence ramp" function is TRUE, the influence of the process controller is
0.0 ... [5.0] ... 999.9 s shown by means of a ramp with the acceleration time set here.
0x404C:002 PID influence: Deceleration time for masking out If the trigger assigned in 0x2631:048 (P400.48) of the "Activate PID influ-
(P607.02) (PID influence: Mask out time) ence ramp" function is FALSE, the influence of the process controller is
0.0 ... [5.0] ... 999.9 s hidden via a ramp with the deceleration time set here.
0x404D:001 PID alarms: MIN alarm threshold Trigger threshold for the status signal "PID MIN alarm active [75]".
(P608.01) (PID alarms: MIN alarm thrsh.) • The "PID MIN alarm active [75]" status signal is TRUE if the fed back
-300.00 ... [0.00] ... 300.00 PID unit variable (with activated PID control) is lower than the threshold set
here.
• The status signal can be assigned to the relay, a digital output of the
NetWordOUT1 status word. 4Configuration of digital outputs ^ 603
0x404D:002 PID alarms: MAX alarm threshold Trigger threshold for the status signal "PID MAX alarm active [76]".
(P608.02) (PID alarms: MAX alarm thrsh.) • The "PID MAX alarm active [76]" status signal is TRUE if the fed back
-300.00 ... [100.00] ... 300.00 PID unit variable (with activated PID control) is higher than the threshold set
here.
0x404D:003 PID alarms: Monitoring bandwidth PID feedback sig- Hysteresis for status signal "PID feedback = setpoint [73]".
(P608.03) nal • 100 % ≡ configured variable input range
(PID alarms: Bandw. feedback) • Example: Variable input range 0 ... 10 V: 2 % ≡ 0.2 V
0.00 ... [2.00] ... 100.00 % • The status signal "PID feedback = setpoint [73]" is TRUE if the control-
• From version 04.00 led variable fed back = process controller setpoint (± hysteresis set
here).
0x404E:001 PID setpoint limits: Minimum setpoint Minimum value of the process controller setpoint.
(P605.01) (PID setp. limit: Minimum setpoint)
-300.00 ... [-300.00] ... 300.00 PID unit
0x404E:002 PID setpoint limits: Maximum setpoint Maximum value of the process controller setpoint.
(P605.02) (PID setp. limit: Maximum setpoint)
-300.00 ... [300.00] ... 300.00 PID unit
412

13 PID preset 3
14 PID preset 4
15 PID preset 5
16 PID preset 6
17 PID preset 7
18 PID preset 8
4Sequencer ^ 504
0x401F:003 Status Bit-coded status display of the process controller.
(P121.03) (PID status)
• Read only
Bit 0 Process controller off
Bit 1 PID output set to 0
Bit 2 PID I-component inhibited
Bit 3 PID influence active
Bit 4 Setpoint = actual value
Bit 5 Idle state active
Bit 6 Max. alarm
Bit 7 Min. alarm
413
Process controller - idle state and rinse function
Process controller idle state
10.2 Process controller - idle state and rinse function
10.2.1 Process controller idle state

If the PID control is activated, this function sets the drive in process controller mode to an
energy-saving idle state when no power is required.
Details
A typical application for this function is a booster pump for water in a high-rise building. If no
tenant opens the water tap or uses the shower for a longer period of time, the pump changes
to the energy-saving idle state. This usually happens at night. The idle state automatically ends
as soon as a tenant opens the tap again. The pumps operates normally again until the condi-
tion for the idle state is pending again.
The conditions for activating and terminating the idle state can be set independently of one
another in 0x4023:001 (P610.01) and 0x4023:006 (P610.06) (see the following tables).
In 0x4023:005 (P610.05), a delay time can be set for the activation. This is the minimum time
the values must fall below or exceed the respective threshold before the idle state is activa-
ted.
0x4023:001 Condition for activating the idle state
(P610.01)
0 Idle state deactivated.
Frequency setpoint Frequency threshold Delay time
1 < (+ )
0x2B0E (P102.00) 0x4023:003 (P610.03) 0x4023:005 (P610.05)
< (+ )
0x2B0E (P102.00) 0x4023:003 (P610.03) 0x4023:005 (P610.05)
2 OR
Current process variable Feedback threshold Delay time
> (+ )
0x401F:002 (P121.02) 0x4023:004 (P610.04) 0x4023:005 (P610.05)
< (+ )
0x2B0E (P102.00) 0x4023:003 (P610.03) 0x4023:005 (P610.05)
3 OR
Current process variable Feedback threshold Delay time
< (+ )
0x401F:002 (P121.02) 0x4023:004 (P610.04) 0x4023:005 (P610.05)
0x4023:006 Condition for terminating the idle state

(P610.06)
Frequency setpoint Frequency threshold
> (+ 2 Hz hysteresis )
0x2B0E (P102.00) 0x4023:003 (P610.03)
0 OR
PID error value Bandwidth
>
0x401F:007 0x4023:007 (P610.07)
Current process variable Recovery threshold
1 <
0x401F:002 (P121.02) 0x4023:008 (P610.08)
Current process variable Recovery threshold
2 >
0x401F:002 (P121.02) 0x4023:008 (P610.08)
414
Process controller idle state

0x4023:001 PID sleep mode: Activation Condition for activating the idle state.
(P610.01) (PID sleep mode: Activation)
0 Disabled Idle state deactivated.
1 Output frequency < threshold 0x2B0E (P102.00)<0x4023:003 (P610.03)
(+ Delay time 0x4023:005 (P610.05))
2 Output frequency < threshold OR process 0x2B0E (P102.00)<0x4023:003 (P610.03)
variable > feedback threshold (+ Delay time 0x4023:005 (P610.05))
OR
0x401F:002 (P121.02)>0x4023:004 (P610.04)
(+ Delay time 0x4023:005 (P610.05))
3 Output frequency < threshold OR process 0x2B0E (P102.00)<0x4023:003 (P610.03)
variable < feedback threshold (+ Delay time 0x4023:005 (P610.05))
OR
0x401F:002 (P121.02)<0x4023:004 (P610.04)
(+ Delay time 0x4023:005 (P610.05))
0x4023:002 PID sleep mode: Stop method Selection of the stop method after activation of the idle state.
(P610.02) (PID sleep mode: Stop method)
1 Deceleration to standstill The motor is brought to a standstill with deceleration time 1 (or deceler-
2 Stop method set The stop method set in 0x2838:003 (P203.03) is used.
0x4023:003 PID sleep mode: Frequency threshold Frequency threshold for the activation of the idle state.
(P610.03) (PID sleep mode: Freq. thresh.) • For comparing "output frequency < threshold" in case of selection
0.0 ... [0.0] ... 599.0 Hz 1 ... 3 in 0x4023:001 (P610.01).
0x4023:004 PID sleep mode: Feedback threshold Feedback threshold for the activation of the idle state.
(P610.04) (PID sleep mode: Feedback thresh.) • For comparing "variable > feedback threshold" in case of selection 2 in
-300.00 ... [0.00] ... 300.00 PID unit 0x4023:001 (P610.01).
• For comparing "variable < feedback threshold" in case of selection 3 in
0x4023:001 (P610.01).
0x4023:005 PID sleep mode: Delay time Minimum time for which the respective threshold must be underrun or
(P610.05) (PID sleep mode: Delay time) exceeded before the idle state is activated.
0.0 ... [0.0] ... 300.0 s
0x4023:006 PID sleep mode: Recovery Condition for terminating the idle state.
(P610.06) (PID sleep mode: Recovery)
0 Setpoint > threshold OR system deviation > 0x2B0E (P102.00) > 0x4023:003 (P610.03) (+ 2 Hz hysteresis)
bandwidth OR
0x401F:007>0x4023:007 (P610.07)
1 Process variable < recovery threshold 0x401F:002 (P121.02) < 0x4023:008 (P610.08)
2 Process variable > recovery threshold 0x401F:002 (P121.02)>0x4023:008 (P610.08)
0x4023:007 PID sleep mode: Bandwidth Range around the process controller setpoint for terminating the idle
(P610.07) (PID sleep mode: Bandwidth) state.
0.00 ... [0.00] ... 300.00 PID unit • 0.00 = bandwidth deactivated.
0x4023:008 PID sleep mode: Recovery threshold Termination threshold for idle state.
(P610.08) (PID sleep mode: Recovery thresh.)
-300.00 ... [0.00] ... 300.00 PID unit
415
Process controller rinse function
10.2.2 Process controller rinse function

This function accelerates the motor in idle state of the process controller at regular intervals
to a defined speed.
Details
A typical application for this function is the rinsing of a pipe system with a pump that has been
in an inactive state for a longer period to prevent deposits.
• In order to activate the rinsing function, set the selection "Enabled [1]" in 0x4024:001
(P615.01).
• The following diagram demonstrates the function:
Output frequency
0x4024:003
0 Hz t
0x4024:002 0x4024:004 0x4024:002 0x4024:004
• The rinsing function uses the ramp times set for the "MS: Velocity mode". 4Frequency
limits and ramp times ^ 156

0x4024:001 Automatic rinsing: Rinsing in idle state 1 = activate automatic rinsing in idle state.
(P615.01) (Auto-rinsing: Rinsing in idle)
0 Inhibited
1 Enabled
0x4024:002 Automatic rinsing: Rinse interval Time interval between two rinsing processes.
(P615.02) (Auto-rinsing: Rinse interval)
0.0 ... [30.0] ... 6000.0 min
0x4024:003 Automatic rinsing: Rinse speed Speed setpoint for rinse function.
(P615.03) (Auto-rinsing: Rinse speed)
-599.0 ... [0.0] ... 599.0 Hz
0x4024:004 Automatic rinsing: Rinse period Duration of a rinsing process.
(P615.04) (Auto-rinsing: Rinse period)
0.0 ... [0.0] ... 6000.0 s
416
Additional functions
11 Additional functions
• Device Commands ^ 418
• Keypad ^ 422
• Wireless LAN (WLAN) ^ 426
• DC braking ^ 437
• Brake energy management ^ 443
• Load loss detection ^ 449
• Access protection ^ 450
• Favorites ^ 459
• Parameter change-over ^ 464
• Device profile CiA 402 ^ 469
• Holding brake control ^ 472
• Flying restart circuit ^ 481
• Timeout für fault reaction ^ 483
• Automatic restart ^ 484
• Mains failure control ^ 485
• UPS operation ^ 490
• Process data ^ 493
• Encoder settings ^ 495
• Firmware download ^ 501
• Additive voltage impression ^ 502
417
Device Commands
Reset parameters to default
11.1 Device Commands

Device commands are commands for calling organisational functions of the inverter, e.g. sav-
ing and loading of parameter settings, or restoring the default setting.
11.1.1 Reset parameters to default

With the "Load default settings" device command, all parameters can be reset to the default
setting.
By executing this device command, all parameter settings made by the user are
lost!
Details
• All parameters in the RAM memory of the inverter are set to the default setting stored in
the firmware of the inverter. (The persistent parameters in the memory module remain
unaffected by this measure.)
Inverter
Firmware
Load
Parameter RAM
default setting 0x2022:001 memory
• Afterwards the inverter can be parameterised again on the basis of this initial state.
• Typical application: incorrect or unknown parameter settings.
• The device command only has an effect on the RAM. For a permanent acceptance of the
changes made, the data must be saved in the memory module. 4Saving/loading the
parameter settings ^ 419

0x2022:001 Device commands: Load default settings 1 ≡ reset all parameters in the RAM memory of the inverter to the
(P700.01) (Device commands: Load def. sett.) default setting that is stored in the inverter firmware.
• Setting can only be changed if the inverter is inhibi- • All parameter changes made by the user are lost during this process!
ted. • It may take some seconds to execute the task. When the task has
been executed successfully, the value 0 is shown.
• Loading parameters has a direct effect on the cyclic communication:
The data exchange for control is interrupted and a communication
error is generated.
0 Off / ready Only status feedback
1 On / start Execute device command
3 Action cancelled
4 No access
5 No access (Inverter disabled)
418
Device Commands
Saving/loading the parameter settings
11.1.2 Saving/loading the parameter settings

If parameter settings of the inverter are changed, these changes at first are only made in the
RAM memory of the inverter. In order to save the parameter settings with mains failure pro-
tection, the inverter is provided with a pluggable memory module and corresponding device
commands.
Details
The memory module is provided with two memories, the user memory and the OEM memory.
User memory
The user memory is used as power-failure-proof storage of parameter settings made by the
user during commissioning/operation.
• The SET display is blinking on the keypad if a parameter setting has been changed but has
not been saved in the memory module with mains failure protection. In order to save
parameter settings in the user memory of the memory module, press the keypad "Enter"
key > 3 s.
Saving Parameters
>3s
SAVINGP
• Parameter settings carried out with »EASY Starter« or via the network must be explicitly
saved in the user memory by means of the "Save user data" device command, so that the
changes carried out are not lost when the mains of the inverter are switched.
• Saving can also be made in the »EASY Starter« via the button or the <F6> function key.
• The device command "Load user data" serves to reload the data from the user memory
into the RAM.
Inverter
Save
0x2022:003 User
0x2022:004 memory
RAM
memory Load OEM-
memory
Memory module
OEM memory
The OEM memory is provided for the storage of customised parameter settings by the OEM/
mechanical engineer. If the user carries out parameter settings with the keypad, they are
always saved in the user memory if the keypad Enter key is clicked longer than 3 s. The OEM
memory remains unaffected by these changes.
• With the "Load OEM data" device command, the parameter settings preconfigured by the
OEM/mechanical engineer can be reloaded to the RAM memory of the inverter anytime, if
required.
• For saving parameter settings in the OEM memory, the "Save OEM data" device command
must be executed explicitly. The parameter settings are simultaneously saved in the user
memory.
Inverter
User
memory
RAM Load
memory 0x2022:005 OEM-
0x2022:006 memory
Save
Memory module
419
Device Commands
Saving/loading the parameter settings
Response after initial switch-on of the inverter

After switch-on, the inverter first tries to load the parameter settings stored in the user mem-
ory. If the user memory is empty or damaged, an error message is output and the user must
intervene:
• Option 1 = user memory empty: → default setting is loaded automatically from the firm-
ware → data are saved automatically in the user memory of the memory module.
• Option 2 = user- memory damaged: → Error message → default setting is loaded automat-
ically → data are saved automatically in the user memory of the memory module.
• Option 3 = OEM memory empty/damaged: → error message → data are loaded automati-
cally from the user memory of the memory module.

0x2022:003 Device commands: Save user data 1 = save current parameter settings in the main memory of the memory
(P700.03) (Device commands: Save user data) module with mains failure protection.
• For further possible settings, see parameter • It may take some seconds to execute the task. When the task has
0x2022:001 (P700.01). ^ 418 been executed successfully, the value 0 is shown.
0 Off / ready • Do not switch off the supply voltage during the saving process and do
not unplug the memory module from the inverter!
• When the inverter is switched on, all parameters are automatically
loaded from the main memory of the memory module to the RAM
memory of the inverter.
0x2022:004 Device commands: Load user data 1 = load data from the main memory of the memory module to the RAM
(P700.04) (Device commands: Load user data) memory of the inverter.
• Setting can only be changed if the inverter is inhibi- • When the device command has been executed successfully, the value
ted. 0 is shown.
• For further possible settings, see parameter • Loading parameters has a direct effect on the cyclic communication:
0x2022:001 (P700.01). ^ 418 The data exchange for control is interrupted and a communication
0 Off / ready error is generated.
0x2022:005 Device commands: Load OEM data 1 = load data from the OEM memory of the memory module to the RAM
(P700.05) (Device commands: Load OEM data) memory of the inverter.
• Setting can only be changed if the inverter is inhibi- • When the device command has been executed successfully, the value
ted. 0 is shown.
• For further possible settings, see parameter • Loading parameters has a direct effect on the cyclic communication:
0x2022:001 (P700.01). ^ 418 The data exchange for control is interrupted and a communication
0 Off / ready error is generated.
0x2022:006 Device commands: Save OEM data 1 = save current parameter settings in the OEM memory of the memory
(P700.06) (Device commands: Save OEM data) module with mains failure protection.
• For further possible settings, see parameter • At the same time, the parameter settings are saved in the main mem-
0x2022:001 (P700.01). ^ 418 ory of the memory module.
0 Off / ready • After successful execution, the value 0 is shown.
0x2829 Automatic storage in the memory module 1 = activate automatic saving of parameters in the memory module.
(P732.00) (Auto-Save EPM) • With the setting 0, the "Save user data" 0x2022:003 (P700.03) device
0 Inhibit command must be explicitly executed, or the "Enter" keypad key must
be pressed for longer than 3 s to save the current parameter settings
1 Enable
in the memory module of the inverter with mains failure protection.
Related topics
4Data handling ^ 141
420
Device Commands
Delete logbook
11.1.3 Device commands for parameter change-over

The inverter supports several parameter sets. The parameter set can be selected by means of
the device commands "Load parameter set 1" ... "Load parameter set 4".
DANGER!
Changed parameter settings can become effective immediately depending on the activating
method set in 0x4046 (P755.00).
The possible consequence is an unexpected response of the motor shaft while the inverter is
enabled.
▶ If possible, only carry out parameter changes while the inverter is disabled.
▶ Certain device commands or settings which might cause a critical state of the drive behav-
iour can generally only be carried our when the inverter is inhibited.
Details
The "parameter change-over" function provides a change-over between four sets with differ-
ent parameter values for up to 32 freely selectable parameters. For details on the compilation
of the parameters and setting of the value sets, see the chapter "Parameter change-over".
^ 464
The change-over via the device commands depends on the activation method set in 0x4046
(P755.00):
• Activation method = 1 or 3: Change-over takes place immediately.
• Activation method = 0 or 2: The respective device command is only executed if the inver-
ter is disabled.

0x2022:007 Device commands: Load parameter set 1 1 = load value set 1 of the "Parameter change-over" function.
(P700.07) (Device commands: Load par. set 1) • The parameters specified in 0x4041/1...32 are set to the values set in
• For further possible settings, see parameter 0x4042/1...32.
0x2022:001 (P700.01). ^ 418 • After successful execution, the value 0 is shown.
0 Off / ready 4Parameter change-over ^ 464
11.1.4 Delete logbook

By means of the "Delete logbook" device command, all logbook entries can be deleted.
0x2022:015 Device commands: Delete logbook 1 = delete all entries in the logbook.
(P700.15) (Device commands: Delete logbook)
ted.
0 Off / ready
1 On / start
Related topics
4Logbook ^ 110
421
Keypad
Keypad status display
11.2 Keypad
For the keypad various settings can be made, which are described in detail in the following
subchapters.
11.2.1 Keypad language selection

0x2863 Keypad language selection Language selection for the keypad display.
(P705.00) (KP language)
0 No language selected
1 English
2 German
11.2.2 Keypad setpoint increment

0x2862 Keypad setpoint increment Adaptation of the increment for keypad setpoints when a keypad arrow
(P701.00) (KP setp. incr.) key is pressed once. The value set serves as a multiplier for the preset
1 ... [1] ... 100 increments.
Preset increments:
• 0.1 Hz for frequency setpoint 0x2601:001 (P202.01).
• 0.01 PUnit for process controller setpoint 0x2601:002 (P202.02).
• 1 % for torque setpoint 0x2601:003 (P202.03).
Notes:
• With a setting > 1, the option of repeatedly changing the setpoint by
pressing the key for a longer time is deactivated.
• The setting only has an impact on the keypad setpoints.
Example: with the setting "5", the keypad frequency setpoint is
increased/decreased by 0.5 Hz every time the key is pressed.
11.2.3 Keypad scaling of speed display

0x4002 Speed display scaling Factor for the scaling of the speed display in 0x400D (P101.00).
(P702.00) (Scal.speed fact.) • With the setting "0.00", no scaling takes place.
0.00 ... [0.00] ... 650.00 • Example: with the "16.50" and the actual frequency = 50 Hz, 0x400D
(P101.00) shows the speed "825 rpm".
0x400D Scaled actual value Display of the current speed in application units.
(P101.00) (Scaled act value)
• Read only: x Units
11.2.4 Keypad status display

During operation, the keypad displays the output frequency of the inverter, or with an active
PID control it shows the process controller setpoint. Alternatively, an optional diagnostic
parameter can be displayed during operation.
0x2864 Keypad status display 0 = normal display depending on the operating mode
(P703.00) (KP status displ.) • In case of an active frequency control, the keypad displays the output
0x00000000 ... [0x00000000] ... 0xFFFFFF00 frequency of the inverter.
• In case of active PID control, the keypad displays the current Process
controller setpoint in [P-Unit].
As an alternative, an optional diagnostic parameter can be set here,
which is to be shown on the keypad during operation.
• Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
• The lowest byte is always 0x00.
• The keypad can be used to select the desired diagnostics parameter
from a list.
422
Keypad
Keypad - Configuration of R/F and CTRL buttons
11.2.5 Keypad - Configuration of R/F and CTRL buttons

Keypad rotation setup
Use the R F keypad to reverse the rotation direction at local keypad control.
• After the R F key has been pressed, the reversal of rotation direction must be confirmed
with the key. (The key serves to cancel the action.)
VEL:RUN:FWD Hz Keypad direction? VEL:RUN:REV Hz
000O2OO
R F
000OrEV
000-2OO
The keypad key R F

• directly changes the keypad rotation setup in 0x2602:002 (P708.02).
• has no function in case of a bipolar setpoint selection (e. g. ±10 V). In this case, the direc-
tion of rotation is determined by the sign of the setpoint.
• has no function if the rotation limitation "Only clockwise (CW) [0]" is set in 0x283A
(P304.00).
• has no function in the operating mode 0x6060 (P301.00) = "MS: Torque mode [-1]".
• has no function if the PID control is activated.
• can be deactivated in 0x2602:001 (P708.01).
423
Keypad
Keypad Full Control

Use the CTRL keypad key to activate the "Keypad Full Control" control mode. Both the control
and the setpoint selection are then made via the keypad. This special control mode can be, for
instance, used during the commissioning phase if external control and setpoint sources are
not ready to use yet.
NOTICE
If the "Keypad Full Control" control mode is active, the "Run" 0x2631:002 (P400.02) function is
internally set to TRUE.
In this case, the motor cannot be stopped via this function.
▶ For stopping the motor, use the keypad key, deactivate the inverter enable or activate
the "quick stop" function.
• After the CTRL key has been pressed, the activation of the control mode must be con-
firmed with the key. (The key serves to cancel the action.)
• When the control mode is changed over, the motor is first stopped and the "Forward"
direction of rotation is set. Then, the motor can be started and stopped via the keypad.
VEL:RUN:REV Hz Keypad full ctrl? VEL:KPDF:KPD FWD
000-374
CTRL
000O2ON
000STOP
VEL:RUN:FWD Hz
000O2OO
Keypad full ctrl
00WFF85
If the "Keypad Full Control" control mode is active,

• the keypad shows the "Keypad full ctrl" warning alternately with the status display.
• the set standard setpoint sources are ignored.
• a change-over to other setpoint sources is not possible.
• a change-over to network control is not possible.
• the following functions continue to be active:
• 0x2631:010 (P400.10): Jog foward (CW)
• 0x2631:013 (P400.13): Reverse rotational direction
Clicking the CTRL keypad key stops the control mode again.
The keypad key CTRL
• directly changes the setting in 0x2602:003 (P708.03).
• can be deactivated in 0x2602:001 (P708.01).
424
Keypad

0x2602:001 Keypad setup: CTRL & F/R key setup Disable/enable CTRL and F/R key of the keypad.
(P708.01) (Keypad setup: CTRL&F/R keys)
0 CTRL & F/R Disable
1 CTRL & F/R Enable
2 CTRL Enable F/R Disable
3 CTRL Disable F/R Enable
0x2602:002 Keypad setup: Select rotational direction Instructed direction of rotation if local keypad control is active.
(P708.02) (Keypad setup: Select rot.dir.) • If the local keypad control is active, this setting can be directly
• From version 03.00 changed via the keypad key R F if the key in 0x2602:001 (P708.01)
0 Forward has not been disabled.
1 Reverse • When the remote control is changed over to local keypad control and
vice versa, this parameter is set to "Forward [0]".
0x2602:003 Keypad setup: Keypad Full Control Activate/deactivate full keypad control.
(P708.03) (Keypad setup: Keypad Full Ctrl) • This setting can be changed directly via the keypad key CTRL if the
• From version 03.00 key in 0x2602:001 (P708.01) has not been disabled.
0 Off • When the control mode is changed over, the motor is stopped and the
1 On "Forward" direction of rotation is set.
425
Wireless LAN (WLAN)
WLAN LED status displays
11.3 Wireless LAN (WLAN)

The pluggable WLAN module enables
• an easy access to inverters that are installed in difficult access areas,
• an easy parameter setting without cable and instead of the keypad,
• a comfortable monitoring and adaptation of the machine.
The inverter can be accessed via WLAN with the following devices:
• Engineering PC (with WLAN functionality) and the »EASY Starter« engineering tool.
• Android smartphone with Lenze Smart Keypad App.
The Lenze Smart Keypad App is recommended for the adaptation of simple applications. The
Lenze Smart Keypad App can be found in the Google Play Store.
11.3.1 WLAN LED status displays

Information on the WLAN module status can be obtained quickly via the LED displays "Power",
"TX/RX" and "WLAN" on the front of the WLAN module.
LED "Power" (green) LED "TX/RX" (yellow) LED "WLAN" (green) Status/meaning
off off off No supply voltage.
Self-test (duration approx. 1 s)
on on on
off off Ready for operation — no active WLAN connection.
Communication active.
Flashing on
off Client mode — waiting for connection.
blinking
off off Trouble
blinking
After being plugged in, the WLAN module needs approx. 20 seconds until it is
ready for operation.
426
Wireless LAN (WLAN)
WLAN basic settings
11.3.2 WLAN basic settings

The WLAN functionality can be configured via the following parameters.
Preconditions
WLAN module has been plugged onto the interface X16 on the front of the inverter.
Details
• The WLAN module can be connected and removed during operation.
• The WLAN module can either create an own WLAN network (access point mode, default
setting) or implement itself as a WLAN client in an already existing WLAN network. For
details see the following subchapters.
• The WLAN connection is encrypted. The WLAN encryption can be selected in 0x2441:009.
• 0x2441:012 can be used to set that the name of the WLAN network, called SSID, is not
visible for other WLAN devices. As a result, the number of WLAN networks displayed on
smartphone or PC can be reduced.
• Two data sources are possible for the WLAN settings: Inverter and WLAN module.
• Data source - inverter: The WLAN settings saved in the inverter are used. Each inverter
has its own WLAN settings.
• Data source - WLAN module: The WLAN settings saved in the WLAN module are used.
In this "stand-alone" mode, the WLAN module can be plugged onto another inverter
and then be used with the same settings (irrespective of the WLAN settings of the
inverter).
• The data source is activated with 0x2440.
• The currently active data source is displayed in 0x2442:004.

0x2440 Initiate WLAN Restart WLAN network with default setting or current settings.
0 No action/no error Only status display.
1 Restart with current values (from Restart WLAN network with current settings of the WLAN parameters.
version 04.00) • The WLAN settings of the active data source (inverter or WLAN mod-
ule) are used.
• The active data source is displayed in 0x2442:004.
• The data source is not changed by this selection.
Note!
This selection is currently not supported by the WLAN module V1.0.
2 Restart with default values Restart WLAN network with default setting of the WLAN parameters.
• The WLAN settings saved in the WLAN module are deleted.
• Active data source for the WLAN settings is now the inverter.
11 Save settings in WLAN module Restart WLAN network with current settings of the WLAN parameters.
• The current settings are saved in the WLAN module.
• Active data source for the WLAN settings is now the WLAN module.
0x2441:004 WLAN settings: DHCP 1 = Dynamic Host Configuration Protocol (DHCP) is enabled.
• From version 02.00 • In the access point mode, the DHCP server of the WLAN module is
0 Disabled activated.
• In the client mode, the DHCP-client function is activated.
1 Enabled
0x2441:005 WLAN settings: DHCP start address Definition of the start address when the Dynamic Host Configuration
0 ... [0] ... 4294967295 Protocol (DHCP) is used.
• From version 02.00 • Only relevant for access point mode.
• When 0 is set, the active IP address + 1 is used as start address.
0x2441:006 WLAN settings: WLAN operation mode Definition of the operating mode of the WLAN module.
0 Access point mode For a direct connection to another WLAN device, the WLAN module cre-
ates an own WLAN network.
4WLAN access point mode ^ 430
1 Client mode The WLAN module can be integrated as WLAN client into an already
existing WLAN network.
4WLAN client mode ^ 435
427
Wireless LAN (WLAN)
WLAN basic settings

0x2441:007 WLAN settings: WLAN SSID Name (Service Set Identifier, SSID) of the WLAN network.
["i5"] • The preset name consists of the device name (iXXX) and the first 10
• From version 02.00 digits of the serial number.
• Example: "i550_0123456789"
• The serial number is displayed in 0x2000:002 (P190.02).
0x2441:008 WLAN settings: WLAN password Password (WLAN network key) of the WLAN network.
["password"] • This password serves to secure the WLAN connections.
• From version 02.00 • The password must have a minimum length of 8 characters. Although
shorter passwords are accepted and saved, the WLAN module cannot
be operated with such a password.
• The character "*" is not allowed.
Note!
If the WLAN module is to be plugged onto the inverter for a longer
period of time, it is important to select a safe password. Otherwise, a
potential attacker might connect to the WLAN access point and attack
the device and other connected devices or networks.
Currently (status: 2016), a WLAN is considered as safe if the password
• consists of more than 20 characters,
• contains capital and small letters, numbers and special characters and
• cannot be found in any dictionary.
0x2441:009 WLAN settings: WLAN security Selection of the WLAN encryption.
0 WPA
1 WPA2
0x2441:010 WLAN settings: WLAN access Switch on/off WLAN.
0 Disabled (WLAN off)
1 Enabled (WLAN on)
0x2441:011 WLAN settings: WLAN channel Selection of the WLAN channel.
1 Channel 1
2 Channel 2
3 Channel 3
4 Channel 4
5 Channel 5
6 Channel 6
7 Channel 7
8 Channel 8
9 Channel 9
10 Channel 10
11 Channel 11
0x2441:012 WLAN settings: WLAN SSID broadcast 1 = the name of the WLAN network, called SSID, is not visible for other
• From version 02.00 WLAN devices.
0 Activated
1 Deactivated
0x2442:004 Active WLAN settings: Active module mode Display of the active data source for the WLAN settings.
• Read only • This parameter indicates whether the settings used come from the
• From version 02.00 inverter or from the WLAN module.
0 Inverter The WLAN settings saved in the inverter are used.
1 Standalone The WLAN settings saved in the WLAN module are used.
0x2442:005 Active WLAN settings: MAC address Display of the MAC address of the WLAN module.
• Read only
428
Wireless LAN (WLAN)
WLAN basic settings

0x2449 WLAN error Bit coded display of WLAN errors.
• Read only
Bit 2 WLAN error
Bit 3 Memory problem
Bit 4 WLAN connection problem
Bit 7 WLAN off
Bit 9 Client mode off
Bit 12 TCP/IP configuration error
Bit 13 Password length
Bit 14 Access denied
11.3.2.1 Resetting WLAN settings to default setting

Possible reasons:
• Password is not known anymore.
• WLAN SSID is not visible and not known anymore.
• WLAN module mode "stand-alone" shall be deactivated.
0x2440 serves to reset all WLAN settings to the default setting. For this purpose, the inverter
must be connected to the »EASY Starter« via the USB module or an existing network.
Option 1: Reset via USB module
How to reset the WLAN settings to default setting by means of the USB module:
Requirements:
• The inverter is ready for operation (supplied with voltage).
Required accessories:
• USB module
• USB 2.0 cable (A-plug on micro B-plug)
• PC with installed »EASY Starter« software
1. Remove the WLAN module from the inverter and plug on the USB module instead.
2. Establish a connection between inverter and »EASY Starter« via the USB module.
3. Set the parameter 0x2440 to "Restart with default values [2]".
4. Remove the USB module from the inverter and plug on the WLAN module instead again.
The default setting is loaded.
Option 2: Reset via network

How to reset the WLAN settings to default setting via network:
Requirements:
• The inverter is connected to a functioning network.
• PC with installed »EASY Starter«. Moreover, the PC must be connected to the network
which also implements the inverter.
1. Establish a connection between the inverter and »EASY Starter« via the used network.
2. Set the parameter 0x2440 to "Restart with default values [2]".
The default setting is loaded.
429
Wireless LAN (WLAN)
WLAN access point mode
11.3.3 WLAN access point mode

In the presetting, the WLAN module is configured as WLAN access point because this is the
most frequent application. In this operating mode, the WLAN module creates its own WLAN
network for a direct connection to other WLAN devices.
The supported WLAN devices are:
• Android smartphone with Lenze Smart Keypad App.
• Engineering PC (with WLAN functionality) and the »EASY Starter« engineering tool.
Details
• In default setting, every inverter with WLAN functionality comes with an individual net-
work name, called SSID.
• The preset network name consists of the device name (iXXX) and the first 10 digits of the
serial number (example: "i550_0123456789").
• In the default setting, the password for the WLAN network is called "password" and can be
changed in 0x2441:008.
If the WLAN module is to be plugged onto the inverter for a longer period of
time, it is important to select a safe password. Otherwise, a potential attacker
might connect to the WLAN access point and attack the device and other con-
nected devices or networks. Currently (status: 2016), a WLAN is considered as
safe if the password consists of more than 20 characters, contains capital and
small letters, numbers and special characters and cannot be found in any dic-
tionary.
The following illustration displays the SSIDs as examples only:

SSID: "i510_0123456789" SSID: "i550_9876543210"
Inverter 1 Inverter 2
Access Point Access Point
Smart
Keypad
EASY Starter
For establishing a WLAN connection, only a few settings are required. The respective setting is
described in the following subchapters:
• Establishing a direct WLAN connection between smartphone and inverter ^ 431
• Using the smartphone as "Smart Keypad" ^ 432
• Establishing a direct WLAN connection between Engineering PC and inverter ^ 433
430
Wireless LAN (WLAN)
11.3.3.1 Establishing a direct WLAN connection between smartphone and inverter

How to establish a direct WLAN connection to the inverter on the smartphone:
Requirements:
• WLAN module
• Android smartphone
• Lenze Smart Keypad App (available free of charge in the Google Play Store)
1. Plug the WLAN module onto the front of the inverter (interface X16).
2. Unless already activated, activate the WLAN function on the smartphone under "Settings"
à "WLAN".
The WLAN networks available in your range are now displayed.
3. Select the WLAN network established by the inverter.
4. Enter the password for the WLAN network (default setting "password") and click "Connect".
The connection to the WLAN network of the inverter is now established.
5. Start the Lenze Smart Keypad App on the Android smartphone.
If a WLAN connection to the inverter has been established, the Lenze Smart Keypad App
serves to
• read out diagnostics parameters of the inverter,
• change parameter settings of the inverter and
• transmit parameter sets.
431
Wireless LAN (WLAN)
11.3.3.2 Using the smartphone as "Smart Keypad"

In the default setting, the WLAN settings of the inverters are used. If the WLAN module is
plugged onto another inverter, the WLAN connection must be set up again because the
replugging causes a change of the network name.
For using the smartphone as "Smart Keypad", the WLAN module can be configured such that
the WLAN settings are saved locally in the WLAN module and only these settings are used. In
this "standalone" mode, the WLAN module remains permanently coupled to the smartphone
because after replugging onto another inverter, the login data for the WLAN network (SSID
and password) is the same:
Inverter 1 Inverter 2 Inverter 1 Inverter 2
SSID: SSID:
"Own_name" "Own_name"
Access Point Access Point
Smart Smart
Keypad Keypad
① WLAN module is plugged onto the inverter 1. After the connection to the smartphone has been established, the inverter 1 can be diagnosed
or parameterised with the Lenze Smart Keypad App.
② WLAN module is plugged onto the inverter 2. After the WLAN network is restarted, a connection is established again to the smartphone
because the WLAN settings are identical. Now, the inverter 2 can be diagnosed or parameterised with the Lenze Smart Keypad App.
How to configure the WLAN module for a "Smart Keypad" use:

Requirements:
• The WLAN settings of the inverter can be accessed via the Lenze Smart Keypad App
or »EASY Starter«.
1. Define your own network name (SSID) in 0x2441:007.
2. Define your own password in 0x2441:008.
3. Set the selection "Save settings in WLAN module [11]" in 0x2440.
The defined network name and the password are saved locally in the WLAN module. The
WLAN network is restarted with the current settings.
If the WLAN module is then plugged onto another inverter, the settings that are locally saved
in the WLAN module are used (irrespective of the WLAN settings of the inverter).
• The active mode ("Inverter" or "Standalone") is displayed in 0x2442:004.
• In order to return to the standard mode "Inverter", the selection "Restart with default val-
ues [2]" must be set in 0x2440.
432
Wireless LAN (WLAN)
11.3.3.3 Establishing a direct WLAN connection between Engineering PC and inverter

How to establish a direct WLAN connection to the inverter on the Engineering PC:
Requirements:
• WLAN module
• PC (with WLAN functionality) and installed »EASY Starter«
1. Plug the WLAN module onto the front of the inverter (interface X16).
2. Open the network settings on the Engineering PC: "Control panel" à "Network and shar-
ing center".
3. Select the "Set up a new connection or network" option under "Change your network set-
tings".
The "Set Up a Connection or Network" dialog box is displayed.
4. Select the "Manually connect to a wireless network" connection option and click the
"Next" button.
The "Manually connect to a wireless network" dialog box is displayed.
5. Enter the SSID of the inverter as network name.
6. Select "WPA2-Personal" as safety type.
7. Select "AES" as encryption type.
8. Enter the password as safety key for the WLAN network (default setting "password").
9. Tick "Start this connection automatically".
10. Click "Next".
A note indicates that the connection has been added successfully.
11. Click "Close".
12. Start »EASY Starter«.
The "Add devices" dialog is shown.
13. Select connection "WLAN - WLAN with module i5MADU0000000S":
14. Click the Insert button.

»EASY Starter« searches for connected devices via the communication path selected.
When the connection has been established successfully, the inverter is displayed in the
device list of »EASY Starter«. The inverter parameters can now be accessed via the tabs
of »EASY Starter«.
433
Wireless LAN (WLAN)
Recommendation: Click the button in the toolbar of the »EASY Starter« to start visual track-
ing. This function serves to quickly check whether the connection to the correct device has
been established. 4Optical device identification ^ 162
434
Wireless LAN (WLAN)
WLAN client mode
11.3.4 WLAN client mode

The WLAN module can be optionally configured as a WLAN client. In this operating mode, the
WLAN module can be implemented into an already existing WLAN network.
Inverter 1 Inverter 2
WLAN-Client WLAN-Client
Access Point
EASY Starter
How to configure the WLAN module as WLAN client:

Requirements:
• The WLAN settings of the inverter can be accessed via »EASY Starter«.
• Name (SSID) and password of the external WLAN network are known.
1. Set the selection "Client mode [1]" in 0x2441:006.
2. Set the name (SSID) of the external WLAN network in 0x2441:007.
3. Set the password of the external WLAN network in 0x2441:008.
4. Save parameter settings in the memory module. ^ 107
Before activating the changed WLAN settings in the next step: Make sure that
the name (SSID) and the password of the external WLAN network are set cor-
rectly. The restart of the WLAN module in the client mode causes a termination
of an existing WLAN connection in the access point mode!
5. Restart the inverter or remove and replug the WLAN module to activate the changed WLAN
settings.
The WLAN module now tries as a client to establish a connection to the set external WLAN
network.
Notes:
• In the default setting, the WLAN client is configured as DHCP client in 0x2441:004.
• Settings as IP address, subnetwork mask and gateway are automatically made by the
DHCP server of the external WLAN network.
• The active settings are displayed in 0x2442:001, 0x2442:002 and 0x2442:003.
• A static IP configuration can be made via the parameters 0x2441:001, 0x2441:002 and
0x2441:003.

0x2441:001 WLAN settings: IP address Definition of the IP address for the WLAN access point.
0 ... [28485824] ... 4294967295 • In the client mode, a static IP address can be set here for the WLAN
• From version 02.00 client. In order that the static configuration becomes effective, DHCP
must be disabled in 0x2441:004.
• Byte order is "Big-Endian":
192.168.178.01 ≡ 0x01B2A8C0 (= 28485824)
435
Wireless LAN (WLAN)
WLAN client mode

0x2441:002 WLAN settings: Netmask Definition of the network mask for the WLAN access point.
0 ... [16777215] ... 4294967295 • In the client mode, a static network mask can be set here for the
• From version 02.00 WLAN client. In order that the static configuration becomes effective,
DHCP must be disabled in 0x2441:004.
255.255.255.0 ≡ 0x00FFFFFF (= 16777215)
0x2441:003 WLAN settings: Gateway Definition of the gateway for the WLAN access point.
0 ... [28485824] ... 4294967295 • In the client mode, a static gateway can be set here for the WLAN cli-
• From version 02.00 ent. In order that the static configuration becomes effective, DHCP
must be disabled in 0x2441:004.
192.168.178.1 ≡ 0x01B2A8C0 (= 28485824)
0x2442:001 Active WLAN settings: Active IP address Display of the active IP address.
• Read only • If DHCP is activated, the active IP address usually derives from the
• From version 02.00 configured static IP address of the device.
0x2442:002 Active WLAN settings: Active netmask Display of the active netmask.
• Read only
0x2442:003 Active WLAN settings: Active gateway Display of the active gateway IP address.
• Read only
0x2448:001 WLAN status: Connection time Display of the connection time in [s] since the current connection was
• Read only established.
0x2448:002 WLAN status: Number of connections In access point mode: Display of the number of currently connected cli-
• Read only ents.
• From version 02.00 In client mode: 0 ≡ not connected; 1 ≡ connected with external WLAN
network.
0x2448:003 WLAN status: Rx frame counter Display of the number of request received via WLAN.
• Read only
0x2448:004 WLAN status: Error statistics Display of the quality of the WLAN connection. A display value > 0 indi-
• Read only cates communication problemsn.
436
DC braking
11.4 DC braking
The "DC braking" function generates a braking torque by injecting a DC current into the motor.
The function can be used to shorten the braking of a load with high mass inertia. Another
application is holding the motor shaft either before starting or while stopping.
NOTICE
Avoid long-time activation of the "DC braking" function with a high braking current or a high
braking voltage!
Possible consequence: thermal motor overload.
▶ Only use the "DC braking" function in applications in which the load is only exceptionally
stopped.
▶ Do not activate the "DC braking" function longer than necessary.
Preconditions
The "DC braking" function is only possible if the inverter is enabled.
Details
The function can be used as follows:
1. Automatically when the motor is started.
2. Automatically when the motor is stopped.
3. Manually (via the flexible I/O configuration).
The three options can also be combined, for instance automatic DC braking when starting and
stopping the motor.
For further details and configuration examples, see the following chapter:
4Example 1: Automatic DC braking when the motor is started ^ 439
4Example 2: Automatic DC braking when the motor is stopped ^ 440
4Migration of Lenze Inverter Drives 8200/8400 ^ 442
4Activating DC braking manually ^ 572
0x2B84:001 DC braking: Current Braking current for DC braking.
(P704.01) (DC braking: Current) • 100 % ≡ rated motor current 0x6075 (P323.00)
0.0 ... [0.0] ... 200.0 %
0x2B84:002 DC braking: Automatic hold time Hold time for automatic DC braking.
(P704.02) (DC braking: Hold time autom.) • The "Automatic DC braking" function is active for the time set here.
0.0 ... [0.0] ... 1000.0 s • 1000.0 = infinite
Note!
Do not set this parameter to the value "1000.0" (infinite) if the DC brak-
ing is used during the start. The "Infinite" setting can be used to lock the
rotor for an indefinite time while a stop is active. However, ensure here
that the longer DC braking does not cause a thermal overload of the
motor!
0x2B84:003 DC braking: Automatic operating threshold Operating threshold for automatic DC braking.
(P704.03) (DC braking: Threshold autom.) • With the setting 0, the "Automatic DC braking" function is deactiva-
0.0 ... [0.0] ... 599.0 Hz ted.
0x2B84:004 DC braking: Demagnetization time In the default setting, the DC braking is activated after the standard
(P704.04) (DC braking: Demagnet. time) demagnetising time has elapsed. This parameter can be used to adapt
0 ... [100] ... 150 % the time.
• From version 04.00 • 100 % ≡ Default demagnetization time 0x2B84:005 (P704.05)
Note!
A too short demagnetising time can cause an overcurrent error!
0x2B84:005 DC braking: Default demagnetization time Display of the standard demagnetising time as a setting help for the user.
(P704.05) (DC braking: Def. demag. time) • This time is calculated by the inverter:
• Read only: x ms Demagnetising time = 7 * rotor time constant
437
DC braking

0x2B84:006 DC braking: DC brake with inverter disable 1 = behaviour in case of automatic DC braking as with the Lenze Inverter
(P704.06) (DC braking: DCbrk/inv.disab) Drives 8200/8400.
0 ... [0] ... 1 The behaviour of the Lenze Inverter Drives 8200/8400 in case of auto-
matic DC braking is different: In case of these inverters, after the auto
DCB hold time has elapsed, the motor is deenergised (by means of pulse
inhibit) until the setpoint exceeds th auto DCB operating threshold. In
order to make a migration to the i500 inverter series easier, the setting
"1" serves to activate the same behaviour in the i500.
0x2631:001 (P400.01). ^ 532 CAUTION!
4DC braking ^ 437
ted.
in 0x2B84:002 (P704.02).
4DC braking ^ 437
438
DC braking
Example 1: Automatic DC braking when the motor is started
11.4.1 Example 1: Automatic DC braking when the motor is started

In order that the DC braking is automatically active when the motor is started, the start
method "DC braking [1]" must be set in 0x2838:001 (P203.01).
• The DC braking is carried out with the braking current set in 0x2B84:001 (P704.01).
• Only after the hold time 0x2B84:002 (P704.02) has elapsed, the motor is accelerated to
the setpoint.
0x2631:001 (P400.01) Enable inverter Digital input 1 [11]
0x2631:004 (P400.04) Reset fault Not connected [0]
0x2838:001 (P203.01) Start method DC braking [1]
0x2860:001 (P201.01) Frequency control: Default setpoint source Frequency preset 1 [11]
0x2911:001 (P450.01) Frequency setpoint presets: Preset 1 40 Hz
0x2B84:001 (P704.01) Current 50 %
0x2B84:002 (P704.02) Automatic hold time 10 s
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
0x2DDD
DC brake
DC brake
DC brake
20 Hz
10 Hz
0 Hz t
Status signals
Running [50]
t
Stop active [53]
t
DC braking active [67]
t
The status signals can be assigned to digital outputs. 4Configuration of digital outputs ^ 603
① After the start command, the DC braking is active. Only after the hold time 0x2B84:002 (P704.02) has elapsed, the motor is accelerated to
the setpoint.
② The motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with standard ramp.
③ If the inverter is disabled, the motor coasts.
439
DC braking
Example 2: Automatic DC braking when the motor is stopped
11.4.2 Example 2: Automatic DC braking when the motor is stopped

In order that the DC braking is automatically active when the motor is stopped, the corre-
sponding operating threshold must be set in 0x2B84:003 (P704.03).
• After a stop command, the motor is first decelerated as set. Only if the output frequency
falls below the set operating threshold, the inverter stops the deceleration and activates
DC braking.
• DC braking is carried out with the braking current set in 0x2B84:001 (P704.01) for the hold
time set in 0x2B84:002 (P704.02).
• The exact behaviour depends on the stop method set in 0x2838:003 (P203.03).
Stop method = "Standard ramp [1]"
0x2B84:001 (P704.01) Current 50 %
0x2B84:003 (P704.03) Automatic operating threshold 15 Hz
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
0x2DDD
DC brake
20 Hz
10 Hz
0 Hz t
Status signals
Running [50]
t
Stop active [53]
t
t
① With the stop method "Standard ramp [1]", the motor is first decelerated normally until the value falls below the operating threshold set in
0x2B84:003 (P704.03).
② The DC braking becomes active for the hold time set in 0x2B84:002 (P704.02).
③ If the inverter is disabled, the motor coasts. (DC braking is only possible if the inverter is enabled.)
④ If there is a new start command within the hold time, the DC braking is cancelled. The motor is accelerated to the setpoint again.
Stop method = "Quick stop ramp [2]"

Same behaviour as with the stop method "Standard ramp [1]", except that the motor is decel-
erated with the quick stop ramp instead of the standard ramp.
440
DC braking
Example 2: Automatic DC braking when the motor is stopped
Stop method = "Coasting [0]"

0x2838:003 (P203.03) Stop method Coasting [0]
0x2B84:001 (P704.01) Current 50 %
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
0x2DDD
DC brake
20 Hz
10 Hz
0 Hz t
Status signals
Running [50]
t
Stop active [53]
t
t
① With the stop method "Coasting [0]", the motor first coasts for a specified time. This "demagnetising time" serves to reduce the induced
voltage.
② The DC braking becomes active for the hold time set in 0x2B84:002 (P704.02).
③ If the inverter is disabled, the motor coasts. (DC braking is only possible if the inverter is enabled.)
④ If there is a new start command within the hold time, the DC braking is cancelled. The motor is accelerated to the setpoint again.
441
DC braking
Migration of Lenze Inverter Drives 8200/8400
11.4.3 Migration of Lenze Inverter Drives 8200/8400

The behaviour of the Lenze Inverter Drives 8200/8400 in case of automatic DC braking is dif-
ferent: In case of these inverters, after the auto DCB hold time has elapsed, the motor is dee-
nergised (by means of pulse inhibit) until the setpoint exceeds the auto DCB operating thresh-
old. In order to make a migration to the i500 inverter series easier, the setting 0x2B84:006
(P704.06) = "1" serves to activate the same behaviour in the i500.
The following example illustrates the behaviour of the function if 0x2B84:006 (P704.06) = "1".
Parameter Designation Setting for this example
0x2631:013 (P400.13) Reverse rotational direction Digital input 3 [13]
0x2B84:001 (P704.01) Current 50 %
0x2B84:006 (P704.06) DC brake with inverter disable 1
Eingangssignale 60 Hz
50 Hz
40 Hz
Frequenz-Sollwertvorgabe 30 Hz
20 Hz
10 Hz
0 Hz t
Trigger Funktion
Konstant TRUE [1] Inverter-Freigabe
t
Digitaleingang 1 [11] Starten
t
Digitaleingang 3 [13] Drehrichtung umkehren
t
Ausgangssignale 60 Hz
50 Hz
40 Hz
DC-Bremse
30 Hz
20 Hz
10 Hz
Ausgangsfrequenz 0 Hz
0x2DDD t
DC-Bremse
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Leistungsstufe eingeschaltet
t
Ausgangs-Trigger
In Betrieb [50]
t
Stopp aktiv [53]
t
DC-Bremsung aktiv [67]
t
① If the setpoint falls below the operating threshold set in 0x2B84:003 (P704.03), the DC braking gets active for the hold time set in
0x2B84:002 (P704.02).
② After the hold time has elapsed, the power section is switched off.
③ If the setpoint exceeds the operating threshold again, the power section is switched on again. The motor is accelerated to the setpoint
again.
442
Brake energy management
11.5 Brake energy management

When braking electrical motors, the kinetic energy of the drive train is fed back regeneratively
to the DC bus. This energy causes a DC-bus voltage boost. If the energy fed back is too high,
the inverter reports an error.
Several different strategies can serve to avoid DC-bus overvoltage:
• Use of a brake resistor
• Stopping the deceleration ramp function generator when the active voltage threshold for
the brake operation is exceeded
• Use of the "Inverter motor brake" function
• Combination of the above named options
• DC-bus connection
Details
The voltage threshold for braking operation results on the basis of the rated mains voltage set:
Rated mains voltage Voltage thresholds for braking operation
Braking operation on Braking operation off
230 V DC 390 V DC 380 V
400 V DC 725 V DC 710 V
480 V DC 780 V DC 765 V
The voltage threshold for braking operation can be reduced by 0 ... 100 V. The reduction
required must be set in 0x2541:003 (P706.03). However, the reduction must be made to such
an extent that the reduced voltage threshold is still above the normal stationary DC-bus volt-
age.The active voltage threshold for the braking operation is displayed in 0x2541:002
(P706.02).
If the DC-bus voltage exceeds the voltage threshold for braking operation, the braking method
selected in 0x2541:001 (P706.01) is applied.
• Optimum following of the actual frequency value to the frequency setpoint (e. g. quick
stop of the motor) can always be achieved by the use of a brake resistor.
• Stopping the deceleration ramp function generator enables smoother deceleration with
lower torque oscillation.
• The "Inverter motor brake" function allows for quick braking without using a brake resistor.
For process-related reasons, torque oscillations may occur.
Effective
frequency setpoint
t t t
DC-bus voltage
during braking
t t t
① Voltage threshold for braking operation 0 Use of a brake resistor ^ 445
② Reduced threshold 0x2541:003 (P706.03) 1 Stopping the deceleration ramp function generator ^ 447
③ Active threshold 0x2541:002 (P706.02) 2 Inverter motor brake ^ 448
④ Additional frequency 0x2541:004 (P706.04)
443

0x2541:001 Brake energy management: Operating mode Selection of the braking method.
(P706.01) (Brake management: Operating mode) • The braking method(s) selected is/are activated if the DC-bus voltage
exceeds the voltage threshold for the braking operation shown in
0x2541:002 (P706.02).
0 Brake resistor The integrated brake chopper (brake transistor) is used.
4Use of a brake resistor ^ 445
1 Ramp function generator stop (RFGS) The deceleration ramp function generator is stopped.
4Stopping the deceleration ramp function generator ^ 447
2 Brake resistor + RFGS The brake resistor is supplied with current and the deceleration ramp
function generator is stopped.
3 Inverter motor brake (IMB) + RFGS Braking with the "Inverter motor brake" braking method in connection
with "Deceleration ramp function generator stop" is executed.
4Inverter motor brake ^ 448
4 Brake resistor + IMB + RFGS Braking is performed by combining all three braking procedures.
0x2541:002 Brake energy management: Active threshold Display of the active voltage threshold for the braking operation.
(P706.02) (Brake management: Active threshold) • The voltage threshold shown depends on the mains voltage selected
• Read only: x V in 0x2540:001 (P208.01) and the voltage value set in 0x2541:003
(P706.03).
• The voltage threshold must be higher than the stationary DC voltage
in the DC bus.
0x2541:003 Brake energy management: Reduced threshold The voltage threshold for the braking operation is reduced by the volt-
(P706.03) (Brake management: Red. threshold) age value set here.
0 ... [0] ... 100 V
0x2541:005 Brake energy management: Deceleration override Maximum permissible time for the deceleration override by means of
(P706.05) time the braking method selected in 0x2541:001 (P706.01).
(Brake management: Del.overr.time) • If the DC-bus voltage does not fall below the voltage threshold for
0.0 ... [2.0] ... 60.0 s braking operation shown in 0x2541:002 (P706.02) within this time,
the motor is decelerated further.
• The time is only reset if the voltage threshold shown in 0x2541:002
(P706.02) is not reached.
ted.
0 230 Veff
1 400 Veff
2 480 Veff
3 120 Veff
444
Use of a brake resistor
11.5.1 Use of a brake resistor

For braking operation, optionally the brake chopper integrated in the inverter (brake transis-
tor) can be used.
NOTICE
Incorrect dimensioning of the brake resistor may result in the destruction of the integrated
brake chopper (brake transistor).
▶ Only connect a brake resistor complying in terms of performance to terminals RB1 and RB2 of
the inverter.
▶ Avoiding thermal overload of the brake resistor.
Preconditions
In order that the integrated brake chopper is activated in the braking operation, one of the
following braking methods must be set in 0x2541:001 (P706.01):
• "Brake resistor [0]"
• "Brake resistor + RFGS [2]"
• "Brake resistor + IMB + RFGS [4]"
In the default setting of 0x2541:001 (P706.01), the integrated brake chopper is not activated
in the brake operation!
Details
• The brake resistor required is to be connected to terminals RB1 and RB2 of the inverter.
• In 0x2541:001 (P706.01), additionally the stopping function for the deceleration ramp
function generator can be set when the brake resistor is controlled, in order to avoid over-
voltage disconnection in the case of lower deceleration times.
• In the default setting and with a disabled inverter and an error status ("Error active"), the
brake chopper is switched off. This behaviour can be changed in 0x2541:006 (P706.06).
Example: In a DC-bus connection with several inverters, only one brake resistor is used. It
is connected to the most powerful inverter in the DC-bus connection. This inverter then
serves to change the behaviour so that inverter disable and/or an error does not cause a
switch-off of the brake chopper.
Internal protective function
The following protective function prevents the brake chopper from being switched on perma-
nently, e.g. due to too high voltages or wrong settings:
• The brake chopper is switched off if it was switched on over a period of 4 s.
• If the DC-bus voltage again falls below the voltage threshold for braking operation, the
brake chopper can again be switched on for maximally 4 s without interruption.
445
Use of a brake resistor
Brake resistor monitoring

The inverter calculates and monitors the thermal load of the brake resistor to ensure that the
brake resistor will not be overloaded.
A correct calculation required the following settings according to the data on the nameplate of
the brake resistor:
• 0x2550:002 (P707.02): Resistance value
• 0x2550:003 (P707.03): Rated power
• 0x2550:004 (P707.04): Maximum thermal load
The calculated thermal load is not displayed in 0x2550:007 (P707.07).
The brake resistor monitoring is designed with two stages:
• If the calculated thermal load exceeds the warning threshold set in 0x2550:008 (P707.08)
(default setting: 90 %), the response set in 0x2550:010 (P707.10) takes place (default set-
ting: "Warning"). The warning status will be reset if the thermal load falls below the warn-
ing threshold - 20 %.
• If the calculated thermal load exceeds the warning threshold set in 0x2550:009 (P707.09)
(default setting: 100 %), the response set in 0x2550:011 (P707.11) takes place (default set-
ting: "Fault"). The error status will be reset if the thermal load falls below the error thresh-
old - 20 %.

0x2541:006 Brake energy management: Brake resistor response Behaviour of the integrated brake chopper if the inverter is disabled and
(P706.06) (Brake management: Brk. res. behav) if the error status is active.
ted.
0 Off: disable and error If the inverter is disabled and the error status is active, the brake chop-
per is switched off.
1 On: disable / off: error Brake chopper is switched off if the error status is active, but not if the
inverter is disabled.
2 Off: disable / on: error Brake chopper is switched off if the inverter is disabled but not if the
error status is active.
3 On: disable and error Brake chopper is not switched off if the inverter disabled and the error
status is active.
0x2550:002 Brake resistor: Resistance value Resistance value of the brake resistor connected.
(P707.02) (Brake resistor: Resistance value) • The value to be entered can be obtained from the brake resistor
0.0 ... [180.0]* ... 500.0 Ω nameplate.
0x2550:003 Brake resistor: Rated power Rated power of the brake resistor connected.
(P707.03) (Brake resistor: Rated power) • The value to be entered can be obtained from the brake resistor
0 ... [50]* ... 800000 W nameplate.
0x2550:004 Brake resistor: Maximum thermal load Thermal capacity of the brake resistor connected.
(P707.04) (Brake resistor: Maximum heat) • The value to be entered can be obtained from the brake resistor
0.0 ... [8.0]* ... 100000.0 kWs nameplate.
0x2550:007 Brake resistor: Thermal load Display of the utilisation of the brake resistor connected.
(P707.07) (Brake resistor: Thermal load)
0x2550:008 Brake resistor: Warning threshold Warning threshold for brake resistor monitoring.
(P707.08) (Brake resistor: Warning thresh.) • If the utilisation shown in 0x2541:004 (P706.04) reaches the threshold
50.0 ... [90.0] ... 150.0 % set, the response selected in 0x2550:010 (P707.10) is effected.
• The warning is reset with a hysteresis of 20 %.
0x2550:009 Brake resistor: Error threshold Error threshold for brake resistor monitoring.
(P707.09) (Brake resistor: Error thresh.) • If the utilisation shown in 0x2541:004 (P706.04) reaches the threshold
50.0 ... [100.0] ... 150.0 % set, the response selected in 0x2550:011 (P707.11) is effected.
• Resetting the error is only possible if the hysteresis is lower than 20 %.
0x2550:010 Brake resistor: Response to warning Selection of the response that is executed when the warning threshold
(P707.10) (Brake resistor: Warning resp.) for brake resistor monitoring is reached.
0x2D45:001 (P310.01). ^ 223
• 65334 | 0xFF36 - Brake resistor: overload warning
1 Warning
446
Stopping the deceleration ramp function generator

0x2550:011 Brake resistor: Response to error Selection of the response to be executed when the error threshold for
(P707.11) (Brake resistor: Error response) brake resistor monitoring is reached.
0x2D45:001 (P310.01). ^ 223
• 65282 | 0xFF02 - Brake resistor: overload warning
3 Fault
11.5.2 Stopping the deceleration ramp function generator

The deceleration ramp function generator is stopped for a short time if the voltage threshold
for braking operation is exceeded.
Details
When this braking method is selected, the maximum permissible time for the deceleration
override has to be set in 0x2541:005 (P706.05).
• If the DC-bus voltage does not fall below the voltage threshold for braking operation
shown in 0x2541:002 (P706.02) within this time, the motor is decelerated further.
• The time is only reset if the voltage threshold shown in 0x2541:002 (P706.02) is not
reached.
447
Inverter motor brake
11.5.3 Inverter motor brake

With this braking method, which can be selected in 0x2541:001 (P706.01), the regenerative
energy in the motor is converted as a result of dynamic acceleration/deceleration with down-
ramping of the ramp function generator.
NOTICE
Too frequent braking may cause thermal overload of the motor.
▶ Avoid activating the "Inverter motor brake" function over a longer time!
▶ In applications with a high mass inertia and long braking times (> 2 s), use the "DC braking"
function.
Preconditions
• The "Inverter motor brake" braking method must not be used with vertical conveyors
(hoists) or with active loads!
• The "inverter motor brake" braking method only works in operating mode 0x6060
(P301.00) = "MS: Velocity mode [-2]".
• When this braking method is used, the motor overload monitoring is not adapted. A too
frequent use of the inverter motor brake may cause an incorrect operation of the motor
overload monitoring. 4Motor overload monitoring (i²*t) ^ 215
Details
During the deceleration process, the ramp function generator is stopped. The frequency set in
0x2541:004 (P706.04) is added to the frequency setpoint, taking the sign of the current actual
frequency into consideration. Furthermore the ramp function generator is stopped in a state
of overvoltage. If the DC-bus voltage falls below a defined DC-bus voltage potential, the addi-
tional frequency connected is reduced again and the ramp function generator is re-activated.
By the alternating acceleration and deceleration resulting from this circuit, the energy is con-
verted thermally in the motor. For process-related reasons, torque oscillations may occur.
Setting instructions
Generally, the smallest value possible required by the application for being able to still tra-
verse the load to be moved in a controlled fashion should be set as additional frequency.
Greater mass inertia values require an increase in the rated motor frequency set. Increasing
the rated motor frequency, however, causes greater torque oscillations. A possible conse-
quence is the reduced service life of mechanical components. Furthermore an increase in the
rated motor frequency also increases the energy converted into heat in the motor. A possible
consequence is the reduced service life of the motor.
0x2541:004 Brake energy management: Additional frequency Frequency deviation which is connected to the deceleration ramp in a
(P706.04) (Brake management: Add.frequency) pulsative fashion when the "Inverter motor brake" braking method is
0.0 ... [0.0] ... 10.0 Hz used.
0x2C01:005 Motor parameters: Rated frequency General motor data.
(P320.05) (Motor parameters: Rated frequency) Carry out settings as specified by motor nameplate data.
Device for 60-Hz mains: 1.0 ... [60.0] ... 1000.0 Hz Note!
When you enter the motor nameplate data, take into account the phase
connection implemented for the motor (star or delta connection). Only
enter the data applying to the connection type selected.
448
Load loss detection

ted.
11.6 Load loss detection

This function serves to detect a load loss during operation and to then activate a specific func-
tion, for instance the switching of the relay.
Details
If, during operation, the current motor current falls below the threshold set in 0x4006:001
(P710.01) for at least the time set in 0x4006:002 (P710.02), the internal status signal "Load
loss detected [83]" is set to TRUE:
Load [%]
0x4006:001
0 t
Status signal
0x4006:002
Load loss detected [83]
t
• The threshold is set in percent with reference to the rated motor current "Motor rated cur-
rent" 0x6075 (P323.00).
• The status signal "Load loss detected [83]" can be assigned, for instance, to a digital output
or the relay via the flexible I/O configuration. 4Configuration of digital outputs ^ 603
• The load loss detection is not active with active DC braking.

0x4006:001 Load loss detection: Threshold Threshold for load loss detection.
(P710.01) (Load loss detect: Threshold) • 100 % ≡ rated motor current 0x6075 (P323.00)
0.0 ... [0.0] ... 200.0 %
0x4006:002 Load loss detection: Deceleration Tripping delay for load loss detection.
(P710.02) (Load loss detect: Deceleration)
0.0 ... [0.0] ... 300.0 s
0.001 ... [1.700]* ... 500.000 A Example:
ted.
449
Access protection
Write access protection
11.7 Access protection
11.7.1 Write access protection

Optionally a write access protection can be installed for the inverter parameters.
Write access protection only restricts parameterisation via keypad and »EASY
Starter«. Write access protection via network is not restricted. Irrespective of
the write access protection that is currently set, a higher-level controller, OPC-
UA server, or any other communication partner connected to the inverter is
always provided with full read/write access to all parameters of the inverter.
After activating the write access protection, you have to enter a valid PIN to
remove the write access protection. Note down the defined PIN(s) and keep this
information in a safe place! If you lose the PIN(s), the inverter can only be disa-
bled by resetting it to the delivery status. This means, all parameter settings
made by the user get lost! 4Reset parameters to default ^ 418
Details
Usually the write access protection function is implemented by the mechanical engineer/
OEM , for example to protect the inverter against incorrect parameterisation by non-author-
ised persons. For diagnostic purposes, a read access to all parameters is always possible.
The write access protection allows for the following configurations:
• Full write access
• Write access only to favorites or (when knowing PIN1) to all parameters
• No write access or (when knowing PIN2) full write access
• No write access or (when knowing PIN1) write access only to favorites or (when knowing
PIN2) to all parameters
The following table compares the four possible configurations:
PIN1 setting PIN2 setting Log-in Status display after Active write access protection (via keypad/»EASY Starter«)
log-in
0x203D (P730.00) 0x203E (P731.00) 0x203F 0x2040 (P197.00)
0 0 - 0 No access protection configured.
Access
Diagnostics (read access) Favorites All parameters
>0 0 0 or wrong PIN 2 Write access only possible to favorites.

Correct PIN1 0 Write access to all parameters possible.
Access PIN1
0 >0 0 or wrong PIN 1 No write access.

Access PIN2
>0 >0 0 or wrong PIN 1 No write access.

Correct PIN1 2 Write access only possible to favorites.
Access PIN1 PIN2
If PIN1 and PIN2 are set identically, a write access to all parameters is possible after the PIN has been
entered correctly.
450
Access protection
Notes:
• The firmware of the inverter does only support the protection status.
• The access protection is realised by the keypad and engineering tools as "clients" them-
selves based on the current protection status 0x2040 (P197.00).
More details on how to configure the write access protection with the respective client can be
found in the following subchapters:
4Write access protection in the »EASY Starter« ^ 452
4Write access protection in the keypad ^ 455
0x203D PIN1 access protection PIN definition for write access protection.
(P730.00) (PIN1 protection) • 1 … 9999 = set/change PIN.
-1 ... [0] ... 9999 • 0 = delete PIN (deactivate access protection).
0x203E PIN2 access protection • When the PIN has been set successfully, the value -1 is shown; other-
(P731.00) (PIN2 protection) wise 0.
-1 ... [0] ... 9999 • Setting/changing the PIN via keypad/»EASY Starter« only possible if
no write access protection is active.
• Settings/changes via »EASY Starter« become effective immediately;
via keypad they only become effective when the parameter group has
been exited.
0x203F PIN1/PIN2 log-in Parameter for PIN entry for the purpose of deactivating an active access
-32768 ... [0] ... 32767 protection temporarily.
• 1 … 9999 = log-in (deactivate access protection temporarily).
• 0 = log-out (reactivate access protection).
• After having logged in successfully, the value 0 is shown; otherwise -1.
• After 10 invalid entries, the log-in function is inhibited. In order to
remove the log-in inhibit, the inverter must be switched off and on
again.
0x2040 Access protection status Bit-coded display of the active access protection after login by PIN1/
(P197.00) (Protect. status) PIN2.
• Read only
Bit 0 No write access
Bit 1 Only favorites changeable
451
Access protection
11.7.1.1 Write access protection in the »EASY Starter«

If a write access protection is active for the online connected inverter, it is displayed in the
status bar of the »EASY Starter«:
Display Representation of the parameters in the »EASY Starter«
No write access All parameters in all dialogs are displayed as read-only parameters.
Only favorites Except for the favorites, all parameters in all dialogs are displayed as read-only parameters.
An active write access protection can be removed when the PIN is known.
How to remove an active write access protection temporarily:

1. Click the symbol in the toolbar.
The "Log in / Log off" dialog box is displayed:
2. Enter the valid PIN and confirm with OK.
After 10 invalid entries, the log-in function is inhibited. In order to remove the
log-in inhibit, the inverter must be switched off and on again.
The write access protection gets active again:

• Automatically 10 minutes after the last log-in.
• Automatically after the mains voltage is switched on again.
• Manually by entering a "0" in the dialog box "Log in / Log off" (see above).
452
Access protection
Configuring the write access protection with »EASY Starter«

The write access protection is activated by specifying PIN1 and/or PIN2 (depending on the
desired configuration of the write access protection).
How to activate the write access protection:

1. Go to the "Settings" tab and navigate to the "Access protection" parameterisation dialog:
2. Select the desired configuration of the write access protection.

The "PIN definition" dialog box is displayed. The possible entries depend on the selected
configuration.
3. Enter the desired PIN(s) and confirm with OK.

After successful execution, the write access protection is immediately effective and is dis-
played in the »EASY Starter« status bar.
4. For a permanent acceptance of the configuration: Save parameter settings in the device.
How to change already defined PIN(s):

1. Remove the active write access protection temporarily (see above).
2. Select the "Full write access" configuration in the "Access protection" parameterisation dia-
log.
3. Select again the desired configuration of the write access protection.
4. Enter new PIN(s) and confirm with OK.
5. Save parameter settings in the device.
How to remove a configured write access protection permanently:

2. Select the "Full write access" configuration in the "Access protection" parameterisation dia-
log.
3. Save parameter settings in the device.
453
Access protection
Impact of the write access protection on EASY Starter« functions

The following »EASY Starter« functions are not supported when write access protection is
active:
• Parameter set download
• Definition of the "Favorites" parameters.
• Definition of the parameters for the "Parameter change-over" function
The following »EASY Starter« functions are supported irrespective of whether write access
protection is active:
• Optical device identification 0x2021:001 (P230.01)
• Enable/inhibit inverter
• Reset parameters to default 0x2022:001 (P700.01)
• Save parameter set 0x2022:003 (P700.03)
• Load user parameter 0x2022:004 (P700.04)
• Load OEM parameter 0x2022:005 (P700.05)
• Reset error 0x2631:004 (P400.04)
454
Access protection
11.7.1.2 Write access protection in the keypad

If a write access protection is active for the inverter, the keypad automatically displays a log-in
when changing to the parameterisation mode. You can either skip the log-in and thus keep
the access protection active or remove it temporarily by entering a valid PIN.
Option 1 - skip log-in and keep access protection active
1. Password 1. Use the key to skip the log-in.
The configured access protection remains active and is
O briefly displayed:
① PIN ERR: No write access
② LEVEL 1: Write access only to favorites
Limited Access You are now in the group level.
PINOERR
2. You can now use the navigation keys and to select
the desired group and with key navigate one level
Limited Access
lower to the parameter level.
LEVELO1LOC REM MAN AUTO SET
Note: By using the key you can navigate one level
2. Favorites
GROUPOO
Option 2 - remove access protection temporarily by entering a valid PIN

1. Password 1. Use the key to enter the defined PIN.
2. Use the key to accept the changed setting.

O If the access remains restricted, it is briefly displayed:
① PIN ERR: No write access
② LEVEL 1: Write access only to favorites
2. Password
You are now in the group level.
PINO123
3. You can now use the navigation keys and to select
the desired group and with key navigate one level
lower to the parameter level.
Limited Access Note: By using the key you can navigate one level
PINOERR
Limited Access
LEVELO1LOC REM MAN AUTO SET
3. Favorites
GROUPOO
After 10 invalid entries, the log-in function is inhibited. In order to remove the
log-in inhibit, the inverter must be switched off and on again.
The write access protection gets active again:

• Automatically 10 minutes after the last log-in or the last keypad entry.
• Automatically after the mains voltage is switched on again.
455
Access protection
Configuring the write access protection with the keypad

The write access protection is activated by defining PIN1 in P730.00 and/or PIN2 in P731.00
(depending on the desired configuration of the write access protection).
In the following example, the write access protection is configured in such a way that a write
access to the favorites only is possible or (when knowing PIN) to all parameters. This configu-
ration only requires the definition of PIN1 (here: "123").
1. VEL:FLEX:AIN1 Defining PIN1:
1. Use the key in the operating mode to navigate to the
000STOP
2. Favorites
GROUPOO
2. Use the navigation key to select group 7.
3. Addit. functions ted.
GROUPO7
4. Use the navigation key to select the P730.00 param-
eter.
4. Device commands You are now in the editing mode.
6. Use the navigation key to set PIN1 to the value
OP7OOxx
"123".
5. Protection PIN1 The editing mode is exited.
Note: The configured access protection only gets effec-
OP73OOO
tive after the parameter group is quit.
6. P730.00
OOOOOOO
7. P730.00
OOOO123
456
Access protection
In the following example, PIN1 is changed from "123" to "456". For this purpose, the defined
PIN must first be deleted by the setting "0".
1. VEL:FLEX:AIN1 Change defined PIN1:
1. Use the key in the operating mode to navigate to
000STOP
the parameterisation mode one level below.
Since the access protection is active, the input dialog
for the PIN is displayed.
2. Password
2. Use the navigation key to set PIN "123" to remove
OOOOOOO
the access protection temporarily.
3. Use the key to accept the entered PIN.
3. Password 4. Use the to select group 7.
OOOO123
ted.
4. Favorites 6. Use the to select the P730.00 parameter.
GROUPOO
You are now in the editing mode.
8. Use the key to set PIN1 to the value "0". This setting
5. Addit. functions first deletes PIN1.
GROUPO7
The editing mode is exited.
10. Use the key to navigate again one level below to
the editing mode.
6. Device commands 11. Use the navigation key t set the previously deleted
OP7OOxx
PIN1 to the new value "456".
The editing mode is exited.
7. Protection PIN1 Note: The configured access protection only gets
effective after the parameter group is quit.
OP73OOO
8. P730.00
OOOOO-1
9. P730.00
OOOOOOO
10. Protection PIN1
OP73OOO
11. P730.00
OOOOOOO
12. P730.00
OOOO456
457
Access protection
How to remove a configured write access protection permanently:

2. Set PIN1 (P730.00) and PIN2 (P731.00) to the value "0" (see instructions for changing the
PIN).
Impact of the write access protection to the keypad functions

The following keypad functions are supported irrespective of the active write access protec-
tion:
• Optical device identification 0x2021:001 (P230.01)
• Reset parameters to default 0x2022:001 (P700.01)
• Load user parameter 0x2022:004 (P700.04)
• Load OEM parameter 0x2022:005 (P700.05)
458
Favorites
Accessing the "Favorites" with the keypad
11.8 Favorites
In order to gain quick access using »EASY Starter« or the keypad, frequently used parameters
of the inverter can be defined as "Favorites".
• »EASY Starter« provides quick access to the "Favorites" via the Favorites tab.
• On the keypad, the "Favorites" can be found in group 0.
11.8.1 Accessing the "Favorites" with the keypad

1. VEL:FLEX:AIN1 1. Use the key in the operating mode to navigate to the
000STOP
You are now in the group level. All parameters of the
inverter are divided into different groups according to
their function.
2. Favorites Group 0 contains the "Favorites".
GROUPOO
3. Output frequency You are now in the parameter level of the group selec-
ted.
OP1OOOO
3. Use the and navigation keys to select the desired
parameter.
4. Accel time 1
You are now in the editing mode.
OP22OOO
5. Set the desired value using the and navigation
keys.
5. P220.00 s The editing mode is exited.
OOOOO5O
Note: By using the key you can exit the editing mode
without accepting the new setting (abort).
6. P220.00 s
OOOOO8O
459
Favorites
Favorites parameter list (default setting)
11.8.2 Favorites parameter list (default setting)

In the default setting, the most common parameters for the solution of typical applications
are defined as "Favorites":
No. Display code Designation Default setting Setting range Info
1 P100.00 Output frequency x.x Hz - (Read only) 0x2DDD (P100.00)
2 P103.00 Current actual x.x % - (Read only) 0x6078 (P103.00)
3 P106.00 Motor voltage x VAC - (Read only) 0x2D89 (P106.00)
4 P150.00 Error code - - (Read only) 0x603F (P150.00)
5 P200.00 Control select. Flexible I/O [0] Selection list 0x2824 (P200.00)
6 P201.01 Freq. setp. src. Analog input 1 [2] Selection list 0x2860:001 (P201.01)
7 P203.01 Start method Normal [0] Selection list 0x2838:001 (P203.01)
8 P203.03 Stop method Standard ramp [1] Selection list 0x2838:003 (P203.03)
9 P208.01 Mains voltage 230 Veff [0] Selection list 0x2540:001 (P208.01)
10 P210.00 Min. frequency 0.0 Hz 0.0 ... 599.0 Hz 0x2915 (P210.00)
11 P211.00 Max. frequency 50.0 Hz* | 60.0 Hz** 0.0 ... 599.0 Hz 0x2916 (P211.00)
12 P220.00 Accelerat.time 1 5.0 s 0.0 ... 3600.0 s 0x2917 (P220.00)
13 P221.00 Decelerat.time 1 5.0 s 0.0 ... 3600.0 s 0x2918 (P221.00)
14 P300.00 Motor ctrl mode VFC open loop [6] Selection list 0x2C00 (P300.00)
15 P302.00 V/f charac.shape Linear [0] Selection list 0x2B00 (P302.00)
16 P303.01 Base voltage 230 V 0 ... 5000 V 0x2B01:001 (P303.01)
17 P303.02 Base frequency 50 Hz* | 60 Hz** 0 ... 1500 Hz 0x2B01:002 (P303.02)
18 P304.00 Limit. rotation Both rot. direct [1] Selection list 0x283A (P304.00)
19 P305.00 Switching freq. 0 Selection list 0x2939 (P305.00)
20 P306.01 Duty selection Heavy Duty [0] Selection list 0x2D43:001 (P306.01)
21 P308.01 Max.load.for 60s 150 % 30 ... 200 % 0x2D4B:001 (P308.01)
22 P316.01 Fixed V/f boost 2.5 % 0.0 ... 20.0 % 0x2B12:001 (P316.01)
23 P323.00 Motor current 1.700 A 0.001 ... 500.000 A 0x6075 (P323.00)
24 P324.00 Max current 200.0 % 0.0 ... 3000.0 % 0x6073 (P324.00)
25 P400.01 Enable inverter TRUE [1] Selection list 0x2631:001 (P400.01)
26 P400.02 Run Digital input 1 [11] Selection list 0x2631:002 (P400.02)
27 P400.03 Quick stop Not connected [0] Selection list 0x2631:003 (P400.03)
28 P400.04 Reset fault Digital input 2 [12] Selection list 0x2631:004 (P400.04)
29 P400.05 DC braking Not connected [0] Selection list 0x2631:005 (P400.05)
30 P400.06 Start forward Not connected [0] Selection list 0x2631:006 (P400.06)
31 P400.07 Start reverse Not connected [0] Selection list 0x2631:007 (P400.07)
32 P400.08 Run forward Not connected [0] Selection list 0x2631:008 (P400.08)
33 P400.09 Run reverse Not connected [0] Selection list 0x2631:009 (P400.09)
34 P400.13 Reverse rot.dir. Digital input 3 [13] Selection list 0x2631:013 (P400.13)
35 P400.18 Setp: Preset b0 Digital input 4 [14] Selection list 0x2631:018 (P400.18)
36 P400.19 Setp: Preset b1 Digital input 5 [15] Selection list 0x2631:019 (P400.19)
37 P400.20 Setp: Preset b2 Not connected [0] Selection list 0x2631:020 (P400.20)
38 P420.01 Relay function Rdy for operat. [51] Selection list 0x2634:001 (P420.01)
39 P420.02 DO1 function Release brake [115] Selection list 0x2634:002 (P420.02)
40 P430.01 AI1 input range 0 ... 10 VDC [0] Selection list 0x2636:001 (P430.01)
41 P430.02 AI1 freq @ min 0.0 Hz -1000.0 ... 1000.0 Hz 0x2636:002 (P430.02)
42 P430.03 AI1 freq @ max 50.0 Hz* | 60.0 Hz** -1000.0 ... 1000.0 Hz 0x2636:003 (P430.03)
43 P440.01 AO1 outp. range 0 ... 10 VDC [1] Selection list 0x2639:001 (P440.01)
44 P440.02 AO1 function Outp. frequency [1] Selection list 0x2639:002 (P440.02)
45 P440.03 AO1 min. signal 0 -2147483648 ... 2147483647 0x2639:003 (P440.03)
46 P440.04 AO1 max. signal 1000 -2147483648 ... 2147483647 0x2639:004 (P440.04)
47 P450.01 Freq. preset 1 20.0 Hz 0.0 ... 599.0 Hz 0x2911:001 (P450.01)
49 P450.03 Freq. preset 3 50.0 Hz* | 60.0 Hz** 0.0 ... 599.0 Hz 0x2911:003 (P450.03)
* Device for 50-Hz mains ** Device for 60-Hz mains Firmware version 05.00.00.00
460
Favorites
Configuring the "Favorites"
11.8.3 Configuring the "Favorites"

The "Favorites" can be configured by the user.
Details
A maximum number of 50 parameters can be defined as "Favorites".
The easiest way to process the selection of the favorites is via the parameterisation dialog in
the »EASY Starter«:
1. Change to the "Parameter list" tab.
2. Select group 0 - Favorites.
3. Click the button.
4. Process favorites:
Default favorites can be changed with the keypad or via network via the following parameters:
0x261C:001 Favorites settings: Parameter 1 Definition of the "Favorites" parameters.
(P740.01) (Favorites sett.: Parameter 1) • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
0x00000000 ... [0x2DDD0000] ... 0xFFFFFF00 • The lowest byte is always 0x00.
0x261C:002 Favorites settings: Parameter 2 • The keypad can be used to select the desired parameter from a list.
(P740.02) (Favorites sett.: Parameter 2)
0x00000000 ... [0x60780000] ... 0xFFFFFF00
0x261C:003 Favorites settings: Parameter 3
0x00000000 ... [0x2D890000] ... 0xFFFFFF00
0x00000000 ... [0x603F0000] ... 0xFFFFFF00
0x00000000 ... [0x28240000] ... 0xFFFFFF00
0x00000000 ... [0x28600100] ... 0xFFFFFF00
0x00000000 ... [0x28380100] ... 0xFFFFFF00
0x00000000 ... [0x28380300] ... 0xFFFFFF00
461
Favorites

0x00000000 ... [0x25400100] ... 0xFFFFFF00
0x00000000 ... [0x29150000] ... 0xFFFFFF00
0x00000000 ... [0x29160000] ... 0xFFFFFF00
0x00000000 ... [0x29170000] ... 0xFFFFFF00
0x00000000 ... [0x29180000] ... 0xFFFFFF00
0x00000000 ... [0x2C000000] ... 0xFFFFFF00
0x00000000 ... [0x2B000000] ... 0xFFFFFF00
0x00000000 ... [0x2B010100] ... 0xFFFFFF00
0x00000000 ... [0x2B010200] ... 0xFFFFFF00
0x00000000 ... [0x283A0000] ... 0xFFFFFF00
0x00000000 ... [0x29390000] ... 0xFFFFFF00
0x00000000 ... [0x2D430100] ... 0xFFFFFF00
0x00000000 ... [0x2D4B0100] ... 0xFFFFFF00
0x00000000 ... [0x2B120100] ... 0xFFFFFF00
0x00000000 ... [0x60750000] ... 0xFFFFFF00
0x00000000 ... [0x60730000] ... 0xFFFFFF00
0x00000000 ... [0x26310100] ... 0xFFFFFF00
0x00000000 ... [0x26310200] ... 0xFFFFFF00
0x00000000 ... [0x26310300] ... 0xFFFFFF00
0x00000000 ... [0x26310400] ... 0xFFFFFF00
0x00000000 ... [0x26310500] ... 0xFFFFFF00
462
Favorites

0x00000000 ... [0x26310600] ... 0xFFFFFF00
0x00000000 ... [0x26310700] ... 0xFFFFFF00
0x00000000 ... [0x26310800] ... 0xFFFFFF00
0x00000000 ... [0x26310900] ... 0xFFFFFF00
0x00000000 ... [0x26310D00] ... 0xFFFFFF00
0x00000000 ... [0x26311200] ... 0xFFFFFF00
0x00000000 ... [0x26311300] ... 0xFFFFFF00
0x00000000 ... [0x26311400] ... 0xFFFFFF00
0x00000000 ... [0x26340100] ... 0xFFFFFF00
0x00000000 ... [0x26340200] ... 0xFFFFFF00
0x00000000 ... [0x26360100] ... 0xFFFFFF00
0x00000000 ... [0x26360200] ... 0xFFFFFF00
0x00000000 ... [0x26360300] ... 0xFFFFFF00
0x00000000 ... [0x26390100] ... 0xFFFFFF00
0x00000000 ... [0x26390200] ... 0xFFFFFF00
0x00000000 ... [0x26390300] ... 0xFFFFFF00
0x00000000 ... [0x26390400] ... 0xFFFFFF00
0x00000000 ... [0x29110100] ... 0xFFFFFF00
0x00000000 ... [0x29110200] ... 0xFFFFFF00
0x00000000 ... [0x29110300] ... 0xFFFFFF00
0x00000000 ... [0x29110400] ... 0xFFFFFF00
463
Parameter change-over
11.9 Parameter change-over

For up to 32 freely selectable parameters, this function provides a change-over between four
sets with different parameter values.
DANGER!
Changed parameter settings are effective immediately.
enabled.
Details
The parameter list is compiled in the same way as that of the "Favorites" via configura-
tion. »EASY Starter« provides a user-friendly parameterisation dialog for this purpose.
Change-over to another value set can optionally be effected via corresponding device com-
mands and/or special functions/triggers:
4Device commands for parameter change-over ^ 421
4Functions for parameter change-over ^ 579
0x2022:011 Device commands: Save parameter set 1 1 = save value set 1 of the "Parameter change-over" function.
(P700.11) (Device commands: Save par. set 1) • When the device command has been executed successfully, the value
• For further possible settings, see parameter 0 is shown.
0x2022:001 (P700.01). ^ 418
0 Off / ready
0x2022:001 (P700.01). ^ 418
0 Off / ready
0x2022:001 (P700.01). ^ 418
0 Off / ready
0x2022:014 Device commands: Save parameter set 4
(P700.14) (Device commands: Save par. set 4)
0x2022:001 (P700.01). ^ 418
0 Off / ready
0x4041:001 ... Parameter change-over: Parameter 1 ... Parameter 32 Definition of the parameter list for the "Parameter change-over" func-
0x4041:032 (Param.set setup: Parameter 1 ... Parameter 32) tion.
(P750.01 ... 32) 0x00000000 ... [0x00000000] ... 0xFFFFFF00 • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
• The lowest byte is always 0x00.
0x4042:001 ... Parameter value set 1: Value of parameter 1 ... Value Value set 1 for the parameter list defined in 0x4041:001 ... 0x4041:032
0x4042:032 of parameter 32 (P750.01 ... 32).
(P751.01 ... 32) (Par. value set 1: Set 1 - Value 1 ... Set 1 - Value 32)
-2147483648 ... [0] ... 2147483647
0x4043:032 of parameter 32 (P750.01 ... 32).
-2147483648 ... [0] ... 2147483647
0x4044:032 of parameter 32 (P750.01 ... 32).
-2147483648 ... [0] ... 2147483647
464

0x4045:032 of parameter 32 (P750.01 ... 32).
-2147483648 ... [0] ... 2147483647
0x4046 Activation of parameter set Selection of the activation method for the parameter change-over.
(P755.00) (PSet activation) • If the selection is changed from "Via command... [0]/[1]" to "If the
selection is changed...[2]/[3]" after switch-on, the parameter set
selected via the functions "Select parameter set (bit 0)" and "Select
parameter set (bit 1)" is activated immediately. In case of selection
[2], however, this only takes place if the inverter is disabled, the motor
is stopped or an error is active.
0 Via command (disable required) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated if the trigger assigned
to the "Load parameter set" function in 0x2631:040 (P400.40) provides a
FALSE-TRUE edge AND the inverter is inhibited, the motor is stopped or
an error is active.
1 Via command (immediately) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is immediately activated if the trig-
ger assigned to the "Load parameter set" function in 0x2631:040
(P400.40) provides a FALSE-TRUE edge.
2 If the selection is changed (disable required) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated if the state of these
selection bits changes AND the inverter is inhibited, the motor is stop-
ped or an error is active.
3 If the selection is changed (immediately) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated immediately if the
state of these selection bits is changed.
0x4047:001 Parameter change-over error message: Status Error message for the "parameter change-over" function.
(P756.01) (PSet error msg.: Status) • In the event of an error, an error status is shown here, and in
• Read only 0x4047:002 (P756.02) the number of the list entry in which the error
0 No fault has occurred is displayed (in connection with the value set selected).
• If several errors occur at the same time, only the first incorrect list
33803 Invalid data type
entry will be displayed. Hence, after elimination of the displayed error
33804 Range violation and repeated activation, more errors may be displayed.
33806 Invalid index • The parameter list will always be processed from beginning to end,
33813 No element selected even if errors occur in the meantime.
33815 Writing impermissible
33816 Device not inhibited
33829 Invalid subindex
33837 Access impermissible
33860 Parameter not mappable
33865 No subindexes
33876 Parameter not changeable
0x4047:002 Parameter change-over error message: List entry Error message for the "Parameter set changeover" function.
(P756.02) (PSet error msg.: List entry) • In the event of an error, the number of the list entry for which the
• Read only error displayed in 0x4047:001 (P756.01) has occurred is shown here.
0x2631:040 Function list: Load parameter set Assignment of a trigger for the "Load parameter set" function.
(P400.40) (Function list: Load param.set) Trigger = FALSE-TRUE edge: parameter change-over to the value set
• Setting can only be changed if the inverter is inhibi- selected via "Select parameter set (bit 0)" and "Select parameter set (bit
ted. 1)".
0x2631:001 (P400.01). ^ 532 Notes:
0 Not connected • The activation method for the "Parameter change-over" function can
0x2631:041 Function list: Select parameter set (bit 0) Assignment of a trigger for the "Select parameter set (bit 0)" function.
(P400.41) (Function list: Sel. paramset b0) Selection bit with the valency 20 for "Parameter change-over" function.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: selection bit = "0".
ted. Trigger = TRUE: selection bit = "1".
0x2631:001 (P400.01). ^ 532
0 Not connected
465

0x2631:001 (P400.01). ^ 532
0 Not connected
466
Example: Selective control of several motors with one inverter
11.9.1 Example: Selective control of several motors with one inverter

A typical application for the parameter change-over is an application/machine in which sev-
eral axes must be triggered successively but a simultaneous operation of several motors is not
required. In this case, one and the same inverter can trigger the motors in succession. Advan-
tages of this solution are the reduced amount of components (inverters) and thus a reduced
energy consumption.
Principle:
• The motor to be currently controlled is connected to the inverter via motor contactors.
(The contactor system can, for instance, be controlled via the digital outputs of the inver-
ter.)
• At the same time, the motor and control settings suitable for motor are activated in the
inverter by means of parameter change-over. 4Functions for parameter change-over
^ 579
Inverter
Set 1
RAM Set 2
memory Set 3
Set 4
M1 M2 M3 M4
3~ 3~ 3~ 3~
① Motor data change-over (via the "parameter change-over" function)
② Motor change-over (e.g. via motor contactors)
The following table lists all parameters that require different settings for the four motors:
# Parameter Name Setting
M1 M2 M3 M4
1 0x2B00 (P302.00) V/f characteristic shape Linear [0] Square-law [1] Linear [0] Linear [0]
2 0x2B01:002 (P303.02) Base frequency 60 Hz 60 Hz 60 Hz 50 Hz
3 0x2D4B:001 (P308.01) Maximum utilisation [60 s] 150 % 120 % 150 % 150 %
4 0x2B12:001 (P316.01) Fixed boost 2.5 % 0.0 % 4.0 % 2.0 %
5 0x2C01:004 (P320.04) Rated speed 1745 3450 1750 1450
6 0x2C01:005 (P320.05) Rated frequency 60.0 Hz 60.0 Hz 60.0 Hz 50.0 Hz
7 0x2C01:006 (P320.06) Rated power 0.75 kW 0.75 kW 0.75 kW 1.50 kW
8 0x2C01:007 (P320.07) Rated voltage 480 V 480 V 480 V 400 V
9 0x6075 (P323.00) Motor rated current 2,200 A 2,100 A 2,200 A 3,500 A
10 0x6073 (P324.00) Max current 200.0 % 150.0 % 200.0 % 200.0 %
467
Example: Selective control of several motors with one inverter
Settings required for the "parameter change-over" function

The easiest way to make the required settings is via the parameterisation dialog in the »EASY
Starter«:
1. Click the button to first select the 10 relevant parameters.
2. Set values for motor M1 ... M4 in the corresponding fields:
In case of a direct setting in the parameters of the "parameter change-over" function:

• The addresses must be set with the following format: 0xiiiiss00 (iiii = index hexadecimal, ss
= subindex hexadecimal). The keypad serves to select the desired parameter from a list.
• The values for the motors must be set as integer values. The integer value results from the
multiplication of the actual setting value by the factor of the respective parameter. In the ,
the factor for each parameter must be given.
The following table shows the required settings:
# Address Name Value 1 Value 2 Value 3 Value 4
0x4041:x (PAR 750/x) 0x4042:x 0x4043:x 0x4044:x 0x4045:x
hex decimal (PAR 752/x) (PAR 753/x) (PAR 754/x) (PAR 755/x)
1 0x2B000000 721420288 V/f characteristic shape 0 1 0 0
2 0x2B010200 721486336 Base frequency 60 60 60 50
3 0x2D4B0100 759890176 Maximum utilisation [60 s] 150 120 150 150
4 0x2B120100 722600192 Fixed boost 25 0 40 20
5 0x2C010400 738264064 Rated speed 1745 3450 1750 1450
6 0x2C010500 738264320 Rated frequency 600 600 600 500
7 0x2C010600 738264576 Rated power 75 75 75 150
8 0x2C010700 738264832 Rated voltage 480 480 480 400
9 0x60750000 1618280448 Motor rated current 2200 2100 2200 3500
10 0x60730000 1618149376 Max current 2000 1500 2000 2000
468
11.10 Device profile CiA 402

The CiA® 402 device profile defines the functional behaviour of stepping motors, servo drives,
and frequency inverters. In order to be able to describe the different drive types, various oper-
ating modes and device parameters are specified in the device profile. Each operating mode
provides objects (e.g. for the setpoint speed, acceleration and deceleration) to generate the
desired drive behaviour.
Details
The CiA 402 operating mode "CiA: Velocity mode" is activated by the setting 0x6060 (P301.00)
= "CiA: Velocity mode [2]".
More details can be found in the CiA 402 specification (CANopen device profile
for drives and Motion Control) of the CAN in Automation (CiA) user organisa-
tion.
http://www.can-cia.org
CiA® is a registered community trademark of the CAN in Automation e. V user organisation.

0x6042 Target velocity Setpoint speed (velocity mode).
(P781.00) (Target velocity)
-32768 ... [0] ... 32767 rpm
0x6043 Velocity demand Display of the setpoint velocity (velocity mode).
(P782.00) (Velocity demand)
• Read only: x rpm
0x6044 Velocity actual value Display of the actual speed (velocity mode).
(P783.00) (Velocity actual)
0x6046:001 Velocity min max amount: Velocity min amount Minimum speed (velocity mode).
(P784.01) (Vel. min max: Vel. min amount)
0 ... [0] ... 480000 rpm
0x6046:002 Velocity min max amount: Velocity max amount Maximum speed (velocity mode).
(P784.02) (Vel. min max: Vel. max amount)
0 ... [2147483647] ... 2147483647 rpm
0x6048:001 Velocity acceleration: Delta speed Acceleration: speed interval
(P785.01) (Vel.acceleration: Delta speed)
0 ... [3000] ... 2147483647 rpm
0x6048:002 Velocity acceleration: Delta time Acceleration: time interval
(P785.02) (Vel.acceleration: Delta time)
0 ... [10] ... 65535 s
0x6049:001 Velocity deceleration: Delta speed Deceleration: speed interval
(P786.01) (Vel.deceleration: Delta speed)
0 ... [3000] ... 2147483647 rpm
0x6049:002 Velocity deceleration: Delta time Deceleration: time interval
(P786.02) (Vel.deceleration: Delta time)
0 ... [10] ... 65535 s
0x605A Quick stop option code Device status after exiting the quick stop ramp.
• Setting is only effective in the operating mode 0x6060 (P301.00) =
"CiA: Velocity mode [2]".
2 Quick stop ramp -> switch-on inhibited Automatic change to the "Switch-on inhibited" device state.
• The "Quick stop active [54]" status is reset to FALSE after ramp-down
to standstill.
6 Quick stop ramp -> quick stop active The inverter remains in the "Quick stop active" device state.
• The "Quick stop active [54]" status remains TRUE until the "Quick
stop" function is activated.
469

0x605E Fault reaction option code Selection of the response to faults.
(P791.00) (Fault reaction)
-2 DC braking The motor is brought to a standstill by means of the "DC braking" func-
tion.
4DC braking ^ 437
2 Quick stop The motor is brought to a standstill with the "quick stop" function.
• In the operating mode 0x6060 (P301.00) = "MS: Velocity mode [-2]",
the deceleration time set in 0x291C (P225.00) is effective.
• In the operating mode 0x6060 (P301.00) = "CiA: Velocity mode [2]",
the speed change set in 0x6085 (P790.00) is effective.
ted.
0x6061 Modes of operation display Display of the current operating mode.
(P788.00) (Modes of op. dis)
• Read only
0x6071 Target torque Setpoint torque for the "MS: Torque mode" operating mode.
0x6074 Torque demand value Display of the setpoint torque in the "MS: Torque mode" operating
• Read only: x.x % mode.
0x6079 DC link circuit voltage Display of the current DC-bus voltage.
• Read only: x.xxx V
0x6085 Quick stop deceleration Change in velocity used for deceleration to a standstill if quick stop is
(P790.00) (Quick stop dec.) activated.
0 ... [546000] ... 2147483647 pos. unit/s² • Setting is only effective in the operating mode 0x6060 (P301.00) =
"CiA: Velocity mode [2]".
• In operating mode 0x6060 (P301.00) = "MS: Velocity mode [-2]", the
deceleration time set in 0x291C (P225.00) is effective.
0x6085 = ((initial speed of the motor [rpm]) / (duration of the ramp until
standstill [s])) * 1092
0x6502 Supported drive modes Bit-coded display of the operating modes supported.
(P789.00) (Supported modes)
• Read only
Bit 0 Reserved -
Bit 1 CiA: Velocity mode 1 ≡ CiA 402 velocity mode is supported.
Bit 2 Reserved -
Bit 3 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Cyclic sync position mode Always 0 (not supported).
Bit 8 Cyclic sync velocity mode
Bit 9 Cyclic sync torque mode
Bit 17 MS: Velocity mode 1 ≡ vendor specific velocity mode is supported.
470

0 ... [0] ... 65535 profile CiA 402.
CAUTION!
0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device
(P780.00) (CiA: Statusword) profile CiA 402.
• Read only
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1 Switched on 1 ≡ drive switched-on
Bit 2 Operation enabled 1 ≡ operation enabled
Bit 3 Fault 1 ≡ fault or trouble active
Bit 4 Voltage enabled 1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6 Switch on disabled 1 ≡ operation inhibited
Bit 7 Warning 1 ≡ warning active
Bit 8 RPDOs deactivated 1 ≡ cyclic PDOs have been deactivated.
Bit 9 Remote 1 ≡ inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 (P301.00) = "MS: Velocity
mode [-2]".
Bit 10 Target reached 1 ≡ the actual position is in the window.
Bit 11 Internal limit active 1 ≡ internal limitation of a setpoint active.
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15 Safe torque off (STO) not active 0 ≡ STO active
1 ≡ STO not active
471
Holding brake control
11.11 Holding brake control

This function serves as a low-wear control of a holding brake. The holding is usually mounted
to the motor as an option. The holding brake can be automatically released via the start com-
mand for the inverter or manually via an external control signal, for instance, by a higher-level
Controller. The interaction of higher-level Controller and holding brake is especially important
for vertical applications. Horizontal applications need a less demanding holding brake control.
Preconditions
• Observe that the holding brake is an important element of the machine's safety concept as
a whole. Therefore be sure to carry out commissioning of this system part with particular
care!
• Holding brakes are not intended for braking during operation. The increased wear caused
by braking during operation may destroy the holding brake prematurely!
• The holding brake control itself only outputs a digital trigger for releasing the holding
brake. This trigger "Release holding brake [115]" must be assigned to a digital output or, in
the simplest case, to the relay when then switches the brake supply. 4Configuration of
digital outputs ^ 603
• If the holding brake is to be controlled via a digital output, the use of an additional relay or
power contactor is required. The digital output is not suited for direct control of a holding
brake.
• If, instead of an electrically releasing (self-holding) holding brake, an electrically holding
(self-releasing) holding brake is to be controlled, a signal inversion for the digital output
used or for the relay is to be set! 4Configuration of digital outputs ^ 603

• For further possible settings, see parameter Trigger = TRUE: X9/NO-COM closed and NC-COM open.
0x2634:001 (P420.01). ^ 603 Notes:
here.
472
Basic setting
11.11.1 Basic setting

The following parameters must be set for the activation and basic setting of the holding brake
control.
When a power contactor is used, the response time and release time of the con-
tactor are added to the brake application and release time. Both times must also
be taken into consideration for parameterising the brake application time and
brake opening time!

0x2820:001 Holding brake control: Brake mode Selecting how the "Release holding brake" command is to be triggered.
(P712.01) (Brake control: Brake mode)
0 Automatically (via device state) "Automatic operation": The "Release holding brake" command is auto-
matically carried out as a function of the device state and further condi-
tions.
CAUTION!
Also in the automatic operation, a manual release of the holding brake is
possible! For details see the following information for selection "Man-
ually [1]".
1 Manually The "Release holding brake" command can also be initiated by the fol-
lowing external triggers:
• Via the trigger assigned to the "Release holding brake" function in
0x2631:049 (P400.49) if the network control is not active.
• Via bit 14 in the CiA 402 control word 0x6040 if the network control is
active.
CAUTION!
brake can be manually released if the power section is switched off!
external trigger source for the "Release holding brake" command!
2 Off The holding brake is deactivated.
0x2820:002 Holding brake control: Brake closing time Application time (engagement time) of the holding brake.
(P712.02) (Brake control: Closing time) • Only effective in automatic operation.
0 ... [100] ... 10000 ms
0x2820:003 Holding brake control: Brake opening time Release time (disengagement time) of the holding brake.
(P712.03) (Brake control: Opening time) • Only effective in automatic operation.
0 ... [100] ... 10000 ms
0x2820:015 Holding brake control: Brake status Display of the holding brake status.
(P712.15) (Brake control: Brake status) • The status is also displayed via bit 14 in the CiA: Statusword 0x6041
• Read only (P780.00).
0 Active Holding brake is applied.
1 Brake released Holding brake is released.
For examples and details on more possible settings, see the following subchapter:
• "Automatic" brake mode (automatic operation) ^ 474
• Brake holding load ^ 476
• Brake closing level ^ 478
• Manual release of the holding brake ^ 480
473
"Automatic" brake mode (automatic operation)
11.11.2 "Automatic" brake mode (automatic operation)

In automatic operation, the inverter automatically released the holding brake when the motor
is started. In the stopped state, the holding brake is closed.
DANGER!
Manual release of the holding brake
Also in automatic operation, a manual release of the holding brake is possible. The manually
triggered "Release holding brake" command has a direct impact on the "Release holding brake
[115]" trigger. Thus, the holding brake can be manually released if the power section is
switched off.
▶ The responsibility for a manual release of the holding brake has the external trigger source
for the "Release holding brake" command!
Preconditions
Automatic operation is only available if the operating mode "MS: Velocity mode [-2]" or "MS:
Torque mode [-1]" is set in 0x6060 (P301.00).
ted.
474
"Automatic" brake mode (automatic operation)
General mode of operation

The following diagram demonstrates the general functioning of the automatic operation:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
0x2DDD 20 Hz
10 Hz
0 Hz t
Power section switched-on

t
Output trigger
Release holding brake [115]
t
Brake status 0x2820:015 Brake released [1] Active [0]
t
0x2820:003 0x2820:002
① If the inverter is enabled and no error is active, the motor can be started with the "Run" function in forward rotating direction.
The power section is switched on and the motor is magnetised first.
② The holding brake is released. For this purpose, the output trigger "Release holding brake [115]" is set to TRUE. This trigger must be
assigned to a digital output or, in the simplest case, to the relay which then switches the brake supply.
③ After the release time 0x2820:003 (P712.03) has elapsed, the motor is accelerated to the setpoint.
The brake status "Brake released [1]" is displayed in 0x2820:015 (P712.15).
④ If "Run" is set to FALSE, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with standard ramp.
⑤ Then the holding brake is closed again.
⑥ After the closing time 0x2820:002 (P712.02) has elapsed, the brake status "Active [0]" is displayed in 0x2820:015 (P712.15).
If the power section is disabled, the holding brake is closed. Reasons for this can
be an error, a fault, or the activation of the "Safe torque off (STO)" safety func-
tion.
475
Brake holding load
11.11.3 Brake holding load

Depending on the application, a torque at the motor may be required at speed "0" of the
motor shaft:
• In order to hold loads in vertical applications and prevent "sagging".
• In order to prevent a position loss in horizontal applications.
For this purpose, a brake holding load can be set. The brake holding load can be optionally
generated via a ramp to reduce a vibration stimulation that may be caused by the brake hold-
ing load.
Preconditions
Ensure that the inverter builds up a sufficient torque in the motor when releasing and apply-
ing the holding, in order to hold the load.
• For this purpose, a V/f voltage boost can be set for the V/f characteristic control. 4V/f
voltage boost ^ 183
• The parameters for the V/f voltage boost are automatically set when you carry out an
automatic identification of the motor.
Details
Relevant parameters:
• 0x2820:008 (P712.08): Brake holding load
• 0x2820:013 (P712.13): Holding load ramptime
Setting notes:
• In case of applications with constant load, a constant value is suitable for the brake holding
load.
• If the load constantly changes, a approximate value for the brake holding load has to be
considered.
• Start with the setting "0 %" if you do not know the correct direction, otherwise with, for
instance, "30 %". Afterwards change the setting upwards or downwards in 10-% steps.

0x2820:008 Holding brake control: Brake holding load By setting a holding load, the load can be held against the force of grav-
(P712.08) (Brake control: Holding load) ity in case of vertical applications, and a position loss can be prevented
-500.0 ... [0.0] ... 500.0 % in case of horizontal applications.
• The setting of "100 %" approximately corresponds to rated motor tor-
que and slip frequency.
Note!
The torque for creating the holding load depends on the selected motor
control type and its settings. Before using this function, make sure that
you have set the motor control type correctly.
0x2820:013 Holding brake control: Holding load ramptime By setting a ramp time, a vibration stimulation can be reduced that
(P712.13) (Brake control: HoldLoad ramptim) might be caused by the brake holding load 0x2820:008 (P712.08).
0 ... [0] ... 100 ms
476
Brake holding load

The following diagram demonstrates the general functioning in automatic operation:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 3 [13] Reversal rotation direction
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
0x2820:013 0x2820:013
Holding load 0x2820:008

t
Output trigger
t
Brake status 0x2820:015 Brake released [1] Active [0]
t
0x2820:003 0x2820:002
② The brake holding load set in 0x2820:008 (P712.08) is build up via the ramp set in 0x2820:013 (P712.13).
③ The holding brake is released. For this purpose, the output trigger "Release holding brake [115]" is set to TRUE. This trigger must be
④ After the release time 0x2820:003 (P712.03) has elapsed, the motor is accelerated to the setpoint.
⑤ In case the direction of rotation reverses, the holding brake remains released.
⑥ If "Run" is set to FALSE, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with standard ramp.
⑦ Then the holding brake is closed again.
⑧ After the closing time 0x2820:002 (P712.02) has elapsed, the brake status "Active [0]" is displayed in 0x2820:015 (P712.15).
The brake holding load is reduced again via the ramp.
477
Brake closing level
11.11.4 Brake closing level

In some cases, a low speed does not make any sense from the application point of view. This
includes applications with unfavorable load features, such as static friction. In such applica-
tions and depending on the type of control, a low speed may cause an unwanted behaviour. In
order to prevent such an operating situation, a closing threshold can be set. The power sec-
tion will only be switched on and the holding brake is opened if the setpoint is higher than the
closing threshold. In order to prevent the holding brake from being closed if the setpoint only
shortly falls below the closing threshold during operation, a delay time can be set in addition.
Preconditions
If the holding brake is controlled manually via an external control signal: It must be ensured
that the motor does not move while the motor control is deactivated by this function.
Details
The function is part of the holding brake control and does not have an independent function-
ality.
Relevant parameters:
• 0x2820:007 (P712.07): Brake closing threshold
• 0x2820:012 (P712.12): Closing threshold delay
Setting notes:
• The function is active if the brake closing threshold is higher than 0 Hz.
• In order that the brake can work correctly, the brake closing threshold must be set to a
value that is greater than or equals the minimum frequency 0x2915 (P210.00).
• The brake closing threshold has a permanent hysteresis of 1 Hz in order to prevent an
unwanted change-over. Exception: If the brake closing threshold is set to 0 Hz, the hystere-
sis is also 0 Hz.
• If the brake closing threshold is set to 0 Hz, a start command is only required to release the
holding brake during automatic operation.
• This function can be combined with the setting of a holding load.

0x2820:007 Holding brake control: Brake closing threshold Threshold for closing the holding brake.
(P712.07) (Brake control: Closing thresh.) • The power section will only be switched on and the holding brake will
0.0 ... [0.2] ... 599.0 Hz be opened if the setpoint is higher than the threshold set here.
• In order that the brake can work correctly, the brake closing threshold
must be set to a value that is greater than or equals the minimum fre-
quency 0x2915 (P210.00).
• The brake closing threshold has a permanent hysteresis of 1 Hz in
order to prevent an unwanted change-over. Exception: If the brake
closing threshold is set to 0 Hz, the hysteresis is also 0 Hz.
• In case of a setting of "0 Hz", only a start command is required to
release the holding break during automatic operation.
0x2820:012 Holding brake control: Closing threshold delay By setting a deceleration, a closing of the holding brake can be preven-
(P712.12) (Brake control: ClosingThr delay) ted if the frequency only temporarily falls below the brake closing
0 ... [0] ... 10000 ms threshold 0x2820:007 (P712.07).
478
Brake closing level

The following diagram demonstrates the general functioning in automatic operation:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz 0x2820:007
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 3 [13] Reversal rotation direction
t
50 Hz
40 Hz
30 Hz
0x2820:012
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz 0x2820:007
-30 Hz
-40 Hz
-50 Hz
-60 Hz

t
Output trigger
t
Brake status 0x2820:015 Brake released [1]
t
0x2820:003 0x2820:002 0x2820:003 0x2820:002
② The holding brake is released. For this purpose, the output trigger "Release holding brake [115]" is set to TRUE. This trigger must be
③ After the release time 0x2820:003 (P712.03) has elapsed, the motor is accelerated to the setpoint.
④ If the direction of rotation reverses, the holding brake remains released (even if the closing threshold delay is running.)
⑤ If the setpoint selection and the internal setpoint for the motor control fall below the brake closing threshold set in 0x2820:007 (P712.07),
the output frequency is ramped down to "0 Hz".
At the same time the closing threshold delay set in 0x2820:012 (P712.12) starts to run
⑥ If the values fall below the closing threshold longer than the closing threshold delay, the holding brake is closed again.
⑦ After the closing time 0x2820:002 (P712.02) has elapsed, the brake status "Active [0]" is displayed in 0x2820:015 (P712.15).
⑧ If "Run" is set to FALSE, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with standard ramp.
In this case, closing threshold and closing threshold delay are not effective anymore.
479
Manual release of the holding brake
11.11.5 Manual release of the holding brake

A manual release of the holding brake is possible in the modes "Automatic [0]" and "Manual
[1]" via the following external triggers:
• Via bit 14 in the CiA 402 Controlword 0x6040.
• Via the trigger assigned in 0x2631:049 (P400.49) of the "Release holding brake" function.
4Example for operating mode ^ 574

0x2631:049 Function list: Release holding brake Assignment of a trigger for the "Release holding brake" function.
(P400.49) (Function list: Release brake) Trigger = TRUE: Release holding brake (immediately).
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: no action.
ted. Notes:
• For further possible settings, see parameter • Function is only executed if the brake mode 0x2820:001 (P712.01) is
0x2631:001 (P400.01). ^ 532
set to "Automatic [0]" or "Manual [1]".
0 Not connected CAUTION!
0 ... [0] ... 65535 profile CiA 402.
CAUTION!
480
11.12 Flying restart circuit

The flying restart function makes it possible to restart a coasting motor on the fly during oper-
ation without speed feedback. Synchronicity between the inverter and the motor is coordina-
ted so that the transition to the rotating drive is effected without jerk at the time of connec-
tion.
The following description and the listed parameters are valid for the flying
restart circuit of an asynchronous motor.
For information on a flying restart circuit in case of a sensorless control of a syn-
chronous motor, see chapter "Sensorless control for synchronous motors (SL-
PSM)". ^ 178
Preconditions
• Drive systems with speed feedback do not need a flying restart circuit because there is
always a jerk-free synchronisation to the feedback speed.
• The flying restart circuit operates safely and reliably in case of drives with high centrifugal
masses. If several motors with different centrifugal masses are connected to the inverter,
the flying restart circuit must not be used.
• The flying restart circuit serves to identify rotating field frequencies of up to maximally
±200 Hz.
• Especially at high power, very high mass inertias and mains voltages higher than 440 V, a
temporary overvoltage in the DC bus may occur. The use of a brake resistor can prevent
this behaviour. 4Use of a brake resistor ^ 445
Required settings before the flying restart circuit is used:

1. The motor data must be set correctly. 4Motor data ^ 164
2. The settings for the current controller and the flying restart controller must be adapted to
the motor. The settings are made automatically if one of the following optimisations is car-
ried out:
Details
The inverter determines synchronicity by identifying the synchronous rotating field frequency.
The "search" starts in positive direction.
Duration:
• The flying restart process is determined within approx. 0.5 ... 1.5 seconds.
• The duration is influenced by the start frequency 0x2BA1:001 (P718.01).
Setting the function:
1. As starting performance, set the selection "Flying restart circuit [2]" in 0x2838:001
(P203.01).
• Thus, every inverter enable causes a synchronisation to the rotating or standing drive.
• After the inverter has been enabled, the motor can temporarily start or reverse if
drives with low friction and low mass inertia are used.
• If the inverter is operated with the default settings, no further settings are required for
most applications.
2. If required, adapt the current 0x2BA1:001 (P718.01) and the start frequency 0x2BA1:002
(P718.02) for the flying restart circuit.
• Setting notes can be found in the "Info" column for the respective parameter.
For diagnostic purposes, the frequency detected when the motor has been restarted on the
fly is displayed in 0x2BA1:008 (P718.08).
481

0x2BA1:001 Flying restart circuit: Current The current set here is injected into the motor during the flying restart
(P718.01) (Flying restart: Current) process for the identification of the rotating field frequency.
0 ... [30] ... 100 % • 100 % ≡ Motor rated current 0x6075 (P323.00)
• Reducing the current causes a reduction of the motor torque during
the flying restart process. A short-time starting action or reversing of
the motor is prevented with low flying restart currents.
• If the current is set too low, the rotating field frequency cannot be
identified correctly.
• If the current is increased, this improves the robustness of the flying
restart circuit.
• In case of high mass inertias and high speeds, the flying restart circuit
may cause an overvoltage in the DC bus if no brake resistor is connec-
ted. In this case, the current must be reduced.
0x2BA1:002 Flying restart circuit: Start frequency The frequency set here defines the starting point for the flying restart
(P718.02) (Flying restart: Start frequency) process.
-599.0 ... [20.0] ... 599.0 Hz • The search starts in positive direction.
• The default setting is adjusted to standard asynchronous motors.
• In case of systems with a known search speed (e.g. torque-controlled
drive systems that are to synchronise to a defined speed), the start
frequency can be adapted for reducing the flying restart time.
0x2BA1:008 Flying restart circuit: Flying restart frequency Display of the found frequency at which the motor has been successfully
(P718.08) (Flying restart: Fl.res.frequency) restarted on the fly.
482
Timeout für fault reaction
11.13 Timeout für fault reaction

If an error occurs that does not immediately cause a switch-off, the "Fault reaction active"
device status becomes initially active. The motor is brought to a standstill with quick stop
ramp. The change to the device status "Fault" is only made after the quick stop (motor at
standstill) has been executed or after an adjustable timeout time has expired.
Details
In the device status "Fault reaction active"
• only the parameters of the inverter can be changed that do not require an inverter disable.
• a holding brake in brake mode 0x2820:001 (P712.01) = "Automatically (via device state)
[0]" is triggered for closing.
• the motor control continues to be operable.
Power on
Not ready to Fault reaction

switch on active
Switch on
Fault
disabled
Ready to Quick stop

switch on active
Switched Operation
on enabled
① From all states

② Power section inhibited (pulse inhibit)
③ Power section enabled
• 0x282A:005 (P126.05) displays the current device status of the inverter

0x2826 Time-out for error response This timer is started when a change-over to the "Fault reaction active"
0.0 ... [6.0] ... 100.0 s device status takes place. If the motor is still rotating after the time-out
time has elapsed, a change-over to the "Fault" device status takes place.
• In case of a serious error, an immediate change-over to the "Fault"
device status takes place.
CAUTION!
Changing this parameter may cause a longer ramptime in the event of an
error. This must be considered when changing this parameter.
Related topics
4Automatic restart ^ 484
483
Automatic restart
11.14 Automatic restart

Configuration of the restart behaviour after a fault.
The settings have no impact on errors and warnings of the inverter.

0x2839:002 Fault configuration: Restart delay If a fault occurs, a restart is possible at the earliest after the time set
(P760.02) (Fault config.: Restart delay) here has elapsed.
0.0 ... [3.0] ... 1000.0 s
0x2839:003 Fault configuration: Number of restart attempts Number of restart attempts after a fault.
(P760.03) (Fault config.: Restart counter) • 255 = unlimited number of restart attempts.
0 ... [5] ... 255
0x2839:004 Fault configuration: Trouble counter reset time Time of trouble-free operation after the expiry of which the fault coun-
(P760.04) (Fault config.: Tro.count r.time) ter is decreased by 1.
0.1 ... [40.0] ... 3600.0 s
0x2839:005 Fault configuration: Trouble counter Display of the current fault counter content.
(P760.05) (Fault config.: Trouble counter) • The counter content is increased by 1 after each restart attempt.
• Read only
Related topics
4Timeout für fault reaction ^ 483
484
Mains failure control
11.15 Mains failure control

In case of power failure, this function can decelerate the motor and use its rotational energy
to maintain the DC-bus voltage for a certain period of time. This makes it possible to continue
to let the motor run during a short-term failure of the mains voltage. After mains recovery, the
operating status that was active before the failure is adopted again.
Details
A failure of the mains voltage causes a continuous DC-bus voltage drop. If the mains failure
control is enabled in 0x2D66:001 (P721.01), it will get active if the DC-bus voltage falls below
the activation threshold set in 0x2D66:002 (P721.02).
As soon as the mains failure control is active, the motor is decelerated. Now the rotational
energy of the motor is used to maintain the DC-bus voltage above the error threshold for
undervoltage until the motor is decelerated to standstill in a controlled way. This process is
controlled by the DC-bus voltage controller.

0x2D66:001 Enable function
0x2D66:002 DC-bus activation level
0x2D66:007 Clear time
0x2D66:008 Restart threshold Status 0x2D66:009
Trigger 0x2631:004 Reset
0x2D66:005
0x2D66:006 0x2D66:003
0x2D66:004
① Current DC-bus voltage

② Frequency setpoint (internal input signal)
③ Frequency setpoint (internal output signal for motor control)
The activation and commissioning of the mains failure control are described in detail in the
following subchapters.
0x2D66:001 Mains failure control: Enable function 1 = enable mains failure control.
(P721.01) (Mains fail. ctrl: Enable function)
0 Disabled
1 Enabled
0x2D66:002 Mains failure control: DC-bus activation level Threshold below which the mains failure control is activated if it is ena-
(P721.02) (Mains fail. ctrl: DC-bus act.level) bled (0x2D66:001 (P721.01) = 1).
60 ... [0]* ... 90 % • 100 % ≡ nominal DC-bus voltage
* Default setting depending on the size. Recommended setting:
• From version 02.00 • In general: 5 ... 10 % above the error threshold for undervoltage (dis-
play in 0x2540:003 (P208.03)).
• 230-V devices: 72 %
• 400/480-V devices: 82 %
0x2D66:003 Mains failure control: Gain V-controller Proportional gain of the DC-bus voltage controller.
(P721.03) (Mains fail. ctrl: Gain V-ctrl)
0.00001 ... [0.01000] ... 0.50000 Hz/V
0x2D66:004 Mains failure control: Reset time V-controller Reset time of the DC-bus voltage controller.
(P721.04) (Mains fail. ctrl: Res. time V-ctrl)
5 ... [20] ... 2000 ms
485

0x2D66:005 Mains failure control: DC voltage setpoint Voltage setpoint onto which the DC-bus voltage is to maintained.
(P721.05) (Mains fail. ctrl: DC voltage setp.) • 100 % ≡ nominal DC-bus voltage
80 ... [100] ... 110 %
0x2D66:006 Mains failure control: Setpoint ramp Acceleration time for the voltage setpoint set in 0x2D66:005 (P721.05).
(P721.06) (Mains fail. ctrl: Setp. ramp) • The set acceleration time refers to the acceleration from 0 to 100 % of
1 ... [20] ... 16000 ms the nominal DC-bus voltage.
0x2D66:007 Mains failure control: Clear time After the DC-bus voltage has exceeded the activation threshold
(P721.07) (Mains fail. ctrl: Clear time) 0x2D66:002 (P721.02) (+hysteresis) again, the time set here must be
1 ... [20] ... 60000 ms elapsed before the mains failure control is deactivated again if the
• From version 02.00 restart protection is not activated (default setting).
0x2D66:008 Mains failure control: Restart threshold Threshold for restart protection. Below the threshold set here no restart
(P721.08) (Mains fail. ctrl: Restart level) takes place after mains recovery.
0.0 ... [0.0] ... 599.0 Hz
0x2D66:009 Mains failure control: Status mains failure control Bit coded display of the mains failure control status.
(P721.09) (Mains fail. ctrl: RERT:Status)
• Read only
Bit 0 Control active 1 ≡ mains failure control active.
• The DC-bus voltage has fallen below the activation threshold
0x2D66:002 (P721.02).
• The bit is reset to 0 after the DC-bus voltage has exceeded the activa-
tion threshold (+hysteresis) again and the clear time set in
0x2D66:007 (P721.07) has elapsed.
Bit 1 I-Reset active 1 ≡ I component of the speed controller of the motor control is reset.
• Bit is set to 1 if bit 0 is set to 1 (mains failure control active).
• Bit is reset to 0 if the frequency setpoint falls below 0.1 Hz.
0x2B01:002 V/f shape data: Base frequency Base voltage and base frequency define the V/f ratio and thus the gradi-
(P303.02) (V/f shape data: Base frequency) ent of the V/f characteristic.
Device for 50-Hz mains: 0 ... [50]* ... 1500 Hz • The V/f base voltage is usually set to the rated motor voltage
Device for 60-Hz mains: 0 ... [60]* ... 1500 Hz 0x2C01:007 (P320.07).
* Default setting depending on the size. • The V/f base frequency is usually set to the rated motor frequency
0x2C01:005 (P320.05).
486
Activating the mains failure control
11.15.1 Activating the mains failure control

1. Set the selection "Enabled [1]" in 0x2D66:001 (P721.01).
2. Set the activation threshold in [%] with reference to the nominal DC-bus voltage in
0x2D66:002 (P721.02).
• Recommended setting: 5 ... 10 % above the error threshold for undervoltage (display in
0x2540:003 (P208.03)).
3. Set the voltage setpoint onto which the DC-bus voltage is to be maintained in 0x2D66:005
(P721.05).
• Recommended setting: 95 ... 100 % (of the nominal DC-bus voltage).
The mains failure control gets active with these settings if the DC-bus voltage falls below the
activation threshold. The DC-bus voltage controller now generates the required operational
energy from the rotational energy of the motor. The motor is decelerated by the mains failure
control. Thus, the deceleration ramp is shorter than the one of a non-guided system (coasting
drive).
After the mains failure control has been activated:
1. The DC-bus voltage is controlled with the acceleration time set in 0x2D66:006 (P721.06) to
the setpoint set in 0x2D66:005 (P721.05).
2. An internally generated frequency setpoint is transferred to the motor control which ena-
bles the motor (via the frequency setpoint) to be decelerated to a frequency close to
"0 Hz".
• Starting value for the guided deceleration is the current output frequency.
• The deceleration ramp (and hence the braking torque) results from the moment of
inertia of the load machine(s), the power loss of the drive (system) and the set parame-
terisation.
Behaviour after mains recovery
If, after mains recovery, the DC-bus voltage has exceeded the activation threshold (+hystere-
sis) again, an internal timing element is started. After the time period set in 0x2D66:007
(P721.07) has elapsed, the mains failure control is stopped if the restart protection is not acti-
vated (default setting).
4Restart protection ^ 488
4Fast mains recovery ^ 488
487
Fast mains recovery
11.15.2 Restart protection

The integrated restart protection is to prevent a restart in the lower frequency range if the
mains voltage was only interrupted briefly (mains recovery before the motor stands still).
• In the default setting 0x2D66:008 (P721.08) = 0 Hz, the restart protection is deactivated.
• In order to activate the restart protection, set the restart threshold in [Hz] in 0x2D66:008
(P721.08) below which no automatic start shall take place after mains recovery.
• If, in case of mains recovery, the output frequency is below the restart threshold, the
restart protection gets active:
• If the current DC-bus voltage is lower than the voltage setpoint 0x2D66:005 (P721.05),
the motor is continued to be decelerated (until frequency 0 Hz).
• If the current DC-bus voltage is higher than the voltage setpoint 0x2D66:005 (P721.05),
the motor is accelerated in a controlled way until the output frequency exceeds the
restart threshold.
• If, in case of mains recovery, the output frequency is above the restart threshold, the
motor is accelerated again to the frequency setpoint. 4Fast mains recovery ^ 488
• An active restart protection is displayed via the status bit 0 in 0x2D66:009 (P721.09) if the
mains failure control is not active.
Terminating the active restart protection
If, after mains recovery, the restart protection is active, it can be terminated by the following
actions:
• Error reset via the trigger set in 0x2631:004 (P400.04).
• Short-time inverter disable via the trigger set in 0x2631:001 (P400.01).
• Restart via the trigger set in 0x2631:002 (P400.02).
11.15.3 Fast mains recovery

A fast mains recovery is caused by a short interruption at the energy supply company (for
instance due to a thunderstorm) and by faulty components in the supply cables (for instance
slip rings).
The fast mains recovery causes a restart of the motor
• if the restart protection is deactivated (0x2D66:008 (P721.08) = 0 Hz, default setting)
or
• the restart protection does not get active (output frequency > 0x2D66:008 (P721.08)).
If this behaviour is not desired, you can decelerate the restart by setting a switch-off time in
0x2D66:007 (P721.07) or prevent it in connection with the restart protection. 4Restart pro-
tection ^ 488
488
Commissioning the mains failure control
11.15.4 Commissioning the mains failure control

Commissioning should be executed with motors without load:
1. Let the motor rotate with a rated frequency of 100 %.
2. Disable the inverter and measure the time until the motor has reached standstill.
• The time can be measured with a stop watch or similar.
• If a motor encoder is connected to the inverter and set as feedback system for the
motor control, this signal can be output at the analog output and measured with an
oscilloscope.
3. Set the acceleration time for the voltage setpoint in 0x2D66:006 (P721.06) to approx. 1/10
of the time measured before.
4. Set the switch-off time n 0x2D66:007 (P721.07) to the time measured before.
Fine adjustment of the mains failure control
For the fine adjustment, you must repeat the following points several times:
1. An end frequency as low as possible should be reached before the inverter reaches the
error threshold for undervoltage:
• Increase the proportional gain of the DC-bus voltage controller in 0x2D66:003
(P721.03).
• Reduce the reset time of the DC-bus voltage controller in 0x2D66:004 (P721.04).
2. If, during the mains failure control, monitoring for overvoltage in the DC bus is triggered:
• Increase the reset time again in 0x2D66:004 (P721.04) until monitoring is not triggered
anymore.
• If required, additionally reduce the voltage setpoint in 0x2D66:005 (P721.05) onto
which the DC-bus voltage is to be controlled.
3. Increasing the delay time or reducing the braking torque is only possible to a limited
extent:
• Increasing the acceleration time in 0x2D66:006 (P721.06) reduces the initial braking
torque and simultaneously increases the deceleration time.
• Increasing the reset time of the DC-bus voltage controller in 0x2D66:004 (P721.04)
reduces the braking torque and simultaneously increases the deceleration time. If the
reset time is too high, the inverter reaches the error threshold for undervoltage before
standstill is reached. From this point on, the motor is not guided anymore.
Signal flow - DC-bus voltage controller
0x2D66:005
0x2D66:006 0x2D66:003
0x2D66:004
① Current DC-bus voltage

② Internally generated frequency setpoint that is transferred to the motor control in case of an active mains failure control.
489
UPS operation
11.16 UPS operation

This function enables the operation of a 3x400-V inverter with an uninterruptible 1x230-V
power supply (UPD) to be able to operate the motor with reduced load for a certain period in
the event of a power failure.
NOTICE
UPS operation is not suitable for a continuous operation.
Possible consequence: Device overload
▶ Prevent a too frequent use of this function.
Restrictions
• UPS operation is only available for 3x400-V devices up to 11 kW.
• For UPS operation, one reduced output current and one reduced overload are available
only:
• Output current: 60 % of the 400-V rated current
• Overload: 80 %/5 min, 120 %/3 s of the 400-V rated current
• In order to change over to UPS operation, a minimum delay of 10 s is required.
Details
The following figure shows the principal connection of the UPS to the inverter. For further
technical details, please contact the inverter manufacturer.
L1
L2
L3 3/N/PE AC 400 V
N
PE
F1 L1
… USP Power supply
F3 N
1/N/PE AC 230 V
3/PE PE
Q1 F4 F5
AC 340 V ... 528 V
45 Hz ... 65 Hz
Q2
X100 X3
L1
L2
L3
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Q3
Q1
t
Q2
t
Q3
t
① A mutual locking is required for the contactors Q1 and Q2.
② In this example, the digital input DI5 is used to activate the UPS operation. For this purpose, the function "Activate UPS operation"
0x2631:055 (P400.55) must be assigned to trigger "Digital input 5 [15]".
③ In order to change over to UPS operation, a minimum delay of 10 s is required.
The UPS operation can be alternatively activated via network. In this case, a bit of the mappa-
ble data word NetWordIN1 0x4008:001 (P590.01) must be assigned to the "Activate UPS oper-
ation [55]" function.
490
UPS operation
If the UPS operation is active,

• the device overload monitoring (i*t) is adapted accordingly.
• the DC limit values are reduced.
• the phase failure detection is switched off.
• the warning "Operation at UPS active" (error code 12672 | 0x3180) is output.
• trigger "UPS operation active [118]" is set to TRUE. The trigger can be assigned to a digital
output.
• bit 15 ("UPS operation active") in the inverter status word 2 0x2833 is set to "1".
Notes:
• An additional limitation of speed, current, etc. can be realised with the "parameter
change-over". 4Parameter change-over ^ 464

0x2631:055 Function list: Activate UPS operation Assignment of a trigger to the "Activate UPS operation" function.
(P400.55) (Function list: Activ. UPS oper.) Trigger = TRUE: Activate UPS operation.
0x2631:001 (P400.01). ^ 532
0 Not connected
0x2833 Inverter status word 2 Bit-coded status word 2 of the inverter.
• Read only
Bit 1 Manual test mode active 1 ≡ manual test mode active.
Bit 2 Manual control active 1 ≡ manual control active.
Bit 6 DC braking active 1 ≡ DC braking active.
Bit 15 UPS operation active 1 ≡ UPS operation active.
491
UPS operation

0x2631:055 (P400.55) Activate UPS operation Digital input 5 [15]
Eingangssignale
3 x 400 V Netzspannung
t
1 x 230 V USV-Spannung
t
Trigger Funktion
Konstant TRUE [1] Inverter-Freigabe
t
Digitaleingang 1 [11] Starten
t
Digitaleingang 5 [15] Betrieb an USV aktivieren
t
Ausgangssignale 600 V
Zwischenkreisspannung
0x2D87
0V t
Statussignale
In Betrieb [50]
t
Betriebsbereit [51]
t
Betrieb an USV aktiv [118]
t
Fehlermeldungen
Warnung Unterspannung Zwischenkreis
t
Unterspannung Zwischenkreis
t
Betrieb an USV aktiv
t
① In order to change over to UPS operation, a minimum delay is required.
492
Process data
Position counter
11.17 Process data

This chapter describes additional functions that provide process data for a higher-level Con-
troller.
11.17.1 Position counter

This function counts the number of motor revolutions. The current counter content (actual
position) can be output as process data value via network to implement a simple position con-
trol in a higher-level Controller.
Preconditions
• An HTL encoder must be connected to and set at the digital inputs DI3/DI4. 4HTL
encoder ^ 496
• As an alternative, the number of motor revolutions from the motor model can be recon-
structed. For this purpose, the motor control type "Sensorless control (SL PSM) [3]" must
be selected and set in 0x2C00 (P300.00). 4Sensorless control for synchronous motors (SL-
PSM) ^ 178
• The position control must be implemented in the Controller.
Details
The signal source for the position counter is selected in 0x2C49:001 (P711.01). The position
counter can count forwards and backwards. The current counter content (actual position) is
displayed in 0x2C49:003 (P711.03). After the maximum or minimum value has been reached,
an overflow takes place.
Reset position counter:
• The position counter is reset when the supply voltage is switched on.
• The position counter can be set manually via the "Position counter reset" 0x2631:054
(P400.54) function or the NetWordIN1 0x4008:001 (P590.01) data word. For a reset via
NetWordIN1, the "Position counter reset [54]" function must be assigned to a bit of the
data word. Depending on the selection in 0x2C49:002 (P711.02), the reset can be made
either edge-controlled or status-controlled.

0x2631:054 Function list: Position counter reset Assignment of a trigger for the "Position counter reset" function.
(P400.54) (Function list: PosCounter reset) Trigger = FALSE-TRUE edge: Reset position counter manually.
• From version 03.00 Trigger = FALSE: no action.
0x2631:001 (P400.01). ^ 532
• In 0x2C49:002 (P711.02) it can be selected whether the reset is to be
0 Not connected effected edge-controlled (default setting) or status-controlled.
0x2C49:001 Position counter: Signal source Selection of the signal source for the position counter.
(P711.01) (Position counter: Signal source)
0 Disbled Position counter is deactivated.
1 Feedback 1 (DI3/DI4) The motor revolutions are counted that are provided by an HTL encoder
connected to the digital inputs DI3/DI4.
• A motor revolution always equals to the increments/revolution set in
0x2C42:001 (P341.01) for the HTL encoder. This applies to all types of
HTL encoders that can be set in 0x2630:002 (P410.02): "HTL encoder
(AB) [1]", "Pulse train [2]" and "Pulse train/direction [3]".
• The counter content will be updated as well if the power section is
switched off.
• If an HTL encoder is used without detecting the direction of rotation,
it is only counted forwards.
5 Internal motor model The motor revolutions reconstructed from the internal motor model of
the sensorless control (SL PSM) are counted.
• The counter content will not be updated if the power section is
switched off.
• After restarting the power section, the counting of the last counter
content is continued.
493
Process data
Position counter

0x2C49:002 Position counter: Reset mode Selection if the manual reset of the position counter is to be effected
(P711.02) (Position counter: Reset mode) edge-controlled or status-controlled.
0 Reset by rising edge
1 Reset by signal state true
0x2C49:003 Position counter: Actual position Mappable parameter for providing the current counter content (actual
(P711.03) (Position counter: Actual position) position) via network.
• Read only Scaling (applies to every measuring method or encoder resolution):
• From version 03.00 • Upper 16 bits: Counted revolutions (0 ... 65535, overflow possible)
• Lower 16 bits: Current position within the revolution (0 ... 65535)
494
Encoder settings
11.18 Encoder settings

In general, an encoder is a measuring system which serves to detect the velocity/speed and
possibly the position of a kinematics or motor.
• The Inverter i550 exclusively supports HTL encoders.
• For details see the following subchapter.
495
Encoder settings
HTL encoder
11.18.1 HTL encoder

In case of the inverter i550, the digital inputs DI3 and DI4 can be configured as HTL input to
evaluate the signal of a cost-effective HTL encoder or a reference frequency ("pulse train").
An HTL encoder can be used at the Inverter i550 for the following tasks:
• As motor encoder for a motor speed feedback for speed control as precise as possible.
• As setpoint encoder for defining a frequency setpoint.
• As setpoint encoder for defining the reference value for the process controller.
• As setpoint encoder for defining a torque setpoint.
• As actual value encoder for the process controller.
• As actual value encoder for the "position counter" function.
Preconditions
• Single-track or two-track HTL encoder.
• A single-track HTL encoder (track A) cannot be used for motor speed feedback.
• A two-track HTL encoder (track A and B) must have a phase offset of exactly 90°
between track A and B (error ≤ ±10°). Inverted tracks are not required.
• Encoder increments: ≤ 16384 increments per revolution
• For supplying the encoder, the maximum supply current of the inverter must be consid-
ered. If necessary, an external 24-V voltage supply for the encoder is required.
Restrictions
• When the digital inputs DI3 and DI4 are configured as HTL input, these two digital inputs
are no longer available for other control functions.
• The HTL input can be either used for detecting an HTL encoder signal or a pulse train. They
cannot be used at the same time.
• The maximum input frequency of the digital inputs is 100 kHz. If this frequency is excee-
ded, an error is triggered.
Connection
Connection of single-track HTL encoder Connection of two-track HTL encoder
(without external 24-V voltage supply) (without external 24-V voltage supply)
A A B
Connection of single-track HTL encoder Connection of two-track HTL encoder

(with external 24-V voltage supply) (with external 24-V voltage supply)
A A B
DC 24 V SELV/PELV DC 24 V SELV/PELV
(+19.2 ... +28.8 V) (+19.2 ... +28.8 V)
496
Encoder settings
HTL encoder
Details
Encoder dimensioning: Calculate maximum number of increments per revolution of the encoder
Max. encoder increments = fmax [Hz] * 60 s / nmax [rpm]
Max. encoder increment = 100000 [Hz] * 60 s / 1500 [rpm] = 4000 Increments/revolution
fmax Maximum input frequency of the digital inputs = 100 kHz = 100000 Hz
nmax Maximum encoder speed (in this example: 1500 rpm)
Max. encoder increments Maximum number of increments per encoder revolution
Select an encoder with a maximum number of increments per revolution which

is lower than or equal to the calculated number. The higher the number of
increments per revolution, the more stable the system is.
Basic steps for configuring the encoder in the »EASY Starter«:

1. Set the selection "HTL encoder (AB) [1]" in 0x2630:002 (P410.02) to configure the digital
inputs DI3 and DI4 as encoder inputs.
2. Set the encoder increment in 0x2C42:001 (P341.01) according to the manufacturer data/
encoder data sheet.

0x2C42:001 Encoder settings: Increments/revolution Encoder increment.
(P341.01) (Encoder settings: Enc. Inc/Rev) Carry out setting according to manufacturer data/encoder data sheet.
1 ... [128] ... 16384
ted.
0x2C42:006 Encoder settings: Actual velocity Display of the speed currently detected by the encoder.
0x2630:002 Settings for digital inputs: Input function Input function of the digital terminals DI3 and DI4.
(P410.02) (DI settings: Input function)
0 Digital input DI3 = digital input
DI4 = digital input
1 HTL encoder (AB) (from version 02.00) DI3 = HTL input for encoder track B
DI4 = HTL input for encoder track A
2 Pulse train (from version 03.00) DI3 = digital input
DI4 = HTL input for pulse train
3 Pulse train/direction (from version 03.00) DI3 = HTL input for direction specification; HIGH level = counter-clock-
wise (CCW)
Related topics
4Selection of setpoint source ^ 148
4Position counter ^ 493
497
Encoder settings
Encoder monitoring
11.18.2 Encoder monitoring

For monitoring the HTL encoder, two monitoring functions are implemented in the inverter
firmware:
a) Encoder signal loss monitoring: Is triggered if a failure of the encoder signal is detected
(e. g. due to open circuit or failure of the encoder current supply).
b) Encoder maximum frequency monitoring: Is triggered if the calculated encoder maximum
frequency is beyond the permissible frequency range of the digital inputs.
Preconditions
• The encoder signal loss monitoring is only active if the HTL encoder
• is set as feedback system for the motor control or
• used as signal source for the "Position counter" function. ^ 493
• For the encoder signal loss monitoring ,the inverter must be enabled and the motor must
rotate.
• The encoder maximum frequency monitoring is active as soon as the HTL encoder has
been configured.
Restrictions
• The encoder signal loss monitoring does not work anymore if the "DC braking" function is
active. ^ 437
• The response time of the encoder signal loss monitoring depends on the setting of the
encoder increments/revolution in 0x2C42:001 (P341.01).
• The settings of the speed controller can influence the encoder signal loss monitoring. If the
reset time of the speed controller is very low or deactivated, an encoder signal loss cannot
be detected at switch-on.
• If the HTL encoder is used as signal source for the "Position counter" function, an encoder
signal loss cannot be detected at switch-on.
• Combined with the "Holding brake control" function:
• In order that the encoder signal loss monitoring is not triggered by mistake, monitoring
will only be activated when the holding brake is released.
• If Brake closing time 0x2820:002 (P712.02) and Brake opening time 0x2820:003
(P712.03) are not set correctly, the encoder signal loss monitoring can be triggered
although an encoder signal is available.
498
Encoder settings
Encoder monitoring
Details on encoder signal loss monitoring

The encoder signal loss monitoring distinguishes between the following signal failures:
a) Complete failure (no encoder signals available at all, e. g. in case the encoder current sup-
ply has failed)
b) Only one track has failed (track A or track B)
In order to detect a complete failure, the inverter calculates internally two trigger thresholds
for monitoring based on the configuration of the HTL encoder:
1. Based on the encoder resolution set in 0x2C42:001 (P341.01), the minimum output fre-
quency is calculated:
number of motor pole pairs number of motor pole pairs
Minimum output frequency [Hz] = =
tmax [s] encoder increments encoder increments
× 0.001 [s] × 4 ×
edge revolution revolution
Note: The maximum time (tmax) per edge is 0.001 s. In order to prevent a false tripping,
this value is multiplied by the factor 4.
Calculation example:
• Number of pole pairs = 2
• Encoder resolution = 128 increments/revolution
2
minimum output frequency [Hz] = = 3.9 [Hz]
0.001 [s] × 4 × 128
2. The maximum permitted time is calculated in which a new signal edge of the encoder
must arrive:
1
time per edge [s] =
encoder increments
encoder frequency [Hz] ×
revolution
If the calculation with the (synchronous) encoder frequency at minimum output frequency
(here: 2 * 3.9 Hz) is carried out, the resulting time interval equals the maximum time per
edge (here: 0.001 s)
If the real encoder frequency is lower than the calculated minimum output frequency AND if
the new signal edge has not arrived within the maximum permitted item, monitoring is trig-
gered. The complete failure is displayed via the status bit 4 in 0x2C42:007.
If only track A or B fails, signals are continued to be detected. In this case, however, the sign of
the frequency changes with every new signal edge. In order to detect the failure of only one
track, an internal counter is increased by 1 every time the sign between two signal edges
changes. If the sign is unchanged in two signal edges in a row, the counter is reset. If the coun-
ter reaches the counter content "100", monitoring is triggered. The failure of only one track is
displayed via the status bit 5 in 0x2C42:007.
Both in case of a complete failure and in case only one track fails, the error message "Encoder
open circuit" (error code 29445 | 0x7305). The error response can be selected in 0x2C45
(P342.00).
499
Encoder settings
Encoder monitoring
Details on encoder maximum frequency monitoring

After the HTL encoder has been configured (or if the encoder settings are changed), the inver-
ter internally calculates the maximum possible number of encoder pulses per second (herein-
after referred to as "encoder maximum frequency"):
encoder increments max. motor speed [rpm]
encoder maximum frequency [Hz] = ×
revolution 60
If the calculated encoder maximum frequency is beyond the permissible frequency range of
the digital inputs, monitoring is triggered:
• The status bit 0 in 0x2C42:007 is set to "1".
• The warning "Feedback system: speed limitation" (error code 29573 | 0x7385) is output.
Calculation example 1:
• Maximum input frequency of the digital inputs = 100 kHz
• Encoder resolution 0x2C42:001 (P341.01) = 1024 increments/revolution
• Max motor speed 0x6080 (P322.00) = 3000 rpm
encoder increments 3000 [rpm]
encoder maximum frequency [Hz] = 1024 × = 51200 [Hz]
revolution 60
Result: The encoder maximum frequency monitoring is not triggered because the encoder
maximum frequency is within the permissible frequency range of the digital inputs.
Calculation example 2:
• Maximum input frequency of the digital inputs = 100 kHz
• Encoder resolution 0x2C42:001 (P341.01) = 4096 increments/revolution
• Max motor speed 0x6080 (P322.00) = 3600 rpm
encoder increments 3600 [rpm]
encoder maximum frequency [Hz] = 4096 × = 245760 [Hz]
revolution 60
Result: The encoder maximum frequency monitoring is triggered because the encoder
maximum frequency is beyond the permissible frequency range of the digital inputs.

0x2C42:007 Encoder settings: Status Bit coded display of the status of encoder monitoring.
0 ... [0] ... 4294967295
Bit 0 Maximum encoder speed reached 1 ≡ the calculated encoder maximum frequency is beyond the permissi-
ble frequency range of the digital inputs.
Bit 4 No signal detected 1 ≡ a complete failure of the encoder signals has been detected.
Bit 5 Encoder track A or B missing 1 ≡ a failure of only one track (track A or track B) has been detected.
0x2C45 Encoder-error response Selection of the response to the triggering of the encoder signal loss
(P342.00) (Enc.error resp.) monitoring.
• 29445 | 0x7305 - Encoder open circuit
0 No response 4Error types ^ 139
1 Warning
3 Fault
0x2C42:001 Encoder settings: Increments/revolution Encoder increment.
(P341.01) (Encoder settings: Enc. Inc/Rev) Carry out setting according to manufacturer data/encoder data sheet.
1 ... [128] ... 16384
ted.
0x2C42:006 Encoder settings: Actual velocity Display of the speed currently detected by the encoder.
500
Firmware download
Firmware download with »EASY Starter (Firmware loader)«
11.19 Firmware download

The device firmware is continuously improved by the manufacturer. New firmware versions
contain error corrections, function extensions and simplify the handling.
A new firmware is always compatible with the older version:
• A device with updated firmware and unchanged parameter settings shows the same
behaviour as before.
• Parameter settings must only be adapted if new functions are used.
11.19.1 Firmware download with »EASY Starter (Firmware loader)«

The »EASY Starter (firmware loader)« is a PC software which serves to update the firmware of
the inverter.
Preconditions
• For the firmware download, we recommend a direct USB connection to the device. For
this purpose, the USB module and a USB 2.0 cable (A plug on Micro-B plug) are required.
The voltage supply of the control electronics also takes place via the USB connection.
• The control electronics of the inverter must be supplied with voltage. Either via the USB
connection or via the external 24-V voltage supply.
• Voltage supply and communication must not be interrupted during the firmware down-
load.
Details
Together with the »EASY Starter« engineering tool, the following tools are installed as well:
Tool Brief description
»EASY Navigator« Helps you to find the right tool for your application.
»EASY Package Manager« Enables the automatic download and the installation of files for the engineering tools.
• For this purpose, the »EASY Package Manager« is provided with current files by the manufacturer and enables the
user to install them.
• The files also include new firmware versions for inverters.
»EASY Starter (firmware Enables the update of the firmware for inverters.
loader)« • The update can be made by the mechanical engineer or the end user depending on the access protection set for
the device.
Carry out the firmware download with the »EASY Starter (firmware loader)«:
1. Start »EASY Navigator« (All programs à Lenze à EASY Navigator).
2. In the »EASY Navigator«, change to the "Ensuring productivity" engineering phase.
3. Click the »EASY Starter (firmware loader)« icon (see on the left).
4. Follow the instructions of the »EASY Starter (firmware loader)«.
Notes:
• The firmware download will not take more than 20 seconds. The progress is shown in
the »EASY Starter (firmware loader)«.
• After the firmware download, the connection to the device gets lost for some second and
is then restored again automatically.
• Device settings are not changed by the firmware download.
• The brand protection does not get lost by the firmware download.
• The firmware can neither be exported from the device nor be deleted from the device.
If the connection is aborted during the firmware download, this may have the following con-
sequences:
• The device starts with the old firmware. The firmware download can be restarted.
• The firmware in the device is damaged. Consultation with the manufacturer is required.
501
Additive voltage impression
11.20 Additive voltage impression

This function serves to boost (or lower) the motor voltage from the process via an additive
voltage setpoint in order to realise a load adjustment (for instance in case of winder applica-
tions).
NOTICE
A too high boost of the motor voltage may cause the motor to heat up strongly due to the
resulting current.
▶ Avoid a too high boost of the motor voltage!
Details
At a constant field frequency, the output voltage of the inverter can be changed within a wide
range.
Example: Adaptation of the voltage characteristic in case of V/f characteristic control as a
function of the load:
• Clockwise rotation (CW) is operation in motor mode: Boost voltage.
• Counter-clockwise rotation (CCW) is operation in generator mode: Lower voltage.
Operation in Operation in
generator mode motor mode
Vout
ic
ist
er
ct
ra
ha
fc
V/
f
① Selecting an additive voltage setpoint
A detailed configuration example for this function can be found in the following subchapter.
0x2B13:001 Additive voltage impression: Enable Function 1 = enable function.
0 Disable
1 Enable
0x2B13:002 Additive voltage impression: Setpoint source Selection of the source for specifying the additive voltage setpoint.
• From version 02.00 • 100 % ≡ Rated voltage 0x2C01:007 (P320.07)
1 Analog input 1
2 Analog input 2
3 Network The additive voltage setpoint is defined via the mappable NetWordIN5
0x4008:005 (P550.05)data word.
0x2B13:003 Additive voltage impression: Actual voltage Display of the current (boosted or lowered) voltage.
• Read only: x V
0x2636:004 Analog input 1: Min PID value Definition of the setting range for PID control.
(P430.04) (Analog input 1: AI1 PID @ min) • The standard setpoint source for the reference value of PID control is
-300.00 ... [0.00] ... 300.00 PID unit selected in 0x2860:002 (P201.02).
0x2636:005 Analog input 1: Max PID value
(P430.05) (Analog input 1: AI1 PID @ max)
-300.00 ... [100.00] ... 300.00 PID unit
0x2637:004 Analog input 2: Min PID value
(P431.04) (Analog input 2: AI2 PID @ min)
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [100.00] ... 300.00 PID unit
502
Additive voltage impression
Example: Using the function with a 400-V inverter

0x4008:005 Process input words: NetWordIN5 Mappable data word for optionally specifying an additive voltage set-
(P550.05) (NetWordINx: NetWordIN5) point via network.
-100.0 ... [0.0] ... 100.0 % • 100 % ≡ Rated voltage 0x2C01:007 (P320.07)
• This value is used if "Network [3]" is selected in 0x2B13:002.
11.20.1 Example: Using the function with a 400-V inverter

With the settings indicated below, the motor is accelerated after the start to 50 Hz. As the
base frequency, however, is set very high (here: 599 Hz), the motor voltage at 50 Hz only
amounts to 20 VAC.
Now, the analog input 1 serves to change the motor voltage at constant frequency within a
wide range:
[VAC]
400
0
0 100 [%]
① Motor voltage
② Selection of an additive voltage setpoint in percent via analog input 1
The setting range (here: 0 ... 100 %) can be adapted via the parameters "Min PID value" and "Max PID value".

0x2636:004 (P430.04) Analog input 1: Min PID value 0%
0x2636:005 (P430.05) Analog input 1: Max PID value 100 %
0x2B01:002 (P303.02) V/f shape data: Base frequency 599 Hz
0x2B13:001 Additive voltage impression: Enable Function Enable [1]
0x2B13:002 Additive voltage impression: Setpoint source Analog input 1 [1]
503
Sequencer
12 Sequencer
The "sequencer" function serves to transfer a programmed sequence of setpoints to the
motor control. The switch-over to the next setpoint can be made time-controlled or even-con-
trolled. Optionally, the "sequencer" function can also trigger the digital and analog outputs.
The sequencer only generates setpoints. However, the sequencer does not con-
trol the motor operation (does not output any start and stop commands).
Basics: Sequences, steps and segments

• As a total, 8 sequences can be configured (with the numbers 1 to 8).
• Each sequence consists of 16 configurable steps.
• Each step of a sequence can call a "segment".
• A segment contains, among other things preset setpoints (speed setpoint, PID control
value, torque setpoint), a combined acceleration/deceleration for the speed setpoint
and optionally a configuration for the digital and analog outputs.
• 8 different segments and one end segment can be configured.
• Alternatively to calling a single segment, a complete sequence (with a higher number) can
also be called from one step. This serves to implement nested sequences or summarise
several sequences to one sequence.
Sequence 1 Sequence 2 Sequence 1 Sequence 2
1 Segment 1 1 Segment 1 1 Sequence 2 1 Segment 1
2 Segment 2 2 Segment 6 2 Sequence 3 2 Segment 2
3 Segment 3 3 Segment 7 3 Segment 7 3 Segment 3
4 Segment 2 4 Segment 8 4 Segment 8 Sequence 3
Number 1 Segment 4 Sequence 6

End segment of cycles passed
End segment
No through?
2 Sequence 6 1 Segment 5
Yes
End segment 3 Segment 4 2 Segment 7
4 Segment 3 3 Segment 8
5 Segment 1
① Simple sequence with four steps.

② Simple sequence with four steps that are passed through several times (number of cycles > 1).
For each sequence, the number of cycles can be set individually.
③ Nested sequence: Other (sub) sequences are called by one (main) sequence.
504
Sequencer
Commissioning
For commissioning the sequencer, we recommend the following proceeding:
1. Configure segments (including end segment).
Details: 4Segment configuration ^ 506
2. Configure sequences:
a) Assign the segments to the single steps of a sequence.
b) Set the number of cycles for the respective sequence.
Details: 4Sequence configuration ^ 516
3. Make the basic setting of the sequencer:
a) Set the desired operating mode (time and/or step operation).
b) Optionally: Adapt end of sequence mode and start of sequence mode.
Details: 4Sequencer basic settings ^ 520
4. Configure the control of the sequencer:
a) Assign the functions for selecting a sequence to suitable triggers (e. g. digital inputs).
b) Assign the functions for controlling the sequencer (start, stop, cancel, ...) to suitable
triggers.
Details: 4Sequencer control functions ^ 588
Control
The functions listed in the following table serve to control the sequencer. For details, see
chapter "Sequencer control functions". ^ 588
Function Info
Select sequence (bit 0) ... Select Bit coded selection of the sequence to be started.
sequence (bit 3)
Start sequence The selected sequence is started. The start can take place edge or status-controlled depending on the configu-
ration.
Next sequence step Immediate jump to the next step irrespective of the time set for the segment.
Pause sequence The sequencer stops in the current step. The expiration for the time set for the segment is stopped. The
sequencer setpoint remains active.
Suspend sequence There is a temporal return to the normal setpoint control. The sequence is then continued at the point where
it was suspended.
Stop sequence Direct jump to the end segment. The further execution depends on the selected end of sequence mode.
Abort sequence Immediate return to the normal setpoint control. The end segment is not executed anymore.
Diagnostics
For diagnosing the sequencer, the diagnostic parameters listed in chapter "Sequencer diag-
nostics" are available. ^ 134
Internal status signals
The sequencer provides different internal status signals (see the following table). These status
signals can be assigned to the relay, the digital outputs or the status word. 4Configuration of
digital outputs ^ 603
Internal status signal Info
"Sequencer controlled [100]" The control is executed via the sequencer (according to the configuration of the digital outputs for the current
segment).
"Sequence active [101]" The sequence is running and is currently not suspended.
"Sequence suspended [102]" The sequence is currently suspended.
"Sequence done [103]" The sequence is completed (end segment was passed through).
505
Sequencer
Segment configuration
12.1 Segment configuration

Each step of a sequence can call a "segment". A segment contains, among other things preset
setpoints (speed setpoint, PID control value, torque setpoint), a combined acceleration/decel-
eration for the speed setpoint and optionally a configuration for the digital and analog out-
puts.
Details
As a total, 8 segments and one end segment can be configured.
• The settings are only effective if a sequence is active and the respective segment is execu-
ted.
• Not all settings are relevant for all operating modes. If, for instance, the PID control is not
used at all, no PID setpoint needs to be set for the segment.
• The following figure shows the segment settings relevant for the operating mode 0x6060
(P301.00) = "MS: Velocity mode [-2]".
• The table below contains a short overview of the possible settings for each segment.
60 Hz
Segment 1 Segment 2 End segment
50 Hz
40 Hz
Frequency setpoint 30 Hz
20 Hz
10 Hz
0 Hz t
tSegment1 tSegment2 tEnd segment
Seq. controlled [100] Relay / digital output

10 V t
Seq. controlled [10] Analog output
0V t
NetWordOUT2 0x400A:002 0x1234 0x5678 0xFFFF

t
Setting Info
Frequency setpoint ① Only relevant for the operating mode 0x6060 (P301.00) = "MS: Velocity mode [-2]". direction of rota-
tion according to sign.
Acceleration/deceleration ② Only relevant for operating mode 0x6060 (P301.00) = "MS: Velocity mode [-2]". The set time refers
to the acceleration from standstill to the set maximum frequency. The deceleration is effected with
the same ramp.
Time ③ Meaning for segment 1 ... 8:
Runtime for the segment after the expiry of which it is switched over to the next step of the
sequence. Only relevant for Sequencer mode 0x4025 (P800.00) = "Time operation [1]" or "Time &
step operation [3]".
④ Meaning for end segment:
Delay time for activating the output states configured for the end segment.
Digital outputs ⑤ Optionally: Set digital outputs to a certain level for the execution time of the segment.
Analog outputs ⑥ Optionally: Set analog outputs to an adjustable voltage value for the execution time of the segment.
PID setpoint Only relevant if the PID control in 0x4020:001 (P600.01) is activated.
Torque setpoint Only relevant for operating mode 0x6060 (P301.00) = "MS: Torque mode [-1]".
NetWordOUT2 ⑦ Optionally: Set NetWordOUT2 data word for the execution time of the segment to an adjustable
value. The NetWordOUT2 data word 0x400A:002 (P591.02) can be mapped to a network register to
transfer the set value as process date.
4Further process data ^ 251
In the following, all parameters relevant for the segment configuration are given.
If the sequencer is active, write accessed to all parameters are blocked that con-
cern the active segment configuration!
506
Sequencer

0x4026:001 Sequencer segment 1: Frequency setpoint Frequency setpoint for the segment.
(P801.01) (Segment 1: Frequency setp.) • Only relevant for operating mode 0x6060 (P301.00) = "MS: Velocity
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
• From version 03.00 • Direction of rotation according to sign.
0x4026:002 Sequencer segment 1: Acceleration/deceleration Acceleration/deceleration for the segment.
(P801.02) (Segment 1: Accel./decel.) • Only relevant for operating mode 0x6060 (P301.00) = "MS: Velocity
0.0 ... [5.0] ... 3600.0 s mode [-2]".
• From version 03.00 • The set time refers to the acceleration from standstill to the set maxi-
mum frequency. The deceleration is effected with the same ramp.
0x4026:003 Sequencer segment 1: Time Runtime for the segment after the expiry of which it is switched over to
(P801.03) (Segment 1: Time) the next step of the sequence.
0.0 ... [0.0] ... 100000.0 s • Only relevant for Sequencer mode 0x4025 (P800.00) = "Time opera-
• From version 03.00 tion [1]" or "Time & step operation [3]".
• With the setting "0.0", the segment will be skipped.
0x4026:004 Sequencer segment 1: Digital outputs Optionally: Set digital outputs to the level set here for the execution
(P801.04) (Segment 1: Digital outp.) time of the segment.
0 ... [0] ... 255 Note!
• From version 03.00 In order that the control of a digital output is executed by the sequencer,
the following assignment must be made for the respective digital out-
put:
• Relay: 0x2634:001 (P420.01) = "Sequencer controlled [100]"
• Digital output 1: 0x2634:002 (P420.02) = "Sequencer controlled [100]"
Bit 0 Relay 0 = X9/NO-COM open and NC-COM closed.
1 = X9/NO-COM closed and NC-COM open.
An inversion set in 0x2635:001 (P421.01)is taken into consideration
here.
Bit 1 Digital output 1 0 = set digital output 1 to LOW level.
1 = set digital output 1 to HIGH level.
An inversion set in 0x2635:002 (P421.02) is taken into consideration
here.
here.
0x4026:005 Sequencer segment 1: Analog outputs Optionally: Set analog outputs to the voltage value set here for the exe-
(P801.05) (Segment 1: Analog outp.) cution time of the segment.
0.00 ... [0.00] ... 10.00 VDC Note!
• From version 03.00 In order that the control of an analog output is executed by the
sequencer, the following assignment must be made for the respective
analog output:
• Analog output 1: 0x2639:002 (P440.02) = "Sequencer controlled [10]"
• Analog output 2: 0x263A:002 (P441.02) = "Sequencer controlled [10]"
0x4026:006 Sequencer segment 1: PID setpoint PID control value for the segment.
(P801.06) (Segment 1: PID setp.) • Only relevant if the PID control in 0x4020:001 (P600.01) is activated.
-300.00 ... [0.00] ... 300.00 PID unit
0x4026:007 Sequencer segment 1: Torque setpoint Torque setpoint for the segment.
(P801.07) (Segment 1: Torque setp.) • Only relevant for operating mode 0x6060 (P301.00) = "MS: Torque
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0x4026:008 Sequencer segment 1: NetWordOUT2 Optionally: Set the NetWordOUT2 data word to the value set here for
0 ... [0] ... 65535 the execution time of the segment.
• From version 03.00 • The NetWordOUT2 data word 0x400A:002 (P591.02) can be mapped
to a network register to transfer the set value as process date.
0x4026:009 Sequencer segment 1: Reserved
0 ... [0] ... 4294967295
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
507
Sequencer

0.0 ... [5.0] ... 3600.0 s mode [-2]".
0 ... [0] ... 255 Note!
put:
here.
here.
here.
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
-300.00 ... [0.00] ... 300.00 PID unit
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0 ... [0] ... 4294967295
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0.0 ... [5.0] ... 3600.0 s mode [-2]".
508
Sequencer

0 ... [0] ... 255 Note!
put:
here.
here.
here.
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
-300.00 ... [0.00] ... 300.00 PID unit
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0 ... [0] ... 4294967295
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0.0 ... [5.0] ... 3600.0 s mode [-2]".
509
Sequencer

0 ... [0] ... 255 Note!
put:
here.
here.
here.
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
-300.00 ... [0.00] ... 300.00 PID unit
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0 ... [0] ... 4294967295
0x402A:001 Sequencer segment 5: Frequency setpoint Frequency setpoint for the segment.
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0x402A:002 Sequencer segment 5: Acceleration/deceleration Acceleration/deceleration for the segment.
0.0 ... [5.0] ... 3600.0 s mode [-2]".
0x402A:003 Sequencer segment 5: Time Runtime for the segment after the expiry of which it is switched over to
510
Sequencer

0x402A:004 Sequencer segment 5: Digital outputs Optionally: Set digital outputs to the level set here for the execution
0 ... [0] ... 255 Note!
put:
here.
here.
here.
0x402A:005 Sequencer segment 5: Analog outputs Optionally: Set analog outputs to the voltage value set here for the exe-
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
0x402A:006 Sequencer segment 5: PID setpoint PID control value for the segment.
-300.00 ... [0.00] ... 300.00 PID unit
0x402A:007 Sequencer segment 5: Torque setpoint Torque setpoint for the segment.
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0x402A:008 Sequencer segment 5: NetWordOUT2 Optionally: Set the NetWordOUT2 data word to the value set here for
0x402A:009 Sequencer segment 5: Reserved
0 ... [0] ... 4294967295
0x402B:001 Sequencer segment 6: Frequency setpoint Frequency setpoint for the segment.
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0x402B:002 Sequencer segment 6: Acceleration/deceleration Acceleration/deceleration for the segment.
0.0 ... [5.0] ... 3600.0 s mode [-2]".
0x402B:003 Sequencer segment 6: Time Runtime for the segment after the expiry of which it is switched over to
511
Sequencer

0x402B:004 Sequencer segment 6: Digital outputs Optionally: Set digital outputs to the level set here for the execution
0 ... [0] ... 255 Note!
put:
here.
here.
here.
0x402B:005 Sequencer segment 6: Analog outputs Optionally: Set analog outputs to the voltage value set here for the exe-
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
0x402B:006 Sequencer segment 6: PID setpoint PID control value for the segment.
-300.00 ... [0.00] ... 300.00 PID unit
0x402B:007 Sequencer segment 6: Torque setpoint Torque setpoint for the segment.
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0x402B:008 Sequencer segment 6: NetWordOUT2 Optionally: Set the NetWordOUT2 data word to the value set here for
0x402B:009 Sequencer segment 6: Reserved
0 ... [0] ... 4294967295
0x402C:001 Sequencer segment 7: Frequency setpoint Frequency setpoint for the segment.
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0x402C:002 Sequencer segment 7: Acceleration/deceleration Acceleration/deceleration for the segment.
0.0 ... [5.0] ... 3600.0 s mode [-2]".
0x402C:003 Sequencer segment 7: Time Runtime for the segment after the expiry of which it is switched over to
512
Sequencer

0x402C:004 Sequencer segment 7: Digital outputs Optionally: Set digital outputs to the level set here for the execution
0 ... [0] ... 255 Note!
put:
here.
here.
here.
0x402C:005 Sequencer segment 7: Analog outputs Optionally: Set analog outputs to the voltage value set here for the exe-
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
0x402C:006 Sequencer segment 7: PID setpoint PID control value for the segment.
-300.00 ... [0.00] ... 300.00 PID unit
0x402C:007 Sequencer segment 7: Torque setpoint Torque setpoint for the segment.
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0x402C:008 Sequencer segment 7: NetWordOUT2 Optionally: Set the NetWordOUT2 data word to the value set here for
0x402C:009 Sequencer segment 7: Reserved
0 ... [0] ... 4294967295
0x402D:001 Sequencer segment 8: Frequency setpoint Frequency setpoint for the segment.
-599.0 ... [0.0] ... 599.0 Hz mode [-2]".
0x402D:002 Sequencer segment 8: Acceleration/deceleration Acceleration/deceleration for the segment.
0.0 ... [5.0] ... 3600.0 s mode [-2]".
0x402D:003 Sequencer segment 8: Time Runtime for the segment after the expiry of which it is switched over to
513
Sequencer

0x402D:004 Sequencer segment 8: Digital outputs Optionally: Set digital outputs to the level set here for the execution
0 ... [0] ... 255 Note!
put:
here.
here.
here.
0x402D:005 Sequencer segment 8: Analog outputs Optionally: Set analog outputs to the voltage value set here for the exe-
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
0x402D:006 Sequencer segment 8: PID setpoint PID control value for the segment.
-300.00 ... [0.00] ... 300.00 PID unit
0x402D:007 Sequencer segment 8: Torque setpoint Torque setpoint for the segment.
-400.0 ... [100.0] ... 400.0 % mode [-1]".
0x402D:008 Sequencer segment 8: NetWordOUT2 Optionally: Set the NetWordOUT2 data word to the value set here for
0x402D:009 Sequencer segment 8: Reserved
0 ... [0] ... 4294967295
0x402E:001 End segment: Frequency setpoint Frequency setpoint after the sequence has been completed, i. e., after
(P822.01) (End segment: Frequency setp.) the steps configured for the sequence have been passed through with
-599.0 ... [0.0] ... 599.0 Hz the set numbers of cycles.
• From version 03.00 • Only relevant for the operating mode 0x6060 (P301.00) = "MS: Veloc-
ity mode [-2]" and if end of sequence mode 0x402F (P824.00) = "Keep
running [0]".
• Direction of rotation according to sign.
0x402E:002 End segment: Acceleration/deceleration If end of sequence mode = "continuous operation" (default setting):
(P822.02) (End segment: Accel./decel.) Acceleration/deceleration for reaching the frequency setpoint set for the
0.0 ... [5.0] ... 3600.0 s end segment after the sequence has been processed.
• From version 03.00 If end of sequence mode = "Stop" or "Stop and abort": Deceleration for
reaching standstill after the sequence has been processed.
• Only relevant for operating mode 0x6060 (P301.00) = "MS: Velocity
mode [-2]".
• The set time refers to the acceleration from standstill to the set maxi-
514
Sequencer

0x402E:003 End segment: Time Delay time for activating the output states configured for the end seg-
(P822.03) (End segment: Time) ment.
0.0 ... [0.0] ... 100000.0 s • This parameter has a different meaning than the time settings for the
• From version 03.00 segments 1 ... 8!
• The set deceleration time starts when the end segment is started to
be processed.
After the deceleration time has elapsed:
• The digital outputs are (if configured accordingly) set to the levels set
in 0x402E:004 (P822.04).
• The analog outputs are (if configured accordingly) set to the voltage
value set in 0x402E:005 (P822.05).
• The NetWordOUT2 data word is set to the value set in 0x402E:008.
0x402E:004 End segment: Digital outputs Optionally: Set digital outputs to the levels set here after the time set for
(P822.04) (End segment: Digital outp.) the end segment.
0 ... [0] ... 255
here.
here.
here.
0x402E:005 End segment: Analog outputs Optionally: Set analog outputs to the voltage value set here after the
(P822.05) (End segment: Analog outp.) time set for the end segment.
0.00 ... [0.00] ... 10.00 VDC Note!
analog output:
0x402E:006 End segment: PID setpoint PID control value after the sequence has been completed, i. e., after the
(P822.06) (End segment: PID setp.) steps configured for the sequence have been passed through with the
-300.00 ... [0.00] ... 300.00 PID unit set numbers of cycles.
• From version 03.00 • Only relevant if PID control is activated in 0x4020:001 (P600.01) and
end of sequence mode 0x402F (P824.00) = "Keep running [0]".
0x402E:007 End segment: Torque setpoint Torque setpoint after the sequence has been completed, i. e., after the
(P822.07) (End segment: Torque setp.) steps configured for the sequence have been passed through with the
-400.0 ... [100.0] ... 400.0 % set numbers of cycles.
• From version 03.00 • Only relevant for the operating mode 0x6060 (P301.00) = "MS: Torque
mode [-1]" and if end of sequence mode 0x402F (P824.00) = "Keep
running [0]".
0x402E:008 End segment: NetWordOUT2 Optionally: Set NetWordOUT2 data word to the value set here after the
0 ... [0] ... 65535 time set for the end segment.
0x402E:009 End segment: Reserved
0 ... [0] ... 4294967295
515
Sequencer
Sequence configuration
12.2 Sequence configuration

As a total, 8 sequences can be configured (with the numbers 1 to 8). Each sequence consists
of 16 configurable steps. Each step of a sequence can call a segment or a complete sequence
(with a higher number).
Details
The following example illustrates the configuration based on a nested sequence:
• The sequence 1 is the main sequence which calls further (sub) sequences.
• The main sequence is passed through four times. Afterwards, in the preset "continuous
operation" end of sequence mode, the setpoint set for the end segment is continuously
transmitted to the motor control until the sequence is aborted.
Sequence 1 Sequence 2
4 Segment 8 Sequence 3
1 Segment 4 Sequence 6
Pass through
4 cycles?
No
Yes
End segment 3 Segment 4 2 Segment 7
5 Segment 1
Resulting segment order

1 2 3 4 5 7 8 4 3 1 7 8 End segment
4 cycles
Required parameter setting:

Step 1 0x4030:001 (P830.01) = "Sequence 2 [-2]" 0x4032:001 (P835.01) = "Segment 1 [1]"
Step 2 0x4030:002 (P830.02) = "Sequence 3 [-3]" 0x4032:002 (P835.02) = "Segment 2 [2]"
Step 3 0x4030:003 (P830.03) = "Segment 7 [7]" 0x4032:003 (P835.03) = "Segment 3 [3]"
Step 4 0x4030:004 (P830.04) = "Segment 8 [8]" 0x4032:004 (P835.04) = "Skip step [0]"
Step 5 0x4030:005 (P830.05) = "Skip step [0]"
...
Step ... ...
Step 16 0x4030:016 (P830.16) = "Skip step [0]" 0x4032:016 (P835.16) = "Skip step [0]"
Number of cycles 0x4031 (P831.00) = 4 0x4033 (P836.00) = 1
Step 1 0x4034:001 (P840.01) = "Segment 4 [4]" 0x403A:001 (P855.01) = "Segment 5 [5]"
Step 2 0x4034:002 (P840.02) = "Sequence 6 [-6]" 0x403A:002 (P855.02) = "Segment 7 [7]"
Step 3 0x4034:003 (P840.03) = "Segment 4 [4]" 0x403A:003 (P855.03) = "Segment 8 [8]"
Step 4 0x4034:004 (P840.04) = "Segment 3 [3]" 0x403A:004 (P855.04) = "Skip step [0]"
Step 5 0x4034:005 (P840.05) = "Segment 1 [1]"
Step 6 0x4034:006 (P840.06) = "Skip step [0]" ...
Step ... ...
Step 16 0x4034:016 (P840.16) = "Skip step [0]" 0x403A:016 (P855.16) = "Skip step [0]"
Number of cycles 0x4035 (P841.00) = 1 0x403B (P856.00) = 1
516
Sequencer
In the following, all parameters relevant for the sequence configuration are given.
If the sequencer is active, write accessed to all parameters are blocked that con-
cern the active sequence configuration!

0x4030:001 ... Sequence 1: Step 1 ... Step 16 Configuration of the steps 1 ... 16 for sequence 1.
0x4030:016 (Sequence 1: Step 1 ... Step 16) • Alternatively to calling a single segment, a complete sequence (with a
(P830.01 ... 16) -8 Sequence 8 higher number) can also be called from one step. This, for instance,
serves to configure a main sequence from which several subsequen-
-7 Sequence 7
ces are called successively.
-6 Sequence 6 • With the setting "0", the respective step is skipped.
-5 Sequence 5
-4 Sequence 4
-3 Sequence 3
-2 Sequence 2
0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
0x4031 Number of cycles sequence 1 Definition of how often the sequence 1 is to be passed through.
(P831.00) (Cycl. sequence 1) • 1 = one pass, 2 = two passes, ...
1 ... [1] ... 65535 • 65535 = infinite number of cycles.
-7 Sequence 7
-5 Sequence 5
-4 Sequence 4
-3 Sequence 3
0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
517
Sequencer

-7 Sequence 7
-5 Sequence 5
-4 Sequence 4
0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
-7 Sequence 7
-5 Sequence 5
0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
-7 Sequence 7
0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
518
Sequencer

0x403A:001 ... Sequence 6: Step 1 ... Step 16 Configuration of the steps 1 ... 16 for sequence 6.
0x403A:016 (Sequence 6: Step 1 ... Step 16) • Alternatively to calling a single segment, a complete sequence (with a
-7 Sequence 7
0 Skip step • With the setting "0", the respective step is skipped.
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
0x403B Number of cycles sequence 6 Definition of how often the sequence 6 is to be passed through.
0x403C:001 ... Sequence 7: Step 1 ... Step 16 Configuration of the steps 1 ... 16 for sequence 7.
0x403C:016 (Sequence 7: Step 1 ... Step 16) • Alternatively to calling a single segment, a complete sequence (with a
0 Skip step
1 Segment 1 • With the setting "0", the respective step is skipped.
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
0x403D Number of cycles sequence 7 Definition of how often the sequence 7 is to be passed through.
0x403E:001 ... Sequence 8: Step 1 ... Step 16 Configuration of the steps 1 ... 16 for sequence 8.
0x403E:016 (Sequence 8: Step 1 ... Step 16) • With the setting "0", the respective step is skipped.
(P865.01 ... 16) 0 Skip step
1 Segment 1
2 Segment 2
3 Segment 3
4 Segment 4
5 Segment 5
6 Segment 6
7 Segment 7
8 Segment 8
0x403F Number of cycles sequence 8 Definition of how often the sequence 8 is to be passed through.
(P866.00) (Cycl. sequence 8) • 65535 = infinite number of cycles.
1 ... [1] ... 65535
519
Sequencer
Sequencer basic settings
12.3 Sequencer basic settings

In the presetting, the sequencer is disabled. In order to enable the sequencer, the desired
sequencer mode (time and/or step operation) must be set. Moreover, different end of
sequence modes and start of sequences modes are available.
Details
Sequencer mode 0x4025 (P800.00)
• The sequencer can be operated in time and/or step operation.
• The following diagram demonstrates the different sequencer modes:
Configured sequence for continuous operation:
Segment 1 Segment 2 Segment 3 End segment
tSegment1 tSegment2 tSegment3
Input signals
Trigger Function
t
Digital input 2 [12] Start sequence
t
Digital input 3 [13] Next sequence step
t
0x4025 Sequencer mode =
Time operation [1] Segment 1 Segment 2 Segment 3 End segment
t
Step operation [2] Segment 1 Segment 2 Segment 3 End segment
t
Time & step operation [3] Segment 1 Segment 2 Segment 3 End segment
t
End of sequence mode 0x402F (P824.00)
• The end of sequence mode defines the action after the end of the sequence.
• In the default setting "Keep running [0]", the setpoint set for the end segment is continu-
ously transmitted to the motor control until the sequence is aborted.
• The following diagram demonstrates the different end of sequence modes:
Input signals
Trigger Function
t
t
Digital input 3 [13] Abort sequence
t
0x402F End of sequence mode =
Sequence active Normal setpoint control
Continuous operation [0] Segment 1 Segment 2 Segment 3 End segment no stop
t
Stop [1] Segment 1 Segment 2 Segment 3 Stop
t
Stop and abort [2] Segment 1 Segment 2 Segment 3 Stop
t
Abort [3] Segment 1 Segment 2 Segment 3 no stop
t
520
Sequencer
Start of sequence mode 0x4040 (P820.00)

• The start of sequence mode defines the action after the motor is stopped and restarted or
after the motor has been restarted after an error occurred.
• In the default setting "Restart sequencer [0]", the currently selected sequence is restarted.
• The following diagram demonstrates the different start of sequence modes:
Configured sequence for continuous operation:
Segment 1 Segment 2 Segment 3 End segment
tSegment1 tSegment2 tSegment3
Input signals
Trigger Function
t
t
t
0x4040 Start of sequence mode =
Restart sequencer [0] Segment 1 Segment 2 Segment 1 Segment 2 Segment 3
t
Restart current segment [1] Segment 1 Segment 2 Segment 2 Segment 3 End segment
t
Continue current segment [2] Segment 1 Segment 2 Segment 2 Segment 3 End segment
t
Start next segment [3] Segment 1 Segment 2 Segment 3 End segment
t
No action [4] Segment 1 Segment 2 Segment 3 End segment
t

0x4025 Sequencer mode Selection of the sequencer mode.
(P800.00) (Sequencer mode)
0 Disabled
1 Time operation (from version 03.00) The switch-over to the next step of the sequence is made after the time
set for the current segment has elapsed.
2 Step operation (from version 03.00) The switch-over to the next step of the sequence is made via the trigger
assigned in 0x2631:032 (P400.32) to the "Next sequence step" function.
3 Time & step operation (from version 03.00) The switch-over to the next step of the sequence is made via the trigger
assigned in 0x2631:032 (P400.32) to the "Next sequence step" function,
but no later than after the time set for the current segment has elapsed.
0x402F End of sequence mode Selection of the action after the sequence has been completed, i. e.,
(P824.00) (End of seq. mode) after the steps configured for the sequence have been passed through
• From version 03.00 with the set numbers of cycles.
0 Keep running The setpoint set for the end segment is continuously transmitted to the
motor control until the sequence is aborted.
1 Stop The motor is stopped with the stop method set in 0x2838:003 (P203.03).
The setpoint is continued to be controlled by the sequencer. In order to
return to the normal setpoint control, the sequence must be aborted.
Note!
After returning to the normal setpoint control, a start command is
2 Stop and abort The motor is stopped with the stop method set in 0x2838:003 (P203.03).
After standstill is reached, it is automatically returned to the normal set-
point control.
Note!
After returning to the normal setpoint control, a start command is
3 Abort Return to the normal setpoint control without stopping the motor.
521
Sequencer

0x4040 Start of sequence mode Selection of the action after the motor has been stopped and restarted
(P820.00) (StartOfSeq. mode) or after the motor has been restarted after an error occurred.
0 Restart sequencer The currently selected sequence is restarted.
1 Restart current segment The current segment of the selected sequence is restarted.
2 Continue current segment The current segment of the selected sequence is continued (just like
after a break).
3 Start next segment The next segment of the selected sequence is started.
4 No action For debugging purposes: The sequence is continued to be processed
(including output states) even if the motor is stopped.
Related topics
4Sequencer diagnostics ^ 134
522
Safety functions
13 Safety functions
13.1 Safe torque off (STO)
With this safety function, the drive can be switch off safely immediately.
DANGER!
Automatic restart if the request of the safety function is deactivated.
▶ You must provide external measures according to EN ISO 13849−1 which ensure that the
drive only restarts after a confirmation.
Preconditions
Inverter with I5MASA000 safety module
Details
Safe disconnection of the drive
1. A safety sensor requests the safety function.
2. The transmission of the pulse width modulation is safely switched off by the safety unit.
3. The power drivers do not generate a rotating field anymore.
4. The "STO is not active" status in the status word changes from 1: HIGH to 0: LOW (object
0x6041, bit 15).
The motor is safely switched to torqueless operation (STO).
Fig. 8: Operating principle of safety unit

X1 Control terminals of the safety unit M Motor
PWM Pulse width modulation µC Microcontroller
Truth table
Safe input / channel Inverter
SIA SIB Device status Approval
0 0 0
0 1 STO active 0
1 0 0
1 1 Drive enabled 1
If SIA and SIB are LOW at the same time, the internal status signal "Both STO
channels not active [155]" in the inverter is set to TRUE. This status signal can be
used to trigger a "non-safe output" (e.g. to the relay).
If the GS connection is interrupted or in case of a short circuit/short circuit of GS
to SIA/SIB, STO is active.
523
Safety functions
Safe torque off (STO)

0x282A:004 Status words: Extended status word Bit-coded status word.
• Read only
Bit 8 Reverse rotational direction 1 ≡ reversal active.
Bit 10 Safe torque off (STO) active 1 ≡ "Safe torque off (STO)" function has been triggered by the integrated
safety system.
Bit 11 Both STO channels not active 1 ≡ safe inputs SIA and SIB = LOW (simultaneously).
524
Flexible I/O configuration

Use parameter 0x2631 (P400xx) to individually adapt the inverter control to the respective
application. This is basically effected by assigning digital signal sources ("triggers") to functions
of the inverter.
NOTICE
A digital signal source can be assigned to several functions.
Possible consequence: unforeseeable behaviour of the drive in case of incorrect assignment
▶ Carry out assignment of a digital signal source to several functions with greater care.
Details
• Each subcode of 0x2631 (P400) is permanently assigned to a specific function. Functions
are for example "Enable inverter", "Activate quick stop" or "Start forward (CW)".
• For a function, exactly one (digital) trigger can be set:
Trigger Function
Digital input 1 Run
• Possible triggers to be selected are for example the digital input and internal status signals
of the inverter.
• A list of all triggers available can be found in the description for the parameter 0x2631:001
(P400.01).
• If the trigger condition is met, the corresponding function is executed. More details with
regard to the respective trigger conditions can be gathered from the functional descrip-
tions in the following subchapters.
Example: changing the function assignment of a digital input
Task for this example:
1. The preset assignment of the digital input 3 for "Reverse rotational direction" function is
to be cancelled.
2. Instead, the digital input 3 is to be assigned to the "Activate DC braking" function.
For this purpose, the following two settings are required:
Function Trigger Function
Default: 0x2631:013 = Digital input 3 [13] Invert rotation
New: 1. 0x2631:013 = Not connected [0] Invert rotation

2. 0x2631:005 = Digital input 3 [13] Activate DC braking
525
Control source change-over
14.1 Control source change-over

The term "control sources" in this connection refers to the digital signal sources from which
the inverter receives its start, stop, and reversal commands.
Possible control sources are:
• Digital inputs
• Keypad
• Network
Details
First, select in 0x2824 (P200.00) whether the start of the motor is to be configured flexibly
(default setting) or exclusively via the keypad. 4Control source selection ^ 147
If "Flexible I/O configuration" is set, a change-over from one control source to another can be
effected during operation via the functions listed in the following table. The inverter not only
supports such a change-over via its digital inputs, but also as a function of internal inverter
states.
Activate keypad control Activate network control Active control source
0x2631:012 (P400.12) 0x2631:037 (P400.37)
Flexible I/O configuration (default setting)
• The motor is controlled via the digital inputs.
• For preconfigured assignment of the digital inputs, see chapter "Func-
FALSE / Not connected FALSE / Not connected
tion assignment of the inputs and outputs". ^ 82
• For description of the basic functions for controlling the motor, see
chapter "Start / stop motor". ^ 531
Network
• Starting the motor is only possible via the network control word.
FALSE / Not connected TRUE • Exception: Jog operation; see chapter "Start / stop motor". ^ 531
4Example 2: Change-over from terminal control to network control
^ 530
Keypad
• Starting the motor is only possible via the keypad key.
TRUE Any
• Exception: Jog operation; see chapter "Start / stop motor". ^ 531
4Example 1: Change-over from terminal control to keypad control ^ 529
The following signal flow shows the internal control logics:

Flexible I/O configuration Motor control
0x2631:001 Enable inverter 1
Disable inverter
0x2631:002 Run
0x2631:003 Activate quick stop Quick stop
0x2631:010 Jog foward (CW)
Jog operation
0x2631:011 Jog reverse (CCW)
0x2631:012 Activate keypad control

0x2631:037 Activate network control
0x2824
0x2631:006 Start forward (CW) 0
0
Stop 0
0x2631:007 Start reverse (CCW) 1

0
Start/Stop
1 1
0x2631:008 Run forward (CW) 1
0x282B:001
0x2631:009 Run reverse (CCW) Control selection Active control source Start method
0: Flexible I/O configuration 0: Flexible I/O configuration 0x2838:001
Network 1: Keypad 1: Network
2: Keypad
Run forward (CW) Stop method
Run reverse (CCW) 0x2838:003
Keypad
Run
Stop Stop ("KSTOP")
526
The "Enable inverter" 0x2631:001 (P400.01) function must be set to TRUE to

start the motor. Either via digital input or by default setting "Constant TRUE [1]".
If the function is set to FALSE, the inverter is disabled. The motor becomes tor-
queless (coasts).
In case of an activated keypad or network control, the "Run" 0x2631:002
(P400.02)function must be additionally set to TRUE to start the motor. Either via
digital input or by the "Constant TRUE [1]" setting.
Notes:
• In case of an activated keypad or network control, the following functions are still active:
• 0x2631:002 (P400.02): Run
• 0x2631:004 (P400.04): Reset fault
• 0x2631:010 (P400.10): Jog foward (CW)
• 0x2631:012 (P400.12): Activate keypad control
• 0x2631:037 (P400.37): Activate network control
• 0x2631:054 (P400.54): Position counter reset
• In case of an activated network control, the following additional functions are still active:
• 0x2631:013 (P400.13): Reverse rotational direction
• The functions for setpoint change-over.4Setpoint change-over ^ 546
All other functions configurable via 0x2631:xx (P400.xx) are deactivated in case of keypad
or network control.
• 0x282A:001 (P126.01): Cause of disable
• 0x282A:002 (P126.02): Cause of quick stop
• 0x282A:003 (P126.03): Cause of stop
• 0x282B:001 (P125.01): Active control source
For description of the basic functions for controlling the motor, see chapter "Start / stop
motor". ^ 531
0x2631:012 Function list: Activate keypad control Assignment of a trigger for the "Activate keypad control" function.
(P400.12) (Function list: Keypad control) Trigger = TRUE: activate keypad as control source.
• For further possible settings, see parameter Trigger = FALSE: no action / deactivate keypad as control source again.
0x2631:001 (P400.01). ^ 532
0 Not connected
0x2631:001 (P400.01). ^ 532
0 Not connected
Notes:
tocol.
527

0x2824 Control selection Selection of the type of inverter control.
(P200.00) (Control select.)
0 Flexible I/O configuration This selection enables a flexible assignment of the start, stop, and rotat-
ing direction commands with digital signal sources.
• Digital signal sources can be digital inputs, network and keypad.
• The I/O configuration is made via the parameters 0x2631:xx (P400.xx).
1 Keypad This selection enables the motor to be started exclusively via the start
key of the keypad. Other signal sources for starting the motor are
ignored.
Start motor Stop motor
Note!
• The functions "Enable inverter" 0x2631:001 (P400.01) and "Run"
0x2631:002 (P400.02) must be set to TRUE to start the motor.
• If jog operation is active, the motor cannot be stopped via the
keypad key.
528
Example 1: Change-over from terminal control to keypad control
14.1.1 Example 1: Change-over from terminal control to keypad control

• The control is executed primarily via the I/O terminals: Switch S1 serves to start and stop
the motor.
• Switch S2 serves to optionally change over to local keypad control. In case of activated key-
pad control, the motor can only be started via the keypad key. However, the condition
is that switch S1 is closed.
• If switch S1 is opened again or the keypad key is pressed, the motor is stopped (irre-
spective of the active control source).
Connection plan function
X3 Potentiometer R1 Frequency setpoint selection
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate keypad control

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:012 (P400.12) Activate keypad control Digital input 2 [12]
0x2824 (P200.00) Control selection Flexible I/O configuration [0]
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate keypad control
t
Keypad keys Run
t
Stop
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Local control active [104]
t
Remote control active [105]
t
① When changing over to another control source, the motor is first stopped with the stop method set in 0x2838:003 (P203.03).
② The motor will also be stopped if the "Run" function is deactivated or the keypad key is pressed (irrespective of the active control
source).
③ After stopping with the keypad key and before a renewed start command from another control source, the key on the keypad must
be pressed to cancel the keypad stop again ("KSTOP").
529
Example 2: Change-over from terminal control to network control
14.1.2 Example 2: Change-over from terminal control to network control

• The control is executed primarily via the I/O terminals: Switch S1 serves to start and stop
the motor.
• Switch S2 serves to activate the network control. In case of activated keypad control, the
motor can only be started via the network control word. However, the condition is that
switch S1 is closed.
• If switch S1 is opened again, the motor is stopped (irrespective of the active control
source).
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate network control

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:037 (P400.37) Activate network control Digital input 2 [12]
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate network control
t
Network control word: Run forward
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Local control active [104]
t
Remote control active [105]
t
① When changing over to another control source, the motor is first stopped with the stop method set in 0x2838:003 (P203.03).
② The motor will also be stopped if the "Run" function is deactivated (irrespective of the active control source).
③ Commands via network are ignored if the network control is not active.
530
Start / stop motor
14.2 Start / stop motor

Configuration of the triggers for the basic functions for controlling the motor.
Details
The following table contains a short overview of the basic functions. For more details see the
following parameter descriptions.
function Info
Enable inverter Enable/disable operation.
0x2631:001 (P400.01) • The function must be set to TRUE to start the motor. Either via digital input or by default setting "Constant
TRUE [1]".
• If the function is set to FALSE, the inverter is disabled. The motor becomes torqueless (coasts).
4Example 6: Enable inverter ^ 545
Run Function 1: Start / stop motor (default setting)
0x2631:002 (P400.02) • Function 1 is active if no further start commands (start forward/start reverse) have been connected to trig-
gers, no keypad control is active and no network control is active.
TRUE: Let motor rotate forward (CW).
FALSE: Stop motor.
4Example 1: Start/stop (1 signal) and reversal ^ 537
• Function 2 is active if further start commands have been connected to triggers, keypad control is active or
network control is active.
TRUE: Start commands of the active control source are enabled.
FALSE: Stop motor.
4Example 2: Start forward/start reverse/stop (edge-controlled) ^ 538
4Example 3: Run forward/Run reverse/stop (status-controlled) ^ 540
Activate quick stop Bring motor to a standstill in best time.
0x2631:003 (P400.03) 4Example 4: Quick stop ^ 542
Start forward (CW) Start motor edge-controlled.
0x2631:006 (P400.06) • In order to be able to start the motor, the "Run" function must be set to TRUE.
Start reverse (CCW) • The motor is stopped by resetting the "Run" function to FALSE.
0x2631:007 (P400.07) • Functions are deactivated in case of keypad or network control.
4Example 2: Start forward/start reverse/stop (edge-controlled) ^ 538
Run forward (CW) Let the motor rotate in a status-controlled way.
0x2631:008 (P400.08) • In order to be able to start the motor, the "Run" function must be set to TRUE.
Run reverse (CCW) • Functions are deactivated in case of keypad or network control.
0x2631:009 (P400.09) 4Example 3: Run forward/Run reverse/stop (status-controlled) ^ 540
Jog foward (CW) Jog operation: Let the motor rotate in a status-controlled way with setpoint preset.
0x2631:010 (P400.10)
CAUTION!
Jog reverse (CCW)
The jog operation has a higher priority than the "Run" function, all other start commands and the keypad key
0x2631:011 (P400.11)
.
• If jog operation is active, the motor cannot be stopped with the previously mentioned functions!
• However, jog operation can be interrupted by the "Quick stop" function.
• Jog operation can always be activated, even in case of keypad or network control.
4Example 5: Jog forward/Jog reverse ^ 543
Reverse rotational direction Invert frequency setpoint.
0x2631:013 (P400.13) • Function can be used in combination with all start commands.
• Function is deactivated in case of network control.
4Example 1: Start/stop (1 signal) and reversal ^ 537
Assignment guidelines
The error message "Trigger/functions connected incorrectly" (error code 25216 | 0x6280) is
output if one of the following assignment guidelines is not observed:
• If the "flexible I/O configuration" is active as control source, the "Enable inverter" function
or the "Run" function must be connected to a digital input in order that the motor can be
stopped again any time!
• In case of keypad or network control, the two functions "Enable inverter" and "Run" can
also be set to "Constant TRUE [1]" to start the motor.
• The use of the "Start forward (CW)" and "Start reverse (CCW)" functions excludes the use
of the "Run forward (CW)" and "Run reverse (CCW)" and vice versa.
531
Start / stop motor

0x2631:001 Function list: Enable inverter Assignment of a trigger for the "Enable inverter" function.
(P400.01) (Function list: Enable inverter) Trigger = TRUE: The inverter is enabled (unless there is another cause for
• Setting can only be changed if the inverter is inhibi- inverter disable).
ted. Trigger = FALSE: The inverter is disabled.
Notes:
• This function must be set to TRUE to start the motor. Either via an
assigned digital input or by default setting "Constant TRUE [1]".
• Changing to the inhibited state causes an immediate stop of the
The motor becomes torqueless and coasts down as a function of the
mass inertia of the machine.
0x282A:001 (P126.01).
consideration.
consideration.
consideration.
consideration.
consideration.
consideration.
I/O.
consideration.
I/O.
Otherwise FALSE.
quency = 0.
59 Device fault active TRUE if a fault is active. Otherwise FALSE.
active anymore.
restart ^ 484
FALSE.
532
Start / stop motor

79 Torque limit reached (from version 02.00) TRUE if torque limit has been reached or exceeded. Otherwise FALSE.
on this trigger.
on this trigger.
4Sequencer ^ 504
through).
4Sequencer ^ 504
erwise FALSE.
FALSE.
0x2631:016 (P400.16).
533
Start / stop motor

nected to triggers.

bled.
ted. Notes:
0 Not connected
0x2631:006 Function list: Start forward (CW) Assignment of a trigger for the "Start forward (CW)" function.
(P400.06) (Function list: Start forward) Trigger = FALSE↗TRUE (edge): Let motor rotate forward.
• Setting can only be changed if the inverter is inhibi- Trigger = TRUE↘FALSE (edge): No action.
ted. Notes:
• For further possible settings, see parameter • In order to start the motor, "Enable inverter" 0x2631:001 (P400.01)
0x2631:001 (P400.01). ^ 532 and "Run" 0x2631:002 (P400.02) must be set to TRUE.
0 Not connected • After the start, the motor runs until "Run" is set to FALSE, another
stop command is given or the inverter is disabled.
0x2631:007 Function list: Start reverse (CCW) Assignment of a trigger for the "Start reverse (CCW)" function
(P400.07) (Function list: Start reverse) Trigger = FALSE↗TRUE (edge): Let motor rotate backward.
ted. Notes:
0 Not connected • After the start, the motor runs until "Run" is set to FALSE, another
stop command is given or the inverter is disabled.
534
Start / stop motor

0x2631:008 Function list: Run forward (CW) Assignment of a trigger for the "Run forward (CW)" function.
(P400.08) (Function list: Run forward) Trigger = TRUE: Let motor rotate forward.
ted. Notes:
0 Not connected • The inverter always responds to the run command detected last (if
start enable is available).
• The "Run forward (CW)" function also serves to realise an automatic
start after switch-on. 4Starting performance ^ 153
0x2631:009 Function list: Run reverse (CCW) Assignment of a trigger for the "Run reverse (CCW)" function.
(P400.09) (Function list: Run reverse) Trigger = TRUE: Let motor rotate backward.
ted. Notes:
0 Not connected • The inverter always responds to the run command detected last (if
start enable is available).
• The "Run reverse (CCW)" function also serves to realise an automatic
start after switch-on. 4Starting performance ^ 153
0x2631:010 Function list: Jog foward (CW) Assignment of a trigger for the "Jog foward (CW)" function.
(P400.10) (Function list: Jog foward) Trigger = TRUE: Let motor rotate forward with preset 5.
ted.
CAUTION!
tion.
Notes:
535
Start / stop motor

0x2631:011 Function list: Jog reverse (CCW) Assignment of a trigger for the "Jog reverse (CCW)" function.
(P400.11) (Function list: Jog reverse) Trigger = TRUE: Let motor rotate backward with preset 6.
ted.
CAUTION!
tion.
Notes:
0x2631:001 (P400.01). ^ 532
13 Digital input 3
536
Start / stop motor
Example 1: Start/stop (1 signal) and reversal
14.2.1 Example 1: Start/stop (1 signal) and reversal

This example shows a simple control option via two switches which should be sufficient for
many applications:
• Switch S1 starts the motor in forward direction of rotation. Switch S1 in the initial position
stops the motor again.
• Switch S2 switches the direction of rotation.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Reverse rotational direction

1k ...10k
0 ... 10 V
R1 S1 S2
The example uses the preset I/O configuration of the inverter:

Parameter Name Setting for this example (corresponds to
default setting)
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Rotational direction reversed [69]
t
② If "Run" is set to FALSE, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with standard ramp.
537
Start / stop motor
Example 2: Start forward/start reverse/stop (edge-controlled)
14.2.2 Example 2: Start forward/start reverse/stop (edge-controlled)
The "Run" function automatically becomes a "start enable" if the functions

"Start forward (CW)"/ "Start reverse (CCW)" are connected to triggers.
This example shows an edge-controlled start/stop via three buttons:

• In the non-operating state of button S1 (normally-closed contact), there is already a start
enable.
• Button S2 starts the motor in forward rotating direction.
• Button S3 starts the motor in backward rotating direction.
• Button S1 (normally-closed contact) stops the motor by (short-time) cancellation of the
start command.The inverter then waits for the next start command via button S2/S3.
Button S1 Stopping
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Button S2 Start forward (CW)

Button S3 Start reverse (CCW)
1k ...10k
0 ... 10 V
R1 S1 S2 S3

0x2631:006 (P400.06) Start forward (CW) Digital input 2 [12]
0x2631:007 (P400.07) Start reverse (CCW) Digital input 3 [13]
0x2631:013 (P400.13) Reverse rotational direction Not connected [0]
538
Start / stop motor
Example 2: Start forward/start reverse/stop (edge-controlled)
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
Digital input 1 [11] Run Start enable
t
Digital input 2 [12] Start forward (CW)
t
Digital input 3 [13] Start reverse (CCW)
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
① The "Run" functions serves as start enable for the functions "Start forward (CW)" and "Start reverse (CCW)".
Without start enable, the motor cannot be started.
② If the start command is cancelled, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with stand-
ard ramp.
③ If, at start enable, "Start forward (CW)" and "Start reverse (CCW)" are already set to TRUE, the motor remains stopped and the inverter
waits for the next valid start edge.
539
Start / stop motor
Example 3: Run forward/Run reverse/stop (status-controlled)
14.2.3 Example 3: Run forward/Run reverse/stop (status-controlled)
The "Run" function automatically becomes a "start enable" if the functions "Run
forward (CW)"/"Run reverse (CCW)" are connected to triggers.
This example shows a status-controlled start/stop via three switches:

• Switch S1 enables the start. Without start enable, the motor cannot be started.
• Switch S2 starts the motor in forward direction of rotation.
• Switch S3 starts the motor in backward direction of rotation.
• The motor is stopped by cancelling the run commands (switches S2 and S3 open) or by
cancelling the start enable (switch S1 open).
Switch S1 Start enable
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Run forward (CW)

Switch S3 Run reverse (CCW)
1k ...10k
0 ... 10 V
R1 S1 S2 S3

0x2631:008 (P400.08) Run forward (CW) Digital input 2 [12]
0x2631:009 (P400.09) Run reverse (CCW) Digital input 3 [13]
540
Start / stop motor
Example 3: Run forward/Run reverse/stop (status-controlled)
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
Digital input 1 [11] Run Start enable
t
Digital input 2 [12] Run forward (CW)
t
Digital input 3 [13] Run reverse (CCW)
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
① The "Run" functions serves as start enable for the functions "Run forward (CW)" and "Run reverse (CCW)".
Without start enable, the motor cannot be started.
② If the start command is cancelled, the motor is stopped with the stop method set in 0x2838:003 (P203.03). In the example: Stop with stand-
ard ramp.
After a renewed start enable, the inverter waits for the next run command.
③ If, at start enable, either "Run forward (CW)" or "Run reverse (CCW)" is set to TRUE, the motor starts into the triggered direction.
④ The inverter always responds to the run command detected last (if start enable is available).
In the example, the "Run reverse (CCW)" command replaces the still active "Run forward (CW)" command.
⑤ If, at start enable, both run commands are set to TRUE, the motor remains stopped until only one valid run command is available.
541
Start / stop motor
Example 4: Quick stop
14.2.4 Example 4: Quick stop

This example illustrates the "quick stop" function. If quick stop is activated, the motor is
brought to a standstill within the deceleration time set in 0x291C (P225.00).
• Switch S2 activates the "quick stop" function.
Cancelling the quick stop causes a restart of the motor if "Run" is still active
(switch S1 closed)!

Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate quick stop

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:003 (P400.03) Activate quick stop Digital input 2 [12]
0x2917 (P220.00) Acceleration time 1 3.0 s
0x2918 (P221.00) Deceleration time 1 3.0 s
0x291C (P225.00) Quick stop deceleration time 1.0 s
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate quick stop
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Quick stop active [54]
t
The status signals can be assigned to digital outputs. 4Configuration of digital outputs^ 603
① If quick stop is activated, the motor is decelerated to the frequency setpoint 0 Hz within a short period of time. The "Quick stop active [54]"
status is set as long as quick stop is activated. The "Stop active [53]" status is not set.
② An active stop command is interrupted by a quick stop.
③ If quick stop is cancelled again before standstill is reached, stopping is continued with the stop method set in 0x2838:003 (P203.03). In the
example: Stop with standard ramp.
542
Start / stop motor
Example 5: Jog forward/Jog reverse
14.2.5 Example 5: Jog forward/Jog reverse

This example illustrates the functions "Jog forward (CW)" and "Jog reverse (CCW)" for Jog
operation.
• Button S2 starts the motor in forward direction of rotation with frequency preset 5.
• Button S3 starts the motor in backward direction of rotation with frequency preset 6.
• The motor rotates in jog operation as long as the respective button is pressed. If both but-
tons are pressed at the same time, the motor is stopped.
NOTICE
The jog operation has a higher priority than the "Run" function, all other start commands and
the keypad key .
If jog operation is active, the motor cannot be stopped with the previously mentioned func-
tions!
▶ The jog operation is stopped by cancelling the functions "Jog foward (CW)"/"Jog reverse
(CCW)".
▶ The jog operation can be interrupted with the "Activate quick stop" 0x2631:003
(P400.03)function.

Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Button S2 Jog foward (CW)

Button S3 Jog reverse (CCW)
1k ...10k
0 ... 10 V
R1 S1 S2 S3

0x2631:010 (P400.10) Jog foward (CW) Digital input 2 [12]
0x2631:011 (P400.11) Jog reverse (CCW) Digital input 3 [13]
0x2911:005 (P450.05) Frequency setpoint presets: Preset 5 15 Hz (is used for jog forward)
0x2911:006 (P450.06) Frequency setpoint presets: Preset 6 10 Hz (is used for jog reverse)
543
Start / stop motor
Example 5: Jog forward/Jog reverse
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Jog foward (CW)
t
Digital input 3 [13] Jog reverse (CCW)
t
50 Hz
40 Hz
30 Hz
20 Hz Preset 5 Preset 5 Preset 5
10 Hz
0x2DDD t
-10 Hz
-20 Hz Preset 6 Preset 6
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
The status signals can be assigned to digital outputs. 4Configuration of digital outputs^ 603
① If "Jog foward (CW)" and "Jog reverse (CCW)" are activated at the same time, the motor is stopped with the stop method set in 0x2838:003
(P203.03) and the jog operation must be triggered again.
② The jog operation cannot be terminated with the "Run" function but only by cancelling the jog command.
544
Start / stop motor
Example 6: Enable inverter
14.2.6 Example 6: Enable inverter

This example shows how to use the "Enable inverter" function for a separate enable input.
• In idle state of switch S1 (normally-closed contact), "Enable inverter" is already available.
• Switch S2 starts the motor in forward rotating direction (if switch S1 is closed). Switch S2 in
initial position stops the motor again.
• Switch S1 disables the inverter. The motor becomes torqueless (coasts).
Switch S1 Disable inverter
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Run
1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:001 (P400.01) Enable inverter Digital input 1 [11])
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
② If "Enable inverter" is set to FALSE, the inverter is disabled. The motor becomes torqueless and coasts to standstill as a function of the mass
inertia of the machine.
③ Without "Enable inverter", the motor cannot be started.
④ In the default setting, the motor does not start if the "Run" function is set to TRUE during "Enable inverter" . After "Enable inverter", must
be retriggered to start the motor.
545
Setpoint change-over
14.3 Setpoint change-over

The inverter receives its setpoint from the selected standard setpoint source. Corresponding
functions make it possible to change over to other setpoint sources during operation.
Possible setpoint sources are:
• Analog inputs
• Keypad
• Network
• Parameterisable setpoints (presets)
• Digital inputs (configured as HTL input for pulse train or HTL encoder)
• "Motor potentiometer" function
• "Sequencer" function
Details
For applications only requiring one setpoint it is sufficient to define the standard setpoint
source in the following parameters:
• 0x2860:001 (P201.01): Frequency control: Default setpoint source
• 0x2860:002 (P201.02): PID control: Default setpoint source
• 0x2860:003 (P201.03): Torque control: Default setpoint source
For a setpoint change-over during operation, the following functions must be configured. For
details and examples see the following subchapters.
Function Info
Activate AI1 setpoint Activate analog input 1 / analog input 2 as setpoint source.
0x2631:014 (P400.14) 4Analog input setpoint source ^ 548
Activate AI2 setpoint
0x2631:002 (P400.02)
Activate keypad setpoint Activate keypad as setpoint source.
0x2631:016 (P400.16) • The keypad setpoint can be changed in the operating mode via the navigation keys and keypad key.
4Keypad setpoint source ^ 551
Activate network setpoint Activate network as setpoint source.
0x2631:017 (P400.17) 4Network setpoint source ^ 553
Activate preset (bit 0) Activate parameterisable setpoints (presets) as setpoint source.
0x2631:018 (P400.18) • 15 frequency setpoints and 8 PID setpoints can be set as presets.
Activate preset (bit 1) • A preset can be selected binary-coded via the four functions "Activate preset (bit 0)" ... "Activate preset (bit
0x2631:019 (P400.19) 3)".
Activate preset (bit 2)
0x2631:020 (P400.20)
Activate preset (bit 3)
0x2631:021 (P400.21)
Activate setpoint via HTL input The digital inputs DI3 and DI4 can be configured as HTL input to evaluate the signal of a cost-effective HTL
0x2631:022 (P400.22) encoder or a reference frequency ("pulse train").
Activate MOP setpoint The "Motor potentiometer" function can be used as an alternative setpoint control that is controlled via two
0x2631:025 (P400.25) functions: "MOP setpoint up" and "MOP setpoint down".
Activate segment setpoint (bit 0) Activate parameterisable segment setpoints as setpoint source.
0x2631:026 (P400.26) • The four functions "Activate segment setpoint (bit 0)" ... " Activate segment setpoint´(bit 3)" enable a set-
Activate segment setpoint (bit 1) point change-over to a segment setpoint parameterised for the "sequencer" function during normal opera-
0x2631:027 (P400.27) tion.
4Setpoint source segment setpoints ^ 563
Activate segment setpoint (bit 2)
0x2631:028 (P400.28)
Activate segment setpoint´(bit 3)
0x2631:029 (P400.29)
546
The following signal flow shows the internal setpoint logics:

Motor control
Modes of operation
0x6060
Process controller: operating mode
0x4020:001
1
0x2860:001 Frequency setpoint Hz [Hz]
0x2B0E MS: Velocity mode [-2]
0 0
(default setting)
0x2860:002 PID setpoint PID Unit
0x401F:001 1...4
0x2631:045
0x4020:002 PID variable PID Unit Deactivate
0x401F:002 PID control
0x4020:004 Speed feedforward control Hz (trigger)
0x2860:003 Torque setpoint % MS: Torque mode [-1]
Network 0x6042 Target velocity rpm CiA: Velocity mode [2]
MS = manufacturer specific
Notes:
• In case of an activated network control, the functions for setpoint change-over are not
active! If in case of network control no setpoint is defined via the network control word,
the standard setpoint source is active.
• The setpoint used by the motor control depends on the operating mode selected in
0x6060 (P301.00):
• "MS: Velocity mode [-2]": The active frequency setpoint is used. In addition, the PID
control can be activated in 0x4020:001 (P600.01). 4Configuring the process control-
ler ^ 407
• "MS: Torque mode [-1]": The active torque setpoint is used. 4Torque control w/ freq.
limit ^ 206
• "CiA: Velocity mode [2]": The setpoint speed defined via the "Target velocity" 0x6042
(P781.00) parameter is used. 4Device profile CiA 402 ^ 469
• As only one setpoint source can be active at a time, priorities are assigned to the fre-
quency, PID and torque setpoint sources. For details see the following subchapter "Priority
of the setpoint sources". ^ 548.
• 0x282B:002 (P125.02): Active setpoint source
547
Priority of the setpoint sources
14.3.1 Priority of the setpoint sources

Since only one setpoint source can be active at a time, the following priorities apply:
Flexible I/O configuration or keypad control active Network control active
0x2631:037 (P400.37) = FALSE 0x2631:017 (P400.17) = FALSE
0x2631:037 (P400.37) = TRUE
Prio 1: Functions for setpoint change-over Prio 1: Setpoint source selected via network control word
The priority of the functions results from the assigned triggers (in the 4General network settings ^ 227
order of the selection list):
1. Constant TRUE [1]
2. Digital input 1 [11]
5. ...
Prio 2: Set standard setpoint source Prio 2: Set standard setpoint source
• 0x2860:001 (P201.01): Frequency control: Default setpoint source • 0x2860:001 (P201.01): Frequency control: Default setpoint source
• 0x2860:002 (P201.02): PID control: Default setpoint source • 0x2860:002 (P201.02): PID control: Default setpoint source
4Selection of setpoint source ^ 148 4Selection of setpoint source ^ 148
Example of allocating priority

0x2631:014 (P400.14) Activate AI1 setpoint Digital input 5 [15]
0x2631:016 (P400.16) Activate keypad setpoint Digital input 4 [14]
Digital input 4 Digital input 5 Active setpoint source

FALSE FALSE Standard setpoint source set in 0x2860:001 (P201.01)
FALSE TRUE Analog input 1
TRUE FALSE keypad
TRUE TRUE Keypad (since "Digital input 4" trigger is higher in the selection list than "Digital input 5" trigger)
14.3.2 Analog input setpoint source

The following functions are used to select analog input 1 or analog input 2 as setpoint source.
Preconditions
A setpoint change-over to the respective analog input is only effected if no setpoint source
with a higher priority has been selected. 4Priority of the setpoint sources ^ 548
0x2631:014 Function list: Activate AI1 setpoint Assignment of a trigger for the "Activate AI1 setpoint" function.
(P400.14) (Function list: Setp: AI1) Trigger = TRUE: analog input 1 is used as setpoint source (if the trigger
• For further possible settings, see parameter assigned has the highest setpoint priority).
0x2631:001 (P400.01). ^ 532 Trigger = FALSE: no action / deactivate function again.
0 Not connected 4Analog input 1 ^ 597
548
Analog input setpoint source

0x2631:015 Function list: Activate AI2 setpoint Assignment of a trigger for the "Activate AI2 setpoint" function.
(P400.15) (Function list: Setp: AI2) Trigger = TRUE: analog input 2 is used as setpoint source (if the trigger
0 Not connected 4Analog input 2 ^ 601

• The keypad is set as standard setpoint source.
• Switch S3 activates analog input 1 as setpoint source.
• Switch S4 activates analog input 2 as setpoint source.
If S3 and S4 are operated at the same time, the analog input 1 is active as set-
point source since the digital input 3 assigned to this function has a higher prior-
ity than the digital input 4.

X3 Potentiometer R1 Frequency setpoint selection via AI1
Potentiometer R2 Frequency setpoint selection via AI2
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S1 Run
0 ... 10 V
R1 S1 S2 S3 S4 Switch S3 Activate AI1 setpoint
1k ...10k R2 Switch S4 Activate AI2 setpoint

0x2631:018 (P400.18) Activate preset (bit 0) Not connected [0]
0x2860:001 (P201.01) Frequency control: Default setpoint source Keypad [1]
549
Analog input setpoint source
Input signals 60 Hz
50 Hz
via keypad 30 Hz
(standard setpoint source) 20 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
30 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
40 Hz
30 Hz
10 Hz
0 Hz t
Trigger Function
t
t
t
Digital input 3 [13] Activate AI1 setpoint
t
Digital input 4 [14] Activate AI2 setpoint
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
Manual setpoint selection active [106]
t
Automatic setpoint selection active [107]
t
① Change-over from keypad setpoint (standard setpoint source) to AI1 setpoint.

② Change-over from AI1 setpoint to AI2 setpoint.
③ Change-over from AI2 setpoint to AI1 setpoint since the digital input 3 has a higher priority than the digital input 4.
④ Change-over to keypad setpoint (standard setpoint source).
550
Keypad setpoint source
14.3.3 Keypad setpoint source

The following function is used to select the keypad as setpoint source.
Preconditions
A setpoint change-over to the keypad is only effected if no setpoint source with a higher prior-
ity has been selected. 4Priority of the setpoint sources^ 548
0x2631:016 Function list: Activate keypad setpoint Assignment of a trigger for the "Activate keypad setpoint" function.
(P400.16) (Function list: Setp: Keypad) Trigger = TRUE: the keypad is used as setpoint source (if the trigger
0 Not connected Notes:
• The default keypad setpoint can be changed in keypad operating
mode via the arrow keys of the keypad.

For the manual setpoint selection via keypad the following default settings are used:
• 0x2601:001 (P202.01): Keypad setpoints: Frequency setpoint
• 0x2601:002 (P202.02): Keypad setpoints: Process controller setpoint
The increment for keypad setpoints can be adapted in 0x2862 (P701.00) by pressing a keypad
arrow key once.
• The analog input 1 is set as standard setpoint source.
• Switch S3 activates the keypad as setpoint source. The keypad setpoint can be changed in
the operating mode via the navigation keys and keypad keys.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2

Switch S3 Activate keypad setpoint
1k ...10k
0 ... 10 V
R1 S1 S2 S3

0x2601:001 (P202.01) Keypad setpoints: Frequency setpoint 20.0 Hz
0x2631:016 (P400.16) Activate keypad setpoint Digital input 3 [13]
0x2860:001 (P201.01) Frequency control: Default setpoint source Analog input 1 [2]
551
Keypad setpoint source
Input signals 60 Hz
50 Hz
10 Hz
0 Hz t
60 Hz
50 Hz
Manual 40 Hz
frequency setpoint selection 30 Hz
via keypad 20 Hz
10 Hz
0 Hz t
Trigger Function
Constant TRUE [1]
❶ Enable inverter
t
t
Digital input 2 [12]
❷ Invert rotation
t
❸ Activate keypad setpoint
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
t
t
① Change-over from analog input 1 (standard setpoint source) to keypad setpoint.

② Change-over from keypad setpoint back to analog input 1 (standard setpoint source).
552
Network setpoint source
14.3.4 Network setpoint source

The following function is used to select the network as setpoint source.
Preconditions
The setpoint change-over to the network is only effected if
• no setpoint source with a higher priority has been selected. 4Priority of the setpoint sour-
ces ^ 548
• no network control is active (0x2631:037 (P400.37) = "FALSE"). If the network control is
activated, all functions for setpoint change-over are inactive!

0x2631:001 (P400.01). ^ 532
0 Not connected
Notes:
tocol.
Example for different application cases

Example 1: The AC drive control word shall enable a change-over from the standard setpoint
source to the network setpoint (bit 6).
2. Set the selection Network setpoint active " [116]" in 0x2631:017 (P400.17).
Example 2: Independent of the used network, a change-over from the standard setpoint
source to the network setpoint shall be possible via a digital trigger (e. g. digital input).
2. Set the desired digital trigger (e. g. digital input) in 0x2631:017 (P400.17) via which the
change-over to the network setpoint is to take place.
Example 3: The setpoint is to be defined exclusively via network.

1. As standard setpoint source, set the selection "Network [5]" in 0x2860:001 (P201.01).
Related topics
553
Setpoint source of preset setpoints
14.3.5 Setpoint source of preset setpoints

The four functions "Activate preset (bit 0)" ... " Activate preset (bit 3)" enable change-over of
the setpoint to a parameterisable setpoint (preset value).
Preconditions
A setpoint change-over to the respective preset is only effected if no setpoint source with a
higher priority has been selected. 4Priority of the setpoint sources ^ 548
Details
A preset is selected in a binary-coded fashion via the triggers assigned to the four functions
"Activate preset (bit 0)" ... " Activate preset (bit 3)" in compliance with the following truth
table:
Activate preset Selection
Bit 3 Bit 2 Bit 1 Bit 0 Preset Frequency setpoint PID setpoint Torque setpoint
0x2631:021 0x2631:020 0x2631:019 0x2631:018
(P400.21) (P400.20) (P400.19) (P400.18)
FALSE FALSE FALSE FALSE No preset selected
FALSE FALSE FALSE TRUE Preset 1 0x2911:001 (P450.01) 0x4022:001 (P451.01) 0x2912:001 (P452.01)
FALSE FALSE TRUE FALSE Preset 2 0x2911:002 (P450.02) 0x4022:002 (P451.02) 0x2912:002 (P452.02)
FALSE FALSE TRUE TRUE Preset 3 0x2911:003 (P450.03) 0x4022:003 (P451.03) 0x2912:003 (P452.03)
FALSE TRUE FALSE FALSE Preset 4 0x2911:004 (P450.04) 0x4022:004 (P451.04) 0x2912:004 (P452.04)
FALSE TRUE FALSE TRUE Preset 5 0x2911:005 (P450.05) 0x4022:005 (P451.05) 0x2912:005 (P452.05)
FALSE TRUE TRUE FALSE Preset 6 0x2911:006 (P450.06) 0x4022:006 (P451.06) 0x2912:006 (P452.06)
FALSE TRUE TRUE TRUE Preset 7 0x2911:007 (P450.07) 0x4022:007 (P451.07) 0x2912:007 (P452.07)
TRUE FALSE FALSE FALSE Preset 8 0x2911:008 (P450.08) 0x4022:008 (P451.08) 0x2912:008 (P452.08)
TRUE FALSE FALSE TRUE Preset 9 0x2911:009 (P450.09)
... ... ...
TRUE TRUE TRUE TRUE Preset 15 0x2911:015 (P450.15)
Notes:
• The frequency setpoint preset 5 is also used for the "Jog foward (CW)" 0x2631:010
(P400.10) function.
• The frequency setpoint preset 6 is also used for the "Jog reverse (CCW)" 0x2631:011
(P400.11) function.

0 Not connected Trigger = TRUE: selection bit = "1".
554

0x2911:001 Frequency setpoint presets: Preset 1 Parameterisable frequency setpoints (presets) for operating mode "MS:
(P450.01) (Freq. presets: Freq. preset 1) Velocity mode".
0.0 ... [20.0] ... 599.0 Hz
0.0 ... [40.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
0.0 ... [0.0] ... 599.0 Hz
555

0x4022:001 PID setpoint presets: Preset 1 Parameterisable process controller setpoints (presets) for PID control.
(P451.01) (PID presets: PID preset 1)
-300.00 ... [0.00] ... 300.00 PID unit
0x4022:002 PID setpoint presets: Preset 2
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
-300.00 ... [0.00] ... 300.00 PID unit
556

• The keypad is set as standard setpoint source.
• The switches S2 ... S4 serve to switch over to the presets 1 ... 7 (see the following table).
X3 Switch S1 Run
Switches S2 ... S4 Preset selection:
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
S2 S3 S4
Off Off Off Keypad setpoint
S1 S2 S3 S4 On Off Off Preset value 1
Off On Off Preset value 2
On On Off Preset value 3
Off Off On Preset value 4
On Off On Preset 5
Off On On Preset 6
On On On Preset value 7

0x2631:018 (P400.18) Activate preset (bit 0) Digital input 2 [12]
0x2860:001 (P201.01) Frequency control: Default setpoint source Keypad [1]
If the frequency presets 8 ... 15 are required as well, the digital input 5 must be
additionally assigned to the "Activate preset (bit 3)" function and the terminal
DI5 must be interconnected accordingly.
557
Input signals 60 Hz
50 Hz
via keypad 30 Hz
10 Hz
0 Hz t
Presets
0x2911:1 0x2911:2 0x2911:3 0x2911:4 0x2911:5 0x2911:6 0x2911:7
10 Hz 15 Hz 20 Hz 25 Hz 30 Hz 35 Hz 40 Hz
Trigger Function
t
t
t
t
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
t
① Change-over from keypad setpoint (standard setpoint source) to presets (first, preset 1 is selected).
② Change-over back to keypad setpoint since no preset is selected anymore (digital inputs 2 ... 4 = FALSE).
558
Motor potentiometer setpoint source (MOP)
14.3.6 Motor potentiometer setpoint source (MOP)

The "Motor potentiometer" function can be used as an alternative setpoint control that is
controlled via two functions: "MOP setpoint up" and "MOP setpoint down".
• The "Activate MOP setpoint" function enables a setpoint change-over to the motor poten-
tiometer.
• The motor potentiometer can also be defined as standard setpoint source. 4Selection of
setpoint source ^ 148
Preconditions
A setpoint change-over to the motor potentiometer is only effected if
• no setpoint source with a higher priority has been selected. 4Priority of the setpoint sour-
ces^ 548
• no jog operation is active ("Jog foward (CW)" and "Jog reverse (CCW)" functions).
Details
If the motor potentiometer is active as setpoint source, the setpoint generated by this func-
tion ("MOP value") can be changed according to the truth table via the triggers assigned to
the two "MOP setpoint up" and "MOP setpoint down" functions:
MOP setpoint up MOP setpoint down Response of the function
0x2631:023 (P400.23) 0x2631:024 (P400.24)
FALSE FALSE Last MOP value is maintained.
TRUE FALSE MOP value is increased to a maximum of the upper limit value for the respective operating mode
with acceleration time 2.
(The motor follows the setpoint change with acceleration time 1.)
FALSE TRUE MOP value is increased to a maximum of the lower limit value for the respective operating mode
with deceleration time 2.
(The motor follows the setpoint change with deceleration time 1.)
TRUE TRUE Last MOP value is maintained.
The starting performance can be selected in 0x4003 (P413.00). In the default setting, the last
MOP value is used as initial value. The last MOP value is still available after switching off and
on again the mains voltage. As an alternative, an adjustable initial value or the minimum value
can be used for starting.
0x2631:023 Function list: MOP setpoint up Assignment of a trigger for the "MOP setpoint up" function.
(P400.23) (Function list: MOP up) Trigger = TRUE: setpoint generated by the "Motor potentiometer" func-
• For further possible settings, see parameter tion ("MOP value") is maximally increased to the upper range limit with
0x2631:001 (P400.01). ^ 532 acceleration time 2.
0 Not connected Trigger = FALSE: last MOP value is maintained.
Notes:
• If the "MOP setpoint up" and "MOP setpoint down" functions are
active at the same time, the last MOP value is maintained.
0x2631:024 Function list: MOP setpoint down Assignment of a trigger for the "MOP setpoint down" function.
(P400.24) (Function list: MOP down) Trigger = TRUE: setpoint generated by the "Motor potentiometer" func-
• For further possible settings, see parameter tion ("MOP value") is maximally decreased to the lower range limit with
0x2631:001 (P400.01). ^ 532 deceleration time 2.
0 Not connected Trigger = FALSE: last MOP value is maintained.
Notes:
• If the "MOP setpoint up" and "MOP setpoint down" functions are
active at the same time, the last MOP value is maintained.
0x2631:025 Function list: Activate MOP setpoint Assignment of a trigger for the "Activate MOP setpoint" function.
(P400.25) (Function list: Setp: MOP) Trigger = TRUE: the "Motor potentiometer" function is used as setpoint
• For further possible settings, see parameter source (if the trigger assigned has the highest setpoint priority).
0 Not connected
559

0x4003 MOP starting mode Selection of the initial value which is used after activation of the func-
(P413.00) (MOP startmode) tion.
0 Last value The last MOP value is used as initial value. It is still provided after the
mains voltage has been switched off and on again.
Note: The last MOP value is saved in the internal EEPROM of the inver-
ter. If the memory module is transferred to a compatible device, the last
MOP value will therefore not be accepted.
1 Starting value The starting value of the corresponding operating mode is used as initial
value:
• 0x4004:001 (P414.01) for the operating mode "MS: Velocity mode"
• 0x4004:002 (P414.02) for PID control
• 0x4004:003 (P414.03) for the operating mode "MS: Torque mode"
2 Minimum value The minimum value of the corresponding operating mode is used as ini-
tial value:
• 0x2915 (P210.00) for the operating mode "MS: Velocity mode"
• 0x404E:001 (P605.01) for PID control
0x4004:001 MOP starting values: Frequency Starting value for operating mode "MS: Velocity mode".
(P414.01) (MOP start value: Frequency) • This value is used as initial value if "Starting value [1]" is set in 0x4003
0.0 ... [0.0] ... 599.0 Hz (P413.00).
0x4004:002 MOP starting values: PID value Starting value for reference value of the PID control.
(P414.02) (MOP start value: PID value) • This value is used as initial value if "Starting value [1]" is set in 0x4003
-300.00 ... [0.00] ... 300.00 PID unit (P413.00).
0x4004:003 MOP starting values: Torque Starting value for operating mode "MS: Torque mode".
(P414.03) (MOP start value: Torque) • This value is used as initial value if "Starting value [1]" is set in 0x4003
0.0 ... [0.0] ... 1000.0 % (P413.00).
0x4009:001 MOP values saved: Frequency Display of the last MOP value saved internally for the operating mode
• Read only: x.x Hz "MS: Velocity mode".
• This value is used as initial value if "Last value [0]" is set in 0x4003
(P413.00).
0x4009:002 MOP values saved: PID value Display of the last MOP value saved internally for the reference value of
• Read only: x.xx PID unit the PID control.
(P413.00).
0x4009:003 MOP values saved: Torque Display of the last MOP value saved internally for the operating mode
• Read only: x.x % "MS: Torque mode".
(P413.00).
0.0 ... [0.0] ... 599.0 Hz
TRUE.
560

TRUE.

• Switch S2 activates the motor potentiometer as setpoint source. The MOP setpoint can
then be increased via button S3 and reduced via button S4. If both buttons are pressed at
the same time, the MOP setpoint remains unchanged.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate MOP setpoint

Button S3 MOP setpoint up
1k ...10k
0 ... 10 V
R1 S1 S2 S3 S4 S5 Button S4 MOP setpoint down

0x2631:025 (P400.25) Activate MOP setpoint Digital input 2 [12]
0x2631:023 (P400.23) MOP setpoint up Digital input 3 [13]
0x2631:024 (P400.24) MOP setpoint down Digital input 4 [14]
0x2919 (P222.00) Acceleration time 2 4.0 s (for MOP setpoint change)
0x291A (P223.00) Deceleration time 2 4.0 s (for MOP setpoint change)
0x4003 (P413.00) MOP starting mode Starting value [1]
0x4004:001 (P414.01) MOP starting values: Frequency 20 Hz
561
Input signals 60 Hz
50 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate MOP setpoint
t
Digital input 3 [13] MOP setpoint up
t
Digital input 4 [14] MOP setpoint down
t
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
① Change-over from analog input 1 (standard setpoint source) to MOP setpoint.

② The initial value for the motor potentiometer function depends on the setting in 0x4003 (P413.00).
In this example, the "starting value" set in 0x4004:001 (P414.01) is used (here: 20 Hz).
③ The MOP setpoint is maximally increased to the maximum frequency set in 0x2916 (P211.00) (here: 50 Hz).
④ If "MOP setpoint up" and "MOP setpoint down" are requested at the same time, the MOP setpoint remains unchanged.
⑤ Change-over from MOP setpoint back to analog input 1 (standard setpoint source).
562
Setpoint source segment setpoints
14.3.7 Setpoint source segment setpoints

The four functions "Activate segment setpoint (bit 0)" ... " Activate segment setpoint´(bit 3)"
enable a setpoint change-over to a segment setpoint parameterised for the "sequencer" func-
tion during normal operation.
Preconditions
A setpoint change-over to the respective segment setpoint is only effected if no setpoint
source with a higher priority has been selected. 4Priority of the setpoint sources ^ 548
Details
A segment setpoint is selected in a binary-coded fashion via the triggers assigned to the four
functions "Activate segment setpoint (bit 0)" ... " Activate segment setpoint´(bit 3)" in compli-
ance with the following truth table:
Activate segment setpoint Selection
Bit 3 Bit 2 Bit 1 Bit 0 Segment Frequency setpoint PID setpoint Torque setpoint
0x2631:029 0x2631:028 0x2631:027 0x2631:026
(P400.29) (P400.28) (P400.27) (P400.26)
FALSE FALSE FALSE FALSE No segment setpoint selected
FALSE FALSE FALSE TRUE 1 0x4026:001 (P801.01) 0x4026:006 (P801.06) 0x4026:007 (P801.07)
FALSE FALSE TRUE FALSE 2 0x4027:001 (P802.01) 0x4027:006 (P802.06) 0x4027:007 (P802.07)
FALSE FALSE TRUE TRUE 3 0x4028:001 (P803.01) 0x4028:006 (P803.06) 0x4028:007 (P803.07)
FALSE TRUE FALSE FALSE 4 0x4029:001 (P804.01) 0x4029:006 (P804.06) 0x4029:007 (P804.07)
FALSE TRUE FALSE TRUE 5 0x402A:001 (P805.01) 0x402A:006 (P805.06) 0x402A:007 (P805.07)
FALSE TRUE TRUE FALSE 6 0x402B:001 (P806.01) 0x402B:006 (P806.06) 0x402B:007 (P806.07)
FALSE TRUE TRUE TRUE 7 0x402C:001 (P807.01) 0x402C:006 (P807.06) 0x402C:007 (P807.07)
TRUE FALSE FALSE FALSE 8 0x402D:001 (P808.01) 0x402D:006 (P808.06) 0x402D:007 (P808.07)
TRUE FALSE FALSE TRUE Invalid selection
...
TRUE TRUE TRUE TRUE

0x2631:026 Function list: Activate segment setpoint (bit 0) Assignment of a trigger for the "Activate segment setpoint (bit 0)" func-
(P400.26) (Function list: Setp: Segment b0) tion.
• From version 03.00 Selection bit with the valency 20 for the bit-coded selection and activa-
• For further possible settings, see parameter tion of a parameterised segment setpoint.
Notes:
• During normal operation (no active sequence), this function serves to
activate the setpoint of a segment (instead of an entire sequence in
the sequencer operation).
• This function is not intended for the use in the sequencer operation.
• From version 03.00 Selection bit with the valency 21 for the bit-coded selection and activa-
Notes:
563
Setpoint source segment setpoints

• From version 03.00 Selection bit with the valency 22 for the bit coded selection and activa-
Notes:
0x2631:029 Function list: Activate segment setpoint´(bit 3) Assignment of a trigger for the "Activate segment setpoint´(bit 3)" func-
• From version 03.00 Selection bit with the valency 23 for the bit coded selection and activa-
Notes:
564
HTL input setpoint source
14.3.8 HTL input setpoint source

In case of the inverter i550, the digital inputs DI3 and DI4 can be configured as HTL input to
evaluate the signal of a cost-effective HTL encoder or a reference frequency ("pulse train").
Many cost-effective control systems have a pulse-train output as an alternative to a real ana-
log output.
• The HTL input can be defined as standard setpoint source. 4Selection of setpoint
source ^ 148
• The "Activate setpoint via HTL input" 0x2631:022 (P400.22) function enables a setpoint
change-over to the HTL input.
Preconditions
• A setpoint change-over to the HTL input is only effected if no setpoint source with a higher
priority has been selected. 4Priority of the setpoint sources ^ 548
• For using the digital inputs DI3 and DI4 as HTL input, the corresponding input function
must be set in 0x2630:002 (P410.02). 4Configuration of digital inputs ^ 594
Restrictions
• When the digital inputs DI3 and DI4 are configured as HTL input, these two digital inputs
are no longer available for other control functions.
• The HTL input can be either used for detecting an HTL encoder signal or a pulse train. They
cannot be used at the same time.
• The maximum input frequency of the digital inputs is 100 kHz. If this frequency is excee-
ded, an error is triggered.
565
Details
For detecting a pulse train, the following two configurations are supported:
a) input function 0x2630:002 (P410.02) = "Pulse train [2]"
(DI4 = input for pulse train, DI3 = normal digital input)
Controller VDC Pulse 1 Pulse 2 Pulse 3 Pulse 4 Inverter
15 ... 24
X3
PTO1 DI4
PTO2 0 DI3
t
COM Duty cycle (30 ... 70 %) GND
b) input function 0x2630:002 (P410.02) = "Pulse train/direction [3]"

(DI4 = input for pulse train, DI3 = input for specification of direction)
Controller VDC Pulse 1 Pulse 2 Pulse 3 Pulse 4 Inverter
15 ... 24
X3
PTO1 DI4
PTO2 0 DI3
t
COM Duty cycle (30 ... 70 %) GND
VDC HIGH = REV (CCW)

15 ... 24
0
LOW = FWD (CW) t
For detecting an HTL encoder AB signal, the input function "HTL encoder (AB) [1]" must be set
in 0x2630:002 (P410.02) instead. More details for configuring the HTL encoder can be found in
chapter "HTL encoder". ^ 496
The following settings are possible for the HTL input:
• Definition of the input range ①
• Filter time for low-pass filters ②
• Definition of the setting range ③
• Monitoring of the input signal ④
X3 Frequency setpoint source
DI4 Hz % HTL input [4] 0x2860:001
% Hz
0x2642:001 [Hz] 0x2640:001 0x2640:009 0x2640:003 0x2642:002 [Hz]
0x2640:002 0x2640:004
Process controller setpoint source
f <> x Hz % PID HTL input [4] 0x2860:002
unit
0x2641:001 0x2640:005 0x2642:003 [PID unit]

0x2641:002 0x2640:006
0x2641:003 Torque setpoint source
0x2641:004 %
% HTL input [4] 0x2860:003
0x2641:005
0x2641:006 0x2640:007 0x2642:004 [%]
0x2640:008
• The input frequency is displayed in 0x2642:001 (P115.01).
• The scaled frequency value is displayed in 0x2642:002 (P115.02).
• The scaled process controller value is displayed in 0x2642:003 (P115.03).
• The scaled torque value is displayed in 0x2642:004 (P115.04).
566
Configuration examples
Detailed configuration examples can be found in the following subchapters:
4Example 1: Input range 10 ... 85 kHz ≡ setting range 0 ... 50 Hz ^ 569
4Example 2: Input range 10 ... 85 kHz ≡ setting range -50 ... 50 Hz ^ 569
0x2631:022 Function list: Activate setpoint via HTL input Assignment of a trigger for the "Activate setpoint via HTL input" func-
(P400.22) (Function list: Setp: HTL input) tion.
• For further possible settings, see parameter Trigger = TRUE: HTL input is used as setpoint source (if the trigger
0x2631:001 (P400.01). ^ 532 assigned has the highest setpoint priority).
0 Not connected Trigger = FALSE: no action / deactivate function again.
0x2640:001 HTL input settings: Minimum frequency Definition of the input range of the HTL input.
(P415.01) (HTL inp. setting: Min.frequency)
-100000.0 ... [0.0] ... 100000.0 Hz
0x2640:002 HTL input settings: Maximum frequency
(P415.02) (HTL inp. setting: Max. frequency)
-100000.0 ... [0.0] ... 100000.0 Hz
0x2640:003 HTL input settings: Minimum motor frequency Definition of the setting range for operating mode "MS: Velocity mode".
(P415.03) (HTL inp. setting: Min.motor.freq) • Direction of rotation according to sign.
-1000.0 ... [0.0] ... 1000.0 Hz • The standard setpoint source for operating mode 0x6060 (P301.00) =
• From version 04.00 "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
0x2640:004 HTL input settings: Maximum motor frequency
(P415.04) (HTL inp. setting: Max.motor.freq)
0x2640:005 HTL input settings: Minimum PID setpoint Definition of the setting range for PID control.
(P415.05) (HTL inp. setting: Min.PID setpoint) • The standard setpoint source for the reference value of PID control is
0x2640:006 HTL input settings: Maximum PID setpoint
(P415.06) (HTL inp. setting: Max.PID setpoint)
-300.00 ... [100.00] ... 300.00 PID unit
0x2640:007 HTL input settings: Minimum torque setpoint Definition of the setting range for operating mode "MS: Torque mode".
(P415.07) (HTL inp. setting: Min.torque setp.) • 100 % ≡ Motor rated torque 0x6076 (P325.00)
-400.0 ... [0.0] ... 400.0 % • Direction of rotation according to sign.
• From version 04.00 • The standard setpoint source for operating mode 0x6060 (P301.00) =
0x2640:008 HTL input settings: Maximum torque setpoint "MS: Torque mode [-1]" is selected in 0x2860:003 (P201.03).
(P415.08) (HTL inp. setting: Max.torque setp) 4Torque control w/ freq. limit ^ 206
-400.0 ... [100.0] ... 400.0 %
0x2640:009 HTL input settings: Filter time constant PT1 time constant for low-pass filter.
(P415.09) (HTL inp. setting: Filter time)
0 ... [10] ... 10000 ms
0x2641:001 HTL input monitoring: Minimum frequency threshold Settings for monitoring the HTL input.
(P416.01) (HTL inp. monit.: Min.freq.thresh.)
-214748364.8 ... [0.0] ... 214748364.7 Hz
0x2641:002 HTL input monitoring: Minimum delay threshold
(P416.02) (HTL inp. monit.: Min.delay thres.)
0.0 ... [5.0] ... 300.0 s
0x2641:003 HTL input monitoring: Maximum frequency threshold
(P416.03) (HTL inp. monit.: Max.freq.thresh.)
-214748364.8 ... [0.0] ... 214748364.7 Hz
0x2641:004 HTL input monitoring: Maximum delay threshold
(P416.04) (HTL inp. monit.: Max.delay thres.)
0.0 ... [5.0] ... 300.0 s
567

0x2641:005 HTL input monitoring: Monitoring conditions Monitoring condition for HTL input.
(P416.05) (HTL inp. monit.: Monit. condition) • If the selected condition is fulfilled, the response set in 0x2641:006
• From version 04.00 (P416.06) takes place.
1 Below minimum frequency Input frequency < minimum frequency threshold 0x2641:001 (P416.01)
longer than the deceleration 0x2641:002 (P416.02).
2 Above maximum frequency Input frequency > maximum frequency threshold 0x2641:003 (P416.03)
longer than the deceleration 0x2641:004 (P416.04).
3 Below min. or above max. frequency Input frequency < minimum frequency threshold 0x2641:001 (P416.01)
longer than the deceleration 0x2641:002 (P416.02) OR input frequency >
maximum frequency threshold 0x2641:003 (P416.03) longer than the
deceleration 0x2641:004 (P416.04).
0x2641:006 HTL input monitoring: Error response Selection of the response to the triggering of the HTL input monitoring.
(P416.06) (HTL inp. monit.: Error response)
• From version 04.00 • 28803 | 0x7083 - HTL input fault
0x2D45:001 (P310.01). ^ 223
0 No response
0x2642:001 HTL input diagnostics: Input frequency Display of the current input value at the HTL input.
(P115.01) (HTL inp. diag.: Input frequency)
0x2642:002 HTL input diagnostics: Frequency setpoint Display of the current input value at the HTL input scaled as frequency
(P115.02) (HTL inp. diag.: Freq. setpoint) value.
• Read only: x.x Hz • The standard setpoint source for operating mode 0x6060 (P301.00) =
• From version 04.00 "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
0x2642:003 HTL input diagnostics: PID setpoint Display of the current input value at the HTL input scaled as process con-
(P115.03) (HTL inp. diag.: PID setpoint) troller value.
• From version 04.00 selected in 0x2860:002 (P201.02).
0x2642:004 HTL input diagnostics: Torque setpoint Display of the current input value at the HTL input scaled as torque value
(P115.04) (HTL inp. diag.: Torque setpoint) in percent.
• Read only: x.x % • 100 % ≡ Motor rated torque 0x6076 (P325.00)
"MS: Torque mode [-1]" is selected in 0x2860:003 (P201.03).
DI4 = digital input
wise (CCW)
568
14.3.8.1 Example 1: Input range 10 ... 85 kHz ≡ setting range 0 ... 50 Hz

In this configuration, a frequency setpoint between 0 and 50 Hz can be set with an HTL input
frequency between 10 and 85 kHz.
0x2640:001 (P415.01) HTL input settings: Minimum frequency 10000.0 Hz
0x2640:002 (P415.02) HTL input settings: Maximum frequency 85000.0 Hz
0x2640:003 (P415.03) HTL input settings: Minimum motor frequency 0.0 Hz
0x2640:004 (P415.04) HTL input settings: Maximum motor frequency 50.0 Hz
0x2640:009 (P415.09) HTL input settings: Filter time constant 10 ms
DI4 Hz %
% Hz
10 ... 85 kHz 10 ms 0 ... 50 Hz
[%] [Hz]
100 50
0 0
0 10 85 100 [kHz] 0 100 [%]
14.3.8.2 Example 2: Input range 10 ... 85 kHz ≡ setting range -50 ... 50 Hz
In this configuration, a frequency setpoint between -50 and 50 Hz can be set with an HTL
input frequency between 10 and 85 kHz.
0x2640:003 (P415.03) HTL input settings: Minimum motor frequency -50.0 Hz
0x2640:009 (P415.09) HTL input settings: Filter time constant 10 ms
DI4 Hz %
% Hz
10 ... 85 kHz 10 ms -50 ... 50 Hz
[%] [Hz]
100 50
0
100 [%]
0 -50
0 10 85 100 [kHz] 0
569
Reset error
14.4 Reset error

By means of the "Reset fault" function, an active error can be reset (acknowledged).
Preconditions
The error can only be reset if the error cause has been eliminated.
12 Digital input 2
0x2839:006 Fault configuration: Fault handling in case of state Selection whether a pending error is to be reset via the functions "Ena-
change ble inverter" 0x2631:001 (P400.01) and "Run" 0x2631:002 (P400.02) as
0 Reset fault well.
1 Do not reset fault
Further options for resetting an error

In addition to the "Reset error" function, there are the following options to reset an error:
function Required state change to reset an error:
Enable inverter 0x2631:001 (P400.01) TRUE↘FALSE (edge)
Run 0x2631:002 (P400.02) TRUE↘FALSE (edge); see the following example
Keypad key Keystroke

• Switch S2 resets the current error if the error condition is not active anymore and the error
is resettable.
• The switches/sensors S3 and S4 serve to set the inverter from the process to the error sta-
tus. 4Triggering a user-defined fault ^ 578
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Reset fault

Switch S3 Activate fault 1
1k ...10k
0 ... 10 V
R1 S1 S2 S3 S4 Switch S4 Activate fault 2

0x2631:004 (P400.04) Reset fault Digital input 2 [12]
0x2631:043 (P400.43) Activate fault 1 Digital input 3 [13]
0x2631:044 (P400.44) Activate fault 2 Digital input 4 [14]
0x291C (P225.00) Quick stop deceleration time 1.0 s
570
Reset error
The following signal flow illustrates the reset of an error both with the "Reset error" function
② and by cancelling the start command ④:
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Reset error
t
Digital input 3 [13] Activate fault 1
t
Digital input 4 [14] Activate fault 2
t
Error condition
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Error active [56]
t
① If an error condition is active in the inverter, the motor is brought to a standstill with the quick stop ramp. The inverter is then disabled.
Exception: In case of a serious error, the inverter is disabled immediately. The motor becomes torqueless (coasts).
② If the error can be reset, the error state can be left again with the "Reset fault" function (if the error condition no longer exists). The motor
accelerates again to the setpoint since the start command is still active.
③ The functions "Activate fault 1" and "Activate fault 2" serve to set the inverter from the process to the error status.
④ If the error can be reset, the cancelled start command results in leaving the error state (if the error condition no longer exists).
Related topics
571
Activating DC braking manually
14.5 Activating DC braking manually

By means of the "Activate DC braking" function, DC braking can be activated manually.
Preconditions
The current for DC braking must be set > 0 % so that the function can be executed.
0x2631:001 (P400.01). ^ 532 CAUTION!
4DC braking ^ 437
0x2B84:001 DC braking: Current Braking current for DC braking.
(P704.01) (DC braking: Current) • 100 % ≡ rated motor current 0x6075 (P323.00)
0.0 ... [0.0] ... 200.0 %

• Switch S2 activates DC braking.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate DC braking

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:005 (P400.05) Activate DC braking Digital input 2 [12]
0x2B84:001 (P704.01) DC braking: Current 10 %
572
Activating DC braking manually
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Activate DC braking
t
50 Hz
40 Hz
30 Hz
DC
DC
20 Hz
br
br
ak
ak
10 Hz
e
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
t
① If DC braking is activated while the motor is running, the output pulses of the inverter are disabled immediately. For stopping the motor, the
current set in 0x2B84:001 (P704.01) is injected. The exact drive behaviour depends on the settings for the "DC braking" function and the
load properties.
573
Releasing holding brake manually
14.6 Releasing holding brake manually

The "Release holding brake" function serves to release the holding brake immediately. Brake
application time and brake opening time as well as the conditions for the automatic operation
are not effective.
Preconditions
• Observe setting and application notes in the "Holding brake control" chapter! ^ 472
• The brake mode "Automatic [0]" or "Manual [1]" must be set in 0x2820:001 (P712.01).
• The "Release holding brake [115]" trigger has to be assigned to a digital output or, in the
simplest case, to the relay which then switches the brake supply.
Details
Detailed information about the function and configuration of the holding brake control can be
found in the "Holding brake control" chapter. ^ 472
0x2631:049 Function list: Release holding brake Assignment of a trigger for the "Release holding brake" function.
(P400.49) (Function list: Release brake) Trigger = TRUE: Release holding brake (immediately).
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: no action.
ted. Notes:
• For further possible settings, see parameter • Function is only executed if the brake mode 0x2820:001 (P712.01) is
0x2631:001 (P400.01). ^ 532 set to "Automatic [0]" or "Manual [1]".
0 Not connected CAUTION!

• Switch S2 releases the holding brake. For this purpose, in this example, trigger "Release
holding brake [115]" is assigned to the relay that switches the brake supply.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Release holding brake

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:049 (P400.49) Release holding brake Digital input 2 [12]
0x2634:001 (P420.01) Relay Release holding brake [115]
574
Releasing holding brake manually
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
Digital input 2 [12] Release holding brake
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
Holding brake
active ! Holding brake
active
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Output trigger
Release holding brake [115] Relais
t
① As the holding brake is active, the motor does not yet start to rotate after the start command.
② The holding brake is released. The motor is led to the setpoint.
③ In this example, the "Release holding brake [115]" trigger is assigned to the relay that switches the brake supply. In idle state, the holding
brake is applied. If the relay is energised, the holding brake is released.
④ Note: Holding brakes are not intended for braking during operation. The increased wear caused by braking during operation may destroy
the holding brakes prematurely!
575
Activating ramp 2 manually
14.7 Activating ramp 2 manually

The "Activate ramp 2" function serves to manually activate acceleration time 2 and decelera-
tion time 2.
0x2631:039 Function list: Activate ramp 2 Assignment of a trigger for the "Activate ramp 2" function.
(P400.39) (Function list: Activ. ramp 2) Trigger = TRUE: activate acceleration time 2 and deceleration time 2
• For further possible settings, see parameter manually.
0 Not connected Notes:
• If the function is used and the assigned trigger = TRUE, the auto
change-over threshold 0x291B (P224.00) for ramp 2 is deactivated.
TRUE.
TRUE.
576
Activating ramp 2 manually

• Switch S2 activates the acceleration time 2 and deceleration time 2.
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switch S2 Activate ramp 2

1k ...10k
0 ... 10 V
R1 S1 S2

0x2631:039 (P400.39) Activate ramp 2 Digital input 2 [12]
0x291A (P223.00) Deceleration time 2 5.0 s
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
Constant TRUE [1] Inverter enable
t
t
Digital input 2 [12] Activate ramp 2
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
① Change-over to deceleration time 2 during the deceleration phase.

② Change-over to acceleration time 1 during the acceleration phase.
577
Triggering a user-defined fault
14.8 Triggering a user-defined fault

The "Activate fault 1" and "Activate fault 2" functions serve to set the inverter from the proc-
ess to the error status.
Details
If, for instance, sensors or switches are provided for process monitoring, which are designed
to stop the process (and thus the drive) under certain conditions, these sensors/switches can
be connected to free digital inputs of the inverter. The digital inputs used for the sensors/
switches then have to be assigned to the functions "Activate fault 1" and "Activate fault 2" as
triggers.
0x2631:001 (P400.01). ^ 532 Notes:
0x2631:001 (P400.01). ^ 532 Notes:
Example
An example of the operating mode can be found in the chapter "Reset error". ^ 570
Related topics
578
Functions for parameter change-over
14.9 Functions for parameter change-over

The inverter supports several parameter sets. The parameter set can be selected by means of
the "Select parameter set (bit 0)" and "Select parameter set (bit 1)" functions.
DANGER!
Changed parameter settings can become effective immediately depending on the activating
method set in 0x4046 (P755.00).
enabled.
Details
The "parameter change-over" function provides a change-over between four sets with differ-
ent parameter values for up to 32 freely selectable parameters. For details on the compilation
of the parameters and setting of the value sets, see the chapter "Parameter change-over".
^ 464
A value set is selected in a binary-coded fashion via the triggers assigned to the two Select
parameter set (bit 0)" and " Select parameter set (bit 1)" functions in compliance with the fol-
lowing truth table:
Select parameter set (bit 1) Select parameter set (bit 0) Selection
0x2631:042 (P400.42) 0x2631:041 (P400.41)
FALSE FALSE Value set 1
FALSE TRUE Value set 2
TRUE FALSE Value set 3
TRUE TRUE Value set 4
Change-over is effected depending on the activation method selected in 0x4046 (P755.00)

when a state change of the selection inputs takes place or via the trigger assigned to the
"Load parameter set" function.
0x2631:040 Function list: Load parameter set Assignment of a trigger for the "Load parameter set" function.
(P400.40) (Function list: Load param.set) Trigger = FALSE-TRUE edge: parameter change-over to the value set
• Setting can only be changed if the inverter is inhibi- selected via "Select parameter set (bit 0)" and "Select parameter set (bit
ted. 1)".
0x2631:001 (P400.01). ^ 532 Notes:
0 Not connected • The activation method for the "Parameter change-over" function can
0x2631:001 (P400.01). ^ 532
0 Not connected
0x2631:001 (P400.01). ^ 532
0 Not connected
579

0x4046 Activation of parameter set Selection of the activation method for the parameter change-over.
(P755.00) (PSet activation) • If the selection is changed from "Via command... [0]/[1]" to "If the
selection is changed...[2]/[3]" after switch-on, the parameter set
selected via the functions "Select parameter set (bit 0)" and "Select
parameter set (bit 1)" is activated immediately. In case of selection
[2], however, this only takes place if the inverter is disabled, the motor
is stopped or an error is active.
0 Via command (disable required) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated if the trigger assigned
to the "Load parameter set" function in 0x2631:040 (P400.40) provides a
FALSE-TRUE edge AND the inverter is inhibited, the motor is stopped or
an error is active.
1 Via command (immediately) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is immediately activated if the trig-
ger assigned to the "Load parameter set" function in 0x2631:040
(P400.40) provides a FALSE-TRUE edge.
2 If the selection is changed (disable required) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated if the state of these
selection bits changes AND the inverter is inhibited, the motor is stop-
ped or an error is active.
3 If the selection is changed (immediately) The parameter set selected via the functions "Select parameter set (bit
0)" and "Select parameter set (bit 1)" is activated immediately if the
state of these selection bits is changed.
580
Example 1: Activation via command (only when disabled)
14.9.1 Example 1: Activation via command (only when disabled)

Activation method 0x4046 (P755.00) = "Via command (disable required) [0]":
• Switches S3 and S4 serve to select the parameter set (see the following table).
• Switch S2 activates the change-over. Since the change-over is activated with a rising edge,
a button (normally-open contact) can be used instead of a switch.
• Change-over is only possible if the motor is not started (switch S1 open).
X3 Switch S1 Run
Switch S2 Load parameter set
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switches S3 ... S4 Parameter set selection:

S3 S4
S1 S2 S3 S4 Off Off Parameter set 1
On Off Parameter set 2
Off On Parameter set 3
On On Parameter set 4

0x2631:040 (P400.40) Load parameter set Digital input 2 [12]
0x2631:041 (P400.41) Select parameter set (bit 0) Digital input 3 [13]
0x4046 (P755.00) Activation of parameter set Via command (disable required) [0]

t
Trigger Function
t
t
Digital input 2 [12] Load parameter set
t
Digital input 3 [13] Select par. set (bit 0)
t
t
Active parameter set 1 2 3 4 3
t
Output signals
Status signals
Parameter set 1 active [108]
t
t
t
t
① The change-over is activated with the "Load parameter set" function (FALSE/TRUE edge).
② If the inverter is enabled and the motor is started, a change-over is not possible.
581
Example 2: Activation via command (immediately)
14.9.2 Example 2: Activation via command (immediately)

Activation method 0x4046 (P755.00) = "Via command (immediately) [1]":
• Switches S3 and S4 serve to select the parameter set (see the following table).
• Switch S2 activates the change-over. Since the change-over is activated with a rising edge,
a button (normally-open contact) can be used instead of a switch.
• Change-over takes place immediately, even if the motor is started (switch S1 closed).
X3 Switch S1 Run
Switch S2 Load parameter set
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Switches S3 ... S4 Parameter set selection:

S3 S4
S1 S2 S3 S4 Off Off Parameter set 1

0x4046 (P755.00) Activation of parameter set Via command (immediately) [1]

t
Trigger Function
t
t
t
t
t
Active parameter set 1 2 3 4 1 3
t
Output signals
Status signals
t
t
t
t
① The change-over is activated with the "Load parameter set" function (FALSE/TRUE edge).
② Change-over is also possible if the inverter is enabled and the motor is started.
582
Example 3: Activation if the selection is changed (only if the inverter is disabled)
14.9.3 Example 3: Activation if the selection is changed (only if the inverter is disabled)
Activation method 0x4046 (P755.00) = "If the selection is changed (disable required) [2]":
• Switches S3 and S4 serve to select the parameter set (see the following table). At the same
time, the change-over is activated by a status change of the selection inputs.
• Change-over is only possible if the motor is not started (switch S1 open).
• Switch S2 ("Load parameter set") is ignored in this configuration.
X3 Switch S1 Run
Switch S2 Load parameter set (is ignored in this configura-
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
tion)
Switches S3 ... S4 Parameter set selection and activation at the
same time:
S1 S2 S3 S4
S3 S4
Off Off Parameter set 1

0x4046 (P755.00) Activation of parameter set If the selection is changed (disable required) [2]

t
Trigger Function
t
t
t
t
t
Active parameter set 1 2 1 4 3 3
t
Output signals
Status signals
t
t
t
t
① The "Load parameter set" function is ignored in this configuration.

② Change-over takes place by a status change of the selection inputs.
③ If the inverter is enabled and the motor is started, a change-over is not possible.
583
Example 4: Activation if the selection is changed (immediately)
14.9.4 Example 4: Activation if the selection is changed (immediately)

Activation method 0x4046 (P755.00) = "If the selection is changed (immediately) [3]":
• Switches S3 and S4 serve to select the parameter set (see the following table). At the same
time, the change-over is activated by a status change of the selection inputs.
• Change-over takes place immediately, even if the motor is started (switch S1 closed).
• Switch S2 ("Load parameter set") is ignored in this configuration.
X3 Switch S1 Run
Switch S2 Load parameter set (is ignored in this configura-
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
tion)
Switches S3 ... S4 Parameter set selection and activation at the
same time:
S1 S2 S3 S4
S3 S4
Off Off Parameter set 1

0x4046 (P755.00) Activation of parameter set If the selection is changed (immediately) [3]

t
Trigger Function
t
t
t
t
t
Active parameter set 1 2 1 3 1 4 3 1 2 4 3 1
t
Output signals
Status signals
t
t
t
t
① The "Load parameter set" function is ignored in this configuration.

② Change-over takes place by a status change of the selection inputs.
③ Change-over is also possible if the inverter is enabled and the motor is started.
584
Process controller function selection
14.10 Process controller function selection

By means of the following functions, the response of the inverter can be controlled when PID
control is activated. 4Configuring the process controller ^ 407
0x2631:045 Function list: Deactivate PID controller Assignment of a trigger for the "Deactivate PID controller" function.
(P400.45) (Function list: PID off) Trigger = TRUE: If PID control is activated, ignore PID control and drive
• For further possible settings, see parameter the motor in speed-controlled manner.
0x2631:001 (P400.01). ^ 532 Trigger = FALSE: If PID control is activated, drive the motor with PID con-
0 Not connected trol.
Notes:
• The PID control mode can be selected in 0x4020:001 (P600.01).
0x2631:046 Function list: Set process controller output to 0 Assignment of a trigger for the "Set process controller output to 0" func-
(P400.46) (Function list: PID output=0) tion.
• For further possible settings, see parameter Trigger = TRUE: If PID control is activated, I component and the output of
0x2631:001 (P400.01). ^ 532 the PID controller are set to 0 and the internal control algorithm is stop-
0 Not connected ped. The PID control remains active.
Trigger = FALSE: no action / deactivate function again.
0x2631:047 Function list: Inhibit process controller I-component Assignment of a trigger for the "Inhibit process controller I-component"
(P400.47) (Function list: PID-I inhibited) function.
• For further possible settings, see parameter Trigger = TRUE: If PID control is activated, the I component of the PID
0x2631:001 (P400.01). ^ 532 controller is set to 0 and the integration process is stopped.
0 Not connected Trigger = FALSE: no action / deactivate function again.
Notes:
• The reset time can be set in 0x4049 (P602.00).
0x2631:048 Function list: Activate PID influence ramp Assignment of a trigger for the "Activate PID influence ramp" function.
(P400.48) (Function list: PID-Inf ramp on) Trigger = TRUE: the influence of the process controller is shown via a
• For further possible settings, see parameter ramp.
0x2631:001 (P400.01). ^ 532 Trigger = FALSE or not connected: the influence of the process controller
1 Constant TRUE is hidden via ramp.
Notes:
• The influence of the process controller is always active (not only when
PID control is activated).
• Acceleration time for showing the influence of the process controller
can be set in 0x404C:001 (P607.01).
• Deceleration time for hiding the influence of the process controller
can be set in 0x404C:002 (P607.02).
0x4020:001 Process controller setup (PID): Operating mode Selection of the process controller operating mode.
(P600.01) (PID setup: Operating mode)
0 Inhibited Process controller deactivated.
1 Normal operation The setpoint is higher than the fed back variable (actual value). If the sys-
Example: pressure-controlled booster pumps (increase in the motor
speed produces an increase in pressure.)
2 Reverse operation The setpoint is lower than the fed back variable (actual value). If the sys-
Example: temperature-controlled cooling water pump (increase in motor
speed produces decrease in temperature.)
3 Normal bi-drectional The direction of rotation corresponds to the sign of the system devia-
tion. If the system deviation increases, the motor speed is increased.
4 Reverse bi-directional A negative system deviation causes a positive direction of rotation. If the
system deviation increases, the motor speed is increased.
0x4049 PID I- component Reset time for system deviation.
(P602.00) (PID I- component) • With the setting "6000 ms", the I component is deactivated.
10 ... [400] ... 6000 ms • The I component can also be deactivated via the "Inhibit process con-
troller I-component" 0x2631:047 (P400.47) function.
0x404C:001 PID influence: Acceleration time for activation If the trigger assigned in 0x2631:048 (P400.48) of the "Activate PID influ-
(P607.01) (PID influence: Activation time) ence ramp" function is TRUE, the influence of the process controller is
0.0 ... [5.0] ... 999.9 s shown by means of a ramp with the acceleration time set here.
0x404C:002 PID influence: Deceleration time for masking out If the trigger assigned in 0x2631:048 (P400.48) of the "Activate PID influ-
(P607.02) (PID influence: Mask out time) ence ramp" function is FALSE, the influence of the process controller is
0.0 ... [5.0] ... 999.9 s hidden via a ramp with the deceleration time set here.
585

In the following example, the "Deactivate PID controller" function is used to deactivate the
PID control temporarily:
• As standard setpoint source, the frequency preset 1 is set to 20 Hz.
• Switch S2 deactivates the PID control. The motor is then driven in a speed-controlled way.
X3 Switch S1 Run
Switch S2 Deactivate PID controller
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
S1 S2

0x2631:045 (P400.45) Deactivate PID controller Digital input 2 [12]
The example assumes that the process controller has been configured accord-
ingly. 4Configuring the process controller ^ 407
586
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
100 %
Process setpoint 80 %
60 %
40 %
20 %
0% t
Trigger Function
t
t
Digital input 2 [12] Deactivate PID controlling
t
100 % / 50 Hz
80 % 80 %
80 % / 40 Hz
30 Hz
20 Hz
20 Hz
10 Hz
0x2DDD -10 Hz t
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
PID feedback = setpoint [73]
t
① PID control is deactivated: Change-over from the configured PID control to the speed-controlled operation.
② PID control is activated again: Change-over from the speed-controlled operation to the configured PID control.
587
Sequencer control functions
14.11 Sequencer control functions

The following functions serve to control the sequencer. 4Sequencer ^ 504
Select sequence
A sequence is selected in a binary-coded fashion via the triggers assigned to the four functions
"Select sequence (bit 0)" ... " Select sequence (bit 3)" in compliance with the following truth
table:
Select sequence Selection
Bit 3 Bit 2 Bit 1 Bit 0
0x2631:053 0x2631:052 0x2631:051 0x2631:050
(P400.53) (P400.52) (P400.51) (P400.50)
FALSE FALSE FALSE FALSE No sequence selected
FALSE FALSE FALSE TRUE Sequence 1
FALSE FALSE TRUE FALSE Sequence 2
FALSE FALSE TRUE TRUE Sequence 3
FALSE TRUE FALSE FALSE Sequence 4
FALSE TRUE FALSE TRUE Sequence 5
FALSE TRUE TRUE FALSE Sequence 6
FALSE TRUE TRUE TRUE Sequence 7
TRUE FALSE FALSE FALSE Sequence 8
TRUE FALSE FALSE TRUE Invalid selection
...
TRUE TRUE TRUE TRUE
Start sequence
The selected sequence is not started automatically. For starting the sequence, two functions
are available:
• 0x2631:030 (P400.30): Run/abort sequence (status-controlled start)
• 0x2631:031 (P400.31): Start sequence (edge-controlled start)
Further control functions
The following functions serve to control the started sequence:
• 0x2631:032 (P400.32): Next sequence step
• 0x2631:033 (P400.33): Pause sequence
• 0x2631:034 (P400.34): Suspend sequence
• 0x2631:035 (P400.35): Stop sequence
• 0x2631:036 (P400.36): Abort sequence
For controlling the sequencer via network, the sequencer control functions can also be
assigned to the NetWordIN1 data word 0x4008:001 (P590.01).
0x2631:030 Function list: Run/abort sequence Assignment of a trigger for the "Run/abort sequence" function.
(P400.30) (Function list: Seq: Run/abort) Trigger = TRUE: Start selected sequence.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: Abort sequence.
ted. Notes:
• From version 03.00 • The assigned trigger must remain set to TRUE for the duration of the
• For further possible settings, see parameter sequence.
0x2631:001 (P400.01). ^ 532
• If the trigger bit is reset to FALSE, the sequence is aborted. In this
0 Not connected case, the standard setpoint or the setpoint source selected via set-
point change-over is active again.
• A sequence is selected in a binary-coded fashion via the trigger
assigned to the four functions "Select sequence (bit 0)" 0x2631:050
(P400.50) ... "Select sequence (bit 3)" 0x2631:053 (P400.53).
• For an edge-controlled start, the function "Start sequence"
0x2631:031 (P400.31) is optionally available.
588

0x2631:031 Function list: Start sequence Assignment of a trigger for the "Start sequence" function.
(P400.31) (Function list: Seq: Start) Trigger = FALSE↗TRUE (edge): Start selected sequence.
ted. Notes:
• From version 03.00 • After the start, the sequencer remains activated until the function
• For further possible settings, see parameter "Stop sequence" 0x2631:035 (P400.35) or the function "Abort
0x2631:001 (P400.01). ^ 532 sequence" 0x2631:036 (P400.36) is executed. A normal stop com-
0 Not connected mand does not reset the start command for the sequencer.
• For a status-controlled start, the function "Run/abort sequence"
0x2631:030 (P400.30) is optionally available.
0x2631:032 Function list: Next sequence step Assignment of a trigger for the "Next sequence step" function.
(P400.32) (Function list: Seq: Next step) Trigger = FALSE↗TRUE (edge): Next sequence step.
ted. Notes:
• From version 03.00 • The execution of the current step is completed even if the time para-
• For further possible settings, see parameter meterised for the segment has not elapsed yet.
0x2631:001 (P400.01). ^ 532
• The function is only relevant for Sequencer mode 0x4025 (P800.00) =
0 Not connected "Step operation [2]" or "Time & step operation [3]".
• A jump to the next sequence step is not possible if the sequence pau-
ses, the sequence is suspended or the final segment is executed.
0x2631:033 Function list: Pause sequence Assignment of a trigger for the "Pause sequence" function.
(P400.33) (Function list: Seq: Pause) Trigger = TRUE: Pause sequence.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: Continue sequence.
ted. Notes:
• From version 03.00 • During the pause, the sequence stops in the current step. The expira-
• For further possible settings, see parameter tion of the time set for the segment is stopped.
0x2631:001 (P400.01). ^ 532
• The sequencer setpoint continues to remain active.
0 Not connected
0x2631:034 Function list: Suspend sequence Assignment of a trigger for the "Suspend sequence" function.
(P400.34) (Function list: Seq: Suspense) Trigger = TRUE: Suspend sequence.
• Setting can only be changed if the inverter is inhibi- Trigger = FALSE: Continue sequence.
ted. Notes:
• From version 03.00 • This function serves to temporarily change over to the standard set-
• For further possible settings, see parameter point or the setpoint source selected via setpoint change-over.
0x2631:001 (P400.01). ^ 532
• The sequence is continued at the point where it was suspended.
0 Not connected
0x2631:035 Function list: Stop sequence Assignment of a trigger for the "Stop sequence" function.
(P400.35) (Function list: Seq: Stop) Trigger = FALSE↗TRUE (edge): Stop sequence.
ted. Notes:
• From version 03.00 • If the sequence is stopped, it is jumped to the final segment.
• For further possible settings, see parameter • The further execution depends on the selected End of sequence
0x2631:001 (P400.01). ^ 532 mode 0x402F (P824.00).
0 Not connected
0x2631:036 Function list: Abort sequence Assignment of a trigger for the "Abort sequence" function.
(P400.36) (Function list: Seq: Abort) Trigger = FALSE↗TRUE (edge): Abort sequence.
ted. Notes:
• From version 03.00 • This function serves to directly stop the sequence without the final
• For further possible settings, see parameter segment being executed. In this case, the standard setpoint or the set-
0x2631:001 (P400.01). ^ 532 point source selected via setpoint change-over is active again.
0 Not connected
0x2631:050 Function list: Select sequence (bit 0) Assignment of a trigger for the "Select sequence (bit 0)" function.
(P400.50) (Function list: Seq: Select. b0) Selection bit with the valency 20 for bit coded selection of a sequence.
Notes:
• The selected sequence is not started automatically.
0x2631:001 (P400.01). ^ 532
• For a status-controlled start, the function "Run/abort sequence"
0 Not connected 0x2631:030 (P400.30) is available.
0x2631:031 (P400.31) is available.
589

(P400.51) (Function list: Seq: Select. b1) Selection bit with the valency 21 for the bit-coded selection of a
• Setting can only be changed if the inverter is inhibi- sequence.
ted. Trigger = FALSE: selection bit = "0".
• From version 03.00 Trigger = TRUE: selection bit = "1".
Notes:
0x2631:001 (P400.01). ^ 532
0 Not connected • For a status-controlled start, the function "Run/abort sequence"
0x2631:030 (P400.30) is available.
0x2631:031 (P400.31) is available.
Notes:
0x2631:001 (P400.01). ^ 532
0x2631:030 (P400.30) is available.
0x2631:031 (P400.31) is available.
Notes:
0x2631:001 (P400.01). ^ 532
0x2631:030 (P400.30) is available.
0x2631:031 (P400.31) is available.
590

In the following example, the digital inputs 2 and 3 are used for controlling the sequencer.
• Button S2 starts the sequence, button S3 aborts the sequence. After the abortion, the nor-
mal setpoint control is active again.
Connection plan Function
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
Button S2 Start sequence

Button S3 Abort sequence
1k ...10k
0 ... 10 V
R1 S1 S2 S3

0x2631:031 (P400.31) Start sequence Digital input 2 [12]
0x2631:036 (P400.36) Abort sequence Digital input 3 [13]
0x2631:050 (P400.50) Select sequence (bit 0) Constant TRUE [1]
0x2634:001 (P420.01) Relay Sequencer controlled [100]
0x2634:002 (P420.02) Digital output 1 Sequencer controlled [100]
Segment and sequence configuration
In this example, only the sequence 1 is used. The sequence consists of two steps (segment 1 and segment 2).
0x4026:001 (P801.01) Sequencer segment 1: Frequency setpoint 40 Hz
0x4026:002 (P801.02) Sequencer segment 1: Acceleration/deceleration 20 s
0x4026:003 (P801.03) Sequencer segment 1: Time 18 s
0x4026:004 (P801.04) Sequencer segment 1: Digital outputs 0x00
0x4027:001 (P802.01) Sequencer segment 2: Frequency setpoint 30 Hz
0x4027:002 (P802.02) Sequencer segment 2: Acceleration/deceleration 15 s
0x4027:003 (P802.03) Sequencer segment 2: Time 14 s
0x4027:004 (P802.04) Sequencer segment 2: Digital outputs 0x02 (only relay)
0x402E:001 (P822.01) End segment: Frequency setpoint 10 Hz
0x402E:002 (P822.02) End segment: Acceleration/deceleration 8s
0x402E:003 (P822.03) End segment: Time 10 s
0x402E:004 (P822.04) End segment: Digital outputs 0x04 (only digital output 1)
0x4030:001 ... 0x4030:016 Sequence 1: Step 1 Segment 1 [1]
(P830.01 ... 16) Sequence 1: Step 2 Segment 2 [2]
Sequence 1: Step 3 Skip step [0]
... ...
Sequence 1: Step 16 Skip step [0]
0x4025 (P800.00) Sequencer mode Time operation [1]
0x402F (P824.00) End of sequence mode Keep running [0]
0x4040 (P820.00) Start of sequence mode Restart sequencer [0]
591
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
Constant TRUE [1] Select sequence (bit 0) Bit 0 = 1 and bit 1 ... 3 = 0: sequence 1 is selected.
t
t
t
t
Segment 1 Segment 2 End segment Segment 1 Segment 2
50 Hz (40 Hz) (30 Hz) (10 Hz) (40 Hz) (30 Hz)
40 Hz
0x2DDD 20 Hz
10 Hz
0 Hz t
tSeg1 tSeg2 tEnd seg tSeg1 tSeg2
Status signals
Running [50]
t
Stop active [53]
t
Seq. controlled [100] Relay
t
Seq. controlled [100] Digital output 1
t
Sequence active [101]
t
① If the inverter is enabled and no error is active, the motor can be started with the "Run" function.
As the sequence has not been started yet, first the normal setpoint control is active.
② The "Start sequence" function is used to start the selected sequence in an edge-controlled way.
③ Sequencer mode 0x4025 (P800.00) = "Time operation [1]":
The switch-over to the next step of the sequence is made after the time set for the current segment has elapsed.
④ The segment 2 is configured here in such a way that the relay will be triggered during the time of processing.
⑤ End of sequence mode 0x402F (P824.00) = "Keep running [0]":
After the sequence has been processed, the setpoint set for the end segment is continuously transmitted to the motor control until the
sequence is aborted.
⑥ In case of the end segment, the time setting determines the delay after which the configured output states are to become active. Here, the
end segment is configured in such a way that the digital output 1 is set after 10 s have expired.
⑦ If the "Run" function is set to FALSE, the motor is stopped with the stop method set in 0x2838:003 (P203.03). The started sequence, how-
ever, remains active and the sequencer-controlled outputs keep their state.
⑧ Start of sequence mode 0x4040 (P820.00) = "Restart sequencer [0]":
If the "Run" function is set to TRUE again, the (still active) sequence is restarted.
⑨ The "Abort sequence" function is used to abort the sequence in an edge-controlled way.
In this case, the standard setpoint or the setpoint source selected via setpoint change-over is active again.
592
Frequency threshold for "Frequency threshold exceeded" trigger
14.12 Frequency threshold for "Frequency threshold exceeded" trigger

As a function of the current output frequency, the adjustable frequency threshold serves to
trigger a certain function or set a digital output.
0x4005 Frequency threshold Threshold for the "Frequency threshold exceeded [70]" trigger.
(P412.00) (Freq. threshold) • The "Frequency threshold exceeded [70]" trigger is TRUE if the cur-
0.0 ... [0.0] ... 599.0 Hz rent output frequency is higher than the set threshold.
• The trigger can be assigned to a function or to a digital output.

In the following example, the digital output 1 is set to TRUE if the output frequency is higher
than 20 Hz.
Connection plan Function
Switch S1 Run
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
1k ...10k
0 ... 10 V
R1 S1

0x2634:002 (P420.02) Digital outputs function: Digital output 1 Frequency threshold exceeded [70]
0x4005 (P412.00) Frequency threshold 20 Hz
Input signals 60 Hz
50 Hz
40 Hz
20 Hz
10 Hz
0 Hz t
Trigger Function
t
t
50 Hz
40 Hz
30 Hz
20 Hz
10 Hz
0x2DDD t
-10 Hz
-20 Hz
-30 Hz
-40 Hz
-50 Hz
-60 Hz
Status signals
Running [50]
t
Stop active [53]
t
Frequency threshold exceeded [70]
t
① Frequency threshold 0x4005 (P412.00)

② Frequency threshold exceeded: Via trigger "Frequency threshold exceeded [70]", the digital output 1 is set to TRUE.
593
Configuration of digital inputs
14.13 Configuration of digital inputs

Settings for digital inputs 1 ... 7.
Preconditions
Digital input 6 and digital input 7 are only available for a Control Unit (CU) with application
I/O.
Details
The digital inputs are used for control tasks. For this purpose, the digital inputs are available as
selectable triggers for functions.
The following settings are possible for the digital inputs:
• Assertion level "HIGH active" or "LOW active" ①
• Debounce time ②
• Inversion ③
0x2630:001 0x2633:001 0x2632:001

X3 0
Trigger
DI1 0x60FD - Bit 16 0 t 1
1
0x2633:002 0x2632:002
0x60FD - Bit 25
0
DI2 0x60FD - Bit 17 0 t 1
1
0x2633:003 0x2632:003
0
DI3 0x60FD - Bit 18 Digital input 3 [13]
HIGH-active / LOW-active
0 t 1
1
0x2633:004 0x2632:004
0
DI4 0x60FD - Bit 19 0 t 1
1
0x2633:005 0x2632:005
0
DI5 0x60FD - Bit 20 0 t 1
1
0x2633:006 0x2632:006
0
DI6 0x60FD - Bit 21 0 t 1
1
0x2633:007 0x2632:007
0
DI7 0x60FD - Bit 22 0 t 1
1
• The logic status of the digital inputs is displayed in 0x60FD (P118.00).
594
Assertion level "HIGH active" or "LOW active"

The digital inputs can be configured in 0x2630:001 (P410.01) HIGH active (default setting) or
LOW active:
HIGH active (default setting) LOW active
• Internally, the digital input terminals are set to LOW level via pull- • Internally, the digital input terminals are set to HIGH level via pull-up
down resistors. resistors.
• The current flows from the current supply (e.g. X3/24V) through the • The current flows from the digital input terminal through the contact
contact to the digital input terminal (and internally via the pull-down to GND.
resistor to GND). • If the contact is closed, the digital input is set to LOW level and is thus
• If the contact is closed, the digital input is set to HIGH level and is thus LOW active.
HIGH active.
Connection plan (example): Connection plan (example):
X3 X3
GND
GND
DO1
DO1
AO1
AO1
10V
24V
10V
24V
DI1
DI2
DI3
DI4
DI5
DI1
DI2
DI3
DI4
DI5
AI1
AI2
AI1
AI2
S1 S2 S3 S1 S2 S3
Debounce time
For minimising interference pulses, a debounce time of 1 ms is set for all digital inputs.
Via »EASY Starter« (or network), the debounce time for can be increased individually for each
digital input to maximally 50 ms.
Inversion
Each digital input can be configured in such a way that the status pending at the terminal is
internally inverted logically. This way, a closed contact, for instance, serves to deactivate an
assigned function instead of activating it. Thus, the control of the inverter can be flexibly
adapted to the requirements of the actual application.
0x2630:001 Settings for digital inputs: Assertion level Definition of the internal hardware interconnection of the digital input
(P410.01) (DI settings: Assertion level) terminal (X3/DIx).
0 LOW active Digital input terminals (X3/DIx) are set to HIGH level via pull-up resistors.
1 HIGH active Digital input terminals (X3/DIx) are set to LOW level via pull-down resis-
tors.
DI4 = digital input
wise (CCW)
0x2632:001 Inversion of digital inputs: Digital input 1 Inversion of digital input 1
(P411.01) (DI inversion: DI1 inversion)
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
595

0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0x2633:001 Digital input debounce time: Digital input 1 Debounce time of digital input 1
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
1 ... [1] ... 50 ms
Example: Activating two functions simultaneously via digital input 4

The principle of assigning triggers to functions also enables a digital input to be assigned to
several functions. The wiring complexity is reduced since there is no necessity to interconnect
several digital inputs.
If, for instance, the frequency preset 1 is to be selected via the digital input 4 and a change-
over to the acceleration time 2 and deceleration time 2 is to take place at the same time, this
can be easily realised by the following parameter setting:
0x2631:039 (P400.39) Activate ramp 2 Digital input 4 [14]
In order to achieve the desired behaviour, the digital input 4 must not be
assigned to any further functions!
596
Configuration of analog inputs
Analog input 1
14.14 Configuration of analog inputs
14.14.1 Analog input 1

Settings for analog input 1.
Details
The analog input 1 can be used as setpoint source.4Selection of setpoint source ^ 148
For the process controller, the analog input can be used for the feedback of the variable
(actual value) or speed feedforward control. 4Basic process controller settings ^ 408
The following settings are possible for the analog input:
• Monitoring of the input signal ③
• Dead band for eliminating the smallest signal levels ④
• Definition of the setting range ⑤
AI1 V/mA x <> y % Analog input 1 [2] 0x2860:001
% Hz
0x2636:001 0x2636:006 0x2636:008 0x2636:007 0x2636:002 0x2DA4:002 [Hz]
0x2636:009 0x2636:003
0x2636:010
% PID Analog input 1 [2] 0x2860:002
unit
0x2636:004 0x2DA4:003 [PID unit]

0x2636:005
Torque setpoint source
% Analog input 1 [2] 0x2860:003
%
0x2636:011 0x2DA4:004 [%]
0x2636:012
• The frequency value is displayed in 0x2DA4:002 (P110.02).
• The process controller value is displayed in 0x2DA4:003 (P110.03).
• The torque value is displayed in 0x2DA4:004 (P110.04).
Definition of the input range
The analog input can be configured as voltage or current input. Internally, the signal is always
converted to a value in percent.
Definition of the setting range
The setting range results from the set min and max value for the respective mode.
4Example 1: Input range 0 ... 10 V ≡ setting range 0 ... 50 Hz ^ 599
4Example 2: Input range 0 ... 10 V ≡ setting range -40 ... +40 Hz ^ 599
4Example 3: Input range -10 ... +10 V ≡ setting range -40 ... +40 Hz ^ 600
4Example 4: Error detection ^ 600
0x2636:001 Analog input 1: Input range Definition of the input range.
(P430.01) (Analog input 1: AI1 input range)
0 0 ... 10 VDC
1 0 ... 5 VDC
2 2 ... 10 VDC
3 -10 ... +10 VDC
4 4 ... 20 mA
5 0 ... 20 mA
597
Analog input 1

0x2636:002 Analog input 1: Min frequency value Definition of the setting range for operating mode "MS: Velocity mode".
(P430.02) (Analog input 1: AI1 freq @ min) • Direction of rotation according to sign.
0x2636:003 Analog input 1: Max frequency value "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
(P430.03) (Analog input 1: AI1 freq @ max)
-300.00 ... [100.00] ... 300.00 PID unit
0x2636:006 Analog input 1: Filter time PT1 time constant for low-pass filter.
(P430.06) (Analog input 1: AI1 filter time) • By the use of a low-pass filter, the impacts of noise to an analog signal
0 ... [10] ... 10000 ms can be minimised.
• For an optimum filter effect, first the noise frequency has to be deter-
mined. The time constant then has to be set so that it equals the
reciprocal value of the double frequency.
0x2636:007 Analog input 1: Dead band Optional setting of a dead band that is placed symmetrically around the
(P430.07) (Analog input 1: AI1 dead band) frequency zero point.
0.0 ... [0.0] ... 100.0 % • The value set defines half the width of the dead band in [%].
• Example: Setting 2 % results in a dead band of 4 %.
• If the analog input value is within the dead band, the output value for
the motor control is set to "0".
0x2636:008 Analog input 1: Monitoring threshold Monitoring threshold for analog input 1.
(P430.08) (Analog input 1: AI1 monit.level) • 100 % ≡ 10 V (with configuration as voltage input)
-100.0 ... [0.0] ... 100.0 % • 100 % ≡ 20 mA (with configuration as current loop)
0x2636:009 Analog input 1: Monitoring condition Monitoring condition for analog input 1.
(P430.09) (Analog input 1: AI1 monit.cond.) • If the selected condition is met, the "Error of analog input 1 active
0 Input value < trigger threshold [81]" trigger is set to TRUE. The trigger can be assigned to a function
or a digital output.
1 Input value > trigger threshold
• If the selected condition is met for at least 500 ms, the error response
set in 0x2636:010 (P430.10) takes place.
0x2636:010 Analog input 1: Error response Error response for analog input 1.
(P430.10) (Analog input 1: AI1 error resp.) • The selected response takes place if the monitoring condition selected
• For further possible settings, see parameter in 0x2636:009 (P430.09) is met for at least 500 ms.
3 Fault • 28801 | 0x7081 - Error of analog input 1
0x2636:011 Analog input 1: Min torque value Definition of the setting range for operating mode "MS: Torque mode".
(P430.11) (Analog input 1: Min. torque) • 100 % ≡ permissible maximum torque 0x6072 (P326.00)
0x2636:012 Analog input 1: Max torque value "MS: Torque mode [-1]" is selected in 0x2860:003 (P201.03).
(P430.12) (Analog input 1: Max. torque) 4Torque control w/ freq. limit ^ 206
-400.0 ... [100.0] ... 400.0 %
598
Analog input 1
14.14.1.1 Example 1: Input range 0 ... 10 V ≡ setting range 0 ... 50 Hz

In this configuration, for instance, a frequency setpoint between 0 and 50 Hz can be set with a
potentiometer connected to the analog input.
(Input voltage 1 V ≡ 5 Hz)
GND
DO1
AO1
10V
24V
DI1
DI2
DI3
DI4
DI5
AI1
AI2
1k ...10k
0 ... 10 V
R1

0x2636:001 (P430.01) Analog input 1: Input range 0 ... 10 VDC [0]
0x2636:002 (P430.02) Analog input 1: Min frequency value 0.0 Hz
0x2636:003 (P430.03) Analog input 1: Max frequency value 50.0 Hz
0x2636:006 (P430.06) Analog input 1: Filter time 10 ms
AI1 V %
% Hz
0 ... 10 VDC 10 ms 0 ... 50 Hz
[%] [Hz]
100 50
0 0
0 10 [V] 0 100 [%]
14.14.1.2 Example 2: Input range 0 ... 10 V ≡ setting range -40 ... +40 Hz
In this example, a bipolar setting range and a dead band with 2 % are configured.
0x2636:002 (P430.02) Analog input 1: Min frequency value -40.0 Hz
0x2636:007 (P430.07) Analog input 1: Dead band 2.0 %
AI1 V %
% Hz
0 ... 10 VDC 10 ms 2% -40 ... 40 Hz
[%] [Hz]
100 40
2%
0
100 [%]
2%
0 -40
0 10 [V] 0
599
Analog input 1
14.14.1.3 Example 3: Input range -10 ... +10 V ≡ setting range -40 ... +40 Hz
In this example, the input range of the analog input is bipolar. For the setting range that is
bipolar as well, a dead band with 2 % is configured.
0x2636:001 (P430.01) Analog input 1: Input range -10 ... +10 VDC [3]
0x2636:002 (P430.02) Analog input 1: Min frequency value -40.0 Hz
0x2636:007 (P430.07) Analog input 1: Dead band 2.0 %
AI1 V %
% Hz
-10 ... +10 VDC 10 ms 2% -40 ... 40 Hz
[%] [Hz]
100 40
2%
-10 10 [V] -100 100 [%]

2%
-100 -40
14.14.1.4 Example 4: Error detection

In this example, the digital output 1 is set via the trigger "Error of analog input 1 active [81]" if
the percentage input value is lower than 10 %. Additionally, a warning is output.
0x2634:002 (P420.02) Digital outputs function: Digital output 1 Error of analog input 1 active [81]
0x2636:002 (P430.02) Analog input 1: Min frequency value 0.0 Hz
0x2636:008 (P430.08) Analog input 1: Monitoring threshold 10.0 %
0x2636:009 (P430.09) Analog input 1: Monitoring condition Input value < trigger threshold [0]
0x2636:010 (P430.10) Analog input 1: Error response Warning [1]
AI1 V < 10 % %
% Hz
0 ... 10 VDC 10 ms 0 ... 40 Hz
[%] [Hz]
100 40
10 4
0 0
0 1 10 [V] 0 10 100 [%]
Status signal Digital output 1
Error of analog input 1 active [81] 0x2634:002
Warning "Error of analog input 1"
600
Analog input 2
14.14.2 Analog input 2

Preconditions
Control Unit (CU) with application I/O
Details
The analog input 2 can be used as setpoint source.4Selection of setpoint source ^ 148
For the process controller, the analog input can be used for the feedback of the variable
(actual value) or speed feedforward control. 4Basic process controller settings ^ 408
The following settings are possible for the analog input:
• Monitoring of the input signal ③
• Dead band for eliminating the smallest signal levels ④
• Definition of the setting range ⑤
AI2 V/mA x <> y % Analog input 2 [3] 0x2860:001
% Hz
0x2637:001 0x2637:006 0x2637:008 0x2637:007 0x2637:002 0x2DA5:002 [Hz]
0x2637:009 0x2637:003
0x2637:010
% PID Analog input 2 [3] 0x2860:002
unit
0x2637:004 0x2DA5:003 [PID unit]

0x2637:005
Torque setpoint source
% Analog input 2 [3] 0x2860:003
%
0x2637:011 0x2DA5:004 [%]
0x2637:012
• The frequency value is displayed in 0x2DA5:002 (P111.02).
• The process controller value is displayed in 0x2DA5:003 (P111.03).
• The torque value is displayed in 0x2DA5:004 (P111.04).
For further details and configuration examples, see chapter "Analog input 1". ^ 597
0x2637:001 Analog input 2: Input range Definition of the input range.
(P431.01) (Analog input 2: AI2 input range)
0 0 ... 10 VDC
1 0 ... 5 VDC
2 2 ... 10 VDC
3 -10 ... +10 VDC
4 4 ... 20 mA
5 0 ... 20 mA
0x2637:002 Analog input 2: Min frequency value Definition of the setting range for operating mode "MS: Velocity mode".
(P431.02) (Analog input 2: AI2 freq @ min) • Direction of rotation according to sign.
0x2637:003 Analog input 2: Max frequency value "MS: Velocity mode [-2]" is selected in 0x2860:001 (P201.01).
(P431.03) (Analog input 2: AI2 freq @ max)
-300.00 ... [100.00] ... 300.00 PID unit
601
Analog input 2

0x2637:006 Analog input 2: Filter time PT1 time constant for low-pass filter.
(P431.06) (Analog input 2: AI2 filter time) • By the use of a low-pass filter, the impacts of noise to an analog signal
0 ... [10] ... 10000 ms can be minimised.
• For an optimum filter effect, first the noise frequency has to be deter-
mined. The time constant then has to be set so that it equals the
reciprocal value of the double frequency.
0x2637:007 Analog input 2: Dead band Optional setting of a dead band that is placed symmetrically around the
(P431.07) (Analog input 2: AI2 dead band) frequency zero point.
0.0 ... [0.0] ... 100.0 % • The value set defines half the width of the dead band in [%].
• Example: Setting 2 % results in a dead band of 4 %.
• If the analog input value is within the dead band, the output value for
the motor control is set to "0".
0x2637:008 Analog input 2: Monitoring threshold Monitoring threshold for analog input 2.
(P431.08) (Analog input 2: AI2 monit.level) Trigger threshold for monitoring the analog input.
-100.0 ... [0.0] ... 100.0 % • 100 % ≡ 10 V (with configuration as voltage input)
• 100 % ≡ 20 mA (with configuration as current loop)
0x2637:009 Analog input 2: Monitoring condition Monitoring condition for analog input 2.
(P431.09) (Analog input 2: AI2 error resp.) Trigger condition for monitoring the analog input.
• If the selected condition is met, the "Error of analog input 2 active
[82]" trigger is set to TRUE. The trigger can be assigned to a function
• If the trigger condition is met for at least 500 ms, the response set in
subindex 10 is effected.
0 Input value < trigger threshold Monitoring condition for analog input 2.
1 Input value > trigger threshold • If the selected condition is met, the "Error of analog input 2 active
[82]" trigger is set to TRUE. The trigger can be assigned to a function
0x2637:010 Analog input 2: Error response Error response for analog input 2.
(P431.10) (Analog input 2: AI2 error resp.) • The selected response takes place if the monitoring condition selected
• For further possible settings, see parameter in 0x2637:009 (P431.09) is met for at least 500 ms.
3 Fault • 28802 | 0x7082 - Error of analog input 2
0x2637:011 Analog input 2: Min torque value Definition of the setting range for operating mode "MS: Torque mode".
(P431.11) (Analog input 2: Min. torque) • 100 % ≡ permissible maximum torque 0x6072 (P326.00)
0x2637:012 Analog input 2: Max torque value "MS: Torque mode [-1]" is selected in 0x2860:003 (P201.03).
(P431.12) (Analog input 2: Max. torque) 4Torque control w/ freq. limit ^ 206
-400.0 ... [100.0] ... 400.0 %
602
Relay
14.15 Configuration of digital outputs

0x404D:003 PID alarms: Monitoring bandwidth PID feedback sig- Hysteresis for status signal "PID feedback = setpoint [73]".
(P608.03) nal • 100 % ≡ configured variable input range
(PID alarms: Bandw. feedback) • Example: Variable input range 0 ... 10 V: 2 % ≡ 0.2 V
0.00 ... [2.00] ... 100.00 % • The status signal "PID feedback = setpoint [73]" is TRUE if the control-
• From version 04.00 led variable fed back = process controller setpoint (± hysteresis set
here).
14.15.1 Relay
Settings for the relay.
Relay is not suitable for direct switching of a electromechanical holding brake!

Use a corresponding suppressor circuit in case of an inductive or capacitive
load!
Details
The relay is controlled with the trigger selected in 0x2634:001 (P420.01).
The following settings are possible for the relay:
• Inversion ①
• Switch-on delay ②
• Cutout delay ③
0x4018:006 0x2635:001 0x4018:004 0x4018:003 0x4018:005

0
Trigger 0x2634:001 1 X9
1
COM
NC
0x4018:007 NO
• The logic status of the trigger signal is displayed in 0x4018:006.
• The logic status of the relay is displayed in 0x4018:005.
• The current switching cycles of the relay are shown in 0x4018:007.

Trigger = TRUE: X9/NO-COM closed and NC-COM open.
Notes:
here.
consideration.
consideration.
consideration.
consideration.
consideration.
consideration.
I/O.
603
Relay

consideration.
I/O.
30 NetWordIN1 - bit 12 State of NetWordIN1/bit 12 ... 15.
31 NetWordIN1 - bit 13 • Display of NetWordIN1 in 0x4008:001 (P590.01).
• For implementing an individual control word format, NetWordIN1 can
32 NetWordIN1 - bit 14
be mapped to a process data input word.
34 NetWordIN2 - bit 0 State of NetWordIN2/bit 0 ... bit 15.
35 NetWordIN2 - bit 1 • Display of NetWordIN2 in 0x4008:002 (P590.02).
• For controlling the digital outputs via network, NetWordIN2 can be
mapped to a process data input word.
Otherwise FALSE.
52 Operation enabled TRUE if inverter and start are enabled. Otherwise FALSE.
quency = 0.
55 Safe torque off (STO) active TRUE if the integrated safety system has triggered the "Safe torque off
(STO)" function. Otherwise FALSE.
4Safe torque off (STO) ^ 523
56 Error active TRUE if error is active. Otherwise FALSE.
57 Error (non-resettable) active TRUE if non-resettable error is active. Otherwise FALSE.
59 Device trouble active TRUE if a fault is active. Otherwise FALSE.
active anymore.
restart ^ 484
65 Motor PTC error active TRUE if an error of the motor PTC has been detected. Otherwise FALSE.
• The trigger is set irrespective of the response set in 0x2D49:002
(P309.02) when the motor temperature monitoring is triggered.
66 Flying restart circuit active TRUE if flying restart circuit active is active. Otherwise FALSE.
604
Relay

67 DC braking active TRUE if DC braking is active. Otherwise FALSE.
4DC braking ^ 437
FALSE.
72 Setpoint speed reached TRUE if frequency setpoint reached. Otherwise FALSE.
73 PID feedback = setpoint TRUE if the controlled variable fed back = process controller setpoint (±
in 0x404D:003 (P608.03) set hysteresis). Otherwise FALSE.
74 PID idle state active TRUE if the inverter is in "PID idle state". Otherwise FALSE.
4Process controller idle state ^ 414
75 PID MIN alarm active TRUE if fed back variable (with activated PID control) < MIN alarm
threshold. Otherwise FALSE.
• Setting of MIN alarm threshold in 0x404D:001 (P608.01).
76 PID MAX alarm active TRUE if the fed back variable (with activated PID control) > MAX alarm
threshold. Otherwise FALSE.
• Setting of MAX alarm threshold in 0x404D:002 (P608.02).
77 PID MIN-MAX alarm active TRUE if no PID alarm is active with activated PID control (MIN alarm
threshold < fed back variable < MAX alarm threshold). Otherwise FALSE.
• Setting of MIN alarm threshold in 0x404D:001 (P608.01).
• Setting of MAX alarm threshold in 0x404D:002 (P608.02).
79 Torque limit reached TRUE if torque limit has been reached or exceeded. Otherwise FALSE.
on this trigger.
on this trigger.
605
Relay

101 Sequence active (from version 03.00) Status signal of the "sequencer" function:
TRUE if the sequence is running and is currently not suspended.
4Sequencer ^ 504
4Sequencer ^ 504
through).
4Sequencer ^ 504
erwise FALSE.
FALSE.
0x2631:016 (P400.16).
108 Parameter set 1 active TRUE if parameter set 1 is loaded and active. Otherwise FALSE.
112 Parameter set load OK TRUE after any parameter set has been loaded. Otherwise FALSE.
113 Parameter set load fail TRUE if any of the parameter sets could not be loaded. Otherwise FALSE.
115 Release holding brake Trigger signal for releasing the holding brake (TRUE = release holding
brake).
Note!
If this trigger is assigned to the relay or a digital output, the deceleration
times set for the respective output are not effective (are internally set to
"0"). Only the deceleration time set in 0x2820:012 (P712.12) for closing
the holding brake influences in this case the time-dependent behaviour
of the output.
117 Motor phase failure TRUE if a motor phase failure has been detected. Otherwise FALSE.
4Motor phase failure detection ^ 223
118 UPS operation active TRUE if UPS operation is active. Otherwise FALSE.
4UPS operation ^ 490
155 Both STO channels not active TRUE if safe inputs SIA and SIB = LOW (simultaneously). Otherwise
FALSE.
0x2635:001 Inversion of digital outputs: Relay Relay inversion
(P421.01) (DO inversion: Relay inverted)
0 Not inverted
1 Inverted
0x4018:003 Relay: Switch-off delay Switch-off delay for the relay.
0.000 ... [0.000] ... 65.535 s Note!
The set delay time is not effective (internally set to "0") if the relay is
assigned to the trigger "Release holding brake [115]". Only the decelera-
tion time set in 0x2820:012 (P712.12)for closing the holding brake influ-
ences the time-dependent behaviour of the relay.
0x4018:004 Relay: Switch-on delay Switch-on delay for the relay.
0.000 ... [0.000] ... 65.535 s Note!
ences the time-dependent behaviour of the relay.
0x4018:005 Relay: Relay state Display of the logic state of the relay.
• Read only
0 FALSE
1 TRUE
606
Digital output 1

0x4018:006 Relay: Trigger signal state Display of the logic state of the trigger signal for the relay (without tak-
• Read only ing a ON/OFF delay set and inversion into consideration).
0 FALSE
1 TRUE
0x4018:007 Relay: Switching cycles Display of the previous relay switching cycles.
• Read only
14.15.2 Digital output 1

Settings for digital output 1.
Details
The digital output 1 is controlled with the trigger selected in 0x2634:002 (P420.02).
The following settings are possible for the digital output:
• Inversion ①
0x4016:006 0x2635:002 0x4016:004 0x4016:003 0x4016:005

0
Trigger 0x2634:002 1
X3
1
DO1
• The logic status of the digital output is displayed in 0x4016:005.

• For further possible settings, see parameter Trigger = TRUE: X3/DO1 set to HIGH level.
0x2634:001 (P420.01). ^ 603 Notes:
115 Release holding brake • An inversion set in 0x2635:002 (P421.02) is taken into consideration
here.
0x2635:002 Inversion of digital outputs: Digital output 1 Inversion of digital output 1
(P421.02) (DO inversion: DO1 inversion)
0 Not inverted
1 Inverted
0x4016:003 Digital output 1: Cutout delay Switch-off delay for digital output 1.
0.000 ... [0.000] ... 65.535 s Note!
ences the time-dependent behaviour of the digital output.
0x4016:004 Digital output 1: Switch-on delay Switch-on delay for digital output 1.
0.000 ... [0.000] ... 65.535 s Note!
• Read only
0 FALSE
1 TRUE
0 FALSE
1 TRUE
607
Digital output 2
14.15.3 Digital output 2

Settings for digital output 2.
Preconditions
Details
The digital output 2 is controlled with the trigger selected in 0x2634:003 (P420.03).
The following settings are possible for the digital output:
• Inversion ①
0x4017:006 0x2635:003 0x4017:004 0x4017:003 0x4017:005

0
Trigger 0x2634:003 1
X3
1
DO2
• The logic status of the digital output is displayed in 0x4017:005.

• Only available for application I/O. Trigger = TRUE: X3/DO2 set to HIGH level.
0x2634:001 (P420.01). ^ 603
• An inversion set in 0x2635:003 (P421.03) is taken into consideration
56 Error active here.
0x2635:003 Inversion of digital outputs: Digital output 2 Inversion of digital output 2
(P421.03) (DO inversion: DO2 inversion)
0 Not inverted
1 Inverted
0x4017:003 Digital output 2: Cutout delay Switch-off delay for digital output 2.
0.000 ... [0.000] ... 65.535 s Note!
• Only available for application I/O. The set delay time is not effective (internally set to "0") if the relay is
0x4017:004 Digital output 2: Switch-on delay Switch-on delay for digital output 2.
0.000 ... [0.000] ... 65.535 s Note!
• Only available for application I/O. The set delay time is not effective (internally set to "0") if the relay is
• Read only
0 FALSE
1 TRUE
0 FALSE
1 TRUE
608
NetWordOUT1 status word
14.15.4 NetWordOUT1 status word

Assignment of digital triggers to bit 0 ... bit 15 of the NetWordOUT1 status word.
Details
The following table shows the preset status assignment of the NetWordOUT1 data word:
1 Not connected 0x2634:011 (P420.11)
3 Error active 0x2634:013 (P420.13)
4 Not connected 0x2634:014 (P420.14)
6 Running 0x2634:016 (P420.16)
8 Not connected 0x2634:018 (P420.18)
9 Not connected 0x2634:019 (P420.19)
12 Actual speed = 0 0x2634:022 (P420.22)
The following parameters can be used to change the status assignment of the NetWordOUT1
data word.
0x2634:001 (P420.01). ^ 603
51 Ready for operation
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
52 Operation enabled
0x2634:001 (P420.01). ^ 603
56 Error active
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
54 Quick stop active
609

0x2634:001 (P420.01). ^ 603
50 Running
0x2634:001 (P420.01). ^ 603
58 Device warning active
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
0 Not connected
0x2634:001 (P420.01). ^ 603
72 Setpoint speed reached
0x2634:001 (P420.01). ^ 603
0x2634:001 (P420.01). ^ 603
71 Actual speed = 0
0x2634:001 (P420.01). ^ 603
69 Rotational direction reversed
0x2634:001 (P420.01). ^ 603
115 Release holding brake
0x2634:001 (P420.01). ^ 603
55 Safe torque off (STO) active
0x2635:010 Inversion of digital outputs: NetWordOUT1.00 Inversion of bit 0 of NetWordOUT1.
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
610

0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
611
HTL output
14.15.5 HTL output

The digital output 1 can be configured for the output of a reference frequency ("pulse train")
to transfer an internal actual value signal (e. g. current output frequency or current torque) to
a higher-level Controller or other inverters.
Preconditions
In order to output an optimum rectangular signal, a "pulldown" resistor of 1 kOhm is recom-
mended at the digital output. The resistor can be directly connected to the terminals DO1 and
GND.
Restrictions
• When the digital output 1 is configured as pulse train output, this digital output is not
available anymore for the output of digital status signals.
• The maximum output frequency of the digital output is 10 kHz.
Details
Typical application cases:
a) An inverter acts as a master and transfers its current output frequency in the form of a
pulse train signal to one or several other inverters (slaves). The slaves use the pulse train
signal with a corresponding scaling as a frequency setpoint.
Inverter Inverter
(master) (slave)
VDC Pulse 1 Pulse 2 Pulse 3 Pulse 4
15 ... 24
X3 X3
DO1 DI4
DO2 1k 0 DI3
t
GND Duty cycle (50 %) GND
b) The inverter transfers the current torque or another internal variable as a pulse train signal
to a higher-level Controller. Then, the Controller can evaluate the signal accordingly.
Inverter Controller
VDC
15 ... 24
X3
DO1 DIx
DO2 1k 0
t
GND GND
612
HTL output
Configure the digital output 1 as pulse train output

In the default setting 0x2644:003 (P423.03) = "Not connected [0]", the digital output 1 is con-
figured as a "normal" digital output: The digital output 1 is controlled with the trigger selected
in 0x2634:002 (P420.02).
In order to configure the digital output 1 as pulse train output, the desired signal to be output
as pulse train must be selected in 0x2644:003 (P423.03). The trigger assigned to the digital
output 1 in 0x2634:002 (P420.02) is then not effective anymore.
The following settings are possible for the pulse train output:
• Definition of the signal range ①
• Definition of the output range ②
X3
Max
Signal 0x2644:003 Min Hz DO1
0x2644:004 0x2644:001 0x2646:001 [Hz]
0x2644:005 0x2644:002
• The current frequency of the pulse train signal is displayed in 0x2646:001 (P114.01).
Definition of the signal range
The signal range results from the resolution of the selected signal multiplied by the set min
and max signal value. Signals outside the signal range are cut off. For examples, see the fol-
lowing table:
Signal Resolution Minimum signal Maximum signal Signal range
0x2644:003 (P423.03) 0x2644:004 (P423.04) 0x2644:005 (P423.05)
Output frequency 0.1 Hz 0 1000 0 ... 100.0 Hz
Frequency setpoint 0.1 Hz 0 1000 0 ... 100.0 Hz
Analog input 1 0.1 % 0 1000 0 ... 100.0 %
Analog input 2 0.1 % 0 1000 0 ... 100.0 %
Motor current 0.1 A 0 100 0 ... 10.0 A
Output power 0.001 kW 0 250 0 ... 0.250 kW
Torque actual value 0.1 % * 0 1000 0 ... 100.0 % *
NetWordIN3 0.1 % 200 500 20.0 ... 50.0 %
NetWordIN4 0.1 % 0 250 0 ... 25.0 %
* 100 % ≡ Motor rated torque 0x6076 (P325.00)
Detailed configuration examples can be found in the following subchapters.

Definition of the output range
The frequency output range defined in 0x2644:001 (P423.01) and 0x2644:002 (P423.02) cor-
responds to the configured signal range.
4Example 1: Pulse train 0 ... 10 kHz ≡ output frequency 0 ... 100 Hz ^ 615
4Example 2: Pulse train 2 ... 10 kHz ≡ output frequency 30 ... 60 Hz ^ 616
0x2644:001 DO1 frequency setup: Minimum frequency Definition of the frequency output range.
(P423.01) (DO1 freq. setup: Min. frequency)
0.0 ... [0.0] ... 10000.0 Hz
0x2644:002 DO1 frequency setup: Maximum frequency
(P423.02) (DO1 freq. setup: Max. frequency)
0.0 ... [10000.0] ... 10000.0 Hz
613
HTL output

0x2644:003 DO1 frequency setup: Function Selection of the signal to be provided at the digital output 1 as pulse
(P423.03) (DO1 freq. setup: Function) train.
0 Not connected No pulse train signal is output at the digital output 1.
• The digital output 1 is configured as "normal" digital output.
• The digital output 1 is controlled with the trigger selected in
0x2634:002 (P420.02).
4Digital output 1 ^ 607
1 Output frequency Actual output frequency (resolution: 0.1 Hz).
2 Frequency setpoint Actual frequency setpoint (resolution: 0.1 Hz).
3 Analog input 1 Input signal of analog input 1 (resolution: 0.1 %).
5 Motor current Actual motor current (resolution: 0.1 A).
6 Output power Actual output power (resolution: 0.001 kW).
7 Actual torque Torque actual value (resolution: 0.1 %).
• 100 % ≡ permissible maximum torque 0x6072 (P326.00)
20 NetWordIN3 Actual value of the NetWordIN3 data word (resolution: 0.1 %).
0x2644:004 DO1 frequency setup: Minimum signal Definition of the signal value that corresponds to the Minimum fre-
(P423.04) (DO1 freq. setup: Min. signal) quency at the digital output 1.
-2147483648 ... [0] ... 2147483647
0x2644:005 DO1 frequency setup: Maximum signal Definition of the signal value that corresponds to the maximum fre-
(P423.05) (DO1 freq. setup: Max. signal) quency at the digital output 1.
-2147483648 ... [1000] ... 2147483647
0x2645:001 DO2 frequency setup: Minimum frequency Parameter not available.
(P424.01) (DO2 freq. setup: Min. frequency)
0.0 ... [0.0] ... 10000.0 Hz
0x2645:002 DO2 frequency setup: Maximum frequency
(P424.02) (DO2 freq. setup: Max. frequency)
0.0 ... [10000.0] ... 10000.0 Hz
0x2645:003 DO2 frequency setup: Function
(P424.03) (DO2 freq. setup: Function)
0 Not connected
1 Output frequency
2 Frequency setpoint
3 Analog input 1
4 Analog input 2
5 Motor current
6 Output power
7 Actual torque
20 NetWordIN3
21 NetWordIN4
0x2645:004 DO2 frequency setup: Minimum signal
(P424.04) (DO2 freq. setup: Min. signal)
-2147483648 ... [0] ... 2147483647
0x2645:005 DO2 frequency setup: Maximum signal
(P424.05) (DO2 freq. setup: Max. signal)
-2147483648 ... [1000] ... 2147483647
0x2646:001 DO actual frequency: Digital output 1 Display of the current frequency of the pulse train signal at the digital
(P114.01) (DO actual freq.: Digital output 1) output 1.
0x2646:002 DO actual frequency: Digital output 2 Parameter not available.
(P114.02) (DO actual freq.: Digital output 2)
614
HTL output
14.15.5.1 Example 1: Pulse train 0 ... 10 kHz ≡ output frequency 0 ... 100 Hz
In this configuration, a pulse train is provided at the digital output 1 proportionately to the
current output frequency of the inverter (1 kHz pulse train ≡ 10 Hz output frequency, resolu-
tion 0.1 Hz).
0x2644:001 (P423.01) DO1 frequency setup: Minimum frequency 0.0 Hz
0x2644:002 (P423.02) DO1 frequency setup: Maximum frequency 10000.0 Hz
0x2644:003 (P423.03) DO1 frequency setup: Function Output frequency [1]
0x2644:004 (P423.04) DO1 frequency setup: Minimum signal 0
0x2644:005 (P423.05) DO1 frequency setup: Maximum signal 1000
X3
Max
Output frequency [1] 0x2644:003 Min Hz DO1
Pulse train [kHz]
10
1
0
0 100 1000 [0.1 Hz]
10.0 100.0 [Hz]
Use pulse train as setpoint source for other inverters (slaves)

The pulse train can be transferred to one or several other i5xx inverters (slaves) and be config-
ured in the respective slave as a frequency setpoint source:
Inverter (master) Inverter (slave)
X3 X3 Frequency setpoint source
DO1 DI4 Hz % HTL input [4] 0x2860:001
% Hz
1k
0x2640:001 0x2640:003
GND GND 0x2640:004
0x2640:002
For this purpose, the following settings are required for the i5xx slave:
0x2630:002 (P410.02) Settings for digital inputs: Input function Pulse train [2]
0x2640:003 (P415.03) HTL input settings: Minimum motor frequency 0.0 Hz
0x2860:001 (P201.01) Frequency control: Default setpoint source HTL input [4]
615
HTL output
14.15.5.2 Example 2: Pulse train 2 ... 10 kHz ≡ output frequency 30 ... 60 Hz

In this configuration, the output range 2 ... 10 kHz is used for the output of the output fre-
quency (resolution: 0.1 Hz). The example shows how the signals outside the signal range
(here: 30 ... 60 Hz) are cut off.
0x2644:001 (P423.01) DO1 frequency setup: Minimum frequency 2000.0 Hz
0x2644:002 (P423.02) DO1 frequency setup: Maximum frequency 10000.0 Hz
0x2644:003 (P423.03) DO1 frequency setup: Function Output frequency [1]
0x2644:004 (P423.04) DO1 frequency setup: Minimum signal 300
0x2644:005 (P423.05) DO1 frequency setup: Maximum signal 600
X3
Max
Output frequency [1] 0x2644:003 Min Hz DO1
Pulse train [kHz]
10
0
0 300 600 [0.1 Hz]
30.0 60.0 [Hz]
616
Configuration of analog outputs
Analog output 1
14.16 Configuration of analog outputs
14.16.1 Analog output 1

Details
The analog output 1 is controlled with the signal selected in 0x2639:002 (P440.02).
The following settings are possible for the analog output:
X3
Max
Signal 0x2639:002 Min V/mA AO1
0x2639:003 0x2639:001 0x2DAA:001 [V]
0x2639:004 0x2DAA:002 [mA]
• The current output voltage is displayed in 0x2DAA:001 (P112.01).
• The actual output current is displayed in 0x2DAA:002 (P112.02).
Definition of the signal range
The signal range results from the resolution of the selected signal multiplied by the set min
and max signal value. Signals outside the signal range are cut off. For examples, see the fol-
lowing table:
Signal Resolution Min. signal Max. signal Signal range
0x2639:002 (P440.02) 0x2639:003 (P440.03) 0x2639:004 (P440.04)
Output frequency 0.1 Hz 0 1000 0 ... 100.0 Hz
Frequency setpoint 0.1 Hz 0 1000 0 ... 100.0 Hz
Analog input 1 0.1 % 0 1000 0 ... 100.0 %
Analog input 2 0.1 % 0 1000 0 ... 100.0 %
Motor current 0.1 A 0 100 0 ... 10.0 A
Output power 0.001 kW 0 250 0 ... 0.250 kW
Torque actual value 0.1 % * 0 1000 0 ... 100.0 % *
NetWordIN3 0.1 % 200 500 20.0 ... 50.0 %
NetWordIN4 0.1 % 0 250 0 ... 25.0 %
* 100 % ≡ Motor rated torque 0x6076 (P325.00)
Detailed configuration examples can be found in the following subchapters.

Definition of the output range
The analog output can be configured as voltage or current source. The output range selected
in 0x2639:001 (P440.01) then corresponds to the configured signal range.
4Example 1: Output voltage 0 ... 10 V ≡ output frequency 0 ... 100 Hz ^ 619
4Example 2: Output voltage 2 ... 10 V ≡ output frequency 30 ... 60 Hz ^ 619
0x2639:001 Analog output 1: Output range Definition of the output range.
(P440.01) (Analog output 1: AO1 outp. range)
0 Inhibited
1 0 ... 10 VDC
2 0 ... 5 VDC
3 2 ... 10 VDC
4 4 ... 20 mA
5 0 ... 20 mA
617
Analog output 1

0x2639:002 Analog output 1: Function Selection of the signal to be shown at analog output 1.
(P440.02) (Analog output 1: AO1 function)
0 Not active No output signal.
7 Torque actual value (from version 03.00) Torque actual value (resolution: 0.1 %).
10 Sequencer controlled (from version 03.00) Voltage value which has been set for the currently executed sequencer
segment (resolution: 0.01 V).
4Sequencer ^ 504
0x2639:003 Analog output 1: Min. signal Definition of the signal value that corresponds to the minimum value at
(P440.03) (Analog output 1: AO1 min. signal) analog output 1.
-2147483648 ... [0] ... 2147483647 Example: configuration of analog output 1 as a 4 ... 20 mA current loop:
output current 4 mA ≡ 0x2639:003
0x2639:004 Analog output 1: Max. signal Definition of the signal value that corresponds to the maximum value at
(P440.04) (Analog output 1: AO1 max. signal) analog output 1.
output current 20 mA ≡ 0x2639:004
618
Analog output 1
14.16.1.1 Example 1: Output voltage 0 ... 10 V ≡ output frequency 0 ... 100 Hz

In this configuration, a voltage is provided at the analog output proportionately to the current
output frequency of the inverter (1 V ≡ 10 Hz, resolution 0.1 Hz).
0x2639:001 (P440.01) Analog output 1: Output range 0 ... 10 VDC [1]
0x2639:002 (P440.02) Analog output 1: Function Output frequency [1]
0x2639:003 (P440.03) Analog output 1: Min. signal 0
0x2639:004 (P440.04) Analog output 1: Max. signal 1000
X3
Max
Output frequency [1] 0x2639:002 Min V AO1
[V]
10
1
0
0 100 1000 [0.1 Hz]
10.0 100.0 [Hz]
14.16.1.2 Example 2: Output voltage 2 ... 10 V ≡ output frequency 30 ... 60 Hz

In this configuration, the output range 2 ... 10 V is used for the output of the output frequency
(resolution: 0.1 Hz). The example shows how the signals outside the signal range (here:
30 ... 60 Hz) are cut off.
0x2639:001 (P440.01) Analog output 1: Output range 2 ... 10 VDC [3]
0x2639:002 (P440.02) Analog output 1: Function Output frequency [1]
0x2639:003 (P440.03) Analog output 1: Min. signal 300
0x2639:004 (P440.04) Analog output 1: Max. signal 600
X3
Max
Output frequency [1] 0x2639:002 Min V AO1
[V]
10
0
0 300 600 [0.1 Hz]
30.0 60.0 [Hz]
619
Analog output 2
14.16.2 Analog output 2

Preconditions
Details
The analog output 2 is controlled with the signal selected in 0x263A:002 (P441.02).
The following settings are possible for the analog output:
X3
Max
Signal 0x263A:002 Min V/mA AO2
0x263A:003 0x263A:001 0x2DAB:001 [V]
0x263A:004 0x2DAB:002 [mA]
• The current output voltage is displayed in 0x2DAB:002 (P113.02).
• The actual output current is displayed in 0x2DAB:001 (P113.01).
For further details and configuration examples, see chapter "Analog output 1". ^ 617
0x263A:001 Analog output 2: Output range Definition of the output range.
(P441.01) (Analog output 2: AO2 outp. range)
0 Inhibited
1 0 ... 10 VDC
2 0 ... 5 VDC
3 2 ... 10 VDC
4 4 ... 20 mA
5 0 ... 20 mA
0x263A:002 Analog output 2: Function Selection of the signal to be shown at analog output 2.
(P441.02) (Analog output 2: AO2 function)
0 Not active No output signal.
7 Torque actual value Torque actual value (resolution: 0.1 %).
10 Sequencer controlled (from version 03.00) Voltage value which has been set for the currently executed sequencer
segment (resolution: 0.01 V).
4Sequencer ^ 504
620
Analog output 2

0x263A:003 Analog output 2: Min. signal Definition of the signal value that corresponds to the minimum value at
(P441.03) (Analog output 2: AO2 min. signal) analog output 2.
• Only available for application I/O. output current 4 mA ≡ 0x263A:003
0x263A:004 Analog output 2: Max. signal Definition of the signal value that corresponds to the maximum value at
(P441.04) (Analog output 2: AO2 max. signal) analog output 2.
• Only available for application I/O. output current 20 mA ≡ 0x263A:004
621
Technical data
EMC data
15 Technical data
15.1 Standards and operating conditions
15.1.1 Conformities/approvals
Conformity
CE 2014/35/EU Low-Voltage Directive
2014/30/EU EMC Directive (reference: CE-typical drive system)
EAC TR TC 004/2011 Eurasian conformity: safety of low voltage equipment
TP TC 020/2011 Eurasian conformity: electromagnetic compatibility of technical
means
RoHS 2 2011/65/EU Restrictions for the use of specific hazardous materials in electric
and electronic devices
Approval
UL UL 61800-5-1 for USA and Canada (requirements of the CSA 22.2 No. 274)
File No. E132659
15.1.2 Protection of persons and device protection

Enclosure
IP20 EN 60529
Type 1 NEMA 250 Protection against contact
Open type only in UL-approved systems
Insulation resistance
Overvoltage category III EN 61800-5-1 0 … 2000 m a.m.s.l.
Overvoltage category II above 2000 m a.m.s.l.
Control circuit isolation
Safe mains isolation by double/reinforced EN 61800-5-1
insulation
Protective measures against
Short circuit
earth fault Earth fault strength depends on the operating status
Overvoltage
Motor stalling
Leakage current
> 3.5 mA AC, > 10 mA DC EN 61800-5-1 Observe regulations and safety instructions!
Starting current
≤ 3 x rated mains current
15.1.3 EMC data

Actuation on public supply systems
Implement measures to limit the radio interfer- The machine or plant manufacturer is responsible for compliance
ence to be expected: with the requirements for the machine/plant!
< 1 kW: with mains choke EN 61000-3-2
> 1 kW at mains current ≤ 16 A: without addi-
tional measures
Mains current > 16 A: with mains choke or EN 61000-3-12 RSCE: short-circuit power ratio at the connection point of the
mains filter, with dimensioning for rated machine/plant to the public network.
power. Rsce ≥ 120 is to be met.
Noise emission
Category C1 EN 61800-3 Type-dependent, for motor cable lengths see rated data
Category C2
Noise immunity
Meets requirement in compliance with EN 61800-3
622
Technical data
Standards and operating conditions
Electrical supply conditions
15.1.4 Motor connection

Requirements to the shielded motor cable
Capacitance per unit length
C-core-core/C-core-shield < 75/150 pF/m ≤ 2.5 mm² / AWG 14
C-core-core/C-core-shield < 150/300 pF/m ≥ 4 mm² / AWG 12
Electric strength
Uo/U = 0.6/1.0 kV Uo = r.m.s. value external conductor to PE
U ≥ 600 V UL U = r.m.s. value external conductor/external conductor
15.1.5 Environmental conditions

Energy efficiency
Class IE2 EN 50598-2 Reference: Lenze setting (switching frequency 8 kHz variable)
Climate
1K3 (-25 ... +60 °C) EN 60721-3-1 Storage
2K3 (-25 ... +70 °C) EN 60721-3-2 Transport
3K3 (-10 ... +55 °C) EN 60721-3-3 operation
Operation at a switching frequency of 2 or 4 kHz: above +45°C,
reduce rated output current by 2.5 %/°C
Operation at a switching frequency of 8 or 16 kHz: above +40°C,
reduce rated output current by 2.5 %/°C
Site altitude
0 … 1000 m a.m.s.l.
1000 … 4000 m a.m.s.l. Reduce rated output current by 5 %/1000 m
Pollution
Degree of pollution 2 EN 61800-5-1
Vibration resistance
Transport
2M2 (sine, shock) EN 60721-3-2
operation
Amplitude 1 mm Germanischer Lloyd 5 ... 13.2 Hz
Acceleration resistant up to 0.7 g 13.2 ... 100 Hz
Amplitude 0.075 mm EN 61800-5-1 10 ... 57 Hz
Acceleration resistant up to 1 g 57 ... 150 Hz
15.1.6 Electrical supply conditions

Permissible mains systems
TT Voltage against earth: max. 300 V
TN
IT Apply the measures described for IT systems!
IT systems are not relevant for UL-approved systems
623
Technical data
Rated data
15.2 1-phase mains connection 120 V
15.2.1 Rated data

The output currents apply to these operating conditions:
• At a switching frequency of 2 kHz or 4 kHz: Max. ambient temperature 45°C.
• At a switching frequency of 8 kHz or 16 kHz: Max. ambient temperature 40 °C.
Inverter I55AE125A I55AE137A I55AE175A I55AE211A

Rated power kW 0.25 0.37 0.75 1.1
Rated power hp 0.33 0.5 1 1.5
Mains voltage range 1/N/PE AC 90 V ... 132 V, 45 Hz ... 65 Hz
Output voltage 3 AC 0 V … 240 V
Rated mains current
without mains choke A 6.8 9.6 16.8 22.9
with mains choke A 6 8.5 14.7 17.1
Apparent output power kVA 0.6 0.9 1.6 2.2
Output current
2 kHz A 1.7 2.4 4.2 6
4 kHz A 1.7 2.4 4.2 6
8 kHz A 1.7 2.4 4.2 6
16 kHz A 1.1 1.6 2.8 4
Weight kg 1 1.35
Weight lb 2.2 3
624
Technical data
Rated data
15.3 1-phase mains connection 230/240 V
15.3.1 Rated data

Inverter I55AE125B I55AE125D I55AE137B I55AE137D I55AE155B I55AE155D I55AE175B

Rated power kW 0.25 0.37 0.55 0.75
Rated power hp 0.33 0.5 0.75 1
Output voltage 3 AC 0 V … 230 V/240 V
Rated mains current
without mains choke A 4 4 5.7 5.7 7.6 7.6 10
with mains choke A 3.6 3.6 4.8 4.8 7.1 7.1 8.8
Output current
2 kHz A - - - - 3.2 3.2 4.2
4 kHz A 1.7 1.7 2.4 2.4 3.2 3.2 4.2
8 kHz A 1.7 1.7 2.4 2.4 3.2 3.2 4.2
16 kHz A 1.1 1.1 1.6 1.6 2.1 2.1 2.8
Weight kg 0.8 1
Weight lb 1.8 2.2
Inverter I55AE175D I55AE211B I55AE211D I55AE215B I55AE215D I55AE222B I55AE222D

Rated power kW 0.75 1.1 1.5 2.2
Rated power hp 1 1.5 2 3
Rated mains current
without mains choke A 10 14.3 14.3 16.7 16.7 22.5 22.5
Output current
2 kHz A 4.2 6 6 7 7 9.6 9.6
4 kHz A 4.2 6 6 7 7 9.6 9.6
8 kHz A 4.2 6 6 7 7 9.6 9.6
16 kHz A 2.8 4 4 4.7 4.7 6.4 6.4
Weight kg 1 1.35
Weight lb 2.2 3
625
Technical data
Rated data
15.4 3-phase mains connection 230/240 V
15.4.1 Rated data

Inverter I55AE125D I55AE137D I55AE155D I55AE175D I55AE211D I55AE215D I55AE222D

Rated power kW 0.25 0.37 0.55 0.75 1.1 1.5 2.2
Rated power hp 0.33 0.5 0.75 1 1.5 2 3
Mains voltage range 3/PE AC 170 V ... 264 V, 45 Hz ... 65 Hz
Rated mains current
without mains choke A 2.6 3.9 4.8 6.4 7.8 9.5 13.6
with mains choke A 2 3 3.8 5.1 5.6 6.8 9.8
Apparent output power kVA 0.6 0.9 1.2 1.6 2.2 2.6 3.6
Output current
2 kHz A - - 3.2 4.2 6 7 9.6
4 kHz A 1.7 2.4 3.2 4.2 6 7 9.6
8 kHz A 1.7 2.4 3.2 4.2 6 7 9.6
16 kHz A 1.1 1.6 2.1 2.8 4 4.7 6.4
Weight kg 0.8 1 1.35
Weight lb 1.8 2.2 3
Inverter I55AE240C I55AE255C

Rated power kW 4 5.5
Rated power hp 5 7.5
Rated mains current
without mains choke A 20.6 28.8
with mains choke A 15.7 21.9
Apparent output power kVA 6.4 8.7
Output current
2 kHz A 16.5 23
4 kHz A 16.5 23
8 kHz A 16.5 23
16 kHz A 11 15.3
Weight kg 2.1
Weight lb 4.6
626
Technical data
Rated data
15.5.1 Rated data

Inverter I55AE137F I55AE155F I55AE175F I55AE211F I55AE215F I55AE222F I55AE230F

Rated power kW 0.37 0.55 0.75 1.1 1.5 2.2 3
Rated power hp 0.5 0.75 1 1.5 2 3 4
Rated mains current
with mains choke A 1.4 2 2.6 3 3.7 5.3 6.9
Output current
2 kHz A - 1.8 2.4 3.2 3.9 5.6 7.3
4 kHz A 1.3 1.8 2.4 3.2 3.9 5.6 7.3
8 kHz A 1.3 1.8 2.4 3.2 3.9 5.6 7.3
16 kHz A 0.9 1.2 1.6 2.1 2.6 3.7 4.9
Weight kg 0.8 1 1.35 2.3
Weight lb 1.8 2.2 3 5

Rated power kW 4 5.5 7.5 11 15 18.5 22
Rated power hp 5 7.5 10 15 20 25 30
Rated mains current
without mains choke A 12.5 17.2 20 28.4 38.7 48.4 -
with mains choke A 9 12.4 15.7 22.3 28.8 36 42
Apparent output power kVA 6.4 8.7 11 16 22 27 32
Output current
2 kHz A 9.5 13 16.5 23.5 32 40 47
4 kHz A 9.5 13 16.5 23.5 32 40 47
8 kHz A 9.5 13 16.5 23.5 32 40 47
16 kHz A 6.3 8.7 11 15.7 21.3 26.6 31.3
Weight kg 2.3 3.7 10.3
Weight lb 5 8 23
627
Technical data
Rated data
Inverter I55AE330F I55AE337F I55AE345F I55AE355F I55AE375F

Rated power kW 30 37 45 55 75
Rated power hp 40 50 60 75 100
Rated mains current
without mains choke A - - - - -
with mains choke A 54.9 68 80 99 135
Apparent output power kVA 41 51 60 75 100
Output current
2 kHz A 61 76 89 110 150
4 kHz A 61 76 89 110 150
8 kHz A 61 76 89 110 150
16 kHz A 40.7 50.7 59.4 73.4 100
Weight kg 17.2 24
Weight lb 38 53
15.6 3-phase mains connection 400 V "light duty"
15.6.1 Rated data

• At a switching frequency of 2 kHz or 4 kHz: Ambient temperature above 40 °C with a rated
output current reduced by 2.5 %/°C.
• If the load characteristic "Light Duty" and the switching frequencies 8 kHz or 16 kHz are
selected, only the values of the load characteristic "Heavy Duty" are reached.

Rated power kW 4 5.5 7.5 11 15 18.5 22
Rated power hp 5 7.5 10 15 20 25 30
Rated mains current
without mains choke A 10.3 14 18.3 28 - 48 -
with mains choke A 8.2 11 14.5 22 27.1 36 43
Apparent output power kVA 5.9 8 10.5 15 19 26 32
Output current
2 kHz A 8.8 11.9 15.6 23 28.2 38.4 48
4 kHz A 8.8 11.9 15.6 23 28.2 38.4 48
Weight kg 2.3 3.7 10.3
Weight lb 5 8 23
Inverter I55AE322F I55AE330F I55AE337F I55AE345F I55AE355F I55AE375F

Rated power kW 30 37 45 55 75 90
Rated power hp 40 50 60 75 100 125
Rated mains current
without mains choke A - - - - - -
with mains choke A 55 69 86 100 119 160
Apparent output power kVA 38 49 61 72 89 121
Output current
2 kHz A 56.4 73.2 91.2 107 132 180
4 kHz A 56.4 73.2 91.2 107 132 180
Weight kg 10.3 17.2 24
Weight lb 23 38 53
628
Technical data
Rated data
15.7.1 Rated data


Rated power kW 0.37 0.55 0.75 1.1 1.5 2.2 3
Rated power hp 0.5 0.75 1 1.5 2 3 4
Rated mains current
without mains choke A 1.5 2.1 2.8 3.7 4.5 6.5 8
Output current
2 kHz A - 1.6 2.1 3 3.5 4.8 6.3
4 kHz A 1.1 1.6 2.1 3 3.5 4.8 6.3
8 kHz A 1.1 1.6 2.1 3 3.5 4.8 6.3
16 kHz A 0.7 1.1 1.4 2 2.3 3.2 4.2
Weight kg 0.8 1 1.35 2.3
Weight lb 1.8 2.2 3 5

Rated power kW 4 5.5 7.5 11 15 18.5 22
Rated power hp 5 7.5 10 15 20 25 30
Rated mains current
with mains choke A 7.5 10.3 13.1 18.6 24 30 35.3
Apparent output power kVA 6.4 8.7 11 16 22 27 32
Output current
2 kHz A 8.2 11 14 21 27 34 40.4
4 kHz A 8.2 11 14 21 27 34 40.4
8 kHz A 8.2 11 14 21 27 34 40.4
16 kHz A 5.5 7.3 9.3 14 18 22.6 26.9
Weight kg 2.3 3.7 10.3
Weight lb 5 8 23
629
Technical data
Rated data
Inverter I55AE330F I55AE337F I55AE345F I55AE355F I55AE375F

Rated power kW 30 37 45 55 75
Rated power hp 40 50 60 75 100
Rated mains current
without mains choke A - - - - -
with mains choke A 45.7 57 66.7 83 113
Apparent output power kVA 41 51 60 75 100
Output current
2 kHz A 52 65 77 96 124
4 kHz A 52 65 77 96 124
8 kHz A 52 65 77 96 124
16 kHz A 34.7 43.4 51.4 64 82.7
Weight kg 17.2 24
Weight lb 38 53
15.8 3-phase mains connection 480 V "Light Duty"
15.8.1 Rated data

• At a switching frequency of 2 kHz or 4 kHz: Ambient temperature above 40 °C with a rated
output current reduced by 2.5 %/°C.
• If the load characteristic "Light Duty" and the switching frequencies 8 kHz or 16 kHz are
selected, only the values of the load characteristic "Heavy Duty" are reached.

Rated power kW 4 5.5 7.5 11 15 18.5 22
Rated power hp 5 7.5 10 15 20 25 30
Rated mains current
without mains choke A 8.6 11.2 15.3 22 - 40 -
with mains choke A 6.8 8.8 12.1 17.2 22.6 30 38
Apparent output power kVA 5.9 8 10.5 15 19 26 32
Output current
2 kHz A 7.6 9.8 13.2 18.3 25.2 32.4 40.8
4 kHz A 7.6 9.8 13.2 18.3 25.2 32.4 40.8
Weight kg 2.3 3.7 10.3
Weight lb 5 8 23
Inverter I55AE322F I55AE330F I55AE337F I55AE345F I55AE355F I55AE375F

Rated power kW 30 37 45 55 75 90
Rated power hp 40 50 60 75 100 125
Rated mains current
without mains choke A - - - - - -
with mains choke A 46 59 73 86 105 135
Apparent output power kVA 38 49 61 72 89 121
Output current
2 kHz A 48.5 62.4 78 92.4 115 149
4 kHz A 48.5 62.4 78 92.4 115 149
Weight kg 10.3 17.2 24
Weight lb 23 38 53
630
Appendix
16 Appendix
16.1 Operate and parameterise the inverter with keypad
The keypad is an easy means for the local operation, parameterisation, and diagnostics of the
inverter.
• The keypad is simply connected to the diagnostic interface on the front of the inverter.
• The keypad can also be connected and removed during operation.
631
Appendix
Operate and parameterise the inverter with keypad
Keypad operating mode
16.1.1 Keypad operating mode

After switching on the inverter, the keypad plugged in is in "Operating mode" after a short
initialisation phase.
16.1.1.1 Keypad status display
In the operating mode, the keypad displays information on the status of the inverter.
Keypad display Display Meaning
If the inverter is inhibited, the keypad shows "STOP": ① Active control mode:
VEL Speed mode
VEL:FLEX:AIN1 PID Process controller mode
LOC REM
STOP
MAN AUTO SET
TRQ Torque mode
JOG Manual mode
② Active control source:
FLEX Flexible I/O configuration
If the inverter is enabled, the keypad shows the output KPD Keypad
frequency of the inverter: KPDF Keypad (complete control via keypad including setpoint selection)
NET Network
VEL:RUN:FWD Hz ③ Active setpoint source:
OOOO2OO
AINx Analog input x
KPD Keypad
NET Network
• In the process controller mode, instead of the output FREQ Digital frequency
frequency, the process controller setpoint is displayed.
PRx Preset setpoint x
• The display can be configured in 0x2864 (P703.00).
• The language for the keypad display is preset to "Eng- SEGx Segment x
lish". The language can be changed in 0x2863 MOP Motor potentiometer
(P705.00). ④ Current direction of rotation:
FWD Motor is rotating forwards
REV Motor is rotating backwards
⑤ Lower status line:
LOC Local keypad control active.
REM Remote control via terminals, network, etc. active.
MAN Manual setpoint selection via keypad active.
AUTO Automatic setpoint selection via terminals, network, etc. active.
SET Blinking if one parameter setting has been changed but has not been
saved in the memory module with mains failure protection.
Save settings: Press keypad enter key longer than 3 s.
If an error is pending, the keypad shows the following ① Error text
information: ② Error type:
F Fault
Warn.DC Bus UV T Trouble
O1W3221
W Warning
③ Error code (hexadecimal)
4Error codes ^ 639

• Faults (F) and trouble (T) are displayed continuously. 4Error handling ^ 139
• Warnings (W) are only displayed every 2 seconds for a 4Error reset with keypad ^ 634
short time.
Restart Pending After a disturbance, a restart is possible if the error condition is not active anymore.
The keypad shows this by the "Restart Pending" note. The note is displayed in a 1-sec-
ond interval alternating with the error text.
AI1 fault 4Automatic restart ^ 484
OOF7O81
632
Appendix
16.1.1.2 Function of keypad keys in operating mode

In the operating mode, the keypad can be used for local control and for manual setpoint selec-
tion.
Function of keypad keys in operating mode
Key Actuation Condition Action
Shortly Local keypad control active. Run motor.
Display "LOC"
Remote control active Deactivate keypad triggered stop.
Display "REM" The motor remains at standstill.
Display "KSTOP" Display changes from "KSTOP" to "STOP".
Shortly No Jog operation Stop motor.
Display "KSTOP"
Shortly Operating mode Change to parameterisation mode.
4Keypad parameterisation mode ^ 635
More than 3 s None (anytime possible) Save parameter settings in the user memory of the memory
module.
Shortly During operation Scroll through information in the above status line.
Shortly Manual setpoint selection via keypad Change frequency setpoint.

active.
Display "MAN"
Shortly Operating mode Activate full keypad control

CTRL
Display "ON?" à Confirm with
Control and setpoint selection can now only be carried out via
keypad.
Renewed clicking: Exit full keypad control.
Display "OFF?" à Confirm with
4Keypad - Configuration of R/F and CTRL buttons ^ 423
Shortly Local keypad control active. Reversal of rotation direction.
R F Display "LOC" Display "REV?" à Confirm with
Example: Change setpoint

If the setpoints are selected manually via keypad, the frequency setpoint can be changed in
the operating mode via the arrow keys (even while the motor is running):
Operating mode Editing mode Change settings
VEL:KPD:KPD P202.01 Hz P202.01 Hz
000STOP
000O2OO
000O356
Editing mode is automatically quit after 3 s of inactivity
633
Appendix
16.1.1.3 Error reset with keypad

Use the keypad key to reset a resettable error if the error condition no longer exists and
no blocking time is active.
• The "Error codes" table gives the blocking time (if available) for each error. ^ 639
1. AI1 fault 1. Press keypad key.
The error is reset. The motor remains stopped via key-
OOF7O81
pad (display "KSTOP").
2. In order to cancel the stop via keypad again: Press
keypad key.
2. VEL:FLEX:AIN1
OOKSTOP
VEL:RUN:FWD Hz
OOOO2OO
634
Appendix
Keypad parameterisation mode
16.1.2 Keypad parameterisation mode

In the parameterisation mode of the keypad you can have actual values of the inverter dis-
played for purposes of diagnostics and change settings of the inverter.
Use the to change from operating mode to the parameterisation mode.
• If a write access protection is active for the inverter, the keypad automatically displays a
log-in when changing to the parameterisation mode. You can either skip the log-in and
thus keep the access protection active or remove it temporarily by entering a valid PIN.
4Write access protection ^ 450
• Use the to return to the operating mode.
16.1.2.1 Parameter groups
In order to provide for quick access, all parameters of the inverter are divided into different
groups according to their function.
• Group 0 contains the configurable "Favorites". In the default setting these are the most
common parameters for the solution of typical applications. 4Favorites ^ 459
• Based on the hundreds digit of the display code (Pxxx) you can quickly see in which group
the parameter is to be found on the keypad:
Parameter Group/name Description
P1xx Group 1 - Diagnostics Diagnostic/display parameters for displaying device-internal process factors, current
actual values, and status messages.
4Diagnostics parameter ^ 109
P2xx Group 2 - Basic setting Setting of the mains voltage, selection of the control and setpoint source, starting and
stopping performance, frequency limits and ramp times.
4Basic setting ^ 143
P3xx Group 3 - Motor control Configuration of the motor and motor control
4Motor control ^ 163
P4xx Group 4 - I/O setting Function assignment and configuration of the inputs and outputs
4Flexible I/O configuration ^ 525
P5xx Group 5 - Network setting Configuration of the network (if available)
P6xx Group 6 - Process controller Configuration of the process controller
P7xx Group 7 - Additional functions Parameterisable additional functions
4Additional functions ^ 417
P8xx Group 8 - Sequencer The "sequencer" function serves to define a programmed sequence of speed setpoints,
PID setpoints or torque setpoints for the motor control. Switching to the next setpoint
can be executed in a time-based or event-based manner.
4Sequencer ^ 504
635
Appendix
16.1.2.2 Function of the keypad keys in the parameterisation mode

In the parameterisation mode, the arrow keys serve to select and change parameters.
Function of the keypad keys in the parameterisation mode
Key Actuation Condition Action
Shortly Local keypad control active. Run motor.
Display "LOC"
Remote control active Deactivate keypad triggered stop.
Display "REM" The motor remains at standstill.
Display "KSTOP" Display changes from "KSTOP" to "STOP".
Shortly No Jog operation Stop motor.
Display "KSTOP"
Shortly Parameterisation mode Navigate to one level below.
Group level à Parameter level à [SUB parameter level] à
Editing mode
Editing mode Exit editing mode and accept new setting.
More than 3 s None (anytime possible) Save parameter settings in the user memory of the memory
module.
Shortly Parameterisation mode Navigate to one level above.
[SUB parameter level] à Parameter level à Group level à
Operating mode
Editing mode Abort: Exit editing mode without accepting new setting.
Shortly Group level/Parameter level Navigate: Select group/parameter.
Editing mode Change parameter setting.
Without function
CTRL
Without function
R F
636
Appendix
Changing inverter settings by means of the keypad (general operation)

Operating mode
VEL:FLEX:AIN1
000STOP
Change to
parameterisation Back to the operating mode
mode
Group level
Favorites I/O setting
GROUPOO
GROUPO4
Back
Parameter level
Function list Dig.out.function
OP4OOxx
OP42Oxx
Back
SUB parameter level
Relay function DO1 function
OP42OO1
OP42OO2
Editing mode Discard change
Release brake
000O115
1. Change settings 2. Accept change
16.1.2.3 Save parameter settings with keypad

If one parameter setting has been changed with the keypad but has not been saved in the
memory module with mains failure protection, the SET display is blinking.
In order to save parameter settings in the user memory of the memory module, press the key-
pad enter key longer than 3 s.
VEL:FLEX:AIN1 Saving Parameters Parameters Saved
000STOP
>3s
SAVINGP
SPSAVED
637
Appendix
16.1.2.4 Display of status words on keypad

Some diagnostics parameters contain bit-coded status words. Each single bit has a certain
meaning.
Display of 16-bit status words on the keypad
Bit 15 Bit 0
b.0000.0000.0000.0100
00xoOO4
① Hexadecimal value
Display of 32-bit status words on the keypad

Bit 31 Bit 16 Bit 15 Bit 0
b.0000.0000.0000.0001 b.0000.0000.0000.0000
HWXoOO1
LWXoOOO
① Hexadecimal value High word (HW)

② Hexadecimal value Low word (LW)
638
Appendix
Error codes
16.2 Error codes

The following table contains the most important error codes of the inverter in ascending
order.
• Clicking the error code shows you a detailed description of the error message.
• If the inverter indicates an "internal error" that is not listed here, restart the inverter. If the
error persists, make a note of the error code and contact the manufacturer.
Error code Error message Error type Configurable in
8784 0x2250 CiA: continuous overcurrent (inside the device) Fault -
8992 0x2320 CiA: Short circuit/earth leakage (internal) Fault -
9024 0x2340 CiA: short circuit (inside the device) Fault -
9040 0x2350 CiA: i²*t overload (thermal state) Fault 0x2D4B:003 (P308.03)
9090 0x2382 I*t error Fault 0x2D40:005 (P135.05)
9091 0x2383 I*t warning Warning -
9095 0x2387 Imax: Clamp responded too often Fault -
9096 0x2388 SLPSM stall detection active Trouble -
12576 0x3120 Mains phase fault Fault -
12672 0x3180 Operation at UPS active Warning -
12816 0x3210 DC bus overvoltage Fault -
12817 0x3211 DC bus overvoltage warning Warning -
12832 0x3220 DC bus undervoltage Trouble -
12833 0x3221 DC bus undervoltage warning Warning -
12834 0x3222 DC-bus voltage too low for switch-on Warning -
16912 0x4210 PU: overtemperature fault Fault -
17024 0x4280 Thermal sensor heatsink error Fault -
17025 0x4281 Heatsink fan warning Warning -
17029 0x4285 Power section overtemperature warning Warning -
17168 0x4310 Motor overtemperature error Fault 0x2D49:002 (P309.02)
20754 0x5112 24 V supply critical Warning -
20864 0x5180 24-V supply overload Warning -
21376 0x5380 OEM hardware incompatible Fault -
24970 0x618A Internal fan warning Warning -
25216 0x6280 Trigger/functions connected incorrectly Trouble -
25217 0x6281 User-defined fault 1 Fault -
25218 0x6282 User-defined fault 2 Fault -
25232 0x6290 Reversal warning Warning -
25233 0x6291 Number of maximum permissible faults exceeded Fault -
25248 0x62A0 AC Drive: user fault Fault -
25249 0x62A1 Network: user fault 1 Fault -
25250 0x62A2 Network: user fault 2 Fault -
25265 0x62B1 NetWordIN1 configuration incorrect Trouble -
25505 0x63A1 CU: load error ID tag Fault -
25506 0x63A2 PU: load error ID tag Fault -
25507 0x63A3 Power section unknown Fault -
28800 0x7080 Monitoring of connection level (Low/High) Fault -
28801 0x7081 Error of analog input 1 Fault 0x2636:010 (P430.10)
28802 0x7082 Error of analog input 2 Fault 0x2637:010 (P431.10)
28803 0x7083 HTL input fault No response 0x2641:006 (P416.06)
28833 0x70A1 Analog output 1 fault Warning -
28834 0x70A2 Analog output 2 fault Warning -
28961 0x7121 Pole position identification fault Fault 0x2C60
29056 0x7180 Motor overcurrent Fault 0x2D46:002 (P353.02)
29445 0x7305 Encoder open circuit Warning 0x2C45 (P342.00)
29573 0x7385 Feedback system: speed limitation Warning -
30336 0x7680 Memory module is full Warning -
30337 0x7681 No memory module Fault -
639
Appendix
Error codes
Error code Error message Error type Configurable in

30338 0x7682 Memory module: invalid user data Fault -
30340 0x7684 Data not completely saved before switch-off Warning -
30342 0x7686 Internal communication error Fault -
30345 0x7689 Memory module: invalid OEM data Warning -
30346 0x768A Memory module: wrong type Fault -
30352 0x7690 EPM firmware version incompatible Fault -
30353 0x7691 EPM data: firmware type incompatible Fault -
30354 0x7692 EPM data: new firmware type detected Fault -
30355 0x7693 EPM data: PU size incompatible Fault -
30356 0x7694 EPM data: new PU size detected Fault -
30357 0x7695 Invalid configuration of parameter change-over Warning -
30358 0x7696 EPM data: unknown parameter found Info -
30359 0x7697 Changed parameters lost Fault -
33042 0x8112 Network: timeout explicit message Warning 0x2859:006 (P515.06)
33044 0x8114 Network: overall communication timeout Warning See details for 33044
33045 0x8115 Time-out (PZÜ) No response 0x2552:004 (P595.04)
33046 0x8116 Modbus TCP master time-out Fault 0x2859:008 (P515.08)
33047 0x8117 Modbus TCP Keep Alive time-out Fault 0x2859:009 (P515.09)
33154 0x8182 CAN: bus off Trouble 0x2857:010
33155 0x8183 CAN: warning Warning 0x2857:011
33156 0x8184 CAN: heartbeat time-out consumer 1 Fault 0x2857:005
33168 0x8190 Network: watchdog timeout Trouble See details for 33168
33169 0x8191 Network: disruption of cyclic data exchange No response 0x2859:002 (P515.02)
33170 0x8192 Network: initialisation error Trouble See details for 33170
33171 0x8193 Network: invalid cyclic process data Trouble See details for 33171
33185 0x81A1 Modbus: network time-out Fault 0x2858:001 (P515.01)
33186 0x81A2 Modbus: incorrect request by master Warning -
33200 0x81B0 iCIF connection lost Fault -
33414 0x8286 Network: PDO mapping error Trouble See details for 33414
33425 0x8291 CAN: RPDO1 time-out Fault 0x2857:001
33553 0x8311 Torque limit reached No response 0x2D67:001 (P329.01)
36992 0x9080 Keypad removed Fault -
65282 0xFF02 Brake resistor: overload warning Fault 0x2550:011 (P707.11)
65285 0xFF05 Safe Torque Off error Fault -
65286 0xFF06 Motor overspeed Fault 0x2D44:002 (P350.02)
65289 0xFF09 Motor phase missing No response 0x2D45:001 (P310.01)
65290 0xFF0A Phase U motor phase failure No response 0x2D45:001 (P310.01)
65291 0xFF0B Motor phase failure phase V No response 0x2D45:001 (P310.01)
65292 0xFF0C Motor phase failure phase W No response 0x2D45:001 (P310.01)
65305 0xFF19 Motor parameter identification error Fault -
65334 0xFF36 Brake resistor: overload warning Warning 0x2550:010 (P707.10)
65335 0xFF37 Automatic start disabled Fault -
65366 0xFF56 Maximum motor frequency reached Warning -
65413 0xFF85 Keypad full control active Warning -
640
Appendix
Error codes
Details regarding the individual error messages

8784 0x2250 CiA: continuous overcurrent (inside the device) Keypad display: PU over current
Cause Error type/response Remedy

• Continuous overcurrent on the inverter/ Fault • Check motor and wiring for short circuits.
motor side. • The inverter is inhibited immediately. The • Check brake resistor and wiring.
• Overcurrent at the brake chopper (brake motor becomes torqueless (coasts).
transistor). • The error can only be reset after a blocking
• DC bus relay has not been closed due to a time of 5 s.
malfunction.
8992 0x2320 CiA: Short circuit/earth leakage (internal) Keypad display: Earth leak

• Short circuit/earth fault of motor cable Fault • Check motor cable.
• Capacitive charging current of the motor • The inverter is inhibited immediately. The • Check length of the motor cable.
cable too high. motor becomes torqueless (coasts). • Use shorter or lower-capacitance motor
• The error can only be reset after a blocking cable.
time of 5 s.
9024 0x2340 CiA: short circuit (inside the device) Keypad display: Motor shorted

Short circuit of motor cable Fault Check motor cable for short circuit.
• The inverter is inhibited immediately. The
motor becomes torqueless (coasts).
• The error can only be reset after a blocking
time of 5 s.
9040 0x2350 CiA: i²*t overload (thermal state) Keypad display: i2t motor

Motor thermally overloaded, e. g. by an imper- Fault • Check drive dimensioning.
missible continuous current or by frequent or • The error can only be reset after a blocking • Check machine/driven mechanics for exces-
too long acceleration processes. time of 5 s. sive load.
• The error type can be configured in 0x2D4B:
003 (P308.03).
Related topics
4Motor overload monitoring (i²*t) ^ 215
9090 0x2382 I*t error Keypad display: Ixt error

Device utilisation (I*t) too high by frequent and Fault Check drive dimensioning.
too long acceleration processes. • The inverter is inhibited immediately. The
• The error can only be reset after a blocking
time of 3 s.
• The error type can be configured in
0x2D40:005 (P135.05).
Related topics
4Device overload monitoring (i*t) ^ 136
641
Appendix
Error codes
9091 0x2383 I*t warning Keypad display: Ixt warning

Device utilisation (I*t) too high by frequent and Warning Check drive dimensioning.
too long acceleration processes.
Related topics
4Device overload monitoring (i*t) ^ 136
9095 0x2387 Imax: Clamp responded too often Keypad display: Clamp timeout

Maximum current of the axis (display in Fault • Select a flatter speed ramp.
0x2DDF:002) has been reached too often in suc- • The inverter is inhibited immediately. The • Reduce the load.
cession. motor becomes torqueless (coasts). • Set Imax controller more dynamically.
Related topics
4Imax controller ^ 204
9096 0x2388 SLPSM stall detection active Keypad display: SLPSM stall det.

Overload of the motor with sensorless control Trouble • Reduce load at the axis.
for synchronous motors (SL-PSM). • The inverter is inhibited immediately. The • Check settings of the SL-PSM parameters.
Related topics
12576 0x3120 Mains phase fault Keypad display: Mains Phase fail

Mains phase failure Fault • Check wiring of the mains connection.
• The inverter is inhibited immediately. The • Check fuses.
12672 0x3180 Operation at UPS active Keypad display: UPS oper. active

Operation on uninterrupted 1x230V current Warning Switch back to operation with regular mains
supply (UPS) has been activated: Only a voltage.
reduced output current is provided.
Related topics
UPS operation ^ 490
12816 0x3210 DC bus overvoltage Keypad display: DC Bus OV

DC-bus voltage has exceeded the error thresh- Fault • Reduce dynamic performance of the load
old for overvoltage due to a too high braking • The inverter is inhibited immediately. The profile.
energy or a too high mains voltage. The error motor becomes torqueless (coasts). • Check mains voltage.
threshold (display in 0x2540:006 (P208.06)) • Check settings for the brake energy manage-
results from the setting of the rated mains volt- ment.
age in 0x2540:001 (P208.01). • Connect brake resistor to the power unit and
activate the integrated brake chopper.
Related topics
4Mains voltage ^ 144
4Brake energy management ^ 443
642
Appendix
Error codes
12817 0x3211 DC bus overvoltage warning Keypad display: Warn.DC Bus OV

DC-bus voltage has exceeded the warning Warning • Reduce dynamic performance of the load
threshold for overvoltage set in 0x2540:005 profile.
(P208.05) due to a too high braking energy or a • Check mains voltage.
too high mains voltage. • Check settings for brake energy manage-
ment.
• Connect brake resistor to the power unit and
activate the integrated brake chopper.
Related topics
4Brake energy management ^ 443
12832 0x3220 DC bus undervoltage Keypad display: DC Bus UV

DC-bus voltage has fallen below the error Trouble • Check mains voltage.
threshold for undervoltage. The error threshold • Check DC-bus voltage.
(display in 0x2540:003 (P208.03)) results from • Check mains settings.
the setting of the rated mains voltage in
0x2540:001 (P208.01).
Related topics
12833 0x3221 DC bus undervoltage warning Keypad display: Warn.DC Bus UV

DC-bus voltage has fallen below the warning Warning • Check mains voltage.
threshold for undervoltage set in 0x2540:002 • Check DC-bus voltage.
(P208.02). • Check mains settings.
Related topics
12834 0x3222 DC-bus voltage too low for switch-on Keypad display: DC-bus on-UV

The input voltage is too low to switch on the Warning • Check mains voltage.
inverter. • Check mains settings.
Related topics
16912 0x4210 PU: overtemperature fault Keypad display: PU Overtemp.

The heatsink temperature of the power unit Fault • Provide for a sufficient cooling of the device.
(display in 0x2D84:001 (P117.01)) has exceeded • Clean fan and ventilation slots.
the fixed error threshold (100 °C). • If required, replace fan.
• Ambient temperature too high. • Reduce switching frequency in .
• Fan or ventilation slots are polluted.
• Fan is defective.
643
Appendix
Error codes
17024 0x4280 Thermal sensor heatsink error Keypad display: Heatsink sensor

Sensor for the temperature monitoring of the Fault Hardware error: it is necessary to contact the
power unit is defective. The failure of the tem- manufacturer, since the device must be
perature monitoring function poses the risk of replaced.
overheating!
17025 0x4281 Heatsink fan warning Keypad display: Heatsink fan

Warning of the heatsink fan. Warning Check/replace the heatsink fan.
17029 0x4285 Power section overtemperature warning Keypad display: Warn.PU Overtemp

The heatsink temperature of the power unit Warning • Provide for a sufficient cooling of the device.
(display in 0x2D84:001 (P117.01)) has exceeded • Clean fan and ventilation slots.
the warning threshold set in 0x2D84:002. • If required, replace fan.
• Ambient temperature too high. • Reduce switching frequency in .
• Fan or ventilation slots are polluted.
• Fan is defective.
Related topics
4Heatsink Temperature Monitoring ^ 137
17168 0x4310 Motor overtemperature error Keypad display: Overtemp. motor

The motor temperature sensor connected to Fault • Check drive dimensioning.
terminals X109/T1 and X109/T2 measures a too • The error can only be reset after a blocking • Check motor temperature sensor and wiring.
high motor temperature. time of 5 s.
• Motor too hot by impermissibly high cur- • The error type can be configured in
rents. 0x2D49:002 (P309.02).
• Motor too hot by frequent and too long
acceleration processes.
Related topics
20754 0x5112 24 V supply critical Keypad display: 24V supply low

24V voltage failed or too low. Warning • Check optional external 24V voltage supply
(terminal X3/24E), if connected.
• Check mains voltage.
20864 0x5180 24-V supply overload Keypad display: Overlaod 24V

Output current at the 24V output or at the digi- Warning Check 24V output and digital outputs for earth
tal outputs too high. fault or overload.
644
Appendix
Error codes
21376 0x5380 OEM hardware incompatible Keypad display: Incomp. OEM HW

The control unit (OEM hardware) is not compat- Fault • Use compatible hardware.
ible with the power unit (OEM hardware). • The inverter is inhibited immediately. The • Contact the OEM.
• The error can only be reset by mains switch-
ing.
24970 0x618A Internal fan warning Keypad display: Internal fan

Warning of the internal fan. Warning Check/replace internal fan.
25216 0x6280 Trigger/functions connected incorrectly Keypad display: P400 config err

The assignment directives have not been Trouble Check and correct the assignment of the trig-
observed. gers for the functions.
• If the "flexible I/O configuration" is active as • With keypad or network control, the two
control source, the "Enable inverter" or "Enable inverter" and "Run" functions can
"Run" function must be connected to a digi- also be set to "Constant TRUE [1]" to start
tal input in order that the motor can be stop- the motor.
ped again any time!
• The use of the "Start forward (CW)" and
"Start reverse (CCW)" functions excludes the
use of the "Run forward (CW)" and "Run
reverse (CCW)" functions, and vice versa.
Related topics
4Start / stop motor ^ 531
25217 0x6281 User-defined fault 1 Keypad display: User fault 1

Flexible I/O configuration: the "Activate fault 1" Fault Eliminate error cause and then reset error.
function was activated via the trigger selected
in 0x2631:043 (P400.43).
Related topics
4Triggering a user-defined fault ^ 578
25218 0x6282 User-defined fault 2 Keypad display: User fault 2

Flexible I/O configuration: the "Activate fault 2" Fault Eliminate error cause and then reset error.
function was activated via the trigger selected
in 0x2631:044 (P400.44).
Related topics
4Triggering a user-defined fault ^ 578
645
Appendix
Error codes
25232 0x6290 Reversal warning Keypad display: Invert rotation

• Negative setpoint selection with an active Warning • Check setpoint selection and trigger.
limitation of rotation 0x283A (P304.00). • The motor is brought to a standstill, since a • Check setting in 0x283A (P304.00).
• The "Reverse rotational direction" reversal of the rotating direction is not per-
0x2631:013 (P400.13) function was reques- missible.
ted with an active limitation of rotation
0x283A (P304.00).
Related topics
4Motor rotating direction ^ 212
25233 0x6291 Number of maximum permissible faults exceeded Keypad display: Trouble overflow

The number of permitted restart attempts after Fault Check and the eliminate the fault.
a fault set in 0x2839:003 (P760.03) was excee- • The motor remains at a standstill, no auto-
ded. The fault occurred to frequently and could matic restart is executed.
not be reset.
Related topics
4Automatic restart ^ 484
25248 0x62A0 AC Drive: user fault Keypad display: AC Dr. UserFault

The "Activate fault" function was triggered via Fault Eliminate error cause and then reset error.
bit 10 of the LECOM control word 0x400B:002
(P592.02).
25249 0x62A1 Network: user fault 1 Keypad display: Netw.UserFault 1

The "Activate fault 1" function was triggered via Fault Eliminate error cause and then reset error.
the NetWordIN1 data word 0x4008:001
(P590.01).
Related topics
25250 0x62A2 Network: user fault 2 Keypad display: Netw.UserFault 2

The "Activate fault 2" function was triggered via Fault Eliminate error cause and then reset error.
the NetWordIN1 data word 0x4008:001
(P590.01).
Related topics
25265 0x62B1 NetWordIN1 configuration incorrect Keypad display: NetWordIN1 error

Two bits of the NetWordIN1 data word Trouble Check and correct configuration of the NetWor-
0x4008:001 (P590.01) were assigned to the dIN1 data word.
same function. • The functions that are to be triggered via
bits 0 ... 15 of the NetWordIN1 data word are
defined in 0x400E:001 (P505.01) ... 0x400E:
016 (P505.16).
646
Appendix
Error codes
25505 0x63A1 CU: load error ID tag Keypad display: CU ID tag error

Calibration data of the control unit not compati- Fault • Update firmware of the inverter to the most
ble or faulty. • The inverter is inhibited immediately. The recent version.
motor becomes torqueless (coasts). • If the error persists, the control unit or the
• The error can only be reset by mains switch- device has to be replaced. In this case, please
ing. contact the manufacturer.
25506 0x63A2 PU: load error ID tag Keypad display: PU ID tag error

Calibration data of the power unit not compati- Fault • Update firmware of the inverter to the most
ble or faulty. • The inverter is inhibited immediately. The recent version.
motor becomes torqueless (coasts). • If the error persists, the power unit or the
• The error can only be reset by mains switch- device has to be replaced. In this case, please
ing. contact the manufacturer.
25507 0x63A3 Power section unknown Keypad display: PU unknown

The power unit installed is not supported by the Fault Update firmware of the inverter to the most
software. • The inverter is inhibited immediately. The recent version.
ing.
28800 0x7080 Monitoring of connection level (Low/High) Keypad display: Assertionlevel

The last setting of the connection level differs Fault 1. Check setting in 0x2630:001 (P410.01).
from the saved setting. 2. Execute device command "Save user data"
0x2022:003 (P700.03).
3. Switch inverter off and on again.
28801 0x7081 Error of analog input 1 Keypad display: AI1 fault

The monitoring function of the input signal con- Fault • Check input signal at analog input 1.
figured for analog input 1 in 0x2636:008 • The error type can be configured in • Check configuration of the monitoring func-
(P430.08) and 0x2636:009 (P430.09) has been 0x2636:010 (P430.10). tion.
triggered.
Related topics
28802 0x7082 Error of analog input 2 Keypad display: AI2 fault

The monitoring function of the input signal con- Fault • Check input signal at analog input 2.
figured for analog input 2 in 0x2637:008 • The error type can be configured in • Check configuration of the monitoring func-
(P431.08) and 0x2637:009 (P431.09) has been 0x2637:010 (P431.10). tion.
triggered.
Related topics
647
Appendix
Error codes
28803 0x7083 HTL input fault Keypad display: HTL input fault

The monitoring of the input signal configured No response • Check input signal at the HTL input.
for the HTL input has been triggered. • The error type can be configured in • Check configuration of the monitoring func-
0x2641:006 (P416.06). tion.
Related topics
28833 0x70A1 Analog output 1 fault Keypad display: AO1 fault

Open circuit or short circuit at analog output 1. Warning • Check wiring of analog output 1.
• Check definition of the output range in
0x2639:001 (P440.01).
Related topics
4Analog output 1 ^ 617
28834 0x70A2 Analog output 2 fault Keypad display: AO2 fault

Open circuit or short circuit at analog output 2. Warning • Check wiring of analog output 2.
• Check definition of the output range in
0x263A:001 (P441.01).
Related topics
4Analog output 2 ^ 620
28961 0x7121 Pole position identification fault Keypad display: Pole pos. error

• Too many deviations during the pole position Fault • Check setting of the motor data.
identification. • The inverter is inhibited immediately. The • Ensure that the motor is at a standstill during
• Compared to the inverter, the rated motor motor becomes torqueless (coasts). the pole position identification process.
current is too high or too low. • The error type can be configured in 0x2C60. • Ensure that the motor and inverter match
each other in terms of power.
29056 0x7180 Motor overcurrent Keypad display: Mot max current

The motor current has exceeded the warning/ Fault • Check motor load.
error threshold for the motor current monitor- • The error can only be reset after a blocking • Check drive dimensioning.
ing set in 0x2D46:001 (P353.01). time of 1 s. • Check warning/error threshold set in
• The error type can be configured in 0x2D46:001 (P353.01).
0x2D46:002 (P353.02).
Related topics
4Overcurrent monitoring ^ 222
29445 0x7305 Encoder open circuit Keypad display: Encoder error

The encoder signal loss monitoring function has Warning • Check the encoder connection.
detected a failure of the encoder signal. • The error type can be configured in 0x2C45 • Check encoder cable for wire breakage.
(P342.00). • Check encoder current supply.
Related topics
4Encoder monitoring ^ 498
648
Appendix
Error codes
29573 0x7385 Feedback system: speed limitation Keypad display: F.fdb spd limit

The feedback system exceeds the maximum Warning Check feedback system.
permissible frequency range of the digital
inputs.
Related topics
4Encoder monitoring ^ 498
30336 0x7680 Memory module is full Keypad display: EPM full

The memory module contains too many param- Warning Execute "Save user data" 0x2022:003 (P700.03)
eter settings. • The parameter settings were not saved in the device command again. This reinitialises the
memory module. user memory with the current parameter set-
tings. In this way, parameter settings that are no
longer required are automatically deleted.
30337 0x7681 No memory module Keypad display: EPM not present

The inverter memory module was removed. Fault 1. Switch off inverter.
• The default setting stored in the inverter 2. Plug the memory module into the inverter.
firmware has been loaded. 3. Switch the inverter on again.
• The error cannot be reset by the user. Note: The memory module cannot be replaced
during ongoing operation!
30338 0x7682 Memory module: invalid user data Keypad display: EPM invalid data

The user parameter settings in the memory Fault 1. Execute user parameter settings again.
module are invalid. • The inverter is inhibited immediately. The 2. Execute device command "Save user data"
motor becomes torqueless (coasts). 0x2022:003 (P700.03).
• The user parameter settings are lost.
• The default settings were automatically loa-
ded.
30340 0x7684 Data not completely saved before switch-off Keypad display: Save incomplete

Saving of the parameter settings was interrup- Warning 1. Check user parameter settings. (The loaded
ted by an unexpected disconnection. • The user parameter settings were not fully backup is an older version.)
saved. 2. If required, repeat the changes made last.
• At the next switch-on, the data stored are 3. Execute device command "Save user data"
copied to the user memory. 0x2022:003 (P700.03).
30342 0x7686 Internal communication error Keypad display: Int. Comm.Err.

Communication between the power unit and Fault 1. Switch off inverter.
the control unit is faulty. • The inverter is inhibited immediately. The 2. Install control unit correctly on power unit.
motor becomes torqueless (coasts). 3. Switch the inverter on again.
649
Appendix
Error codes
30345 0x7689 Memory module: invalid OEM data Keypad display: OEM data invalid

The OEM memory contains invalid parameter Warning • Execute device command "Save OEM data"
settings or is empty. • The user parameter settings were automati- 0x2022:006 (P700.06).
cally loaded. • Thus, the user parameter settings get lost!
30346 0x768A Memory module: wrong type Keypad display: Wrong EPM

The memory module connected is not suppor- Fault 1. Switch off inverter.
ted by the inverter. • The default setting stored in the inverter 2. Replace plugged-in memory module by a
firmware has been loaded. memory module that matches the inverter.
• The error cannot be reset by the user. 3. Switch the inverter on again.
30352 0x7690 EPM firmware version incompatible Keypad display: EPM-FW incomp.

The parameter settings saved in the memory Fault 1. Execute device command "Load default set-
module are incompatible with the firmware ver- • The data have been loaded into the RAM tings" 0x2022:001 (P700.01).
sion. memory, but they are incompatible. 2. Execute "Save user data" 0x2022:003
(P700.03) or "Save OEM data" 0x2022:006
(P700.06) device command.
30353 0x7691 EPM data: firmware type incompatible Keypad display: EPM: FW incomp.

module are incompatible with the firmware • The data have been loaded into the RAM tings" 0x2022:001 (P700.01).
type. memory, but they are incompatible. 2. Execute "Save user data" 0x2022:003
Example: Memory module of an inverter with (P700.03) or "Save OEM data" 0x2022:006
an application IO is used in an inverter with a (P700.06) device command.
standard IO.
30354 0x7692 EPM data: new firmware type detected Keypad display: UserCU not match

The parameter settings saved in the memory Fault 1. Check parameter settings.
module do not match the inverter hardware. • The data have been loaded into the RAM 2. Reset error.
memory without being modified, and they 3. Execute "Save user data" 0x2022:003
are compatible. (P700.03) or "Save OEM data" 0x2022:006
• The settings loaded must be accepted by the (P700.06) device command.
user (see remedy).
30355 0x7693 EPM data: PU size incompatible Keypad display: EPM PU size inco

module are incompatible with the inverter. • The data have been loaded into the RAM tings" 0x2022:001 (P700.01).
memory, but they are incompatible. 2. Execute "Save user data" 0x2022:003
(P700.03) or "Save OEM data" 0x2022:006
(P700.06) device command.
650
Appendix
Error codes
30356 0x7694 EPM data: new PU size detected Keypad display: EPM new PU size

The parameter settings saved in the memory Fault 1. Check parameter settings.
module comply with a different hardware. • The data have been loaded into the RAM 2. Reset error.
Example: Memory module of an inverter with a memory without being modified, and they 3. Execute "Save user data" 0x2022:003
power of 3 kW is used in an inverter with a are compatible. (P700.03) or "Save OEM data" 0x2022:006
power of 18.5 kW. • The settings loaded must be accepted by the (P700.06) device command.
user (see remedy).
30357 0x7695 Invalid configuration of parameter change-over Keypad display: InvalidChgovrCfg

One or more parameters can no longer be used Warning 1. Check error message for parameter change-
for the "Parameter change-over" function. • The parameter change-over function is deac- over in 0x4047:001 (P756.01).
tivated. 2. Correct the list entry shown in 0x4047:002
(P756.02).
30358 0x7696 EPM data: unknown parameter found Keypad display: Unkn. Par in EPM

The memory module contains parameter set- Info Execute the "Save user data" 0x2022:003
tings for one or several parameters that are not (P700.03) device command. This reinitialises
known to the inverter. the user memory with the current parameter
settings. In this way, parameter settings that are
no longer required are automatically deleted.
30359 0x7697 Changed parameters lost Keypad display: Parameter loss

A voltage failure has occurred and changed Fault 1. Execute parameter settings again.
parameter settings that had not been saved yet • The inverter is inhibited immediately. The 2. Execute device command "Save user data"
were available. motor becomes torqueless (coasts). 0x2022:003 (P700.03).
• The parameter settings changed have been
lost.
33042 0x8112 Network: timeout explicit message Keypad display: TO expl. msg

• Within the time-out period for explicit mes- Warning • Check cables and terminals.
sages, which has been parameterised by the • The error type can be configured in • Plug network cables into the Ethernet port.
scanner, no "explicit message" was received. 0x2859:006 (P515.06). • Check the requested package interval (RPI) of
• The connection to the scanner has been the explicit connection.
interrupted. • Increase time limit for explicit messages in
• Failure of an explicit connection. the scanner.
33044 0x8114 Network: overall communication timeout Keypad display: TO overall comm

• EtherNet/IP: the maximum permissible time- Warning • Check cables and terminals.
out period for the CIP communication set in • The error type can be configured in • Connect network cable.
0x23A1:010 (P510.10) has been exceeded. 0x2859:007 (P515.07) (EtherNet/IP),
• Modbus TCP/IP: the maximum permissible 0x2859:007 (P515.07) (Modbus TCP).
time-out period for the TCP communication
set in 0x23B1:010 (P510.10) has been excee-
ded.
651
Appendix
Error codes
33045 0x8115 Time-out (PZÜ) Keypad display: Time-out (PAM)

The parameter access monitoring (PAM) func- No response • Check communication.
tion has been activated. For a time longer than • The error type can be configured in • Check settings of the parameter access moni-
the time-out period set in 0x2552:003 0x2552:004 (P595.04). toring (PAM) function.
(P595.03), no value was entered into the "Keep-
alive-Register" 0x2552:002 (P595.02).
Related topics
4Parameter access monitoring (PAM) ^ 257
33046 0x8116 Modbus TCP master time-out Keypad display: MBTCP mast t-out

No valid messages have been received by the Fault Check communication with the master.
Modbus master for a time longer than the time- • The error type can be configured in
out period set in 0x23B6:001 (P514.01). 0x2859:008 (P515.08).
Related topics
4Time-out behaviour ^ 351
33047 0x8117 Modbus TCP Keep Alive time-out Keypad display: MB.Keep Alive TO

For a time longer than the time-out period set Fault Check communication with the master.
in 0x23B6:002 (P514.02), no value was entered • The error type can be configured in
into the Keep alive register 0x23B6:005 0x2859:009 (P515.09).
(P514.05).
Related topics
4Time-out behaviour ^ 351
33154 0x8182 CAN: bus off Keypad display: CAN bus off

Too many faulty frames have been received. Trouble • Check wiring of the network.
• Defective cable (e. g. loose contact). • Change to the "Bus-Off" communication sta- • Check bus terminating resistor.
• Two nodes with the same node address. tus. • Set the identical baud rate for each node of
• The error type can be configured in the network.
0x2857:010. • Assign a unique node address to each node
of the network.
• Eliminate EMC interferences.
33155 0x8183 CAN: warning Keypad display: CAN bus warning

Too many faulty frames have been received. Warning • Check wiring of the network.
• Defective cable (e. g. loose contact). • The error type can be configured in • Check bus terminating resistor.
• Two nodes with the same node address. 0x2857:011. • Set the identical baud rate for each node of
the network.
• Assign a unique node address to each node
of the network.
• Eliminate EMC interferences.
652
Appendix
Error codes
33156 0x8184 CAN: heartbeat time-out consumer 1 Keypad display: CAN heartb. C1

Within the heartbeat time 0x1016:001 Fault • Check communication with the heartbeat
(P520.01), no heartbeat telegram was received • The error type can be configured in producer.
by node 1 to be monitored. 0x2857:005. • Reactivate heartbeat producer.
Related topics
4Heartbeat protocol ^ 264

Related topics

Related topics

Related topics
33168 0x8190 Network: watchdog timeout Keypad display: Watchdog timeout

Time-out during cyclic data reception, e.g. due Trouble • Check wiring of the network.
to an interrupted communication link to the • The error type can be configured in • Eliminate EMC interferences.
master or missing cyclic data. 0x2859:001 (P515.01) (PROFIBUS),
0x2859:001 (P515.01) (EtherCAT),
0x2859:001 (P515.01) (EtherNet/IP),
0x2859:001 (P515.01) (PROFINET).
33169 0x8191 Network: disruption of cyclic data exchange Keypad display: Cycl data error

The communication partner has interrupted the No response • Check wiring of the network.
cyclic data exchange. • The error type can be configured in • The slave must receive new parameterisation
0x2859:002 (P515.02). and configuration files by the master, in
order to be able to exchange data again.
653
Appendix
Error codes
33170 0x8192 Network: initialisation error Keypad display: Net. Init. error

The initialisation of the communication stack Trouble Check master/slave configuration and restart
has been interrupted due to an incorrect • The error type can be configured in the devices.
address setting or communication configura- 0x2859:004 (P515.04) (PROFIBUS),
tion. 0x2859:004 (P515.04) (EtherCAT),
0x2859:004 (P515.04) (EtherNet/IP),
0x2859:004 (P515.04) (PROFINET),
0x2859:004 (P515.04) (Modbus TCP).
33171 0x8193 Network: invalid cyclic process data Keypad display: Inv. cyclic data

The cyclic process data received are invalid. Trouble Check cyclic process data sent by the master.
0x2859:005 (P515.05) (PROFIBUS),
0x2859:005 (P515.05) (EtherCAT),
0x2859:005 (P515.05) (EtherNet/IP),
0x2859:005 (P515.05) (PROFINET).
33185 0x81A1 Modbus: network time-out Keypad display: Modbus time-out

No valid messages have been received via the Fault • Check communication with the master.
Modbus for a longer time than the time-out • The error type can be configured in • Check wiring.
time set in 0x2858:002 (P515.02). 0x2858:001 (P515.01). • Check bus termination.
33186 0x81A2 Modbus: incorrect request by master Keypad display: Modbus request

The request by the master is invalid, e. g. invalid Warning Check request by the master:
CRC checksum, non-supported function code, • The inverter (slave) responds to the master • Value in the valid range?
or impermissible data access. with an error code: • Function code valid?
0x01 = invalid function code • No impermissible write access? (e. g. with
0x02 = invalid data address regard to read-only parameters)
0x03 = invalid data value
0x04 = slave device failure
33200 0x81B0 iCIF connection lost Keypad display: iCIF disconnect.

In case of the Ethernet communication inter- Fault • Switch inverter off and on again.
face, an internal software error has occurred. • In the event of a power failure during a firm-
ware download, it is required to reload the
firmware via the USB module and then
restart the inverter.
Related topics
4Firmware download with »EASY Starter (Firmware loader)« ^ 501
654
Appendix
Error codes
33414 0x8286 Network: PDO mapping error Keypad display: PDO map error

• Invalid PDO assignment by the master. Trouble Check data mapping in the master and slave.
• Internal PDO assignment was changed and • The error type can be configured in
does not comply with the configuration avail- 0x2859:003 (P515.03) (PROFIBUS),
able in the master. 0x2859:003 (P515.03) (EtherCAT),
0x2859:003 (P515.03) (EtherNet/IP),
0x2859:003 (P515.03) (PROFINET),
0x2859:003 (P515.03) (Modbus TCP).
33425 0x8291 CAN: RPDO1 time-out Keypad display: Timeout RPDO1

RPDO3 was not received within the time-out Fault • Eliminate EMC interferences.
period set in 0x1402:005 (P542.05) or with the • The error type can be configured in • Check bus load.
sync configured. 0x2857:001.
Related topics
4Process data objects ^ 266

Related topics

Related topics
33553 0x8311 Torque limit reached Keypad display: Torque limit

Motor has reached the torque limit: No response • Observe load requirements.
• 0x60E0: Positive torque limit • The error type can be configured in • Reduce motor load.
• 0x60E1: Negative torque limit 0x2D67:001 (P329.01). • Check set torque limits and sources for the
• 0x6072 (P326.00): Max torque torque limits.
Related topics
4Motor torque monitoring ^ 224
36992 0x9080 Keypad removed Keypad display: Keypad removed

The keypad was removed while the keypad con- Fault • Plug on the keypad again or
trol was activated. • activate another control source.
Related topics
4Control source change-over ^ 526
655
Appendix
Error codes
65282 0xFF02 Brake resistor: overload warning Keypad display: BrkResistor OL.F

The calculated thermal load of the brake resis- Fault • Check drive dimensioning.
tor has reached the error threshold set in • The inverter is inhibited immediately. The • Check settings for the brake energy manage-
0x2550:009 (P707.09). The regenerative energy motor becomes torqueless (coasts). ment.
is too high. • The error can only be reset after a blocking Note: The error status will be reset if the ther-
time of 5 s. mal load falls below the error threshold - 20 %.
0x2550:011 (P707.11).
Related topics
65285 0xFF05 Safe Torque Off error Keypad display: STO error

The safety module or safety circuit of the device Fault Hardware error: it is necessary to contact the
was detected as being defective. • The inverter is inhibited immediately. The manufacturer since the device must be
motor becomes torqueless (coasts). replaced.
ing.
65286 0xFF06 Motor overspeed Keypad display: Motor overspeed

The motor speed has reached the error thresh- Fault Check application.
old for overspeed set in 0x2D44:001 (P350.01). • The error can only be reset after a blocking
time of 1 s.
0x2D44:002 (P350.02).
Related topics
4Motor speed monitoring ^ 224
65289 0xFF09 Motor phase missing Keypad display: Mot.Phase miss.

A failure of several motor phases has been No response • Check wiring between inverter and motor.
detected. • The error can only be reset after a blocking • In case of a false tripping, adapt the settings
time of 2 s. for the motor phase failure detection.
0x2D45:001 (P310.01).
Related topics
65290 0xFF0A Phase U motor phase failure Keypad display: Phase U failure

A failure of the motor phase U has been detec- No response • Check wiring between inverter and motor.
ted. • The error can only be reset after a blocking • In case of a false tripping, adapt the settings
0x2D45:001 (P310.01).
Related topics
656
Appendix
Error codes
65291 0xFF0B Motor phase failure phase V Keypad display: Phase V failure

A failure of the motor phase V has been detec- No response • Check wiring between inverter and motor.
0x2D45:001 (P310.01).
Related topics
65292 0xFF0C Motor phase failure phase W Keypad display: Phase W failure

A failure of the motor phase W has been detec- No response • Check wiring between inverter and motor.
0x2D45:001 (P310.01).
Related topics
65305 0xFF19 Motor parameter identification error Keypad display: Motor ID fault

During the automatic identification of the Fault • Set motor data so that they comply with the
motor, an error has occurred. data on the motor nameplate.
• Check wiring of the motor.
65334 0xFF36 Brake resistor: overload warning Keypad display: BrkResistor OL.W

The calculated thermal load of the brake resis- Warning • Check drive dimensioning.
tor has reached the warning threshold set in • The error type can be configured in • Check settings for the brake energy manage-
0x2550:008 (P707.08). The regenerative energy 0x2550:010 (P707.10). ment.
is too high. Note: The warning status is reset if the thermal
load falls below the warning threshold of - 20
%.
Related topics
65335 0xFF37 Automatic start disabled Keypad display: Auto start disab

At mains connection, a start command was Fault Deactivate start command and reset error.
already available and the automatic start at
power-up is set in 0x2838:002 (P203.02) to "Off
[0]".
65366 0xFF56 Maximum motor frequency reached Keypad display: Max. motor freq.

• The maximum motor speed set in 0x6080 Warning Check application.
(P322.00) is active.
• The maximum output frequency of the inver-
ter has been reached.
657
Appendix
Error codes
65413 0xFF85 Keypad full control active Keypad display: Keypad full ctrl

If the "Keypad Full Control" control mode is Warning Clicking the CTRL keypad key stops the control
active. • Both the activity of controlling and the set- mode again.
point selection are carried out via the key-
pad.
Related topics
658
Appendix
Parameter attribute list
16.3 Parameter attribute list

The parameter attribute list in particular contains some information required for reading and
writing parameters via network.
• The parameter attribute list contains all parameters of the inverter.
• The parameter attribute list is sorted by addresses (index:subindex) in ascending order.
How to read the parameter attribute list:
Column Meaning
Address Address of the parameter in the object directory. Format: index:subindex
If the parameter can also be accessed via keypad, the "Display Code" is given in addition in brackets.
Designation Parameter name
Default setting Default setting of the parameter
Category Functional assignment of the parameter, for example "motor control" or "CANopen".
Data type Data type of the parameter:
I8 1 byte, with sign
I16 2 bytes with sign
U8 1 byte without sign
U16 2 bytes without sign
REAL32 4 bytes floating point
STRING[xx] ASCII string (with character length xx)
OCTET[xx] OCTET string (with xx bytes)
IDX 4 bytes without sign. Is used specially for addressing parameters.
Factor Factor for data transmission via network, depending on the number of decimal positions:
1 No decimal positions
10 1 decimal position
100 2 decimal positions
A Attributes (combinations of several attributes also possible):
C Setting can only be changed if the inverter is inhibited.
E Value is displayed as IP address on the keypad.
H Value is displayed as hexadecimal value on the keypad.
I Parameter is not displayed.
K Parameter is only displayed on the keypad.
O Parameter can be recorded with the oscilloscope function.
P Setting is saved in the memory module.
X Parameter is not displayed in the engineering tools.
M Mapping:
r Receive mapping permissible.
t Transmit mapping permissible.
rt Receive and transmit mapping permissible.
- Mapping not permissible.
Parameter attribute list (short overview of all parameter indexes)

Address Designation Default setting Category Data type Factor A M
0x1000 Device type - (Read only) CANopen U32 1 H -
0x1000 Device type - (Read only) EtherCAT U32 1 X -
0x1000 NMT_DeviceType_U32 - (Read only) POWERLINK U32 1 X -
0x1001 Error register - (Read only) CANopen U8 1 H t
0x1001 ERR_ErrorRegister_U8 - (Read only) POWERLINK U8 1 X -
0x1003:001 ERR_History_ADOM: ErrorEntry_DOM 1 - (Read only) POWERLINK U32 1 X -
659
Appendix

0x1005 COB-ID SYNC 0x00000080 CANopen U32 1 PH -
0x1006 Communication cyclic period 0 us CANopen U32 1 P -
0x1006 NMT_CycleLen_U32 0 POWERLINK U32 1 X -
0x1008 Manufacturer device name - (Read only) CANopen STRING[50] 1 - -
0x1008 Manufacturer device name - (Read only) EtherCAT STRING[50] 1 X -
0x1008 NMT_ManufactDevName_VS - (Read only) POWERLINK STRING[5] 1 X -
0x1009 Manufacturer hardware version - (Read only) CANopen STRING[50] 1 - -
0x1009 Manufacturer hardware version - (Read only) EtherCAT STRING[50] 1 X -
0x1009 NMT_ManufactHwVers_VS - (Read only) POWERLINK STRING[2] 1 X -
0x100A Manufacturer software version - (Read only) CANopen STRING[50] 1 - -
0x100A Manufacturer software version - (Read only) EtherCAT STRING[50] 1 X -
0x100A NMT_ManufactSwVers_VS - (Read only) POWERLINK STRING[6] 1 X -
0x1014 COB-ID EMCY - (Read only) CANopen U32 1 H -
0x1015 Inhibit time EMCY 0.0 ms CANopen U16 10 P -
0x1016:000 Consumer heartbeat time: Highest sub-index sup- - (Read only) CANopen U8 1 - -
(P520.00) ported
0x1016:001 Consumer heartbeat time: Consumer heartbeat 0x00000000 CANopen U32 1 PH -
(P520.01) time 1
0x1016:001 NMT_ConsumerHeartbeatTime: HeartbeatDescrip- 0 ms POWERLINK U32 1 X -
tion
(P520.02) time 2
tion
(P520.03) time 3
tion
(P520.04) time 4
tion
0x1017 Producer heartbeat time 0 ms CANopen U16 1 P -
(P522.00)
0x1018:001 Identity object: Vendor ID - (Read only) CANopen U32 1 - -
0x1018:001 Identity object: Vendor ID - (Read only) EtherCAT U32 1 X -
0x1018:001 NMT_IdentityObject_REC: VendorId_U32 - (Read only) POWERLINK U32 1 X -
0x1018:002 Identity object: Product ID - (Read only) CANopen U32 1 H -
0x1018:002 Identity object: Product ID - (Read only) EtherCAT U32 1 X -
0x1018:003 Identity object: Revision number - (Read only) CANopen U32 1 - -
0x1018:003 Identity object: Revision number - (Read only) EtherCAT U32 1 X -
0x1018:004 Identity object: Serial number - (Read only) CANopen U32 1 - -
0x1018:004 Identity object: Serial number - (Read only) EtherCAT U32 1 X -
0x1029:000 Error behavior: Highest sub-index supported - (Read only) CANopen U8 1 - -
0x1029:001 Error behavior: Communication error Status -> Pre-operational CANopen U8 1 P -
[0]
0x1030:001 NMT_InterfaceGroup_0h_REC: InterfaceIndex_U16 - (Read only) POWERLINK U16 1 X -
660
Appendix

0x1030:002 NMT_InterfaceGroup_0h_REC: InterfaceDescrip- - (Read only) POWERLINK STRING[3] 1 X -
tion_VSTR
0x1030:003 NMT_InterfaceGroup_0h_REC: InterfaceType_U8 - (Read only) POWERLINK U8 1 X -
0x1030:004 NMT_InterfaceGroup_0h_REC: InterfaceMtu_U32 - (Read only) POWERLINK U32 1 X -
0x1030:005 NMT_InterfaceGroup_0h_REC: InterfacePhysAd- - (Read only) POWERLINK OCTET[6] 1 X -
dress_ OSTR
0x1030:006 NMT_InterfaceGroup_0h_REC: Interface- ETH0 POWERLINK STRING[16] 1 X -
Name_VSTR
0x1030:007 NMT_InterfaceGroup_0h_REC: InterfaceOper- - (Read only) POWERLINK U8 1 X -
State_U8
0x1030:008 NMT_InterfaceGroup_0h_REC: InterfaceAdmin- 0 POWERLINK U8 1 X -
State_U8
0x1030:009 NMT_InterfaceGroup_0h_REC: Valid_BOOL 0 POWERLINK U8 1 X -
0x1200:000 SDO1 server parameter: Highest sub-index suppor- - (Read only) CANopen U8 1 - -
ted
0x1200:001 SDO1 server parameter: COB-ID client -> server (rx) - (Read only) CANopen U32 1 H -
0x1200:002 SDO1 server parameter: COB-ID server -> client (tx) - (Read only) CANopen U32 1 H -
0x1201:000 SDO2 server parameter: Highest sub-index suppor- - (Read only) CANopen U8 1 - -
ted
0x1201:001 SDO2 server parameter: COB-ID client -> server (rx) 0x80000640 CANopen U32 1 PH -
0x1201:002 SDO2 server parameter: COB-ID server -> client (tx) 0x800005C0 CANopen U32 1 PH -
0x1201:003 SDO2 server parameter: Node-ID of the SDO client 0 CANopen U8 1 P -
0x1300 SDO_SequLayerTimeout_U32 30000 ms POWERLINK U32 1 X -
0x1301 SDO_CmdLayerTimeout_U32 30000 ms POWERLINK U32 1 X -
0x1400:000 RPDO1 communication parameter: Highest sub- - (Read only) CANopen U8 1 - -
index supported
0x1400:001 RPDO1 communication parameter: COB-ID 0x00000200 CANopen U32 1 PH -
(P540.01)
0x1400:001 PDO_RxCommParam_00h_REC: NodeID_U8 0 POWERLINK U8 1 X -
0x1400:002 RPDO1 communication parameter: Transmission 255 CANopen U8 1 P -
(P540.02) type
0x1400:002 PDO_RxCommParam_00h_REC: MappingVer- - (Read only) POWERLINK U8 1 X -
sion_U8
0x1400:005 RPDO1 communication parameter: Event timer 100 ms CANopen U16 1 P -
(P540.05)
(P541.01)
(P541.02) type
(P541.05)
(P542.01)
(P542.02) type
(P542.05)
0x1600:000 RPDO1 mapping parameter: Number of mapped 2 CANopen U8 1 P -
0x1600:001 RPDO1 mapping parameter: Application object 1 0x60400010 CANopen U32 1 PH -
0x1600:001 ... PDO_RxMappParam_00h_REC: ObjectMapping_U64 0 POWERLINK U64 1 X -
0x1600:016 1 ... ObjectMapping_U64 16
661
Appendix

0x1603:001 RPDO4 mapping parameter: Application object 1 - (Read only) EtherCAT U32 1 XH -
0x1800:000 TPDO1 communication parameter: Highest sub- - (Read only) CANopen U8 1 - -
index supported
0x1800:001 TPDO1 communication parameter: COB-ID 0x40000180 CANopen U32 1 PH -
(P550.01)
0x1800:001 PDO_TxCommParam_00h_REC: NodeID_U8 - (Read only) POWERLINK U8 1 X -
0x1800:002 TPDO1 communication parameter: Transmission 255 CANopen U8 1 P -
(P550.02) type
0x1800:002 PDO_TxCommParam_00h_REC: MappingVersion_U8 - (Read only) POWERLINK U8 1 X -
0x1800:003 TPDO1 communication parameter: Inhibit time 0.0 ms CANopen U16 10 P -
(P550.03)
0x1800:005 TPDO1 communication parameter: Event timer 20 ms CANopen U16 1 P -
(P550.05)
index supported
662
Appendix

0x1801:001 TPDO2 communication parameter: COB-ID 0xC0000280 CANopen U32 1 PH -
(P551.01)
(P551.02) type
(P551.03)
(P551.05)
index supported
0x1802:001 TPDO3 communication parameter: COB-ID 0xC0000380 CANopen U32 1 PH -
(P552.01)
(P552.02) type
(P552.03)
(P552.05)
0x1A00:000 TPDO1 mapping parameter: Number of mapped 2 CANopen U8 1 P -
0x1A00:001 TPDO1 mapping parameter: Application object 1 0x60410010 CANopen U32 1 PH -
0x1A00:001 ... PDO_TxMappParam_00h_REC: ObjectMapping_U64 0 POWERLINK U64 1 X -
0x1A00:016 1 ... ObjectMapping_U64 16
0x1A03:001 TPDO4 mapping parameter: Application object 1 - (Read only) EtherCAT U32 1 XH -
663
Appendix

0x1C00:001 Sync Manager communication type: SM1 communi- - (Read only) EtherCAT U8 1 X -
cation type
cation type
cation type
cation type
0x1C0A:001 DLL_CNCollision_REC: CumulativeCnt_U32 - (Read only) POWERLINK U32 1 X -
0x1C0B:001 DLL_CNLossSoC_REC: CumulativeCnt_U32 - (Read only) POWERLINK U32 1 X -
0x1C0B:002 DLL_CNLossSoC_REC: ThresholdCnt_U32 - (Read only) POWERLINK U32 1 X -
0x1C0B:003 DLL_CNLossSoC_REC: Threshold_U32 0 POWERLINK U32 1 X -
0x1C0F:001 DLL_CNCRCError_REC: CumulativeCnt_U32 - (Read only) POWERLINK U32 1 X -
0x1C0F:002 DLL_CNCRCError_REC: ThresholdCnt_U32 - (Read only) POWERLINK U32 1 X -
0x1C0F:003 DLL_CNCRCError_REC: Threshold_U32 0 POWERLINK U32 1 X -
0x1C10 DLL_CNLossOfLinkCum_U32 - (Read only) POWERLINK U32 1 X -
0x1C12:000 Number of assigned PDOs - (Read only) EtherCAT U8 1 X -
0x1C12:001 PDO mapping object index of 1. assigned RPDO - (Read only) EtherCAT U16 1 XH -
0x1C12:002 PDO mapping object index of 2. assigned RPDO - (Read only) EtherCAT U16 1 XH -
0x1C13:000 Number of assigned PDOs - (Read only) EtherCAT U8 1 X -
0x1C13:001 PDO mapping object index of 1. assigned TPDO - (Read only) EtherCAT U16 1 XH -
0x1C13:002 PDO mapping object index of 2. assigned TPDO - (Read only) EtherCAT U16 1 XH -
0x1C32:001 Sync Manager 2: Synchronization type Free run [0] EtherCAT U16 1 X -
0x1C32:002 Sync Manager 2: Cycle time x ns (Read only) EtherCAT U32 1 X -
0x1C32:003 Sync Manager 2: Shift time x ns (Read only) EtherCAT U32 1 X -
0x1C32:004 Sync Manager 2: Synchronization types supported - (Read only) EtherCAT U16 1 X -
0x1C32:005 Sync Manager 2: Minimum cycle time x ns (Read only) EtherCAT U32 1 X -
0x1C33:001 Sync Manager 3: Synchronization type 0 EtherCAT U16 1 X -
0x1C33:002 Sync Manager 3: Cycle time x ns (Read only) EtherCAT U32 1 X -
0x1C33:003 Sync Manager 3: Shift time x ns (Read only) EtherCAT U32 1 X -
0x1C33:004 Sync Manager 3: Synchronization types supported - (Read only) EtherCAT U16 1 X -
0x1C33:005 Sync Manager 3: Minimum cycle time x ns (Read only) EtherCAT U32 1 X -
0x1E40:001 NWL_IpAddrTable_0h_REC: IfIndex_U16 - (Read only) POWERLINK U32 1 X -
0x1E40:002 NWL_IpAddrTable_0h_REC: Addr IPAD - (Read only) POWERLINK U32 1 X -
0x1E40:003 NWL_IpAddrTable_0h_REC: NetMask_IPAD - (Read only) POWERLINK U32 1 X -
0x1E40:004 NWL_IpAddrTable_0h_REC: ReasmMaxSize_U16 - (Read only) POWERLINK U32 1 X -
0x1E40:005 NWL_IpAddrTable_0h_REC: DefaultGateway_IPAD 0 POWERLINK U32 1 X -
0x1E4A:001 NWL_IpGroup_REC: Forwarding_BOOL - (Read only) POWERLINK U8 1 X -
0x1E4A:002 NWL_IpGroup_REC: DefaultTTL_U16 64 POWERLINK U16 1 X -
0x1E4A:003 NWL_IpGroup_REC: ForwardingDatagrams_U32 - (Read only) POWERLINK U32 1 X -
0x1F81:001 ... NMT_NodeAssignment: Node assignment 1 ... Node 0 POWERLINK U32 1 X -
0x1F81:254 assignment 254
664
Appendix

0x1F82 NMT_FeatureFlags_U32 - (Read only) POWERLINK U32 1 X -
0x1F83 NMT_EPLVers_U8 - (Read only) POWERLINK U8 1 X -
0x1F8C NMT_CurrState_U8 - (Read only) POWERLINK U8 1 X -
0x1F8D:001 ... NMT_MNPResPayloadList: PResPayload 1 ... PRe- 0 POWERLINK U16 1 X -
0x1F8D:254 sPayload 254
0x1F93:001 NMT_EPLNodeID_REC: NodeID_U8 - (Read only) POWERLINK U8 1 X -
0x1F93:002 NMT_EPLNodeID_REC: NodeIDByHW_BOOL - (Read only) POWERLINK U8 1 X -
0x1F93:003 NMT_EPLNodeID_REC: SWNodeID_U8 0 POWERLINK U8 1 X -
0x1F98:001 NMT_CycleTiming_REC: IsochrTxMaxPayload_ U16 - (Read only) POWERLINK U16 1 X -
0x1F98:002 NMT_CycleTiming_REC: IsochrRxMaxPayload_ U16 - (Read only) POWERLINK U16 1 X -
0x1F98:003 NMT_CycleTiming_REC: PResMaxLatency_U32 x ns (Read only) POWERLINK U32 1 X -
0x1F98:004 NMT_CycleTiming_REC: PReqActPayload_U16 0 POWERLINK U16 1 X -
0x1F98:005 NMT_CycleTiming_REC: PResActPayload_U16 0 POWERLINK U16 1 X -
0x1F98:006 NMT_CycleTiming_REC: ASndMaxLatency_U32 x ns (Read only) POWERLINK U32 1 X -
0x1F98:007 NMT_CycleTiming_REC: MultipleCycleCnt_U8 0 POWERLINK U8 1 X -
0x1F98:008 NMT_CycleTiming_REC: AsyncMTUSize_U16 0 POWERLINK U16 1 X -
0x1F98:009 NMT_CycleTiming_REC: Prescaler_U16 0 ns POWERLINK U16 1 X -
0x1F99 NMT_CNBasicEthernetTimeout_u32 0 POWERLINK U32 1 X -
0x1F9A NMT_HostName_VSTR POWERLINK STRING[32] 1 X -
0x1F9B:001 ... NMT_MultiplCycleAssign_AU8: NMT_MultiplCy- - (Read only) POWERLINK U8 1 X -
0x1F9B:100 cleAssign_AU8 1 ... NMT_MultiplCycleAssign_AU8
100
0x1F9E NMT_ResetCmd_U8 - (Read only) POWERLINK U8 1 X -
0x2000:001 Device data: Product code - (Read only) general STRING[18] 1 - -
(P190.01)
0x2000:002 Device data: Serial number - (Read only) general STRING[50] 1 - -
(P190.02)
0x2000:004 Device data: CU firmware version - (Read only) general STRING[50] 1 - -
(P190.04)
0x2000:005 Device data: CU firmware type - (Read only) general STRING[50] 1 - -
(P190.05)
0x2000:006 Device data: CU bootloader version - (Read only) general STRING[50] 1 - -
(P190.06)
0x2000:007 Device data: CU bootloader type - (Read only) general STRING[50] 1 - -
(P190.07)
0x2000:008 Device data: Object directory version - (Read only) general U32 1 - -
(P190.08)
0x2000:010 Device data: PU firmware version - (Read only) general STRING[50] 1 - -
(P190.10)
0x2000:011 Device data: PU firmware type - (Read only) general STRING[50] 1 - -
(P190.11)
0x2000:012 Device data: PU bootloader version - (Read only) general STRING[50] 1 - -
(P190.12)
0x2000:013 Device data: PU bootloader type - (Read only) general STRING[50] 1 - -
(P190.13)
0x2000:014 Device data: Module - firmware version - (Read only) general STRING[11] 1 - -
(P190.14)
0x2000:015 Device data: Firmware revision number - (Read only) general STRING[50] 1 - -
(P190.15)
0x2000:016 Device data: Bootloader revision number - (Read only) general STRING[50] 1 - -
(P190.16)
0x2001 Device name My Device general STRING[128] 1 PK -
(P191.00)
0x2002:004 Device module: CU type code - (Read only) general STRING[19] 1 - -
(P192.04)
0x2002:005 Device module: PU type code - (Read only) general STRING[19] 1 - -
(P192.05)
665
Appendix

0x2002:006 Device module: CU serial number - (Read only) general STRING[23] 1 - -
(P192.06)
0x2002:007 Device module: PU serial number - (Read only) general STRING[23] 1 - -
(P192.07)
0x2006:000 Error history buffer: Keypad display - (Read only) general U8 1 - -
(P155.00)
0x2006:001 Error history buffer: Maximum number of messages - (Read only) general U8 1 - -
0x2006:002 Error history buffer: Latest message - (Read only) general U8 1 - -
0x2006:003 Error history buffer: Latest acknowledgement mes- 0 general U8 1 - -
sage
0x2006:004 Error history buffer: New message - (Read only) general U8 1 - t
0x2006:005 Error history buffer: Buffer overflow 1 general U16 1 - -
0x2006:006 Error history buffer: Message 0 - (Read only) general OCTET[19] 1 - -
0x2021:001 Optical tracking: Start detection Stop [0] general U8 1 - -
(P230.01)
0x2021:002 Optical tracking: Blinking duration 5s general U16 1 - -
(P230.02)
0x2022:001 Device commands: Load default settings Off / ready [0] general U8 1 C -
(P700.01)
0x2022:003 Device commands: Save user data Off / ready [0] general U8 1 - -
(P700.03)
0x2022:004 Device commands: Load user data Off / ready [0] general U8 1 C -
(P700.04)
0x2022:005 Device commands: Load OEM data Off / ready [0] general U8 1 C -
(P700.05)
666
Appendix

0x2022:006 Device commands: Save OEM data Off / ready [0] general U8 1 - -
(P700.06)
0x2022:007 Device commands: Load parameter set 1 Off / ready [0] general U8 1 - -
(P700.07)
(P700.08)
(P700.09)
(P700.10)
0x2022:011 Device commands: Save parameter set 1 Off / ready [0] general U8 1 - -
(P700.11)
(P700.12)
(P700.13)
(P700.14)
0x2022:015 Device commands: Delete logbook Off / ready [0] general U8 1 C -
(P700.15)
0x2030 CRC parameter set - (Read only) general U32 1 - -
0x203D PIN1 access protection 0 general I16 1 - -
(P730.00)
0x203E PIN2 access protection 0 general I16 1 - -
(P731.00)
0x203F PIN1/PIN2 log-in 0 general I16 1 - -
0x2040 Access protection status - (Read only) general U16 1 - -
(P197.00)
0x2300 CANopen communication No action/no error [0] CANopen U8 1 C -
(P508.00)
0x2301:001 CANopen settings: Node ID 1 CANopen U8 1 P -
(P510.01)
0x2301:002 CANopen settings: Baud rate 500 kbps [5] CANopen U8 1 P -
(P510.02)
0x2301:003 CANopen settings: Slave/Master Slave [0] CANopen U8 1 P -
(P510.03)
0x2301:004 CANopen settings: Start remote delay 3000 ms CANopen U16 1 P -
(P510.04)
0x2301:005 CANopen settings: Activate SDO2 channel Not active [0] CANopen U8 1 - -
(P510.05)
0x2301:006 CANopen settings: COB-ID Configuration Base + node-ID [0] CANopen U8 1 P -
(P510.06)
0x2302:001 Active CANopen settings: Active node ID - (Read only) CANopen U8 1 - -
(P511.01)
0x2302:002 Active CANopen settings: Active baud rate - (Read only) CANopen U8 1 - -
(P511.02)
0x2303 CANopen switch position - (Read only) CANopen U16 1 - -
(P509.00)
0x2307 CANopen time-out status - (Read only) CANopen U32 1 - -
(P515.00)
0x2308 CANopen status - (Read only) CANopen U16 1 - -
(P516.00)
0x2309 CANopen controller status - (Read only) CANopen U16 1 - -
(P517.00)
0x230A:000 CANopen statistics: Highest subindex - (Read only) CANopen U8 1 - -
0x230A:001 CANopen statistics: PDO1 received - (Read only) CANopen U16 1 - -
(P580.01)
(P580.02)
667
Appendix

(P580.03)
0x230A:005 CANopen statistics: PDO1 transmitted - (Read only) CANopen U16 1 - -
(P580.05)
(P580.06)
(P580.07)
0x230A:009 CANopen statistics: SDO1 telegrams - (Read only) CANopen U16 1 - -
(P580.09)
0x230A:010 CANopen statistics: SDO2 telegrams - (Read only) CANopen U16 1 - -
(P580.10)
0x230B CANopen error counter - (Read only) CANopen U16 1 - -
(P518.00)
0x231F:001 Module ID: Active module ID - (Read only) general U8 1 P -
(P500.01)
0x231F:002 Module ID: Module ID connected - (Read only) general U8 1 - -
(P500.02)
0x2320 Modbus communication No action/no error [0] Modbus RTU U8 1 - -
(P508.00)
0x2321:001 Modbus settings: Node ID 1 Modbus RTU U8 1 P -
(P510.01)
0x2321:002 Modbus settings: Baud rate Automatic [0] Modbus RTU U8 1 P -
(P510.02)
0x2321:003 Modbus settings: Data format Automatic [0] Modbus RTU U8 1 P -
(P510.03)
0x2321:004 Modbus settings: Minimum response time 0 ms Modbus RTU U16 1 P -
(P510.04)
0x2322:001 Active Modbus settings: Active node ID - (Read only) Modbus RTU U8 1 - -
(P511.01)
0x2322:002 Active Modbus settings: Active baud rate - (Read only) Modbus RTU U8 1 - -
(P511.02)
0x2322:003 Active Modbus settings: Data format - (Read only) Modbus RTU U8 1 - -
(P511.03)
0x2323 Modbus switch position - (Read only) Modbus RTU U16 1 - -
(P509.00)
0x232A:001 Modbus statistics: Messages received - (Read only) Modbus RTU U32 1 - -
(P580.01)
0x232A:002 Modbus statistics: Valid messages received - (Read only) Modbus RTU U32 1 - -
(P580.02)
0x232A:003 Modbus statistics: Messages with exceptions - (Read only) Modbus RTU U32 1 - -
(P580.03)
0x232A:004 Modbus statistics: Messages with errors - (Read only) Modbus RTU U32 1 - -
(P580.04)
0x232A:005 Modbus statistics: Messages sent - (Read only) Modbus RTU U32 1 - -
(P580.05)
0x232B:001 ... Modbus parameter mapping: Parameter 1 ... Param- 0x00000000 Modbus RTU IDX 1 PH -
0x232B:024 eter 24
(P530.01 ... 24)
0x232C:001 ... Modbus register assignment: Register 1 ... Register - (Read only) Modbus RTU U16 1 - -
0x232C:024 24
(P531.01 ... 24)
0x232D Modbus verification code - (Read only) Modbus RTU U16 1 - -
(P532.00)
0x232E:001 Modbus diagnostics of last Rx data: Offset 0 Modbus RTU U8 1 - -
(P583.01)
0x232E:002 Modbus diagnostics of last Rx data: Data byte 0 - (Read only) Modbus RTU U8 1 - -
(P583.02)
668
Appendix

(P583.03)
(P583.04)
(P583.05)
(P583.06)
(P583.07)
(P583.08)
(P583.09)
(P583.10)
(P583.11)
(P583.12)
(P583.13)
(P583.14)
(P583.15)
(P583.16)
(P583.17)
0x232F:001 Modbus diagnostics of last Tx data: Offset 0 Modbus RTU U8 1 - -
(P585.01)
0x232F:002 Modbus diagnostics of last Tx data: Data byte 0 - (Read only) Modbus RTU U8 1 - -
(P585.02)
(P585.03)
(P585.04)
(P585.05)
(P585.06)
(P585.07)
(P585.08)
(P585.09)
(P585.10)
(P585.11)
(P585.12)
(P585.13)
(P585.14)
669
Appendix

(P585.15)
(P585.16)
(P585.17)
0x2340 PROFIBUS communication No action/no error [0] PROFIBUS U8 1 - -
0x2341:001 PROFIBUS settings: Station address 3 PROFIBUS U8 1 P -
(P510.01)
0x2342:001 Active PROFIBUS settings: Active station address - (Read only) PROFIBUS U8 1 - -
(P511.01)
0x2342:002 Active PROFIBUS settings: Active baud rate - (Read only) PROFIBUS U8 1 - -
(P511.02)
0x2342:003 Active PROFIBUS settings: Watchdog time - (Read only) PROFIBUS U16 1 - -
(P511.03)
0x2343 PROFIBUS switch position - (Read only) PROFIBUS U16 1 - -
(P509.00)
0x2344:001 PROFIBUS Configuration: Extended diagnostic bit Delete [0] PROFIBUS U8 1 P -
(P512.01)
0x2348:001 PROFIBUS Status: Bus status - (Read only) PROFIBUS U8 1 - -
(P516.01)
0x2348:002 PROFIBUS Status: Watchdog status - (Read only) PROFIBUS U8 1 - -
(P516.02)
0x2349 PROFIBUS error - (Read only) PROFIBUS U32 1 - -
(P517.00)
0x234A:001 PROFIBUS statistics: Data cycles per second - (Read only) PROFIBUS U32 1 - -
(P580.01)
0x234A:002 PROFIBUS statistics: Parameterization events - (Read only) PROFIBUS U32 1 - -
(P580.02)
0x234A:003 PROFIBUS statistics: Configuration events - (Read only) PROFIBUS U32 1 - -
(P580.03)
0x234A:004 PROFIBUS statistics: Diagnostics events - (Read only) PROFIBUS U32 1 - -
(P580.04)
0x234A:005 PROFIBUS statistics: C1 messages - (Read only) PROFIBUS U32 1 - -
(P580.05)
0x234A:006 PROFIBUS statistics: C2 messages - (Read only) PROFIBUS U32 1 - -
(P580.06)
0x234A:007 PROFIBUS statistics: Watchdog events - (Read only) PROFIBUS U32 1 - -
(P580.07)
0x234A:008 PROFIBUS statistics: Data exchange aborts - (Read only) PROFIBUS U32 1 - -
(P580.08)
0x234A:009 PROFIBUS statistics: Total data cycles - (Read only) PROFIBUS U32 1 - -
(P580.09)
0x2360 EtherCAT communication No action/no error [0] EtherCAT U8 1 - -
(P508.00)
0x2361:004 EtherCAT settings: Device identifier 0 EtherCAT U16 1 P -
(P510.04)
0x2362:004 Active EtherCAT settings: Device identifier - (Read only) EtherCAT U16 1 - -
(P511.04)
0x2362:006 Active EtherCAT settings: Station address - (Read only) EtherCAT U16 1 - -
(P511.06)
0x2362:007 Active EtherCAT settings: Tx length - (Read only) EtherCAT U16 1 - -
(P511.07)
0x2362:008 Active EtherCAT settings: Rx length - (Read only) EtherCAT U16 1 - -
(P511.08)
0x2363 EtherCAT switch position - (Read only) EtherCAT U16 1 - -
(P509.00)
0x2368 EtherCAT status - (Read only) EtherCAT U16 1 - -
(P516.00)
670
Appendix

0x2369 EtherCAT error - (Read only) EtherCAT U16 1 - -
(P517.00)
0x2380 PROFINET communication No action/no error [0] PROFINET U8 1 - -
(P508.00)
0x2381:001 PROFINET settings: IP address 0 PROFINET U32 1 PE -
(P510.01)
0x2381:002 PROFINET settings: Subnet 0 PROFINET U32 1 PE -
(P510.02)
0x2381:003 PROFINET settings: Gateway 0 PROFINET U32 1 PE -
(P510.03)
0x2381:004 PROFINET settings: Station name PROFINET STRING[240] 1 P -
(P510.04)
0x2381:005 PROFINET settings: I&M1 System designation PROFINET STRING[32] 1 P -
0x2381:006 PROFINET settings: I&M1 Installation site PROFINET STRING[22] 1 P -
0x2381:007 PROFINET settings: I&M2 Installation date PROFINET STRING[16] 1 P -
0x2381:008 PROFINET settings: I&M3 additional information PROFINET STRING[54] 1 P -
0x2381:009 PROFINET settings: I&M4 signature code PROFINET OCTET[54] 1 P -
0x2382:001 Active PROFINET settings: IP address - (Read only) PROFINET U32 1 E -
(P511.01)
0x2382:002 Active PROFINET settings: Subnet - (Read only) PROFINET U32 1 E -
(P511.02)
0x2382:003 Active PROFINET settings: Gateway - (Read only) PROFINET U32 1 E -
(P511.03)
0x2382:004 Active PROFINET settings: Station name - (Read only) PROFINET STRING[240] 1 - -
(P511.04)
0x2382:005 Active PROFINET settings: MAC Address - (Read only) PROFINET OCTET[6] 1 - -
(P511.05)
0x2388 PROFINET status - (Read only) PROFINET U16 1 - -
(P516.00)
0x2389:001 PROFINET error: Error 1 - (Read only) PROFINET U16 1 - -
(P517.01)
0x2389:002 PROFINET error: Error 2 - (Read only) PROFINET U16 1 - -
(P517.02)
0x23A0 EtherNet/IP communication No action/no error [0] EtherNet/IP U8 1 - -
(P508.00)
0x23A1:001 EtherNet/IP settings: IP address 276605120 EtherNet/IP U32 1 PE -
(P510.01)
0x23A1:002 EtherNet/IP settings: Subnet 16777215 EtherNet/IP U32 1 PE -
(P510.02)
0x23A1:003 EtherNet/IP settings: Gateway 0 EtherNet/IP U32 1 PE -
(P510.03)
0x23A1:004 EtherNet/IP settings: Host name EtherNet/IP STRING[64] 1 P -
(P510.04)
0x23A1:005 EtherNet/IP settings: IP configuration BOOTP [1] EtherNet/IP U8 1 P -
(P510.05)
0x23A1:006 EtherNet/IP settings: Multicast TTL 1 EtherNet/IP U8 1 P -
(P510.06)
0x23A1:007 EtherNet/IP settings: Multicast allocation Default allocation [0] EtherNet/IP U8 1 P -
(P510.07)
0x23A1:008 EtherNet/IP settings: Multicast IP address 3221373167 EtherNet/IP U32 1 PE -
(P510.08)
0x23A1:009 EtherNet/IP settings: Multicast number 1 EtherNet/IP U8 1 P -
(P510.09)
0x23A1:010 EtherNet/IP settings: Timeout 10000 ms EtherNet/IP U16 1 P -
(P510.10)
0x23A2:001 Active EtherNet/IP settings: IP address - (Read only) EtherNet/IP U32 1 E -
(P511.01)
0x23A2:002 Active EtherNet/IP settings: Subnet - (Read only) EtherNet/IP U32 1 E -
(P511.02)
671
Appendix

0x23A2:003 Active EtherNet/IP settings: Gateway - (Read only) EtherNet/IP U32 1 E -
(P511.03)
0x23A2:005 Active EtherNet/IP settings: MAC address - (Read only) EtherNet/IP OCTET[6] 1 - -
(P511.05)
0x23A2:006 Active EtherNet/IP settings: Multicast address - (Read only) EtherNet/IP U32 1 E -
(P511.06)
0x23A3 EtherNet/IP switch position - (Read only) EtherNet/IP U8 1 - -
(P509.00)
0x23A4:001 Port settings: Port 1 Auto-Negotiation [0] EtherNet/IP U16 1 P -
(P512.01)
0x23A4:002 Port settings: Port 2 Auto-Negotiation [0] EtherNet/IP U16 1 P -
(P512.02)
0x23A5:001 Active port settings: Port 1 - (Read only) EtherNet/IP U16 1 - -
(P519.01)
0x23A5:002 Active port settings: Port 2 - (Read only) EtherNet/IP U16 1 - -
(P519.02)
0x23A6 Quality of service - (Read only) EtherNet/IP U8 1 - -
(P513.00)
0x23A7 Address conflict detection Enabled [1] EtherNet/IP U8 1 P -
(P514.00)
0x23A8 CIP module status - (Read only) EtherNet/IP U16 1 - -
(P516.00)
0x23A9 EtherNet/IP status - (Read only) EtherNet/IP U16 1 - -
(P517.00)
0x23B0 Modbus TCP communication No action/no error [0] Modbus TCP U8 1 - -
(P508.00)
0x23B1:001 Modbus -TCP/IP settings: IP address 276605120 Modbus TCP U32 1 PE -
(P510.01)
0x23B1:002 Modbus -TCP/IP settings: Subnet 16777215 Modbus TCP U32 1 PE -
(P510.02)
0x23B1:003 Modbus -TCP/IP settings: Gateway 0 Modbus TCP U32 1 PE -
(P510.03)
0x23B1:005 Modbus -TCP/IP settings: IP configuration Stored IP [0] Modbus TCP U8 1 P -
(P510.05)
0x23B1:006 Modbus -TCP/IP settings: Time-to-live value (TTL) 32 Modbus TCP U8 1 P -
(P510.06)
0x23B1:010 Modbus -TCP/IP settings: Ethernet time-out 10 s Modbus TCP U16 1 P -
(P510.10)
0x23B1:011 Modbus -TCP/IP settings: Secondary port 502 Modbus TCP U16 1 P -
(P510.11)
0x23B2:001 Active Modbus TCP settings: Active IP address - (Read only) Modbus TCP U32 1 E -
(P511.01)
0x23B2:002 Active Modbus TCP settings: Active subnet - (Read only) Modbus TCP U32 1 E -
(P511.02)
0x23B2:003 Active Modbus TCP settings: Active gateway - (Read only) Modbus TCP U32 1 E -
(P511.03)
0x23B2:005 Active Modbus TCP settings: MAC address - (Read only) Modbus TCP OCTET[6] 1 - -
(P511.05)
0x23B3 Switch position - (Read only) Modbus TCP U8 1 - -
(P509.00)
0x23B4:001 Port settings: Port 1 Auto-Negotiation [0] Modbus TCP U16 1 P -
(P512.01)
0x23B4:002 Port settings: Port 2 Auto-Negotiation [0] Modbus TCP U16 1 P -
(P512.02)
0x23B5:001 Active port settings: Port 1 - (Read only) Modbus TCP U16 1 - -
(P513.01)
0x23B5:002 Active port settings: Port 2 - (Read only) Modbus TCP U16 1 - -
(P513.02)
672
Appendix

0x23B6:001 Time-out monitoring: Time-out time 2.0 s Modbus TCP U16 10 P -
(P514.01)
0x23B6:002 Time-out monitoring: Keep alive time-out time 2.0 s Modbus TCP U16 10 P -
(P514.02)
0x23B6:005 Time-out monitoring: Keep alive register 0 Modbus TCP U16 1 K r
(P514.05)
0x23B8 Modbus TCP module status - (Read only) Modbus TCP U16 1 - -
(P516.00)
0x23B9 Modbus TCP/IP network status - (Read only) Modbus TCP U16 1 - -
(P517.00)
0x23BA:001 Modbus TCP statistics: Messages received - (Read only) Modbus TCP U32 1 - -
(P580.01)
0x23BA:002 Modbus TCP statistics: Valid messages received - (Read only) Modbus TCP U32 1 - -
(P580.02)
0x23BA:003 Modbus TCP statistics: Messages with exceptions - (Read only) Modbus TCP U32 1 - -
(P580.03)
0x23BA:005 Modbus TCP statistics: Messages sent - (Read only) Modbus TCP U32 1 - -
(P580.05)
0x23BB:001 ... Modbus TCP/IP parameter mapping: Parameter 1 ... 0x00000000 Modbus TCP IDX 1 PH -
0x23BB:024 Parameter 24
(P530.01 ... 24)
0x23BC:001 ... Register assignment: Register 1 ... Register 24 - (Read only) Modbus TCP U16 1 - -
0x23BC:024
(P531.01 ... 24)
0x23BD Verification code - (Read only) Modbus TCP U16 1 - -
(P532.00)
0x23BE:001 Modbus TCP/IP diagnostics of last Rx/Tx data: 0 Modbus TCP U8 1 - -
(P585.01) Receive offset
0x23BE:002 Modbus TCP/IP diagnostics of last Rx/Tx data: Last - (Read only) Modbus TCP OCTET[64] 1 - -
(P585.02) Rx message
0x23BE:003 Modbus TCP/IP diagnostics of last Rx/Tx data: Trans- 0 Modbus TCP U8 1 - -
(P585.03) mit offset
0x23BE:004 Modbus TCP/IP diagnostics of last Rx/Tx data: Last - (Read only) Modbus TCP OCTET[64] 1 - -
(P585.04) Tx message
0x23C0 POWERLINK communication No action/no error [0] POWERLINK U8 1 - -
0x23C1:004 POWERLINK settings: Node ID 0 POWERLINK U8 1 - -
0x23C2:001 Active POWERLINK settings: IP address - (Read only) POWERLINK U32 1 E -
0x23C2:002 Active POWERLINK settings: Subnet - (Read only) POWERLINK U32 1 E -
0x23C2:003 Active POWERLINK settings: Gateway - (Read only) POWERLINK U32 1 E -
0x23C2:004 Active POWERLINK settings: Node ID - (Read only) POWERLINK U8 1 - -
0x23C2:005 Active POWERLINK settings: MAC Address - (Read only) POWERLINK OCTET[6] 1 - -
0x23C2:007 Active POWERLINK settings: Tx length - (Read only) POWERLINK U16 1 - -
0x23C2:008 Active POWERLINK settings: Rx length - (Read only) POWERLINK U16 1 - -
0x23C3 POWERLINK switch position - (Read only) POWERLINK U8 1 - -
0x23C8:001 POWERLINK status: Network management - (Read only) POWERLINK U16 1 - -
0x23C9:001 POWERLINK error: Error - (Read only) POWERLINK U16 1 - -
0x2440 Initiate WLAN No action/no error [0] WLAN U8 1 - -
0x2441:001 WLAN settings: IP address 28485824 WLAN U32 1 PE -
0x2441:002 WLAN settings: Netmask 16777215 WLAN U32 1 PE -
0x2441:003 WLAN settings: Gateway 28485824 WLAN U32 1 PE -
0x2441:004 WLAN settings: DHCP Enabled [1] WLAN U8 1 P -
0x2441:005 WLAN settings: DHCP start address 0 WLAN U32 1 PE -
0x2441:006 WLAN settings: WLAN operation mode Access point mode [0] WLAN U8 1 P -
0x2441:007 WLAN settings: WLAN SSID i5 WLAN STRING[32] 1 P -
0x2441:008 WLAN settings: WLAN password password WLAN STRING[64] 1 P -
0x2441:009 WLAN settings: WLAN security WPA2 [1] WLAN U8 1 P -
0x2441:010 WLAN settings: WLAN access Enabled (WLAN on) [1] WLAN U8 1 P -
673
Appendix

0x2441:011 WLAN settings: WLAN channel Channel 1 [1] WLAN U8 1 P -
0x2441:012 WLAN settings: WLAN SSID broadcast Activated [0] WLAN U8 1 P -
0x2442:001 Active WLAN settings: Active IP address - (Read only) WLAN U32 1 E -
0x2442:002 Active WLAN settings: Active netmask - (Read only) WLAN U32 1 E -
0x2442:003 Active WLAN settings: Active gateway - (Read only) WLAN U32 1 E -
0x2442:004 Active WLAN settings: Active module mode - (Read only) WLAN U8 1 - -
0x2442:005 Active WLAN settings: MAC address - (Read only) WLAN OCTET[6] 1 - -
0x2448:001 WLAN status: Connection time - (Read only) WLAN U32 1 - -
0x2448:002 WLAN status: Number of connections - (Read only) WLAN U16 1 - -
0x2448:003 WLAN status: Rx frame counter - (Read only) WLAN U16 1 - -
0x2448:004 WLAN status: Error statistics - (Read only) WLAN U16 1 - -
0x2449 WLAN error - (Read only) WLAN U16 1 - -
0x24E0:000 Generic RPDO mapping: Highest subindex 2 Mapping U8 1 PI -
0x24E0:001 Generic RPDO mapping: Entry 1 0x60400010 Mapping U32 1 PH -
0x24E1:000 Generic TPDO mapping: Highest subindex 3 Mapping U8 1 PI -
0x24E1:001 Generic TPDO mapping: Entry 1 0x60410010 Mapping U32 1 PH -
0x24E1:003 Generic TPDO mapping: Entry 3 0x603F0010 Mapping U32 1 PH -
0x24E5:001 Process data handling in case of error: Procedure Keep last data [0] general U8 1 P -
0x2540:001 Mains settings: Rated mains voltage 230 Veff [0] general U8 1 PC -
(P208.01)
0x2540:002 Mains settings: Undervoltage warning threshold 0V* general U16 1 P -
(P208.02)
0x2540:003 Mains settings: Undervoltage error threshold x V (Read only) general U16 1 - -
(P208.03)
674
Appendix

0x2540:004 Mains settings: Undervoltage reset threshold x V (Read only) general U16 1 - -
(P208.04)
0x2540:005 Mains settings: Overvoltage warning threshold 0V* general U16 1 P -
(P208.05)
0x2540:006 Mains settings: Overvoltage error threshold x V (Read only) general U16 1 - -
(P208.06)
0x2540:007 Mains settings: Overvoltage reset threshold x V (Read only) general U16 1 - -
(P208.07)
0x2541:001 Brake energy management: Operating mode Ramp function generator general U8 1 P -
(P706.01) stop (RFGS) [1]
0x2541:002 Brake energy management: Active threshold x V (Read only) general U16 1 P -
(P706.02)
0x2541:003 Brake energy management: Reduced threshold 0V general U16 1 P -
(P706.03)
0x2541:004 Brake energy management: Additional frequency 0.0 Hz general U16 10 P -
(P706.04)
0x2541:005 Brake energy management: Deceleration override 2.0 s general U16 10 P -
(P706.05) time
0x2541:006 Brake energy management: Brake resistor response Off: disable and error [0] general U8 1 PC -
(P706.06)
0x2550:002 Brake resistor: Resistance value 180.0 Ω * general U16 10 P -
(P707.02)
0x2550:003 Brake resistor: Rated power 50 W * general U32 1 P -
(P707.03)
0x2550:004 Brake resistor: Maximum thermal load 8.0 kWs * general U32 10 P -
(P707.04)
0x2550:007 Brake resistor: Thermal load x.x % (Read only) general U16 10 - -
(P707.07)
0x2550:008 Brake resistor: Warning threshold 90.0 % general U16 10 P -
(P707.08)
0x2550:009 Brake resistor: Error threshold 100.0 % general U16 10 P -
(P707.09)
0x2550:010 Brake resistor: Response to warning Warning [1] general U8 1 P -
(P707.10)
0x2550:011 Brake resistor: Response to error Fault [3] general U8 1 P -
(P707.11)
0x2552:002 Parameter access monitoring: Keep alive register 0 general U16 1 K -
(P595.02)
0x2552:003 Parameter access monitoring: Time-out time 10.0 s general U16 10 P -
(P595.03)
0x2552:004 Parameter access monitoring: Reaction No response [0] general U8 1 P -
(P595.04)
0x2552:005 Parameter access monitoring: Action No action [0] general U8 1 P -
(P595.05)
0x2552:006 Parameter access monitoring: Parameter Access - (Read only) general U16 1 - -
(P595.06) Monitoring-Status
0x2552:007 Parameter access monitoring: WLAN reset time-out 0 s general U16 1 P -
(P595.07) time
0x2601:001 Keypad setpoints: Frequency setpoint 20.0 Hz general U16 10 P r
(P202.01)
0x2601:002 Keypad setpoints: Process controller setpoint 0.00 PID unit general I16 100 P r
(P202.02)
0x2601:003 Keypad setpoints: Torque setpoint 100.0 % general I16 10 P r
(P202.03)
0x2602:001 Keypad setup: CTRL & F/R key setup CTRL & F/R Enable [1] general U8 1 P -
(P708.01)
0x2602:002 Keypad setup: Select rotational direction Forward [0] general U8 1 P -
(P708.02)
675
Appendix

0x2602:003 Keypad setup: Keypad Full Control Off [0] general U8 1 - -
(P708.03)
0x261C:001 Favorites settings: Parameter 1 0x2DDD0000 general IDX 1 PH -
(P740.01)
0x261C:002 Favorites settings: Parameter 2 0x60780000 general IDX 1 PH -
(P740.02)
0x261C:003 Favorites settings: Parameter 3 0x2D890000 general IDX 1 PH -
(P740.03)
0x261C:004 Favorites settings: Parameter 4 0x603F0000 general IDX 1 PH -
(P740.04)
(P740.05)
(P740.06)
(P740.07)
(P740.08)
(P740.09)
(P740.10)
(P740.11)
(P740.12)
(P740.13)
0x261C:014 Favorites settings: Parameter 14 0x2C000000 general IDX 1 PH -
(P740.14)
0x261C:015 Favorites settings: Parameter 15 0x2B000000 general IDX 1 PH -
(P740.15)
(P740.16)
(P740.17)
0x261C:018 Favorites settings: Parameter 18 0x283A0000 general IDX 1 PH -
(P740.18)
(P740.19)
(P740.20)
0x261C:021 Favorites settings: Parameter 21 0x2D4B0100 general IDX 1 PH -
(P740.21)
(P740.22)
(P740.23)
(P740.24)
(P740.25)
(P740.26)
(P740.27)
(P740.28)
676
Appendix

(P740.29)
(P740.30)
(P740.31)
(P740.32)
(P740.33)
(P740.34)
(P740.35)
(P740.36)
(P740.37)
(P740.38)
(P740.39)
(P740.40)
(P740.41)
(P740.42)
(P740.43)
(P740.44)
(P740.45)
(P740.46)
(P740.47)
(P740.48)
(P740.49)
(P740.50)
0x2630:001 Settings for digital inputs: Assertion level HIGH active [1] general U8 1 P -
(P410.01)
0x2630:002 Settings for digital inputs: Input function Digital input [0] general U8 1 P -
(P410.02)
0x2631:001 Function list: Enable inverter Constant TRUE [1] general U8 1 PC -
(P400.01)
0x2631:002 Function list: Run Digital input 1 [11] general U8 1 PC -
(P400.02)
0x2631:003 Function list: Activate quick stop Not connected [0] general U8 1 PC -
(P400.03)
0x2631:004 Function list: Reset fault Digital input 2 [12] general U8 1 P -
(P400.04)
0x2631:005 Function list: Activate DC braking Not connected [0] general U8 1 P -
(P400.05)
677
Appendix

0x2631:006 Function list: Start forward (CW) Not connected [0] general U8 1 PC -
(P400.06)
0x2631:007 Function list: Start reverse (CCW) Not connected [0] general U8 1 PC -
(P400.07)
0x2631:008 Function list: Run forward (CW) Not connected [0] general U8 1 PC -
(P400.08)
0x2631:009 Function list: Run reverse (CCW) Not connected [0] general U8 1 PC -
(P400.09)
0x2631:010 Function list: Jog foward (CW) Not connected [0] general U8 1 PC -
(P400.10)
0x2631:011 Function list: Jog reverse (CCW) Not connected [0] general U8 1 PC -
(P400.11)
0x2631:012 Function list: Activate keypad control Not connected [0] general U8 1 P -
(P400.12)
0x2631:013 Function list: Reverse rotational direction Digital input 3 [13] general U8 1 PC -
(P400.13)
0x2631:014 Function list: Activate AI1 setpoint Not connected [0] general U8 1 P -
(P400.14)
0x2631:015 Function list: Activate AI2 setpoint Not connected [0] general U8 1 P -
(P400.15)
0x2631:016 Function list: Activate keypad setpoint Not connected [0] general U8 1 P -
(P400.16)
0x2631:017 Function list: Activate network setpoint Not connected [0] general U8 1 P -
(P400.17)
0x2631:018 Function list: Activate preset (bit 0) Digital input 4 [14] general U8 1 P -
(P400.18)
0x2631:019 Function list: Activate preset (bit 1) Digital input 5 [15] general U8 1 P -
(P400.19)
0x2631:020 Function list: Activate preset (bit 2) Not connected [0] general U8 1 P -
(P400.20)
0x2631:021 Function list: Activate preset (bit 3) Not connected [0] general U8 1 P -
(P400.21)
0x2631:022 Function list: Activate setpoint via HTL input Not connected [0] general U8 1 P -
(P400.22)
0x2631:023 Function list: MOP setpoint up Not connected [0] general U8 1 P -
(P400.23)
0x2631:024 Function list: MOP setpoint down Not connected [0] general U8 1 P -
(P400.24)
0x2631:025 Function list: Activate MOP setpoint Not connected [0] general U8 1 P -
(P400.25)
0x2631:026 Function list: Activate segment setpoint (bit 0) Not connected [0] general U8 1 P -
(P400.26)
(P400.27)
(P400.28)
0x2631:029 Function list: Activate segment setpoint´(bit 3) Not connected [0] general U8 1 P -
(P400.29)
0x2631:030 Function list: Run/abort sequence Not connected [0] general U8 1 PC -
(P400.30)
0x2631:031 Function list: Start sequence Not connected [0] general U8 1 PC -
(P400.31)
0x2631:032 Function list: Next sequence step Not connected [0] general U8 1 PC -
(P400.32)
0x2631:033 Function list: Pause sequence Not connected [0] general U8 1 PC -
(P400.33)
0x2631:034 Function list: Suspend sequence Not connected [0] general U8 1 PC -
(P400.34)
678
Appendix

0x2631:035 Function list: Stop sequence Not connected [0] general U8 1 PC -
(P400.35)
0x2631:036 Function list: Abort sequence Not connected [0] general U8 1 PC -
(P400.36)
0x2631:037 Function list: Activate network control Not connected [0] general U8 1 P -
(P400.37)
0x2631:039 Function list: Activate ramp 2 Not connected [0] general U8 1 P -
(P400.39)
0x2631:040 Function list: Load parameter set Not connected [0] general U8 1 PC -
(P400.40)
0x2631:041 Function list: Select parameter set (bit 0) Not connected [0] general U8 1 PC -
(P400.41)
0x2631:042 Function list: Select parameter set (bit 1) Not connected [0] general U8 1 PC -
(P400.42)
0x2631:043 Function list: Activate fault 1 Not connected [0] general U8 1 P -
(P400.43)
0x2631:044 Function list: Activate fault 2 Not connected [0] general U8 1 P -
(P400.44)
0x2631:045 Function list: Deactivate PID controller Not connected [0] general U8 1 P -
(P400.45)
0x2631:046 Function list: Set process controller output to 0 Not connected [0] general U8 1 P -
(P400.46)
0x2631:047 Function list: Inhibit process controller I-component Not connected [0] general U8 1 P -
(P400.47)
0x2631:048 Function list: Activate PID influence ramp Constant TRUE [1] general U8 1 P -
(P400.48)
0x2631:049 Function list: Release holding brake Not connected [0] general U8 1 PC -
(P400.49)
0x2631:050 Function list: Select sequence (bit 0) Not connected [0] general U8 1 PC -
(P400.50)
(P400.51)
(P400.52)
(P400.53)
0x2631:054 Function list: Position counter reset Not connected [0] general U8 1 P -
(P400.54)
0x2631:055 Function list: Activate UPS operation Not connected [0] general U8 1 P -
(P400.55)
0x2632:001 Inversion of digital inputs: Digital input 1 Not inverted [0] general U8 1 P -
(P411.01)
(P411.02)
(P411.03)
(P411.04)
(P411.05)
0x2632:006 Inversion of digital inputs: Digital input 6 Not inverted [0] Appl. I/O U8 1 P -
(P411.06)
0x2632:007 Inversion of digital inputs: Digital input 7 Not inverted [0] Appl. I/O U8 1 P -
(P411.07)
0x2633:001 Digital input debounce time: Digital input 1 1 ms general U8 1 P -
679
Appendix

0x2633:006 Digital input debounce time: Digital input 6 1 ms Appl. I/O U8 1 P -
0x2633:007 Digital input debounce time: Digital input 7 1 ms Appl. I/O U8 1 P -
0x2634:001 Digital outputs function: Relay Ready for operation [51] general U8 1 P -
(P420.01)
0x2634:002 Digital outputs function: Digital output 1 Release holding brake general U8 1 P -
(P420.02) [115]
0x2634:003 Digital outputs function: Digital output 2 Error active [56] Appl. I/O U8 1 P -
(P420.03)
0x2634:010 Digital outputs function: NetWordOUT1 - bit 0 Ready for operation [51] general U8 1 P -
(P420.10)
0x2634:011 Digital outputs function: NetWordOUT1 - bit 1 Not connected [0] general U8 1 P -
(P420.11)
0x2634:012 Digital outputs function: NetWordOUT1 - bit 2 Operation enabled [52] general U8 1 P -
(P420.12)
0x2634:013 Digital outputs function: NetWordOUT1 - bit 3 Error active [56] general U8 1 P -
(P420.13)
(P420.14)
0x2634:015 Digital outputs function: NetWordOUT1 - bit 5 Quick stop active [54] general U8 1 P -
(P420.15)
0x2634:016 Digital outputs function: NetWordOUT1 - bit 6 Running [50] general U8 1 P -
(P420.16)
0x2634:017 Digital outputs function: NetWordOUT1 - bit 7 Device warning active general U8 1 P -
(P420.17) [58]
(P420.18)
(P420.19)
0x2634:020 Digital outputs function: NetWordOUT1 - bit 10 Setpoint speed reached general U8 1 P -
(P420.20) [72]
0x2634:021 Digital outputs function: NetWordOUT1 - bit 11 Current limit reached [78] general U8 1 P -
(P420.21)
0x2634:022 Digital outputs function: NetWordOUT1 - bit 12 Actual speed = 0 [71] general U8 1 P -
(P420.22)
0x2634:023 Digital outputs function: NetWordOUT1 - bit 13 Rotational direction general U8 1 P -
(P420.23) reversed [69]
0x2634:024 Digital outputs function: NetWordOUT1 - bit 14 Release holding brake general U8 1 P -
(P420.24) [115]
0x2634:025 Digital outputs function: NetWordOUT1 - bit 15 Safe torque off (STO) general U8 1 P -
(P420.25) active [55]
0x2635:001 Inversion of digital outputs: Relay Not inverted [0] general U8 1 P -
(P421.01)
0x2635:002 Inversion of digital outputs: Digital output 1 Not inverted [0] general U8 1 P -
(P421.02)
0x2635:003 Inversion of digital outputs: Digital output 2 Not inverted [0] Appl. I/O U8 1 P -
(P421.03)
0x2635:010 Inversion of digital outputs: NetWordOUT1.00 Not inverted [0] general U8 1 P -
680
Appendix

0x2636:001 Analog input 1: Input range 0 ... 10 VDC [0] general U8 1 P -
(P430.01)
0x2636:002 Analog input 1: Min frequency value 0.0 Hz general I16 10 P -
(P430.02)
0x2636:003 Analog input 1: Max frequency value Device for 50-Hz mains: general I16 10 P -
(P430.03) 50.0 Hz
60.0 Hz
0x2636:004 Analog input 1: Min PID value 0.00 PID unit general I16 100 P -
(P430.04)
0x2636:005 Analog input 1: Max PID value 100.00 PID unit general I16 100 P -
(P430.05)
0x2636:006 Analog input 1: Filter time 10 ms general U16 1 P -
(P430.06)
0x2636:007 Analog input 1: Dead band 0.0 % general U16 10 P -
(P430.07)
0x2636:008 Analog input 1: Monitoring threshold 0.0 % general I16 10 P -
(P430.08)
0x2636:009 Analog input 1: Monitoring condition Input value < trigger general U8 1 P -
(P430.09) threshold [0]
0x2636:010 Analog input 1: Error response Fault [3] general U8 1 P -
(P430.10)
0x2636:011 Analog input 1: Min torque value 0.0 % general I16 10 P -
(P430.11)
0x2636:012 Analog input 1: Max torque value 100.0 % general I16 10 P -
(P430.12)
0x2637:001 Analog input 2: Input range 0 ... 10 VDC [0] general U8 1 P -
(P431.01)
0x2637:002 Analog input 2: Min frequency value 0.0 Hz general I16 10 P -
(P431.02)
0x2637:003 Analog input 2: Max frequency value Device for 50-Hz mains: general I16 10 P -
(P431.03) 50.0 Hz
60.0 Hz
0x2637:004 Analog input 2: Min PID value 0.00 PID unit general I16 100 P -
(P431.04)
0x2637:005 Analog input 2: Max PID value 100.00 PID unit general I16 100 P -
(P431.05)
0x2637:006 Analog input 2: Filter time 10 ms general U16 1 P -
(P431.06)
0x2637:007 Analog input 2: Dead band 0.0 % general U16 10 P -
(P431.07)
0x2637:008 Analog input 2: Monitoring threshold 0.0 % general I16 10 P -
(P431.08)
0x2637:009 Analog input 2: Monitoring condition Input value < trigger general U8 1 P -
(P431.09) threshold [0]
0x2637:010 Analog input 2: Error response Fault [3] general U8 1 P -
(P431.10)
0x2637:011 Analog input 2: Min torque value 0.0 % general I16 10 P -
(P431.11)
0x2637:012 Analog input 2: Max torque value 100.0 % general I16 10 P -
(P431.12)
0x2639:001 Analog output 1: Output range 0 ... 10 VDC [1] general U8 1 P -
(P440.01)
681
Appendix

0x2639:002 Analog output 1: Function Output frequency [1] general U8 1 P -
(P440.02)
0x2639:003 Analog output 1: Min. signal 0 general I32 1 P -
(P440.03)
0x2639:004 Analog output 1: Max. signal 1000 general I32 1 P -
(P440.04)
0x263A:001 Analog output 2: Output range 0 ... 10 VDC [1] Appl. I/O U8 1 P -
(P441.01)
0x263A:002 Analog output 2: Function Motor current [5] Appl. I/O U8 1 P -
(P441.02)
0x263A:003 Analog output 2: Min. signal 0 Appl. I/O I32 1 P -
(P441.03)
0x263A:004 Analog output 2: Max. signal 1000 Appl. I/O I32 1 P -
(P441.04)
0x2640:001 HTL input settings: Minimum frequency 0.0 Hz general I32 10 P -
(P415.01)
0x2640:002 HTL input settings: Maximum frequency 0.0 Hz general I32 10 P -
(P415.02)
0x2640:003 HTL input settings: Minimum motor frequency 0.0 Hz general I16 10 P -
(P415.03)
0x2640:004 HTL input settings: Maximum motor frequency Device for 50-Hz mains: general I16 10 P -
(P415.04) 50.0 Hz
60.0 Hz
0x2640:005 HTL input settings: Minimum PID setpoint 0.00 PID unit general I16 100 P -
(P415.05)
0x2640:006 HTL input settings: Maximum PID setpoint 100.00 PID unit general I16 100 P -
(P415.06)
0x2640:007 HTL input settings: Minimum torque setpoint 0.0 % general I16 10 P -
(P415.07)
0x2640:008 HTL input settings: Maximum torque setpoint 100.0 % general I16 10 P -
(P415.08)
0x2640:009 HTL input settings: Filter time constant 10 ms general U16 1 P -
(P415.09)
0x2641:001 HTL input monitoring: Minimum frequency thresh- 0.0 Hz general I32 10 P -
(P416.01) old
0x2641:002 HTL input monitoring: Minimum delay threshold 5.0 s general U16 10 P -
(P416.02)
0x2641:003 HTL input monitoring: Maximum frequency thresh- 0.0 Hz general I32 10 P -
(P416.03) old
0x2641:004 HTL input monitoring: Maximum delay threshold 5.0 s general U16 10 P -
(P416.04)
0x2641:005 HTL input monitoring: Monitoring conditions Below minimum fre- general U8 1 P -
(P416.05) quency [1]
0x2641:006 HTL input monitoring: Error response No response [0] general U8 1 P -
(P416.06)
0x2642:001 HTL input diagnostics: Input frequency x.x Hz (Read only) general I32 10 - -
(P115.01)
0x2642:002 HTL input diagnostics: Frequency setpoint x.x Hz (Read only) general I16 10 - t
(P115.02)
0x2642:003 HTL input diagnostics: PID setpoint x.xx PID unit (Read only) general I16 100 - t
(P115.03)
0x2642:004 HTL input diagnostics: Torque setpoint x.x % (Read only) general I16 10 - t
(P115.04)
0x2644:001 DO1 frequency setup: Minimum frequency 0.0 Hz general I32 10 P -
(P423.01)
0x2644:002 DO1 frequency setup: Maximum frequency 10000.0 Hz general I32 10 P -
(P423.02)
682
Appendix

0x2644:003 DO1 frequency setup: Function Not connected [0] general U8 1 P -
(P423.03)
0x2644:004 DO1 frequency setup: Minimum signal 0 general I32 1 P -
(P423.04)
0x2644:005 DO1 frequency setup: Maximum signal 1000 general I32 1 P -
(P423.05)
0x2645:001 DO2 frequency setup: Minimum frequency 0.0 Hz general I32 10 -
(P424.01)
0x2645:002 DO2 frequency setup: Maximum frequency 10000.0 Hz general I32 10 -
(P424.02)
0x2645:003 DO2 frequency setup: Function Not connected [0] general U8 1 -
(P424.03)
0x2645:004 DO2 frequency setup: Minimum signal 0 general I32 1 -
(P424.04)
0x2645:005 DO2 frequency setup: Maximum signal 1000 general I32 1 -
(P424.05)
0x2646:001 DO actual frequency: Digital output 1 x.x Hz (Read only) general I32 10 - t
(P114.01)
0x2646:002 DO actual frequency: Digital output 2 x.x Hz (Read only) general I32 10 - t
(P114.02)
0x2820:001 Holding brake control: Brake mode Off [2] general U8 1 P r
(P712.01)
0x2820:002 Holding brake control: Brake closing time 100 ms general U16 1 P -
(P712.02)
0x2820:003 Holding brake control: Brake opening time 100 ms general U16 1 P -
(P712.03)
0x2820:007 Holding brake control: Brake closing threshold 0.2 Hz general U16 10 P -
(P712.07)
0x2820:008 Holding brake control: Brake holding load 0.0 % general I16 10 P -
(P712.08)
0x2820:012 Holding brake control: Closing threshold delay 0 ms general U16 1 P -
(P712.12)
0x2820:013 Holding brake control: Holding load ramptime 0 ms general U16 1 P -
(P712.13)
0x2820:015 Holding brake control: Brake status - (Read only) general U8 1 - -
(P712.15)
0x2822:004 Axis commands: Identify motor data (energized) 0 general U8 1 - -
(P327.04)
0x2822:005 Axis commands: Calibrate motor data (non-ener- 0 general U8 1 - -
(P327.05) gized)
0x2822:019 Axis commands: Calculate Imax controller parame- 0 general U8 1 - -
ter
0x2824 Control selection Flexible I/O configuration general U8 1 P -
(P200.00) [0]
0x2826 Time-out for error response 6.0 s general U16 10 P -
0x2827 Currently loaded parameter settings - (Read only) general U8 1 - -
(P198.00)
0x2829 Automatic storage in the memory module Inhibit [0] general U8 1 P -
(P732.00)
0x282A:001 Status words: Cause of disable - (Read only) general U32 1 O -
(P126.01)
0x282A:002 Status words: Cause of quick stop - (Read only) general U16 1 O -
(P126.02)
0x282A:003 Status words: Cause of stop - (Read only) general U16 1 O -
(P126.03)
0x282A:004 Status words: Extended status word - (Read only) general U16 1 O t
0x282A:005 Status words: Device status - (Read only) general U8 1 O t
(P126.05)
683
Appendix

0x282B:001 Inverter diagnostics: Active control source - (Read only) general U8 1 O t
(P125.01)
0x282B:002 Inverter diagnostics: Active setpoint source - (Read only) general U8 1 O t
(P125.02)
0x282B:003 Inverter diagnostics: Keypad LCD status - (Read only) general U8 1 O -
(P125.03)
0x282B:004 Inverter diagnostics: Active drive mode - (Read only) general U8 1 O t
(P125.04)
0x282B:005 Inverter diagnostics: Most recently used control reg- - (Read only) general U32 1 OH -
(P125.05) ister
0x282B:006 Inverter diagnostics: Most recently used setpoint - (Read only) general U32 1 OH -
(P125.06) register
0x282B:007 Inverter diagnostics: Default frequency setpoint x.x Hz (Read only) general I16 10 - -
0x282B:008 Inverter diagnostics: Preset frequency setpoint x.x Hz (Read only) general I16 10 - -
0x282B:009 Inverter diagnostics: Actual frequency setpoint x.x Hz (Read only) general I16 10 - -
0x282B:010 Inverter diagnostics: Default PID setpoint x.xx PID unit (Read only) general I16 100 - -
0x282B:011 Inverter diagnostics: Preset PID setpoint x.xx PID unit (Read only) general I16 100 - -
0x282B:012 Inverter diagnostics: Default torque setpoint x.x % (Read only) general I16 10 - -
0x282B:013 Inverter diagnostics: Preset torque setpoint x.x % (Read only) general I16 10 - -
0x2831 Inverter status word - (Read only) general U16 1 O t
0x2833 Inverter status word 2 - (Read only) general U16 1 O t
0x2838:001 Start/stop configuration: Start method Normal [0] general U8 1 PC -
(P203.01)
0x2838:002 Start/stop configuration: Start at power-up Off [0] general U8 1 P -
(P203.02)
0x2838:003 Start/stop configuration: Stop method Standard ramp [1] general U8 1 P -
(P203.03)
0x2839:002 Fault configuration: Restart delay 3.0 s general U16 10 P -
(P760.02)
0x2839:003 Fault configuration: Number of restart attempts 5 general U8 1 P -
(P760.03)
0x2839:004 Fault configuration: Trouble counter reset time 40.0 s general U16 10 P -
(P760.04)
0x2839:005 Fault configuration: Trouble counter - (Read only) general U8 1 - -
(P760.05)
0x2839:006 Fault configuration: Fault handling in case of state Reset fault [0] general U8 1 P -
change
0x283A Limitation of rotation Both rotational directions general U8 1 P -
(P304.00) [1]
0x2857:001 CANopen monitoring: RPDO1-Timeout Fault [3] CANopen U8 1 P -
0x2857:005 CANopen monitoring: Heartbeat-Timeout Consumer Fault [3] CANopen U8 1 P -
1
2
3
4
0x2857:010 CANopen monitoring: "Bus-off" state change Trouble [2] CANopen U8 1 P -
0x2857:011 CANopen monitoring: Warning Warning [1] CANopen U8 1 P -
0x2858:001 Modbus monitoring: Response to time-out Fault [3] Modbus RTU U8 1 P -
(P515.01)
0x2858:002 Modbus monitoring: Time-out time 2.0 s Modbus RTU U16 10 P -
(P515.02)
0x2859:001 PROFIBUS monitoring: Watchdog elapsed Trouble [2] PROFIBUS U8 1 P -
(P515.01)
684
Appendix

0x2859:001 EtherNet/IP monitoring: Watchdog elapsed Trouble [2] EtherNet/IP U8 1 P -
(P515.01)
0x2859:001 PROFINET monitoring: Watchdog elapsed Trouble [2] PROFINET U8 1 P -
(P515.01)
0x2859:001 EtherCAT monitoring: Watchdog elapsed Trouble [2] EtherCAT U8 1 P -
(P515.01)
0x2859:001 POWERLINK monitoring: Watchdog elapsed Trouble [2] POWERLINK U8 1 P -
0x2859:002 PROFIBUS monitoring: Data exchange exited No response [0] PROFIBUS U8 1 P -
(P515.02)
0x2859:002 PROFINET monitoring: Data exchange exited No response [0] PROFINET U8 1 P -
(P515.02)
0x2859:003 PROFIBUS monitoring: Invalid configuration Trouble [2] PROFIBUS U8 1 P -
(P515.03)
0x2859:003 EtherNet/IP monitoring: Invalid configuration Trouble [2] EtherNet/IP U8 1 P -
(P515.03)
0x2859:003 Modbus TCP/IP monitoring: Configuration error Trouble [2] Modbus TCP U8 1 P -
(P515.03)
0x2859:003 PROFINET monitoring: Invalid configuration Trouble [2] PROFINET U8 1 P -
(P515.03)
0x2859:003 EtherCAT monitoring: Invalid configuration Trouble [2] EtherCAT U8 1 P -
(P515.03)
0x2859:004 PROFIBUS monitoring: Initialisation error Trouble [2] PROFIBUS U8 1 P -
(P515.04)
0x2859:004 EtherNet/IP monitoring: Initialisation error Trouble [2] EtherNet/IP U8 1 P -
(P515.04)
0x2859:004 Modbus TCP/IP monitoring: Initialisation error Trouble [2] Modbus TCP U8 1 P -
(P515.04)
0x2859:004 PROFINET monitoring: Initialisation error Trouble [2] PROFINET U8 1 P -
(P515.04)
0x2859:004 EtherCAT monitoring: Initialisation error Trouble [2] EtherCAT U8 1 P -
(P515.04)
0x2859:005 PROFIBUS monitoring: Invalid process data Trouble [2] PROFIBUS U8 1 P -
(P515.05)
0x2859:005 EtherNet/IP monitoring: Invalid process data Trouble [2] EtherNet/IP U8 1 P -
(P515.05)
0x2859:005 PROFINET monitoring: Invalid process data Trouble [2] PROFINET U8 1 P -
(P515.05)
0x2859:005 EtherCAT monitoring: Invalid process data Trouble [2] EtherCAT U8 1 P -
(P515.05)
0x2859:006 EtherNet/IP monitoring: Timeout explicit message Warning [1] EtherNet/IP U8 1 P -
(P515.06)
0x2859:007 EtherNet/IP monitoring: Timeout communication Warning [1] EtherNet/IP U8 1 P -
(P515.07)
0x2859:007 Modbus TCP/IP monitoring: Fault reaction by time- Warning [1] Modbus TCP U8 1 P -
(P515.07) out Network
0x2859:008 Modbus TCP/IP monitoring: Fault reaction by time- Fault [3] Modbus TCP U8 1 P -
(P515.08) out Master
0x2859:009 Modbus TCP/IP monitoring: Fault reaction by time- Fault [3] Modbus TCP U8 1 P -
(P515.09) out Keep alive
0x2859:010 POWERLINK monitoring: CRC error Trouble [2] POWERLINK U8 1 P -
0x2859:011 POWERLINK monitoring: Loss of SoC Trouble [2] POWERLINK U8 1 P -
0x2860:001 Frequency control: Default setpoint source Analog input 1 [2] general U8 1 P -
(P201.01)
0x2860:002 PID control: Default setpoint source Keypad [1] general U8 1 P -
(P201.02)
0x2860:003 Torque control: Default setpoint source Analog input 1 [2] general U8 1 P -
(P201.03)
0x2862 Keypad setpoint increment 1 general U16 1 P -
(P701.00)
685
Appendix

0x2863 Keypad language selection English [1] general U8 1 P -
(P705.00)
0x2864 Keypad status display 0x00000000 general IDX 1 PH -
(P703.00)
0x2900:001 Speed controller settings: Gain 0.00193 Nm/rpm * MCTRL U32 100000 P -
(P332.01)
0x2900:002 Speed controller settings: Reset time 80.0 ms * MCTRL U16 10 P -
(P332.02)
0x2901 Speed controller gain adaption 100.00 % MCTRL U16 100 OP r
0x2904 Actual speed filter time 2.0 ms MCTRL U16 10 P -
0x2910:001 Motor moment of inertia 3.70 kg cm² * MCTRL U32 100 P -
(P335.01)
0x2910:002 Load moment of inertia 3.70 kg cm² * MCTRL U32 100 P -
(P335.02)
0x2910:003 Coupling With backlash [2] MCTRL U8 1 P -
0x2911:001 Frequency setpoint presets: Preset 1 20.0 Hz general U16 10 P -
(P450.01)
(P450.02)
0x2911:003 Frequency setpoint presets: Preset 3 Device for 50-Hz mains: general U16 10 P -
(P450.03) 50.0 Hz
60.0 Hz
(P450.04)
(P450.05)
(P450.06)
(P450.07)
(P450.08)
(P450.09)
(P450.10)
(P450.11)
(P450.12)
(P450.13)
(P450.14)
(P450.15)
0x2912:001 Torque setpoint presets: Preset 1 100.0 % general I16 10 P -
(P452.01)
(P452.02)
(P452.03)
(P452.04)
(P452.05)
(P452.06)
686
Appendix

(P452.07)
(P452.08)
0x2915 Minimum frequency 0.0 Hz general U16 10 P -
(P210.00)
0x2916 Maximum frequency Device for 50-Hz mains: general U16 10 P -
(P211.00) 50.0 Hz
60.0 Hz
0x2917 Acceleration time 1 5.0 s general U16 10 P rt
(P220.00)
0x2918 Deceleration time 1 5.0 s general U16 10 P rt
(P221.00)
0x2919 Acceleration time 2 5.0 s general U16 10 P -
(P222.00)
0x291A Deceleration time 2 5.0 s general U16 10 P -
(P223.00)
0x291B Auto-changeover threshold of ramp 2 0.0 Hz general U16 10 P -
(P224.00)
0x291C Quick stop deceleration time 1.0 s general U16 10 P -
(P225.00)
0x291E:001 S-Ramp characteristic: Smoothing factor 0.0 % general U16 10 P -
(P226.01)
0x291F:001 Skip frequencies: Skip frequency 1 0.0 Hz general U16 10 P -
(P317.01)
0x291F:002 Skip frequencies: Skip bandwidth 1 0.0 Hz general U8 10 P -
(P317.02)
(P317.03)
(P317.04)
(P317.05)
(P317.06)
0x291F:016 Skip frequencies: Status - (Read only) general U16 1 - -
0x291F:032 Skip frequencies: Input frequency x.xx Hz (Read only) general I32 100 - -
0x291F:033 Skip frequencies: Output frequency x.xx Hz (Read only) general I32 100 - -
0x2939 Switching frequency 0* general U8 1 P -
(P305.00)
0x293A Actual switching frequency - (Read only) general U8 1 O t
(P115.00)
0x2942:001 Current controller parameters: Gain 42.55 V/A * MCTRL U32 100 P -
(P334.01)
0x2942:002 Current controller parameters: Reset time 4.50 ms * MCTRL U32 100 P -
(P334.02)
0x2946:001 Speed limitation: Upper speed limit 0 vel. unit general I32 480000 OP r
(P340.01) /231
0x2946:002 Speed limitation: Lower speed limit 0 vel. unit general I32 480000 OP r
(P340.02) /231
0x2946:003 Speed limitation: Upper speed limit source Maximum frequency [0] general U8 1 P -
(P340.03)
0x2946:004 Speed limitation: Lower speed limit source (-) Maximum frequency general U8 1 P -
(P340.04) [0]
0x2946:005 Speed limitation: Upper frequency limit Device for 50-Hz mains: general I16 10 P -
(P340.05) 50.0 Hz
60.0 Hz
687
Appendix

0x2946:006 Speed limitation: Lower frequency limit Device for 50-Hz mains: general I16 10 P -
(P340.06) -50.0 Hz
-60.0 Hz
0x2946:007 Speed limitation: Actual upper speed limit x.x Hz (Read only) general I16 10 - -
(P340.07)
0x2946:008 Speed limitation: Actual lower speed limit x.x Hz (Read only) general I16 10 - -
(P340.08)
0x2947:001 ... Inverter characteristic: Value y1 ... Value y17 0.00 V * MCTRL U16 100 P -
0x2947:017
0x2948:001 Actual torque setpoint x.x % (Read only) general I16 10 - -
0x2948:002 ramp time 1.0 s general U16 10 P -
(P336.02)
0x2949:001 Positive torque limit source Max torque [0] general U8 1 P -
(P337.01)
0x2949:002 Negative torque limit source (-) Max torque [0] general U8 1 P -
(P337.02)
0x2949:003 Actual positive torque limit x.x % (Read only) general I16 10 - -
(P337.03)
0x2949:004 Actual negative torque limit x.x % (Read only) general I16 10 - -
(P337.04)
0x29C0:001 Gain 59.68 A/Vs * MCTRL U32 100 P -
0x29C0:002 Reset time 45.5 ms * MCTRL U16 10 P -
0x29E0:001 Field weakening controller settings: Gain 0.000 Vs/V * MCTRL U32 1000 P -
0x29E0:002 Field weakening controller settings: Reset time 1478.3 ms * MCTRL U32 10 P -
0x29E1 Field weakening controller Field limitation 100.00 % MCTRL U16 100 OP r
0x29E2 DC-bus filter time 25.0 ms MCTRL U16 10 P -
0x29E3 Motor voltage filter time 25.0 ms MCTRL U16 10 P -
0x29E4 Voltage reserve range 5% general U8 1 P -
(P354.00)
0x2B00 V/f characteristic shape Linear [0] general U8 1 PC -
(P302.00)
0x2B01:001 V/f shape data: Base voltage 230 V * MCTRL U16 1 P -
(P303.01)
0x2B01:002 V/f shape data: Base frequency Device for 50-Hz mains: MCTRL U16 1 P -
(P303.02) 50 Hz
60 Hz *
0x2B01:003 V/f shape data: Midpoint voltage 0V MCTRL U16 1 P -
(P303.03)
0x2B01:004 V/f shape data: Midpoint frequency 0 Hz MCTRL U16 1 P -
(P303.04)
0x2B08:001 V/f Imax controller: Gain 0.284 Hz/A * MCTRL U32 1000 P -
(P333.01)
0x2B08:002 V/f Imax controller: Reset time 2.3 ms * MCTRL U32 10 P -
(P333.02)
0x2B09:001 Slip compensation: Gain 100.00 % general I16 100 P -
(P315.01)
0x2B09:002 Slip compensation: Filter time 100 ms general U16 1 P -
(P315.02)
0x2B0A:001 Gain 150 % MCTRL I16 1 P -
(P318.01)
0x2B0A:002 Filter time 30 ms MCTRL U16 1 P -
(P318.02)
0x2B0B Frequency setpoint x.x Hz (Read only) general I16 10 O t
0x2B0C Override field weakening 0.0 Hz general I16 10 P -
(P319.00)
0x2B0D:001 VFC-ECO: Minimum voltage 20 % MCTRL I16 1 P -
(P330.01)
688
Appendix

0x2B0D:006 Cos phi actual value - (Read only) general I16 100 - t
(P330.06)
0x2B0E Frequency setpoint x.x Hz (Read only) general I16 10 O t
(P102.00)
0x2B0F VFC output frequency x.x Hz (Read only) MCTRL I16 10 O t
0x2B12:001 Fixed boost 2.5 % * MCTRL U8 10 P -
(P316.01)
0x2B12:002 V/f voltage boost: Boost at acceleration 0.0 % general U8 10 P -
(P316.02)
0x2B13:001 Additive voltage impression: Enable Function Disable [0] general U8 1 P -
0x2B13:002 Additive voltage impression: Setpoint source Analog input 1 [1] general U8 1 P -
0x2B13:003 Additive voltage impression: Actual voltage x V (Read only) general I16 1 - -
0x2B14:001 Gain 0.100 MCTRL U16 1000 P -
0x2B14:002 Reset time 100.0 ms MCTRL U16 10 P -
0x2B14:003 Frequency limitation 10.00 Hz MCTRL U16 100 P -
0x2B40:001 Gain 0.2686 Hz/A * MCTRL U32 10000 P -
0x2B40:002 Reset time 2.3 ms * MCTRL U32 10 P -
0x2B40:003 Q-Feedforward 0.00 MCTRL U32 100 P -
0x2B40:004 D-Feedforward 0.00 MCTRL U32 100 P -
0x2B84:001 DC braking: Current 0.0 % general U16 10 P -
(P704.01)
0x2B84:002 DC braking: Automatic hold time 0.0 s general U16 10 P -
(P704.02)
0x2B84:003 DC braking: Automatic operating threshold 0.0 Hz general U16 10 P -
(P704.03)
0x2B84:004 DC braking: Demagnetization time 100 % general U8 1 P -
(P704.04)
0x2B84:005 DC braking: Default demagnetization time x ms (Read only) general U16 1 - -
(P704.05)
0x2B84:006 DC braking: DC brake with inverter disable 0 general U8 1 P -
(P704.06)
0x2BA1:001 Flying restart circuit: Current 30 % MCTRL U16 1 P -
(P718.01)
0x2BA1:002 Flying restart circuit: Start frequency 20.0 Hz MCTRL I16 10 P -
(P718.02)
0x2BA1:003 Flying restart circuit: Restart time 5911 ms * MCTRL U16 1 P -
(P718.03)
0x2BA1:008 Flying restart circuit: Flying restart frequency x.x Hz (Read only) MCTRL I16 10 O t
(P718.08)
0x2C00 Motor control mode V/f characteristic control general U8 1 PC -
(P300.00) (VFC open loop) [6]
0x2C01:001 Motor parameters: Number of pole pairs - (Read only) MCTRL U8 1 - -
0x2C01:002 Motor parameters: Stator resistance 10.1565 Ω * MCTRL U32 10000 P -
0x2C01:003 Motor parameters: Stator leakage inductance 23.566 mH * MCTRL U32 1000 P -
0x2C01:004 Motor parameters: Rated speed Device for 50-Hz mains: MCTRL U16 1 P -
(P320.04) 1450 rpm
1750 rpm
0x2C01:005 Motor parameters: Rated frequency Device for 50-Hz mains: MCTRL U16 10 P -
(P320.05) 50.0 Hz
60.0 Hz
0x2C01:006 Motor parameters: Rated power 0.25 kW * MCTRL U16 100 P -
(P320.06)
0x2C01:007 Motor parameters: Rated voltage 230 V * MCTRL U16 1 P -
(P320.07)
0x2C01:008 Motor parameters: Cosine phi 0.80 MCTRL U16 100 P -
(P320.08)
689
Appendix

0x2C01:010 Motor parameters: Motor name MCTRL STRING[25] 1 P -
0x2C02:001 Motor parameter (ASM): Rotor resistance 8.8944 Ω * MCTRL U32 10000 P -
(P351.01)
0x2C02:002 Motor parameter (ASM): Mutual inductance 381.9 mH * MCTRL U32 10 P -
(P351.02)
0x2C02:003 Motor parameter (ASM): Magnetising current 0.96 A * MCTRL U16 100 P -
(P351.03)
0x2C02:004 Slip frequency x.x Hz (Read only) general U16 10 - -
(P351.04)
0x2C03:001 Back EMF constant 41.8 V/1000rpm MCTRL U32 10 P -
(P352.01)
0x2C11:001 High speed range: Lower limit 30 % general U16 1 P -
0x2C11:002 High speed range: Tracking controller gain 200 % general U16 1 P -
0x2C11:003 High speed range: Tracking controller reset time 6.00 ms general U16 100 P -
0x2C11:004 High speed range: Tracking controller decouple time 200.0 ms general U16 10 P -
0x2C11:006 High speed range: Stall monitoring limit 50 % general U16 1 P -
0x2C12:001 SM low speed range: Acceleration current 70 % MCTRL U16 1 P -
0x2C12:002 SM low speed range: Standstill current 30 % MCTRL U16 1 P -
0x2C42:001 Encoder settings: Increments/revolution 128 general U32 1 PC -
(P341.01)
0x2C42:006 Encoder settings: Actual velocity x rpm (Read only) general I32 1 O t
0x2C42:007 Encoder settings: Status 0 general U32 1 X -
0x2C45 Encoder-error response Warning [1] general U8 1 P -
(P342.00)
0x2C49:001 Position counter: Signal source Disbled [0] general U8 1 P -
(P711.01)
0x2C49:002 Position counter: Reset mode Reset by rising edge [0] general U8 1 P -
(P711.02)
0x2C49:003 Position counter: Actual position - (Read only) general U32 1 H t
(P711.03)
0x2C60 PPI monitoring: Reaction Fault [3] general U8 1 P -
0x2C63:001 PPI without movement: Execution After each enable [2] general U8 1 PC -
0x2D40:002 Device utilisation (i*t): Warning threshold 95 % general U16 1 P -
0x2D40:004 Device utilisation (i*t) x % (Read only) general U16 1 O t
(P135.04)
0x2D40:005 Device utilisation (i*t): Error response Fault [3] general U8 1 P -
(P135.05)
0x2D43:001 Inverter load characteristic: Duty selection Heavy Duty [0] general U8 1 PC -
(P306.01)
0x2D44:001 Overspeed monitoring: Threshold 8000 rpm general U16 1 P -
(P350.01)
0x2D44:002 Overspeed monitoring: Response Fault [3] general U8 1 P -
(P350.02)
0x2D45:001 Motor phase failure detection: Response No response [0] general U8 1 P -
(P310.01)
0x2D45:002 Motor phase failure detection: Current threshold 5.0 % general U8 10 P -
(P310.02)
0x2D45:003 Motor phase failure detection: Voltage threshold 10.0 V general U16 10 P -
(P310.03)
0x2D46:001 Overcurrent monitoring: Threshold 6.8 A * general U16 10 P -
(P353.01)
0x2D46:002 Overcurrent monitoring: Response Fault [3] general U8 1 P -
(P353.02)
0x2D49:002 Motor temperature monitoring: Response Fault [3] general U8 1 P -
(P309.02)
0x2D4B:001 Motor overload monitoring (i²*t): Maximum utilisa- 150 % general U16 1 P -
(P308.01) tion [60 s]
690
Appendix

0x2D4B:002 Motor overload monitoring (i²*t): Speed compensa- On [0] general U8 1 P -
(P308.02) tion
0x2D4B:003 Motor overload monitoring (i²*t): Response Fault [3] general U8 1 P -
(P308.03)
0x2D4B:005 Motor overload monitoring (i²*t): Thermal load - (Read only) general U16 1 - -
0x2D4F Motor utilisation (i²*t) x % (Read only) general U16 1 O t
(P123.00)
0x2D66:001 Mains failure control: Enable function Disabled [0] general U8 1 P -
(P721.01)
0x2D66:002 Mains failure control: DC-bus activation level 0%* general U8 1 P -
(P721.02)
0x2D66:003 Mains failure control: Gain V-controller 0.01000 Hz/V general U16 100000 P -
(P721.03)
0x2D66:004 Mains failure control: Reset time V-controller 20 ms general U16 1 P -
(P721.04)
0x2D66:005 Mains failure control: DC voltage setpoint 100 % general U8 1 P -
(P721.05)
0x2D66:006 Mains failure control: Setpoint ramp 20 ms general U16 1 P -
(P721.06)
0x2D66:007 Mains failure control: Clear time 20 ms general U16 1 P -
(P721.07)
0x2D66:008 Mains failure control: Restart threshold 0.0 Hz general U16 10 P -
(P721.08)
0x2D66:009 Mains failure control: Status mains failure control - (Read only) general U8 1 O t
(P721.09)
0x2D67:001 Maximum torque monitoring: Response No response [0] MCTRL U8 1 P -
(P329.01)
0x2D67:002 Maximum torque monitoring: Triggering delay 0.000 s MCTRL U16 1000 P -
(P329.02)
0x2D81:001 Life-diagnosis: Operating time x s (Read only) general U32 1 T -
(P151.01)
0x2D81:002 Life-diagnosis: Power-on time x s (Read only) general U32 1 T -
(P151.02)
0x2D81:003 Life-diagnosis: Control unit operating time x ns (Read only) general U64 1 T -
(P151.03)
0x2D81:004 Life-diagnosis: Main switching cycles - (Read only) general U32 1 - -
(P151.04)
0x2D81:005 Life-diagnosis: Relay switching cycles - (Read only) general U32 1 - -
(P151.05)
0x2D81:006 Life-diagnosis: Short-circuit counter - (Read only) general U16 1 - -
(P151.06)
0x2D81:007 Life-diagnosis: Earth fault counter - (Read only) general U16 1 - -
(P151.07)
0x2D81:008 Life-diagnosis: Clamp active - (Read only) general U16 1 - -
(P151.08)
0x2D81:009 Life-diagnosis: Fan operating time x s (Read only) general U32 1 T -
(P151.09)
0x2D84:001 Heatsink temperature x.x °C (Read only) general I16 10 O -
(P117.01)
0x2D84:002 Heatsink temperature: Warning threshold 80.0 °C * general I16 10 P -
0x2D87 DC-bus voltage x V (Read only) general U16 1 O t
(P105.00)
0x2D88 Motor current x.x A (Read only) general I16 10 O t
(P104.00)
0x2D89 Motor voltage x VAC (Read only) general U16 1 O t
(P106.00)
0x2DA2:001 Output power: Effective power x.xxx kW (Read only) general I32 1000 O t
(P108.01)
691
Appendix

0x2DA2:002 Output power: Apparent power x.xxx kVA (Read only) general I32 1000 O t
(P108.02)
0x2DA3:001 Output energy: Motor x.xx kWh (Read only) general I32 100 O t
(P109.01)
0x2DA3:002 Output energy: Generator x.xx kWh (Read only) general I32 100 O t
(P109.02)
0x2DA4:001 Diagnostics of analog input 1: Value in percent x.x % (Read only) general I16 10 O t
(P110.01)
0x2DA4:002 Diagnostics of analog input 1: Frequency value x.x Hz (Read only) general I16 10 O t
(P110.02)
0x2DA4:003 Diagnostics of analog input 1: Process controller x.xx PID unit (Read only) general I16 100 O t
(P110.03) value
0x2DA4:004 Diagnostics of analog input 1: Torque value x.x % (Read only) general I16 10 O t
(P110.04)
0x2DA4:016 Diagnostics of analog input 1: Status - (Read only) general U16 1 O -
(P110.16)
0x2DA5:001 Diagnostics of analog input 2: Value in percent x.x % (Read only) general I16 10 O t
(P111.01)
0x2DA5:002 Diagnostics of analog input 2: Frequency value x.x Hz (Read only) general I16 10 O t
(P111.02)
0x2DA5:003 Diagnostics of analog input 2: Process controller x.xx PID unit (Read only) general I16 100 O t
(P111.03) value
0x2DA5:004 Diagnostics of analog input 2: Torque value x.x % (Read only) general I16 10 O t
(P111.04)
0x2DA5:016 Diagnostics of analog input 2: Status - (Read only) general U16 1 O -
(P111.16)
0x2DAA:001 Diagnostics of analog output 1: Voltage x.xx V (Read only) general U16 100 O t
(P112.01)
0x2DAA:002 Diagnostics of analog output 1: Current x.xx mA (Read only) general U16 100 O t
(P112.02)
0x2DAB:001 Diagnostics of analog output 2: Voltage x.xx V (Read only) Appl. I/O U16 100 O t
(P113.01)
0x2DAB:002 Diagnostics of analog output 2: Current x.xx mA (Read only) Appl. I/O U16 100 O t
(P113.02)
0x2DAC Keypad status - (Read only) general U16 1 O t
(P119.00)
0x2DAD Internal hardware states - (Read only) general U16 1 O -
(P120.00)
0x2DAE:001 Sequencer diagnostics: Active step - (Read only) general U8 1 O t
(P140.01)
0x2DAE:002 Sequencer diagnostics: Step time elapsed x.x s (Read only) general I32 10 O t
(P140.02)
0x2DAE:003 Sequencer diagnostics: Step time remaining x.x s (Read only) general I32 10 O t
(P140.03)
0x2DAE:004 Sequencer diagnostics: Steps complete - (Read only) general I32 1 O t
(P140.04)
0x2DAE:005 Sequencer diagnostics: Steps remaining - (Read only) general I32 1 O t
(P140.05)
0x2DAE:006 Sequencer diagnostics: Active sequence - (Read only) general U8 1 O t
(P140.06)
0x2DAE:007 Sequencer diagnostics: Active segment - (Read only) general U8 1 O t
(P140.07)
0x2DAE:008 Sequencer diagnostics: Relative sequence time x % (Read only) general U8 1 O t
(P140.08) remaining
0x2DAE:009 Sequencer diagnostics: Absolute sequence time x.x s (Read only) general I32 10 O t
(P140.09) remaining
0x2DAE:010 Sequencer diagnostics: Frequency setpoint x.x Hz (Read only) general I16 10 - -
0x2DAE:011 Sequencer diagnostics: PID setpoint x.xx PID unit (Read only) general I16 100 - -
0x2DAE:012 Sequencer diagnostics: Torque setpoint x.x % (Read only) general I16 10 - -
692
Appendix

0x2DD5 Torque setpoint x.xx Nm (Read only) general I32 100 - t
0x2DDD Output frequency x.x Hz (Read only) general I16 10 O t
(P100.00)
0x2DDF:001 Axis information: Rated current x.xx A (Read only) general U16 100 O t
0x2DDF:002 Axis information: Maximum current x.xx A (Read only) general U16 100 O t
0x4002 Speed display scaling 0.00 general U16 100 P -
(P702.00)
0x4003 MOP starting mode Last value [0] general U8 1 P -
(P413.00)
0x4004:001 MOP starting values: Frequency 0.0 Hz general U16 10 P -
(P414.01)
0x4004:002 MOP starting values: PID value 0.00 PID unit general I16 100 P -
(P414.02)
0x4004:003 MOP starting values: Torque 0.0 % general U16 10 P -
(P414.03)
0x4005 Frequency threshold 0.0 Hz general U16 10 P -
(P412.00)
0x4006:001 Load loss detection: Threshold 0.0 % general U16 10 P -
(P710.01)
0x4006:002 Load loss detection: Deceleration 0.0 s general U16 10 P -
(P710.02)
0x4008:001 Process input words: NetWordIN1 0x0000 general U16 1 HK r
(P590.01)
0x4008:002 Process input words: NetWordIN2 0x0000 general U16 1 HK r
(P590.02)
0x4008:003 Process input words: NetWordIN3 0.0 % general U16 10 K r
(P590.03)
0x4008:004 Process input words: NetWordIN4 0.0 % general U16 10 K r
(P590.04)
0x4008:005 Process input words: NetWordIN5 0.0 % general I16 10 OK r
(P550.05)
0x4009:001 MOP values saved: Frequency x.x Hz (Read only) general U16 10 - t
0x4009:002 MOP values saved: PID value x.xx PID unit (Read only) general I16 100 - t
0x4009:003 MOP values saved: Torque x.x % (Read only) general U16 10 - t
0x4009:004 MOP values saved: Frequency setpoint x.x Hz (Read only) general I16 10 - -
0x4009:005 MOP values saved: PID setpoint x.xx PID unit (Read only) general I16 100 - -
0x4009:006 MOP values saved: Torque setpoint x.x % (Read only) general I16 10 - -
0x400A:001 Process output words: NetWordOUT1 - (Read only) general U16 1 H t
(P591.01)
0x400A:002 Process output words: NetWordOUT2 - (Read only) general U16 1 - t
(P591.02)
0x400B:001 Process input data: AC Drive control word 0x0000 general U16 1 OH r
(P592.01) K
0x400B:002 Process input data: LECOM control word 0x0000 general U16 1 OH r
(P592.02) K
0x400B:003 Process input data: Network setpoint frequency 0.0 Hz general U16 10 OK r
(P592.03) (0.1)
0x400B:004 Process input data: Network setpoint speed 0 rpm general U16 1 OK r
(P592.04)
0x400B:005 Process input data: Network setpoint frequency 0.00 Hz general U16 100 OK r
(P592.05) (0.01)
0x400B:006 Process input data: Velocity mode setpoint 0.0 Hz general I16 10 OK r
(P592.06)
0x400B:007 Process input data: PID setpoint 0.00 PID unit general I16 100 OK r
(P592.07)
0x400B:008 Process input data: Torque mode setpoint 0 Nm general I16 1 OK r
(P592.08)
693
Appendix

0x400B:009 Process input data: Torque scaling 0 general I8 1 OK -
(P592.09)
0x400B:010 AC Drive mode Speed control (open EtherNet/IP U8 1 OI -
loop) [1] K
0x400B:011 Process input data: PID feedback 0.00 PID unit general I16 100 OK r
(P592.11)
0x400B:012 Process input data: Network setpoint frequency 0 Hz general I16 50 K r
(P592.12) [0.02Hz]
0x400B:013 Process input data: Network frequency setpoint 0 general I16 1 O r
(P592.13) [+/-16384]
0x400C:001 Process output data: AC Drive status word - (Read only) general U16 1 - t
(P593.01)
0x400C:002 Process output data: LECOM status word - (Read only) general U16 1 - t
(P593.02)
0x400C:003 Process output data: Frequency (0.1) x.x Hz (Read only) general U16 10 - t
(P593.03)
0x400C:004 Process output data: Motor speed x rpm (Read only) general U16 1 - t
(P593.04)
0x400C:005 Process output data: Drive status - (Read only) general U16 1 - t
(P593.05)
0x400C:006 Process output data: Frequency (0.01) x.xx Hz (Read only) general U16 100 - t
(P593.06)
0x400C:007 Process output data: Torque scaled - (Read only) general I16 1 - t
(P593.07)
0x400C:008 Process output data: Frequency [0.02 Hz] Hz (Read only) general I16 50 - t
(P593.08)
0x400C:009 Process output data: Frequency [+/-16384] - (Read only) general I16 1 O t
(P593.09)
0x400D Scaled actual value x Units (Read only) general I16 1 O t
(P101.00)
0x400E:001 NetWordIN1 function: Bit 0 Not active [0] general U8 1 PC -
(P505.01)
(P505.02)
0x400E:003 NetWordIN1 function: Bit 2 Activate quick stop [3] general U8 1 PC -
(P505.03)
(P505.04)
0x400E:005 NetWordIN1 function: Bit 4 Run forward (CW) [8] general U8 1 PC -
(P505.05)
0x400E:006 NetWordIN1 function: Bit 5 Activate preset (bit 0) general U8 1 PC -
(P505.06) [18]
0x400E:007 NetWordIN1 function: Bit 6 Activate preset (bit 1) general U8 1 PC -
(P505.07) [19]
0x400E:008 NetWordIN1 function: Bit 7 Reset error [4] general U8 1 PC -
(P505.08)
(P505.09)
0x400E:010 NetWordIN1 function: Bit 9 Activate DC braking [5] general U8 1 PC -
(P505.10)
(P505.11)
(P505.12)
0x400E:013 NetWordIN1 function: Bit 12 Reverse rotational direc- general U8 1 PC -
(P505.13) tion [13]
(P505.14)
694
Appendix

(P505.15)
(P505.16)
0x4016:003 Digital output 1: Cutout delay 0.000 s general U16 1000 P -
0x4016:004 Digital output 1: Switch-on delay 0.000 s general U16 1000 P -
0x4016:005 Digital output 1: Terminal state - (Read only) general U8 1 - -
0x4016:006 Digital output 1: Trigger signal state - (Read only) general U8 1 - -
0x4017:003 Digital output 2: Cutout delay 0.000 s Appl. I/O U16 1000 P -
0x4017:004 Digital output 2: Switch-on delay 0.000 s Appl. I/O U16 1000 P -
0x4017:005 Digital output 2: Terminal state - (Read only) Appl. I/O U8 1 - -
0x4017:006 Digital output 2: Trigger signal state - (Read only) Appl. I/O U8 1 - -
0x4018:003 Relay: Switch-off delay 0.000 s general U16 1000 P -
0x4018:004 Relay: Switch-on delay 0.000 s general U16 1000 P -
0x4018:005 Relay: Relay state - (Read only) general U8 1 - -
0x4018:006 Relay: Trigger signal state - (Read only) general U8 1 - -
0x4018:007 Relay: Switching cycles - (Read only) general U32 1 - -
0x401F:001 Current setpoint x.xx PID unit (Read only) general I16 100 O t
(P121.01)
0x401F:002 Current process variable x.xx PID unit (Read only) general I16 100 O t
(P121.02)
0x401F:003 Status - (Read only) general U8 1 O t
(P121.03)
0x401F:004 PID control value x.x Hz (Read only) general I16 10 - -
0x401F:005 PID Feedforward value x.x Hz (Read only) general I16 10 - -
0x401F:006 PID output value x.x Hz (Read only) general I16 10 - -
0x401F:007 PID error value x.xx PID unit (Read only) general I32 100 - -
0x4020:001 Process controller setup (PID): Operating mode Inhibited [0] general U8 1 P -
(P600.01)
0x4020:002 Process controller setup (PID): PID process variable Analog input 1 [1] general U8 1 P -
(P600.02)
0x4020:003 Process controller setup (PID): Closed-loop control- 100 % general U16 1 P rt
(P600.03) led speed range
0x4020:004 Process controller setup (PID): Speed feedforward Without speed addition general U8 1 P -
(P600.04) control source [0]
0x4020:005 Process controller setup (PID): Min speed limit -100.0 % general I16 10 P -
(P600.05)
0x4020:006 Process controller setup (PID): Max speed limit 100.0 % general I16 10 P -
(P600.06)
0x4021:001 PID speed operation: Acceleration time 1.0 s general U16 10 P -
(P606.01)
0x4021:002 PID speed operation: Deceleration time 1.0 s general U16 10 P -
(P606.02)
0x4022:001 PID setpoint presets: Preset 1 0.00 PID unit general I16 100 P -
(P451.01)
(P451.02)
(P451.03)
(P451.04)
(P451.05)
(P451.06)
(P451.07)
695
Appendix

(P451.08)
0x4023:001 PID sleep mode: Activation Disabled [0] general U8 1 P -
(P610.01)
0x4023:002 PID sleep mode: Stop method Coasting [0] general U8 1 P -
(P610.02)
0x4023:003 PID sleep mode: Frequency threshold 0.0 Hz general U16 10 P -
(P610.03)
0x4023:004 PID sleep mode: Feedback threshold 0.00 PID unit general I16 100 P -
(P610.04)
0x4023:005 PID sleep mode: Delay time 0.0 s general U16 10 P -
(P610.05)
0x4023:006 PID sleep mode: Recovery Setpoint > threshold OR general U8 1 P -
(P610.06) system deviation > band-
width [0]
0x4023:007 PID sleep mode: Bandwidth 0.00 PID unit general U16 100 P -
(P610.07)
0x4023:008 PID sleep mode: Recovery threshold 0.00 PID unit general I16 100 P -
(P610.08)
0x4024:001 Automatic rinsing: Rinsing in idle state Inhibited [0] general U8 1 P -
(P615.01)
0x4024:002 Automatic rinsing: Rinse interval 30.0 min general U16 10 P -
(P615.02)
0x4024:003 Automatic rinsing: Rinse speed 0.0 Hz general I16 10 P -
(P615.03)
0x4024:004 Automatic rinsing: Rinse period 0.0 s general U16 10 P -
(P615.04)
0x4025 Sequencer mode Disabled [0] general U8 1 P -
(P800.00)
0x4026:001 Sequencer segment 1: Frequency setpoint 0.0 Hz general I16 10 P -
(P801.01)
0x4026:002 Sequencer segment 1: Acceleration/deceleration 5.0 s general U16 10 P -
(P801.02)
0x4026:003 Sequencer segment 1: Time 0.0 s general U32 10 P -
(P801.03)
0x4026:004 Sequencer segment 1: Digital outputs 0 general U8 1 P -
(P801.04)
0x4026:005 Sequencer segment 1: Analog outputs 0.00 VDC general U16 100 P -
(P801.05)
0x4026:006 Sequencer segment 1: PID setpoint 0.00 PID unit general I16 100 P -
(P801.06)
0x4026:007 Sequencer segment 1: Torque setpoint 100.0 % general I16 10 P -
(P801.07)
0x4026:008 Sequencer segment 1: NetWordOUT2 0 general U16 1 P -
0x4026:009 Sequencer segment 1: Reserved 0 general U32 1 P -
(P802.01)
(P802.02)
(P802.03)
(P802.04)
(P802.05)
(P802.06)
(P802.07)
696
Appendix

(P803.01)
(P803.02)
(P803.03)
(P803.04)
(P803.05)
(P803.06)
(P803.07)
(P804.01)
(P804.02)
(P804.03)
(P804.04)
(P804.05)
(P804.06)
(P804.07)
0x402A:001 Sequencer segment 5: Frequency setpoint 0.0 Hz general I16 10 P -
(P805.01)
0x402A:002 Sequencer segment 5: Acceleration/deceleration 5.0 s general U16 10 P -
(P805.02)
0x402A:003 Sequencer segment 5: Time 0.0 s general U32 10 P -
(P805.03)
0x402A:004 Sequencer segment 5: Digital outputs 0 general U8 1 P -
(P805.04)
0x402A:005 Sequencer segment 5: Analog outputs 0.00 VDC general U16 100 P -
(P805.05)
0x402A:006 Sequencer segment 5: PID setpoint 0.00 PID unit general I16 100 P -
(P805.06)
0x402A:007 Sequencer segment 5: Torque setpoint 100.0 % general I16 10 P -
(P805.07)
0x402A:008 Sequencer segment 5: NetWordOUT2 0 general U16 1 P -
0x402A:009 Sequencer segment 5: Reserved 0 general U32 1 P -
0x402B:001 Sequencer segment 6: Frequency setpoint 0.0 Hz general I16 10 P -
(P806.01)
0x402B:002 Sequencer segment 6: Acceleration/deceleration 5.0 s general U16 10 P -
(P806.02)
0x402B:003 Sequencer segment 6: Time 0.0 s general U32 10 P -
(P806.03)
0x402B:004 Sequencer segment 6: Digital outputs 0 general U8 1 P -
(P806.04)
697
Appendix

0x402B:005 Sequencer segment 6: Analog outputs 0.00 VDC general U16 100 P -
(P806.05)
0x402B:006 Sequencer segment 6: PID setpoint 0.00 PID unit general I16 100 P -
(P806.06)
0x402B:007 Sequencer segment 6: Torque setpoint 100.0 % general I16 10 P -
(P806.07)
0x402B:008 Sequencer segment 6: NetWordOUT2 0 general U16 1 P -
0x402B:009 Sequencer segment 6: Reserved 0 general U32 1 P -
0x402C:001 Sequencer segment 7: Frequency setpoint 0.0 Hz general I16 10 P -
(P807.01)
0x402C:002 Sequencer segment 7: Acceleration/deceleration 5.0 s general U16 10 P -
(P807.02)
0x402C:003 Sequencer segment 7: Time 0.0 s general U32 10 P -
(P807.03)
0x402C:004 Sequencer segment 7: Digital outputs 0 general U8 1 P -
(P807.04)
0x402C:005 Sequencer segment 7: Analog outputs 0.00 VDC general U16 100 P -
(P807.05)
0x402C:006 Sequencer segment 7: PID setpoint 0.00 PID unit general I16 100 P -
(P807.06)
0x402C:007 Sequencer segment 7: Torque setpoint 100.0 % general I16 10 P -
(P807.07)
0x402C:008 Sequencer segment 7: NetWordOUT2 0 general U16 1 P -
0x402C:009 Sequencer segment 7: Reserved 0 general U32 1 P -
0x402D:001 Sequencer segment 8: Frequency setpoint 0.0 Hz general I16 10 P -
(P808.01)
0x402D:002 Sequencer segment 8: Acceleration/deceleration 5.0 s general U16 10 P -
(P808.02)
0x402D:003 Sequencer segment 8: Time 0.0 s general U32 10 P -
(P808.03)
0x402D:004 Sequencer segment 8: Digital outputs 0 general U8 1 P -
(P808.04)
0x402D:005 Sequencer segment 8: Analog outputs 0.00 VDC general U16 100 P -
(P808.05)
0x402D:006 Sequencer segment 8: PID setpoint 0.00 PID unit general I16 100 P -
(P808.06)
0x402D:007 Sequencer segment 8: Torque setpoint 100.0 % general I16 10 P -
(P808.07)
0x402D:008 Sequencer segment 8: NetWordOUT2 0 general U16 1 P -
0x402D:009 Sequencer segment 8: Reserved 0 general U32 1 P -
0x402E:001 End segment: Frequency setpoint 0.0 Hz general I16 10 P -
(P822.01)
0x402E:002 End segment: Acceleration/deceleration 5.0 s general U16 10 P -
(P822.02)
0x402E:003 End segment: Time 0.0 s general U32 10 P -
(P822.03)
0x402E:004 End segment: Digital outputs 0 general U8 1 P -
(P822.04)
0x402E:005 End segment: Analog outputs 0.00 VDC general U16 100 P -
(P822.05)
0x402E:006 End segment: PID setpoint 0.00 PID unit general I16 100 P -
(P822.06)
0x402E:007 End segment: Torque setpoint 100.0 % general I16 10 P -
(P822.07)
0x402E:008 End segment: NetWordOUT2 0 general U16 1 P -
0x402E:009 End segment: Reserved 0 general U32 1 P -
0x402F End of sequence mode Keep running [0] general U8 1 P -
(P824.00)
698
Appendix

0x4030:001 ... Sequence 1: Step 1 ... Step 16 Skip step [0] general I8 1 P -
0x4030:016
(P830.01 ... 16)
0x4031 Number of cycles sequence 1 1 general U16 1 P -
(P831.00)
0x4032:016
(P835.01 ... 16)
(P836.00)
0x4034:016
(P840.01 ... 16)
(P841.00)
0x4036:016
(P845.01 ... 16)
(P846.00)
0x4038:016
(P850.01 ... 16)
(P851.00)
0x403A:001 ... Sequence 6: Step 1 ... Step 16 Skip step [0] general I8 1 P -
0x403A:016
(P855.01 ... 16)
0x403B Number of cycles sequence 6 1 general U16 1 P -
(P856.00)
0x403C:001 ... Sequence 7: Step 1 ... Step 16 Skip step [0] general I8 1 P -
0x403C:016
(P860.01 ... 16)
0x403D Number of cycles sequence 7 1 general U16 1 P -
(P861.00)
0x403E:001 ... Sequence 8: Step 1 ... Step 16 Skip step [0] general I8 1 P -
0x403E:016
(P865.01 ... 16)
0x403F Number of cycles sequence 8 1 general U16 1 P -
(P866.00)
0x4040 Start of sequence mode Restart sequencer [0] general U8 1 P -
(P820.00)
0x4041:001 ... Parameter change-over: Parameter 1 ... Parameter 0x00000000 general IDX 1 PH -
0x4041:032 32
(P750.01 ... 32)
0x4042:001 ... Parameter value set 1: Value of parameter 1 ... Value 0 general I32 1 P -
0x4042:032 of parameter 32
(P751.01 ... 32)
(P752.01 ... 32)
(P753.01 ... 32)
(P754.01 ... 32)
0x4046 Activation of parameter set Via command (disable general U8 1 P -
(P755.00) required) [0]
0x4047:001 Parameter change-over error message: Status - (Read only) general U16 1 - -
(P756.01)
699
Appendix

0x4047:002 Parameter change-over error message: List entry - (Read only) general U8 1 - -
(P756.02)
0x4048 PID P-component 5.0 % general U16 10 P rt
(P601.00)
0x4049 PID I- component 400 ms general U16 1 P rt
(P602.00)
0x404A PID D-component 0.0 s general U8 10 P rt
(P603.00)
0x404B PID setpoint ramp 20.0 s general U16 10 P -
(P604.00)
0x404C:001 PID influence: Acceleration time for activation 5.0 s general U16 10 P -
(P607.01)
0x404C:002 PID influence: Deceleration time for masking out 5.0 s general U16 10 P -
(P607.02)
0x404D:001 PID alarms: MIN alarm threshold 0.00 PID unit general I16 100 P -
(P608.01)
0x404D:002 PID alarms: MAX alarm threshold 100.00 PID unit general I16 100 P -
(P608.02)
0x404D:003 PID alarms: Monitoring bandwidth PID feedback sig- 2.00 % general U16 100 P -
(P608.03) nal
0x404E:001 PID setpoint limits: Minimum setpoint -300.00 PID unit general I16 100 P -
(P605.01)
0x404E:002 PID setpoint limits: Maximum setpoint 300.00 PID unit general I16 100 P -
(P605.02)
0x603F Error code - (Read only) general U16 1 O t
(P150.00)
0x6040 CiA: Controlword 0 general U16 1 O r
0x6041 CiA: Statusword - (Read only) general U16 1 O t
(P780.00)
0x6042 Target velocity 0 rpm general I16 1 OK r
(P781.00)
0x6043 Velocity demand x rpm (Read only) general I16 1 O t
(P782.00)
0x6044 Velocity actual value x rpm (Read only) general I16 1 O t
(P783.00)
0x6046:001 Velocity min max amount: Velocity min amount 0 rpm general U32 1 P r
(P784.01)
0x6046:002 Velocity min max amount: Velocity max amount 2147483647 rpm general U32 1 P r
(P784.02)
0x6048:001 Velocity acceleration: Delta speed 3000 rpm general U32 1 OP r
(P785.01)
0x6048:002 Velocity acceleration: Delta time 10 s general U16 1 OP r
(P785.02)
0x6049:001 Velocity deceleration: Delta speed 3000 rpm general U32 1 OP r
(P786.01)
0x6049:002 Velocity deceleration: Delta time 10 s general U16 1 OP r
(P786.02)
0x605A Quick stop option code Quick stop ramp -> general I16 1 P -
switch-on inhibited [2]
0x605E Fault reaction option code Coasting [0] general I16 1 - -
(P791.00)
0x6060 Modes of operation MS: Velocity mode [-2] general I8 1 OP r
(P301.00) C
0x6061 Modes of operation display - (Read only) general I8 1 O t
(P788.00)
0x6071 Target torque 0.0 % general I16 10 OK r
0x6072 Max torque 250.0 % general U16 10 OP r
(P326.00)
700
Appendix

0x6073 Max current 200.0 % general U16 10 P r
(P324.00)
0x6074 Torque demand value x.x % (Read only) MCTRL I16 10 O -
0x6075 Motor rated current 1.700 A * MCTRL U32 1000 PC -
(P323.00)
0x6076 Motor rated torque 1.650 Nm * MCTRL U32 1000 PC -
(P325.00)
0x6077 Torque actual value x.x % (Read only) general I16 10 O t
(P107.00)
0x6078 Current actual value x.x % (Read only) general I16 10 O t
(P103.00)
0x6079 DC link circuit voltage x.xxx V (Read only) general U32 1000 O t
0x6080 Max motor speed 6075 rpm general U32 1 OP r
(P322.00)
0x6085 Quick stop deceleration 546000 pos. unit/s² general U32 1 P -
(P790.00)
0x60E0 Positive torque limit 250.0 % general U16 10 P r
0x60E1 Negative torque limit 250.0 % general U16 10 P r
0x60FD Digital inputs - (Read only) general U32 1 O t
(P118.00)
0x6402 Motor type Squirrel cage induction MCTRL U16 1 P -
[7]
0x6502 Supported drive modes - (Read only) general U32 1 - -
(P789.00)
701
© 06/2017 | 13535404 | 8.0
Ö Lenze Drives GmbH

Postfach 10 13 52, D-31763 Hameln
Breslauer Straße 3, D-32699 Extertal
Germany
HR Lemgo B 6478
Ü +49 5154 82-0
Ø +49 5154 82-2800
Ù [email protected]
Ú www.lenze.com
Û Lenze Service GmbH

Breslauer Straße 3, D-32699 Extertal
Germany
Ü 0080002446877 (24 h Helpline)
Ø +49 5154 82-1112
Ù [email protected]
S20170622P20170501

I550 Series Ins en

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Commissioning | EN

7 Basic setting 143

8 Motor control 163

8.7 Motor protection 214

9 Configuring the network 226

9.6 PROFIBUS 294

9.10 EtherCAT 383

11 Additional functions 417

11.14 Automatic restart 484

14 Flexible I/O configuration 525

14.15 Configuration of digital outputs 603

2.2 Residual hazards

Dangerous electrical voltage

2.3 Application as directed

0.25 kW ... 0.37 kW

0.55 kW ... 0.75 kW

0.75 kW ... 1.1 kW

1.1 kW ... 2.2 kW

4.2 Mains connection

4.2.1 1-phase mains connection 120 V

4.2.1.1 Connection plan

Fig. 1: Wiring example

4.2.1.2 Fusing and terminal data

4.2.2 1-phase mains connection 230/240 V

4.2.2.1 Connection plan

Fig. 2: Wiring example

The connection plan is valid for the inverters I55AExxxD.

Fig. 3: Wiring example

4.2.2.2 Fusing and terminal data

4.2.3 3-phase mains connection 230/240 V

4.2.3.1 Connection plan

Fig. 4: Wiring example

The connection plan is valid for the inverters I55AExxxD.

Fig. 5: Wiring example

4.2.3.2 Fusing and terminal data

4.2.4 3-phase mains connection 400 V

4.2.4.1 Connection plan

Fig. 6: Wiring example

4.2.4.2 Fusing and terminal data

4.2.5 3-phase mains connection 400 V "light duty"

4.2.5.1 Connection plan

4.2.5.2 Fusing and terminal data

4.2.6 3-phase mains connection 480 V

4.2.6.1 Connection plan

Fig. 7: Wiring example

4.2.6.2 Fusing and terminal data

4.2.7 3-phase mains connection 480 V "Light Duty"

4.2.7.1 Connection plan

4.2.7.2 Fusing and terminal data

4.3 Control connections

Terminal description CANopen

Basic network settings

Baud CAN Address

Bus termination Baud rate CAN node address

Bold print = default setting

4.4.2 Modbus RTU

X216 TA TB COM X216 TA TB COM X216 TA TB COM X216 TA TB COM

Terminal description Modbus RTU

Basic network settings